@aura3d/physics 1.5.2 → 2.0.0

package/dist/CharacterController.js

@@ -100,6 +100,9 @@ export class CharacterController {
     jumpSpeed;
     groundProbeDistance;
     maxSlopeAngleRadians;
+    maxStepHeight;
+    stepDownDistance;
+    wallSlide;
     collisionMask;
     moveInput = [0, 0];
     jumpQueued = false;
@@ -110,7 +113,13 @@ export class CharacterController {
         desiredVelocity: [0, 0, 0],
         velocity: [0, 0, 0],
         speed: 0,
-        jumpedThisFrame: false
+        jumpedThisFrame: false,
+        steppedUp: 0,
+        steppedDown: 0,
+        wallSliding: false,
+        ceilingHit: false,
+        slopeAngle: 0,
+        onSteepSlope: false
     };
     constructor(world, descriptor = {}) {
         this.world = world;
@@ -121,6 +130,11 @@ export class CharacterController {
         this.jumpSpeed = positiveFinite(descriptor.jumpSpeed ?? 4.2, "character jumpSpeed");
         this.groundProbeDistance = positiveFinite(descriptor.groundProbeDistance ?? 0.12, "character groundProbeDistance");
         this.maxSlopeAngleRadians = positiveFinite(descriptor.maxSlopeAngleRadians ?? Math.PI / 3, "character maxSlopeAngleRadians");
+        // Default step height is a third of the capsule's total height: tall enough for kerbs
+        // and stair treads, short enough that a character cannot walk up a wall.
+        this.maxStepHeight = Math.max(0, descriptor.maxStepHeight ?? (this.halfHeight + this.radius) * 0.34);
+        this.stepDownDistance = Math.max(0, descriptor.stepDownDistance ?? this.maxStepHeight);
+        this.wallSlide = descriptor.wallSlide ?? true;
         this.collisionMask = descriptor.collisionMask;
         this.body = world.createRigidBody({
             type: "dynamic",
@@ -152,7 +166,13 @@ export class CharacterController {
             groundColliderId: null,
             velocity: [0, 0, 0],
             speed: 0,
-            jumpedThisFrame: false
+            jumpedThisFrame: false,
+            steppedUp: 0,
+            steppedDown: 0,
+            wallSliding: false,
+            ceilingHit: false,
+            slopeAngle: 0,
+            onSteepSlope: false
         };
     }
     step(dt) {
@@ -174,20 +194,193 @@ export class CharacterController {
         if (ground.grounded && nextVelocity[1] < 0) {
             nextVelocity[1] = 0;
         }
-        if (this.jumpQueued && ground.grounded) {
+        /*
+         * Wall slide: redirect blocked motion along the surface instead of stopping.
+         *
+         * Without this a capsule pressed into a wall at an angle loses all its speed, because
+         * the solver cancels the whole velocity rather than only the component into the wall.
+         * The player feels it as sticking on geometry they are trying to run past. Removing
+         * only the normal component is the standard fix and is what "slide" means.
+         */
+        let wallSliding = false;
+        const horizontalSpeed = Math.hypot(nextVelocity[0], nextVelocity[2]);
+        // Captured before wall slide mutates nextVelocity; step-up needs the original intent.
+        const intendedDirection = horizontalSpeed > 1e-6
+            ? [nextVelocity[0] / horizontalSpeed, 0, nextVelocity[2] / horizontalSpeed]
+            : [0, 0, 0];
+        if (horizontalSpeed > 1e-4) {
+            const direction = [nextVelocity[0] / horizontalSpeed, 0, nextVelocity[2] / horizontalSpeed];
+            const wall = this.castHorizontal(direction, this.radius * 0.6);
+            if (wall && Math.abs(wall.normal[1]) < 0.5) {
+                if (this.wallSlide) {
+                    const into = nextVelocity[0] * wall.normal[0] + nextVelocity[2] * wall.normal[2];
+                    if (into < 0) {
+                        nextVelocity[0] -= wall.normal[0] * into;
+                        nextVelocity[2] -= wall.normal[2] * into;
+                        wallSliding = true;
+                    }
+                }
+                else {
+                    nextVelocity[0] = 0;
+                    nextVelocity[2] = 0;
+                }
+            }
+        }
+        /*
+         * Step up: lift over a ledge no taller than `maxStepHeight`.
+         *
+         * A capsule has no notion of a stair. Presented with a kerb it sees a vertical wall and
+         * stops, so a character walks into level geometry a player expects to stride over. The
+         * test is: is the obstacle ahead low enough, and is there room above it to stand?
+         */
+        let steppedUp = 0;
+        if (ground.grounded && this.maxStepHeight > 0 && horizontalSpeed > 1e-4) {
+            /*
+             * Use the *intended* direction, captured before the wall slide ran.
+             *
+             * Wall slide removes the component into the surface. Walking straight at a kerb that
+             * means the whole horizontal velocity is removed, so reading `nextVelocity` here
+             * found ~0 and the length guard skipped step-up entirely — the character stood
+             * against a climbable ledge forever. A character trying to walk into a step should
+             * step up precisely *because* its motion was blocked.
+             */
+            const direction = [
+                intendedDirection[0],
+                0,
+                intendedDirection[2]
+            ];
+            {
+                const blocked = this.castHorizontal(direction, this.radius * 0.6);
+                /*
+                 * Only step once the capsule is actually *at* the ledge.
+                 *
+                 * `castHorizontal` reports how far its probe sphere travelled, and that sphere is
+                 * smaller than the capsule and starts at the capsule's centre — so `blocked.distance`
+                 * is not the gap to the obstacle at all. The real gap is
+                 * `probeRadius + distance - radius`, which `castHorizontal` now returns as `gap`.
+                 * Treating the raw travel as the surface gap
+                 * lifted the character while it was still ~0.5 units short of a 0.18-unit ledge, so
+                 * it rose over nothing, `probeGroundAt` found the low floor below, and step-down put
+                 * it straight back. Measured on a 0.18 ledge at x=3.0: step-up fired repeatedly from
+                 * x=2.46, each frame immediately undone by a 0.196 step-down, `grounded` flickering
+                 * true/false, and forward motion stalling for ~20 frames at a time before the
+                 * character crept past.
+                 *
+                 * That is precisely the oscillation step-down exists to prevent, caused by step-up.
+                 * The surface gap is the probe's travel less the capsule's own radius, and the
+                 * character may only be lifted when that gap is genuinely closing.
+                 */
+                if (blocked && Math.abs(blocked.normal[1]) < 0.5) {
+                    const stepTarget = this.probeStepSurface(direction, blocked.distance);
+                    if (stepTarget !== undefined) {
+                        const rise = stepTarget - (this.body.position[1] - this.halfHeight - this.radius);
+                        if (rise > 1e-4 && rise <= this.maxStepHeight) {
+                            /*
+                             * Lift *and* carry the capsule over the edge, not lift alone.
+                             *
+                             * Lifting while the capsule is still short of the obstacle leaves it hanging
+                             * over the low floor it was already on. `probeGroundAt` then finds that floor
+                             * and step-down immediately undoes the lift — an up/down oscillation, one
+                             * cycle per frame, with `grounded` flickering and forward motion stalling.
+                             * Measured on a 0.18 ledge before this: step-up of 0.158 cancelled by a
+                             * step-down of 0.196, repeating for ~20 frames while x moved 0.004.
+                             *
+                             * That is the exact oscillation step-down exists to prevent, caused by
+                             * step-up.
+                             *
+                             * The fix has to be geometric, not a cooldown. A capsule lifted while its
+                             * centre is still short of the obstacle face has its *support point* over the
+                             * low floor, so the ground probe is right to find that floor and step-down is
+                             * right to act — suppressing step-down for a frame would only hide a character
+                             * standing on nothing. The capsule must clear the face: advance by the measured
+                             * surface gap (closing the remaining distance) plus its own radius (carrying
+                             * the support point past the edge), which is why a step-up is inherently a
+                             * small teleport rather than an impulse.
+                             */
+                            const carry = blocked.gap + this.radius * 1.05;
+                            this.body.setPosition([
+                                this.body.position[0] + direction[0] * carry,
+                                this.body.position[1] + rise,
+                                this.body.position[2] + direction[2] * carry
+                            ]);
+                            steppedUp = rise;
+                            // The obstacle is cleared, so the wall-slide redirect no longer applies.
+                            wallSliding = false;
+                        }
+                    }
+                }
+            }
+        }
+        /*
+         * Step down: stay glued to a descending surface within `stepDownDistance`.
+         *
+         * Without this, walking down stairs launches the character off every edge: it leaves
+         * the ground, falls, lands, and repeats. `grounded` flickers, which breaks coyote time,
+         * footstep audio and any state machine keyed on standing on the floor.
+         */
+        let steppedDown = 0;
+        if (!ground.grounded && !jumpedThisFrame && this.stepDownDistance > 0 && nextVelocity[1] <= 0 && this.state.grounded) {
+            const below = this.probeGroundAt(this.stepDownDistance + this.radius);
+            if (below.grounded && below.distance !== undefined && below.distance <= this.stepDownDistance) {
+                this.body.setPosition([
+                    this.body.position[0],
+                    this.body.position[1] - below.distance,
+                    this.body.position[2]
+                ]);
+                steppedDown = below.distance;
+                nextVelocity[1] = 0;
+            }
+        }
+        if (this.jumpQueued && (ground.grounded || steppedDown > 0)) {
             nextVelocity[1] = this.jumpSpeed;
             jumpedThisFrame = true;
         }
         this.jumpQueued = false;
+        /*
+         * Ceiling: cancel upward velocity when the head is blocked.
+         *
+         * A jump into a low ceiling otherwise keeps its upward velocity and the character
+         * hovers against the geometry for the rest of the rise, then drops — which reads as
+         * sticking to the roof.
+         */
+        let ceilingHit = false;
+        if (nextVelocity[1] > 0) {
+            const headOrigin = [
+                this.body.position[0],
+                this.body.position[1] + this.halfHeight,
+                this.body.position[2]
+            ];
+            const above = this.world.sphereCast(headOrigin, this.radius * 0.9, [0, 1, 0], {
+                maxDistance: this.radius * 0.5,
+                includeSensors: false,
+                // Never detect our own capsule: a self-hit at distance 0 reads as a wall.
+                ignoreBodies: [this.body.id],
+                ...(this.collisionMask === undefined ? {} : { mask: this.collisionMask })
+            });
+            if (above && above.normal[1] < -0.3) {
+                nextVelocity[1] = 0;
+                ceilingHit = true;
+            }
+        }
+        const grounded = (ground.grounded || steppedDown > 0) && !jumpedThisFrame;
+        // Slope angle from the ground normal, so gameplay can react to a hill without
+        // re-deriving it from a raycast the controller already did.
+        const slopeAngle = grounded ? Math.acos(Math.min(1, Math.max(-1, ground.normal[1]))) : 0;
         this.body.setVelocity(nextVelocity);
         this.state = {
-            grounded: ground.grounded && !jumpedThisFrame,
+            grounded,
             groundNormal: ground.normal,
             groundColliderId: ground.colliderId,
             desiredVelocity,
             velocity: [...nextVelocity],
             speed: Math.hypot(nextVelocity[0], nextVelocity[2]),
-            jumpedThisFrame
+            jumpedThisFrame,
+            steppedUp,
+            steppedDown,
+            wallSliding,
+            ceilingHit,
+            slopeAngle,
+            onSteepSlope: ground.steep === true
         };
         return this.state;
     }
@@ -199,6 +392,163 @@ export class CharacterController {
             velocity: [...this.state.velocity]
         };
     }
+    /**
+     * Horizontal sweep ahead of the capsule's mid-section, for wall and ledge detection.
+     *
+     * Returns both the sweep's own travel (`distance`, which callers feed back into
+     * `probeStepSurface` so the two probes stay consistent) and `gap`, the distance from the
+     * **capsule's surface** to the obstacle. The two differ by the probe sphere's radius less
+     * the capsule's, and conflating them is what made step-up fire early: see the comment at
+     * the step-up call site.
+     */
+    castHorizontal(direction, distance) {
+        /*
+         * Probe just above the capsule's base, not above step height.
+         *
+         * An earlier version placed this at `base + maxStepHeight`, reasoning that a kerb
+         * should not be mistaken for a wall. That put the probe *above* every obstacle it was
+         * meant to find: with a 0.2 capsule and a 0.25 step height the probe sat at y=1.049
+         * while the 0.18-unit ledge topped out at 0.68, so it reported no obstacle at all and
+         * the character walked into the ledge and stopped without ever seeing it.
+         *
+         * The correct division of labour is: this probe finds *anything* ahead, and
+         * `probeStepSurface` decides whether it is short enough to climb. Classifying the
+         * obstacle is the step probe's job, not the wall probe's.
+         */
+        const probeRadius = this.radius * 0.7;
+        /*
+         * The sweep sphere must sit entirely above the floor the character stands on.
+         *
+         * At `base + 0.6r` with a `0.85r` sphere the sphere's underside reaches `base - 0.25r`
+         * — below the floor — so the sweep detected the ground itself as a wall. The character
+         * then believed it was permanently against an obstacle and never moved, at any
+         * position, on flat ground.
+         *
+         * Offset by slightly more than the probe radius so the sphere clears the surface, and
+         * keep the probe low enough to still see a kerb.
+         */
+        const origin = [
+            this.body.position[0],
+            this.body.position[1] - this.halfHeight - this.radius + probeRadius * 1.15,
+            this.body.position[2]
+        ];
+        /*
+         * Reach is expressed as a margin from the capsule's *surface*, not from its centre.
+         *
+         * Two corrections live here, in order.
+         *
+         * First: a sweep of radius 0.7r starting at the centre only extends 0.7r + travel, so
+         * geometry the capsule is already touching — at exactly r — sat behind the reach and
+         * reported no hit. The character walked into a ledge and stopped without ever seeing it.
+         * Hence the `this.radius +` term.
+         *
+         * Second, and the reason this comment is longer than it was: that term double-counts.
+         * The sweep sphere's leading point is already `probeRadius` ahead of its centre, so
+         * `maxDistance = radius + distance` detects an obstacle `radius + distance + probeRadius`
+         * from the centre — `distance + probeRadius` from the capsule's surface, not `distance`.
+         * Measured with r=0.24: the intended 0.144 margin became 0.312, so the character halted
+         * a third of its own radius short of every wall and ledge. Subtracting `probeRadius`
+         * makes the requested margin mean what it says, which is what lets the step-up gate below
+         * be stated in surface terms.
+         */
+        const hit = this.world.sphereCast(origin, probeRadius, direction, {
+            maxDistance: Math.max(0, this.radius + distance - probeRadius),
+            includeSensors: false,
+            // Never detect our own capsule: a self-hit at distance 0 reads as a wall.
+            ignoreBodies: [this.body.id],
+            ...(this.collisionMask === undefined ? {} : { mask: this.collisionMask })
+        });
+        if (!hit)
+            return undefined;
+        /*
+         * The probe sphere's leading point is `probeRadius` ahead of its centre, so the obstacle
+         * sits `probeRadius + hit.distance` from the capsule's centre and `- this.radius` from the
+         * capsule's surface. Clamped at zero: already-touching geometry reports a gap of 0, not a
+         * negative one.
+         */
+        const gap = Math.max(0, probeRadius + hit.distance - this.radius);
+        return { normal: orientAgainst(normalizeVec3(hit.normal), direction), distance: hit.distance, gap };
+    }
+    /**
+     * Surface height just past an obstacle, or undefined when there is nothing to stand on.
+     *
+     * Probes downward from above the maximum step height at a point slightly ahead of the
+     * capsule. If it finds a walkable surface, that height is the top of the step.
+     */
+    probeStepSurface(direction, obstacleDistance) {
+        /*
+         * Probe just past the obstacle the wall sweep actually found.
+         *
+         * A fixed `1.1 * radius` lookahead was wrong whenever the wall sweep triggered further
+         * out than that: the character halted 0.246 units from a ledge while the step probe
+         * sampled only 0.22 ahead, so it measured the *low* floor it was already standing on,
+         * computed a rise of ~0, and never stepped. Deriving the lookahead from the measured
+         * obstacle distance keeps the two probes consistent by construction.
+         */
+        const ahead = Math.max(this.radius * 1.1, obstacleDistance + this.radius * 0.85);
+        const origin = [
+            this.body.position[0] + direction[0] * ahead,
+            this.body.position[1] - this.halfHeight - this.radius + this.maxStepHeight + this.radius,
+            this.body.position[2] + direction[2] * ahead
+        ];
+        const hit = this.world.raycast(origin, [0, -1, 0], {
+            maxDistance: this.maxStepHeight + this.radius * 2,
+            includeSensors: false,
+            // Never detect our own capsule: a self-hit at distance 0 reads as a wall.
+            ignoreBodies: [this.body.id],
+            ...(this.collisionMask === undefined ? {} : { mask: this.collisionMask })
+        });
+        if (!hit)
+            return undefined;
+        /*
+         * Orient the normal against the ray before judging walkability.
+         *
+         * A raycast returns the face normal unoriented, so a downward ray landing on the top
+         * face of a box can report [0,-1,0]. Testing that raw value against cos(maxSlope)
+         * rejected every legitimate step: the top of a kerb looked like a ceiling.
+         */
+        const normal = orientAgainst(normalizeVec3(hit.normal), [0, -1, 0]);
+        // A step is only a step if its top is walkable; a steep face is a wall.
+        if (normal[1] < Math.cos(this.maxSlopeAngleRadians))
+            return undefined;
+        return hit.point[1];
+    }
+    /** Ground probe with a caller-supplied reach, used by step-down. */
+    probeGroundAt(maxDistance) {
+        const origin = [
+            this.body.position[0],
+            this.body.position[1] - this.halfHeight + this.groundProbeDistance,
+            this.body.position[2]
+        ];
+        const hit = this.world.sphereCast(origin, this.radius * 0.92, [0, -1, 0], {
+            maxDistance,
+            includeSensors: false,
+            // Never detect our own capsule: a self-hit at distance 0 reads as a wall.
+            ignoreBodies: [this.body.id],
+            ...(this.collisionMask === undefined ? {} : { mask: this.collisionMask })
+        });
+        const minGroundNormalY = Math.cos(this.maxSlopeAngleRadians);
+        if (!hit)
+            return { grounded: false, normal: [0, 1, 0], colliderId: null };
+        /*
+         * Orient before judging walkability, not after.
+         *
+         * A sweep against a box returns the face normal unoriented, so a downward probe onto a
+         * flat floor reports [0,-1,0]. Comparing that raw value to cos(maxSlope) rejects the
+         * floor: -1 < 0.5. The character stood on a solid surface and reported grounded:false
+         * for every frame, which disabled jumping, step-up and step-down at once.
+         */
+        const normal = orientAgainst(normalizeVec3(hit.normal), [0, -1, 0]);
+        if (normal[1] < minGroundNormalY) {
+            return { grounded: false, normal, colliderId: hit.colliderId };
+        }
+        return {
+            grounded: true,
+            normal,
+            colliderId: hit.colliderId,
+            distance: Math.max(0, hit.distance - this.groundProbeDistance)
+        };
+    }
     probeGround() {
         const origin = [
             this.body.position[0],
@@ -208,15 +558,38 @@ export class CharacterController {
         const hit = this.world.sphereCast(origin, this.radius * 0.92, [0, -1, 0], {
             maxDistance: this.groundProbeDistance + this.radius * 0.35,
             includeSensors: false,
+            // Never detect our own capsule: a self-hit at distance 0 reads as a wall.
+            ignoreBodies: [this.body.id],
             ...(this.collisionMask === undefined ? {} : { mask: this.collisionMask })
         });
         const minGroundNormalY = Math.cos(this.maxSlopeAngleRadians);
-        if (!hit || hit.normal[1] < minGroundNormalY) {
+        if (!hit) {
             return { grounded: false, normal: [0, 1, 0], colliderId: null };
         }
-        return { grounded: true, normal: normalizeVec3(hit.normal), colliderId: hit.colliderId };
+        // Orient before the walkability test; see probeGroundAt for why this matters.
+        const oriented = orientAgainst(normalizeVec3(hit.normal), [0, -1, 0]);
+        if (oriented[1] < minGroundNormalY) {
+            /*
+             * Too steep to stand on, but still report the real normal.
+             *
+             * Returning world up here discarded the information a caller needs to slide down a
+             * slope, and made a steep face indistinguishable from open air.
+             */
+            return { grounded: false, normal: oriented, colliderId: hit.colliderId, steep: true };
+        }
+        return { grounded: true, normal: oriented, colliderId: hit.colliderId };
     }
 }
+/**
+ * Flip a normal so it faces back along the query direction.
+ *
+ * Raycasts and sweeps report a face's own normal, which may point either way depending on
+ * winding. Callers almost always want the side they hit from.
+ */
+function orientAgainst(normal, direction) {
+    const facing = normal[0] * direction[0] + normal[1] * direction[1] + normal[2] * direction[2];
+    return facing > 0 ? [-normal[0], -normal[1], -normal[2]] : normal;
+}
 function positiveFinite(value, name) {
     if (!Number.isFinite(value) || value <= 0) {
         throw new Error(`${name} must be a finite positive number.`);

package/dist/CharacterController.js.map

@@ -1 +1 @@
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package/dist/Constraint.d.ts

@@ -1,6 +1,6 @@
 import { type Vec3 } from "./Shape.js";
 import type { RigidBody } from "./RigidBody.js";
-export type ConstraintType = "fixed" | "hinge" | "slider" | "spring";
+export type ConstraintType = "fixed" | "hinge" | "slider" | "spring" | "ball-socket" | "motorised-hinge";
 export type ConstraintDescriptor = {
     readonly type: ConstraintType;
     readonly bodyA: RigidBody;
@@ -10,6 +10,14 @@ export type ConstraintDescriptor = {
     readonly restLength?: number;
     readonly stiffness?: number;
     readonly axis?: Vec3;
+    /** Spring damping ratio, `spring` only. */
+    readonly damping?: number;
+    /** Target angular speed in rad/s, `motorised-hinge` only. */
+    readonly motorSpeed?: number;
+    /** Maximum torque the motor may apply, `motorised-hinge` only. */
+    readonly maxMotorTorque?: number;
+    /** Angular limits in radians, hinge kinds only. */
+    readonly limits?: readonly [number, number];
 };
 export declare class Constraint {
     readonly type: ConstraintType;
@@ -21,11 +29,19 @@ export declare class Constraint {
     readonly restLength: number;
     readonly stiffness: number;
     readonly axis: Vec3;
+    readonly damping: number;
+    readonly maxMotorTorque: number;
+    readonly limits: readonly [number, number] | undefined;
+    private motorSpeedValue;
+    private enabled;
     constructor(descriptor: ConstraintDescriptor);
-    solve(): void;
+    /** `motorised-hinge` only: change the driven speed at runtime. */
+    setMotorSpeed(speed: number): void;
+    motorSpeed(): number;
+    /** Turn the constraint off without destroying it. */
+    setEnabled(enabled: boolean): void;
+    isEnabled(): boolean;
     private anchorAWorld;
     private anchorBWorld;
-    private applyError;
-    private applyVelocityError;
 }
 //# sourceMappingURL=Constraint.d.ts.map

package/dist/Constraint.d.ts.map

@@ -1 +1 @@
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