@aura3d/physics 1.4.5 → 1.5.0

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (34) hide show
  1. package/dist/Collider.d.ts +1 -1
  2. package/dist/Collider.d.ts.map +1 -1
  3. package/dist/Collider.js +2 -2
  4. package/dist/Collider.js.map +1 -1
  5. package/dist/CollisionEvents.d.ts +1 -0
  6. package/dist/CollisionEvents.d.ts.map +1 -1
  7. package/dist/CollisionEvents.js.map +1 -1
  8. package/dist/NarrowPhase.d.ts +11 -0
  9. package/dist/NarrowPhase.d.ts.map +1 -0
  10. package/dist/NarrowPhase.js +565 -0
  11. package/dist/NarrowPhase.js.map +1 -0
  12. package/dist/PhysicsDebugDraw.js +19 -1
  13. package/dist/PhysicsDebugDraw.js.map +1 -1
  14. package/dist/PhysicsWorld.d.ts +43 -0
  15. package/dist/PhysicsWorld.d.ts.map +1 -1
  16. package/dist/PhysicsWorld.js +305 -30
  17. package/dist/PhysicsWorld.js.map +1 -1
  18. package/dist/RigidBody.d.ts +8 -1
  19. package/dist/RigidBody.d.ts.map +1 -1
  20. package/dist/RigidBody.js +32 -5
  21. package/dist/RigidBody.js.map +1 -1
  22. package/dist/Shape.d.ts +16 -2
  23. package/dist/Shape.d.ts.map +1 -1
  24. package/dist/Shape.js +93 -31
  25. package/dist/Shape.js.map +1 -1
  26. package/dist/TimeOfImpact.d.ts +15 -0
  27. package/dist/TimeOfImpact.d.ts.map +1 -0
  28. package/dist/TimeOfImpact.js +81 -0
  29. package/dist/TimeOfImpact.js.map +1 -0
  30. package/dist/index.d.ts +2 -0
  31. package/dist/index.d.ts.map +1 -1
  32. package/dist/index.js +2 -0
  33. package/dist/index.js.map +1 -1
  34. package/package.json +1 -1
package/dist/PhysicsWorld.js.map CHANGED
@@ -1 +1 @@
1
- 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1
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package/dist/RigidBody.d.ts CHANGED
@@ -57,7 +57,14 @@ export declare class RigidBody {
57
57
  applyImpulse(impulse: Vec3): void;
58
58
  applyAngularImpulse(impulse: Vec3): void;
59
59
  applyImpulseAtPoint(impulse: Vec3, worldPoint: Vec3): void;
60
- integrate(dt: number, gravity: Vec3): void;
60
+ /**
61
+ * Applies a solver-owned contact impulse without resetting an already
62
+ * accumulating sleep timer. PhysicsWorld performs threshold-based waking
63
+ * after the full linear/angular velocity update.
64
+ */
65
+ applyContactImpulseAtPoint(impulse: Vec3, worldPoint: Vec3): void;
66
+ multiplyInverseInertiaWorld(value: Vec3): Vec3;
67
+ integrate(dt: number, gravity: Vec3, clearForces?: boolean): void;
61
68
  clearForces(): void;
62
69
  speedSquared(): number;
63
70
  wake(): void;
package/dist/RigidBody.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"RigidBody.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/RigidBody.ts"],"names":[],"mappings":"AAAA,OAAO,EAAqD,KAAK,IAAI,EAAQ,MAAM,YAAY,CAAC;AAEhG,MAAM,MAAM,aAAa,GAAG,SAAS,GAAG,QAAQ,GAAG,WAAW,CAAC;AAC/D,MAAM,MAAM,IAAI,GAAG,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;AAE7D,MAAM,MAAM,mBAAmB,GAAG;IAChC,QAAQ,CAAC,IAAI,CAAC,EAAE,aAAa,CAAC;IAC9B,QAAQ,CAAC,QAAQ,CAAC,EAAE,IAAI,CAAC;IACzB,QAAQ,CAAC,QAAQ,CAAC,EAAE,IAAI,CAAC;IACzB,QAAQ,CAAC,QAAQ,CAAC,EAAE,IAAI,CAAC;IACzB,QAAQ,CAAC,eAAe,CAAC,EAAE,IAAI,CAAC;IAChC,QAAQ,CAAC,IAAI,CAAC,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,OAAO,CAAC,EAAE,IAAI,CAAC;IACxB,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,QAAQ,CAAC,EAAE,OAAO,CAAC;CAC7B,CAAC;AAEF,MAAM,MAAM,iBAAiB,GAAG;IAC9B,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;IACpB,QAAQ,CAAC,IAAI,EAAE,aAAa,CAAC;IAC7B,QAAQ,CAAC,QAAQ,EAAE,IAAI,CAAC;IACxB,QAAQ,CAAC,QAAQ,EAAE,IAAI,CAAC;IACxB,QAAQ,CAAC,QAAQ,EAAE,IAAI,CAAC;IACxB,QAAQ,CAAC,eAAe,EAAE,IAAI,CAAC;IAC/B,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,cAAc,EAAE,IAAI,CAAC;IAC9B,QAAQ,CAAC,QAAQ,EAAE,OAAO,CAAC;CAC5B,CAAC;AAEF,qBAAa,SAAS;IACpB,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;IACpB,QAAQ,CAAC,IAAI,EAAE,aAAa,CAAC;IAC7B,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACnC,gBAAgB,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IAC3C,QAAQ,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IAC3C,gBAAgB,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACnD,QAAQ,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACnC,eAAe,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IAC1C,aAAa,EAAE,MAAM,CAAC;IACtB,cAAc,EAAE,MAAM,CAAC;IACvB,cAAc,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACzC,QAAQ,EAAE,OAAO,CAAC;IAClB,OAAO,CAAC,gBAAgB,CAA2B;IACnD,OAAO,CAAC,iBAAiB,CAA2B;IACpD,OAAO,CAAC,UAAU,CAAK;gBAEX,EAAE,EAAE,MAAM,EAAE,UAAU,GAAE,mBAAwB;IA2C5D,WAAW,CAAC,QAAQ,EAAE,IAAI,GAAG,IAAI;IAOjC,WAAW,CAAC,QAAQ,EAAE,IAAI,GAAG,IAAI;IAMjC,WAAW,CAAC,QAAQ,EAAE,IAAI,GAAG,IAAI;IAMjC,kBAAkB,CAAC,eAAe,EAAE,IAAI,GAAG,IAAI;IAM/C,UAAU,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAS7B,WAAW,CAAC,MAAM,EAAE,IAAI,GAAG,IAAI;IAS/B,YAAY,CAAC,OAAO,EAAE,IAAI,GAAG,IAAI;IASjC,mBAAmB,CAAC,OAAO,EAAE,IAAI,GAAG,IAAI;IASxC,mBAAmB,CAAC,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,GAAG,IAAI;IAU1D,SAAS,CAAC,EAAE,EAAE,MAAM,EAAE,OAAO,EAAE,IAAI,GAAG,IAAI;IAwB1C,WAAW,IAAI,IAAI;IAKnB,YAAY,IAAI,MAAM;IAKtB,IAAI,IAAI,IAAI;IAQZ,KAAK,IAAI,IAAI;IAUb,eAAe,IAAI,IAAI;IAIvB,mBAAmB,CAAC,EAAE,EAAE,MAAM,GAAG,MAAM;IAQvC,QAAQ,IAAI,iBAAiB;CAc9B"}
1
+ {"version":3,"file":"RigidBody.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/RigidBody.ts"],"names":[],"mappings":"AAAA,OAAO,EAAuE,KAAK,IAAI,EAAQ,MAAM,YAAY,CAAC;AAElH,MAAM,MAAM,aAAa,GAAG,SAAS,GAAG,QAAQ,GAAG,WAAW,CAAC;AAC/D,MAAM,MAAM,IAAI,GAAG,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;AAE7D,MAAM,MAAM,mBAAmB,GAAG;IAChC,QAAQ,CAAC,IAAI,CAAC,EAAE,aAAa,CAAC;IAC9B,QAAQ,CAAC,QAAQ,CAAC,EAAE,IAAI,CAAC;IACzB,QAAQ,CAAC,QAAQ,CAAC,EAAE,IAAI,CAAC;IACzB,QAAQ,CAAC,QAAQ,CAAC,EAAE,IAAI,CAAC;IACzB,QAAQ,CAAC,eAAe,CAAC,EAAE,IAAI,CAAC;IAChC,QAAQ,CAAC,IAAI,CAAC,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,OAAO,CAAC,EAAE,IAAI,CAAC;IACxB,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,QAAQ,CAAC,EAAE,OAAO,CAAC;CAC7B,CAAC;AAEF,MAAM,MAAM,iBAAiB,GAAG;IAC9B,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;IACpB,QAAQ,CAAC,IAAI,EAAE,aAAa,CAAC;IAC7B,QAAQ,CAAC,QAAQ,EAAE,IAAI,CAAC;IACxB,QAAQ,CAAC,QAAQ,EAAE,IAAI,CAAC;IACxB,QAAQ,CAAC,QAAQ,EAAE,IAAI,CAAC;IACxB,QAAQ,CAAC,eAAe,EAAE,IAAI,CAAC;IAC/B,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,cAAc,EAAE,IAAI,CAAC;IAC9B,QAAQ,CAAC,QAAQ,EAAE,OAAO,CAAC;CAC5B,CAAC;AAEF,qBAAa,SAAS;IACpB,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;IACpB,QAAQ,CAAC,IAAI,EAAE,aAAa,CAAC;IAC7B,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACnC,gBAAgB,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IAC3C,QAAQ,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IAC3C,gBAAgB,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACnD,QAAQ,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACnC,eAAe,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IAC1C,aAAa,EAAE,MAAM,CAAC;IACtB,cAAc,EAAE,MAAM,CAAC;IACvB,cAAc,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACzC,QAAQ,EAAE,OAAO,CAAC;IAClB,OAAO,CAAC,gBAAgB,CAA2B;IACnD,OAAO,CAAC,iBAAiB,CAA2B;IACpD,OAAO,CAAC,UAAU,CAAK;gBAEX,EAAE,EAAE,MAAM,EAAE,UAAU,GAAE,mBAAwB;IA2C5D,WAAW,CAAC,QAAQ,EAAE,IAAI,GAAG,IAAI;IAOjC,WAAW,CAAC,QAAQ,EAAE,IAAI,GAAG,IAAI;IAMjC,WAAW,CAAC,QAAQ,EAAE,IAAI,GAAG,IAAI;IAMjC,kBAAkB,CAAC,eAAe,EAAE,IAAI,GAAG,IAAI;IAM/C,UAAU,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAS7B,WAAW,CAAC,MAAM,EAAE,IAAI,GAAG,IAAI;IAS/B,YAAY,CAAC,OAAO,EAAE,IAAI,GAAG,IAAI;IASjC,mBAAmB,CAAC,OAAO,EAAE,IAAI,GAAG,IAAI;IASxC,mBAAmB,CAAC,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,GAAG,IAAI;IAU1D;;;;OAIG;IACH,0BAA0B,CAAC,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,GAAG,IAAI;IASjE,2BAA2B,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAS9C,SAAS,CAAC,EAAE,EAAE,MAAM,EAAE,OAAO,EAAE,IAAI,EAAE,WAAW,UAAO,GAAG,IAAI;IA4B9D,WAAW,IAAI,IAAI;IAKnB,YAAY,IAAI,MAAM;IAKtB,IAAI,IAAI,IAAI;IAQZ,KAAK,IAAI,IAAI;IAUb,eAAe,IAAI,IAAI;IAIvB,mBAAmB,CAAC,EAAE,EAAE,MAAM,GAAG,MAAM;IAQvC,QAAQ,IAAI,iBAAiB;CAc9B"}
package/dist/RigidBody.js CHANGED
@@ -1,4 +1,4 @@
1
- import { addVec3, cloneVec3, scaleVec3, validateFiniteVec3, vec3 } from "./Shape.js";
1
+ import { addVec3, cloneVec3, rotateVec3ByQuat, scaleVec3, validateFiniteVec3, vec3 } from "./Shape.js";
2
2
  export class RigidBody {
3
3
  id;
4
4
  type;
@@ -112,7 +112,7 @@ export class RigidBody {
112
112
  if (this.type !== "dynamic") {
113
113
  return;
114
114
  }
115
- this.angularVelocity = addVec3(this.angularVelocity, multiplyVec3(impulse, this.inverseInertia));
115
+ this.angularVelocity = addVec3(this.angularVelocity, this.multiplyInverseInertiaWorld(impulse));
116
116
  this.wake();
117
117
  }
118
118
  applyImpulseAtPoint(impulse, worldPoint) {
@@ -124,12 +124,37 @@ export class RigidBody {
124
124
  this.applyImpulse(impulse);
125
125
  this.applyAngularImpulse(crossVec3(subVec3(worldPoint, this.position), impulse));
126
126
  }
127
- integrate(dt, gravity) {
127
+ /**
128
+ * Applies a solver-owned contact impulse without resetting an already
129
+ * accumulating sleep timer. PhysicsWorld performs threshold-based waking
130
+ * after the full linear/angular velocity update.
131
+ */
132
+ applyContactImpulseAtPoint(impulse, worldPoint) {
133
+ validateFiniteVec3(impulse, "contact impulse");
134
+ validateFiniteVec3(worldPoint, "contact impulse point");
135
+ if (this.type !== "dynamic")
136
+ return;
137
+ this.velocity = addVec3(this.velocity, scaleVec3(impulse, this.inverseMass));
138
+ const angularImpulse = crossVec3(subVec3(worldPoint, this.position), impulse);
139
+ this.angularVelocity = addVec3(this.angularVelocity, this.multiplyInverseInertiaWorld(angularImpulse));
140
+ }
141
+ multiplyInverseInertiaWorld(value) {
142
+ validateFiniteVec3(value, "inverse inertia input");
143
+ if (this.type !== "dynamic")
144
+ return [0, 0, 0];
145
+ const inverseRotation = [-this.rotation[0], -this.rotation[1], -this.rotation[2], this.rotation[3]];
146
+ const local = rotateVec3ByQuat(value, inverseRotation);
147
+ const localResponse = multiplyVec3(local, this.inverseInertia);
148
+ return rotateVec3ByQuat(localResponse, this.rotation);
149
+ }
150
+ integrate(dt, gravity, clearForces = true) {
128
151
  if (!Number.isFinite(dt) || dt <= 0) {
129
152
  throw new Error("dt must be a finite positive number.");
130
153
  }
131
154
  if (this.type !== "dynamic" || this.sleeping) {
132
- this.clearForces();
155
+ if (clearForces) {
156
+ this.clearForces();
157
+ }
133
158
  this.previousPosition = cloneVec3(this.position);
134
159
  this.previousRotation = cloneQuat(this.rotation);
135
160
  return;
@@ -145,7 +170,9 @@ export class RigidBody {
145
170
  this.angularVelocity = scaleVec3(this.angularVelocity, angularDampingFactor);
146
171
  this.position = addVec3(this.position, scaleVec3(this.velocity, dt));
147
172
  this.rotation = integrateRotation(this.rotation, this.angularVelocity, dt);
148
- this.clearForces();
173
+ if (clearForces) {
174
+ this.clearForces();
175
+ }
149
176
  }
150
177
  clearForces() {
151
178
  this.accumulatedForce = vec3();
package/dist/RigidBody.js.map CHANGED
@@ -1 +1 @@
1
- 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package/dist/Shape.d.ts CHANGED
@@ -22,7 +22,19 @@ export type MeshShape = {
22
22
  readonly vertices: readonly Vec3[];
23
23
  readonly indices: readonly number[];
24
24
  };
25
- export type PhysicsShape = BoxShape | SphereShape | CapsuleShape | PlaneShape | MeshShape;
25
+ export type ConvexHullShape = {
26
+ readonly kind: "convex-hull";
27
+ readonly vertices: readonly Vec3[];
28
+ readonly indices: readonly number[];
29
+ };
30
+ export type HeightfieldShape = {
31
+ readonly kind: "heightfield";
32
+ readonly rows: number;
33
+ readonly columns: number;
34
+ readonly heights: readonly number[];
35
+ readonly cellSize: number;
36
+ };
37
+ export type PhysicsShape = BoxShape | SphereShape | CapsuleShape | PlaneShape | MeshShape | ConvexHullShape | HeightfieldShape;
26
38
  export type Bounds = {
27
39
  readonly min: Vec3;
28
40
  readonly max: Vec3;
@@ -45,7 +57,9 @@ export declare class Shape {
45
57
  static capsule(radius: number, halfHeight: number): CapsuleShape;
46
58
  static plane(normal?: Vec3, constant?: number): PlaneShape;
47
59
  static mesh(vertices: readonly Vec3[], indices: readonly number[]): MeshShape;
48
- static bounds(shape: PhysicsShape, position: Vec3): Bounds;
60
+ static convexHull(vertices: readonly Vec3[], indices: readonly number[]): ConvexHullShape;
61
+ static heightfield(rows: readonly (readonly number[])[], cellSize?: number): HeightfieldShape;
62
+ static bounds(shape: PhysicsShape, position: Vec3, rotation?: readonly [number, number, number, number]): Bounds;
49
63
  }
50
64
  export declare function rotateVec3ByQuat(v: Vec3, q: readonly [number, number, number, number]): [number, number, number];
51
65
  //# sourceMappingURL=Shape.d.ts.map
package/dist/Shape.d.ts.map CHANGED
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package/dist/Shape.js CHANGED
@@ -67,44 +67,67 @@ export class Shape {
67
67
  return { kind: "plane", normal: normalizeVec3(normal), constant };
68
68
  }
69
69
  static mesh(vertices, indices) {
70
- if (vertices.length < 3) {
71
- throw new Error("mesh shape requires at least three vertices.");
72
- }
73
- for (const [index, vertex] of vertices.entries()) {
74
- validateFiniteVec3(vertex, `mesh vertex ${index}`);
75
- }
76
- if (indices.length === 0 || indices.length % 3 !== 0) {
77
- throw new Error("mesh shape indices must contain one or more complete triangles.");
78
- }
79
- for (const index of indices) {
80
- if (!Number.isInteger(index) || index < 0 || index >= vertices.length) {
81
- throw new Error(`mesh shape index ${index} is out of range.`);
82
- }
83
- }
70
+ validateIndexedTriangles(vertices, indices, "mesh");
84
71
  return {
85
72
  kind: "mesh",
86
73
  vertices: vertices.map(cloneVec3),
87
74
  indices: [...indices]
88
75
  };
89
76
  }
90
- static bounds(shape, position) {
77
+ static convexHull(vertices, indices) {
78
+ if (vertices.length < 4) {
79
+ throw new Error("convex hull shape requires at least four vertices.");
80
+ }
81
+ validateIndexedTriangles(vertices, indices, "convex hull");
82
+ return {
83
+ kind: "convex-hull",
84
+ vertices: vertices.map(cloneVec3),
85
+ indices: [...indices]
86
+ };
87
+ }
88
+ static heightfield(rows, cellSize = 1) {
89
+ if (rows.length < 2 || rows[0] === undefined || rows[0].length < 2) {
90
+ throw new Error("heightfield shape requires at least two rows and two columns.");
91
+ }
92
+ validatePositive(cellSize, "heightfield cellSize");
93
+ const columns = rows[0].length;
94
+ const heights = [];
95
+ for (const [rowIndex, row] of rows.entries()) {
96
+ if (row.length !== columns) {
97
+ throw new Error(`heightfield row ${rowIndex} must contain ${columns} columns.`);
98
+ }
99
+ for (const [columnIndex, height] of row.entries()) {
100
+ if (!Number.isFinite(height)) {
101
+ throw new Error(`heightfield sample [${rowIndex}, ${columnIndex}] must be finite.`);
102
+ }
103
+ heights.push(height);
104
+ }
105
+ }
106
+ return { kind: "heightfield", rows: rows.length, columns, heights, cellSize };
107
+ }
108
+ static bounds(shape, position, rotation = [0, 0, 0, 1]) {
91
109
  validateFiniteVec3(position, "shape position");
92
110
  switch (shape.kind) {
93
111
  case "box":
94
- return {
95
- min: subVec3(position, shape.halfExtents),
96
- max: addVec3(position, shape.halfExtents)
97
- };
112
+ return boundsFromLocalVertices(boxVertices(shape.halfExtents), position, rotation);
98
113
  case "sphere":
99
114
  return {
100
115
  min: [position[0] - shape.radius, position[1] - shape.radius, position[2] - shape.radius],
101
116
  max: [position[0] + shape.radius, position[1] + shape.radius, position[2] + shape.radius]
102
117
  };
103
118
  case "capsule": {
104
- const yRadius = shape.radius + shape.halfHeight;
119
+ const axis = rotateVec3ByQuat([0, shape.halfHeight, 0], rotation);
105
120
  return {
106
- min: [position[0] - shape.radius, position[1] - yRadius, position[2] - shape.radius],
107
- max: [position[0] + shape.radius, position[1] + yRadius, position[2] + shape.radius]
121
+ min: [
122
+ position[0] - Math.abs(axis[0]) - shape.radius,
123
+ position[1] - Math.abs(axis[1]) - shape.radius,
124
+ position[2] - Math.abs(axis[2]) - shape.radius
125
+ ],
126
+ max: [
127
+ position[0] + Math.abs(axis[0]) + shape.radius,
128
+ position[1] + Math.abs(axis[1]) + shape.radius,
129
+ position[2] + Math.abs(axis[2]) + shape.radius
130
+ ]
108
131
  };
109
132
  }
110
133
  case "plane":
@@ -112,19 +135,58 @@ export class Shape {
112
135
  min: [-Number.MAX_SAFE_INTEGER, -Number.MAX_SAFE_INTEGER, -Number.MAX_SAFE_INTEGER],
113
136
  max: [Number.MAX_SAFE_INTEGER, Number.MAX_SAFE_INTEGER, Number.MAX_SAFE_INTEGER]
114
137
  };
115
- case "mesh": {
116
- let min = addVec3(position, shape.vertices[0]);
117
- let max = cloneVec3(min);
118
- for (let index = 1; index < shape.vertices.length; index += 1) {
119
- const vertex = addVec3(position, shape.vertices[index]);
120
- min = minVec3(min, vertex);
121
- max = maxVec3(max, vertex);
122
- }
123
- return { min, max };
138
+ case "mesh":
139
+ case "convex-hull":
140
+ return boundsFromLocalVertices(shape.vertices, position, rotation);
141
+ case "heightfield": {
142
+ const halfWidth = (shape.columns - 1) * shape.cellSize * 0.5;
143
+ const halfDepth = (shape.rows - 1) * shape.cellSize * 0.5;
144
+ const minHeight = Math.min(...shape.heights);
145
+ const maxHeight = Math.max(...shape.heights);
146
+ return boundsFromLocalVertices([
147
+ [-halfWidth, minHeight, -halfDepth],
148
+ [halfWidth, minHeight, -halfDepth],
149
+ [-halfWidth, maxHeight, halfDepth],
150
+ [halfWidth, maxHeight, halfDepth]
151
+ ], position, rotation);
124
152
  }
125
153
  }
126
154
  }
127
155
  }
156
+ function validateIndexedTriangles(vertices, indices, label) {
157
+ if (vertices.length < 3) {
158
+ throw new Error(`${label} shape requires at least three vertices.`);
159
+ }
160
+ for (const [index, vertex] of vertices.entries()) {
161
+ validateFiniteVec3(vertex, `${label} vertex ${index}`);
162
+ }
163
+ if (indices.length === 0 || indices.length % 3 !== 0) {
164
+ throw new Error(`${label} shape indices must contain one or more complete triangles.`);
165
+ }
166
+ for (const index of indices) {
167
+ if (!Number.isInteger(index) || index < 0 || index >= vertices.length) {
168
+ throw new Error(`${label} shape index ${index} is out of range.`);
169
+ }
170
+ }
171
+ }
172
+ function boxVertices(halfExtents) {
173
+ const [x, y, z] = halfExtents;
174
+ return [
175
+ [-x, -y, -z], [x, -y, -z], [x, y, -z], [-x, y, -z],
176
+ [-x, -y, z], [x, -y, z], [x, y, z], [-x, y, z]
177
+ ];
178
+ }
179
+ function boundsFromLocalVertices(vertices, position, rotation) {
180
+ const first = addVec3(position, rotateVec3ByQuat(vertices[0], rotation));
181
+ let min = cloneVec3(first);
182
+ let max = cloneVec3(first);
183
+ for (let index = 1; index < vertices.length; index += 1) {
184
+ const vertex = addVec3(position, rotateVec3ByQuat(vertices[index], rotation));
185
+ min = minVec3(min, vertex);
186
+ max = maxVec3(max, vertex);
187
+ }
188
+ return { min, max };
189
+ }
128
190
  export function rotateVec3ByQuat(v, q) {
129
191
  // q * v * q^-1 for rotating a vector by a unit quaternion
130
192
  const x = q[0], y = q[1], z = q[2], w = q[3];