@aura3d/engine 1.5.2 → 2.0.1

package/dist/physics/PhysicsDebugDraw.d.ts

@@ -4,8 +4,47 @@ export type DebugLine = {
     readonly from: Vec3;
     readonly to: Vec3;
     readonly color: Vec3;
+    /**
+     * What this line represents, so a consumer can filter or legend it.
+     *
+     * Without a category every line is an anonymous coloured segment, and a debug overlay that
+     * cannot say "these are contacts and those are joints" is decoration rather than a tool.
+     */
+    readonly category?: DebugLineCategory;
 };
+export type DebugLineCategory = "collider" | "sensor" | "contact" | "normal" | "joint" | "sleeping" | "raycast";
+/** A raycast to draw, so a developer can see the query they cannot otherwise observe. */
+export type DebugRaycast = {
+    readonly origin: Vec3;
+    readonly direction: Vec3;
+    readonly distance: number;
+    /** True when the ray hit something; drawn in a different colour. */
+    readonly hit?: boolean;
+};
+export type PhysicsDebugDrawOptions = {
+    /** Draw contact points and their normals. */
+    readonly contacts?: boolean;
+    /** Draw joint anchors and the segment between them. */
+    readonly joints?: boolean;
+    /** Tint sleeping bodies differently from awake ones. */
+    readonly sleeping?: boolean;
+    /** Extra rays to visualise, which the world cannot know about. */
+    readonly raycasts?: readonly DebugRaycast[];
+    /** Length of a drawn contact normal, in world units. */
+    readonly normalLength?: number;
+};
+type DebugWorld = Pick<PhysicsWorld, "colliders" | "getBody"> & Partial<Pick<PhysicsWorld, "snapshot" | "constraints">>;
 export declare class PhysicsDebugDraw {
-    buildLines(world: Pick<PhysicsWorld, "colliders" | "getBody">): readonly DebugLine[];
+    /**
+     * Build debug geometry for a world.
+     *
+     * WS-1.7 asks for colliders, contacts, normals, joints, sleeping state and raycasts. Only
+     * colliders existed, which is why the capability sat at "unproven with 0 consumers" — there was
+     * not enough here for a route to consume.
+     *
+     * Options default to off so the existing single-argument call keeps its previous output exactly.
+     */
+    buildLines(world: DebugWorld, options?: PhysicsDebugDrawOptions): readonly DebugLine[];
 }
+export {};
 //# sourceMappingURL=PhysicsDebugDraw.d.ts.map

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

@@ -1 +1 @@
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+{"version":3,"file":"PhysicsDebugDraw.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/PhysicsDebugDraw.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,mBAAmB,CAAC;AACtD,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,YAAY,CAAC;AAEvC,MAAM,MAAM,SAAS,GAAG;IACtB,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC;IACpB,QAAQ,CAAC,EAAE,EAAE,IAAI,CAAC;IAClB,QAAQ,CAAC,KAAK,EAAE,IAAI,CAAC;IACrB;;;;;OAKG;IACH,QAAQ,CAAC,QAAQ,CAAC,EAAE,iBAAiB,CAAC;CACvC,CAAC;AAEF,MAAM,MAAM,iBAAiB,GACzB,UAAU,GACV,QAAQ,GACR,SAAS,GACT,QAAQ,GACR,OAAO,GACP,UAAU,GACV,SAAS,CAAC;AAEd,yFAAyF;AACzF,MAAM,MAAM,YAAY,GAAG;IACzB,QAAQ,CAAC,MAAM,EAAE,IAAI,CAAC;IACtB,QAAQ,CAAC,SAAS,EAAE,IAAI,CAAC;IACzB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,oEAAoE;IACpE,QAAQ,CAAC,GAAG,CAAC,EAAE,OAAO,CAAC;CACxB,CAAC;AAEF,MAAM,MAAM,uBAAuB,GAAG;IACpC,6CAA6C;IAC7C,QAAQ,CAAC,QAAQ,CAAC,EAAE,OAAO,CAAC;IAC5B,uDAAuD;IACvD,QAAQ,CAAC,MAAM,CAAC,EAAE,OAAO,CAAC;IAC1B,wDAAwD;IACxD,QAAQ,CAAC,QAAQ,CAAC,EAAE,OAAO,CAAC;IAC5B,kEAAkE;IAClE,QAAQ,CAAC,QAAQ,CAAC,EAAE,SAAS,YAAY,EAAE,CAAC;IAC5C,wDAAwD;IACxD,QAAQ,CAAC,YAAY,CAAC,EAAE,MAAM,CAAC;CAChC,CAAC;AAEF,KAAK,UAAU,GAAG,IAAI,CAAC,YAAY,EAAE,WAAW,GAAG,SAAS,CAAC,GAC3D,OAAO,CAAC,IAAI,CAAC,YAAY,EAAE,UAAU,GAAG,aAAa,CAAC,CAAC,CAAC;AAE1D,qBAAa,gBAAgB;IAC3B;;;;;;;;OAQG;IACH,UAAU,CAAC,KAAK,EAAE,UAAU,EAAE,OAAO,GAAE,uBAA4B,GAAG,SAAS,SAAS,EAAE;CAuE3F"}

package/dist/physics/PhysicsDebugDraw.js

@@ -1,18 +1,88 @@
 export class PhysicsDebugDraw {
-    buildLines(world) {
+    /**
+     * Build debug geometry for a world.
+     *
+     * WS-1.7 asks for colliders, contacts, normals, joints, sleeping state and raycasts. Only
+     * colliders existed, which is why the capability sat at "unproven with 0 consumers" — there was
+     * not enough here for a route to consume.
+     *
+     * Options default to off so the existing single-argument call keeps its previous output exactly.
+     */
+    buildLines(world, options = {}) {
         const lines = [];
+        const snapshot = options.contacts || options.sleeping ? world.snapshot?.() : undefined;
+        const sleepingIds = new Set();
+        if (options.sleeping && snapshot) {
+            for (const body of snapshot.bodies) {
+                if (body.sleeping)
+                    sleepingIds.add(body.id);
+            }
+        }
         for (const collider of world.colliders()) {
             const body = world.getBody(collider.bodyId);
             if (!body) {
                 continue;
             }
-            appendColliderLines(lines, collider, body.position);
+            appendColliderLines(lines, collider, body.position, sleepingIds.has(body.id));
+        }
+        if (options.contacts && snapshot) {
+            const normalLength = options.normalLength ?? 0.25;
+            for (const contact of snapshot.contacts) {
+                const point = contact.point;
+                if (!point)
+                    continue;
+                // A short cross at the contact point, then the normal as a ray out of it. Penetration is
+                // the number that matters for "is this body inside that one", so it tints the cross.
+                const penetrating = contact.penetration > 1e-4;
+                const crossColor = penetrating ? [1, 0.2, 0.2] : [0.2, 1, 0.4];
+                const size = normalLength * 0.25;
+                lines.push({ from: [point[0] - size, point[1], point[2]], to: [point[0] + size, point[1], point[2]], color: crossColor, category: "contact" });
+                lines.push({ from: [point[0], point[1] - size, point[2]], to: [point[0], point[1] + size, point[2]], color: crossColor, category: "contact" });
+                lines.push({
+                    from: point,
+                    to: [
+                        point[0] + contact.normal[0] * normalLength,
+                        point[1] + contact.normal[1] * normalLength,
+                        point[2] + contact.normal[2] * normalLength
+                    ],
+                    color: [1, 1, 0.3],
+                    category: "normal"
+                });
+            }
+        }
+        if (options.joints && world.constraints) {
+            for (const constraint of world.constraints()) {
+                const a = world.getBody(constraint.bodyA.id);
+                const b = world.getBody(constraint.bodyB.id);
+                if (!a || !b)
+                    continue;
+                // The segment between the two bodies a joint connects. A joint that has come apart is
+                // visible as a segment that keeps growing, which is exactly the failure mode that made
+                // the former silent backend divergence so hard to spot.
+                lines.push({ from: a.position, to: b.position, color: [0.9, 0.4, 1], category: "joint" });
+            }
+        }
+        for (const ray of options.raycasts ?? []) {
+            const length = Number.isFinite(ray.distance) ? ray.distance : 1;
+            lines.push({
+                from: ray.origin,
+                to: [
+                    ray.origin[0] + ray.direction[0] * length,
+                    ray.origin[1] + ray.direction[1] * length,
+                    ray.origin[2] + ray.direction[2] * length
+                ],
+                color: ray.hit ? [1, 0.35, 0.35] : [0.5, 0.5, 0.55],
+                category: "raycast"
+            });
         }
         return lines;
     }
 }
-function appendColliderLines(lines, collider, position) {
-    const color = collider.sensor ? [1, 0.75, 0] : [0.1, 0.8, 1];
+function appendColliderLines(lines, collider, position, sleeping = false) {
+    // Sleeping bodies are drawn dim: a body that has gone to sleep and should not have is otherwise
+    // indistinguishable from one that is simply not moving.
+    const color = sleeping ? [0.4, 0.42, 0.5] : collider.sensor ? [1, 0.75, 0] : [0.1, 0.8, 1];
+    const category = sleeping ? "sleeping" : collider.sensor ? "sensor" : "collider";
     if (collider.shape.kind === "box") {
         const h = collider.shape.halfExtents;
         const corners = [
@@ -27,24 +97,24 @@ function appendColliderLines(lines, collider, position) {
         ];
         const pairs = [[0, 1], [1, 2], [2, 3], [3, 0], [4, 5], [5, 6], [6, 7], [7, 4], [0, 4], [1, 5], [2, 6], [3, 7]];
         for (const [a, b] of pairs) {
-            lines.push({ from: corners[a], to: corners[b], color });
+            lines.push({ from: corners[a], to: corners[b], color, category });
         }
     }
     else if (collider.shape.kind === "sphere") {
         const r = collider.shape.radius;
-        lines.push({ from: [position[0] - r, position[1], position[2]], to: [position[0] + r, position[1], position[2]], color });
-        lines.push({ from: [position[0], position[1] - r, position[2]], to: [position[0], position[1] + r, position[2]], color });
-        lines.push({ from: [position[0], position[1], position[2] - r], to: [position[0], position[1], position[2] + r], color });
+        lines.push({ from: [position[0] - r, position[1], position[2]], to: [position[0] + r, position[1], position[2]], color, category });
+        lines.push({ from: [position[0], position[1] - r, position[2]], to: [position[0], position[1] + r, position[2]], color, category });
+        lines.push({ from: [position[0], position[1], position[2] - r], to: [position[0], position[1], position[2] + r], color, category });
     }
     else if (collider.shape.kind === "plane") {
-        lines.push({ from: [-10, position[1], 0], to: [10, position[1], 0], color });
-        lines.push({ from: [0, position[1], -10], to: [0, position[1], 10], color });
+        lines.push({ from: [-10, position[1], 0], to: [10, position[1], 0], color, category });
+        lines.push({ from: [0, position[1], -10], to: [0, position[1], 10], color, category });
     }
     else if (collider.shape.kind === "capsule") {
         const r = collider.shape.radius;
         const h = collider.shape.halfHeight;
-        lines.push({ from: [position[0], position[1] - h - r, position[2]], to: [position[0], position[1] + h + r, position[2]], color });
-        lines.push({ from: [position[0] - r, position[1], position[2]], to: [position[0] + r, position[1], position[2]], color });
+        lines.push({ from: [position[0], position[1] - h - r, position[2]], to: [position[0], position[1] + h + r, position[2]], color, category });
+        lines.push({ from: [position[0] - r, position[1], position[2]], to: [position[0] + r, position[1], position[2]], color, category });
     }
     else if (collider.shape.kind === "mesh" || collider.shape.kind === "convex-hull") {
         const { vertices, indices } = collider.shape;
@@ -52,9 +122,9 @@ function appendColliderLines(lines, collider, position) {
             const a = translate(vertices[indices[index]], position);
             const b = translate(vertices[indices[index + 1]], position);
             const c = translate(vertices[indices[index + 2]], position);
-            lines.push({ from: a, to: b, color });
-            lines.push({ from: b, to: c, color });
-            lines.push({ from: c, to: a, color });
+            lines.push({ from: a, to: b, color, category });
+            lines.push({ from: b, to: c, color, category });
+            lines.push({ from: c, to: a, color, category });
         }
     }
     else {
@@ -69,9 +139,9 @@ function appendColliderLines(lines, collider, position) {
         for (let row = 0; row < shape.rows; row += 1) {
             for (let column = 0; column < shape.columns; column += 1) {
                 if (column + 1 < shape.columns)
-                    lines.push({ from: sample(row, column), to: sample(row, column + 1), color });
+                    lines.push({ from: sample(row, column), to: sample(row, column + 1), color, category });
                 if (row + 1 < shape.rows)
-                    lines.push({ from: sample(row, column), to: sample(row + 1, column), color });
+                    lines.push({ from: sample(row, column), to: sample(row + 1, column), color, category });
             }
         }
     }

package/dist/physics/PhysicsDebugDraw.js.map

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package/dist/physics/PhysicsWorld.d.ts

@@ -7,11 +7,11 @@ import { type Vec3 } from "./Shape.js";
 export type PhysicsContinuousCollisionDescriptor = {
     /**
      * Bounds the travel of every moving collider by splitting a requested step.
-     * The wrapper protects both the native and cannon-es backends.
+     * The wrapper bounds motion in addition to Rapier's native CCD.
      */
     readonly mode: "adaptive-substeps";
     /**
-     * Maximum internal Cannon steps allowed for one public `step()` call.
+     * Maximum internal Rapier steps allowed for one public `step()` call.
      * The default overflow policy throws rather than silently losing the CCD
      * guarantee.
      */
@@ -26,7 +26,7 @@ export type PhysicsContinuousCollisionDescriptor = {
 export type PhysicsContinuousCollisionSelection = {
     readonly active: boolean;
     readonly mode: "disabled" | "adaptive-substeps";
-    readonly provider: "none" | "aura3d-adaptive-substep-wrapper";
+    readonly provider: "none" | "rapier-native-ccd+adaptive-substeps";
     readonly maxSubSteps: number;
     readonly motionThreshold: number;
     readonly onSubstepLimit: "error" | "clamp";
@@ -43,18 +43,32 @@ export type PhysicsWorldDescriptor = {
     readonly fixedDelta?: number;
     readonly solverIterations?: number;
     readonly enableSleeping?: boolean;
+    /** @deprecated Rapier owns its native sleep thresholds. Retained for source compatibility. */
     readonly sleepVelocityThreshold?: number;
+    /** @deprecated Rapier owns its native sleep delay. Retained for source compatibility. */
     readonly sleepDelay?: number;
     readonly continuousCollision?: PhysicsContinuousCollisionDescriptor;
 };
-export type PhysicsBackend = "cannon-es" | "aura-js";
+/**
+ * The one production solver.
+ *
+ * The backend bake-off and subsequent 1.6 replatform selected Rapier as the single
+ * physical owner. The former in-house and Cannon paths have been removed.
+ *
+ * Keeping two solvers was not a safety net, it was the defect generator: every
+ * behaviour implemented by only one branch shipped as a silent divergence. The stable
+ * public descriptors now delegate joints, forces, contacts, sleep, CCD, and all supported
+ * collider shapes to the same selected adapter.
+ *
+ * One solver means a passing test and a shipped route execute the same code. Per R12 this
+ * capability now has exactly one owner.
+ */
+export type PhysicsBackend = "rapier";
 export type PhysicsBackendPreference = PhysicsBackend | "auto";
 export type PhysicsBackendSelection = {
     readonly requested: PhysicsBackendPreference;
     readonly active: PhysicsBackend;
-    readonly fallback?: string;
     readonly deterministic: boolean;
-    readonly jsFallbackAvailable: boolean;
     readonly continuousCollision: PhysicsContinuousCollisionSelection;
 };
 export type PhysicsStepStats = {
@@ -85,8 +99,6 @@ export declare class PhysicsWorld {
     readonly fixedDelta: number;
     private readonly solverIterations;
     private readonly enableSleeping;
-    private readonly sleepVelocityThreshold;
-    private readonly sleepDelay;
     private readonly continuousCollision;
     private readonly bodiesById;
     private readonly collidersById;
@@ -95,8 +107,10 @@ export declare class PhysicsWorld {
     private readonly eventQueue;
     private readonly requestedBackend;
     private backendSelection;
-    private cannonWorld;
-    private readonly cannonBodiesByAuraId;
+    private readonly rapierWorld;
+    private readonly rapierBodiesByAuraId;
+    private readonly rapierCollidersByAuraId;
+    private readonly rapierJointsByConstraint;
     private nextBodyId;
     private nextColliderId;
     private lastEvents;
@@ -108,6 +122,14 @@ export declare class PhysicsWorld {
     createRigidBody(descriptor?: RigidBodyDescriptor): RigidBody;
     createCollider(body: RigidBody | number, descriptor: ColliderDescriptor): Collider;
     createConstraint(descriptor: ConstraintDescriptor): Constraint;
+    /**
+     * Change world gravity after construction.
+     *
+     * Needed for anything that flips or scales gravity at runtime — a low-gravity level, a
+     * zero-g section, a game that inverts it as a mechanic. Without a setter the only way to
+     * change it was to rebuild the world and lose every body.
+     */
+    setGravity(gravity: Vec3): void;
     getBody(id: number): RigidBody | undefined;
     getCollider(id: number): Collider | undefined;
     bodies(): readonly RigidBody[];
@@ -124,16 +146,13 @@ export declare class PhysicsWorld {
     sphereCast(origin: Vec3, radius: number, direction: Vec3, options?: RaycastOptions): SphereCastHit | undefined;
     sphereCastAll(origin: Vec3, radius: number, direction: Vec3, options?: RaycastOptions): readonly SphereCastHit[];
     snapshot(): PhysicsSnapshot;
+    /** Release the selected native solver and every world-owned handle. Idempotent. */
+    dispose(): void;
     private detectContacts;
     private collectPotentialPairs;
-    private resolveContact;
-    private effectiveMaterial;
-    private applyImpulsePair;
-    private updateSleeping;
-    private createCannonBody;
-    private addCannonCollider;
-    private disableCannonBackend;
-    private stepCannon;
+    private createRapierJoint;
+    private synchronizeRapierJoints;
+    private stepProduction;
     private planContinuousCollisionStep;
     private earliestTimeOfImpact;
     private assertContinuousCollisionPlan;

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

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