@certe/atmos-physics 0.1.0

package/README.md

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+# ⚡ @certe/atmos-physics
+
+Physics integration for the Atmos Engine, wrapping [Rapier](https://rapier.rs/) (WASM). Provides rigid bodies, collider shapes, joints, and stateless physics queries — all as components that sync automatically with the engine's Transform system.
+
+---
+
+## 🚀 Quick Start
+
+```ts
+import { initRapier, PhysicsWorld, PhysicsSystem,
+         RigidBody, Collider } from '@certe/atmos-physics';
+
+await initRapier();
+const world = new PhysicsWorld({ gravity: { x: 0, y: -9.81, z: 0 } });
+
+// Dynamic cube
+const cube = new GameObject('Cube');
+const rb = cube.addComponent(RigidBody);
+rb.init(world, { type: 'dynamic', mass: 1 });
+const col = cube.addComponent(Collider);
+col.init(world, { shape: { type: 'box', halfExtents: { x: 0.5, y: 0.5, z: 0.5 } } });
+
+// Static floor
+const floor = new GameObject('Floor');
+const floorRb = floor.addComponent(RigidBody);
+floorRb.init(world, { type: 'fixed' });
+const floorCol = floor.addComponent(Collider);
+floorCol.init(world, { shape: { type: 'box', halfExtents: { x: 50, y: 0.5, z: 50 } } });
+
+// Wire into engine
+const physicsSystem = new PhysicsSystem(world, scene);
+engine.setPhysics(physicsSystem);
+```
+
+---
+
+## 📖 API Overview
+
+### Initialization
+
+| Function | Description |
+|---|---|
+| `initRapier()` | Load Rapier WASM (idempotent, call once at startup) |
+| `new PhysicsWorld(opts?)` | Create simulation with gravity, timestep, solver iterations |
+
+### RigidBody Component
+
+| Property | Description |
+|---|---|
+| `type` | `'dynamic'` · `'fixed'` · `'kinematic'` |
+| `mass` | Mass for dynamic bodies |
+| `linearDamping` / `angularDamping` | Velocity damping |
+| `gravityScale` | Per-body gravity multiplier |
+
+```ts
+rb.addForce(0, 100, 0);    // continuous force
+rb.addImpulse(0, 10, 0);   // instant impulse
+```
+
+### Collider Component
+
+Supported shapes:
+
+| Shape | Parameters |
+|---|---|
+| `box` | `halfExtents: {x, y, z}` |
+| `sphere` | `radius` |
+| `capsule` | `halfHeight, radius` |
+| `cylinder` | `halfHeight, radius` |
+| `convexHull` | `vertices: Float32Array` |
+
+```ts
+col.init(world, {
+  shape: { type: 'sphere', radius: 1.0 },
+  friction: 0.5,
+  restitution: 0.3,
+  isSensor: false,  // true = trigger volume
+});
+```
+
+Colliders auto-attach to the nearest ancestor `RigidBody` and compute offsets for child GameObjects.
+
+### Joints
+
+| Joint Type | Description |
+|---|---|
+| `FixedJoint` | Rigid constraint (no relative motion) |
+| `HingeJoint` | Revolute (rotation around one axis), with optional limits and motor |
+| `SpringJoint` | Spring with rest length, stiffness, and damping |
+
+```ts
+const hinge = obj.addComponent(HingeJoint);
+hinge.init(world, {
+  connectedObject: otherObj,
+  axis: { x: 0, y: 1, z: 0 },
+  limitsEnabled: true,
+  limitMin: -Math.PI / 4,
+  limitMax: Math.PI / 4,
+});
+```
+
+### Physics Queries
+
+Stateless raycasting and shape-casting via the `Physics` class:
+
+```ts
+import { Physics } from '@certe/atmos-physics';
+
+const hit = Physics.raycast(world, origin, direction, 100);
+if (hit) {
+  console.log(hit.gameObject.name, hit.point, hit.normal, hit.distance);
+}
+
+const hits = Physics.sphereCastAll(world, center, radius);
+const boxHit = Physics.boxCast(world, center, halfExtents);
+```
+
+### PhysicsSystem
+
+Runs each frame via the engine. Handles:
+
+- **Pre-step**: Detects external transform changes → teleports dynamic bodies; syncs kinematic bodies
+- **Step**: Fixed-timestep accumulator (`world.step(dt)`)
+- **Post-step**: Copies Rapier transforms back to engine Transforms
+
+---
+
+## 📁 Structure
+
+```
+packages/physics/src/
+  index.ts           # Public API
+  rapier-init.ts     # WASM loader
+  physics-world.ts   # Rapier world wrapper
+  physics-system.ts  # Per-frame sync orchestrator
+  rigid-body.ts      # RigidBody component
+  collider.ts        # Collider component + shapes
+  joint.ts           # Abstract Joint base
+  fixed-joint.ts     # FixedJoint
+  hinge-joint.ts     # HingeJoint (limits, motor)
+  spring-joint.ts    # SpringJoint
+  physics-query.ts   # Raycast, sphere/box cast
+  helpers.ts         # Ancestor traversal utilities
+```
+
+---
+
+## 🔗 Dependencies
+
+- `@certe/atmos-core` — Component, GameObject, Transform, Scene
+- `@certe/atmos-math` — Vec3, Quat for transform sync
+- `@dimforge/rapier3d-compat` — WASM physics engine

package/dist/collider-offset.d.ts

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+import type { GameObject } from '@certe/atmos-core';
+export interface ColliderOffset {
+    tx: number;
+    ty: number;
+    tz: number;
+    rx: number;
+    ry: number;
+    rz: number;
+    rw: number;
+    sx: number;
+    sy: number;
+    sz: number;
+}
+/**
+ * Compute the offset of a child collider GO relative to its body's GO.
+ * Both transforms must have up-to-date world matrices before calling.
+ */
+export declare function computeColliderOffset(bodyGo: GameObject, childGo: GameObject): ColliderOffset;
+//# sourceMappingURL=collider-offset.d.ts.map

package/dist/collider-offset.d.ts.map

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package/dist/collider-offset.js

@@ -0,0 +1,33 @@
+import { Mat4, Quat } from '@certe/atmos-math';
+// Scratch arrays — reused to avoid heap allocs
+const _invParent = Mat4.create();
+const _relative = Mat4.create();
+const _tmpQuat = Quat.create();
+/**
+ * Compute the offset of a child collider GO relative to its body's GO.
+ * Both transforms must have up-to-date world matrices before calling.
+ */
+export function computeColliderOffset(bodyGo, childGo) {
+    // relative = inv(bodyWorld) * childWorld
+    if (!Mat4.invert(_invParent, bodyGo.transform.worldMatrix)) {
+        // Singular body world matrix (e.g. zero scale) — return identity offset
+        return { tx: 0, ty: 0, tz: 0, rx: 0, ry: 0, rz: 0, rw: 1, sx: 1, sy: 1, sz: 1 };
+    }
+    Mat4.multiply(_relative, _invParent, childGo.transform.worldMatrix);
+    // Translation from column 3
+    const tx = _relative[12];
+    const ty = _relative[13];
+    const tz = _relative[14];
+    // Scale from column lengths
+    const sx = Math.sqrt(_relative[0] ** 2 + _relative[1] ** 2 + _relative[2] ** 2);
+    const sy = Math.sqrt(_relative[4] ** 2 + _relative[5] ** 2 + _relative[6] ** 2);
+    const sz = Math.sqrt(_relative[8] ** 2 + _relative[9] ** 2 + _relative[10] ** 2);
+    // Rotation (Quat.fromMat4 normalizes columns internally)
+    Quat.fromMat4(_tmpQuat, _relative);
+    return {
+        tx, ty, tz,
+        rx: _tmpQuat[0], ry: _tmpQuat[1], rz: _tmpQuat[2], rw: _tmpQuat[3],
+        sx, sy, sz,
+    };
+}
+//# sourceMappingURL=collider-offset.js.map

package/dist/collider-offset.js.map

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package/dist/collider.d.ts

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+import RAPIER from '@dimforge/rapier3d-compat';
+import { Component } from '@certe/atmos-core';
+import type { PhysicsWorld } from './physics-world.js';
+import { RigidBody } from './rigid-body.js';
+export type ColliderShape = {
+    type: 'box';
+    halfExtents: {
+        x: number;
+        y: number;
+        z: number;
+    };
+    center?: {
+        x: number;
+        y: number;
+        z: number;
+    };
+} | {
+    type: 'sphere';
+    radius: number;
+} | {
+    type: 'capsule';
+    halfHeight: number;
+    radius: number;
+} | {
+    type: 'cylinder';
+    halfHeight: number;
+    radius: number;
+} | {
+    type: 'convexHull';
+    vertices: Float32Array;
+};
+export interface ColliderOptions {
+    shape: ColliderShape;
+    friction?: number;
+    restitution?: number;
+    density?: number;
+    isSensor?: boolean;
+}
+export declare class Collider extends Component {
+    collider: RAPIER.Collider | null;
+    /** Unscaled base shape dimensions, stored at init time */
+    private _baseShape;
+    private _options;
+    private _world;
+    /** The RigidBody this collider is attached to (may be on an ancestor) */
+    private _bodyRb;
+    /** The GameObject that owns the RigidBody */
+    private _bodyGo;
+    private _friction;
+    private _restitution;
+    private _density;
+    private _isSensor;
+    get friction(): number;
+    set friction(v: number);
+    get restitution(): number;
+    set restitution(v: number);
+    get density(): number;
+    set density(v: number);
+    get isSensor(): boolean;
+    set isSensor(v: boolean);
+    get attachedBody(): RigidBody | null;
+    get shape(): ColliderShape | null;
+    get isChildCollider(): boolean;
+    init(world: PhysicsWorld, options: ColliderOptions): void;
+    /** Recompute this child collider's offset from the current transform hierarchy. */
+    syncOffset(): void;
+    /** Destroy and re-create the collider (e.g. after reparenting). */
+    reattach(world: PhysicsWorld): void;
+    applyScale(sx: number, sy: number, sz: number): void;
+    /** Apply shape center offset (scaled), e.g. for plane collider where top face = visual surface. */
+    private _applyCenterOffset;
+    onDestroy(): void;
+    private _createDesc;
+}
+//# sourceMappingURL=collider.d.ts.map

package/dist/collider.d.ts.map

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package/dist/collider.js

@@ -0,0 +1,223 @@
+import RAPIER from '@dimforge/rapier3d-compat';
+import { Component } from '@certe/atmos-core';
+import { RigidBody } from './rigid-body.js';
+import { findAncestorComponent } from './physics-hierarchy.js';
+import { computeColliderOffset } from './collider-offset.js';
+// Scratch vectors reused to avoid allocations
+const _scaleVec = new RAPIER.Vector3(0, 0, 0);
+const _offsetVec = new RAPIER.Vector3(0, 0, 0);
+const _offsetRot = new RAPIER.Quaternion(0, 0, 0, 1);
+export class Collider extends Component {
+    collider = null;
+    /** Unscaled base shape dimensions, stored at init time */
+    _baseShape = null;
+    _options = null;
+    _world = null;
+    /** The RigidBody this collider is attached to (may be on an ancestor) */
+    _bodyRb = null;
+    /** The GameObject that owns the RigidBody */
+    _bodyGo = null;
+    _friction = 0.5;
+    _restitution = 0;
+    _density = 1;
+    _isSensor = false;
+    get friction() { return this._friction; }
+    set friction(v) {
+        this._friction = v;
+        if (this.collider)
+            this.collider.setFriction(v);
+    }
+    get restitution() { return this._restitution; }
+    set restitution(v) {
+        this._restitution = v;
+        if (this.collider)
+            this.collider.setRestitution(v);
+    }
+    get density() { return this._density; }
+    set density(v) {
+        this._density = v;
+        if (this.collider)
+            this.collider.setDensity(v);
+    }
+    get isSensor() { return this._isSensor; }
+    set isSensor(v) {
+        this._isSensor = v;
+        if (this.collider)
+            this.collider.setSensor(v);
+    }
+    get attachedBody() {
+        return this._bodyRb;
+    }
+    get shape() {
+        return this._baseShape;
+    }
+    get isChildCollider() {
+        return this._bodyGo !== null && this._bodyGo !== this.gameObject;
+    }
+    init(world, options) {
+        this._world = world;
+        this._baseShape = options.shape;
+        this._options = options;
+        if (options.friction !== undefined)
+            this._friction = options.friction;
+        if (options.restitution !== undefined)
+            this._restitution = options.restitution;
+        if (options.density !== undefined)
+            this._density = options.density;
+        if (options.isSensor !== undefined)
+            this._isSensor = options.isSensor;
+        // Find body: self first, then walk up hierarchy
+        const rb = findAncestorComponent(this.gameObject, RigidBody);
+        if (!rb || !rb.body) {
+            throw new Error('Collider requires a RigidBody on this GameObject or an ancestor');
+        }
+        this._bodyRb = rb;
+        this._bodyGo = rb.gameObject;
+        const desc = this._createDesc(options);
+        // If attached to an ancestor's body, compute offset from hierarchy transforms
+        if (this._bodyGo !== this.gameObject) {
+            this._bodyGo.transform.updateWorldMatrix();
+            this.gameObject.transform.updateWorldMatrix();
+            const offset = computeColliderOffset(this._bodyGo, this.gameObject);
+            desc.setTranslation(offset.tx, offset.ty, offset.tz);
+            desc.setRotation({ x: offset.rx, y: offset.ry, z: offset.rz, w: offset.rw });
+        }
+        this.collider = world.createCollider(desc, rb.body);
+        // Apply scale: use accumulated scale for child colliders, local for self
+        if (this._bodyGo !== this.gameObject) {
+            const offset = computeColliderOffset(this._bodyGo, this.gameObject);
+            this.applyScale(offset.sx, offset.sy, offset.sz);
+        }
+        else {
+            const scale = this.gameObject.transform.scale;
+            if (scale[0] !== 1 || scale[1] !== 1 || scale[2] !== 1) {
+                this.applyScale(scale[0], scale[1], scale[2]);
+            }
+            else {
+                this._applyCenterOffset();
+            }
+        }
+        rb.body.wakeUp();
+    }
+    /** Recompute this child collider's offset from the current transform hierarchy. */
+    syncOffset() {
+        if (!this.collider || !this._bodyGo || this._bodyGo === this.gameObject)
+            return;
+        this._bodyGo.transform.updateWorldMatrix();
+        this.gameObject.transform.updateWorldMatrix();
+        const offset = computeColliderOffset(this._bodyGo, this.gameObject);
+        _offsetVec.x = offset.tx;
+        _offsetVec.y = offset.ty;
+        _offsetVec.z = offset.tz;
+        this.collider.setTranslationWrtParent(_offsetVec);
+        _offsetRot.x = offset.rx;
+        _offsetRot.y = offset.ry;
+        _offsetRot.z = offset.rz;
+        _offsetRot.w = offset.rw;
+        this.collider.setRotationWrtParent(_offsetRot);
+        this.applyScale(offset.sx, offset.sy, offset.sz);
+    }
+    /** Destroy and re-create the collider (e.g. after reparenting). */
+    reattach(world) {
+        if (!this._options)
+            return;
+        if (this.collider && this._world) {
+            try {
+                this._world.removeCollider(this.collider);
+            }
+            catch { /* already removed */ }
+            this.collider = null;
+        }
+        this._bodyRb = null;
+        this._bodyGo = null;
+        this.init(world, this._options);
+    }
+    applyScale(sx, sy, sz) {
+        if (!this.collider || !this._baseShape)
+            return;
+        switch (this._baseShape.type) {
+            case 'box': {
+                const h = this._baseShape.halfExtents;
+                _scaleVec.x = h.x * Math.abs(sx);
+                _scaleVec.y = h.y * Math.abs(sy);
+                _scaleVec.z = h.z * Math.abs(sz);
+                this.collider.setHalfExtents(_scaleVec);
+                break;
+            }
+            case 'sphere':
+                this.collider.setRadius(this._baseShape.radius * Math.max(Math.abs(sx), Math.abs(sy), Math.abs(sz)));
+                break;
+            case 'cylinder':
+                this.collider.setHalfHeight(this._baseShape.halfHeight * Math.abs(sy));
+                this.collider.setRadius(this._baseShape.radius * Math.max(Math.abs(sx), Math.abs(sz)));
+                break;
+            case 'capsule':
+                this.collider.setHalfHeight(this._baseShape.halfHeight * Math.abs(sy));
+                this.collider.setRadius(this._baseShape.radius * Math.max(Math.abs(sx), Math.abs(sz)));
+                break;
+        }
+        this._applyCenterOffset(sx, sy, sz);
+    }
+    /** Apply shape center offset (scaled), e.g. for plane collider where top face = visual surface. */
+    _applyCenterOffset(sx = 1, sy = 1, sz = 1) {
+        if (!this.collider || !this._baseShape || this._baseShape.type !== 'box')
+            return;
+        const c = this._baseShape.center;
+        if (!c)
+            return;
+        // Only apply for self-colliders (not child colliders, which use hierarchy offset)
+        if (this._bodyGo && this._bodyGo !== this.gameObject)
+            return;
+        _offsetVec.x = c.x * sx;
+        _offsetVec.y = c.y * sy;
+        _offsetVec.z = c.z * sz;
+        this.collider.setTranslationWrtParent(_offsetVec);
+    }
+    onDestroy() {
+        if (this.collider && this._world) {
+            try {
+                this._world.removeCollider(this.collider);
+            }
+            catch { /* stale handle */ }
+            this.collider = null;
+        }
+        this._bodyRb = null;
+        this._bodyGo = null;
+    }
+    _createDesc(options) {
+        let desc;
+        switch (options.shape.type) {
+            case 'box': {
+                const h = options.shape.halfExtents;
+                desc = RAPIER.ColliderDesc.cuboid(h.x, h.y, h.z);
+                break;
+            }
+            case 'sphere':
+                desc = RAPIER.ColliderDesc.ball(options.shape.radius);
+                break;
+            case 'capsule':
+                desc = RAPIER.ColliderDesc.capsule(options.shape.halfHeight, options.shape.radius);
+                break;
+            case 'cylinder':
+                desc = RAPIER.ColliderDesc.cylinder(options.shape.halfHeight, options.shape.radius);
+                break;
+            case 'convexHull': {
+                const hull = RAPIER.ColliderDesc.convexHull(options.shape.vertices);
+                if (!hull)
+                    throw new Error('Failed to compute convex hull from vertices');
+                desc = hull;
+                break;
+            }
+        }
+        if (options.friction !== undefined)
+            desc.setFriction(options.friction);
+        if (options.restitution !== undefined)
+            desc.setRestitution(options.restitution);
+        if (options.density !== undefined)
+            desc.setDensity(options.density);
+        if (options.isSensor)
+            desc.setSensor(true);
+        return desc;
+    }
+}
+//# sourceMappingURL=collider.js.map

package/dist/collider.js.map

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

@@ -0,0 +1,8 @@
+import RAPIER from '@dimforge/rapier3d-compat';
+import { Joint } from './joint.js';
+import type { JointOptions } from './joint.js';
+export type FixedJointOptions = JointOptions;
+export declare class FixedJoint extends Joint {
+    protected _createJointData(): RAPIER.JointData;
+}
+//# sourceMappingURL=fixed-joint.d.ts.map

package/dist/fixed-joint.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"fixed-joint.d.ts","sourceRoot":"","sources":["../src/fixed-joint.ts"],"names":[],"mappings":"AAAA,OAAO,MAAM,MAAM,2BAA2B,CAAC;AAC/C,OAAO,EAAE,KAAK,EAAE,MAAM,YAAY,CAAC;AACnC,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,YAAY,CAAC;AAE/C,MAAM,MAAM,iBAAiB,GAAG,YAAY,CAAC;AAE7C,qBAAa,UAAW,SAAQ,KAAK;IACnC,SAAS,CAAC,gBAAgB,IAAI,MAAM,CAAC,SAAS;CAK/C"}

package/dist/fixed-joint.js

@@ -0,0 +1,10 @@
+import RAPIER from '@dimforge/rapier3d-compat';
+import { Joint } from './joint.js';
+export class FixedJoint extends Joint {
+    _createJointData() {
+        const frame1 = { x: 0, y: 0, z: 0, w: 1 };
+        const frame2 = { x: 0, y: 0, z: 0, w: 1 };
+        return RAPIER.JointData.fixed(this._toXYZ(this.anchor), frame1, this._toXYZ(this.connectedAnchor), frame2);
+    }
+}
+//# sourceMappingURL=fixed-joint.js.map

package/dist/fixed-joint.js.map

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

@@ -0,0 +1,78 @@
+import RAPIER from '@dimforge/rapier3d-compat';
+import type { Vec3Type } from '@certe/atmos-math';
+import { Joint } from './joint.js';
+import type { JointOptions } from './joint.js';
+import type { PhysicsWorld } from './physics-world.js';
+type AxisOption = {
+    x: number;
+    y: number;
+    z: number;
+} | Float32Array;
+export interface HingeJointOptions extends JointOptions {
+    axis?: AxisOption;
+    connectedAxis?: AxisOption;
+    autoConfigureConnectedAxis?: boolean;
+    limitsEnabled?: boolean;
+    limitMin?: number;
+    limitMax?: number;
+    motorEnabled?: boolean;
+    motorMode?: 'velocity' | 'position';
+    motorTargetVelocity?: number;
+    motorMaxForce?: number;
+    motorTargetPosition?: number;
+    motorStiffness?: number;
+    motorDamping?: number;
+}
+export declare class HingeJoint extends Joint {
+    private readonly _axis;
+    private readonly _connectedAxisVec;
+    private _autoConfigureConnectedAxis;
+    private _limitsEnabled;
+    private _limitMin;
+    private _limitMax;
+    private _motorEnabled;
+    private _motorMode;
+    private _motorTargetVelocity;
+    private _motorMaxForce;
+    private _motorTargetPosition;
+    private _motorStiffness;
+    private _motorDamping;
+    /** Current joint angle in radians. Computed from body orientations and joint frames. */
+    get angle(): number;
+    get axis(): Vec3Type;
+    set axis(v: Vec3Type);
+    get connectedAxis(): Vec3Type;
+    set connectedAxis(v: Vec3Type);
+    get autoConfigureConnectedAxis(): boolean;
+    set autoConfigureConnectedAxis(v: boolean);
+    get limitsEnabled(): boolean;
+    set limitsEnabled(v: boolean);
+    get limitMin(): number;
+    set limitMin(v: number);
+    get limitMax(): number;
+    set limitMax(v: number);
+    get motorEnabled(): boolean;
+    set motorEnabled(v: boolean);
+    get motorMode(): 'velocity' | 'position';
+    set motorMode(v: 'velocity' | 'position');
+    get motorTargetVelocity(): number;
+    set motorTargetVelocity(v: number);
+    get motorMaxForce(): number;
+    set motorMaxForce(v: number);
+    get motorTargetPosition(): number;
+    set motorTargetPosition(v: number);
+    get motorStiffness(): number;
+    set motorStiffness(v: number);
+    get motorDamping(): number;
+    set motorDamping(v: number);
+    init(world: PhysicsWorld, options?: HingeJointOptions): void;
+    refreshAutoConfig(): void;
+    protected _tryCreateJoint(): void;
+    private _computeConnectedAxis;
+    private _setVec3;
+    private _applyLimits;
+    private _applyMotor;
+    protected _createJointData(): RAPIER.JointData;
+}
+export {};
+//# sourceMappingURL=hinge-joint.d.ts.map

package/dist/hinge-joint.d.ts.map

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