@aura3d/physics 1.0.6

package/dist/KinematicBody.js.map

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

@@ -0,0 +1,58 @@
+import { KinematicBody, type KinematicBodyDescriptor, type KinematicBodyEvent, type KinematicBodyId, type KinematicBodySnapshot, type KinematicBounds } from "./KinematicBody.js";
+import { type Vec3 } from "./Shape.js";
+export type KinematicWorldDescriptor = {
+    readonly fixedDelta?: number;
+    readonly gravity?: number;
+    readonly groundY?: number;
+    readonly groundSnapDistance?: number;
+    readonly bounds?: KinematicBounds;
+    readonly lockDepth?: boolean;
+    readonly laneZ?: number;
+    readonly laneHalfWidth?: number;
+    readonly pushboxSeparation?: boolean;
+    readonly solverIterations?: number;
+};
+export type KinematicPushEvent = {
+    readonly type: "pushbox-collision";
+    readonly bodyA: KinematicBodyId;
+    readonly bodyB: KinematicBodyId;
+    readonly normal: Vec3;
+    readonly penetration: number;
+    readonly correctionA: Vec3;
+    readonly correctionB: Vec3;
+};
+export type KinematicWorldEvent = KinematicBodyEvent | KinematicPushEvent;
+export type KinematicWorldSnapshot = {
+    readonly frame: number;
+    readonly fixedDelta: number;
+    readonly bodies: readonly KinematicBodySnapshot[];
+    readonly events: readonly KinematicWorldEvent[];
+};
+export declare class KinematicWorld {
+    readonly fixedDelta: number;
+    readonly gravity: number;
+    readonly groundY: number;
+    readonly groundSnapDistance: number;
+    readonly bounds: KinematicBounds | undefined;
+    readonly lockDepth: boolean;
+    readonly laneZ: number;
+    readonly laneHalfWidth: number | undefined;
+    readonly pushboxSeparation: boolean;
+    readonly solverIterations: number;
+    private readonly bodiesById;
+    private nextBodyId;
+    private frame;
+    private lastEvents;
+    constructor(descriptor?: KinematicWorldDescriptor);
+    createBody(descriptor?: KinematicBodyDescriptor): KinematicBody;
+    addBody(body: KinematicBody): void;
+    removeBody(id: KinematicBodyId): void;
+    getBody(id: KinematicBodyId): KinematicBody | undefined;
+    requireBody(id: KinematicBodyId): KinematicBody;
+    bodies(): readonly KinematicBody[];
+    step(dt?: number): readonly KinematicWorldEvent[];
+    resolvePushboxes(): readonly KinematicPushEvent[];
+    snapshot(): KinematicWorldSnapshot;
+    private stepOptions;
+}
+//# sourceMappingURL=KinematicWorld.d.ts.map

package/dist/KinematicWorld.d.ts.map

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

@@ -0,0 +1,246 @@
+import { aabbPenetration, overlapsVolume } from "./CollisionVolumes.js";
+import { KinematicBody } from "./KinematicBody.js";
+import { cloneVec3 } from "./Shape.js";
+export class KinematicWorld {
+    fixedDelta;
+    gravity;
+    groundY;
+    groundSnapDistance;
+    bounds;
+    lockDepth;
+    laneZ;
+    laneHalfWidth;
+    pushboxSeparation;
+    solverIterations;
+    bodiesById = new Map();
+    nextBodyId = 1;
+    frame = 0;
+    lastEvents = [];
+    constructor(descriptor = {}) {
+        this.fixedDelta = positiveFinite(descriptor.fixedDelta ?? 1 / 60, "kinematic fixedDelta");
+        this.gravity = nonNegativeFinite(Math.abs(descriptor.gravity ?? 24), "kinematic world gravity");
+        this.groundY = finite(descriptor.groundY ?? 0, "kinematic world groundY");
+        this.groundSnapDistance = nonNegativeFinite(descriptor.groundSnapDistance ?? 0.08, "kinematic world groundSnapDistance");
+        this.bounds = descriptor.bounds;
+        this.lockDepth = descriptor.lockDepth ?? true;
+        this.laneZ = finite(descriptor.laneZ ?? 0, "kinematic world laneZ");
+        this.laneHalfWidth = descriptor.laneHalfWidth === undefined ? undefined : nonNegativeFinite(descriptor.laneHalfWidth, "kinematic world laneHalfWidth");
+        this.pushboxSeparation = descriptor.pushboxSeparation ?? true;
+        this.solverIterations = positiveInteger(descriptor.solverIterations ?? 2, "kinematic world solverIterations");
+    }
+    createBody(descriptor = {}) {
+        const id = descriptor.id ?? this.nextBodyId;
+        if (typeof id === "number" && id >= this.nextBodyId) {
+            this.nextBodyId = Math.floor(id) + 1;
+        }
+        else {
+            this.nextBodyId += 1;
+        }
+        if (this.bodiesById.has(id)) {
+            throw new Error(`Kinematic body ${String(id)} already exists.`);
+        }
+        const body = new KinematicBody(id, {
+            groundY: this.groundY,
+            groundSnapDistance: this.groundSnapDistance,
+            bounds: this.bounds,
+            lockDepth: this.lockDepth,
+            laneZ: this.laneZ,
+            laneHalfWidth: this.laneHalfWidth,
+            gravity: this.gravity,
+            ...descriptor
+        });
+        this.bodiesById.set(body.id, body);
+        return body;
+    }
+    addBody(body) {
+        if (this.bodiesById.has(body.id)) {
+            throw new Error(`Kinematic body ${String(body.id)} already exists.`);
+        }
+        this.bodiesById.set(body.id, body);
+    }
+    removeBody(id) {
+        this.bodiesById.delete(id);
+    }
+    getBody(id) {
+        return this.bodiesById.get(id);
+    }
+    requireBody(id) {
+        const body = this.getBody(id);
+        if (!body) {
+            throw new Error(`Kinematic body ${String(id)} does not exist.`);
+        }
+        return body;
+    }
+    bodies() {
+        return Array.from(this.bodiesById.values()).sort(compareBodies);
+    }
+    step(dt = this.fixedDelta) {
+        if (!Number.isFinite(dt) || dt <= 0) {
+            throw new Error("KinematicWorld.step dt must be finite and positive.");
+        }
+        const events = [];
+        const options = this.stepOptions();
+        for (const body of this.bodies()) {
+            events.push(...body.step(dt, options));
+        }
+        if (this.pushboxSeparation) {
+            events.push(...this.resolvePushboxes());
+        }
+        this.frame += 1;
+        this.lastEvents = events;
+        return events;
+    }
+    resolvePushboxes() {
+        const events = [];
+        const options = this.stepOptions();
+        for (let iteration = 0; iteration < this.solverIterations; iteration += 1) {
+            const bodies = this.bodies();
+            for (let aIndex = 0; aIndex < bodies.length; aIndex += 1) {
+                for (let bIndex = aIndex + 1; bIndex < bodies.length; bIndex += 1) {
+                    const bodyA = bodies[aIndex];
+                    const bodyB = bodies[bIndex];
+                    const pushA = bodyA.resolvedPushbox();
+                    const pushB = bodyB.resolvedPushbox();
+                    const event = resolvePushPair(bodyA, bodyB, pushA, pushB, this.lockDepth);
+                    if (event) {
+                        bodyA.constrain(options);
+                        bodyB.constrain(options);
+                        events.push(event);
+                    }
+                }
+            }
+        }
+        return events;
+    }
+    snapshot() {
+        return {
+            frame: this.frame,
+            fixedDelta: this.fixedDelta,
+            bodies: this.bodies().map((body) => body.snapshot()),
+            events: this.lastEvents.map(cloneWorldEvent)
+        };
+    }
+    stepOptions() {
+        return {
+            gravity: this.gravity,
+            groundY: this.groundY,
+            groundSnapDistance: this.groundSnapDistance,
+            bounds: this.bounds,
+            lockDepth: this.lockDepth,
+            laneZ: this.laneZ,
+            laneHalfWidth: this.laneHalfWidth
+        };
+    }
+}
+function resolvePushPair(bodyA, bodyB, pushA, pushB, lockDepth) {
+    if (!overlapsVolume(pushA, pushB)) {
+        return null;
+    }
+    const penetration = aabbPenetration(pushA.bounds, pushB.bounds);
+    if (!penetration) {
+        return null;
+    }
+    const overlapX = penetration.overlap[0];
+    const overlapZ = penetration.overlap[2];
+    const useZ = !lockDepth && overlapZ < overlapX;
+    const axisIndex = useZ ? 2 : 0;
+    const axis = useZ ? "z" : "x";
+    const centerA = pushA.center[axisIndex];
+    const centerB = pushB.center[axisIndex];
+    const tieBreak = compareIds(bodyA.id, bodyB.id) <= 0 ? -1 : 1;
+    const direction = centerA === centerB ? tieBreak : centerA < centerB ? -1 : 1;
+    const depth = useZ ? overlapZ : overlapX;
+    if (depth <= 0) {
+        return null;
+    }
+    const correctionA = [0, 0, 0];
+    const correctionB = [0, 0, 0];
+    correctionA[axisIndex] = direction * depth * 0.5;
+    correctionB[axisIndex] = -direction * depth * 0.5;
+    bodyA.translate(correctionA);
+    bodyB.translate(correctionB);
+    if (bodyA.velocity[axisIndex] * direction < 0) {
+        bodyA.stopAxis(axis);
+    }
+    if (bodyB.velocity[axisIndex] * -direction < 0) {
+        bodyB.stopAxis(axis);
+    }
+    const normal = [0, 0, 0];
+    normal[axisIndex] = direction;
+    return {
+        type: "pushbox-collision",
+        bodyA: bodyA.id,
+        bodyB: bodyB.id,
+        normal,
+        penetration: depth,
+        correctionA,
+        correctionB
+    };
+}
+function cloneWorldEvent(event) {
+    switch (event.type) {
+        case "jump":
+        case "land":
+        case "bounds":
+        case "ground-snap":
+            return {
+                ...event,
+                position: cloneVec3(event.position)
+            };
+        case "dash":
+            return {
+                ...event,
+                position: cloneVec3(event.position),
+                velocity: cloneVec3(event.velocity)
+            };
+        case "knockback":
+            return {
+                ...event,
+                impulse: cloneVec3(event.impulse),
+                velocity: cloneVec3(event.velocity)
+            };
+        case "pushbox-collision":
+            return {
+                ...event,
+                normal: cloneVec3(event.normal),
+                correctionA: cloneVec3(event.correctionA),
+                correctionB: cloneVec3(event.correctionB)
+            };
+    }
+}
+function compareBodies(a, b) {
+    return compareIds(a.id, b.id);
+}
+function compareIds(a, b) {
+    const left = String(a);
+    const right = String(b);
+    if (left === right) {
+        return 0;
+    }
+    return left < right ? -1 : 1;
+}
+function finite(value, name) {
+    if (!Number.isFinite(value)) {
+        throw new Error(`${name} must be finite.`);
+    }
+    return value;
+}
+function nonNegativeFinite(value, name) {
+    if (!Number.isFinite(value) || value < 0) {
+        throw new Error(`${name} must be finite and non-negative.`);
+    }
+    return value;
+}
+function positiveFinite(value, name) {
+    if (!Number.isFinite(value) || value <= 0) {
+        throw new Error(`${name} must be finite and positive.`);
+    }
+    return value;
+}
+function positiveInteger(value, name) {
+    if (!Number.isInteger(value) || value <= 0) {
+        throw new Error(`${name} must be a positive integer.`);
+    }
+    return value;
+}
+//# sourceMappingURL=KinematicWorld.js.map

package/dist/KinematicWorld.js.map

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

@@ -0,0 +1,67 @@
+export type NavigationCell = readonly [number, number];
+export type NavigationPoint = readonly [number, number];
+export type NavigationPathStatus = "success" | "partial" | "failed";
+export interface NavigationPath {
+    readonly status: NavigationPathStatus;
+    readonly cells: readonly NavigationCell[];
+    readonly waypoints: readonly NavigationPoint[];
+    readonly length: number;
+    readonly cost: number;
+    readonly visitedCells: number;
+}
+export interface NavigationGridOptions {
+    readonly width: number;
+    readonly height: number;
+    readonly origin?: NavigationPoint;
+    readonly cellSize?: number;
+    readonly blocked?: readonly NavigationCell[];
+    readonly costs?: readonly {
+        readonly cell: NavigationCell;
+        readonly cost: number;
+    }[];
+    readonly allowDiagonal?: boolean;
+}
+export interface NavigationAgentOptions {
+    readonly position: NavigationPoint;
+    readonly speed?: number;
+    readonly waypointRadius?: number;
+}
+export interface NavigationAgentSnapshot {
+    readonly position: NavigationPoint;
+    readonly state: "idle" | "moving" | "arrived" | "blocked";
+    readonly waypointIndex: number;
+    readonly remainingWaypoints: number;
+    readonly pathLength: number;
+    readonly distanceTraveled: number;
+}
+export declare class NavigationGrid {
+    readonly width: number;
+    readonly height: number;
+    readonly origin: NavigationPoint;
+    readonly cellSize: number;
+    readonly allowDiagonal: boolean;
+    private readonly blocked;
+    private readonly costs;
+    constructor(options: NavigationGridOptions);
+    isBlocked(cell: NavigationCell): boolean;
+    cellCost(cell: NavigationCell): number;
+    containsCell(cell: NavigationCell): boolean;
+    worldToCell(point: NavigationPoint): NavigationCell;
+    cellToWorld(cell: NavigationCell): NavigationPoint;
+    findPath(start: NavigationPoint, goal: NavigationPoint): NavigationPath;
+    private search;
+    private nearestWalkableCell;
+}
+export declare class NavigationAgent {
+    private position;
+    private path;
+    private waypointIndex;
+    private distanceTraveled;
+    private readonly speed;
+    private readonly waypointRadius;
+    constructor(options: NavigationAgentOptions);
+    setPath(path: NavigationPath): void;
+    update(deltaSeconds: number): NavigationAgentSnapshot;
+    snapshot(state?: NavigationAgentSnapshot["state"]): NavigationAgentSnapshot;
+}
+//# sourceMappingURL=Navigation.d.ts.map

package/dist/Navigation.d.ts.map

@@ -0,0 +1 @@
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