@aura3d/engine 1.0.0

package/dist/physics/ClothFixtures.js

@@ -0,0 +1,264 @@
+const sourceFiles = [
+    "origin/master:src/simulation/cloth/ClothSimulation.ts",
+    "origin/master:src/simulation/cloth/ClothCollisionSystem.ts",
+    "origin/master:src/simulation/cloth/ClothTearingSystem.ts",
+    "origin/master:src/materials/ClothMaterial.ts"
+];
+const blockedClaims = [
+    "GPU cloth compute parity",
+    "100k particle cloth performance",
+    "production PBD solver parity",
+    "cloth self-collision",
+    "mesh-splitting topology tearing",
+    "fabric shader parity",
+    "Unity Cloth parity",
+    "Unreal Chaos Cloth parity"
+];
+export function sampleClothSimulationFixture(options = {}) {
+    const seed = integer(options.seed ?? 0x3d2025, "seed");
+    const elapsedSeconds = finiteNonNegative(options.elapsedSeconds ?? 0.4, "elapsedSeconds");
+    const segmentsX = integerInRange(options.segmentsX ?? 12, "segmentsX", 2, 64);
+    const segmentsY = integerInRange(options.segmentsY ?? 8, "segmentsY", 2, 64);
+    const width = 2.4;
+    const height = 1.5;
+    const particleCount = (segmentsX + 1) * (segmentsY + 1);
+    const triangleCount = segmentsX * segmentsY * 2;
+    const structural = segmentsX * (segmentsY + 1) + (segmentsX + 1) * segmentsY;
+    const shear = segmentsX * segmentsY * 2;
+    const bending = Math.max(0, (segmentsX - 1) * (segmentsY + 1) + (segmentsY - 1) * (segmentsX + 1));
+    const pinnedCount = segmentsX + 1;
+    const windDirection = [3.2, 0.35, 1.15];
+    const turbulence = 0.35;
+    const frequency = 1.8;
+    const collisionCenter = [0.08, -0.18, 0.06];
+    const collisionRadius = 0.34;
+    let maxOffset = 0;
+    let affectedParticles = 0;
+    let penetrationCount = 0;
+    let resolvedParticles = 0;
+    let maxPenetration = 0;
+    let maxStrain = 1;
+    let tearCandidates = 0;
+    let cutPlaneConstraintCandidates = 0;
+    const positions = new Map();
+    const sampleParticles = [];
+    const sampleKeys = new Set([
+        particleIndex(0, 0, segmentsX),
+        particleIndex(Math.floor(segmentsX / 2), 0, segmentsX),
+        particleIndex(segmentsX, 0, segmentsX),
+        particleIndex(0, Math.floor(segmentsY / 2), segmentsX),
+        particleIndex(Math.floor(segmentsX / 2), Math.floor(segmentsY / 2), segmentsX),
+        particleIndex(segmentsX, Math.floor(segmentsY / 2), segmentsX),
+        particleIndex(0, segmentsY, segmentsX),
+        particleIndex(Math.floor(segmentsX / 2), segmentsY, segmentsX),
+        particleIndex(segmentsX, segmentsY, segmentsX)
+    ]);
+    for (let y = 0; y <= segmentsY; y += 1) {
+        for (let x = 0; x <= segmentsX; x += 1) {
+            const index = particleIndex(x, y, segmentsX);
+            const vertical = y / segmentsY;
+            const horizontal = x / segmentsX;
+            const pinned = y === 0;
+            const baseX = (horizontal - 0.5) * width;
+            const sag = pinned ? 0 : Math.pow(vertical, 1.42) * (0.28 + hash01(seed, 7) * 0.08 + elapsedSeconds * 0.045);
+            const gust = pinned ? 0 : Math.sin(elapsedSeconds * frequency + x * 0.73 + y * 0.41 + hash01(seed, x + y + 11) * 2) * turbulence * vertical;
+            const xOffset = pinned ? 0 : windDirection[0] * 0.018 * vertical + gust * 0.06;
+            const zOffset = pinned ? 0 : windDirection[2] * 0.035 * vertical + gust * 0.1;
+            let position = [
+                round4(baseX + xOffset),
+                round4(height * 0.5 - vertical * height - sag),
+                round4(zOffset)
+            ];
+            const penetration = spherePenetration(position, collisionCenter, collisionRadius);
+            if (penetration > 0) {
+                penetrationCount += 1;
+                resolvedParticles += 1;
+                maxPenetration = Math.max(maxPenetration, penetration);
+                position = resolveSphere(position, collisionCenter, collisionRadius);
+            }
+            const offset = Math.hypot(position[0] - baseX, position[2]);
+            if (offset > 0.002 && !pinned)
+                affectedParticles += 1;
+            maxOffset = Math.max(maxOffset, offset);
+            positions.set(index, position);
+            if (sampleKeys.has(index)) {
+                sampleParticles.push({
+                    index,
+                    grid: [x, y],
+                    pinned,
+                    position,
+                    uv: [round4(horizontal), round4(vertical)]
+                });
+            }
+        }
+    }
+    for (let y = 0; y <= segmentsY; y += 1) {
+        for (let x = 0; x <= segmentsX; x += 1) {
+            const current = positions.get(particleIndex(x, y, segmentsX));
+            if (!current)
+                continue;
+            if (x < segmentsX) {
+                const strain = constraintStrain(current, positions.get(particleIndex(x + 1, y, segmentsX)), width / segmentsX);
+                maxStrain = Math.max(maxStrain, strain);
+                if (strain >= 1.035 && y >= segmentsY - 2)
+                    tearCandidates += 1;
+                if (x < segmentsX / 2 && x + 1 >= segmentsX / 2 && y > 0)
+                    cutPlaneConstraintCandidates += 1;
+            }
+            if (y < segmentsY) {
+                const strain = constraintStrain(current, positions.get(particleIndex(x, y + 1, segmentsX)), height / segmentsY);
+                maxStrain = Math.max(maxStrain, strain);
+                if (strain >= 1.05 && y >= segmentsY - 3)
+                    tearCandidates += 1;
+            }
+        }
+    }
+    const metricsForHash = [
+        seed,
+        elapsedSeconds,
+        segmentsX,
+        segmentsY,
+        particleCount,
+        triangleCount,
+        structural,
+        shear,
+        bending,
+        pinnedCount,
+        maxOffset,
+        affectedParticles,
+        penetrationCount,
+        maxPenetration,
+        maxStrain,
+        tearCandidates,
+        cutPlaneConstraintCandidates
+    ];
+    return {
+        id: "external-parity-old-branch-cloth-simulation-fixture",
+        source: "origin-master-cloth-pbd-material-adapted",
+        sourceFiles,
+        config: {
+            width,
+            height,
+            segmentsX,
+            segmentsY,
+            particleMass: 0.1,
+            structuralStiffness: 0.9,
+            shearStiffness: 0.8,
+            bendingStiffness: 0.12,
+            solverIterations: 6,
+            damping: 0.01
+        },
+        mesh: {
+            particleCount,
+            triangleCount,
+            normalCount: particleCount,
+            uvCount: particleCount,
+            indexCount: triangleCount * 3,
+            pinnedCount,
+            pinnedPattern: "top-edge",
+            sampleParticles
+        },
+        constraints: {
+            structural,
+            shear,
+            bending,
+            total: structural + shear + bending,
+            maxStrain: round4(maxStrain),
+            tearThreshold: 1.035,
+            tearCandidates,
+            cutPlaneConstraintCandidates
+        },
+        wind: {
+            direction: windDirection,
+            turbulence,
+            frequency,
+            maxOffset: round4(maxOffset),
+            affectedParticles
+        },
+        collision: {
+            shape: "sphere",
+            center: collisionCenter,
+            radius: collisionRadius,
+            penetrationCount,
+            resolvedParticles,
+            maxPenetration: round4(maxPenetration),
+            friction: 0.42,
+            restitution: 0.04
+        },
+        material: {
+            preset: "coarse-wool-flag",
+            sheenIntensity: 0.56,
+            sheenRoughness: 0.34,
+            subsurfaceIntensity: 0.24,
+            anisotropyStrength: 0.42,
+            fuzzIntensity: 0.22,
+            roughness: 0.74,
+            tiling: [3, 2]
+        },
+        blockedClaims,
+        hash: hashNumbers(metricsForHash),
+        claimBoundary: "Deterministic bounded cloth telemetry adapted from old PBD cloth, collision, tearing, and cloth-material concepts. It proves a pinned cloth grid, structural/shear/bending constraint counts, wind displacement, sphere-collision response, tear-candidate metrics, and fabric material parameters; it does not claim GPU cloth, self-collision, topology tearing, fabric shader parity, Unity Cloth parity, or Unreal Chaos Cloth parity."
+    };
+}
+function particleIndex(x, y, segmentsX) {
+    return y * (segmentsX + 1) + x;
+}
+function constraintStrain(left, right, restLength) {
+    if (!right)
+        return 1;
+    const length = Math.hypot(left[0] - right[0], left[1] - right[1], left[2] - right[2]);
+    return restLength > 0 ? length / restLength : 1;
+}
+function spherePenetration(position, center, radius) {
+    const distance = Math.hypot(position[0] - center[0], position[1] - center[1], position[2] - center[2]);
+    return Math.max(0, radius - distance);
+}
+function resolveSphere(position, center, radius) {
+    const dx = position[0] - center[0];
+    const dy = position[1] - center[1];
+    const dz = position[2] - center[2];
+    const length = Math.max(0.0001, Math.hypot(dx, dy, dz));
+    return [
+        round4(center[0] + dx / length * radius),
+        round4(center[1] + dy / length * radius),
+        round4(center[2] + dz / length * radius)
+    ];
+}
+function hash01(seed, salt) {
+    let value = Math.imul(seed + salt * 1013904223, 1664525) + 1013904223;
+    value = Math.imul(value ^ (value >>> 13), 1274126177);
+    return ((value ^ (value >>> 16)) >>> 0) / 4294967296;
+}
+function hashNumbers(values) {
+    let hash = 0x811c9dc5;
+    for (const value of values) {
+        const scaled = Math.round(value * 10_000);
+        hash ^= scaled & 0xff;
+        hash = Math.imul(hash, 0x01000193) >>> 0;
+        hash ^= (scaled >>> 8) & 0xff;
+        hash = Math.imul(hash, 0x01000193) >>> 0;
+        hash ^= (scaled >>> 16) & 0xff;
+        hash = Math.imul(hash, 0x01000193) >>> 0;
+    }
+    return hash.toString(16).padStart(8, "0");
+}
+function round4(value) {
+    return Number(value.toFixed(4));
+}
+function finiteNonNegative(value, label) {
+    if (!Number.isFinite(value) || value < 0)
+        throw new RangeError(`Cloth fixture ${label} must be finite and non-negative.`);
+    return value;
+}
+function integer(value, label) {
+    if (!Number.isInteger(value))
+        throw new RangeError(`Cloth fixture ${label} must be an integer.`);
+    return value;
+}
+function integerInRange(value, label, min, max) {
+    const parsed = integer(value, label);
+    if (parsed < min || parsed > max)
+        throw new RangeError(`Cloth fixture ${label} must be in the [${min}, ${max}] range.`);
+    return parsed;
+}
+//# sourceMappingURL=ClothFixtures.js.map

package/dist/physics/ClothFixtures.js.map

@@ -0,0 +1 @@
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package/dist/physics/Collider.d.ts

@@ -0,0 +1,27 @@
+import { type Bounds, type PhysicsShape, type Vec3 } from "./Shape.js";
+export type CollisionFilter = {
+    readonly layer: number;
+    readonly mask: number;
+};
+export type ColliderMaterial = {
+    readonly restitution: number;
+    readonly friction: number;
+};
+export type ColliderDescriptor = {
+    readonly shape: PhysicsShape;
+    readonly sensor?: boolean;
+    readonly filter?: Partial<CollisionFilter>;
+    readonly material?: Partial<ColliderMaterial>;
+};
+export declare class Collider {
+    readonly id: number;
+    readonly bodyId: number;
+    readonly shape: PhysicsShape;
+    readonly sensor: boolean;
+    readonly filter: CollisionFilter;
+    readonly material: ColliderMaterial;
+    constructor(id: number, bodyId: number, descriptor: ColliderDescriptor);
+    canCollideWith(other: Collider): boolean;
+    bounds(position: Vec3): Bounds;
+}
+//# sourceMappingURL=Collider.d.ts.map

package/dist/physics/Collider.d.ts.map

@@ -0,0 +1 @@
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package/dist/physics/Collider.js

@@ -0,0 +1,45 @@
+import { Shape } from "./Shape.js";
+export class Collider {
+    id;
+    bodyId;
+    shape;
+    sensor;
+    filter;
+    material;
+    constructor(id, bodyId, descriptor) {
+        if (!Number.isInteger(id) || id <= 0) {
+            throw new Error("Collider id must be a positive integer.");
+        }
+        if (!Number.isInteger(bodyId) || bodyId <= 0) {
+            throw new Error("Collider body id must be a positive integer.");
+        }
+        this.id = id;
+        this.bodyId = bodyId;
+        this.shape = descriptor.shape;
+        this.sensor = descriptor.sensor ?? false;
+        this.filter = {
+            layer: descriptor.filter?.layer ?? 1,
+            mask: descriptor.filter?.mask ?? 0xffffffff
+        };
+        this.material = {
+            restitution: descriptor.material?.restitution ?? 0,
+            friction: descriptor.material?.friction ?? 0.5
+        };
+        if (this.filter.layer < 0 || this.filter.mask < 0) {
+            throw new Error("Collider filter layer and mask must be non-negative bit masks.");
+        }
+        if (!Number.isFinite(this.material.restitution) ||
+            !Number.isFinite(this.material.friction) ||
+            this.material.restitution < 0 ||
+            this.material.friction < 0) {
+            throw new Error("Collider material values must be finite and non-negative.");
+        }
+    }
+    canCollideWith(other) {
+        return (this.filter.mask & other.filter.layer) !== 0 && (other.filter.mask & this.filter.layer) !== 0;
+    }
+    bounds(position) {
+        return Shape.bounds(this.shape, position);
+    }
+}
+//# sourceMappingURL=Collider.js.map

package/dist/physics/Collider.js.map

@@ -0,0 +1 @@
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package/dist/physics/CollisionEvents.d.ts

@@ -0,0 +1,26 @@
+import type { Vec3 } from "./Shape.js";
+export type Contact = {
+    readonly colliderA: number;
+    readonly colliderB: number;
+    readonly bodyA: number;
+    readonly bodyB: number;
+    readonly normal: Vec3;
+    readonly penetration: number;
+    readonly sensor: boolean;
+};
+export type CollisionEventType = "begin" | "stay" | "end";
+export type CollisionEvent = {
+    readonly type: CollisionEventType;
+    readonly pairKey: string;
+    readonly contact: Contact;
+};
+export declare function contactPairKey(colliderA: number, colliderB: number): string;
+export declare class CollisionEventQueue {
+    private previousContacts;
+    private events;
+    update(currentContacts: readonly Contact[]): readonly CollisionEvent[];
+    removeCollider(colliderId: number): readonly CollisionEvent[];
+    drain(): readonly CollisionEvent[];
+    snapshotContacts(): readonly Contact[];
+}
+//# sourceMappingURL=CollisionEvents.d.ts.map

package/dist/physics/CollisionEvents.d.ts.map

@@ -0,0 +1 @@
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package/dist/physics/CollisionEvents.js

@@ -0,0 +1,46 @@
+export function contactPairKey(colliderA, colliderB) {
+    return colliderA < colliderB ? `${colliderA}:${colliderB}` : `${colliderB}:${colliderA}`;
+}
+export class CollisionEventQueue {
+    previousContacts = new Map();
+    events = [];
+    update(currentContacts) {
+        const next = new Map();
+        const events = [];
+        for (const contact of currentContacts) {
+            const pairKey = contactPairKey(contact.colliderA, contact.colliderB);
+            next.set(pairKey, contact);
+            events.push({ type: this.previousContacts.has(pairKey) ? "stay" : "begin", pairKey, contact });
+        }
+        for (const [pairKey, contact] of this.previousContacts) {
+            if (!next.has(pairKey)) {
+                events.push({ type: "end", pairKey, contact });
+            }
+        }
+        events.sort((a, b) => a.pairKey.localeCompare(b.pairKey) || a.type.localeCompare(b.type));
+        this.previousContacts = next;
+        this.events = events;
+        return this.drain();
+    }
+    removeCollider(colliderId) {
+        const removedEvents = [];
+        for (const [pairKey, contact] of this.previousContacts) {
+            if (contact.colliderA === colliderId || contact.colliderB === colliderId) {
+                const event = { type: "end", pairKey, contact };
+                this.events.push(event);
+                removedEvents.push(event);
+                this.previousContacts.delete(pairKey);
+            }
+        }
+        return removedEvents;
+    }
+    drain() {
+        const events = this.events;
+        this.events = [];
+        return events;
+    }
+    snapshotContacts() {
+        return Array.from(this.previousContacts.values());
+    }
+}
+//# sourceMappingURL=CollisionEvents.js.map

package/dist/physics/CollisionEvents.js.map

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package/dist/physics/Constraint.d.ts

@@ -0,0 +1,31 @@
+import { type Vec3 } from "./Shape.js";
+import type { RigidBody } from "./RigidBody.js";
+export type ConstraintType = "fixed" | "hinge" | "slider" | "spring";
+export type ConstraintDescriptor = {
+    readonly type: ConstraintType;
+    readonly bodyA: RigidBody;
+    readonly bodyB: RigidBody;
+    readonly localAnchorA?: Vec3;
+    readonly localAnchorB?: Vec3;
+    readonly restLength?: number;
+    readonly stiffness?: number;
+    readonly axis?: Vec3;
+};
+export declare class Constraint {
+    readonly type: ConstraintType;
+    readonly bodyA: RigidBody;
+    readonly bodyB: RigidBody;
+    readonly localAnchorA: Vec3;
+    readonly localAnchorB: Vec3;
+    readonly restOffset: Vec3;
+    readonly restLength: number;
+    readonly stiffness: number;
+    readonly axis: Vec3;
+    constructor(descriptor: ConstraintDescriptor);
+    solve(): void;
+    private anchorAWorld;
+    private anchorBWorld;
+    private applyError;
+    private applyVelocityError;
+}
+//# sourceMappingURL=Constraint.d.ts.map

package/dist/physics/Constraint.d.ts.map

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package/dist/physics/Constraint.js

@@ -0,0 +1,103 @@
+import { addVec3, dotVec3, normalizeVec3, scaleVec3, subVec3, validateFiniteVec3 } from "./Shape.js";
+export class Constraint {
+    type;
+    bodyA;
+    bodyB;
+    localAnchorA;
+    localAnchorB;
+    restOffset;
+    restLength;
+    stiffness;
+    axis;
+    constructor(descriptor) {
+        if (descriptor.bodyA.id === descriptor.bodyB.id) {
+            throw new Error("Constraint requires two different bodies.");
+        }
+        this.localAnchorA = descriptor.localAnchorA ?? [0, 0, 0];
+        this.localAnchorB = descriptor.localAnchorB ?? [0, 0, 0];
+        validateFiniteVec3(this.localAnchorA, "constraint localAnchorA");
+        validateFiniteVec3(this.localAnchorB, "constraint localAnchorB");
+        this.axis = normalizeVec3(descriptor.axis ?? [1, 0, 0]);
+        this.type = descriptor.type;
+        this.bodyA = descriptor.bodyA;
+        this.bodyB = descriptor.bodyB;
+        const anchorA = this.anchorAWorld();
+        const anchorB = this.anchorBWorld();
+        this.restOffset = subVec3(anchorB, anchorA);
+        this.restLength = descriptor.restLength ?? Math.hypot(this.restOffset[0], this.restOffset[1], this.restOffset[2]);
+        this.stiffness = descriptor.stiffness ?? 1;
+        if (!Number.isFinite(this.restLength) || this.restLength < 0) {
+            throw new Error("Constraint restLength must be finite and non-negative.");
+        }
+        if (!Number.isFinite(this.stiffness) || this.stiffness < 0 || this.stiffness > 1) {
+            throw new Error("Constraint stiffness must be in the [0, 1] range.");
+        }
+    }
+    solve() {
+        if (this.stiffness === 0) {
+            return;
+        }
+        if (this.type === "fixed") {
+            const currentOffset = subVec3(this.anchorBWorld(), this.anchorAWorld());
+            this.applyError(subVec3(currentOffset, this.restOffset));
+            this.applyVelocityError(subVec3(this.bodyB.velocity, this.bodyA.velocity));
+        }
+        else if (this.type === "hinge") {
+            this.applyError(subVec3(this.anchorBWorld(), this.anchorAWorld()));
+            this.applyVelocityError(subVec3(this.bodyB.velocity, this.bodyA.velocity));
+        }
+        else if (this.type === "slider") {
+            const currentOffset = subVec3(this.anchorBWorld(), this.anchorAWorld());
+            const projected = scaleVec3(this.axis, dotVec3(currentOffset, this.axis));
+            this.applyError(subVec3(currentOffset, projected));
+            const relativeVelocity = subVec3(this.bodyB.velocity, this.bodyA.velocity);
+            const projectedVelocity = scaleVec3(this.axis, dotVec3(relativeVelocity, this.axis));
+            this.applyVelocityError(subVec3(relativeVelocity, projectedVelocity));
+        }
+        else if (this.type === "spring") {
+            const currentOffset = subVec3(this.anchorBWorld(), this.anchorAWorld());
+            const currentLength = Math.hypot(currentOffset[0], currentOffset[1], currentOffset[2]);
+            if (currentLength <= 1e-9) {
+                return;
+            }
+            const lengthError = currentLength - this.restLength;
+            this.applyError(scaleVec3(currentOffset, lengthError / currentLength));
+            const relativeVelocity = subVec3(this.bodyB.velocity, this.bodyA.velocity);
+            const axis = scaleVec3(currentOffset, 1 / currentLength);
+            this.applyVelocityError(scaleVec3(axis, dotVec3(relativeVelocity, axis) * Math.min(1, this.stiffness)));
+        }
+    }
+    anchorAWorld() {
+        return addVec3(this.bodyA.position, this.localAnchorA);
+    }
+    anchorBWorld() {
+        return addVec3(this.bodyB.position, this.localAnchorB);
+    }
+    applyError(error) {
+        const inverseMassSum = this.bodyA.inverseMass + this.bodyB.inverseMass;
+        if (inverseMassSum <= 0) {
+            return;
+        }
+        const weightedError = scaleVec3(error, this.stiffness);
+        if (this.bodyA.inverseMass > 0) {
+            this.bodyA.setPosition(addVec3(this.bodyA.position, scaleVec3(weightedError, this.bodyA.inverseMass / inverseMassSum)));
+        }
+        if (this.bodyB.inverseMass > 0) {
+            this.bodyB.setPosition(subVec3(this.bodyB.position, scaleVec3(weightedError, this.bodyB.inverseMass / inverseMassSum)));
+        }
+    }
+    applyVelocityError(errorVelocity) {
+        const inverseMassSum = this.bodyA.inverseMass + this.bodyB.inverseMass;
+        if (inverseMassSum <= 0) {
+            return;
+        }
+        const correctionImpulse = scaleVec3(errorVelocity, -this.stiffness / inverseMassSum);
+        if (this.bodyA.inverseMass > 0) {
+            this.bodyA.applyImpulse(scaleVec3(correctionImpulse, -1));
+        }
+        if (this.bodyB.inverseMass > 0) {
+            this.bodyB.applyImpulse(correctionImpulse);
+        }
+    }
+}
+//# sourceMappingURL=Constraint.js.map

package/dist/physics/Constraint.js.map

@@ -0,0 +1 @@
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package/dist/physics/Constraints.d.ts

@@ -0,0 +1,2 @@
+export * from "./Constraint.js";
+//# sourceMappingURL=Constraints.d.ts.map

package/dist/physics/Constraints.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"Constraints.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/Constraints.ts"],"names":[],"mappings":"AAAA,cAAc,iBAAiB,CAAC"}

package/dist/physics/Constraints.js

@@ -0,0 +1,2 @@
+export * from "./Constraint.js";
+//# sourceMappingURL=Constraints.js.map

package/dist/physics/Constraints.js.map

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+{"version":3,"file":"Constraints.js","sourceRoot":"","sources":["../../../../packages/physics/src/Constraints.ts"],"names":[],"mappings":"AAAA,cAAc,iBAAiB,CAAC"}