@aura3d/physics 1.0.6

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

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package/dist/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/RigidBody.js.map

@@ -0,0 +1 @@
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package/dist/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/ScenePhysicsBridge.d.ts.map

@@ -0,0 +1 @@
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package/dist/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/ScenePhysicsBridge.js.map

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

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