@aura3d/physics 2.0.0 → 2.0.2

package/dist/VehicleMotion.js

@@ -1,373 +0,0 @@
-import { samplePacejkaTireForces, tirePeakCorneringStiffness } from "./VehicleDynamics.js";
-const DEFAULT_GRAVITY = 9.81;
-/*
- * Yaw velocity damping, in reciprocal seconds.
- *
- * Chosen to reproduce the previous behaviour's intent at its implicit 60 Hz timestep
- * (0.985 per 1/60 s => -ln(0.985) * 60), now expressed so the decay is a property of
- * elapsed simulated time rather than of call frequency.
- */
-const YAW_DAMPING_RATE = -Math.log(0.985) * 60;
-function clamp(value, min, max) {
-    return Math.min(max, Math.max(min, Number.isFinite(value) ? value : min));
-}
-function clamp01(value) {
-    return clamp(value, 0, 1);
-}
-function positive(value, fallback) {
-    return typeof value === "number" && Number.isFinite(value) && value > 0 ? value : fallback;
-}
-export function createVehicleMotion(spec) {
-    const mass = positive(spec.mass, 1200);
-    const wheelbase = positive(spec.wheelbase, 2.5);
-    const frontWeightBias = clamp(spec.frontWeightBias ?? 0.52, 0.2, 0.8);
-    const centreOfMassHeight = positive(spec.centreOfMassHeight, 0.5);
-    const maxSteerAngle = positive(spec.maxSteerAngle, 0.55);
-    const driveForce = positive(spec.driveForce, mass * 5);
-    const brakeForce = positive(spec.brakeForce, mass * 9);
-    const tirePreset = spec.tirePreset ?? "sport";
-    const dragCoefficient = positive(spec.dragCoefficient, 0.42);
-    const rollingResistance = positive(spec.rollingResistance, 0.014);
-    // A uniform box of length `wheelbase` has I = m * L^2 / 12; cars run higher because
-    // mass sits away from the centre, so 1.8x is the usual lumped approximation.
-    const yawInertia = positive(spec.yawInertia, (mass * wheelbase * wheelbase) / 12 * 1.8);
-    const GRAVITY = positive(spec.gravity, DEFAULT_GRAVITY);
-    const resolved = {
-        mass, wheelbase, frontWeightBias, centreOfMassHeight, maxSteerAngle,
-        driveForce, brakeForce, tirePreset, dragCoefficient, rollingResistance, yawInertia,
-        gravity: GRAVITY
-    };
-    let current = { x: 0, z: 0, heading: 0, speed: 0, lateralSpeed: 0, yawRate: 0 };
-    let last = { ...current, frontSlipAngle: 0, rearSlipAngle: 0, slipRatio: 0, wheelspin: false, understeering: false, oversteering: false, frontLoad: 0, rearLoad: 0, lateralG: 0 };
-    const frontAxle = wheelbase * frontWeightBias;
-    const rearAxle = wheelbase * (1 - frontWeightBias);
-    /*
-     * Rated tyre load, derived from the car this integrator is actually simulating.
-     *
-     * `samplePacejkaTireForces` scales grip by `(normalForce / maxLoad) ^ loadSensitivity`,
-     * clamped to a 0.1 floor, and `maxLoad` defaults to 5000 N — a road car's tyre. Any vehicle
-     * lighter than that therefore ran permanently on the 0.1 floor, losing **ten times** its grip
-     * no matter what the caller asked for.
-     *
-     * That is a silent, mass-dependent defect: it never throws, and it only shows up as a car
-     * that will not turn. Measured on a unit-mass car, a full-lock corner produced 1.1 g where
-     * the same request should have given about 3.5 g, so a racing kit could not make its own
-     * circuit no matter how much grip it asked for.
-     *
-     * Rating the tyre against the car's own static axle load means the load factor sits near 1 at
-     * rest for *any* mass, and load transfer then moves it up and down as it should. A heavier car
-     * still needs proportionally more force, which is the physics; what it no longer does is fall
-     * off a cliff because the vehicle is not a 1200 kg saloon.
-     */
-    const ratedTireLoad = Math.max(1, (mass * GRAVITY) / 2);
-    /*
-     * Previous substep's longitudinal acceleration, used to resolve the implicit
-     * load-transfer relationship above. Reset with the rest of the state.
-     */
-    let lastForwardAccel = 0;
-    /*
-     * Substepping, because a tyre is a stiff spring and explicit Euler is only conditionally
-     * stable against one.
-     *
-     * A cornering tyre's lateral force responds steeply to slip angle. The stiffer that
-     * response and the lighter the car, the shorter the timestep the integrator needs before
-     * the yaw/slip feedback loop stops converging. At a 1/60 s frame this model demonstrably
-     * crossed that threshold: holding a constant steering input, yaw came out at **-4.279
-     * rad/s**, the opposite direction to the steer, while the same second of simulated time at
-     * dt/2 or finer converged to **+0.5 rad/s**. See `vehicle-timestep-convergence.test.ts`.
-     *
-     * That is the mechanism behind the yaw-rate chatter in the traces, and it is why the model
-     * previously needed a kinematic ceiling and a lateral decay factor to look plausible — both
-     * of which were suppressing a numerical artefact rather than modelling a car.
-     *
-     * The cap is chosen from the physics rather than picked: the lateral relaxation time is
-     * roughly `mass / (2 * corneringStiffness)`, and the yaw time constant scales with
-     * `sqrt(yawInertia / (stiffness * wheelbase^2))`. Taking a fraction of the smaller keeps
-     * the integration inside its stable region for any mass, wheelbase and tyre the caller
-     * configures, instead of assuming a 1200 kg saloon at 60 Hz.
-     */
-    const peakLateralStiffness = tirePeakCorneringStiffness(tirePreset) * Math.max(1, mass * GRAVITY);
-    const lateralTimeConstant = mass / Math.max(1e-6, 2 * peakLateralStiffness);
-    const yawTimeConstant = Math.sqrt(yawInertia / Math.max(1e-6, peakLateralStiffness * wheelbase * wheelbase));
-    /*
-     * The factor on the smaller time constant is 1.0, measured rather than guessed. Sweeping it
-     * against the convergence suite, results are identical to four decimals from 0.25 up to 4.0;
-     * the first divergence appears at 8.0 (grip 8 yaw collapses 3.66 -> 1.11 rad/s) and grip 4
-     * follows at 16.0. Sitting at 1.0 keeps a 4-8x margin below the observed stability boundary.
-     *
-     * That margin is not free, and the cost is why the number matters: an over-conservative 0.25
-     * spent 252us per simulated frame on a single car, enough to blow a 16ms frame budget on its
-     * own and enough to time out the suite. At 1.0 the same frame costs 67us for identical output.
-     */
-    const maxStableStep = clamp(Math.min(lateralTimeConstant, yawTimeConstant), 1e-4, 1 / 60);
-    function resolveSample(dt, input) {
-        const frame = clamp(dt, 1e-4, 0.1);
-        /*
-         * Grip raises the tyre's peak force, so it shortens the stable step too. A route asking
-         * for 4 g needs proportionally finer integration than one asking for 1 g.
-         */
-        const gripDemand = Math.sqrt(clamp(input.grip ?? 1, 0.05, 8));
-        const substepCount = Math.max(1, Math.min(64, Math.ceil((frame / maxStableStep) * gripDemand)));
-        for (let index = 0; index < substepCount; index += 1) {
-            integrate(frame / substepCount, input);
-        }
-        return last;
-    }
-    function integrate(step, input) {
-        const throttle = clamp01(input.throttle ?? 0);
-        const brake = clamp01(input.brake ?? 0);
-        const steer = clamp(input.steer ?? 0, -1, 1) * maxSteerAngle;
-        /*
-         * Grip multiplier on the tyre's peak force.
-         *
-         * The upper bound is 8 rather than 1.5 because arcade racing routes legitimately declare a
-         * pace that a road tyre cannot hold. Aura3D's own certified circuit is the worked example:
-         * its tightest corner needs 0.25 g at the certified speed, and the route then declares a
-         * 4x gameplay pace, which is 16x the lateral load — 4 g. Clamped at 1.5 the car understeers
-         * off the track at every corner no matter what the caller asks for, so the ceiling was
-         * silently deciding the game's handling.
-         *
-         * This scales the tyre's force, so slip angles, saturation, load transfer and the
-         * understeer/oversteer distinction all still emerge from the model. A high-grip tyre is
-         * still a tyre; the alternative is a kinematic point that turns wherever it is pointed,
-         * which is the defect this model exists to remove.
-         */
-        const grip = clamp(input.grip ?? 1, 0.05, 8);
-        const handbrake = input.handbrake === true;
-        const speed = current.speed;
-        const lateral = current.lateralSpeed;
-        /*
-         * Longitudinal load transfer.
-         *
-         * Braking pitches load onto the front axle and off the rear, which is why a car
-         * loses rear grip under heavy braking and can spin. A kinematic model has no
-         * mechanism for this at all.
-         */
-        /*
-         * Load transfer follows the acceleration the car is *actually* undergoing.
-         *
-         * This used throttle and brake demand: `(throttle * driveForce - brake * brakeForce) / mass`.
-         * That is not what pitches a car. A car at its top speed with the throttle pinned is not
-         * accelerating at all — drag and rolling resistance cancel the drive force — so it sits
-         * level, yet the demand-based formula claimed full-throttle weight transfer forever.
-         *
-         * The consequence was severe and permanent. On the test car, holding full throttle at
-         * terminal velocity reported a front axle load of **1.66 N against a rear load of 8.15 N**,
-         * a 17.7 m/s^2 transfer that no longer existed. With almost no vertical load the front
-         * tyre could not generate lateral force, so it ran at **0.62 rad (35 degrees) of slip** —
-         * far past the peak of the Magic Formula curve — and the car understeered straight on at
-         * any speed. That is the "car will not turn" symptom, and it got worse the faster you went,
-         * because faster meant more throttle held for longer.
-         *
-         * Longitudinal force depends on the traction limit, which depends on rear load, which
-         * depends on this transfer, so the relationship is implicit. Resolving it with the previous
-         * substep's measured acceleration is both stable and physically honest: real load transfer
-         * lags the tyre forces through the suspension anyway, and at substep resolution that lag is
-         * well under a millisecond.
-         */
-        const transfer = (centreOfMassHeight / wheelbase) * mass * lastForwardAccel;
-        const staticFront = mass * GRAVITY * (1 - frontWeightBias);
-        const staticRear = mass * GRAVITY * frontWeightBias;
-        const frontLoad = Math.max(0, staticFront - transfer);
-        const rearLoad = Math.max(0, staticRear + transfer);
-        /*
-         * Slip angles: the difference between where a tyre points and where it travels.
-         *
-         * This is the heart of the model. A tyre generates lateral force in response to slip
-         * angle, and that force saturates. Understeer is the front pair saturating first.
-         */
-        const forwardSpeed = Math.max(Math.abs(speed), 0.6) * Math.sign(speed || 1);
-        /*
-         * Lateral velocity *at each axle*, which is what sets that axle's slip angle. A yawing
-         * car sweeps its front axle one way and its rear the other, which is why the two axles
-         * slip differently and why understeer and oversteer are distinguishable at all.
-         *
-         * These are handed to the tyre model as velocities, not as angles. The model derives
-         * slip itself; passing it a precomputed slip angle in its `steeringAngle` parameter
-         * counted slip twice (proven in `vehicle-lateral-stability.test.ts`).
-         */
-        const frontAxleLateral = lateral + current.yawRate * frontAxle;
-        const rearAxleLateral = lateral - current.yawRate * rearAxle;
-        // Drive slip: how much the driven wheels are over-spinning relative to the road.
-        const tractionLimit = rearLoad * grip * 1.1;
-        const requestedDrive = throttle * driveForce;
-        const wheelspin = requestedDrive > tractionLimit && Math.abs(speed) < 40;
-        const slipRatio = tractionLimit > 0 ? clamp((requestedDrive - tractionLimit) / tractionLimit, -1, 1) : 0;
-        const frontTire = samplePacejkaTireForces({
-            normalForce: Math.max(1, frontLoad),
-            maxLoad: ratedTireLoad,
-            longitudinalVelocity: Math.abs(forwardSpeed),
-            lateralVelocity: frontAxleLateral,
-            angularVelocity: Math.abs(forwardSpeed) / 0.32,
-            radius: 0.32,
-            // The steered roadwheel angle. Only the front axle is steered.
-            steeringAngle: steer * Math.sign(forwardSpeed),
-            lateral: tirePreset,
-            longitudinal: tirePreset
-        });
-        const rearTire = samplePacejkaTireForces({
-            normalForce: Math.max(1, rearLoad),
-            maxLoad: ratedTireLoad,
-            longitudinalVelocity: Math.abs(forwardSpeed),
-            lateralVelocity: rearAxleLateral,
-            angularVelocity: (Math.abs(forwardSpeed) / 0.32) * (1 + Math.abs(slipRatio)),
-            radius: 0.32,
-            steeringAngle: 0,
-            lateral: tirePreset,
-            longitudinal: tirePreset
-        });
-        const frontSlipAngle = frontTire.slipAngle;
-        const rearSlipAngle = rearTire.slipAngle;
-        // Handbrake destroys rear lateral grip, which is what makes a drift initiate.
-        const rearGripScale = handbrake ? 0.25 : 1;
-        /*
-         * A tyre resists its own slip. `samplePacejkaTireForces` reports force with the sign of
-         * the slip that produced it, so the force acting on the body is the negation. Adding it
-         * unnegated — which is what this integrator used to do — made the tyre drive the car
-         * deeper into its slide, and lateral velocity then grew without bound.
-         */
-        const frontLateral = -frontTire.lateralForce * grip;
-        const rearLateral = -rearTire.lateralForce * grip * rearGripScale;
-        // Longitudinal: drive limited by traction, minus brake, drag and rolling resistance.
-        const drive = Math.min(requestedDrive, tractionLimit);
-        const braking = brake * brakeForce * Math.sign(speed || 1);
-        const drag = dragCoefficient * speed * Math.abs(speed);
-        const rolling = rollingResistance * mass * GRAVITY * Math.sign(speed || 0);
-        /*
-         * Braking, drag and rolling resistance are dissipative: they oppose motion, so they can
-         * remove the car's momentum but must never become a source of it. Integrating them
-         * unconditionally lets the resisting force overshoot through zero and accelerate the car
-         * backwards. Under full brake on flat ground the car did not settle: it oscillated between
-         * 0 and -0.15 m/s every other frame, creeping -0.26 m along x while visibly stopped. The
-         * pre-existing `never reverses the car under braking` test missed this because it sampled
-         * after an even number of frames, landing on the 0 half of the oscillation; the regression
-         * test `stays at rest under continuous braking instead of jittering backwards` asserts
-         * every frame and fails without this clamp.
-         *
-         * Clamping the resisting impulse to the momentum actually available this step fixes it at
-         * the source, for any resisting force and any timestep, rather than special-casing brake.
-         * `drive` is excluded because engine force is a genuine source and may legitimately pull
-         * the car through zero into reverse.
-         */
-        const resisting = braking + drag + rolling;
-        const maxResisting = Math.abs(speed) * mass / step;
-        const clampedResisting = Math.sign(resisting) * Math.min(Math.abs(resisting), maxResisting + Math.abs(drive));
-        const forwardAccel = (drive - clampedResisting) / mass;
-        lastForwardAccel = forwardAccel;
-        // Lateral acceleration includes the centripetal term from yaw.
-        const lateralAccel = (frontLateral + rearLateral) / mass - current.yawRate * speed;
-        const yawMoment = frontLateral * frontAxle - rearLateral * rearAxle;
-        const yawAccel = yawMoment / yawInertia;
-        let nextSpeed = speed + forwardAccel * step;
-        /*
-         * The resisting-impulse clamp above keeps dissipative forces from reversing the car, so the
-         * previous `Math.sign(nextSpeed) !== Math.sign(speed)` guard is gone: it silently skipped
-         * `speed === 0` (Math.sign(0) is 0, never unequal to itself under the old ordering) which is
-         * exactly the state the car settles into under braking, and it also clobbered legitimate
-         * throttle-into-reverse transitions.
-         */
-        /*
-         * No artificial decay factor here. The previous 0.96-per-step bleed existed to hide the
-         * sign defect above: the tyre pushed the slide outward and a blanket multiplier dragged
-         * it back, and the two balanced at a permanent, physically meaningless sideways drift.
-         * With the tyre restoring correctly, lateral damping is the tyre's job.
-         */
-        const nextLateral = lateral + lateralAccel * step;
-        /*
-         * Yaw is bounded by what the steered geometry can actually produce.
-         *
-         * `yawAccel` comes from the tyre moment, and with no ceiling it integrates without limit: a
-         * high-grip tyre generates a large moment, which produces more yaw, which increases slip angle,
-         * which generates more moment. Measured on a racing route asking for ~4 g of grip, the car reached
-         * **-55 rad/z of yaw at 24.5 g lateral** — spinning on the spot rather than cornering, which made
-         * the vehicle undrivable and looked like a wiring error in the consumer.
-         *
-         * The bicycle model gives the kinematic bound: a car travelling at `v` with roadwheel angle `delta`
-         * and wheelbase `L` turns at `v * tan(delta) / L`. Real cars exceed it slightly in a slide, so the
-         * cap allows 1.6x before clamping, which leaves oversteer expressible while keeping the result a
-         * cornering vehicle rather than a spinning point.
-         *
-         * This is a bound, not a substitute: yaw still *comes from* tyre forces, so understeer, oversteer
-         * and load transfer are unaffected below the limit.
-         */
-        const kinematicYaw = Math.abs(nextSpeed) * Math.abs(Math.tan(steer)) / Math.max(1e-6, wheelbase);
-        const yawCeiling = Math.max(0.05, kinematicYaw * 1.6);
-        /*
-         * Yaw damping as a rate, not a per-call multiplier.
-         *
-         * This was `* 0.985` applied once per `step()`. A fixed per-call factor makes the
-         * physics depend on how often it is called: under substepping it compounds
-         * (0.985^64 = 0.38, so a frame would shed 62% of its yaw), and even without
-         * substepping a 30 fps client and a 120 fps client got different handling from
-         * identical input. Expressed as a time constant, the decay over a given span of
-         * simulated time is the same at any timestep.
-         */
-        const unboundedYaw = (current.yawRate + yawAccel * step) * Math.exp(-YAW_DAMPING_RATE * step);
-        const nextYaw = clamp(unboundedYaw, -yawCeiling, yawCeiling);
-        const heading = current.heading + nextYaw * step;
-        const cos = Math.cos(heading);
-        const sin = Math.sin(heading);
-        current = {
-            x: current.x + (cos * nextSpeed - sin * nextLateral) * step,
-            z: current.z + (sin * nextSpeed + cos * nextLateral) * step,
-            heading,
-            speed: nextSpeed,
-            lateralSpeed: nextLateral,
-            yawRate: nextYaw
-        };
-        /*
-         * Understeer and oversteer, from the slip angles rather than asserted.
-         *
-         * Understeer is the front axle slipping more than the rear: the car goes wider than
-         * it is pointed. Oversteer is the reverse. Both are impossible to detect in a model
-         * where heading comes directly from steering input.
-         */
-        const understeering = Math.abs(frontSlipAngle) > Math.abs(rearSlipAngle) + 0.02 && Math.abs(steer) > 0.02;
-        const oversteering = Math.abs(rearSlipAngle) > Math.abs(frontSlipAngle) + 0.02 && Math.abs(speed) > 1;
-        last = {
-            ...current,
-            frontSlipAngle,
-            rearSlipAngle,
-            slipRatio,
-            wheelspin,
-            understeering,
-            oversteering,
-            frontLoad,
-            rearLoad,
-            /*
-             * Lateral g is the acceleration the car actually undergoes, which is the tyre
-             * force divided by mass.
-             *
-             * This previously reported `lateralAccel`, the rate of change of *body-frame
-             * lateral velocity*. Those differ by the centripetal term, and in a steady
-             * corner — exactly when a caller asks "how many g is it pulling?" — the
-             * body-frame derivative is approximately **zero** by definition, because the
-             * tyre force and the centripetal term are in balance. So a car holding a
-             * perfectly good 1 g corner reported 0.004 g, and any consumer using this to
-             * drive tyre squeal, camera shake or a grip readout saw nothing at the moment
-             * there was most to show.
-             */
-            lateralG: Math.abs(frontLateral + rearLateral) / mass / GRAVITY
-        };
-        return last;
-    }
-    return {
-        kind: "aura-vehicle-motion",
-        spec: resolved,
-        step: resolveSample,
-        state: () => ({ ...last, ...current }),
-        reset: (state = {}) => {
-            current = {
-                x: state.x ?? 0,
-                z: state.z ?? 0,
-                heading: state.heading ?? 0,
-                speed: state.speed ?? 0,
-                lateralSpeed: state.lateralSpeed ?? 0,
-                yawRate: state.yawRate ?? 0
-            };
-            last = { ...current, frontSlipAngle: 0, rearSlipAngle: 0, slipRatio: 0, wheelspin: false, understeering: false, oversteering: false, frontLoad: 0, rearLoad: 0, lateralG: 0 };
-            return last;
-        }
-    };
-}
-//# sourceMappingURL=VehicleMotion.js.map

package/dist/VehicleMotion.js.map

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

@@ -1,41 +0,0 @@
-/**
- * WS-2.2 — the parts of `@aura3d/physics` that do NOT reach the rigid-body solver.
- *
- * ## Why this exists
- *
- * `createAuraApp` needs a handful of physics values at module scope: `Shape` to translate a declared
- * collider, `PhysicsStepper` to drive a fixed timestep, `ScenePhysicsBridge` to push transforms, and
- * `PhysicsDebugDraw` to draw colliders. Every one of those files is **cannon-free** — they import
- * `PhysicsWorld` as a *type* only.
- *
- * But they were reached through `@aura3d/physics`, whose barrel is a chain of `export *`, and one of
- * those re-exports is `PhysicsWorld` — which imports `cannon-es`. So a scene with **no bodies at all**
- * downloaded the whole solver. Measured on scenario 1 (one cube, no physics): a **77,081-byte gzip
- * chunk** on the critical path, of which `cannon-es` is 83,869 bytes raw.
- *
- * This is *not* the same defect as eager construction. `createAuraApp` already constructs its world
- * lazily and carries a comment recording that eager construction cost 85 KB — that fix was correct and
- * insufficient, because a lazy `new` still leaves a static `import`. A bundler keeps the module either
- * way. Deferring the *import* is what actually removes the bytes.
- *
- * ## What is deliberately absent
- *
- * `PhysicsWorld`, `NarrowPhase`, `CharacterController`, `HitboxWorld`, `VehicleDynamics` and the
- * fixture modules. Anything that simulates. `@aura3d/physics` still exports all of them, and
- * `createAuraApp` loads the world through `await import("@aura3d/physics")` when a scene actually
- * declares a body — so behaviour is unchanged and only the download moves.
- */
-export { Shape } from "./Shape.js";
-export type { BoxShape, Bounds, CapsuleShape, ConvexHullShape, HeightfieldShape, MeshShape, PhysicsShape, PlaneShape, SphereShape, Vec3 } from "./Shape.js";
-export { EPSILON, vec3 } from "./Shape.js";
-export { PhysicsStepper } from "./PhysicsStepper.js";
-export type { PhysicsStepperResult } from "./PhysicsStepper.js";
-export { ScenePhysicsBridge } from "./ScenePhysicsBridge.js";
-export type { ScenePhysicsBinding, ScenePhysicsNode } from "./ScenePhysicsBridge.js";
-export { PhysicsDebugDraw } from "./PhysicsDebugDraw.js";
-export type { DebugLine } from "./PhysicsDebugDraw.js";
-export { buildMeshBVH, raycastMesh, raycastMeshBruteForce } from "./MeshBVH.js";
-export type { MeshBVH, MeshBVHBuildOptions, MeshRayHit, RaycastMeshOptions } from "./MeshBVH.js";
-export { createMeshSurfaceQuery } from "./SurfaceQuery.js";
-export type { MeshSurfaceQuery, MeshSurfaceQueryOptions, SurfaceSample } from "./SurfaceQuery.js";
-//# sourceMappingURL=solverless-entry.d.ts.map

package/dist/solverless-entry.d.ts.map

@@ -1 +0,0 @@
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package/dist/solverless-entry.js

@@ -1,40 +0,0 @@
-/**
- * WS-2.2 — the parts of `@aura3d/physics` that do NOT reach the rigid-body solver.
- *
- * ## Why this exists
- *
- * `createAuraApp` needs a handful of physics values at module scope: `Shape` to translate a declared
- * collider, `PhysicsStepper` to drive a fixed timestep, `ScenePhysicsBridge` to push transforms, and
- * `PhysicsDebugDraw` to draw colliders. Every one of those files is **cannon-free** — they import
- * `PhysicsWorld` as a *type* only.
- *
- * But they were reached through `@aura3d/physics`, whose barrel is a chain of `export *`, and one of
- * those re-exports is `PhysicsWorld` — which imports `cannon-es`. So a scene with **no bodies at all**
- * downloaded the whole solver. Measured on scenario 1 (one cube, no physics): a **77,081-byte gzip
- * chunk** on the critical path, of which `cannon-es` is 83,869 bytes raw.
- *
- * This is *not* the same defect as eager construction. `createAuraApp` already constructs its world
- * lazily and carries a comment recording that eager construction cost 85 KB — that fix was correct and
- * insufficient, because a lazy `new` still leaves a static `import`. A bundler keeps the module either
- * way. Deferring the *import* is what actually removes the bytes.
- *
- * ## What is deliberately absent
- *
- * `PhysicsWorld`, `NarrowPhase`, `CharacterController`, `HitboxWorld`, `VehicleDynamics` and the
- * fixture modules. Anything that simulates. `@aura3d/physics` still exports all of them, and
- * `createAuraApp` loads the world through `await import("@aura3d/physics")` when a scene actually
- * declares a body — so behaviour is unchanged and only the download moves.
- */
-export { Shape } from "./Shape.js";
-export { EPSILON, vec3 } from "./Shape.js";
-export { PhysicsStepper } from "./PhysicsStepper.js";
-export { ScenePhysicsBridge } from "./ScenePhysicsBridge.js";
-export { PhysicsDebugDraw } from "./PhysicsDebugDraw.js";
-/*
- * Mesh queries are geometry, not simulation. `MeshBVH` and `SurfaceQuery` import only `Shape`'s
- * types, so grounding a vehicle or a character on a real mesh needs no solver — which is also WS-4.5's
- * point about MeshBVH having responsibilities beyond physics contact.
- */
-export { buildMeshBVH, raycastMesh, raycastMeshBruteForce } from "./MeshBVH.js";
-export { createMeshSurfaceQuery } from "./SurfaceQuery.js";
-//# sourceMappingURL=solverless-entry.js.map

package/dist/solverless-entry.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"solverless-entry.js","sourceRoot":"","sources":["../../../../packages/physics/src/solverless-entry.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;GA0BG;AACH,OAAO,EAAE,KAAK,EAAE,MAAM,YAAY,CAAC;AAEnC,OAAO,EAAE,OAAO,EAAE,IAAI,EAAE,MAAM,YAAY,CAAC;AAC3C,OAAO,EAAE,cAAc,EAAE,MAAM,qBAAqB,CAAC;AAErD,OAAO,EAAE,kBAAkB,EAAE,MAAM,yBAAyB,CAAC;AAE7D,OAAO,EAAE,gBAAgB,EAAE,MAAM,uBAAuB,CAAC;AAEzD;;;;GAIG;AACH,OAAO,EAAE,YAAY,EAAE,WAAW,EAAE,qBAAqB,EAAE,MAAM,cAAc,CAAC;AAEhF,OAAO,EAAE,sBAAsB,EAAE,MAAM,mBAAmB,CAAC"}

package/dist/world-entry.d.ts

@@ -1,31 +0,0 @@
-/**
- * WS-2.2 — `PhysicsWorld` and the solver, as a narrow entry point.
- *
- * ## Why this exists rather than importing the barrel
- *
- * `app.physics` is documented and tested as being live **synchronously** for every app
- * (`tests/unit/agent-api/lazy-physics-world.test.ts`), so `createAuraApp` must be able to construct a
- * world without awaiting. That rules out loading the solver with `await import()` — R7 forbids breaking
- * working semantics to chase a byte count, and an async-only `app.physics` would break every existing
- * caller.
- *
- * So the solver is imported statically, but from **here** rather than from `@aura3d/physics`. The
- * barrel is a chain of `export *` covering `HitboxWorld`, `CharacterController`, `KinematicBody`,
- * `VehicleDynamics`, `NarrowPhase` and six fixture modules; importing it to get one class dragged all
- * of them in. This entry exposes the solver and nothing else.
- *
- * Measured on scenario 1 (one cube, no bodies), the eager physics chunk:
- *
- *   via the barrel      77,081 B gzip   (cannon-es 83,869 raw + HitboxWorld 14,379 + KinematicBody
- *                                        8,975 + CharacterController 8,531 + NarrowPhase 8,488 +
- *                                        VehicleDynamics 8,125 + PhysicsSandboxFixtures 7,687 + ...)
- *   via this entry      the solver only
- *
- * `cannon-es` itself stays on the critical path, and that is the honest remaining cost of a synchronous
- * `app.physics`. Removing it requires deciding whether the public contract may become async — which is
- * a **P4** question, not a P2 one, and one the physics bake-off has to answer anyway because Rapier is
- * WASM and therefore asynchronous by construction.
- */
-export { PhysicsWorld } from "./PhysicsWorld.js";
-export type { PhysicsBackend, PhysicsBackendPreference, PhysicsBackendSelection, PhysicsContinuousCollisionDescriptor, PhysicsContinuousCollisionSelection, PhysicsSnapshot, PhysicsStepStats, PhysicsWorldDescriptor } from "./PhysicsWorld.js";
-//# sourceMappingURL=world-entry.d.ts.map

package/dist/world-entry.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"world-entry.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/world-entry.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;GA2BG;AACH,OAAO,EAAE,YAAY,EAAE,MAAM,mBAAmB,CAAC;AACjD,YAAY,EACV,cAAc,EACd,wBAAwB,EACxB,uBAAuB,EACvB,oCAAoC,EACpC,mCAAmC,EACnC,eAAe,EACf,gBAAgB,EAChB,sBAAsB,EACvB,MAAM,mBAAmB,CAAC"}

package/dist/world-entry.js

@@ -1,30 +0,0 @@
-/**
- * WS-2.2 — `PhysicsWorld` and the solver, as a narrow entry point.
- *
- * ## Why this exists rather than importing the barrel
- *
- * `app.physics` is documented and tested as being live **synchronously** for every app
- * (`tests/unit/agent-api/lazy-physics-world.test.ts`), so `createAuraApp` must be able to construct a
- * world without awaiting. That rules out loading the solver with `await import()` — R7 forbids breaking
- * working semantics to chase a byte count, and an async-only `app.physics` would break every existing
- * caller.
- *
- * So the solver is imported statically, but from **here** rather than from `@aura3d/physics`. The
- * barrel is a chain of `export *` covering `HitboxWorld`, `CharacterController`, `KinematicBody`,
- * `VehicleDynamics`, `NarrowPhase` and six fixture modules; importing it to get one class dragged all
- * of them in. This entry exposes the solver and nothing else.
- *
- * Measured on scenario 1 (one cube, no bodies), the eager physics chunk:
- *
- *   via the barrel      77,081 B gzip   (cannon-es 83,869 raw + HitboxWorld 14,379 + KinematicBody
- *                                        8,975 + CharacterController 8,531 + NarrowPhase 8,488 +
- *                                        VehicleDynamics 8,125 + PhysicsSandboxFixtures 7,687 + ...)
- *   via this entry      the solver only
- *
- * `cannon-es` itself stays on the critical path, and that is the honest remaining cost of a synchronous
- * `app.physics`. Removing it requires deciding whether the public contract may become async — which is
- * a **P4** question, not a P2 one, and one the physics bake-off has to answer anyway because Rapier is
- * WASM and therefore asynchronous by construction.
- */
-export { PhysicsWorld } from "./PhysicsWorld.js";
-//# sourceMappingURL=world-entry.js.map

package/dist/world-entry.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"world-entry.js","sourceRoot":"","sources":["../../../../packages/physics/src/world-entry.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;GA2BG;AACH,OAAO,EAAE,YAAY,EAAE,MAAM,mBAAmB,CAAC"}