@adobe/data-gpu 0.9.87 → 0.9.88

package/dist/physics/solvers/rapier-solver-plugin.js

@@ -7,6 +7,8 @@ import { physicsClock } from "../physics-clock-plugin.js";
 import { physicsData } from "../physics-data-plugin.js";
 import { jointData } from "../joint/joint-plugin.js";
 import { BodyType } from "../body/body-type/body-type.js";
+import { orientNormalAgainstRay } from "./orient-normal-against-ray.js";
+import { newHit } from "./mutable-hit.js";
 /**
  * A second rigid-body solver behind the same `physicsData` seam — the
  * battle-tested Rapier engine (dimforge, Rust→WASM). It reads the identical
@@ -78,6 +80,7 @@ export const rapierSolver = Database.Plugin.create({
                         desc.setAngvel({ x: wx, y: wy, z: wz });
                     }
                     const body = world.createRigidBody(desc);
+                    body.userData = id; // reverse lookup for ray-pick: collider → parent body → entity
                     // capsule: Y-aligned, halfHeight = cylinder half (hy), radius = hx.
                     // hull: convex hull of the authored point cloud (read once here).
                     let col;
@@ -109,11 +112,117 @@ export const rapierSolver = Database.Plugin.create({
                     world.createCollider(col, body);
                     bodies.set(id, body);
                 };
+                // Solver-agnostic ray-pick over the live Rapier world. Passing the
+                // segment vector (b − a) as the ray/shape-cast direction and capping
+                // the time-of-impact at 1 makes the returned toi the parametric α ∈
+                // [0,1] along the segment directly (matching PhysicsHit's convention).
+                const makeQuery = (w) => {
+                    // Fill `out` with a thin-ray hit. userData was set to the entity id
+                    // when the body was mirrored. Normal is oriented to oppose the ray.
+                    const fillRay = (out, entity, alpha, nx, ny, nz, a, dx, dy, dz) => {
+                        out.entity = entity;
+                        out.distance = alpha;
+                        out.point[0] = a[0] + dx * alpha;
+                        out.point[1] = a[1] + dy * alpha;
+                        out.point[2] = a[2] + dz * alpha;
+                        out.normal[0] = nx;
+                        out.normal[1] = ny;
+                        out.normal[2] = nz;
+                        orientNormalAgainstRay(out.normal, dx, dy, dz);
+                    };
+                    const nearest = (ray, options) => {
+                        const a = ray.a, b = ray.b;
+                        const dx = b[0] - a[0], dy = b[1] - a[1], dz = b[2] - a[2];
+                        const radius = options?.radius ?? 0;
+                        const out = newHit();
+                        if (radius > 0) {
+                            // sphere of `radius` swept along the segment
+                            const hit = w.castShape({ x: a[0], y: a[1], z: a[2] }, { x: 0, y: 0, z: 0, w: 1 }, { x: dx, y: dy, z: dz }, new RAPIER.Ball(radius), 0, 1, true);
+                            if (!hit)
+                                return null;
+                            const bod = hit.collider.parent();
+                            if (!bod)
+                                return null;
+                            const alpha = hit.time_of_impact;
+                            out.entity = bod.userData;
+                            out.distance = alpha;
+                            out.normal[0] = hit.normal1.x;
+                            out.normal[1] = hit.normal1.y;
+                            out.normal[2] = hit.normal1.z;
+                            orientNormalAgainstRay(out.normal, dx, dy, dz);
+                            // pull the swept-sphere centre at impact back onto the collider surface
+                            out.point[0] = a[0] + dx * alpha - out.normal[0] * radius;
+                            out.point[1] = a[1] + dy * alpha - out.normal[1] * radius;
+                            out.point[2] = a[2] + dz * alpha - out.normal[2] * radius;
+                            return out;
+                        }
+                        const hit = w.castRayAndGetNormal(new RAPIER.Ray({ x: a[0], y: a[1], z: a[2] }, { x: dx, y: dy, z: dz }), 1, true);
+                        if (!hit)
+                            return null;
+                        const bod = hit.collider.parent();
+                        if (!bod)
+                            return null;
+                        fillRay(out, bod.userData, hit.timeOfImpact, hit.normal.x, hit.normal.y, hit.normal.z, a, dx, dy, dz);
+                        return out;
+                    };
+                    // Zero-alloc scratch for castRayEach: one reused hit + a grow-only pool
+                    // of records. intersectionsWithRay reports crossings in broadphase-
+                    // arbitrary order, so records are collected then index-sorted near→far.
+                    const scratch = newHit();
+                    const pool = [];
+                    const order = [];
+                    return {
+                        castRay: nearest,
+                        castRayEach(ray, visit, options) {
+                            // The compat binding has no swept-shape all-hits query, so a
+                            // radius query degrades to the nearest hit (see PhysicsQuery).
+                            if ((options?.radius ?? 0) > 0) {
+                                const h = nearest(ray, options);
+                                if (h)
+                                    visit(h);
+                                return;
+                            }
+                            const a = ray.a, b = ray.b;
+                            const dx = b[0] - a[0], dy = b[1] - a[1], dz = b[2] - a[2];
+                            let count = 0;
+                            w.intersectionsWithRay(new RAPIER.Ray({ x: a[0], y: a[1], z: a[2] }, { x: dx, y: dy, z: dz }), 1, true, (isect) => {
+                                const bod = isect.collider.parent();
+                                if (bod) {
+                                    let rec = pool[count];
+                                    if (!rec) {
+                                        rec = { entity: 0, distance: 0, nx: 0, ny: 0, nz: 0 };
+                                        pool[count] = rec;
+                                    }
+                                    rec.entity = bod.userData;
+                                    rec.distance = isect.timeOfImpact;
+                                    rec.nx = isect.normal.x;
+                                    rec.ny = isect.normal.y;
+                                    rec.nz = isect.normal.z;
+                                    count++;
+                                }
+                                return true; // keep collecting
+                            });
+                            for (let i = 0; i < count; i++)
+                                order[i] = i;
+                            order.length = count;
+                            order.sort((i, j) => pool[i].distance - pool[j].distance);
+                            for (let k = 0; k < count; k++) {
+                                const rec = pool[order[k]];
+                                fillRay(scratch, rec.entity, rec.distance, rec.nx, rec.ny, rec.nz, a, dx, dy, dz);
+                                if (visit(scratch) === false)
+                                    break;
+                            }
+                        },
+                    };
+                };
                 return () => {
                     if (!world) {
                         if (!initStarted) {
                             initStarted = true;
-                            RAPIER.init().then(() => { world = new RAPIER.World({ x: 0, y: -GRAVITY, z: 0 }); });
+                            RAPIER.init().then(() => {
+                                world = new RAPIER.World({ x: 0, y: -GRAVITY, z: 0 });
+                                db.store.resources.physicsQuery = makeQuery(world);
+                            });
                         }
                         return; // WASM not ready yet
                     }

package/dist/physics/solvers/rapier-solver-plugin.js.map

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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@adobe/data-gpu",
-  "version": "0.9.87",
+  "version": "0.9.88",
   "description": "Adobe data WebGPU plugins and types for graphics and compute",
   "type": "module",
   "private": false,
@@ -12,7 +12,7 @@
   "dependencies": {
     "@dimforge/rapier3d-compat": "^0.19.3",
     "jolt-physics": "^1.0.0",
-    "@adobe/data": "0.9.87"
+    "@adobe/data": "0.9.88"
   },
   "devDependencies": {
     "@webgpu/types": "^0.1.61",

package/src/physics/README.md

@@ -65,8 +65,21 @@ lose track. Keep it honest about approximations and limitations.
     so the skin flops. Runs on any solver. *Per-joint limit tuning is a follow-up.*
 - [ ] **Collision events + groups/masks + sensors** — contact callbacks drained
   to ECS; per-body layer masks; overlap-only sensor colliders.
-- [ ] **Spatial queries** — raycast / shape-cast / overlap against the broadphase
-  (picking, line-of-sight, ground checks).
+- [~] **Spatial queries** — a solver-agnostic `physicsQuery` resource +
+  `pickRay` / `pickRayEach` actions on the `physicsData` seam: **ray/line picking
+  with or without radius** (a thin ray, or a sphere of `radius` swept along the
+  segment). `pickRay` returns the nearest collider as a fresh, retainable
+  `PhysicsHit`; `pickRayEach` visits *every* collider along the segment, nearest
+  first, with early-out, passing a single reused (zero-alloc) hit valid only for
+  that call. A `PhysicsHit` is (entity, parametric α, world point, ray-opposing
+  normal). Backed by
+  each engine's native cast (Rapier `castRayAndGetNormal` / `castShape` /
+  `intersectionsWithRay`; Jolt `NarrowPhaseQuery.CastRay` / `CastShape` with
+  all-hit collectors) and verified by an abstract conformance suite run against
+  both. *Radius all-hits is native on Jolt; the Rapier compat binding has no
+  swept-shape all-hits query, so a radius `pickRayEach` degrades to the nearest
+  hit there. Still to do: overlap queries (sphere/AABB), general shape-cast vs.
+  arbitrary shapes, and a query `filter` (collision-group / entity predicate).*
 - [ ] **`uint32`-indexed primitives** — flat-shaded collider/render meshes
   currently emit `uint16` indices (fine for authored ramps/props, not dense
   terrain).

package/src/physics/physics-data-plugin.ts

@@ -2,13 +2,15 @@
 
 import { Database } from "@adobe/data/ecs";
 import { F32 } from "@adobe/data/schema";
-import { Vec3, Quat } from "@adobe/data/math";
+import { Vec3, Quat, type Line3 } from "@adobe/data/math";
 import { BodyType } from "./body/body-type/body-type.js";
 import { ColliderShape } from "./body/collider-shape/collider-shape.js";
 import type { ColliderMesh } from "./body/collider-mesh.js";
 import { Material } from "../material/material.js";
 import { RIGID_BODY_COMPONENTS } from "./rigid-body-components.js";
 import { STATIC_COLLIDER_COMPONENTS } from "./static-collider-components.js";
+import type { PhysicsQuery } from "./physics-query.js";
+import type { PhysicsHit } from "./physics-hit.js";
 
 /**
  * The shared, solver-agnostic rigid-body data model — the seam every physics
@@ -39,6 +41,11 @@ import { STATIC_COLLIDER_COMPONENTS } from "./static-collider-components.js";
  * body the first time it mirrors it, so authors never supply derived state.
  *
  * Mass + inertia are derived per solver from shape + material (not stored here).
+ *
+ * Besides the authored model, this seam declares the pluggable spatial-query
+ * contract every solver fulfils: a `physicsQuery` resource (the active solver
+ * publishes its engine-backed implementation once its world is live) and a
+ * `pickRay` action that delegates to it — so ray/line picking is solver-agnostic.
  */
 export const physicsData = Database.Plugin.create({
     extends: Material.plugin,   // brings the `material` reference component
@@ -64,6 +71,13 @@ export const physicsData = Database.Plugin.create({
         convexPoints:    { default: null as Float32Array | null }, // colliderShape "hull": point cloud → convex hull
         colliderMesh:    { default: null as ColliderMesh | null }, // colliderShape "mesh": static triangle soup
     },
+    resources: {
+        // The pluggable spatial-query seam: the active solver publishes its
+        // engine-backed implementation here once its world is live, so picking
+        // is solver-agnostic. Null before then (lazy WASM init) and when no
+        // solver is combined in. Runtime object → nonPersistent.
+        physicsQuery: { default: null as PhysicsQuery | null, nonPersistent: true },
+    },
     archetypes: {
         RigidBody: [...RIGID_BODY_COMPONENTS],
         StaticCollider: [...STATIC_COLLIDER_COMPONENTS],
@@ -72,4 +86,18 @@ export const physicsData = Database.Plugin.create({
         // A static triangle-mesh collider (terrain / level geometry).
         MeshCollider: [...STATIC_COLLIDER_COMPONENTS, "colliderMesh"],
     },
+    actions: {
+        // Consumer surface for engine-backed picking. An action (not a
+        // transaction) because it returns a value; a pure delegate to whatever
+        // solver filled `physicsQuery` — `physicsData` itself holds no engine
+        // knowledge. Returns null until a solver's world is live.
+        pickRay(db, args: { ray: Line3; radius?: number }): PhysicsHit | null {
+            return db.resources.physicsQuery?.castRay(args.ray, { radius: args.radius }) ?? null;
+        },
+        // Visit every collider along the ray, nearest first (see PhysicsQuery.castRayEach).
+        // Returns void; no-op until a solver's world is live.
+        pickRayEach(db, args: { ray: Line3; visit: (hit: PhysicsHit) => boolean | void; radius?: number }): void {
+            db.resources.physicsQuery?.castRayEach(args.ray, args.visit, { radius: args.radius });
+        },
+    },
 });

package/src/physics/physics-hit.ts

@@ -0,0 +1,21 @@
+// © 2026 Adobe. MIT License. See /LICENSE for details.
+
+import type { Entity } from "@adobe/data/ecs";
+import type { Vec3 } from "@adobe/data/math";
+
+/**
+ * One physics ray-pick result — the body/collider the ray hit plus the
+ * geometry of the hit the engine's broadphase can give that an AABB scan
+ * cannot.
+ *
+ * `distance` uses the same parametric convention as the graphics `PickHit`
+ * (α ∈ [0,1] along the `Line3` segment, 0 = near point `a`, 1 = far point
+ * `b`), so `PhysicsHit` is a structural superset of `PickHit` and `distance`
+ * reads the same in both picking systems. The absolute hit location is `point`.
+ */
+export interface PhysicsHit {
+    readonly entity: Entity;
+    readonly distance: number;  // parametric α ∈ [0,1] along the ray segment
+    readonly point: Vec3;       // world-space hit point = a + (b − a)·distance
+    readonly normal: Vec3;      // unit surface normal at the hit, oriented to oppose the ray
+}

package/src/physics/physics-query.ts

@@ -0,0 +1,42 @@
+// © 2026 Adobe. MIT License. See /LICENSE for details.
+
+import type { Line3 } from "@adobe/data/math";
+import type { PhysicsHit } from "./physics-hit.js";
+
+/**
+ * The solver-agnostic spatial-query capability — the pluggable seam for
+ * engine-backed picking. Whichever solver is active (`rapierSolver`,
+ * `joltSolver`, …) publishes an implementation of this interface into the
+ * `physicsQuery` resource once its world is live; consumers reach it through
+ * the `pickRay` action (or read the resource directly for advanced use).
+ *
+ * `castRay` returns the nearest collider along the `Line3` segment, or `null`
+ * for a miss. `castRayEach` visits *every* collider along the segment, nearest
+ * first. `radius` (omitted / 0 → an infinitely-thin ray; > 0 → a sphere of that
+ * radius swept along the segment) covers "pick along a line with or without
+ * radius" behind one call. Both reference solvers back these with their native
+ * ray / shape cast (Rapier `castRayAndGetNormal` / `castShape` /
+ * `intersectionsWithRay`; Jolt `NarrowPhaseQuery.CastRay` / `CastShape` with
+ * all-hit collectors).
+ */
+export interface PhysicsQuery {
+    castRay(ray: Line3, options?: { radius?: number }): PhysicsHit | null;
+    /**
+     * Visit each collider crossed by the segment, **nearest first**, calling
+     * `visit` once per crossing. Return `false` from `visit` to stop early (any
+     * other return continues).
+     *
+     * Zero-allocation: `visit` receives a **single reused hit** that is valid
+     * only for the duration of that call — read what you need (or copy fields
+     * out); do not retain the object or its `point` / `normal` arrays past the
+     * callback. (`castRay` returns a fresh, retainable hit; use it when you need
+     * to keep one.)
+     *
+     * `radius > 0` sweeps a sphere: fully supported on solvers with a native
+     * swept-shape all-hits query (Jolt); where the engine binding lacks one
+     * (the Rapier compat binding), a radius query degrades to visiting only the
+     * nearest hit. A thin ray (`radius` omitted / 0) visits all crossings on
+     * every solver.
+     */
+    castRayEach(ray: Line3, visit: (hit: PhysicsHit) => boolean | void, options?: { radius?: number }): void;
+}

package/src/physics/public.ts

@@ -1,6 +1,8 @@
 // © 2026 Adobe. MIT License. See /LICENSE for details.
 
 export * from "./physics-data-plugin.js";
+export * from "./physics-hit.js";
+export * from "./physics-query.js";
 export * from "./rigid-body-components.js";
 export * from "./static-collider-components.js";
 export * from "./collider-primitive-render-archetypes.js";

package/src/physics/solvers/jolt-solver-plugin.ts

@@ -2,6 +2,7 @@
 
 import initJolt from "jolt-physics";
 import { Database, type Entity } from "@adobe/data/ecs";
+import type { Line3, Vec3 } from "@adobe/data/math";
 import { isVoxelShapePhysicsPending } from "../is-voxel-shape-physics-pending.js";
 import { True } from "@adobe/data/schema";
 import { physicsClock } from "../physics-clock-plugin.js";
@@ -11,6 +12,10 @@ import { BodyType } from "../body/body-type/body-type.js";
 import { ColliderShape } from "../body/collider-shape/collider-shape.js";
 import type { ColliderMesh } from "../body/collider-mesh.js";
 import { massFromVolume } from "../body/collider-shape/mass-from-volume.js";
+import type { PhysicsQuery } from "../physics-query.js";
+import type { PhysicsHit } from "../physics-hit.js";
+import { orientNormalAgainstRay } from "./orient-normal-against-ray.js";
+import { newHit, type MutableHit } from "./mutable-hit.js";
 
 /**
  * A third rigid-body solver behind the same `physicsData` seam — Jolt Physics
@@ -61,6 +66,8 @@ type JQuat = InstanceType<JoltModule["Quat"]>;
 type JVec3 = InstanceType<JoltModule["Vec3"]>;
 type JShape = InstanceType<JoltModule["Shape"]>;
 type JPhysicsSystem = InstanceType<JoltModule["PhysicsSystem"]>;
+type JRayCastResult = InstanceType<JoltModule["RayCastResult"]>;
+type JShapeCastResult = InstanceType<JoltModule["ShapeCastResult"]>;
 
 interface MatProps { density: number; restitution: number; friction: number }
 
@@ -210,6 +217,7 @@ export const joltSolver = Database.Plugin.create({
                         }
                     }
                     const body = bi.CreateBody(settings);
+                    body.SetUserData(id); // reverse lookup for ray-pick: hit body id → entity
                     bi.AddBody(body.GetID(), motion === "static" ? jolt.EActivation_DontActivate : jolt.EActivation_Activate);
                     if (motion === "dynamic" && (vx || vy || vz || wx || wy || wz)) {
                         const lv = new jolt.Vec3(vx, vy, vz), av = new jolt.Vec3(wx, wy, wz);
@@ -222,6 +230,116 @@ export const joltSolver = Database.Plugin.create({
                     if (half) jolt.destroy(half);
                 };
 
+                // Solver-agnostic ray-pick over the live Jolt world. As in the Rapier
+                // plugin, the segment vector (b − a) is the cast direction, so the hit
+                // fraction is the parametric α ∈ [0,1] along the segment directly
+                // (matching PhysicsHit). Accept-all filters + reusable settings are
+                // created once here; per-call WASM temporaries are freed after each pick.
+                const makeQuery = (jolt: JoltModule, ps: JPhysicsSystem, bi: JBodyInterface): PhysicsQuery => {
+                    const narrow = ps.GetNarrowPhaseQuery();
+                    const bpFilter = new jolt.BroadPhaseLayerFilter();
+                    const objFilter = new jolt.ObjectLayerFilter();
+                    const bodyFilter = new jolt.BodyFilter();
+                    const shapeFilter = new jolt.ShapeFilter();
+                    const raySettings = new jolt.RayCastSettings();
+                    const shapeSettings = new jolt.ShapeCastSettings();
+                    const baseOffset = new jolt.RVec3(0, 0, 0); // results in world space
+                    const unitScale = new jolt.Vec3(1, 1, 1);
+
+                    // Fill `out` from one ray result. Surface normal comes from the body
+                    // we already hold (no body-lock round-trip). Reads every field into JS
+                    // before any collector is destroyed. userData = entity id.
+                    const fillRay = (out: MutableHit, hit: JRayCastResult, a: Vec3, dx: number, dy: number, dz: number): void => {
+                        const alpha = hit.get_mFraction();
+                        const entity = bi.GetUserData(hit.get_mBodyID()) as Entity;
+                        out.entity = entity; out.distance = alpha;
+                        out.point[0] = a[0] + dx * alpha; out.point[1] = a[1] + dy * alpha; out.point[2] = a[2] + dz * alpha;
+                        out.normal[0] = 0; out.normal[1] = 0; out.normal[2] = 0;
+                        const body = bodies.get(entity);
+                        if (body) {
+                            const p = new jolt.RVec3(out.point[0], out.point[1], out.point[2]);
+                            const nv = body.GetWorldSpaceSurfaceNormal(hit.get_mSubShapeID2(), p);
+                            out.normal[0] = nv.GetX(); out.normal[1] = nv.GetY(); out.normal[2] = nv.GetZ();
+                            jolt.destroy(p);
+                        }
+                        orientNormalAgainstRay(out.normal, dx, dy, dz);
+                    };
+                    // Fill `out` from one swept-sphere result (contact point + penetration
+                    // axis; both world-space with baseOffset = 0).
+                    const fillShape = (out: MutableHit, hit: JShapeCastResult, dx: number, dy: number, dz: number): void => {
+                        const cp = hit.get_mContactPointOn2();
+                        out.entity = bi.GetUserData(hit.get_mBodyID2()) as Entity; out.distance = hit.get_mFraction();
+                        out.point[0] = cp.GetX(); out.point[1] = cp.GetY(); out.point[2] = cp.GetZ();
+                        const pax = hit.get_mPenetrationAxis();
+                        out.normal[0] = pax.GetX(); out.normal[1] = pax.GetY(); out.normal[2] = pax.GetZ();
+                        orientNormalAgainstRay(out.normal, dx, dy, dz);
+                    };
+
+                    const scratch = newHit(); // reused across castRayEach visits (zero-alloc)
+                    return {
+                        castRay(ray: Line3, options): PhysicsHit | null {
+                            const a = ray.a, b = ray.b;
+                            const dx = b[0] - a[0], dy = b[1] - a[1], dz = b[2] - a[2];
+                            const out = newHit();
+                            if ((options?.radius ?? 0) > 0) {
+                                // sphere of `radius` swept along the segment
+                                const shape = new jolt.SphereShape(options!.radius!);
+                                const startPos = new jolt.RVec3(a[0], a[1], a[2]);
+                                const comStart = jolt.RMat44.prototype.sTranslation(startPos);
+                                const dir = new jolt.Vec3(dx, dy, dz);
+                                const shapeCast = new jolt.RShapeCast(shape, unitScale, comStart, dir);
+                                const collector = new jolt.CastShapeClosestHitCollisionCollector();
+                                narrow.CastShape(shapeCast, shapeSettings, baseOffset, collector, bpFilter, objFilter, bodyFilter, shapeFilter);
+                                const hadHit = collector.HadHit();
+                                if (hadHit) fillShape(out, collector.mHit, dx, dy, dz);
+                                jolt.destroy(shape); jolt.destroy(startPos); jolt.destroy(comStart); jolt.destroy(dir); jolt.destroy(shapeCast); jolt.destroy(collector);
+                                return hadHit ? out : null;
+                            }
+                            const origin = new jolt.RVec3(a[0], a[1], a[2]);
+                            const dir = new jolt.Vec3(dx, dy, dz);
+                            const rc = new jolt.RRayCast(origin, dir);
+                            const collector = new jolt.CastRayClosestHitCollisionCollector();
+                            narrow.CastRay(rc, raySettings, collector, bpFilter, objFilter, bodyFilter, shapeFilter);
+                            const hadHit = collector.HadHit();
+                            if (hadHit) fillRay(out, collector.mHit, a, dx, dy, dz);
+                            jolt.destroy(origin); jolt.destroy(dir); jolt.destroy(rc); jolt.destroy(collector);
+                            return hadHit ? out : null;
+                        },
+                        castRayEach(ray: Line3, visit, options): void {
+                            const a = ray.a, b = ray.b;
+                            const dx = b[0] - a[0], dy = b[1] - a[1], dz = b[2] - a[2];
+                            if ((options?.radius ?? 0) > 0) {
+                                // Jolt has a native swept-sphere all-hits query.
+                                const shape = new jolt.SphereShape(options!.radius!);
+                                const startPos = new jolt.RVec3(a[0], a[1], a[2]);
+                                const comStart = jolt.RMat44.prototype.sTranslation(startPos);
+                                const dir = new jolt.Vec3(dx, dy, dz);
+                                const shapeCast = new jolt.RShapeCast(shape, unitScale, comStart, dir);
+                                const collector = new jolt.CastShapeAllHitCollisionCollector();
+                                narrow.CastShape(shapeCast, shapeSettings, baseOffset, collector, bpFilter, objFilter, bodyFilter, shapeFilter);
+                                if (collector.HadHit()) {
+                                    collector.Sort(); // near→far
+                                    const hits = collector.get_mHits();
+                                    for (let i = 0, len = hits.size(); i < len; i++) { fillShape(scratch, hits.at(i), dx, dy, dz); if (visit(scratch) === false) break; }
+                                }
+                                jolt.destroy(shape); jolt.destroy(startPos); jolt.destroy(comStart); jolt.destroy(dir); jolt.destroy(shapeCast); jolt.destroy(collector);
+                                return;
+                            }
+                            const origin = new jolt.RVec3(a[0], a[1], a[2]);
+                            const dir = new jolt.Vec3(dx, dy, dz);
+                            const rc = new jolt.RRayCast(origin, dir);
+                            const collector = new jolt.CastRayAllHitCollisionCollector();
+                            narrow.CastRay(rc, raySettings, collector, bpFilter, objFilter, bodyFilter, shapeFilter);
+                            if (collector.HadHit()) {
+                                collector.Sort(); // near→far
+                                const hits = collector.get_mHits();
+                                for (let i = 0, len = hits.size(); i < len; i++) { fillRay(scratch, hits.at(i), a, dx, dy, dz); if (visit(scratch) === false) break; }
+                            }
+                            jolt.destroy(origin); jolt.destroy(dir); jolt.destroy(rc); jolt.destroy(collector);
+                        },
+                    };
+                };
+
                 return () => {
                     if (!J || !bodyInterface || !joltInterface) {
                         if (!initStarted) {
@@ -229,6 +347,7 @@ export const joltSolver = Database.Plugin.create({
                             initJolt().then((j: JoltModule) => {
                                 J = j; setup(j);
                                 db.store.resources._joltContext = { jolt: j, physicsSystem: physicsSystem!, bodyInterface: bodyInterface!, ragdollLayer: L_RAGDOLL };
+                                db.store.resources.physicsQuery = makeQuery(j, physicsSystem!, bodyInterface!);
                             });
                         }
                         return; // WASM not ready yet

package/src/physics/solvers/mutable-hit.ts

@@ -0,0 +1,18 @@
+// © 2026 Adobe. MIT License. See /LICENSE for details.
+
+import type { Entity } from "@adobe/data/ecs";
+
+/**
+ * Internal mutable form of `PhysicsHit` used by the solver query
+ * implementations. `castRay` fills a fresh one (retainable return value);
+ * `castRayEach` fills and re-visits a single reused instance (zero-alloc).
+ * Assignable to the public read-only `PhysicsHit` at the seam.
+ */
+export interface MutableHit {
+    entity: Entity;
+    distance: number;
+    point: [number, number, number];
+    normal: [number, number, number];
+}
+
+export const newHit = (): MutableHit => ({ entity: 0 as Entity, distance: 0, point: [0, 0, 0], normal: [0, 0, 0] });

package/src/physics/solvers/orient-normal-against-ray.test.ts

@@ -0,0 +1,31 @@
+// © 2026 Adobe. MIT License. See /LICENSE for details.
+
+import { describe, it, expect } from "vitest";
+import { orientNormalAgainstRay } from "./orient-normal-against-ray.js";
+
+describe("orientNormalAgainstRay", () => {
+    it("normalizes the normal to unit length", () => {
+        const n: [number, number, number] = [0, 3, 0];
+        orientNormalAgainstRay(n, 1, 0, 0); // ray perpendicular → no flip
+        expect(Math.hypot(...n)).toBeCloseTo(1, 6);
+        expect(n[1]).toBeCloseTo(1, 6);
+    });
+
+    it("flips a normal that points along the ray so it opposes it", () => {
+        const n: [number, number, number] = [0, -1, 0]; // points down, same as a downward ray
+        orientNormalAgainstRay(n, 0, -20, 0);            // downward ray
+        expect(n[1]).toBeGreaterThan(0);                 // now points up, opposing the ray
+    });
+
+    it("leaves a normal that already opposes the ray unchanged in direction", () => {
+        const n: [number, number, number] = [0, 1, 0];
+        orientNormalAgainstRay(n, 0, -20, 0);
+        expect(n[1]).toBeCloseTo(1, 6);
+    });
+
+    it("leaves a zero-length normal as the zero vector (no divide-by-zero)", () => {
+        const n: [number, number, number] = [0, 0, 0];
+        orientNormalAgainstRay(n, 0, -1, 0);
+        expect(n).toEqual([0, 0, 0]);
+    });
+});

package/src/physics/solvers/orient-normal-against-ray.ts

@@ -0,0 +1,18 @@
+// © 2026 Adobe. MIT License. See /LICENSE for details.
+
+/**
+ * Normalize `n` in place and flip it so it opposes the ray direction
+ * `(dx,dy,dz)` — the standard picking convention (the returned normal points
+ * back toward the ray origin, i.e. outward from the hit surface).
+ *
+ * Unifies the normal convention across engines and across ray-cast vs.
+ * shape-cast, whose raw normals (surface normal, contact normal, penetration
+ * axis) don't otherwise agree on sign. A zero-length input is left as the zero
+ * vector (guarded so a degenerate hit doesn't divide by zero).
+ */
+export const orientNormalAgainstRay = (n: [number, number, number], dx: number, dy: number, dz: number): void => {
+    const len = Math.hypot(n[0], n[1], n[2]);
+    if (len === 0) return;
+    n[0] /= len; n[1] /= len; n[2] /= len;
+    if (n[0] * dx + n[1] * dy + n[2] * dz > 0) { n[0] = -n[0]; n[1] = -n[1]; n[2] = -n[2]; }
+};