@aura3d/physics 1.0.6

package/dist/Navigation.js

@@ -0,0 +1,261 @@
+export class NavigationGrid {
+    width;
+    height;
+    origin;
+    cellSize;
+    allowDiagonal;
+    blocked = new Set();
+    costs = new Map();
+    constructor(options) {
+        if (!Number.isInteger(options.width) || options.width < 2 || !Number.isInteger(options.height) || options.height < 2) {
+            throw new RangeError("NavigationGrid width and height must be integers >= 2.");
+        }
+        this.width = options.width;
+        this.height = options.height;
+        this.origin = options.origin ?? [0, 0];
+        this.cellSize = options.cellSize ?? 1;
+        this.allowDiagonal = options.allowDiagonal ?? false;
+        if (!Number.isFinite(this.cellSize) || this.cellSize <= 0) {
+            throw new RangeError("NavigationGrid cellSize must be a finite positive number.");
+        }
+        for (const cell of options.blocked ?? []) {
+            if (this.containsCell(cell))
+                this.blocked.add(cellKey(cell));
+        }
+        for (const entry of options.costs ?? []) {
+            if (!this.containsCell(entry.cell))
+                continue;
+            if (!Number.isFinite(entry.cost) || entry.cost <= 0) {
+                throw new RangeError("NavigationGrid traversal costs must be finite positive numbers.");
+            }
+            this.costs.set(cellKey(entry.cell), entry.cost);
+        }
+    }
+    isBlocked(cell) {
+        return this.blocked.has(cellKey(cell));
+    }
+    cellCost(cell) {
+        return this.costs.get(cellKey(cell)) ?? 1;
+    }
+    containsCell(cell) {
+        return Number.isInteger(cell[0]) && Number.isInteger(cell[1]) && cell[0] >= 0 && cell[1] >= 0 && cell[0] < this.width && cell[1] < this.height;
+    }
+    worldToCell(point) {
+        return [
+            clampInt(Math.floor((point[0] - this.origin[0]) / this.cellSize), 0, this.width - 1),
+            clampInt(Math.floor((point[1] - this.origin[1]) / this.cellSize), 0, this.height - 1),
+        ];
+    }
+    cellToWorld(cell) {
+        return [
+            this.origin[0] + (cell[0] + 0.5) * this.cellSize,
+            this.origin[1] + (cell[1] + 0.5) * this.cellSize,
+        ];
+    }
+    findPath(start, goal) {
+        const startCell = this.nearestWalkableCell(this.worldToCell(start));
+        const goalCell = this.nearestWalkableCell(this.worldToCell(goal));
+        if (!startCell || !goalCell)
+            return failedPath();
+        const result = this.search(startCell, goalCell);
+        if (!result)
+            return failedPath();
+        const cells = reconstruct(result.node);
+        const waypoints = simplifyPath(cells).map((cell) => this.cellToWorld(cell));
+        const lastWaypoint = result.complete ? goal : this.cellToWorld(cells[cells.length - 1]);
+        const normalizedWaypoints = [
+            start,
+            ...waypoints.slice(1, -1),
+            lastWaypoint
+        ];
+        return {
+            status: result.complete ? "success" : "partial",
+            cells,
+            waypoints: normalizedWaypoints,
+            length: pathLength(normalizedWaypoints),
+            cost: round3(result.node.g),
+            visitedCells: result.visitedCells,
+        };
+    }
+    search(startCell, goalCell) {
+        const open = [node(startCell, undefined, 0, manhattan(startCell, goalCell))];
+        const bestByCell = new Map([[cellKey(startCell), open[0]]]);
+        const closed = new Set();
+        let best = open[0];
+        while (open.length > 0) {
+            open.sort((left, right) => left.f - right.f || left.h - right.h);
+            const current = open.shift();
+            if (closed.has(current.key))
+                continue;
+            closed.add(current.key);
+            if (current.h < best.h)
+                best = current;
+            if (sameCell(current.cell, goalCell)) {
+                return { node: current, complete: true, visitedCells: closed.size };
+            }
+            for (const nextCell of neighbors(current.cell, this.allowDiagonal)) {
+                if (!this.containsCell(nextCell) || this.isBlocked(nextCell))
+                    continue;
+                const key = cellKey(nextCell);
+                if (closed.has(key))
+                    continue;
+                const stepCost = current.cell[0] !== nextCell[0] && current.cell[1] !== nextCell[1] ? Math.SQRT2 : 1;
+                const g = current.g + stepCost * this.cellCost(nextCell);
+                const h = heuristic(nextCell, goalCell, this.allowDiagonal);
+                const existing = bestByCell.get(key);
+                if (existing && existing.g <= g)
+                    continue;
+                const next = node(nextCell, current, g, h);
+                bestByCell.set(key, next);
+                open.push(next);
+            }
+        }
+        return best ? { node: best, complete: false, visitedCells: closed.size } : undefined;
+    }
+    nearestWalkableCell(cell) {
+        if (this.containsCell(cell) && !this.isBlocked(cell))
+            return cell;
+        for (let radius = 1; radius < Math.max(this.width, this.height); radius += 1) {
+            for (let y = cell[1] - radius; y <= cell[1] + radius; y += 1) {
+                for (let x = cell[0] - radius; x <= cell[0] + radius; x += 1) {
+                    const candidate = [x, y];
+                    if (this.containsCell(candidate) && !this.isBlocked(candidate))
+                        return candidate;
+                }
+            }
+        }
+        return undefined;
+    }
+}
+export class NavigationAgent {
+    position;
+    path = failedPath();
+    waypointIndex = 0;
+    distanceTraveled = 0;
+    speed;
+    waypointRadius;
+    constructor(options) {
+        this.position = options.position;
+        this.speed = options.speed ?? 1;
+        this.waypointRadius = options.waypointRadius ?? 0.05;
+        if (!Number.isFinite(this.speed) || this.speed <= 0 || !Number.isFinite(this.waypointRadius) || this.waypointRadius < 0) {
+            throw new RangeError("NavigationAgent speed must be positive and waypointRadius must be non-negative.");
+        }
+    }
+    setPath(path) {
+        this.path = path;
+        this.waypointIndex = path.waypoints.length > 1 ? 1 : 0;
+        this.distanceTraveled = 0;
+    }
+    update(deltaSeconds) {
+        if (this.path.status === "failed")
+            return this.snapshot("blocked");
+        if (this.waypointIndex >= this.path.waypoints.length)
+            return this.snapshot("arrived");
+        const target = this.path.waypoints[this.waypointIndex];
+        const dx = target[0] - this.position[0];
+        const dy = target[1] - this.position[1];
+        const distance = Math.hypot(dx, dy);
+        if (distance <= this.waypointRadius) {
+            this.position = target;
+            this.waypointIndex += 1;
+            return this.update(deltaSeconds);
+        }
+        const step = Math.min(distance, Math.max(0, deltaSeconds) * this.speed);
+        if (step >= distance) {
+            this.position = target;
+            this.distanceTraveled += distance;
+            this.waypointIndex += 1;
+            return this.snapshot("moving");
+        }
+        this.position = [
+            this.position[0] + (dx / distance) * step,
+            this.position[1] + (dy / distance) * step,
+        ];
+        this.distanceTraveled += step;
+        return this.snapshot("moving");
+    }
+    snapshot(state = this.path.status === "failed" ? "blocked" : "idle") {
+        const resolvedState = this.path.status === "failed" ? "blocked" : this.waypointIndex >= this.path.waypoints.length ? "arrived" : state;
+        return {
+            position: [round3(this.position[0]), round3(this.position[1])],
+            state: resolvedState,
+            waypointIndex: this.waypointIndex,
+            remainingWaypoints: Math.max(0, this.path.waypoints.length - this.waypointIndex),
+            pathLength: round3(this.path.length),
+            distanceTraveled: round3(this.distanceTraveled),
+        };
+    }
+}
+function node(cell, parent, g, h) {
+    return { cell, key: cellKey(cell), parent, g, h, f: g + h };
+}
+function neighbors(cell, allowDiagonal) {
+    const cardinal = [[cell[0] + 1, cell[1]], [cell[0] - 1, cell[1]], [cell[0], cell[1] + 1], [cell[0], cell[1] - 1]];
+    return allowDiagonal
+        ? [
+            ...cardinal,
+            [cell[0] + 1, cell[1] + 1],
+            [cell[0] + 1, cell[1] - 1],
+            [cell[0] - 1, cell[1] + 1],
+            [cell[0] - 1, cell[1] - 1],
+        ]
+        : cardinal;
+}
+function reconstruct(node) {
+    const cells = [];
+    let current = node;
+    while (current) {
+        cells.push(current.cell);
+        current = current.parent;
+    }
+    return cells.reverse();
+}
+function simplifyPath(cells) {
+    if (cells.length <= 2)
+        return cells;
+    const result = [cells[0]];
+    let previousDirection = [cells[1][0] - cells[0][0], cells[1][1] - cells[0][1]];
+    for (let index = 2; index < cells.length; index += 1) {
+        const direction = [cells[index][0] - cells[index - 1][0], cells[index][1] - cells[index - 1][1]];
+        if (!sameCell(direction, previousDirection)) {
+            result.push(cells[index - 1]);
+            previousDirection = direction;
+        }
+    }
+    result.push(cells[cells.length - 1]);
+    return result;
+}
+function failedPath() {
+    return { status: "failed", cells: [], waypoints: [], length: 0, cost: 0, visitedCells: 0 };
+}
+function pathLength(points) {
+    let length = 0;
+    for (let index = 1; index < points.length; index += 1) {
+        length += Math.hypot(points[index][0] - points[index - 1][0], points[index][1] - points[index - 1][1]);
+    }
+    return round3(length);
+}
+function cellKey(cell) {
+    return `${cell[0]}:${cell[1]}`;
+}
+function sameCell(left, right) {
+    return left[0] === right[0] && left[1] === right[1];
+}
+function manhattan(left, right) {
+    return Math.abs(left[0] - right[0]) + Math.abs(left[1] - right[1]);
+}
+function heuristic(left, right, allowDiagonal) {
+    if (!allowDiagonal)
+        return manhattan(left, right);
+    const dx = Math.abs(left[0] - right[0]);
+    const dy = Math.abs(left[1] - right[1]);
+    return Math.max(dx, dy) + (Math.SQRT2 - 1) * Math.min(dx, dy);
+}
+function clampInt(value, min, max) {
+    return Math.max(min, Math.min(max, value));
+}
+function round3(value) {
+    return Number(value.toFixed(3));
+}
+//# sourceMappingURL=Navigation.js.map

package/dist/Navigation.js.map

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package/dist/PhysicsDebugDraw.d.ts

@@ -0,0 +1,11 @@
+import type { PhysicsWorld } from "./PhysicsWorld.js";
+import type { Vec3 } from "./Shape.js";
+export type DebugLine = {
+    readonly from: Vec3;
+    readonly to: Vec3;
+    readonly color: Vec3;
+};
+export declare class PhysicsDebugDraw {
+    buildLines(world: Pick<PhysicsWorld, "colliders" | "getBody">): readonly DebugLine[];
+}
+//# sourceMappingURL=PhysicsDebugDraw.d.ts.map

package/dist/PhysicsDebugDraw.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"PhysicsDebugDraw.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/PhysicsDebugDraw.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,mBAAmB,CAAC;AACtD,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,YAAY,CAAC;AAEvC,MAAM,MAAM,SAAS,GAAG;IACtB,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC;IACpB,QAAQ,CAAC,EAAE,EAAE,IAAI,CAAC;IAClB,QAAQ,CAAC,KAAK,EAAE,IAAI,CAAC;CACtB,CAAC;AAEF,qBAAa,gBAAgB;IAC3B,UAAU,CAAC,KAAK,EAAE,IAAI,CAAC,YAAY,EAAE,WAAW,GAAG,SAAS,CAAC,GAAG,SAAS,SAAS,EAAE;CAWrF"}

package/dist/PhysicsDebugDraw.js

@@ -0,0 +1,64 @@
+export class PhysicsDebugDraw {
+    buildLines(world) {
+        const lines = [];
+        for (const collider of world.colliders()) {
+            const body = world.getBody(collider.bodyId);
+            if (!body) {
+                continue;
+            }
+            appendColliderLines(lines, collider, body.position);
+        }
+        return lines;
+    }
+}
+function appendColliderLines(lines, collider, position) {
+    const color = collider.sensor ? [1, 0.75, 0] : [0.1, 0.8, 1];
+    if (collider.shape.kind === "box") {
+        const h = collider.shape.halfExtents;
+        const corners = [
+            [position[0] - h[0], position[1] - h[1], position[2] - h[2]],
+            [position[0] + h[0], position[1] - h[1], position[2] - h[2]],
+            [position[0] + h[0], position[1] + h[1], position[2] - h[2]],
+            [position[0] - h[0], position[1] + h[1], position[2] - h[2]],
+            [position[0] - h[0], position[1] - h[1], position[2] + h[2]],
+            [position[0] + h[0], position[1] - h[1], position[2] + h[2]],
+            [position[0] + h[0], position[1] + h[1], position[2] + h[2]],
+            [position[0] - h[0], position[1] + h[1], position[2] + h[2]]
+        ];
+        const pairs = [[0, 1], [1, 2], [2, 3], [3, 0], [4, 5], [5, 6], [6, 7], [7, 4], [0, 4], [1, 5], [2, 6], [3, 7]];
+        for (const [a, b] of pairs) {
+            lines.push({ from: corners[a], to: corners[b], color });
+        }
+    }
+    else if (collider.shape.kind === "sphere") {
+        const r = collider.shape.radius;
+        lines.push({ from: [position[0] - r, position[1], position[2]], to: [position[0] + r, position[1], position[2]], color });
+        lines.push({ from: [position[0], position[1] - r, position[2]], to: [position[0], position[1] + r, position[2]], color });
+        lines.push({ from: [position[0], position[1], position[2] - r], to: [position[0], position[1], position[2] + r], color });
+    }
+    else if (collider.shape.kind === "plane") {
+        lines.push({ from: [-10, position[1], 0], to: [10, position[1], 0], color });
+        lines.push({ from: [0, position[1], -10], to: [0, position[1], 10], color });
+    }
+    else if (collider.shape.kind === "capsule") {
+        const r = collider.shape.radius;
+        const h = collider.shape.halfHeight;
+        lines.push({ from: [position[0], position[1] - h - r, position[2]], to: [position[0], position[1] + h + r, position[2]], color });
+        lines.push({ from: [position[0] - r, position[1], position[2]], to: [position[0] + r, position[1], position[2]], color });
+    }
+    else {
+        const { vertices, indices } = collider.shape;
+        for (let index = 0; index < indices.length; index += 3) {
+            const a = translate(vertices[indices[index]], position);
+            const b = translate(vertices[indices[index + 1]], position);
+            const c = translate(vertices[indices[index + 2]], position);
+            lines.push({ from: a, to: b, color });
+            lines.push({ from: b, to: c, color });
+            lines.push({ from: c, to: a, color });
+        }
+    }
+}
+function translate(value, position) {
+    return [value[0] + position[0], value[1] + position[1], value[2] + position[2]];
+}
+//# sourceMappingURL=PhysicsDebugDraw.js.map

package/dist/PhysicsDebugDraw.js.map

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

@@ -0,0 +1,53 @@
+export type PhysicsSandboxSpawnerPreset = "box" | "sphere" | "capsule" | "cylinder-proxy" | "tower" | "pyramid" | "wall" | "chain" | "newtons-cradle" | "dominoes" | "wrecking-ball" | "vehicle" | "ragdoll";
+export type PhysicsSandboxTool = "grab" | "push" | "freeze" | "delete" | "explode" | "slice";
+export interface PhysicsSandboxFixtureOptions {
+    readonly seed?: number;
+    readonly steps?: number;
+}
+export interface PhysicsSandboxSpawnSummary {
+    readonly preset: PhysicsSandboxSpawnerPreset;
+    readonly bodies: number;
+    readonly dynamicBodies: number;
+    readonly staticBodies: number;
+    readonly colliders: number;
+    readonly constraints: number;
+    readonly visualKinds: readonly string[];
+    readonly colliderKinds: readonly string[];
+}
+export interface PhysicsSandboxToolSummary {
+    readonly tool: PhysicsSandboxTool;
+    readonly supported: boolean;
+    readonly affectedBodies: number;
+    readonly selectedBodyId?: number;
+    readonly impulseMagnitude?: number;
+    readonly deletedBodies?: number;
+    readonly frozenBodies?: number;
+    readonly blocker?: string;
+}
+export interface PhysicsSandboxFixture {
+    readonly id: "external-parity-old-branch-physics-sandbox-fixture";
+    readonly source: "origin-master-physics-sandbox-tools-spawners-adapted";
+    readonly spawners: readonly PhysicsSandboxSpawnSummary[];
+    readonly tools: readonly PhysicsSandboxToolSummary[];
+    readonly metrics: {
+        readonly bodyCountBeforeTools: number;
+        readonly bodyCountAfterTools: number;
+        readonly colliderCountAfterTools: number;
+        readonly constraintCountAfterTools: number;
+        readonly dynamicBodiesAfterTools: number;
+        readonly sleepingBodiesAfterTools: number;
+        readonly contactsAfterSteps: number;
+        readonly broadphasePairsAfterSteps: number;
+        readonly kineticEnergyAfterSteps: number;
+        readonly maxContactPenetrationAfterSteps: number;
+        readonly totalSpawnedBodies: number;
+        readonly totalSpawnerConstraints: number;
+        readonly supportedToolCount: number;
+        readonly blockedToolCount: number;
+    };
+    readonly unsupportedAdvancedSimulations: readonly ["cloth", "soft-body", "fluid", "fracture"];
+    readonly hash: string;
+    readonly claimBoundary: string;
+}
+export declare function samplePhysicsSandboxFixture(options?: PhysicsSandboxFixtureOptions): PhysicsSandboxFixture;
+//# sourceMappingURL=PhysicsSandboxFixtures.d.ts.map

package/dist/PhysicsSandboxFixtures.d.ts.map

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