npm - @aura3d/engine - Versions diffs - 1.5.2 → 2.0.1 - Mend

@aura3d/engine 1.5.2 → 2.0.1

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (1262) hide show

package/dist/physics/PhysicsWorld.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/dist/physics/Raycast.d.ts CHANGED Viewed

@@ -6,6 +6,17 @@ export type RaycastOptions = {
     readonly mask?: number;
     readonly includeSensors?: boolean;
     readonly includeBackfaces?: boolean;
+    /**
+     * Collider ids to skip.
+     *
+     * Without this, a query started inside a body hits that body first at distance 0. Every
+     * character controller and every shooter needs it: a controller probing ahead detected
+     * its own capsule and concluded it was against a wall, so it never moved, and a
+     * projectile raycast from inside the shooter hits the shooter.
+     */
+    readonly ignoreColliders?: readonly number[] | undefined;
+    /** Body ids to skip. Preferred over `ignoreColliders` for multi-collider bodies. */
+    readonly ignoreBodies?: readonly number[] | undefined;
 };
 export type RaycastHit = {
     readonly colliderId: number;

package/dist/physics/Raycast.d.ts.map CHANGED Viewed

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package/dist/physics/Raycast.js CHANGED Viewed

@@ -1,4 +1,4 @@
-import { addVec3, dotVec3, scaleVec3, subVec3 } from "./Shape.js";
+import { addVec3, dotVec3, rotateVec3ByQuat, scaleVec3, subVec3 } from "./Shape.js";
 /**
  * Adapt any downward raycast into the ground query the foot-IK rig needs. `cast` should perform a
  * straight-down ray (typically a `PhysicsWorld.raycast` bound to a ground layer mask) and return
@@ -28,7 +28,7 @@ export function raycastCollider(origin, direction, collider, body, options = {})
             return raycastSphere(origin, direction, body.position, collider.shape.radius, collider, maxDistance);
         case "box":
         case "capsule":
-            return raycastAabb(origin, direction, collider.bounds(body.position), collider, body.id, maxDistance);
+            return raycastOrientedBox(origin, direction, collider, body, 0, maxDistance);
         case "plane":
             return raycastPlane(origin, direction, collider.shape.normal, collider.shape.constant, collider, body.id, maxDistance);
         case "mesh":
@@ -51,12 +51,7 @@ export function sphereCastCollider(origin, radius, direction, collider, body, op
             return sphereCastSphere(origin, radius, direction, body.position, collider.shape.radius, collider, maxDistance);
         case "box":
         case "capsule": {
-            const bounds = collider.bounds(body.position);
-            const expanded = {
-                min: [bounds.min[0] - radius, bounds.min[1] - radius, bounds.min[2] - radius],
-                max: [bounds.max[0] + radius, bounds.max[1] + radius, bounds.max[2] + radius]
-            };
-            const hit = raycastAabb(origin, direction, expanded, collider, body.id, maxDistance);
+            const hit = raycastOrientedBox(origin, direction, collider, body, radius, maxDistance);
             return hit ? toSphereCastHit(hit, origin, direction, radius) : undefined;
         }
         case "plane":
@@ -105,6 +100,65 @@ function sphereCastSphere(origin, castRadius, direction, center, targetRadius, c
         castRadius
     };
 }
+/**
+ * Cast against a box or capsule collider **in the body's own frame**, so a rotated collider
+ * is a rotated box rather than its axis-aligned bounding box.
+ *
+ * Defect class: engine, and the same family as the joint no-op — a feature that worked on
+ * one path and silently did not on another. Contacts already respected rotation (the
+ * narrow phase is OBB-SAT), but every query — `raycast`, `raycastAll`, `sphereCast`,
+ * `sphereCastAll` — passed `collider.bounds(body.position)` with **no rotation argument**,
+ * even though `Collider.bounds` accepts one. So a tilted platform reported an axis-aligned
+ * box with axis-aligned face normals.
+ *
+ * The visible consequence was that slopes did not exist as far as any query was concerned.
+ * Measured on a box rotated 22.5 degrees about +Z with a character standing on it:
+ * `groundNormal` came back `[0, 1, 0]` and `slopeAngle` `0.0000`, so `onSteepSlope` could
+ * never become true, a 82-degree face read as walkable flat ground, and any route trying to
+ * slide a character down a ramp or reject a cliff had nothing to read. Two independent
+ * defects, one cause.
+ *
+ * Method: transform the ray into the collider's local frame by the inverse body rotation,
+ * intersect the axis-aligned box there (which is exact, because in that frame it *is* axis
+ * aligned), then rotate the hit point and normal back out. A swept sphere is handled by
+ * inflating the local extents by its radius, which is the same conservative approximation
+ * the previous AABB path used and is exact for the face regions that dominate ground and
+ * wall probes.
+ */
+function raycastOrientedBox(origin, direction, collider, body, inflate, maxDistance) {
+    const rotation = body.rotation;
+    const identity = rotation[0] === 0 && rotation[1] === 0 && rotation[2] === 0;
+    // Local-frame half extents: the collider's own bounds around the origin, inflated by any
+    // sweep radius. Taken from `bounds` at the origin with no rotation so capsules keep the
+    // same extents the previous path used.
+    const local = collider.bounds([0, 0, 0]);
+    const bounds = {
+        min: [local.min[0] - inflate, local.min[1] - inflate, local.min[2] - inflate],
+        max: [local.max[0] + inflate, local.max[1] + inflate, local.max[2] + inflate]
+    };
+    if (identity) {
+        // Unrotated: the local frame differs from the world frame only by a translation, so
+        // shift the ray rather than paying for two quaternion rotations per query.
+        const shifted = [origin[0] - body.position[0], origin[1] - body.position[1], origin[2] - body.position[2]];
+        const hit = raycastAabb(shifted, direction, bounds, collider, body.id, maxDistance);
+        if (!hit)
+            return undefined;
+        return { ...hit, point: addVec3(hit.point, body.position) };
+    }
+    const inverse = [-rotation[0], -rotation[1], -rotation[2], rotation[3]];
+    const localOrigin = rotateVec3ByQuat(subVec3(origin, body.position), inverse);
+    // Rotation preserves length, so the local direction stays unit and `distance` needs no
+    // rescaling on the way back out.
+    const localDirection = rotateVec3ByQuat(direction, inverse);
+    const hit = raycastAabb(localOrigin, localDirection, bounds, collider, body.id, maxDistance);
+    if (!hit)
+        return undefined;
+    return {
+        ...hit,
+        point: addVec3(rotateVec3ByQuat(hit.point, rotation), body.position),
+        normal: rotateVec3ByQuat(hit.normal, rotation)
+    };
+}
 function raycastAabb(origin, direction, bounds, collider, bodyId, maxDistance) {
     let tmin = 0;
     let tmax = maxDistance;

package/dist/physics/Raycast.js.map CHANGED Viewed

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package/dist/physics/RigidBody.d.ts CHANGED Viewed

@@ -43,10 +43,18 @@ export declare class RigidBody {
     linearDamping: number;
     angularDamping: number;
     inverseInertia: [number, number, number];
+    /**
+     * The principal moments the caller explicitly asked for, or `undefined` when the body
+     * accepted the mass-derived default.
+     *
+     * Retained because the selected Rapier backend derives inertia from collider geometry
+     * unless the descriptor explicitly supplies principal moments. The bridge uses this
+     * value to preserve that public descriptor contract.
+     */
+    readonly declaredInertia?: Vec3;
     sleeping: boolean;
     private accumulatedForce;
     private accumulatedTorque;
-    private sleepTimer;
     constructor(id: number, descriptor?: RigidBodyDescriptor);
     setPosition(position: Vec3): void;
     setVelocity(velocity: Vec3): void;
@@ -57,20 +65,19 @@ export declare class RigidBody {
     applyImpulse(impulse: Vec3): void;
     applyAngularImpulse(impulse: Vec3): void;
     applyImpulseAtPoint(impulse: Vec3, worldPoint: Vec3): void;
+    multiplyInverseInertiaWorld(value: Vec3): Vec3;
     /**
-     * Applies a solver-owned contact impulse without resetting an already
-     * accumulating sleep timer. PhysicsWorld performs threshold-based waking
-     * after the full linear/angular velocity update.
+     * Force accumulated since the last step, in world space.
+     *
+     * The Rapier bridge reads this value on every step and forwards it to the native body.
      */
-    applyContactImpulseAtPoint(impulse: Vec3, worldPoint: Vec3): void;
-    multiplyInverseInertiaWorld(value: Vec3): Vec3;
-    integrate(dt: number, gravity: Vec3, clearForces?: boolean): void;
+    pendingForce(): Vec3;
+    /** Torque accumulated since the last step. See {@link pendingForce}. */
+    pendingTorque(): Vec3;
     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 CHANGED Viewed

	@@ -1 +1 @@
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package/dist/physics/RigidBody.js CHANGED Viewed

@@ -15,10 +15,18 @@ export class RigidBody {
     linearDamping;
     angularDamping;
     inverseInertia;
+    /**
+     * The principal moments the caller explicitly asked for, or `undefined` when the body
+     * accepted the mass-derived default.
+     *
+     * Retained because the selected Rapier backend derives inertia from collider geometry
+     * unless the descriptor explicitly supplies principal moments. The bridge uses this
+     * value to preserve that public descriptor contract.
+     */
+    declaredInertia;
     sleeping;
     accumulatedForce;
     accumulatedTorque;
-    sleepTimer = 0;
     constructor(id, descriptor = {}) {
         if (!Number.isInteger(id) || id <= 0) {
             throw new Error("RigidBody id must be a positive integer.");
@@ -53,6 +61,9 @@ export class RigidBody {
             this.mass = mass;
             this.inverseMass = 1 / mass;
             this.inverseInertia = inverseInertia(descriptor.inertia ?? [mass, mass, mass]);
+            if (descriptor.inertia) {
+                this.declaredInertia = [descriptor.inertia[0], descriptor.inertia[1], descriptor.inertia[2]];
+            }
         }
         else {
             this.mass = Number.POSITIVE_INFINITY;
@@ -124,20 +135,6 @@ export class RigidBody {
         this.applyImpulse(impulse);
         this.applyAngularImpulse(crossVec3(subVec3(worldPoint, this.position), impulse));
     }
-    /**
-     * Applies a solver-owned contact impulse without resetting an already
-     * accumulating sleep timer. PhysicsWorld performs threshold-based waking
-     * after the full linear/angular velocity update.
-     */
-    applyContactImpulseAtPoint(impulse, worldPoint) {
-        validateFiniteVec3(impulse, "contact impulse");
-        validateFiniteVec3(worldPoint, "contact impulse point");
-        if (this.type !== "dynamic")
-            return;
-        this.velocity = addVec3(this.velocity, scaleVec3(impulse, this.inverseMass));
-        const angularImpulse = crossVec3(subVec3(worldPoint, this.position), impulse);
-        this.angularVelocity = addVec3(this.angularVelocity, this.multiplyInverseInertiaWorld(angularImpulse));
-    }
     multiplyInverseInertiaWorld(value) {
         validateFiniteVec3(value, "inverse inertia input");
         if (this.type !== "dynamic")
@@ -147,32 +144,17 @@ export class RigidBody {
         const localResponse = multiplyVec3(local, this.inverseInertia);
         return rotateVec3ByQuat(localResponse, this.rotation);
     }
-    integrate(dt, gravity, clearForces = true) {
-        if (!Number.isFinite(dt) || dt <= 0) {
-            throw new Error("dt must be a finite positive number.");
-        }
-        if (this.type !== "dynamic" || this.sleeping) {
-            if (clearForces) {
-                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);
-        if (clearForces) {
-            this.clearForces();
-        }
+    /**
+     * Force accumulated since the last step, in world space.
+     *
+     * The Rapier bridge reads this value on every step and forwards it to the native body.
+     */
+    pendingForce() {
+        return [this.accumulatedForce[0], this.accumulatedForce[1], this.accumulatedForce[2]];
+    }
+    /** Torque accumulated since the last step. See {@link pendingForce}. */
+    pendingTorque() {
+        return [this.accumulatedTorque[0], this.accumulatedTorque[1], this.accumulatedTorque[2]];
     }
     clearForces() {
         this.accumulatedForce = vec3();
@@ -187,7 +169,6 @@ export class RigidBody {
             return;
         }
         this.sleeping = false;
-        this.sleepTimer = 0;
     }
     sleep() {
         if (this.type !== "dynamic") {
@@ -198,16 +179,6 @@ export class RigidBody {
         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,
@@ -256,27 +227,4 @@ function crossVec3(a, b) {
         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