@aura3d/physics 1.0.6

package/dist/Collider.js

@@ -0,0 +1,45 @@
+import { Shape } from "./Shape.js";
+export class Collider {
+    id;
+    bodyId;
+    shape;
+    sensor;
+    filter;
+    material;
+    constructor(id, bodyId, descriptor) {
+        if (!Number.isInteger(id) || id <= 0) {
+            throw new Error("Collider id must be a positive integer.");
+        }
+        if (!Number.isInteger(bodyId) || bodyId <= 0) {
+            throw new Error("Collider body id must be a positive integer.");
+        }
+        this.id = id;
+        this.bodyId = bodyId;
+        this.shape = descriptor.shape;
+        this.sensor = descriptor.sensor ?? false;
+        this.filter = {
+            layer: descriptor.filter?.layer ?? 1,
+            mask: descriptor.filter?.mask ?? 0xffffffff
+        };
+        this.material = {
+            restitution: descriptor.material?.restitution ?? 0,
+            friction: descriptor.material?.friction ?? 0.5
+        };
+        if (this.filter.layer < 0 || this.filter.mask < 0) {
+            throw new Error("Collider filter layer and mask must be non-negative bit masks.");
+        }
+        if (!Number.isFinite(this.material.restitution) ||
+            !Number.isFinite(this.material.friction) ||
+            this.material.restitution < 0 ||
+            this.material.friction < 0) {
+            throw new Error("Collider material values must be finite and non-negative.");
+        }
+    }
+    canCollideWith(other) {
+        return (this.filter.mask & other.filter.layer) !== 0 && (other.filter.mask & this.filter.layer) !== 0;
+    }
+    bounds(position) {
+        return Shape.bounds(this.shape, position);
+    }
+}
+//# sourceMappingURL=Collider.js.map

package/dist/Collider.js.map

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package/dist/CollisionEvents.d.ts

@@ -0,0 +1,26 @@
+import type { Vec3 } from "./Shape.js";
+export type Contact = {
+    readonly colliderA: number;
+    readonly colliderB: number;
+    readonly bodyA: number;
+    readonly bodyB: number;
+    readonly normal: Vec3;
+    readonly penetration: number;
+    readonly sensor: boolean;
+};
+export type CollisionEventType = "begin" | "stay" | "end";
+export type CollisionEvent = {
+    readonly type: CollisionEventType;
+    readonly pairKey: string;
+    readonly contact: Contact;
+};
+export declare function contactPairKey(colliderA: number, colliderB: number): string;
+export declare class CollisionEventQueue {
+    private previousContacts;
+    private events;
+    update(currentContacts: readonly Contact[]): readonly CollisionEvent[];
+    removeCollider(colliderId: number): readonly CollisionEvent[];
+    drain(): readonly CollisionEvent[];
+    snapshotContacts(): readonly Contact[];
+}
+//# sourceMappingURL=CollisionEvents.d.ts.map

package/dist/CollisionEvents.d.ts.map

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package/dist/CollisionEvents.js

@@ -0,0 +1,46 @@
+export function contactPairKey(colliderA, colliderB) {
+    return colliderA < colliderB ? `${colliderA}:${colliderB}` : `${colliderB}:${colliderA}`;
+}
+export class CollisionEventQueue {
+    previousContacts = new Map();
+    events = [];
+    update(currentContacts) {
+        const next = new Map();
+        const events = [];
+        for (const contact of currentContacts) {
+            const pairKey = contactPairKey(contact.colliderA, contact.colliderB);
+            next.set(pairKey, contact);
+            events.push({ type: this.previousContacts.has(pairKey) ? "stay" : "begin", pairKey, contact });
+        }
+        for (const [pairKey, contact] of this.previousContacts) {
+            if (!next.has(pairKey)) {
+                events.push({ type: "end", pairKey, contact });
+            }
+        }
+        events.sort((a, b) => a.pairKey.localeCompare(b.pairKey) || a.type.localeCompare(b.type));
+        this.previousContacts = next;
+        this.events = events;
+        return this.drain();
+    }
+    removeCollider(colliderId) {
+        const removedEvents = [];
+        for (const [pairKey, contact] of this.previousContacts) {
+            if (contact.colliderA === colliderId || contact.colliderB === colliderId) {
+                const event = { type: "end", pairKey, contact };
+                this.events.push(event);
+                removedEvents.push(event);
+                this.previousContacts.delete(pairKey);
+            }
+        }
+        return removedEvents;
+    }
+    drain() {
+        const events = this.events;
+        this.events = [];
+        return events;
+    }
+    snapshotContacts() {
+        return Array.from(this.previousContacts.values());
+    }
+}
+//# sourceMappingURL=CollisionEvents.js.map

package/dist/CollisionEvents.js.map

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package/dist/CollisionVolumes.d.ts

@@ -0,0 +1,57 @@
+import { type Bounds, type Vec3 } from "./Shape.js";
+export type CombatFacing = -1 | 1;
+export type CollisionOwnerId = string | number;
+export type CollisionVolumeKind = "hitbox" | "hurtbox" | "pushbox" | "guardbox";
+export type CollisionVolumeDescriptor = {
+    readonly id?: string;
+    readonly ownerId?: CollisionOwnerId;
+    readonly offset?: Vec3;
+    readonly halfExtents: Vec3;
+    readonly enabled?: boolean;
+    readonly tags?: readonly string[];
+    readonly metadata?: Readonly<Record<string, unknown>>;
+};
+export type CollisionVolume = {
+    readonly id: string;
+    readonly kind: CollisionVolumeKind;
+    readonly offset: Vec3;
+    readonly halfExtents: Vec3;
+    readonly enabled: boolean;
+    readonly tags: readonly string[];
+    readonly ownerId?: CollisionOwnerId;
+    readonly metadata?: Readonly<Record<string, unknown>>;
+};
+export type ResolvedCollisionVolume = CollisionVolume & {
+    readonly center: Vec3;
+    readonly facing: CombatFacing;
+    readonly bounds: Bounds;
+};
+export type CollisionPenetration = {
+    readonly normal: Vec3;
+    readonly depth: number;
+    readonly axis: 0 | 1 | 2;
+    readonly overlap: Vec3;
+};
+export declare function collisionVolume(kind: CollisionVolumeKind, descriptor: CollisionVolumeDescriptor): CollisionVolume;
+export declare function hitbox(descriptor: CollisionVolumeDescriptor): CollisionVolume;
+export declare function hurtbox(descriptor: CollisionVolumeDescriptor): CollisionVolume;
+export declare function pushbox(descriptor: CollisionVolumeDescriptor): CollisionVolume;
+export declare function guardbox(descriptor: CollisionVolumeDescriptor): CollisionVolume;
+export declare const createHitbox: typeof hitbox;
+export declare const createHurtbox: typeof hurtbox;
+export declare const createPushbox: typeof pushbox;
+export declare const createGuardbox: typeof guardbox;
+export declare const createGuardBox: typeof guardbox;
+export declare function cloneCollisionVolume(volume: CollisionVolume): CollisionVolume;
+export declare function withVolumeOwner(volume: CollisionVolume, ownerId: CollisionOwnerId): CollisionVolume;
+export declare function resolveCollisionVolume(volume: CollisionVolume, ownerPosition: Vec3, facing?: CombatFacing): ResolvedCollisionVolume;
+export declare function aabbFromCenter(center: Vec3, halfExtents: Vec3): Bounds;
+export declare function boundsCenter(bounds: Bounds): Vec3;
+export declare function boundsHalfExtents(bounds: Bounds): Vec3;
+export declare function overlapsAabb(a: Bounds, b: Bounds): boolean;
+export declare function overlapsVolume(a: ResolvedCollisionVolume, b: ResolvedCollisionVolume): boolean;
+export declare function aabbPenetration(a: Bounds, b: Bounds): CollisionPenetration | null;
+export declare function volumePairKey(a: CollisionVolume | ResolvedCollisionVolume, b: CollisionVolume | ResolvedCollisionVolume): string;
+export declare function normalizeFacing(value: number): CombatFacing;
+export declare function validateBounds(bounds: Bounds, name: string): void;
+//# sourceMappingURL=CollisionVolumes.d.ts.map

package/dist/CollisionVolumes.d.ts.map

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package/dist/CollisionVolumes.js

@@ -0,0 +1,159 @@
+import { cloneVec3, validateFiniteVec3 } from "./Shape.js";
+export function collisionVolume(kind, descriptor) {
+    validateHalfExtents(descriptor.halfExtents, `${kind} halfExtents`);
+    const volume = {
+        id: descriptor.id ?? kind,
+        kind,
+        offset: cloneVec3(descriptor.offset ?? [0, 0, 0]),
+        halfExtents: cloneVec3(descriptor.halfExtents),
+        enabled: descriptor.enabled ?? true,
+        tags: [...(descriptor.tags ?? [])],
+        ...(descriptor.ownerId === undefined ? {} : { ownerId: descriptor.ownerId }),
+        ...(descriptor.metadata === undefined ? {} : { metadata: { ...descriptor.metadata } })
+    };
+    validateFiniteVec3(volume.offset, `${kind} offset`);
+    return volume;
+}
+export function hitbox(descriptor) {
+    return collisionVolume("hitbox", descriptor);
+}
+export function hurtbox(descriptor) {
+    return collisionVolume("hurtbox", descriptor);
+}
+export function pushbox(descriptor) {
+    return collisionVolume("pushbox", descriptor);
+}
+export function guardbox(descriptor) {
+    return collisionVolume("guardbox", descriptor);
+}
+export const createHitbox = hitbox;
+export const createHurtbox = hurtbox;
+export const createPushbox = pushbox;
+export const createGuardbox = guardbox;
+export const createGuardBox = guardbox;
+export function cloneCollisionVolume(volume) {
+    return {
+        id: volume.id,
+        kind: volume.kind,
+        offset: cloneVec3(volume.offset),
+        halfExtents: cloneVec3(volume.halfExtents),
+        enabled: volume.enabled,
+        tags: [...volume.tags],
+        ...(volume.ownerId === undefined ? {} : { ownerId: volume.ownerId }),
+        ...(volume.metadata === undefined ? {} : { metadata: { ...volume.metadata } })
+    };
+}
+export function withVolumeOwner(volume, ownerId) {
+    return {
+        ...cloneCollisionVolume(volume),
+        ownerId
+    };
+}
+export function resolveCollisionVolume(volume, ownerPosition, facing = 1) {
+    validateFiniteVec3(ownerPosition, "volume owner position");
+    const resolvedFacing = normalizeFacing(facing);
+    const center = [
+        ownerPosition[0] + volume.offset[0] * resolvedFacing,
+        ownerPosition[1] + volume.offset[1],
+        ownerPosition[2] + volume.offset[2]
+    ];
+    return {
+        ...cloneCollisionVolume(volume),
+        center,
+        facing: resolvedFacing,
+        bounds: aabbFromCenter(center, volume.halfExtents)
+    };
+}
+export function aabbFromCenter(center, halfExtents) {
+    validateFiniteVec3(center, "aabb center");
+    validateHalfExtents(halfExtents, "aabb halfExtents");
+    return {
+        min: [center[0] - halfExtents[0], center[1] - halfExtents[1], center[2] - halfExtents[2]],
+        max: [center[0] + halfExtents[0], center[1] + halfExtents[1], center[2] + halfExtents[2]]
+    };
+}
+export function boundsCenter(bounds) {
+    validateBounds(bounds, "bounds");
+    return [
+        (bounds.min[0] + bounds.max[0]) * 0.5,
+        (bounds.min[1] + bounds.max[1]) * 0.5,
+        (bounds.min[2] + bounds.max[2]) * 0.5
+    ];
+}
+export function boundsHalfExtents(bounds) {
+    validateBounds(bounds, "bounds");
+    return [
+        (bounds.max[0] - bounds.min[0]) * 0.5,
+        (bounds.max[1] - bounds.min[1]) * 0.5,
+        (bounds.max[2] - bounds.min[2]) * 0.5
+    ];
+}
+export function overlapsAabb(a, b) {
+    validateBounds(a, "a bounds");
+    validateBounds(b, "b bounds");
+    return (a.min[0] < b.max[0] &&
+        a.max[0] > b.min[0] &&
+        a.min[1] < b.max[1] &&
+        a.max[1] > b.min[1] &&
+        a.min[2] < b.max[2] &&
+        a.max[2] > b.min[2]);
+}
+export function overlapsVolume(a, b) {
+    if (!a.enabled || !b.enabled) {
+        return false;
+    }
+    return overlapsAabb(a.bounds, b.bounds);
+}
+export function aabbPenetration(a, b) {
+    if (!overlapsAabb(a, b)) {
+        return null;
+    }
+    const overlap = [
+        Math.min(a.max[0] - b.min[0], b.max[0] - a.min[0]),
+        Math.min(a.max[1] - b.min[1], b.max[1] - a.min[1]),
+        Math.min(a.max[2] - b.min[2], b.max[2] - a.min[2])
+    ];
+    let axis = 0;
+    if (overlap[1] < overlap[axis]) {
+        axis = 1;
+    }
+    if (overlap[2] < overlap[axis]) {
+        axis = 2;
+    }
+    const centerA = boundsCenter(a);
+    const centerB = boundsCenter(b);
+    const normal = [0, 0, 0];
+    normal[axis] = centerA[axis] <= centerB[axis] ? -1 : 1;
+    return {
+        normal,
+        depth: overlap[axis],
+        axis,
+        overlap
+    };
+}
+export function volumePairKey(a, b) {
+    const keyA = volumeKey(a);
+    const keyB = volumeKey(b);
+    return keyA < keyB ? `${keyA}:${keyB}` : `${keyB}:${keyA}`;
+}
+export function normalizeFacing(value) {
+    return value < 0 ? -1 : 1;
+}
+export function validateBounds(bounds, name) {
+    validateFiniteVec3(bounds.min, `${name} min`);
+    validateFiniteVec3(bounds.max, `${name} max`);
+    if (bounds.min[0] > bounds.max[0] || bounds.min[1] > bounds.max[1] || bounds.min[2] > bounds.max[2]) {
+        throw new Error(`${name} min values must be less than or equal to max values.`);
+    }
+}
+function validateHalfExtents(value, name) {
+    validateFiniteVec3(value, name);
+    if (value[0] <= 0 || value[1] <= 0 || value[2] <= 0) {
+        throw new Error(`${name} must contain finite positive values.`);
+    }
+}
+function volumeKey(volume) {
+    const owner = volume.ownerId === undefined ? "none" : String(volume.ownerId);
+    return `${owner}/${volume.kind}/${volume.id}`;
+}
+//# sourceMappingURL=CollisionVolumes.js.map

package/dist/CollisionVolumes.js.map

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package/dist/Constraint.d.ts

@@ -0,0 +1,31 @@
+import { type Vec3 } from "./Shape.js";
+import type { RigidBody } from "./RigidBody.js";
+export type ConstraintType = "fixed" | "hinge" | "slider" | "spring";
+export type ConstraintDescriptor = {
+    readonly type: ConstraintType;
+    readonly bodyA: RigidBody;
+    readonly bodyB: RigidBody;
+    readonly localAnchorA?: Vec3;
+    readonly localAnchorB?: Vec3;
+    readonly restLength?: number;
+    readonly stiffness?: number;
+    readonly axis?: Vec3;
+};
+export declare class Constraint {
+    readonly type: ConstraintType;
+    readonly bodyA: RigidBody;
+    readonly bodyB: RigidBody;
+    readonly localAnchorA: Vec3;
+    readonly localAnchorB: Vec3;
+    readonly restOffset: Vec3;
+    readonly restLength: number;
+    readonly stiffness: number;
+    readonly axis: Vec3;
+    constructor(descriptor: ConstraintDescriptor);
+    solve(): void;
+    private anchorAWorld;
+    private anchorBWorld;
+    private applyError;
+    private applyVelocityError;
+}
+//# sourceMappingURL=Constraint.d.ts.map

package/dist/Constraint.d.ts.map

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package/dist/Constraint.js

@@ -0,0 +1,103 @@
+import { addVec3, dotVec3, normalizeVec3, scaleVec3, subVec3, validateFiniteVec3 } from "./Shape.js";
+export class Constraint {
+    type;
+    bodyA;
+    bodyB;
+    localAnchorA;
+    localAnchorB;
+    restOffset;
+    restLength;
+    stiffness;
+    axis;
+    constructor(descriptor) {
+        if (descriptor.bodyA.id === descriptor.bodyB.id) {
+            throw new Error("Constraint requires two different bodies.");
+        }
+        this.localAnchorA = descriptor.localAnchorA ?? [0, 0, 0];
+        this.localAnchorB = descriptor.localAnchorB ?? [0, 0, 0];
+        validateFiniteVec3(this.localAnchorA, "constraint localAnchorA");
+        validateFiniteVec3(this.localAnchorB, "constraint localAnchorB");
+        this.axis = normalizeVec3(descriptor.axis ?? [1, 0, 0]);
+        this.type = descriptor.type;
+        this.bodyA = descriptor.bodyA;
+        this.bodyB = descriptor.bodyB;
+        const anchorA = this.anchorAWorld();
+        const anchorB = this.anchorBWorld();
+        this.restOffset = subVec3(anchorB, anchorA);
+        this.restLength = descriptor.restLength ?? Math.hypot(this.restOffset[0], this.restOffset[1], this.restOffset[2]);
+        this.stiffness = descriptor.stiffness ?? 1;
+        if (!Number.isFinite(this.restLength) || this.restLength < 0) {
+            throw new Error("Constraint restLength must be finite and non-negative.");
+        }
+        if (!Number.isFinite(this.stiffness) || this.stiffness < 0 || this.stiffness > 1) {
+            throw new Error("Constraint stiffness must be in the [0, 1] range.");
+        }
+    }
+    solve() {
+        if (this.stiffness === 0) {
+            return;
+        }
+        if (this.type === "fixed") {
+            const currentOffset = subVec3(this.anchorBWorld(), this.anchorAWorld());
+            this.applyError(subVec3(currentOffset, this.restOffset));
+            this.applyVelocityError(subVec3(this.bodyB.velocity, this.bodyA.velocity));
+        }
+        else if (this.type === "hinge") {
+            this.applyError(subVec3(this.anchorBWorld(), this.anchorAWorld()));
+            this.applyVelocityError(subVec3(this.bodyB.velocity, this.bodyA.velocity));
+        }
+        else if (this.type === "slider") {
+            const currentOffset = subVec3(this.anchorBWorld(), this.anchorAWorld());
+            const projected = scaleVec3(this.axis, dotVec3(currentOffset, this.axis));
+            this.applyError(subVec3(currentOffset, projected));
+            const relativeVelocity = subVec3(this.bodyB.velocity, this.bodyA.velocity);
+            const projectedVelocity = scaleVec3(this.axis, dotVec3(relativeVelocity, this.axis));
+            this.applyVelocityError(subVec3(relativeVelocity, projectedVelocity));
+        }
+        else if (this.type === "spring") {
+            const currentOffset = subVec3(this.anchorBWorld(), this.anchorAWorld());
+            const currentLength = Math.hypot(currentOffset[0], currentOffset[1], currentOffset[2]);
+            if (currentLength <= 1e-9) {
+                return;
+            }
+            const lengthError = currentLength - this.restLength;
+            this.applyError(scaleVec3(currentOffset, lengthError / currentLength));
+            const relativeVelocity = subVec3(this.bodyB.velocity, this.bodyA.velocity);
+            const axis = scaleVec3(currentOffset, 1 / currentLength);
+            this.applyVelocityError(scaleVec3(axis, dotVec3(relativeVelocity, axis) * Math.min(1, this.stiffness)));
+        }
+    }
+    anchorAWorld() {
+        return addVec3(this.bodyA.position, this.localAnchorA);
+    }
+    anchorBWorld() {
+        return addVec3(this.bodyB.position, this.localAnchorB);
+    }
+    applyError(error) {
+        const inverseMassSum = this.bodyA.inverseMass + this.bodyB.inverseMass;
+        if (inverseMassSum <= 0) {
+            return;
+        }
+        const weightedError = scaleVec3(error, this.stiffness);
+        if (this.bodyA.inverseMass > 0) {
+            this.bodyA.setPosition(addVec3(this.bodyA.position, scaleVec3(weightedError, this.bodyA.inverseMass / inverseMassSum)));
+        }
+        if (this.bodyB.inverseMass > 0) {
+            this.bodyB.setPosition(subVec3(this.bodyB.position, scaleVec3(weightedError, this.bodyB.inverseMass / inverseMassSum)));
+        }
+    }
+    applyVelocityError(errorVelocity) {
+        const inverseMassSum = this.bodyA.inverseMass + this.bodyB.inverseMass;
+        if (inverseMassSum <= 0) {
+            return;
+        }
+        const correctionImpulse = scaleVec3(errorVelocity, -this.stiffness / inverseMassSum);
+        if (this.bodyA.inverseMass > 0) {
+            this.bodyA.applyImpulse(scaleVec3(correctionImpulse, -1));
+        }
+        if (this.bodyB.inverseMass > 0) {
+            this.bodyB.applyImpulse(correctionImpulse);
+        }
+    }
+}
+//# sourceMappingURL=Constraint.js.map

package/dist/Constraint.js.map

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package/dist/Constraints.d.ts

@@ -0,0 +1,2 @@
+export * from "./Constraint.js";
+//# sourceMappingURL=Constraints.d.ts.map

package/dist/Constraints.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"Constraints.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/Constraints.ts"],"names":[],"mappings":"AAAA,cAAc,iBAAiB,CAAC"}

package/dist/Constraints.js

@@ -0,0 +1,2 @@
+export * from "./Constraint.js";
+//# sourceMappingURL=Constraints.js.map

package/dist/Constraints.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"Constraints.js","sourceRoot":"","sources":["../../../../packages/physics/src/Constraints.ts"],"names":[],"mappings":"AAAA,cAAc,iBAAiB,CAAC"}

package/dist/Crowd.d.ts

@@ -0,0 +1,64 @@
+import { type SteeringPoint, type SteeringVector } from "./Steering";
+export type CrowdFormationType = "line" | "wedge" | "column" | "circle";
+export interface CrowdAgentOptions {
+    readonly id: string;
+    readonly position: SteeringPoint;
+    readonly velocity?: SteeringVector;
+    readonly radius?: number;
+    readonly maxSpeed?: number;
+    readonly priority?: number;
+}
+export interface CrowdSimulationOptions {
+    readonly neighborRadius?: number;
+    readonly maxNeighbors?: number;
+    readonly separationWeight?: number;
+    readonly alignmentWeight?: number;
+    readonly cohesionWeight?: number;
+    readonly formationWeight?: number;
+    readonly maxForce?: number;
+}
+export interface CrowdFormationOptions {
+    readonly type: CrowdFormationType;
+    readonly center: SteeringPoint;
+    readonly forward?: SteeringVector;
+    readonly spacing?: number;
+}
+export interface CrowdAgentSnapshot {
+    readonly id: string;
+    readonly position: SteeringPoint;
+    readonly velocity: SteeringVector;
+    readonly speed: number;
+    readonly neighborCount: number;
+    readonly formationSlot: SteeringPoint;
+}
+export interface CrowdSimulationSnapshot {
+    readonly agentCount: number;
+    readonly neighborPairs: number;
+    readonly averageNeighbors: number;
+    readonly averageSpeed: number;
+    readonly maxSpeed: number;
+    readonly formationType: CrowdFormationType | "none";
+    readonly center: SteeringPoint;
+    readonly agents: readonly CrowdAgentSnapshot[];
+}
+export declare class CrowdSimulation {
+    private readonly agents;
+    private readonly neighborRadius;
+    private readonly maxNeighbors;
+    private readonly separationWeight;
+    private readonly alignmentWeight;
+    private readonly cohesionWeight;
+    private readonly formationWeight;
+    private readonly maxForce;
+    private formation;
+    private lastNeighbors;
+    private lastSlots;
+    constructor(options?: CrowdSimulationOptions);
+    addAgent(options: CrowdAgentOptions): void;
+    removeAgent(id: string): boolean;
+    setFormation(options: CrowdFormationOptions | undefined): void;
+    update(deltaSeconds: number): CrowdSimulationSnapshot;
+    snapshot(): CrowdSimulationSnapshot;
+    private neighborsFor;
+}
+//# sourceMappingURL=Crowd.d.ts.map

package/dist/Crowd.d.ts.map

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