@aura3d/engine 1.0.0

package/dist/physics/RigidBody.d.ts

@@ -0,0 +1,69 @@
+import { type Vec3 } from "./Shape.js";
+export type RigidBodyType = "dynamic" | "static" | "kinematic";
+export type Quat = readonly [number, number, number, number];
+export type RigidBodyDescriptor = {
+    readonly type?: RigidBodyType;
+    readonly position?: Vec3;
+    readonly rotation?: Quat;
+    readonly velocity?: Vec3;
+    readonly angularVelocity?: Vec3;
+    readonly mass?: number;
+    readonly inertia?: Vec3;
+    readonly linearDamping?: number;
+    readonly angularDamping?: number;
+    readonly restitution?: number;
+    readonly friction?: number;
+    readonly sleeping?: boolean;
+};
+export type RigidBodySnapshot = {
+    readonly id: number;
+    readonly type: RigidBodyType;
+    readonly position: Vec3;
+    readonly rotation: Quat;
+    readonly velocity: Vec3;
+    readonly angularVelocity: Vec3;
+    readonly mass: number;
+    readonly inverseMass: number;
+    readonly inverseInertia: Vec3;
+    readonly sleeping: boolean;
+};
+export declare class RigidBody {
+    readonly id: number;
+    readonly type: RigidBodyType;
+    readonly mass: number;
+    readonly inverseMass: number;
+    readonly restitution: number;
+    readonly friction: number;
+    position: [number, number, number];
+    previousPosition: [number, number, number];
+    rotation: [number, number, number, number];
+    previousRotation: [number, number, number, number];
+    velocity: [number, number, number];
+    angularVelocity: [number, number, number];
+    linearDamping: number;
+    angularDamping: number;
+    inverseInertia: [number, number, number];
+    sleeping: boolean;
+    private accumulatedForce;
+    private accumulatedTorque;
+    private sleepTimer;
+    constructor(id: number, descriptor?: RigidBodyDescriptor);
+    setPosition(position: Vec3): void;
+    setVelocity(velocity: Vec3): void;
+    setRotation(rotation: Quat): void;
+    setAngularVelocity(angularVelocity: Vec3): void;
+    applyForce(force: Vec3): void;
+    applyTorque(torque: Vec3): void;
+    applyImpulse(impulse: Vec3): void;
+    applyAngularImpulse(impulse: Vec3): void;
+    applyImpulseAtPoint(impulse: Vec3, worldPoint: Vec3): void;
+    integrate(dt: number, gravity: Vec3): void;
+    clearForces(): void;
+    speedSquared(): number;
+    wake(): void;
+    sleep(): void;
+    resetSleepTimer(): void;
+    accumulateSleepTime(dt: number): number;
+    snapshot(): RigidBodySnapshot;
+}
+//# sourceMappingURL=RigidBody.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"RigidBody.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/RigidBody.ts"],"names":[],"mappings":"AAAA,OAAO,EAAqD,KAAK,IAAI,EAAQ,MAAM,YAAY,CAAC;AAEhG,MAAM,MAAM,aAAa,GAAG,SAAS,GAAG,QAAQ,GAAG,WAAW,CAAC;AAC/D,MAAM,MAAM,IAAI,GAAG,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;AAE7D,MAAM,MAAM,mBAAmB,GAAG;IAChC,QAAQ,CAAC,IAAI,CAAC,EAAE,aAAa,CAAC;IAC9B,QAAQ,CAAC,QAAQ,CAAC,EAAE,IAAI,CAAC;IACzB,QAAQ,CAAC,QAAQ,CAAC,EAAE,IAAI,CAAC;IACzB,QAAQ,CAAC,QAAQ,CAAC,EAAE,IAAI,CAAC;IACzB,QAAQ,CAAC,eAAe,CAAC,EAAE,IAAI,CAAC;IAChC,QAAQ,CAAC,IAAI,CAAC,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,OAAO,CAAC,EAAE,IAAI,CAAC;IACxB,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,QAAQ,CAAC,EAAE,OAAO,CAAC;CAC7B,CAAC;AAEF,MAAM,MAAM,iBAAiB,GAAG;IAC9B,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;IACpB,QAAQ,CAAC,IAAI,EAAE,aAAa,CAAC;IAC7B,QAAQ,CAAC,QAAQ,EAAE,IAAI,CAAC;IACxB,QAAQ,CAAC,QAAQ,EAAE,IAAI,CAAC;IACxB,QAAQ,CAAC,QAAQ,EAAE,IAAI,CAAC;IACxB,QAAQ,CAAC,eAAe,EAAE,IAAI,CAAC;IAC/B,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,cAAc,EAAE,IAAI,CAAC;IAC9B,QAAQ,CAAC,QAAQ,EAAE,OAAO,CAAC;CAC5B,CAAC;AAEF,qBAAa,SAAS;IACpB,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;IACpB,QAAQ,CAAC,IAAI,EAAE,aAAa,CAAC;IAC7B,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACnC,gBAAgB,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IAC3C,QAAQ,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IAC3C,gBAAgB,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACnD,QAAQ,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACnC,eAAe,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IAC1C,aAAa,EAAE,MAAM,CAAC;IACtB,cAAc,EAAE,MAAM,CAAC;IACvB,cAAc,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACzC,QAAQ,EAAE,OAAO,CAAC;IAClB,OAAO,CAAC,gBAAgB,CAA2B;IACnD,OAAO,CAAC,iBAAiB,CAA2B;IACpD,OAAO,CAAC,UAAU,CAAK;gBAEX,EAAE,EAAE,MAAM,EAAE,UAAU,GAAE,mBAAwB;IA2C5D,WAAW,CAAC,QAAQ,EAAE,IAAI,GAAG,IAAI;IAOjC,WAAW,CAAC,QAAQ,EAAE,IAAI,GAAG,IAAI;IAMjC,WAAW,CAAC,QAAQ,EAAE,IAAI,GAAG,IAAI;IAMjC,kBAAkB,CAAC,eAAe,EAAE,IAAI,GAAG,IAAI;IAM/C,UAAU,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAS7B,WAAW,CAAC,MAAM,EAAE,IAAI,GAAG,IAAI;IAS/B,YAAY,CAAC,OAAO,EAAE,IAAI,GAAG,IAAI;IASjC,mBAAmB,CAAC,OAAO,EAAE,IAAI,GAAG,IAAI;IASxC,mBAAmB,CAAC,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,GAAG,IAAI;IAU1D,SAAS,CAAC,EAAE,EAAE,MAAM,EAAE,OAAO,EAAE,IAAI,GAAG,IAAI;IAwB1C,WAAW,IAAI,IAAI;IAKnB,YAAY,IAAI,MAAM;IAKtB,IAAI,IAAI,IAAI;IAQZ,KAAK,IAAI,IAAI;IAUb,eAAe,IAAI,IAAI;IAIvB,mBAAmB,CAAC,EAAE,EAAE,MAAM,GAAG,MAAM;IAQvC,QAAQ,IAAI,iBAAiB;CAc9B"}

package/dist/physics/RigidBody.js

@@ -0,0 +1,255 @@
+import { addVec3, cloneVec3, scaleVec3, validateFiniteVec3, vec3 } from "./Shape.js";
+export class RigidBody {
+    id;
+    type;
+    mass;
+    inverseMass;
+    restitution;
+    friction;
+    position;
+    previousPosition;
+    rotation;
+    previousRotation;
+    velocity;
+    angularVelocity;
+    linearDamping;
+    angularDamping;
+    inverseInertia;
+    sleeping;
+    accumulatedForce;
+    accumulatedTorque;
+    sleepTimer = 0;
+    constructor(id, descriptor = {}) {
+        if (!Number.isInteger(id) || id <= 0) {
+            throw new Error("RigidBody id must be a positive integer.");
+        }
+        this.id = id;
+        this.type = descriptor.type ?? "dynamic";
+        this.position = cloneVec3(descriptor.position ?? vec3());
+        this.previousPosition = cloneVec3(this.position);
+        this.rotation = normalizeQuat(descriptor.rotation ?? [0, 0, 0, 1]);
+        this.previousRotation = cloneQuat(this.rotation);
+        this.velocity = cloneVec3(descriptor.velocity ?? vec3());
+        this.angularVelocity = cloneVec3(descriptor.angularVelocity ?? vec3());
+        this.linearDamping = descriptor.linearDamping ?? 0;
+        this.angularDamping = descriptor.angularDamping ?? 0;
+        this.restitution = descriptor.restitution ?? 0;
+        this.friction = descriptor.friction ?? 0.5;
+        this.sleeping = descriptor.sleeping ?? false;
+        validateFiniteVec3(this.position, "body position");
+        validateFiniteVec3(this.velocity, "body velocity");
+        validateFiniteVec3(this.angularVelocity, "body angularVelocity");
+        if (!Number.isFinite(this.linearDamping) || this.linearDamping < 0) {
+            throw new Error("linearDamping must be finite and non-negative.");
+        }
+        if (!Number.isFinite(this.angularDamping) || this.angularDamping < 0) {
+            throw new Error("angularDamping must be finite and non-negative.");
+        }
+        const mass = descriptor.mass ?? 1;
+        if (this.type === "dynamic") {
+            if (!Number.isFinite(mass) || mass <= 0) {
+                throw new Error("dynamic body mass must be a finite positive number.");
+            }
+            this.mass = mass;
+            this.inverseMass = 1 / mass;
+            this.inverseInertia = inverseInertia(descriptor.inertia ?? [mass, mass, mass]);
+        }
+        else {
+            this.mass = Number.POSITIVE_INFINITY;
+            this.inverseMass = 0;
+            this.inverseInertia = vec3();
+        }
+        this.accumulatedForce = vec3();
+        this.accumulatedTorque = vec3();
+    }
+    setPosition(position) {
+        validateFiniteVec3(position, "body position");
+        this.previousPosition = cloneVec3(this.position);
+        this.position = cloneVec3(position);
+        this.wake();
+    }
+    setVelocity(velocity) {
+        validateFiniteVec3(velocity, "body velocity");
+        this.velocity = cloneVec3(velocity);
+        this.wake();
+    }
+    setRotation(rotation) {
+        this.previousRotation = cloneQuat(this.rotation);
+        this.rotation = normalizeQuat(rotation);
+        this.wake();
+    }
+    setAngularVelocity(angularVelocity) {
+        validateFiniteVec3(angularVelocity, "body angularVelocity");
+        this.angularVelocity = cloneVec3(angularVelocity);
+        this.wake();
+    }
+    applyForce(force) {
+        validateFiniteVec3(force, "force");
+        if (this.type !== "dynamic") {
+            return;
+        }
+        this.accumulatedForce = addVec3(this.accumulatedForce, force);
+        this.wake();
+    }
+    applyTorque(torque) {
+        validateFiniteVec3(torque, "torque");
+        if (this.type !== "dynamic") {
+            return;
+        }
+        this.accumulatedTorque = addVec3(this.accumulatedTorque, torque);
+        this.wake();
+    }
+    applyImpulse(impulse) {
+        validateFiniteVec3(impulse, "impulse");
+        if (this.type !== "dynamic") {
+            return;
+        }
+        this.velocity = addVec3(this.velocity, scaleVec3(impulse, this.inverseMass));
+        this.wake();
+    }
+    applyAngularImpulse(impulse) {
+        validateFiniteVec3(impulse, "angular impulse");
+        if (this.type !== "dynamic") {
+            return;
+        }
+        this.angularVelocity = addVec3(this.angularVelocity, multiplyVec3(impulse, this.inverseInertia));
+        this.wake();
+    }
+    applyImpulseAtPoint(impulse, worldPoint) {
+        validateFiniteVec3(impulse, "impulse");
+        validateFiniteVec3(worldPoint, "impulse point");
+        if (this.type !== "dynamic") {
+            return;
+        }
+        this.applyImpulse(impulse);
+        this.applyAngularImpulse(crossVec3(subVec3(worldPoint, this.position), impulse));
+    }
+    integrate(dt, gravity) {
+        if (!Number.isFinite(dt) || dt <= 0) {
+            throw new Error("dt must be a finite positive number.");
+        }
+        if (this.type !== "dynamic" || this.sleeping) {
+            this.clearForces();
+            this.previousPosition = cloneVec3(this.position);
+            this.previousRotation = cloneQuat(this.rotation);
+            return;
+        }
+        this.previousPosition = cloneVec3(this.position);
+        this.previousRotation = cloneQuat(this.rotation);
+        const acceleration = addVec3(gravity, scaleVec3(this.accumulatedForce, this.inverseMass));
+        this.velocity = addVec3(this.velocity, scaleVec3(acceleration, dt));
+        this.angularVelocity = addVec3(this.angularVelocity, scaleVec3(multiplyVec3(this.accumulatedTorque, this.inverseInertia), dt));
+        const dampingFactor = Math.max(0, 1 - this.linearDamping * dt);
+        const angularDampingFactor = Math.max(0, 1 - this.angularDamping * dt);
+        this.velocity = scaleVec3(this.velocity, dampingFactor);
+        this.angularVelocity = scaleVec3(this.angularVelocity, angularDampingFactor);
+        this.position = addVec3(this.position, scaleVec3(this.velocity, dt));
+        this.rotation = integrateRotation(this.rotation, this.angularVelocity, dt);
+        this.clearForces();
+    }
+    clearForces() {
+        this.accumulatedForce = vec3();
+        this.accumulatedTorque = vec3();
+    }
+    speedSquared() {
+        return this.velocity[0] * this.velocity[0] + this.velocity[1] * this.velocity[1] + this.velocity[2] * this.velocity[2] +
+            this.angularVelocity[0] * this.angularVelocity[0] + this.angularVelocity[1] * this.angularVelocity[1] + this.angularVelocity[2] * this.angularVelocity[2];
+    }
+    wake() {
+        if (this.type !== "dynamic") {
+            return;
+        }
+        this.sleeping = false;
+        this.sleepTimer = 0;
+    }
+    sleep() {
+        if (this.type !== "dynamic") {
+            return;
+        }
+        this.velocity = vec3();
+        this.angularVelocity = vec3();
+        this.clearForces();
+        this.sleeping = true;
+    }
+    resetSleepTimer() {
+        this.sleepTimer = 0;
+    }
+    accumulateSleepTime(dt) {
+        if (!Number.isFinite(dt) || dt < 0) {
+            throw new Error("sleep dt must be finite and non-negative.");
+        }
+        this.sleepTimer += dt;
+        return this.sleepTimer;
+    }
+    snapshot() {
+        return {
+            id: this.id,
+            type: this.type,
+            position: cloneVec3(this.position),
+            rotation: cloneQuat(this.rotation),
+            velocity: cloneVec3(this.velocity),
+            angularVelocity: cloneVec3(this.angularVelocity),
+            mass: this.mass,
+            inverseMass: this.inverseMass,
+            inverseInertia: cloneVec3(this.inverseInertia),
+            sleeping: this.sleeping
+        };
+    }
+}
+function cloneQuat(value) {
+    return [value[0], value[1], value[2], value[3]];
+}
+function normalizeQuat(value) {
+    if (value.length !== 4 || !Number.isFinite(value[0]) || !Number.isFinite(value[1]) || !Number.isFinite(value[2]) || !Number.isFinite(value[3])) {
+        throw new Error("body rotation must be a finite quaternion.");
+    }
+    const length = Math.hypot(value[0], value[1], value[2], value[3]);
+    if (length <= 1e-9) {
+        throw new Error("body rotation quaternion cannot be zero.");
+    }
+    return [value[0] / length, value[1] / length, value[2] / length, value[3] / length];
+}
+function inverseInertia(inertia) {
+    validateFiniteVec3(inertia, "body inertia");
+    if (inertia[0] <= 0 || inertia[1] <= 0 || inertia[2] <= 0) {
+        throw new Error("dynamic body inertia must contain finite positive principal moments.");
+    }
+    return [1 / inertia[0], 1 / inertia[1], 1 / inertia[2]];
+}
+function multiplyVec3(a, b) {
+    return [a[0] * b[0], a[1] * b[1], a[2] * b[2]];
+}
+function subVec3(a, b) {
+    return [a[0] - b[0], a[1] - b[1], a[2] - b[2]];
+}
+function crossVec3(a, b) {
+    return [
+        a[1] * b[2] - a[2] * b[1],
+        a[2] * b[0] - a[0] * b[2],
+        a[0] * b[1] - a[1] * b[0]
+    ];
+}
+function integrateRotation(rotation, angularVelocity, dt) {
+    const speed = Math.hypot(angularVelocity[0], angularVelocity[1], angularVelocity[2]);
+    if (speed <= 1e-12) {
+        return cloneQuat(rotation);
+    }
+    const halfAngle = speed * dt * 0.5;
+    const sinHalf = Math.sin(halfAngle);
+    const delta = [
+        angularVelocity[0] / speed * sinHalf,
+        angularVelocity[1] / speed * sinHalf,
+        angularVelocity[2] / speed * sinHalf,
+        Math.cos(halfAngle)
+    ];
+    return normalizeQuat(multiplyQuat(delta, rotation));
+}
+function multiplyQuat(a, b) {
+    return [
+        a[3] * b[0] + a[0] * b[3] + a[1] * b[2] - a[2] * b[1],
+        a[3] * b[1] - a[0] * b[2] + a[1] * b[3] + a[2] * b[0],
+        a[3] * b[2] + a[0] * b[1] - a[1] * b[0] + a[2] * b[3],
+        a[3] * b[3] - a[0] * b[0] - a[1] * b[1] - a[2] * b[2]
+    ];
+}
+//# sourceMappingURL=RigidBody.js.map

package/dist/physics/RigidBody.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"RigidBody.js","sourceRoot":"","sources":["../../../../packages/physics/src/RigidBody.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,OAAO,EAAE,SAAS,EAAE,SAAS,EAAE,kBAAkB,EAAa,IAAI,EAAE,MAAM,YAAY,CAAC;AAiChG,MAAM,OAAO,SAAS;IACX,EAAE,CAAS;IACX,IAAI,CAAgB;IACpB,IAAI,CAAS;IACb,WAAW,CAAS;IACpB,WAAW,CAAS;IACpB,QAAQ,CAAS;IAC1B,QAAQ,CAA2B;IACnC,gBAAgB,CAA2B;IAC3C,QAAQ,CAAmC;IAC3C,gBAAgB,CAAmC;IACnD,QAAQ,CAA2B;IACnC,eAAe,CAA2B;IAC1C,aAAa,CAAS;IACtB,cAAc,CAAS;IACvB,cAAc,CAA2B;IACzC,QAAQ,CAAU;IACV,gBAAgB,CAA2B;IAC3C,iBAAiB,CAA2B;IAC5C,UAAU,GAAG,CAAC,CAAC;IAEvB,YAAY,EAAU,EAAE,aAAkC,EAAE;QAC1D,IAAI,CAAC,MAAM,CAAC,SAAS,CAAC,EAAE,CAAC,IAAI,EAAE,IAAI,CAAC,EAAE,CAAC;YACrC,MAAM,IAAI,KAAK,CAAC,0CAA0C,CAAC,CAAC;QAC9D,CAAC;QACD,IAAI,CAAC,EAAE,GAAG,EAAE,CAAC;QACb,IAAI,CAAC,IAAI,GAAG,UAAU,CAAC,IAAI,IAAI,SAAS,CAAC;QACzC,IAAI,CAAC,QAAQ,GAAG,SAAS,CAAC,UAAU,CAAC,QAAQ,IAAI,IAAI,EAAE,CAAC,CAAC;QACzD,IAAI,CAAC,gBAAgB,GAAG,SAAS,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;QACjD,IAAI,CAAC,QAAQ,GAAG,aAAa,CAAC,UAAU,CAAC,QAAQ,IAAI,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;QACnE,IAAI,CAAC,gBAAgB,GAAG,SAAS,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;QACjD,IAAI,CAAC,QAAQ,GAAG,SAAS,CAAC,UAAU,CAAC,QAAQ,IAAI,IAAI,EAAE,CAAC,CAAC;QACzD,IAAI,CAAC,eAAe,GAAG,SAAS,CAAC,UAAU,CAAC,eAAe,IAAI,IAAI,EAAE,CAAC,CAAC;QACvE,IAAI,CAAC,aAAa,GAAG,UAAU,CAAC,aAAa,IAAI,CAAC,CAAC;QACnD,IAAI,CAAC,cAAc,GAAG,UAAU,CAAC,cAAc,IAAI,CAAC,CAAC;QACrD,IAAI,CAAC,WAAW,GAAG,UAAU,CAAC,WAAW,IAAI,CAAC,CAAC;QAC/C,IAAI,CAAC,QAAQ,GAAG,UAAU,CAAC,QAAQ,IAAI,GAAG,CAAC;QAC3C,IAAI,CAAC,QAAQ,GAAG,UAAU,CAAC,QAAQ,IAAI,KAAK,CAAC;QAC7C,kBAAkB,CAAC,IAAI,CAAC,QAAQ,EAAE,eAAe,CAAC,CAAC;QACnD,kBAAkB,CAAC,IAAI,CAAC,QAAQ,EAAE,eAAe,CAAC,CAAC;QACnD,kBAAkB,CAAC,IAAI,CAAC,eAAe,EAAE,sBAAsB,CAAC,CAAC;QACjE,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,IAAI,CAAC,aAAa,CAAC,IAAI,IAAI,CAAC,aAAa,GAAG,CAAC,EAAE,CAAC;YACnE,MAAM,IAAI,KAAK,CAAC,gDAAgD,CAAC,CAAC;QACpE,CAAC;QACD,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,IAAI,CAAC,cAAc,CAAC,IAAI,IAAI,CAAC,cAAc,GAAG,CAAC,EAAE,CAAC;YACrE,MAAM,IAAI,KAAK,CAAC,iDAAiD,CAAC,CAAC;QACrE,CAAC;QACD,MAAM,IAAI,GAAG,UAAU,CAAC,IAAI,IAAI,CAAC,CAAC;QAClC,IAAI,IAAI,CAAC,IAAI,KAAK,SAAS,EAAE,CAAC;YAC5B,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,IAAI,CAAC,IAAI,IAAI,IAAI,CAAC,EAAE,CAAC;gBACxC,MAAM,IAAI,KAAK,CAAC,qDAAqD,CAAC,CAAC;YACzE,CAAC;YACD,IAAI,CAAC,IAAI,GAAG,IAAI,CAAC;YACjB,IAAI,CAAC,WAAW,GAAG,CAAC,GAAG,IAAI,CAAC;YAC5B,IAAI,CAAC,cAAc,GAAG,cAAc,CAAC,UAAU,CAAC,OAAO,IAAI,CAAC,IAAI,EAAE,IAAI,EAAE,IAAI,CAAC,CAAC,CAAC;QACjF,CAAC;aAAM,CAAC;YACN,IAAI,CAAC,IAAI,GAAG,MAAM,CAAC,iBAAiB,CAAC;YACrC,IAAI,CAAC,WAAW,GAAG,CAAC,CAAC;YACrB,IAAI,CAAC,cAAc,GAAG,IAAI,EAAE,CAAC;QAC/B,CAAC;QACD,IAAI,CAAC,gBAAgB,GAAG,IAAI,EAAE,CAAC;QAC/B,IAAI,CAAC,iBAAiB,GAAG,IAAI,EAAE,CAAC;IAClC,CAAC;IAED,WAAW,CAAC,QAAc;QACxB,kBAAkB,CAAC,QAAQ,EAAE,eAAe,CAAC,CAAC;QAC9C,IAAI,CAAC,gBAAgB,GAAG,SAAS,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;QACjD,IAAI,CAAC,QAAQ,GAAG,SAAS,CAAC,QAAQ,CAAC,CAAC;QACpC,IAAI,CAAC,IAAI,EAAE,CAAC;IACd,CAAC;IAED,WAAW,CAAC,QAAc;QACxB,kBAAkB,CAAC,QAAQ,EAAE,eAAe,CAAC,CAAC;QAC9C,IAAI,CAAC,QAAQ,GAAG,SAAS,CAAC,QAAQ,CAAC,CAAC;QACpC,IAAI,CAAC,IAAI,EAAE,CAAC;IACd,CAAC;IAED,WAAW,CAAC,QAAc;QACxB,IAAI,CAAC,gBAAgB,GAAG,SAAS,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;QACjD,IAAI,CAAC,QAAQ,GAAG,aAAa,CAAC,QAAQ,CAAC,CAAC;QACxC,IAAI,CAAC,IAAI,EAAE,CAAC;IACd,CAAC;IAED,kBAAkB,CAAC,eAAqB;QACtC,kBAAkB,CAAC,eAAe,EAAE,sBAAsB,CAAC,CAAC;QAC5D,IAAI,CAAC,eAAe,GAAG,SAAS,CAAC,eAAe,CAAC,CAAC;QAClD,IAAI,CAAC,IAAI,EAAE,CAAC;IACd,CAAC;IAED,UAAU,CAAC,KAAW;QACpB,kBAAkB,CAAC,KAAK,EAAE,OAAO,CAAC,CAAC;QACnC,IAAI,IAAI,CAAC,IAAI,KAAK,SAAS,EAAE,CAAC;YAC5B,OAAO;QACT,CAAC;QACD,IAAI,CAAC,gBAAgB,GAAG,OAAO,CAAC,IAAI,CAAC,gBAAgB,EAAE,KAAK,CAAC,CAAC;QAC9D,IAAI,CAAC,IAAI,EAAE,CAAC;IACd,CAAC;IAED,WAAW,CAAC,MAAY;QACtB,kBAAkB,CAAC,MAAM,EAAE,QAAQ,CAAC,CAAC;QACrC,IAAI,IAAI,CAAC,IAAI,KAAK,SAAS,EAAE,CAAC;YAC5B,OAAO;QACT,CAAC;QACD,IAAI,CAAC,iBAAiB,GAAG,OAAO,CAAC,IAAI,CAAC,iBAAiB,EAAE,MAAM,CAAC,CAAC;QACjE,IAAI,CAAC,IAAI,EAAE,CAAC;IACd,CAAC;IAED,YAAY,CAAC,OAAa;QACxB,kBAAkB,CAAC,OAAO,EAAE,SAAS,CAAC,CAAC;QACvC,IAAI,IAAI,CAAC,IAAI,KAAK,SAAS,EAAE,CAAC;YAC5B,OAAO;QACT,CAAC;QACD,IAAI,CAAC,QAAQ,GAAG,OAAO,CAAC,IAAI,CAAC,QAAQ,EAAE,SAAS,CAAC,OAAO,EAAE,IAAI,CAAC,WAAW,CAAC,CAAC,CAAC;QAC7E,IAAI,CAAC,IAAI,EAAE,CAAC;IACd,CAAC;IAED,mBAAmB,CAAC,OAAa;QAC/B,kBAAkB,CAAC,OAAO,EAAE,iBAAiB,CAAC,CAAC;QAC/C,IAAI,IAAI,CAAC,IAAI,KAAK,SAAS,EAAE,CAAC;YAC5B,OAAO;QACT,CAAC;QACD,IAAI,CAAC,eAAe,GAAG,OAAO,CAAC,IAAI,CAAC,eAAe,EAAE,YAAY,CAAC,OAAO,EAAE,IAAI,CAAC,cAAc,CAAC,CAAC,CAAC;QACjG,IAAI,CAAC,IAAI,EAAE,CAAC;IACd,CAAC;IAED,mBAAmB,CAAC,OAAa,EAAE,UAAgB;QACjD,kBAAkB,CAAC,OAAO,EAAE,SAAS,CAAC,CAAC;QACvC,kBAAkB,CAAC,UAAU,EAAE,eAAe,CAAC,CAAC;QAChD,IAAI,IAAI,CAAC,IAAI,KAAK,SAAS,EAAE,CAAC;YAC5B,OAAO;QACT,CAAC;QACD,IAAI,CAAC,YAAY,CAAC,OAAO,CAAC,CAAC;QAC3B,IAAI,CAAC,mBAAmB,CAAC,SAAS,CAAC,OAAO,CAAC,UAAU,EAAE,IAAI,CAAC,QAAQ,CAAC,EAAE,OAAO,CAAC,CAAC,CAAC;IACnF,CAAC;IAED,SAAS,CAAC,EAAU,EAAE,OAAa;QACjC,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,EAAE,CAAC,IAAI,EAAE,IAAI,CAAC,EAAE,CAAC;YACpC,MAAM,IAAI,KAAK,CAAC,sCAAsC,CAAC,CAAC;QAC1D,CAAC;QACD,IAAI,IAAI,CAAC,IAAI,KAAK,SAAS,IAAI,IAAI,CAAC,QAAQ,EAAE,CAAC;YAC7C,IAAI,CAAC,WAAW,EAAE,CAAC;YACnB,IAAI,CAAC,gBAAgB,GAAG,SAAS,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;YACjD,IAAI,CAAC,gBAAgB,GAAG,SAAS,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;YACjD,OAAO;QACT,CAAC;QACD,IAAI,CAAC,gBAAgB,GAAG,SAAS,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;QACjD,IAAI,CAAC,gBAAgB,GAAG,SAAS,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;QACjD,MAAM,YAAY,GAAG,OAAO,CAAC,OAAO,EAAE,SAAS,CAAC,IAAI,CAAC,gBAAgB,EAAE,IAAI,CAAC,WAAW,CAAC,CAAC,CAAC;QAC1F,IAAI,CAAC,QAAQ,GAAG,OAAO,CAAC,IAAI,CAAC,QAAQ,EAAE,SAAS,CAAC,YAAY,EAAE,EAAE,CAAC,CAAC,CAAC;QACpE,IAAI,CAAC,eAAe,GAAG,OAAO,CAAC,IAAI,CAAC,eAAe,EAAE,SAAS,CAAC,YAAY,CAAC,IAAI,CAAC,iBAAiB,EAAE,IAAI,CAAC,cAAc,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC;QAC/H,MAAM,aAAa,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,IAAI,CAAC,aAAa,GAAG,EAAE,CAAC,CAAC;QAC/D,MAAM,oBAAoB,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,IAAI,CAAC,cAAc,GAAG,EAAE,CAAC,CAAC;QACvE,IAAI,CAAC,QAAQ,GAAG,SAAS,CAAC,IAAI,CAAC,QAAQ,EAAE,aAAa,CAAC,CAAC;QACxD,IAAI,CAAC,eAAe,GAAG,SAAS,CAAC,IAAI,CAAC,eAAe,EAAE,oBAAoB,CAAC,CAAC;QAC7E,IAAI,CAAC,QAAQ,GAAG,OAAO,CAAC,IAAI,CAAC,QAAQ,EAAE,SAAS,CAAC,IAAI,CAAC,QAAQ,EAAE,EAAE,CAAC,CAAC,CAAC;QACrE,IAAI,CAAC,QAAQ,GAAG,iBAAiB,CAAC,IAAI,CAAC,QAAQ,EAAE,IAAI,CAAC,eAAe,EAAE,EAAE,CAAC,CAAC;QAC3E,IAAI,CAAC,WAAW,EAAE,CAAC;IACrB,CAAC;IAED,WAAW;QACT,IAAI,CAAC,gBAAgB,GAAG,IAAI,EAAE,CAAC;QAC/B,IAAI,CAAC,iBAAiB,GAAG,IAAI,EAAE,CAAC;IAClC,CAAC;IAED,YAAY;QACV,OAAO,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC;YACpH,IAAI,CAAC,eAAe,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,eAAe,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,eAAe,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,eAAe,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,eAAe,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,eAAe,CAAC,CAAC,CAAC,CAAC;IAC9J,CAAC;IAED,IAAI;QACF,IAAI,IAAI,CAAC,IAAI,KAAK,SAAS,EAAE,CAAC;YAC5B,OAAO;QACT,CAAC;QACD,IAAI,CAAC,QAAQ,GAAG,KAAK,CAAC;QACtB,IAAI,CAAC,UAAU,GAAG,CAAC,CAAC;IACtB,CAAC;IAED,KAAK;QACH,IAAI,IAAI,CAAC,IAAI,KAAK,SAAS,EAAE,CAAC;YAC5B,OAAO;QACT,CAAC;QACD,IAAI,CAAC,QAAQ,GAAG,IAAI,EAAE,CAAC;QACvB,IAAI,CAAC,eAAe,GAAG,IAAI,EAAE,CAAC;QAC9B,IAAI,CAAC,WAAW,EAAE,CAAC;QACnB,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC;IACvB,CAAC;IAED,eAAe;QACb,IAAI,CAAC,UAAU,GAAG,CAAC,CAAC;IACtB,CAAC;IAED,mBAAmB,CAAC,EAAU;QAC5B,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,EAAE,CAAC,IAAI,EAAE,GAAG,CAAC,EAAE,CAAC;YACnC,MAAM,IAAI,KAAK,CAAC,2CAA2C,CAAC,CAAC;QAC/D,CAAC;QACD,IAAI,CAAC,UAAU,IAAI,EAAE,CAAC;QACtB,OAAO,IAAI,CAAC,UAAU,CAAC;IACzB,CAAC;IAED,QAAQ;QACN,OAAO;YACL,EAAE,EAAE,IAAI,CAAC,EAAE;YACX,IAAI,EAAE,IAAI,CAAC,IAAI;YACf,QAAQ,EAAE,SAAS,CAAC,IAAI,CAAC,QAAQ,CAAC;YAClC,QAAQ,EAAE,SAAS,CAAC,IAAI,CAAC,QAAQ,CAAC;YAClC,QAAQ,EAAE,SAAS,CAAC,IAAI,CAAC,QAAQ,CAAC;YAClC,eAAe,EAAE,SAAS,CAAC,IAAI,CAAC,eAAe,CAAC;YAChD,IAAI,EAAE,IAAI,CAAC,IAAI;YACf,WAAW,EAAE,IAAI,CAAC,WAAW;YAC7B,cAAc,EAAE,SAAS,CAAC,IAAI,CAAC,cAAc,CAAC;YAC9C,QAAQ,EAAE,IAAI,CAAC,QAAQ;SACxB,CAAC;IACJ,CAAC;CACF;AAED,SAAS,SAAS,CAAC,KAAW;IAC5B,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;AAClD,CAAC;AAED,SAAS,aAAa,CAAC,KAAW;IAChC,IAAI,KAAK,CAAC,MAAM,KAAK,CAAC,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC;QAC/I,MAAM,IAAI,KAAK,CAAC,4CAA4C,CAAC,CAAC;IAChE,CAAC;IACD,MAAM,MAAM,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;IAClE,IAAI,MAAM,IAAI,IAAI,EAAE,CAAC;QACnB,MAAM,IAAI,KAAK,CAAC,0CAA0C,CAAC,CAAC;IAC9D,CAAC;IACD,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,MAAM,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,MAAM,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,MAAM,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC;AACtF,CAAC;AAED,SAAS,cAAc,CAAC,OAAa;IACnC,kBAAkB,CAAC,OAAO,EAAE,cAAc,CAAC,CAAC;IAC5C,IAAI,OAAO,CAAC,CAAC,CAAC,IAAI,CAAC,IAAI,OAAO,CAAC,CAAC,CAAC,IAAI,CAAC,IAAI,OAAO,CAAC,CAAC,CAAC,IAAI,CAAC,EAAE,CAAC;QAC1D,MAAM,IAAI,KAAK,CAAC,sEAAsE,CAAC,CAAC;IAC1F,CAAC;IACD,OAAO,CAAC,CAAC,GAAG,OAAO,CAAC,CAAC,CAAC,EAAE,CAAC,GAAG,OAAO,CAAC,CAAC,CAAC,EAAE,CAAC,GAAG,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC;AAC1D,CAAC;AAED,SAAS,YAAY,CAAC,CAAO,EAAE,CAAO;IACpC,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;AACjD,CAAC;AAED,SAAS,OAAO,CAAC,CAAO,EAAE,CAAO;IAC/B,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;AACjD,CAAC;AAED,SAAS,SAAS,CAAC,CAAO,EAAE,CAAO;IACjC,OAAO;QACL,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;QACzB,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;QACzB,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;KAC1B,CAAC;AACJ,CAAC;AAED,SAAS,iBAAiB,CAAC,QAAc,EAAE,eAAqB,EAAE,EAAU;IAC1E,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,eAAe,CAAC,CAAC,CAAC,EAAE,eAAe,CAAC,CAAC,CAAC,EAAE,eAAe,CAAC,CAAC,CAAC,CAAC,CAAC;IACrF,IAAI,KAAK,IAAI,KAAK,EAAE,CAAC;QACnB,OAAO,SAAS,CAAC,QAAQ,CAAC,CAAC;IAC7B,CAAC;IACD,MAAM,SAAS,GAAG,KAAK,GAAG,EAAE,GAAG,GAAG,CAAC;IACnC,MAAM,OAAO,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,CAAC;IACpC,MAAM,KAAK,GAAS;QAClB,eAAe,CAAC,CAAC,CAAC,GAAG,KAAK,GAAG,OAAO;QACpC,eAAe,CAAC,CAAC,CAAC,GAAG,KAAK,GAAG,OAAO;QACpC,eAAe,CAAC,CAAC,CAAC,GAAG,KAAK,GAAG,OAAO;QACpC,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC;KACpB,CAAC;IACF,OAAO,aAAa,CAAC,YAAY,CAAC,KAAK,EAAE,QAAQ,CAAC,CAAC,CAAC;AACtD,CAAC;AAED,SAAS,YAAY,CAAC,CAAO,EAAE,CAAO;IACpC,OAAO;QACL,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;QACrD,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;QACrD,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;QACrD,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;KACtD,CAAC;AACJ,CAAC"}

package/dist/physics/ScenePhysicsBridge.d.ts

@@ -0,0 +1,42 @@
+import type { PhysicsWorld } from "./PhysicsWorld.js";
+import type { Quat } from "./RigidBody.js";
+import type { Vec3 } from "./Shape.js";
+type MutableQuat = [number, number, number, number];
+type QuaternionObject = {
+    x: number;
+    y: number;
+    z: number;
+    w: number;
+    set?: (x: number, y: number, z: number, w: number) => void;
+    toArray?: () => readonly number[];
+};
+export type ScenePhysicsNode = {
+    position?: [number, number, number];
+    rotation?: MutableQuat;
+    quaternion?: MutableQuat | QuaternionObject;
+    getWorldPosition?: () => Vec3;
+    getWorldQuaternion?: () => Quat;
+    getQuaternion?: () => Quat;
+    setWorldPosition?: (position: Vec3) => void;
+    setWorldQuaternion?: (rotation: Quat) => void;
+    setPosition?: (position: Vec3) => void;
+    setRotation?: (rotation: Quat) => void;
+    setQuaternion?: (rotation: Quat) => void;
+};
+export type ScenePhysicsBinding = {
+    readonly bodyId: number;
+    readonly node: ScenePhysicsNode;
+    readonly mode?: "dynamic" | "kinematic";
+};
+export declare class ScenePhysicsBridge {
+    private readonly bindings;
+    bind(binding: ScenePhysicsBinding): void;
+    unbind(bodyId: number): void;
+    pushKinematic(world: Pick<PhysicsWorld, "getBody">): void;
+    pullDynamic(world: Pick<PhysicsWorld, "getBody">, alpha?: number): void;
+    update(world: Pick<PhysicsWorld, "getBody">, alpha?: number): void;
+}
+export declare function interpolatePosition(previous: Vec3, current: Vec3, alpha: number): [number, number, number];
+export declare function interpolateRotation(previous: Quat, current: Quat, alpha: number): MutableQuat;
+export {};
+//# sourceMappingURL=ScenePhysicsBridge.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"ScenePhysicsBridge.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/ScenePhysicsBridge.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,mBAAmB,CAAC;AACtD,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,gBAAgB,CAAC;AAC3C,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,YAAY,CAAC;AAEvC,KAAK,WAAW,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;AACpD,KAAK,gBAAgB,GAAG;IACtB,CAAC,EAAE,MAAM,CAAC;IACV,CAAC,EAAE,MAAM,CAAC;IACV,CAAC,EAAE,MAAM,CAAC;IACV,CAAC,EAAE,MAAM,CAAC;IACV,GAAG,CAAC,EAAE,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,KAAK,IAAI,CAAC;IAC3D,OAAO,CAAC,EAAE,MAAM,SAAS,MAAM,EAAE,CAAC;CACnC,CAAC;AAEF,MAAM,MAAM,gBAAgB,GAAG;IAC7B,QAAQ,CAAC,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACpC,QAAQ,CAAC,EAAE,WAAW,CAAC;IACvB,UAAU,CAAC,EAAE,WAAW,GAAG,gBAAgB,CAAC;IAC5C,gBAAgB,CAAC,EAAE,MAAM,IAAI,CAAC;IAC9B,kBAAkB,CAAC,EAAE,MAAM,IAAI,CAAC;IAChC,aAAa,CAAC,EAAE,MAAM,IAAI,CAAC;IAC3B,gBAAgB,CAAC,EAAE,CAAC,QAAQ,EAAE,IAAI,KAAK,IAAI,CAAC;IAC5C,kBAAkB,CAAC,EAAE,CAAC,QAAQ,EAAE,IAAI,KAAK,IAAI,CAAC;IAC9C,WAAW,CAAC,EAAE,CAAC,QAAQ,EAAE,IAAI,KAAK,IAAI,CAAC;IACvC,WAAW,CAAC,EAAE,CAAC,QAAQ,EAAE,IAAI,KAAK,IAAI,CAAC;IACvC,aAAa,CAAC,EAAE,CAAC,QAAQ,EAAE,IAAI,KAAK,IAAI,CAAC;CAC1C,CAAC;AAEF,MAAM,MAAM,mBAAmB,GAAG;IAChC,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,IAAI,EAAE,gBAAgB,CAAC;IAChC,QAAQ,CAAC,IAAI,CAAC,EAAE,SAAS,GAAG,WAAW,CAAC;CACzC,CAAC;AAEF,qBAAa,kBAAkB;IAC7B,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAA6B;IAEtD,IAAI,CAAC,OAAO,EAAE,mBAAmB,GAAG,IAAI;IAOxC,MAAM,CAAC,MAAM,EAAE,MAAM,GAAG,IAAI;IAO5B,aAAa,CAAC,KAAK,EAAE,IAAI,CAAC,YAAY,EAAE,SAAS,CAAC,GAAG,IAAI;IAiBzD,WAAW,CAAC,KAAK,EAAE,IAAI,CAAC,YAAY,EAAE,SAAS,CAAC,EAAE,KAAK,SAAI,GAAG,IAAI;IAclE,MAAM,CAAC,KAAK,EAAE,IAAI,CAAC,YAAY,EAAE,SAAS,CAAC,EAAE,KAAK,SAAI,GAAG,IAAI;CAI9D;AAED,wBAAgB,mBAAmB,CAAC,QAAQ,EAAE,IAAI,EAAE,OAAO,EAAE,IAAI,EAAE,KAAK,EAAE,MAAM,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAO1G;AAED,wBAAgB,mBAAmB,CAAC,QAAQ,EAAE,IAAI,EAAE,OAAO,EAAE,IAAI,EAAE,KAAK,EAAE,MAAM,GAAG,WAAW,CAQ7F"}

package/dist/physics/ScenePhysicsBridge.js

@@ -0,0 +1,168 @@
+export class ScenePhysicsBridge {
+    bindings = [];
+    bind(binding) {
+        if (this.bindings.some((existing) => existing.bodyId === binding.bodyId)) {
+            throw new Error(`Body ${binding.bodyId} is already bound to a scene node.`);
+        }
+        this.bindings.push(binding);
+    }
+    unbind(bodyId) {
+        const index = this.bindings.findIndex((binding) => binding.bodyId === bodyId);
+        if (index >= 0) {
+            this.bindings.splice(index, 1);
+        }
+    }
+    pushKinematic(world) {
+        for (const binding of this.bindings) {
+            if (binding.mode !== "kinematic") {
+                continue;
+            }
+            const body = world.getBody(binding.bodyId);
+            const position = readNodePosition(binding.node);
+            if (body && position) {
+                body.setPosition(position);
+            }
+            const rotation = readNodeRotation(binding.node);
+            if (body && rotation) {
+                body.setRotation(rotation);
+            }
+        }
+    }
+    pullDynamic(world, alpha = 1) {
+        const interpolationAlpha = clamp01(alpha);
+        for (const binding of this.bindings) {
+            if (binding.mode === "kinematic") {
+                continue;
+            }
+            const body = world.getBody(binding.bodyId);
+            if (body) {
+                writeNodePosition(binding.node, interpolatePosition(body.previousPosition, body.position, interpolationAlpha));
+                writeNodeRotation(binding.node, interpolateRotation(body.previousRotation, body.rotation, interpolationAlpha));
+            }
+        }
+    }
+    update(world, alpha = 1) {
+        this.pushKinematic(world);
+        this.pullDynamic(world, alpha);
+    }
+}
+export function interpolatePosition(previous, current, alpha) {
+    const t = clamp01(alpha);
+    return [
+        previous[0] + (current[0] - previous[0]) * t,
+        previous[1] + (current[1] - previous[1]) * t,
+        previous[2] + (current[2] - previous[2]) * t
+    ];
+}
+export function interpolateRotation(previous, current, alpha) {
+    const t = clamp01(alpha);
+    const currentSign = dotQuat(previous, current) < 0 ? -1 : 1;
+    const x = previous[0] + (current[0] * currentSign - previous[0]) * t;
+    const y = previous[1] + (current[1] * currentSign - previous[1]) * t;
+    const z = previous[2] + (current[2] * currentSign - previous[2]) * t;
+    const w = previous[3] + (current[3] * currentSign - previous[3]) * t;
+    return normalizeRotation([x, y, z, w]);
+}
+function clamp01(value) {
+    if (!Number.isFinite(value)) {
+        throw new Error("Physics interpolation alpha must be finite.");
+    }
+    return Math.min(1, Math.max(0, value));
+}
+function dotQuat(a, b) {
+    return a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];
+}
+function readNodePosition(node) {
+    if (node.getWorldPosition) {
+        return node.getWorldPosition();
+    }
+    return node.position;
+}
+function readNodeRotation(node) {
+    if (node.getWorldQuaternion) {
+        return normalizeRotation(node.getWorldQuaternion());
+    }
+    if (node.getQuaternion) {
+        return normalizeRotation(node.getQuaternion());
+    }
+    if (Array.isArray(node.rotation)) {
+        return normalizeRotation(node.rotation);
+    }
+    if (Array.isArray(node.quaternion)) {
+        return normalizeRotation(node.quaternion);
+    }
+    if (node.quaternion?.toArray) {
+        return normalizeRotation(node.quaternion.toArray());
+    }
+    if (node.quaternion) {
+        return normalizeRotation([node.quaternion.x, node.quaternion.y, node.quaternion.z, node.quaternion.w]);
+    }
+    return undefined;
+}
+function writeNodePosition(node, position) {
+    if (node.setWorldPosition) {
+        node.setWorldPosition(position);
+    }
+    else if (node.setPosition) {
+        node.setPosition(position);
+    }
+    else if (node.position) {
+        node.position[0] = position[0];
+        node.position[1] = position[1];
+        node.position[2] = position[2];
+    }
+    else {
+        node.position = [position[0], position[1], position[2]];
+    }
+}
+function writeNodeRotation(node, rotation) {
+    const normalized = normalizeRotation(rotation);
+    if (node.setWorldQuaternion) {
+        node.setWorldQuaternion(normalized);
+    }
+    else if (node.setQuaternion) {
+        node.setQuaternion(normalized);
+    }
+    else if (node.setRotation) {
+        node.setRotation(normalized);
+    }
+    else if (Array.isArray(node.rotation)) {
+        node.rotation[0] = normalized[0];
+        node.rotation[1] = normalized[1];
+        node.rotation[2] = normalized[2];
+        node.rotation[3] = normalized[3];
+    }
+    else if (Array.isArray(node.quaternion)) {
+        node.quaternion[0] = normalized[0];
+        node.quaternion[1] = normalized[1];
+        node.quaternion[2] = normalized[2];
+        node.quaternion[3] = normalized[3];
+    }
+    else if (node.quaternion?.set) {
+        node.quaternion.set(normalized[0], normalized[1], normalized[2], normalized[3]);
+    }
+    else if (node.quaternion) {
+        node.quaternion.x = normalized[0];
+        node.quaternion.y = normalized[1];
+        node.quaternion.z = normalized[2];
+        node.quaternion.w = normalized[3];
+    }
+    else {
+        node.rotation = [normalized[0], normalized[1], normalized[2], normalized[3]];
+    }
+}
+function normalizeRotation(rotation) {
+    if (rotation.length !== 4 ||
+        !Number.isFinite(rotation[0]) ||
+        !Number.isFinite(rotation[1]) ||
+        !Number.isFinite(rotation[2]) ||
+        !Number.isFinite(rotation[3])) {
+        throw new Error("Scene physics node rotation must be a finite quaternion.");
+    }
+    const length = Math.hypot(rotation[0], rotation[1], rotation[2], rotation[3]);
+    if (length <= 1e-9) {
+        throw new Error("Scene physics node rotation quaternion cannot be zero.");
+    }
+    return [rotation[0] / length, rotation[1] / length, rotation[2] / length, rotation[3] / length];
+}
+//# sourceMappingURL=ScenePhysicsBridge.js.map

package/dist/physics/ScenePhysicsBridge.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"ScenePhysicsBridge.js","sourceRoot":"","sources":["../../../../packages/physics/src/ScenePhysicsBridge.ts"],"names":[],"mappings":"AAkCA,MAAM,OAAO,kBAAkB;IACZ,QAAQ,GAA0B,EAAE,CAAC;IAEtD,IAAI,CAAC,OAA4B;QAC/B,IAAI,IAAI,CAAC,QAAQ,CAAC,IAAI,CAAC,CAAC,QAAQ,EAAE,EAAE,CAAC,QAAQ,CAAC,MAAM,KAAK,OAAO,CAAC,MAAM,CAAC,EAAE,CAAC;YACzE,MAAM,IAAI,KAAK,CAAC,QAAQ,OAAO,CAAC,MAAM,oCAAoC,CAAC,CAAC;QAC9E,CAAC;QACD,IAAI,CAAC,QAAQ,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IAC9B,CAAC;IAED,MAAM,CAAC,MAAc;QACnB,MAAM,KAAK,GAAG,IAAI,CAAC,QAAQ,CAAC,SAAS,CAAC,CAAC,OAAO,EAAE,EAAE,CAAC,OAAO,CAAC,MAAM,KAAK,MAAM,CAAC,CAAC;QAC9E,IAAI,KAAK,IAAI,CAAC,EAAE,CAAC;YACf,IAAI,CAAC,QAAQ,CAAC,MAAM,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC;QACjC,CAAC;IACH,CAAC;IAED,aAAa,CAAC,KAAoC;QAChD,KAAK,MAAM,OAAO,IAAI,IAAI,CAAC,QAAQ,EAAE,CAAC;YACpC,IAAI,OAAO,CAAC,IAAI,KAAK,WAAW,EAAE,CAAC;gBACjC,SAAS;YACX,CAAC;YACD,MAAM,IAAI,GAAG,KAAK,CAAC,OAAO,CAAC,OAAO,CAAC,MAAM,CAAC,CAAC;YAC3C,MAAM,QAAQ,GAAG,gBAAgB,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;YAChD,IAAI,IAAI,IAAI,QAAQ,EAAE,CAAC;gBACrB,IAAI,CAAC,WAAW,CAAC,QAAQ,CAAC,CAAC;YAC7B,CAAC;YACD,MAAM,QAAQ,GAAG,gBAAgB,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;YAChD,IAAI,IAAI,IAAI,QAAQ,EAAE,CAAC;gBACrB,IAAI,CAAC,WAAW,CAAC,QAAQ,CAAC,CAAC;YAC7B,CAAC;QACH,CAAC;IACH,CAAC;IAED,WAAW,CAAC,KAAoC,EAAE,KAAK,GAAG,CAAC;QACzD,MAAM,kBAAkB,GAAG,OAAO,CAAC,KAAK,CAAC,CAAC;QAC1C,KAAK,MAAM,OAAO,IAAI,IAAI,CAAC,QAAQ,EAAE,CAAC;YACpC,IAAI,OAAO,CAAC,IAAI,KAAK,WAAW,EAAE,CAAC;gBACjC,SAAS;YACX,CAAC;YACD,MAAM,IAAI,GAAG,KAAK,CAAC,OAAO,CAAC,OAAO,CAAC,MAAM,CAAC,CAAC;YAC3C,IAAI,IAAI,EAAE,CAAC;gBACT,iBAAiB,CAAC,OAAO,CAAC,IAAI,EAAE,mBAAmB,CAAC,IAAI,CAAC,gBAAgB,EAAE,IAAI,CAAC,QAAQ,EAAE,kBAAkB,CAAC,CAAC,CAAC;gBAC/G,iBAAiB,CAAC,OAAO,CAAC,IAAI,EAAE,mBAAmB,CAAC,IAAI,CAAC,gBAAgB,EAAE,IAAI,CAAC,QAAQ,EAAE,kBAAkB,CAAC,CAAC,CAAC;YACjH,CAAC;QACH,CAAC;IACH,CAAC;IAED,MAAM,CAAC,KAAoC,EAAE,KAAK,GAAG,CAAC;QACpD,IAAI,CAAC,aAAa,CAAC,KAAK,CAAC,CAAC;QAC1B,IAAI,CAAC,WAAW,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;IACjC,CAAC;CACF;AAED,MAAM,UAAU,mBAAmB,CAAC,QAAc,EAAE,OAAa,EAAE,KAAa;IAC9E,MAAM,CAAC,GAAG,OAAO,CAAC,KAAK,CAAC,CAAC;IACzB,OAAO;QACL,QAAQ,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;QAC5C,QAAQ,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;QAC5C,QAAQ,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;KAC7C,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,mBAAmB,CAAC,QAAc,EAAE,OAAa,EAAE,KAAa;IAC9E,MAAM,CAAC,GAAG,OAAO,CAAC,KAAK,CAAC,CAAC;IACzB,MAAM,WAAW,GAAG,OAAO,CAAC,QAAQ,EAAE,OAAO,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IAC5D,MAAM,CAAC,GAAG,QAAQ,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,WAAW,GAAG,QAAQ,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;IACrE,MAAM,CAAC,GAAG,QAAQ,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,WAAW,GAAG,QAAQ,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;IACrE,MAAM,CAAC,GAAG,QAAQ,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,WAAW,GAAG,QAAQ,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;IACrE,MAAM,CAAC,GAAG,QAAQ,CAAC,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,WAAW,GAAG,QAAQ,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;IACrE,OAAO,iBAAiB,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;AACzC,CAAC;AAED,SAAS,OAAO,CAAC,KAAa;IAC5B,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,EAAE,CAAC;QAC5B,MAAM,IAAI,KAAK,CAAC,6CAA6C,CAAC,CAAC;IACjE,CAAC;IACD,OAAO,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC;AACzC,CAAC;AAED,SAAS,OAAO,CAAC,CAAO,EAAE,CAAO;IAC/B,OAAO,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC;AAC/D,CAAC;AAED,SAAS,gBAAgB,CAAC,IAAsB;IAC9C,IAAI,IAAI,CAAC,gBAAgB,EAAE,CAAC;QAC1B,OAAO,IAAI,CAAC,gBAAgB,EAAE,CAAC;IACjC,CAAC;IACD,OAAO,IAAI,CAAC,QAAQ,CAAC;AACvB,CAAC;AAED,SAAS,gBAAgB,CAAC,IAAsB;IAC9C,IAAI,IAAI,CAAC,kBAAkB,EAAE,CAAC;QAC5B,OAAO,iBAAiB,CAAC,IAAI,CAAC,kBAAkB,EAAE,CAAC,CAAC;IACtD,CAAC;IACD,IAAI,IAAI,CAAC,aAAa,EAAE,CAAC;QACvB,OAAO,iBAAiB,CAAC,IAAI,CAAC,aAAa,EAAE,CAAC,CAAC;IACjD,CAAC;IACD,IAAI,KAAK,CAAC,OAAO,CAAC,IAAI,CAAC,QAAQ,CAAC,EAAE,CAAC;QACjC,OAAO,iBAAiB,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;IAC1C,CAAC;IACD,IAAI,KAAK,CAAC,OAAO,CAAC,IAAI,CAAC,UAAU,CAAC,EAAE,CAAC;QACnC,OAAO,iBAAiB,CAAC,IAAI,CAAC,UAAU,CAAC,CAAC;IAC5C,CAAC;IACD,IAAI,IAAI,CAAC,UAAU,EAAE,OAAO,EAAE,CAAC;QAC7B,OAAO,iBAAiB,CAAC,IAAI,CAAC,UAAU,CAAC,OAAO,EAAE,CAAC,CAAC;IACtD,CAAC;IACD,IAAI,IAAI,CAAC,UAAU,EAAE,CAAC;QACpB,OAAO,iBAAiB,CAAC,CAAC,IAAI,CAAC,UAAU,CAAC,CAAC,EAAE,IAAI,CAAC,UAAU,CAAC,CAAC,EAAE,IAAI,CAAC,UAAU,CAAC,CAAC,EAAE,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC;IACzG,CAAC;IACD,OAAO,SAAS,CAAC;AACnB,CAAC;AAED,SAAS,iBAAiB,CAAC,IAAsB,EAAE,QAAc;IAC/D,IAAI,IAAI,CAAC,gBAAgB,EAAE,CAAC;QAC1B,IAAI,CAAC,gBAAgB,CAAC,QAAQ,CAAC,CAAC;IAClC,CAAC;SAAM,IAAI,IAAI,CAAC,WAAW,EAAE,CAAC;QAC5B,IAAI,CAAC,WAAW,CAAC,QAAQ,CAAC,CAAC;IAC7B,CAAC;SAAM,IAAI,IAAI,CAAC,QAAQ,EAAE,CAAC;QACzB,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC,CAAC,CAAC,CAAC;QAC/B,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC,CAAC,CAAC,CAAC;QAC/B,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC,CAAC,CAAC,CAAC;IACjC,CAAC;SAAM,CAAC;QACN,IAAI,CAAC,QAAQ,GAAG,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC;IAC1D,CAAC;AACH,CAAC;AAED,SAAS,iBAAiB,CAAC,IAAsB,EAAE,QAAc;IAC/D,MAAM,UAAU,GAAG,iBAAiB,CAAC,QAAQ,CAAC,CAAC;IAC/C,IAAI,IAAI,CAAC,kBAAkB,EAAE,CAAC;QAC5B,IAAI,CAAC,kBAAkB,CAAC,UAAU,CAAC,CAAC;IACtC,CAAC;SAAM,IAAI,IAAI,CAAC,aAAa,EAAE,CAAC;QAC9B,IAAI,CAAC,aAAa,CAAC,UAAU,CAAC,CAAC;IACjC,CAAC;SAAM,IAAI,IAAI,CAAC,WAAW,EAAE,CAAC;QAC5B,IAAI,CAAC,WAAW,CAAC,UAAU,CAAC,CAAC;IAC/B,CAAC;SAAM,IAAI,KAAK,CAAC,OAAO,CAAC,IAAI,CAAC,QAAQ,CAAC,EAAE,CAAC;QACxC,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;QACjC,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;QACjC,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;QACjC,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;IACnC,CAAC;SAAM,IAAI,KAAK,CAAC,OAAO,CAAC,IAAI,CAAC,UAAU,CAAC,EAAE,CAAC;QAC1C,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;QACnC,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;QACnC,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;QACnC,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;IACrC,CAAC;SAAM,IAAI,IAAI,CAAC,UAAU,EAAE,GAAG,EAAE,CAAC;QAChC,IAAI,CAAC,UAAU,CAAC,GAAG,CAAC,UAAU,CAAC,CAAC,CAAC,EAAE,UAAU,CAAC,CAAC,CAAC,EAAE,UAAU,CAAC,CAAC,CAAC,EAAE,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC;IAClF,CAAC;SAAM,IAAI,IAAI,CAAC,UAAU,EAAE,CAAC;QAC3B,IAAI,CAAC,UAAU,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;QAClC,IAAI,CAAC,UAAU,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;QAClC,IAAI,CAAC,UAAU,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;QAClC,IAAI,CAAC,UAAU,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;IACpC,CAAC;SAAM,CAAC;QACN,IAAI,CAAC,QAAQ,GAAG,CAAC,UAAU,CAAC,CAAC,CAAC,EAAE,UAAU,CAAC,CAAC,CAAC,EAAE,UAAU,CAAC,CAAC,CAAC,EAAE,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC;IAC/E,CAAC;AACH,CAAC;AAED,SAAS,iBAAiB,CAAC,QAA2B;IACpD,IACE,QAAQ,CAAC,MAAM,KAAK,CAAC;QACrB,CAAC,MAAM,CAAC,QAAQ,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC;QAC7B,CAAC,MAAM,CAAC,QAAQ,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC;QAC7B,CAAC,MAAM,CAAC,QAAQ,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC;QAC7B,CAAC,MAAM,CAAC,QAAQ,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,EAC7B,CAAC;QACD,MAAM,IAAI,KAAK,CAAC,0DAA0D,CAAC,CAAC;IAC9E,CAAC;IACD,MAAM,MAAM,GAAG,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC;IAC9E,IAAI,MAAM,IAAI,IAAI,EAAE,CAAC;QACnB,MAAM,IAAI,KAAK,CAAC,wDAAwD,CAAC,CAAC;IAC5E,CAAC;IACD,OAAO,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,MAAM,EAAE,QAAQ,CAAC,CAAC,CAAC,GAAG,MAAM,EAAE,QAAQ,CAAC,CAAC,CAAC,GAAG,MAAM,EAAE,QAAQ,CAAC,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC;AAClG,CAAC"}

package/dist/physics/Shape.d.ts

@@ -0,0 +1,50 @@
+export type Vec3 = readonly [number, number, number];
+export type BoxShape = {
+    readonly kind: "box";
+    readonly halfExtents: Vec3;
+};
+export type SphereShape = {
+    readonly kind: "sphere";
+    readonly radius: number;
+};
+export type CapsuleShape = {
+    readonly kind: "capsule";
+    readonly radius: number;
+    readonly halfHeight: number;
+};
+export type PlaneShape = {
+    readonly kind: "plane";
+    readonly normal: Vec3;
+    readonly constant: number;
+};
+export type MeshShape = {
+    readonly kind: "mesh";
+    readonly vertices: readonly Vec3[];
+    readonly indices: readonly number[];
+};
+export type PhysicsShape = BoxShape | SphereShape | CapsuleShape | PlaneShape | MeshShape;
+export type Bounds = {
+    readonly min: Vec3;
+    readonly max: Vec3;
+};
+export declare const EPSILON = 1e-9;
+export declare function vec3(x?: number, y?: number, z?: number): [number, number, number];
+export declare function cloneVec3(value: Vec3): [number, number, number];
+export declare function addVec3(a: Vec3, b: Vec3): [number, number, number];
+export declare function subVec3(a: Vec3, b: Vec3): [number, number, number];
+export declare function scaleVec3(value: Vec3, scalar: number): [number, number, number];
+export declare function dotVec3(a: Vec3, b: Vec3): number;
+export declare function lengthVec3(value: Vec3): number;
+export declare function normalizeVec3(value: Vec3): [number, number, number];
+export declare function minVec3(a: Vec3, b: Vec3): [number, number, number];
+export declare function maxVec3(a: Vec3, b: Vec3): [number, number, number];
+export declare function validateFiniteVec3(value: Vec3, name: string): void;
+export declare class Shape {
+    static box(x: number, y: number, z: number): BoxShape;
+    static sphere(radius: number): SphereShape;
+    static capsule(radius: number, halfHeight: number): CapsuleShape;
+    static plane(normal?: Vec3, constant?: number): PlaneShape;
+    static mesh(vertices: readonly Vec3[], indices: readonly number[]): MeshShape;
+    static bounds(shape: PhysicsShape, position: Vec3): Bounds;
+}
+//# sourceMappingURL=Shape.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"Shape.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/Shape.ts"],"names":[],"mappings":"AAAA,MAAM,MAAM,IAAI,GAAG,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;AAErD,MAAM,MAAM,QAAQ,GAAG;IACrB,QAAQ,CAAC,IAAI,EAAE,KAAK,CAAC;IACrB,QAAQ,CAAC,WAAW,EAAE,IAAI,CAAC;CAC5B,CAAC;AAEF,MAAM,MAAM,WAAW,GAAG;IACxB,QAAQ,CAAC,IAAI,EAAE,QAAQ,CAAC;IACxB,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;CACzB,CAAC;AAEF,MAAM,MAAM,YAAY,GAAG;IACzB,QAAQ,CAAC,IAAI,EAAE,SAAS,CAAC;IACzB,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;CAC7B,CAAC;AAEF,MAAM,MAAM,UAAU,GAAG;IACvB,QAAQ,CAAC,IAAI,EAAE,OAAO,CAAC;IACvB,QAAQ,CAAC,MAAM,EAAE,IAAI,CAAC;IACtB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;CAC3B,CAAC;AAEF,MAAM,MAAM,SAAS,GAAG;IACtB,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,QAAQ,EAAE,SAAS,IAAI,EAAE,CAAC;IACnC,QAAQ,CAAC,OAAO,EAAE,SAAS,MAAM,EAAE,CAAC;CACrC,CAAC;AAEF,MAAM,MAAM,YAAY,GAAG,QAAQ,GAAG,WAAW,GAAG,YAAY,GAAG,UAAU,GAAG,SAAS,CAAC;AAE1F,MAAM,MAAM,MAAM,GAAG;IACnB,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;IACnB,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;CACpB,CAAC;AAEF,eAAO,MAAM,OAAO,OAAO,CAAC;AAE5B,wBAAgB,IAAI,CAAC,CAAC,SAAI,EAAE,CAAC,SAAI,EAAE,CAAC,SAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAElE;AAED,wBAAgB,SAAS,CAAC,KAAK,EAAE,IAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAE/D;AAED,wBAAgB,OAAO,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAElE;AAED,wBAAgB,OAAO,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAElE;AAED,wBAAgB,SAAS,CAAC,KAAK,EAAE,IAAI,EAAE,MAAM,EAAE,MAAM,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAE/E;AAED,wBAAgB,OAAO,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,GAAG,MAAM,CAEhD;AAED,wBAAgB,UAAU,CAAC,KAAK,EAAE,IAAI,GAAG,MAAM,CAE9C;AAED,wBAAgB,aAAa,CAAC,KAAK,EAAE,IAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAMnE;AAED,wBAAgB,OAAO,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAElE;AAED,wBAAgB,OAAO,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAElE;AAED,wBAAgB,kBAAkB,CAAC,KAAK,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,GAAG,IAAI,CAIlE;AAQD,qBAAa,KAAK;IAChB,MAAM,CAAC,GAAG,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,QAAQ;IAOrD,MAAM,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,GAAG,WAAW;IAK1C,MAAM,CAAC,OAAO,CAAC,MAAM,EAAE,MAAM,EAAE,UAAU,EAAE,MAAM,GAAG,YAAY;IAMhE,MAAM,CAAC,KAAK,CAAC,MAAM,GAAE,IAAgB,EAAE,QAAQ,SAAI,GAAG,UAAU;IAQhE,MAAM,CAAC,IAAI,CAAC,QAAQ,EAAE,SAAS,IAAI,EAAE,EAAE,OAAO,EAAE,SAAS,MAAM,EAAE,GAAG,SAAS;IAsB7E,MAAM,CAAC,MAAM,CAAC,KAAK,EAAE,YAAY,EAAE,QAAQ,EAAE,IAAI,GAAG,MAAM;CAqC3D"}