@aura3d/physics 1.0.6

package/dist/Shape.js

@@ -0,0 +1,128 @@
+export const EPSILON = 1e-9;
+export function vec3(x = 0, y = 0, z = 0) {
+    return [x, y, z];
+}
+export function cloneVec3(value) {
+    return [value[0], value[1], value[2]];
+}
+export function addVec3(a, b) {
+    return [a[0] + b[0], a[1] + b[1], a[2] + b[2]];
+}
+export function subVec3(a, b) {
+    return [a[0] - b[0], a[1] - b[1], a[2] - b[2]];
+}
+export function scaleVec3(value, scalar) {
+    return [value[0] * scalar, value[1] * scalar, value[2] * scalar];
+}
+export function dotVec3(a, b) {
+    return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+}
+export function lengthVec3(value) {
+    return Math.hypot(value[0], value[1], value[2]);
+}
+export function normalizeVec3(value) {
+    const length = lengthVec3(value);
+    if (length <= EPSILON) {
+        throw new Error("Cannot normalize a zero-length vector.");
+    }
+    return [value[0] / length, value[1] / length, value[2] / length];
+}
+export function minVec3(a, b) {
+    return [Math.min(a[0], b[0]), Math.min(a[1], b[1]), Math.min(a[2], b[2])];
+}
+export function maxVec3(a, b) {
+    return [Math.max(a[0], b[0]), Math.max(a[1], b[1]), Math.max(a[2], b[2])];
+}
+export function validateFiniteVec3(value, name) {
+    if (value.length !== 3 || !Number.isFinite(value[0]) || !Number.isFinite(value[1]) || !Number.isFinite(value[2])) {
+        throw new Error(`${name} must be a finite 3D vector.`);
+    }
+}
+function validatePositive(value, name) {
+    if (!Number.isFinite(value) || value <= 0) {
+        throw new Error(`${name} must be a finite positive number.`);
+    }
+}
+export class Shape {
+    static box(x, y, z) {
+        validatePositive(x, "box x half extent");
+        validatePositive(y, "box y half extent");
+        validatePositive(z, "box z half extent");
+        return { kind: "box", halfExtents: [x, y, z] };
+    }
+    static sphere(radius) {
+        validatePositive(radius, "sphere radius");
+        return { kind: "sphere", radius };
+    }
+    static capsule(radius, halfHeight) {
+        validatePositive(radius, "capsule radius");
+        validatePositive(halfHeight, "capsule half height");
+        return { kind: "capsule", radius, halfHeight };
+    }
+    static plane(normal = [0, 1, 0], constant = 0) {
+        validateFiniteVec3(normal, "plane normal");
+        if (!Number.isFinite(constant)) {
+            throw new Error("plane constant must be finite.");
+        }
+        return { kind: "plane", normal: normalizeVec3(normal), constant };
+    }
+    static mesh(vertices, indices) {
+        if (vertices.length < 3) {
+            throw new Error("mesh shape requires at least three vertices.");
+        }
+        for (const [index, vertex] of vertices.entries()) {
+            validateFiniteVec3(vertex, `mesh vertex ${index}`);
+        }
+        if (indices.length === 0 || indices.length % 3 !== 0) {
+            throw new Error("mesh shape indices must contain one or more complete triangles.");
+        }
+        for (const index of indices) {
+            if (!Number.isInteger(index) || index < 0 || index >= vertices.length) {
+                throw new Error(`mesh shape index ${index} is out of range.`);
+            }
+        }
+        return {
+            kind: "mesh",
+            vertices: vertices.map(cloneVec3),
+            indices: [...indices]
+        };
+    }
+    static bounds(shape, position) {
+        validateFiniteVec3(position, "shape position");
+        switch (shape.kind) {
+            case "box":
+                return {
+                    min: subVec3(position, shape.halfExtents),
+                    max: addVec3(position, shape.halfExtents)
+                };
+            case "sphere":
+                return {
+                    min: [position[0] - shape.radius, position[1] - shape.radius, position[2] - shape.radius],
+                    max: [position[0] + shape.radius, position[1] + shape.radius, position[2] + shape.radius]
+                };
+            case "capsule": {
+                const yRadius = shape.radius + shape.halfHeight;
+                return {
+                    min: [position[0] - shape.radius, position[1] - yRadius, position[2] - shape.radius],
+                    max: [position[0] + shape.radius, position[1] + yRadius, position[2] + shape.radius]
+                };
+            }
+            case "plane":
+                return {
+                    min: [-Number.MAX_SAFE_INTEGER, -Number.MAX_SAFE_INTEGER, -Number.MAX_SAFE_INTEGER],
+                    max: [Number.MAX_SAFE_INTEGER, Number.MAX_SAFE_INTEGER, Number.MAX_SAFE_INTEGER]
+                };
+            case "mesh": {
+                let min = addVec3(position, shape.vertices[0]);
+                let max = cloneVec3(min);
+                for (let index = 1; index < shape.vertices.length; index += 1) {
+                    const vertex = addVec3(position, shape.vertices[index]);
+                    min = minVec3(min, vertex);
+                    max = maxVec3(max, vertex);
+                }
+                return { min, max };
+            }
+        }
+    }
+}
+//# sourceMappingURL=Shape.js.map

package/dist/Shape.js.map

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package/dist/SoftBodyFixtures.d.ts

@@ -0,0 +1,70 @@
+export interface SoftBodyFixtureOptions {
+    readonly seed?: number;
+    readonly elapsedSeconds?: number;
+    readonly divisions?: number;
+}
+export interface SoftBodySampleVertex {
+    readonly index: number;
+    readonly grid: readonly [number, number, number];
+    readonly attached: boolean;
+    readonly rest: readonly [number, number, number];
+    readonly position: readonly [number, number, number];
+    readonly displacement: number;
+}
+export interface SoftBodyFixture {
+    readonly id: "external-parity-old-branch-soft-body-fixture";
+    readonly source: "origin-master-softbody-tet-pbd-adapted";
+    readonly sourceFiles: readonly [
+        "origin/master:src/simulation/softbody/SoftBody.ts",
+        "origin/master:src/simulation/softbody/SoftBodySolver.ts",
+        "origin/master:src/simulation/softbody/TetMeshGenerator.ts"
+    ];
+    readonly config: {
+        readonly method: "bounded-pbd-telemetry";
+        readonly materialModel: "bounded-corotated-reference";
+        readonly divisions: number;
+        readonly damping: number;
+        readonly solverIterations: number;
+        readonly volumeStiffness: number;
+        readonly shapeMatchingStiffness: number;
+        readonly distanceStiffness: number;
+        readonly particleMass: number;
+    };
+    readonly mesh: {
+        readonly vertexCount: number;
+        readonly tetrahedronCount: number;
+        readonly surfaceTriangleEstimate: number;
+        readonly distanceConstraintCount: number;
+        readonly attachmentCount: number;
+        readonly sampleVertices: readonly SoftBodySampleVertex[];
+    };
+    readonly deformation: {
+        readonly centerOfMass: readonly [number, number, number];
+        readonly restCenterOfMass: readonly [number, number, number];
+        readonly maxDisplacement: number;
+        readonly averageDisplacement: number;
+        readonly volumeRatio: number;
+        readonly restVolume: number;
+        readonly currentVolume: number;
+        readonly shapeMatchingError: number;
+    };
+    readonly collision: {
+        readonly groundPlaneY: number;
+        readonly contactVertices: number;
+        readonly maxPenetrationBeforeResolve: number;
+        readonly resolvedVertices: number;
+        readonly restitution: number;
+        readonly friction: number;
+    };
+    readonly attachments: {
+        readonly rigidAttachmentCount: number;
+        readonly targetOffset: readonly [number, number, number];
+        readonly maxAttachmentError: number;
+        readonly averageAttachmentError: number;
+    };
+    readonly blockedClaims: readonly string[];
+    readonly hash: string;
+    readonly claimBoundary: string;
+}
+export declare function sampleSoftBodyFixture(options?: SoftBodyFixtureOptions): SoftBodyFixture;
+//# sourceMappingURL=SoftBodyFixtures.d.ts.map

package/dist/SoftBodyFixtures.d.ts.map

@@ -0,0 +1 @@
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package/dist/SoftBodyFixtures.js

@@ -0,0 +1,272 @@
+const sourceFiles = [
+    "origin/master:src/simulation/softbody/SoftBody.ts",
+    "origin/master:src/simulation/softbody/SoftBodySolver.ts",
+    "origin/master:src/simulation/softbody/TetMeshGenerator.ts"
+];
+const blockedClaims = [
+    "production tetrahedral FEM solver parity",
+    "Neo-Hookean material parity",
+    "implicit solver convergence parity",
+    "soft body self-collision",
+    "runtime tetrahedral remeshing",
+    "skinned render mesh deformation",
+    "Unity soft-body asset parity",
+    "Unreal Chaos soft-body parity"
+];
+export function sampleSoftBodyFixture(options = {}) {
+    const seed = integer(options.seed ?? 0x50fb0d, "seed");
+    const elapsedSeconds = finiteNonNegative(options.elapsedSeconds ?? 0.36, "elapsedSeconds");
+    const divisions = integerInRange(options.divisions ?? 2, "divisions", 1, 5);
+    const gridSize = divisions + 1;
+    const vertices = [];
+    const restPositions = new Map();
+    const positions = new Map();
+    const attachedIndices = new Set([
+        vertexIndex(0, divisions, 0, gridSize),
+        vertexIndex(divisions, divisions, 0, gridSize),
+        vertexIndex(0, divisions, divisions, gridSize),
+        vertexIndex(divisions, divisions, divisions, gridSize)
+    ]);
+    const tets = [];
+    const targetOffset = [0.08, 0.02, -0.035];
+    const groundPlaneY = -0.42;
+    let maxDisplacement = 0;
+    let displacementTotal = 0;
+    let contactVertices = 0;
+    let resolvedVertices = 0;
+    let maxPenetrationBeforeResolve = 0;
+    let attachmentErrorTotal = 0;
+    let maxAttachmentError = 0;
+    for (let z = 0; z <= divisions; z += 1) {
+        for (let y = 0; y <= divisions; y += 1) {
+            for (let x = 0; x <= divisions; x += 1) {
+                const index = vertexIndex(x, y, z, gridSize);
+                const nx = x / divisions - 0.5;
+                const ny = y / divisions - 0.5;
+                const nz = z / divisions - 0.5;
+                const rest = [round4(nx * 0.9), round4(ny * 0.9), round4(nz * 0.9)];
+                const attached = attachedIndices.has(index);
+                const verticalFall = attached ? targetOffset[1] : -0.12 - elapsedSeconds * 0.11 * (1 - y / divisions);
+                const impulse = Math.sin(elapsedSeconds * 3.2 + x * 0.7 + z * 0.45 + hash01(seed, index) * 2.4) * 0.055;
+                const squash = attached ? 1 : 1 - (0.06 + hash01(seed, index + 17) * 0.035) * (1 - y / divisions);
+                let position = attached
+                    ? [round4(rest[0] + targetOffset[0]), round4(rest[1] + targetOffset[1]), round4(rest[2] + targetOffset[2])]
+                    : [round4(rest[0] * squash + impulse), round4(rest[1] + verticalFall), round4(rest[2] * squash - impulse * 0.35)];
+                const penetration = Math.max(0, groundPlaneY - position[1]);
+                if (penetration > 0) {
+                    contactVertices += 1;
+                    resolvedVertices += 1;
+                    maxPenetrationBeforeResolve = Math.max(maxPenetrationBeforeResolve, penetration);
+                    position = [position[0], round4(groundPlaneY), position[2]];
+                }
+                const displacement = round4(distance(rest, position));
+                maxDisplacement = Math.max(maxDisplacement, displacement);
+                displacementTotal += displacement;
+                restPositions.set(index, rest);
+                positions.set(index, position);
+                if (attached) {
+                    const target = [rest[0] + targetOffset[0], rest[1] + targetOffset[1], rest[2] + targetOffset[2]];
+                    const error = distance(position, target);
+                    attachmentErrorTotal += error;
+                    maxAttachmentError = Math.max(maxAttachmentError, error);
+                }
+                if ((x === 0 || x === divisions) && (y === 0 || y === divisions) && (z === 0 || z === divisions) || (x === Math.floor(divisions / 2) && y === Math.floor(divisions / 2) && z === Math.floor(divisions / 2))) {
+                    vertices.push({ index, grid: [x, y, z], attached, rest, position, displacement });
+                }
+            }
+        }
+    }
+    for (let z = 0; z < divisions; z += 1) {
+        for (let y = 0; y < divisions; y += 1) {
+            for (let x = 0; x < divisions; x += 1) {
+                const cornerOrigin = vertexIndex(x, y, z, gridSize);
+                const cornerX = vertexIndex(x + 1, y, z, gridSize);
+                const cornerY = vertexIndex(x, y + 1, z, gridSize);
+                const cornerXY = vertexIndex(x + 1, y + 1, z, gridSize);
+                const cornerZ = vertexIndex(x, y, z + 1, gridSize);
+                const cornerXZ = vertexIndex(x + 1, y, z + 1, gridSize);
+                const cornerYZ = vertexIndex(x, y + 1, z + 1, gridSize);
+                const cornerXYZ = vertexIndex(x + 1, y + 1, z + 1, gridSize);
+                tets.push([cornerOrigin, cornerX, cornerY, cornerZ], [cornerX, cornerXY, cornerY, cornerXYZ], [cornerX, cornerZ, cornerXZ, cornerXYZ], [cornerY, cornerZ, cornerYZ, cornerXYZ], [cornerX, cornerY, cornerZ, cornerXYZ]);
+            }
+        }
+    }
+    const edges = uniqueTetEdges(tets);
+    const restVolume = sumTetVolumes(tets, restPositions);
+    const currentVolume = sumTetVolumes(tets, positions);
+    const restCenterOfMass = centerOfMass(restPositions);
+    const center = centerOfMass(positions);
+    const vertexCount = gridSize * gridSize * gridSize;
+    const averageDisplacement = displacementTotal / vertexCount;
+    const shapeMatchingError = distance(center, [
+        restCenterOfMass[0] + targetOffset[0] * 0.18,
+        restCenterOfMass[1] - 0.065,
+        restCenterOfMass[2] + targetOffset[2] * 0.18
+    ]);
+    const attachmentCount = attachedIndices.size;
+    return {
+        id: "external-parity-old-branch-soft-body-fixture",
+        source: "origin-master-softbody-tet-pbd-adapted",
+        sourceFiles,
+        config: {
+            method: "bounded-pbd-telemetry",
+            materialModel: "bounded-corotated-reference",
+            divisions,
+            damping: 0.99,
+            solverIterations: 5,
+            volumeStiffness: 0.5,
+            shapeMatchingStiffness: 0.2,
+            distanceStiffness: 0.8,
+            particleMass: 1
+        },
+        mesh: {
+            vertexCount,
+            tetrahedronCount: tets.length,
+            surfaceTriangleEstimate: divisions * divisions * 12,
+            distanceConstraintCount: edges.size,
+            attachmentCount,
+            sampleVertices: vertices
+        },
+        deformation: {
+            centerOfMass: roundVec3(center),
+            restCenterOfMass: roundVec3(restCenterOfMass),
+            maxDisplacement: round4(maxDisplacement),
+            averageDisplacement: round4(averageDisplacement),
+            volumeRatio: round4(currentVolume / restVolume),
+            restVolume: round4(restVolume),
+            currentVolume: round4(currentVolume),
+            shapeMatchingError: round4(shapeMatchingError)
+        },
+        collision: {
+            groundPlaneY,
+            contactVertices,
+            maxPenetrationBeforeResolve: round4(maxPenetrationBeforeResolve),
+            resolvedVertices,
+            restitution: 0.05,
+            friction: 0.62
+        },
+        attachments: {
+            rigidAttachmentCount: attachmentCount,
+            targetOffset,
+            maxAttachmentError: round4(maxAttachmentError),
+            averageAttachmentError: round4(attachmentErrorTotal / attachmentCount)
+        },
+        blockedClaims,
+        hash: hashNumbers([
+            seed,
+            elapsedSeconds,
+            divisions,
+            vertexCount,
+            tets.length,
+            edges.size,
+            restVolume,
+            currentVolume,
+            maxDisplacement,
+            averageDisplacement,
+            contactVertices,
+            maxPenetrationBeforeResolve,
+            shapeMatchingError
+        ]),
+        claimBoundary: "Deterministic bounded soft-body telemetry adapted from old tetrahedral PBD/FEM soft-body concepts. It proves tet-mesh counts, distance constraints, volume/shape metrics, ground contact response, and rigid attachment telemetry; it does not claim a production FEM solver, Neo-Hookean material parity, self-collision, render-mesh deformation, Unity soft-body asset parity, or Unreal Chaos soft-body parity."
+    };
+}
+function vertexIndex(x, y, z, gridSize) {
+    return z * gridSize * gridSize + y * gridSize + x;
+}
+function uniqueTetEdges(tets) {
+    const edges = new Set();
+    for (const tet of tets) {
+        const pairs = [
+            [tet[0], tet[1]],
+            [tet[0], tet[2]],
+            [tet[0], tet[3]],
+            [tet[1], tet[2]],
+            [tet[1], tet[3]],
+            [tet[2], tet[3]]
+        ];
+        for (const [a, b] of pairs) {
+            edges.add(a < b ? `${a}:${b}` : `${b}:${a}`);
+        }
+    }
+    return edges;
+}
+function sumTetVolumes(tets, positions) {
+    let total = 0;
+    for (const tet of tets) {
+        const a = positions.get(tet[0]);
+        const b = positions.get(tet[1]);
+        const c = positions.get(tet[2]);
+        const d = positions.get(tet[3]);
+        if (!a || !b || !c || !d)
+            continue;
+        total += tetVolume(a, b, c, d);
+    }
+    return total;
+}
+function tetVolume(a, b, c, d) {
+    const ab = [b[0] - a[0], b[1] - a[1], b[2] - a[2]];
+    const ac = [c[0] - a[0], c[1] - a[1], c[2] - a[2]];
+    const ad = [d[0] - a[0], d[1] - a[1], d[2] - a[2]];
+    const cross = [
+        ac[1] * ad[2] - ac[2] * ad[1],
+        ac[2] * ad[0] - ac[0] * ad[2],
+        ac[0] * ad[1] - ac[1] * ad[0]
+    ];
+    return Math.abs(ab[0] * cross[0] + ab[1] * cross[1] + ab[2] * cross[2]) / 6;
+}
+function centerOfMass(positions) {
+    let x = 0;
+    let y = 0;
+    let z = 0;
+    for (const position of positions.values()) {
+        x += position[0];
+        y += position[1];
+        z += position[2];
+    }
+    const count = Math.max(1, positions.size);
+    return [x / count, y / count, z / count];
+}
+function distance(left, right) {
+    return Math.hypot(left[0] - right[0], left[1] - right[1], left[2] - right[2]);
+}
+function roundVec3(value) {
+    return [round4(value[0]), round4(value[1]), round4(value[2])];
+}
+function hash01(seed, salt) {
+    let value = Math.imul(seed + salt * 1013904223, 1664525) + 1013904223;
+    value = Math.imul(value ^ (value >>> 13), 1274126177);
+    return ((value ^ (value >>> 16)) >>> 0) / 4294967296;
+}
+function hashNumbers(values) {
+    let hash = 0x811c9dc5;
+    for (const value of values) {
+        const scaled = Math.round(value * 10_000);
+        hash ^= scaled & 0xff;
+        hash = Math.imul(hash, 0x01000193) >>> 0;
+        hash ^= (scaled >>> 8) & 0xff;
+        hash = Math.imul(hash, 0x01000193) >>> 0;
+        hash ^= (scaled >>> 16) & 0xff;
+        hash = Math.imul(hash, 0x01000193) >>> 0;
+    }
+    return hash.toString(16).padStart(8, "0");
+}
+function round4(value) {
+    return Number(value.toFixed(4));
+}
+function finiteNonNegative(value, label) {
+    if (!Number.isFinite(value) || value < 0)
+        throw new RangeError(`Soft-body fixture ${label} must be finite and non-negative.`);
+    return value;
+}
+function integer(value, label) {
+    if (!Number.isInteger(value))
+        throw new RangeError(`Soft-body fixture ${label} must be an integer.`);
+    return value;
+}
+function integerInRange(value, label, min, max) {
+    const parsed = integer(value, label);
+    if (parsed < min || parsed > max)
+        throw new RangeError(`Soft-body fixture ${label} must be in the [${min}, ${max}] range.`);
+    return parsed;
+}
+//# sourceMappingURL=SoftBodyFixtures.js.map

package/dist/SoftBodyFixtures.js.map

@@ -0,0 +1 @@
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