@aura3d/physics 1.5.2 → 2.0.0

package/dist/Raycast.js

@@ -1,4 +1,4 @@
-import { addVec3, dotVec3, scaleVec3, subVec3 } from "./Shape.js";
+import { addVec3, dotVec3, rotateVec3ByQuat, scaleVec3, subVec3 } from "./Shape.js";
 /**
  * Adapt any downward raycast into the ground query the foot-IK rig needs. `cast` should perform a
  * straight-down ray (typically a `PhysicsWorld.raycast` bound to a ground layer mask) and return
@@ -28,7 +28,7 @@ export function raycastCollider(origin, direction, collider, body, options = {})
             return raycastSphere(origin, direction, body.position, collider.shape.radius, collider, maxDistance);
         case "box":
         case "capsule":
-            return raycastAabb(origin, direction, collider.bounds(body.position), collider, body.id, maxDistance);
+            return raycastOrientedBox(origin, direction, collider, body, 0, maxDistance);
         case "plane":
             return raycastPlane(origin, direction, collider.shape.normal, collider.shape.constant, collider, body.id, maxDistance);
         case "mesh":
@@ -51,12 +51,7 @@ export function sphereCastCollider(origin, radius, direction, collider, body, op
             return sphereCastSphere(origin, radius, direction, body.position, collider.shape.radius, collider, maxDistance);
         case "box":
         case "capsule": {
-            const bounds = collider.bounds(body.position);
-            const expanded = {
-                min: [bounds.min[0] - radius, bounds.min[1] - radius, bounds.min[2] - radius],
-                max: [bounds.max[0] + radius, bounds.max[1] + radius, bounds.max[2] + radius]
-            };
-            const hit = raycastAabb(origin, direction, expanded, collider, body.id, maxDistance);
+            const hit = raycastOrientedBox(origin, direction, collider, body, radius, maxDistance);
             return hit ? toSphereCastHit(hit, origin, direction, radius) : undefined;
         }
         case "plane":
@@ -105,6 +100,65 @@ function sphereCastSphere(origin, castRadius, direction, center, targetRadius, c
         castRadius
     };
 }
+/**
+ * Cast against a box or capsule collider **in the body's own frame**, so a rotated collider
+ * is a rotated box rather than its axis-aligned bounding box.
+ *
+ * Defect class: engine, and the same family as the joint no-op — a feature that worked on
+ * one path and silently did not on another. Contacts already respected rotation (the
+ * narrow phase is OBB-SAT), but every query — `raycast`, `raycastAll`, `sphereCast`,
+ * `sphereCastAll` — passed `collider.bounds(body.position)` with **no rotation argument**,
+ * even though `Collider.bounds` accepts one. So a tilted platform reported an axis-aligned
+ * box with axis-aligned face normals.
+ *
+ * The visible consequence was that slopes did not exist as far as any query was concerned.
+ * Measured on a box rotated 22.5 degrees about +Z with a character standing on it:
+ * `groundNormal` came back `[0, 1, 0]` and `slopeAngle` `0.0000`, so `onSteepSlope` could
+ * never become true, a 82-degree face read as walkable flat ground, and any route trying to
+ * slide a character down a ramp or reject a cliff had nothing to read. Two independent
+ * defects, one cause.
+ *
+ * Method: transform the ray into the collider's local frame by the inverse body rotation,
+ * intersect the axis-aligned box there (which is exact, because in that frame it *is* axis
+ * aligned), then rotate the hit point and normal back out. A swept sphere is handled by
+ * inflating the local extents by its radius, which is the same conservative approximation
+ * the previous AABB path used and is exact for the face regions that dominate ground and
+ * wall probes.
+ */
+function raycastOrientedBox(origin, direction, collider, body, inflate, maxDistance) {
+    const rotation = body.rotation;
+    const identity = rotation[0] === 0 && rotation[1] === 0 && rotation[2] === 0;
+    // Local-frame half extents: the collider's own bounds around the origin, inflated by any
+    // sweep radius. Taken from `bounds` at the origin with no rotation so capsules keep the
+    // same extents the previous path used.
+    const local = collider.bounds([0, 0, 0]);
+    const bounds = {
+        min: [local.min[0] - inflate, local.min[1] - inflate, local.min[2] - inflate],
+        max: [local.max[0] + inflate, local.max[1] + inflate, local.max[2] + inflate]
+    };
+    if (identity) {
+        // Unrotated: the local frame differs from the world frame only by a translation, so
+        // shift the ray rather than paying for two quaternion rotations per query.
+        const shifted = [origin[0] - body.position[0], origin[1] - body.position[1], origin[2] - body.position[2]];
+        const hit = raycastAabb(shifted, direction, bounds, collider, body.id, maxDistance);
+        if (!hit)
+            return undefined;
+        return { ...hit, point: addVec3(hit.point, body.position) };
+    }
+    const inverse = [-rotation[0], -rotation[1], -rotation[2], rotation[3]];
+    const localOrigin = rotateVec3ByQuat(subVec3(origin, body.position), inverse);
+    // Rotation preserves length, so the local direction stays unit and `distance` needs no
+    // rescaling on the way back out.
+    const localDirection = rotateVec3ByQuat(direction, inverse);
+    const hit = raycastAabb(localOrigin, localDirection, bounds, collider, body.id, maxDistance);
+    if (!hit)
+        return undefined;
+    return {
+        ...hit,
+        point: addVec3(rotateVec3ByQuat(hit.point, rotation), body.position),
+        normal: rotateVec3ByQuat(hit.normal, rotation)
+    };
+}
 function raycastAabb(origin, direction, bounds, collider, bodyId, maxDistance) {
     let tmin = 0;
     let tmax = maxDistance;

package/dist/Raycast.js.map

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package/dist/RigidBody.d.ts

@@ -43,10 +43,18 @@ export declare class RigidBody {
     linearDamping: number;
     angularDamping: number;
     inverseInertia: [number, number, number];
+    /**
+     * The principal moments the caller explicitly asked for, or `undefined` when the body
+     * accepted the mass-derived default.
+     *
+     * Retained because the selected Rapier backend derives inertia from collider geometry
+     * unless the descriptor explicitly supplies principal moments. The bridge uses this
+     * value to preserve that public descriptor contract.
+     */
+    readonly declaredInertia?: Vec3;
     sleeping: boolean;
     private accumulatedForce;
     private accumulatedTorque;
-    private sleepTimer;
     constructor(id: number, descriptor?: RigidBodyDescriptor);
     setPosition(position: Vec3): void;
     setVelocity(velocity: Vec3): void;
@@ -57,20 +65,19 @@ export declare class RigidBody {
     applyImpulse(impulse: Vec3): void;
     applyAngularImpulse(impulse: Vec3): void;
     applyImpulseAtPoint(impulse: Vec3, worldPoint: Vec3): void;
+    multiplyInverseInertiaWorld(value: Vec3): Vec3;
     /**
-     * Applies a solver-owned contact impulse without resetting an already
-     * accumulating sleep timer. PhysicsWorld performs threshold-based waking
-     * after the full linear/angular velocity update.
+     * Force accumulated since the last step, in world space.
+     *
+     * The Rapier bridge reads this value on every step and forwards it to the native body.
      */
-    applyContactImpulseAtPoint(impulse: Vec3, worldPoint: Vec3): void;
-    multiplyInverseInertiaWorld(value: Vec3): Vec3;
-    integrate(dt: number, gravity: Vec3, clearForces?: boolean): void;
+    pendingForce(): Vec3;
+    /** Torque accumulated since the last step. See {@link pendingForce}. */
+    pendingTorque(): Vec3;
     clearForces(): void;
     speedSquared(): number;
     wake(): void;
     sleep(): void;
-    resetSleepTimer(): void;
-    accumulateSleepTime(dt: number): number;
     snapshot(): RigidBodySnapshot;
 }
 //# sourceMappingURL=RigidBody.d.ts.map

package/dist/RigidBody.d.ts.map

@@ -1 +1 @@
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package/dist/RigidBody.js

@@ -15,10 +15,18 @@ export class RigidBody {
     linearDamping;
     angularDamping;
     inverseInertia;
+    /**
+     * The principal moments the caller explicitly asked for, or `undefined` when the body
+     * accepted the mass-derived default.
+     *
+     * Retained because the selected Rapier backend derives inertia from collider geometry
+     * unless the descriptor explicitly supplies principal moments. The bridge uses this
+     * value to preserve that public descriptor contract.
+     */
+    declaredInertia;
     sleeping;
     accumulatedForce;
     accumulatedTorque;
-    sleepTimer = 0;
     constructor(id, descriptor = {}) {
         if (!Number.isInteger(id) || id <= 0) {
             throw new Error("RigidBody id must be a positive integer.");
@@ -53,6 +61,9 @@ export class RigidBody {
             this.mass = mass;
             this.inverseMass = 1 / mass;
             this.inverseInertia = inverseInertia(descriptor.inertia ?? [mass, mass, mass]);
+            if (descriptor.inertia) {
+                this.declaredInertia = [descriptor.inertia[0], descriptor.inertia[1], descriptor.inertia[2]];
+            }
         }
         else {
             this.mass = Number.POSITIVE_INFINITY;
@@ -124,20 +135,6 @@ export class RigidBody {
         this.applyImpulse(impulse);
         this.applyAngularImpulse(crossVec3(subVec3(worldPoint, this.position), impulse));
     }
-    /**
-     * Applies a solver-owned contact impulse without resetting an already
-     * accumulating sleep timer. PhysicsWorld performs threshold-based waking
-     * after the full linear/angular velocity update.
-     */
-    applyContactImpulseAtPoint(impulse, worldPoint) {
-        validateFiniteVec3(impulse, "contact impulse");
-        validateFiniteVec3(worldPoint, "contact impulse point");
-        if (this.type !== "dynamic")
-            return;
-        this.velocity = addVec3(this.velocity, scaleVec3(impulse, this.inverseMass));
-        const angularImpulse = crossVec3(subVec3(worldPoint, this.position), impulse);
-        this.angularVelocity = addVec3(this.angularVelocity, this.multiplyInverseInertiaWorld(angularImpulse));
-    }
     multiplyInverseInertiaWorld(value) {
         validateFiniteVec3(value, "inverse inertia input");
         if (this.type !== "dynamic")
@@ -147,32 +144,17 @@ export class RigidBody {
         const localResponse = multiplyVec3(local, this.inverseInertia);
         return rotateVec3ByQuat(localResponse, this.rotation);
     }
-    integrate(dt, gravity, clearForces = true) {
-        if (!Number.isFinite(dt) || dt <= 0) {
-            throw new Error("dt must be a finite positive number.");
-        }
-        if (this.type !== "dynamic" || this.sleeping) {
-            if (clearForces) {
-                this.clearForces();
-            }
-            this.previousPosition = cloneVec3(this.position);
-            this.previousRotation = cloneQuat(this.rotation);
-            return;
-        }
-        this.previousPosition = cloneVec3(this.position);
-        this.previousRotation = cloneQuat(this.rotation);
-        const acceleration = addVec3(gravity, scaleVec3(this.accumulatedForce, this.inverseMass));
-        this.velocity = addVec3(this.velocity, scaleVec3(acceleration, dt));
-        this.angularVelocity = addVec3(this.angularVelocity, scaleVec3(multiplyVec3(this.accumulatedTorque, this.inverseInertia), dt));
-        const dampingFactor = Math.max(0, 1 - this.linearDamping * dt);
-        const angularDampingFactor = Math.max(0, 1 - this.angularDamping * dt);
-        this.velocity = scaleVec3(this.velocity, dampingFactor);
-        this.angularVelocity = scaleVec3(this.angularVelocity, angularDampingFactor);
-        this.position = addVec3(this.position, scaleVec3(this.velocity, dt));
-        this.rotation = integrateRotation(this.rotation, this.angularVelocity, dt);
-        if (clearForces) {
-            this.clearForces();
-        }
+    /**
+     * Force accumulated since the last step, in world space.
+     *
+     * The Rapier bridge reads this value on every step and forwards it to the native body.
+     */
+    pendingForce() {
+        return [this.accumulatedForce[0], this.accumulatedForce[1], this.accumulatedForce[2]];
+    }
+    /** Torque accumulated since the last step. See {@link pendingForce}. */
+    pendingTorque() {
+        return [this.accumulatedTorque[0], this.accumulatedTorque[1], this.accumulatedTorque[2]];
     }
     clearForces() {
         this.accumulatedForce = vec3();
@@ -187,7 +169,6 @@ export class RigidBody {
             return;
         }
         this.sleeping = false;
-        this.sleepTimer = 0;
     }
     sleep() {
         if (this.type !== "dynamic") {
@@ -198,16 +179,6 @@ export class RigidBody {
         this.clearForces();
         this.sleeping = true;
     }
-    resetSleepTimer() {
-        this.sleepTimer = 0;
-    }
-    accumulateSleepTime(dt) {
-        if (!Number.isFinite(dt) || dt < 0) {
-            throw new Error("sleep dt must be finite and non-negative.");
-        }
-        this.sleepTimer += dt;
-        return this.sleepTimer;
-    }
     snapshot() {
         return {
             id: this.id,
@@ -256,27 +227,4 @@ function crossVec3(a, b) {
         a[0] * b[1] - a[1] * b[0]
     ];
 }
-function integrateRotation(rotation, angularVelocity, dt) {
-    const speed = Math.hypot(angularVelocity[0], angularVelocity[1], angularVelocity[2]);
-    if (speed <= 1e-12) {
-        return cloneQuat(rotation);
-    }
-    const halfAngle = speed * dt * 0.5;
-    const sinHalf = Math.sin(halfAngle);
-    const delta = [
-        angularVelocity[0] / speed * sinHalf,
-        angularVelocity[1] / speed * sinHalf,
-        angularVelocity[2] / speed * sinHalf,
-        Math.cos(halfAngle)
-    ];
-    return normalizeQuat(multiplyQuat(delta, rotation));
-}
-function multiplyQuat(a, b) {
-    return [
-        a[3] * b[0] + a[0] * b[3] + a[1] * b[2] - a[2] * b[1],
-        a[3] * b[1] - a[0] * b[2] + a[1] * b[3] + a[2] * b[0],
-        a[3] * b[2] + a[0] * b[1] - a[1] * b[0] + a[2] * b[3],
-        a[3] * b[3] - a[0] * b[0] - a[1] * b[1] - a[2] * b[2]
-    ];
-}
 //# sourceMappingURL=RigidBody.js.map

package/dist/RigidBody.js.map

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

@@ -0,0 +1,72 @@
+import { type MeshBVH } from "./MeshBVH.js";
+import type { Vec3 } from "./Shape.js";
+/**
+ * Height and normal of a real mesh under a world point.
+ *
+ * ## The defect class this closes
+ *
+ * Grounding anything in this library previously meant inventing a surface model and
+ * baking it into a route constant. Turbo Drift's vehicle surface was
+ * `TRACK_SURFACE_Y - VERGE_DROP * shoulderFraction`: one frozen scalar plus an analytic
+ * ramp. That is wrong the moment the track is banked, crowned, kerbed or swapped, and it
+ * is why the car's tyres pass through the visible road on corners. The 30-line comment
+ * block defending `CAR_GROUND_Y` in that route is the symptom of a missing capability,
+ * not a well-understood constant.
+ *
+ * A surface query removes the need to model the surface at all: ask the triangles.
+ *
+ * ## Caching
+ *
+ * A vehicle samples four times per frame, a character once or twice, a crowd hundreds of
+ * times. Sampling is cached per integer cell so repeated queries in the same spot are
+ * free, and the cache is cleared per frame by the caller rather than by a timer — a
+ * time-based cache silently returns stale heights on a moving platform.
+ */
+export interface SurfaceSample {
+    /** World Y of the surface. */
+    readonly height: number;
+    /** Unit surface normal, oriented upward. */
+    readonly normal: Vec3;
+    /** Grip multiplier for this point. 1 unless a grip map is supplied. */
+    readonly grip: number;
+    /** False when no triangle was found under the point. */
+    readonly hit: boolean;
+    /** Triangle index, for callers that map triangles to materials. */
+    readonly triangle?: number | undefined;
+}
+export interface MeshSurfaceQueryOptions {
+    /**
+     * Height the downward ray starts from, above the highest point of the mesh.
+     *
+     * Too low and the ray starts inside overhanging geometry; the default derives it from
+     * the mesh bounds so it is correct for any scale without tuning.
+     */
+    readonly rayStartHeight?: number | undefined;
+    /** Grid size for the sample cache, in world units. */
+    readonly cacheCellSize?: number | undefined;
+    /** Grip per triangle index. Absent triangles use 1. */
+    readonly gripByTriangle?: ReadonlyMap<number, number> | undefined;
+    /** Fallback height when nothing is under the point. */
+    readonly fallbackHeight?: number | undefined;
+}
+export interface MeshSurfaceQuery {
+    readonly kind: "aura-mesh-surface-query";
+    sampleHeight(x: number, z: number): number;
+    sampleNormal(x: number, z: number): Vec3;
+    sampleGrip(x: number, z: number): number;
+    sample(x: number, z: number): SurfaceSample;
+    /** Drop cached samples. Call once per frame if the mesh moves. */
+    invalidate(): void;
+    readonly bvh: MeshBVH;
+    /** Cache statistics, so a caller can prove the query is not thrashing. */
+    stats(): {
+        readonly samples: number;
+        readonly cacheHits: number;
+        readonly cachedCells: number;
+    };
+}
+export declare function createMeshSurfaceQuery(geometry: {
+    readonly positions: Float32Array;
+    readonly indices: Uint32Array;
+}, worldMatrix?: readonly number[], options?: MeshSurfaceQueryOptions): MeshSurfaceQuery;
+//# sourceMappingURL=SurfaceQuery.d.ts.map

package/dist/SurfaceQuery.d.ts.map

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package/dist/SurfaceQuery.js

@@ -0,0 +1,89 @@
+import { buildMeshBVH, raycastMesh } from "./MeshBVH.js";
+/** Transform positions by a column-major 4x4 world matrix. */
+function transformPositions(positions, worldMatrix) {
+    if (!worldMatrix)
+        return positions;
+    if (worldMatrix.length !== 16)
+        throw new Error("createMeshSurfaceQuery worldMatrix must have 16 elements.");
+    const out = new Float32Array(positions.length);
+    for (let index = 0; index < positions.length; index += 3) {
+        const x = positions[index];
+        const y = positions[index + 1];
+        const z = positions[index + 2];
+        out[index] = worldMatrix[0] * x + worldMatrix[4] * y + worldMatrix[8] * z + worldMatrix[12];
+        out[index + 1] = worldMatrix[1] * x + worldMatrix[5] * y + worldMatrix[9] * z + worldMatrix[13];
+        out[index + 2] = worldMatrix[2] * x + worldMatrix[6] * y + worldMatrix[10] * z + worldMatrix[14];
+    }
+    return out;
+}
+export function createMeshSurfaceQuery(geometry, worldMatrix, options = {}) {
+    const positions = transformPositions(geometry.positions, worldMatrix);
+    const bvh = buildMeshBVH(positions, geometry.indices);
+    let highest = -Infinity;
+    let lowest = Infinity;
+    for (let index = 1; index < positions.length; index += 3) {
+        const y = positions[index];
+        if (y > highest)
+            highest = y;
+        if (y < lowest)
+            lowest = y;
+    }
+    if (!Number.isFinite(highest)) {
+        highest = 0;
+        lowest = 0;
+    }
+    // Start above the mesh and cast the full vertical extent plus margin, so an
+    // overhang never shadows the surface beneath a sample point.
+    const span = Math.max(1, highest - lowest);
+    const rayStart = options.rayStartHeight ?? highest + span;
+    const maxDistance = (rayStart - lowest) + span;
+    const cellSize = Math.max(1e-4, options.cacheCellSize ?? 0.05);
+    const fallbackHeight = options.fallbackHeight ?? lowest;
+    const cache = new Map();
+    let samples = 0;
+    let cacheHits = 0;
+    function computeSample(x, z) {
+        const hit = raycastMesh(bvh, [x, rayStart, z], [0, -1, 0], { maxDistance });
+        if (!hit) {
+            return { height: fallbackHeight, normal: [0, 1, 0], grip: 1, hit: false };
+        }
+        // Force the normal upward: a downward ray against a double-sided road surface can
+        // legitimately return either orientation, and a downward "up" normal would invert
+        // every attitude calculation built on it.
+        const normal = hit.normal[1] < 0
+            ? [-hit.normal[0], -hit.normal[1], -hit.normal[2]]
+            : hit.normal;
+        return {
+            height: hit.point[1],
+            normal,
+            grip: options.gripByTriangle?.get(hit.triangle) ?? 1,
+            hit: true,
+            triangle: hit.triangle
+        };
+    }
+    function sample(x, z) {
+        samples += 1;
+        const key = `${Math.round(x / cellSize)}:${Math.round(z / cellSize)}`;
+        const cached = cache.get(key);
+        if (cached) {
+            cacheHits += 1;
+            return cached;
+        }
+        const computed = computeSample(x, z);
+        cache.set(key, computed);
+        return computed;
+    }
+    return {
+        kind: "aura-mesh-surface-query",
+        bvh,
+        sample,
+        sampleHeight: (x, z) => sample(x, z).height,
+        sampleNormal: (x, z) => sample(x, z).normal,
+        sampleGrip: (x, z) => sample(x, z).grip,
+        invalidate: () => {
+            cache.clear();
+        },
+        stats: () => ({ samples, cacheHits, cachedCells: cache.size })
+    };
+}
+//# sourceMappingURL=SurfaceQuery.js.map

package/dist/SurfaceQuery.js.map

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package/dist/VehicleDynamics.d.ts

@@ -148,5 +148,15 @@ export declare function sampleVehicleDamage(input: VehicleDamageInput): VehicleD
 export declare function sampleVehicleEffectEmitters(input: VehicleEffectEmitterInput): VehicleEffectEmitterSample;
 export declare function sampleVehicleDrivetrain(input: VehicleDrivetrainInput): VehicleDrivetrainSample;
 export declare function sampleRacingAiDriver(input: RacingAiDriverInput): RacingAiDriverSample;
+/**
+ * Peak lateral cornering stiffness of a tyre preset, per newton of vertical load.
+ *
+ * This is the initial slope of the Magic Formula lateral curve, `d * c * b`, in units of
+ * force per radian of slip per newton of load. An integrator needs it to size a stable
+ * timestep: the tyre is the stiffest spring in a vehicle model, so it sets the step, and
+ * assuming a fixed 1/60 s regardless of tyre, mass and wheelbase is what let the vehicle
+ * integrator go unstable and produce yaw opposing its own steering input.
+ */
+export declare function tirePeakCorneringStiffness(tire: PacejkaTireCoefficients | PacejkaTirePreset): number;
 export declare function samplePacejkaTireForces(input: PacejkaTireForceInput): PacejkaTireForceSample;
 //# sourceMappingURL=VehicleDynamics.d.ts.map