@adobe/data-gpu 0.9.87 → 0.9.89

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
@@ -40,8 +42,8 @@ const NEW_JOINT = { exclude: ["_rapierJoint"] };
 export const rapierSolver = Database.Plugin.create({
     extends: Database.Plugin.combine(physicsData, jointData, physicsClock),
     components: {
-        _rapierBody: { ...True.schema, nonPersistent: true }, // tag: this body has been mirrored into the Rapier world
-        _rapierJoint: { ...True.schema, nonPersistent: true }, // tag: this joint has been mirrored into the Rapier world
+        _rapierBody: { ...True.schema, default: undefined, nonPersistent: true }, // tag: this body has been mirrored into the Rapier world
+        _rapierJoint: { ...True.schema, default: undefined, nonPersistent: true }, // tag: this joint has been mirrored into the Rapier world
     },
     systems: {
         rapierStep: {
@@ -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": "0.9.89",
   "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": "0.9.89"
   },
   "devDependencies": {
     "@webgpu/types": "^0.1.61",

package/src/graphics/rendering/bone-collider-plugin.ts

@@ -53,10 +53,10 @@ interface SkinMesh {
 export const boneColliders = Database.Plugin.create({
     extends: Database.Plugin.combine(physicsData, jointData, ragdollTrigger, pbrSkinning, modelLoader, transform),
     components: {
-        _boneJoint: { ...Entity.schema, nonPersistent: true }, // the skeleton joint this capsule tracks
-        _boneOffsetPos: { ...Vec3.schema, nonPersistent: true },     // capsule offset in the bone's bind-local frame
-        _boneOffsetRot: { ...Quat.schema, nonPersistent: true },
-        _ragdollBuilt: { ...True.schema, nonPersistent: true },      // tag: this skeleton's bone capsules have been generated
+        _boneJoint: { ...Entity.schema, default: undefined, nonPersistent: true }, // the skeleton joint this capsule tracks
+        _boneOffsetPos: { ...Vec3.schema, default: undefined, nonPersistent: true },     // capsule offset in the bone's bind-local frame
+        _boneOffsetRot: { ...Quat.schema, default: undefined, nonPersistent: true },
+        _ragdollBuilt: { ...True.schema, default: undefined, nonPersistent: true },      // tag: this skeleton's bone capsules have been generated
     },
     archetypes: {
         // a kinematic capsule body bound to a skeleton joint (collisionGroup 1 ⇒ the

package/src/graphics/rendering/display-transform-plugin.ts

@@ -20,7 +20,7 @@ import { Vec3, Quat } from "@adobe/data/math";
  */
 export const displayTransform = Database.Plugin.create({
     components: {
-        _renderPosition: { ...Vec3.schema, nonPersistent: true }, // derived: interpolated pose to render at (else use `position`)
-        _renderRotation: { ...Quat.schema, nonPersistent: true },
+        _renderPosition: { ...Vec3.schema, default: undefined, nonPersistent: true }, // derived: interpolated pose to render at (else use `position`)
+        _renderRotation: { ...Quat.schema, default: undefined, nonPersistent: true },
     },
 });

package/src/graphics/rendering/material-palette-gpu/material-palette-gpu-plugin.ts

@@ -27,7 +27,7 @@ const FACTOR_MATERIAL_COMPONENTS = [
 export const materialPaletteGpu = Database.Plugin.create({
     extends: Database.Plugin.combine(Material.plugin, core),
     components: {
-        _paletteIndex: { ...U32.schema, nonPersistent: true },
+        _paletteIndex: { ...U32.schema, default: undefined, nonPersistent: true },
     },
     resources: {
         _factorPalette: { default: null as GPUBuffer | null, nonPersistent: true },

package/src/graphics/rendering/pbr-core-plugin.ts

@@ -15,19 +15,19 @@ export const pbrCore = Database.Plugin.create({
          *  null for static primitives. Drives skinned-pipeline dispatch. */
         _skinVertexBuffer:              { default: null as GPUBuffer | null, nonPersistent: true },
         _indexBuffer:                   { default: null as GPUBuffer | null, nonPersistent: true },
-        _indexCount:                    { ...U32.schema, nonPersistent: true },
+        _indexCount:                    { ...U32.schema, default: undefined, nonPersistent: true },
         _indexFormat:                   { default: "uint16" as GPUIndexFormat, nonPersistent: true },
         _materialBindGroup:             { default: null as GPUBindGroup | null, nonPersistent: true },
         /** Back-reference from a _PbrPrimitive / _VisibleMaterial to the
          *  baked mesh asset that owns it. */
-        _mesh:                          { ...Entity.schema, nonPersistent: true },
-        _material:                      { ...Entity.schema, nonPersistent: true },
+        _mesh:                          { ...Entity.schema, default: undefined, nonPersistent: true },
+        _material:                      { ...Entity.schema, default: undefined, nonPersistent: true },
         /** Node-local-to-model-root matrix baked at load time. The renderer
          *  pre-multiplies it with the per-instance model-root world matrix. */
-        _nodeLocalMatrix:               { ...Mat4x4.schema, nonPersistent: true },
+        _nodeLocalMatrix:               { ...Mat4x4.schema, default: undefined, nonPersistent: true },
         /** Skeleton-side back-references the renderer reads when dispatching
          *  the skinned pipeline. Populated by `pbrSkinning`. */
-        _skeletonModelRef:              { ...Entity.schema, nonPersistent: true },
+        _skeletonModelRef:              { ...Entity.schema, default: undefined, nonPersistent: true },
         _skeletonJointMatrixBindGroup:  { default: null as GPUBindGroup | null, nonPersistent: true },
     },
     archetypes: {

package/src/graphics/rendering/skinning/skinning-plugin.ts

@@ -16,7 +16,7 @@ export const pbrSkinning = Database.Plugin.create({
     extends: Database.Plugin.combine(modelLoader, pbrCore, transform, animation),
     components: {
         _skeletonJoints:                  { default: [] as number[], nonPersistent: true },
-        _skeletonMesh:                    { ...Entity.schema, nonPersistent: true },
+        _skeletonMesh:                    { ...Entity.schema, default: undefined, nonPersistent: true },
         _skeletonInstanceBuffer:          { default: null as GPUBuffer | null, nonPersistent: true },
         _skeletonJointMatrixBuffer:       { default: null as GPUBuffer | null, nonPersistent: true },
     },

package/src/graphics/scene/node/node-data-plugin.ts

@@ -23,8 +23,8 @@ export const nodeData = Database.Plugin.create({
         rotation:     Quat.schema,
         scale:        Vec3.schema,
         parent:       Entity.schema,
-        _worldMatrix: { ...Mat4x4.schema, nonPersistent: true },
-        _worldBounds: { ...Aabb.schema, nonPersistent: true },
+        _worldMatrix: { ...Mat4x4.schema, default: undefined, nonPersistent: true },
+        _worldBounds: { ...Aabb.schema, default: undefined, nonPersistent: true },
     },
     archetypes: {
         Node: ["position", "rotation", "scale", "parent", "visible"],

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
@@ -50,8 +57,8 @@ export const physicsData = Database.Plugin.create({
         rotation:        Quat.schema, // unified with Node.rotation so a body renders directly
         linearVelocity:  Vec3.schema,
         angularVelocity: Vec3.schema,
-        _prevPosition:   { ...Vec3.schema, nonPersistent: true }, // derived: pose before the last fixed step (render interpolation)
-        _prevRotation:   { ...Quat.schema, nonPersistent: true },
+        _prevPosition:   { ...Vec3.schema, default: undefined, nonPersistent: true }, // derived: pose before the last fixed step (render interpolation)
+        _prevRotation:   { ...Quat.schema, default: undefined, nonPersistent: true },
         // Bodies sharing the same non-zero collisionGroup do not collide with each
         // other (they still collide with group 0 / the world) — e.g. a ragdoll's
         // bones. 0 = default (collide with everything). Honored by both solvers
@@ -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";