@certe/atmos-physics 0.1.0

package/dist/joint.js

@@ -0,0 +1,143 @@
+import { Component } from '@certe/atmos-core';
+import { Vec3 } from '@certe/atmos-math';
+import { RigidBody } from './rigid-body.js';
+export class Joint extends Component {
+    joint = null;
+    _connectedObject = null;
+    _world = null;
+    _anchor = Vec3.create();
+    _connectedAnchor = Vec3.create();
+    _autoConfigureConnectedAnchor = true;
+    get anchor() { return this._anchor; }
+    set anchor(v) {
+        Vec3.copy(this._anchor, v);
+        this._recreateJoint();
+    }
+    get connectedAnchor() { return this._connectedAnchor; }
+    set connectedAnchor(v) {
+        Vec3.copy(this._connectedAnchor, v);
+        this._recreateJoint();
+    }
+    get autoConfigureConnectedAnchor() { return this._autoConfigureConnectedAnchor; }
+    set autoConfigureConnectedAnchor(v) {
+        this._autoConfigureConnectedAnchor = v;
+        if (v)
+            this._recreateJoint();
+    }
+    get connectedObject() {
+        return this._connectedObject;
+    }
+    set connectedObject(value) {
+        if (this._connectedObject === value)
+            return;
+        this._removeJoint();
+        this._connectedObject = value;
+        this._tryCreateJoint();
+    }
+    init(world, options) {
+        this._world = world;
+        if (options?.anchor) {
+            Vec3.set(this._anchor, options.anchor.x, options.anchor.y, options.anchor.z);
+        }
+        if (options?.connectedAnchor) {
+            Vec3.set(this._connectedAnchor, options.connectedAnchor.x, options.connectedAnchor.y, options.connectedAnchor.z);
+        }
+        if (options?.autoConfigureConnectedAnchor !== undefined) {
+            this._autoConfigureConnectedAnchor = options.autoConfigureConnectedAnchor;
+        }
+        if (options?.connectedObject) {
+            this._connectedObject = options.connectedObject;
+            this._tryCreateJoint();
+        }
+    }
+    _toXYZ(v) {
+        return { x: v[0], y: v[1], z: v[2] };
+    }
+    _tryCreateJoint() {
+        if (!this._world || !this._connectedObject)
+            return;
+        const rb = this.gameObject.getComponent(RigidBody);
+        if (!rb?.body)
+            return;
+        const targetRb = this._connectedObject.getComponent(RigidBody);
+        if (!targetRb?.body)
+            return;
+        if (this._autoConfigureConnectedAnchor) {
+            this._computeConnectedAnchor();
+        }
+        let data;
+        try {
+            data = this._createJointData();
+        }
+        catch {
+            return; // invalid parameters (e.g. zero-length axis) — skip creation
+        }
+        this.joint = this._world.createJoint(data, rb.body, targetRb.body);
+    }
+    /** Destroy current joint and recreate it (used when creation-time params change). */
+    _recreateJoint() {
+        if (!this.joint)
+            return;
+        this._removeJoint();
+        this._tryCreateJoint();
+    }
+    /** Recompute auto-configured values (anchor/axis) without recreating the Rapier joint. */
+    refreshAutoConfig() {
+        if (this._autoConfigureConnectedAnchor) {
+            this._computeConnectedAnchor();
+        }
+    }
+    /** Recreate the joint so auto-configured anchors/axes update after transforms change. */
+    syncAutoConfig() {
+        if (!this.joint)
+            return;
+        this._recreateJoint();
+    }
+    _computeConnectedAnchor() {
+        const thisTransform = this.gameObject.transform;
+        const otherTransform = this._connectedObject.transform;
+        thisTransform.updateWorldMatrix();
+        otherTransform.updateWorldMatrix();
+        // Rapier joints use body-local space = position + rotation only (no scale).
+        // Extract rotation (scale-free) from world matrices to match Rapier's interpretation.
+        const mA = thisTransform.worldMatrix;
+        const ax = this._anchor[0], ay = this._anchor[1], az = this._anchor[2];
+        // Extract rotation columns from body A (normalize to remove scale)
+        const sAx = Math.sqrt(mA[0] * mA[0] + mA[1] * mA[1] + mA[2] * mA[2]) || 1;
+        const sAy = Math.sqrt(mA[4] * mA[4] + mA[5] * mA[5] + mA[6] * mA[6]) || 1;
+        const sAz = Math.sqrt(mA[8] * mA[8] + mA[9] * mA[9] + mA[10] * mA[10]) || 1;
+        const rA00 = mA[0] / sAx, rA10 = mA[1] / sAx, rA20 = mA[2] / sAx;
+        const rA01 = mA[4] / sAy, rA11 = mA[5] / sAy, rA21 = mA[6] / sAy;
+        const rA02 = mA[8] / sAz, rA12 = mA[9] / sAz, rA22 = mA[10] / sAz;
+        // World anchor = posA + rotA * anchor (no scale)
+        const wx = mA[12] + rA00 * ax + rA01 * ay + rA02 * az;
+        const wy = mA[13] + rA10 * ax + rA11 * ay + rA12 * az;
+        const wz = mA[14] + rA20 * ax + rA21 * ay + rA22 * az;
+        // Extract rotation columns from body B (normalize to remove scale)
+        const mB = otherTransform.worldMatrix;
+        const sBx = Math.sqrt(mB[0] * mB[0] + mB[1] * mB[1] + mB[2] * mB[2]) || 1;
+        const sBy = Math.sqrt(mB[4] * mB[4] + mB[5] * mB[5] + mB[6] * mB[6]) || 1;
+        const sBz = Math.sqrt(mB[8] * mB[8] + mB[9] * mB[9] + mB[10] * mB[10]) || 1;
+        const rB00 = mB[0] / sBx, rB10 = mB[1] / sBx, rB20 = mB[2] / sBx;
+        const rB01 = mB[4] / sBy, rB11 = mB[5] / sBy, rB21 = mB[6] / sBy;
+        const rB02 = mB[8] / sBz, rB12 = mB[9] / sBz, rB22 = mB[10] / sBz;
+        // connectedAnchor = inverse(rotB) * (worldAnchor - posB)
+        // For a rotation matrix, inverse = transpose
+        const dx = wx - mB[12], dy = wy - mB[13], dz = wz - mB[14];
+        const lx = rB00 * dx + rB10 * dy + rB20 * dz;
+        const ly = rB01 * dx + rB11 * dy + rB21 * dz;
+        const lz = rB02 * dx + rB12 * dy + rB22 * dz;
+        Vec3.set(this._connectedAnchor, lx, ly, lz);
+    }
+    _removeJoint() {
+        if (this.joint && this._world) {
+            this._world.removeJoint(this.joint);
+            this.joint = null;
+        }
+    }
+    onDestroy() {
+        this._removeJoint();
+        this._connectedObject = null;
+    }
+}
+//# sourceMappingURL=joint.js.map

package/dist/joint.js.map

@@ -0,0 +1 @@
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package/dist/physics-hierarchy.d.ts

@@ -0,0 +1,8 @@
+import type { GameObject, Component } from '@certe/atmos-core';
+/** Walk up the parent chain (including self) to find the first component of type Ctor. */
+export declare function findAncestorComponent<T extends Component>(go: GameObject, Ctor: new (...args: never[]) => T): T | null;
+/** Check whether any ancestor (excluding self) has a component of type Ctor. */
+export declare function hasAncestorComponent<T extends Component>(go: GameObject, Ctor: new (...args: never[]) => T): boolean;
+/** Check whether any descendant (excluding self) has a component of type Ctor. */
+export declare function hasDescendantComponent<T extends Component>(go: GameObject, Ctor: new (...args: never[]) => T): boolean;
+//# sourceMappingURL=physics-hierarchy.d.ts.map

package/dist/physics-hierarchy.d.ts.map

@@ -0,0 +1 @@
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package/dist/physics-hierarchy.js

@@ -0,0 +1,32 @@
+/** Walk up the parent chain (including self) to find the first component of type Ctor. */
+export function findAncestorComponent(go, Ctor) {
+    let current = go;
+    while (current) {
+        const c = current.getComponent(Ctor);
+        if (c)
+            return c;
+        current = current.parent;
+    }
+    return null;
+}
+/** Check whether any ancestor (excluding self) has a component of type Ctor. */
+export function hasAncestorComponent(go, Ctor) {
+    let current = go.parent;
+    while (current) {
+        if (current.getComponent(Ctor))
+            return true;
+        current = current.parent;
+    }
+    return false;
+}
+/** Check whether any descendant (excluding self) has a component of type Ctor. */
+export function hasDescendantComponent(go, Ctor) {
+    for (const child of go.children) {
+        if (child.getComponent(Ctor))
+            return true;
+        if (hasDescendantComponent(child, Ctor))
+            return true;
+    }
+    return false;
+}
+//# sourceMappingURL=physics-hierarchy.js.map

package/dist/physics-hierarchy.js.map

@@ -0,0 +1 @@
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package/dist/physics-query.d.ts

@@ -0,0 +1,30 @@
+import type { PhysicsWorld } from './physics-world.js';
+import { Collider } from './collider.js';
+export interface HitResult {
+    collider: Collider;
+    gameObject: import('@certe/atmos-core').GameObject;
+    point: Float32Array;
+    normal: Float32Array;
+    distance: number;
+}
+/** Invalidate the cached collider map. Call once per frame or when colliders change. */
+export declare function invalidateColliderMap(): void;
+/**
+ * Stateless physics query utilities.
+ * All methods require a PhysicsWorld and use Scene.current to resolve collider ownership.
+ */
+export declare class Physics {
+    /** Cast a ray and return the first hit, or null. */
+    static raycast(world: PhysicsWorld, origin: Float32Array, dir: Float32Array, maxDist: number): HitResult | null;
+    /** Cast a ray and return all hits. */
+    static raycastAll(world: PhysicsWorld, origin: Float32Array, dir: Float32Array, maxDist: number): HitResult[];
+    /** Find the first collider overlapping a sphere at the given center and radius. */
+    static sphereCast(world: PhysicsWorld, center: Float32Array, radius: number): HitResult | null;
+    /** Find all colliders overlapping a sphere. */
+    static sphereCastAll(world: PhysicsWorld, center: Float32Array, radius: number): HitResult[];
+    /** Find the first collider overlapping a box at the given center with half-extents. */
+    static boxCast(world: PhysicsWorld, center: Float32Array, halfExtents: Float32Array): HitResult | null;
+    /** Find all colliders overlapping a box. */
+    static boxCastAll(world: PhysicsWorld, center: Float32Array, halfExtents: Float32Array): HitResult[];
+}
+//# sourceMappingURL=physics-query.d.ts.map

package/dist/physics-query.d.ts.map

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package/dist/physics-query.js

@@ -0,0 +1,139 @@
+import RAPIER from '@dimforge/rapier3d-compat';
+import { Scene } from '@certe/atmos-core';
+import { Vec3 } from '@certe/atmos-math';
+import { Collider } from './collider.js';
+// Scratch ray reused across calls
+let _scratchRay = null;
+function getScratchRay(ox, oy, oz, dx, dy, dz) {
+    if (!_scratchRay) {
+        _scratchRay = new RAPIER.Ray({ x: ox, y: oy, z: oz }, { x: dx, y: dy, z: dz });
+    }
+    else {
+        _scratchRay.origin.x = ox;
+        _scratchRay.origin.y = oy;
+        _scratchRay.origin.z = oz;
+        _scratchRay.dir.x = dx;
+        _scratchRay.dir.y = dy;
+        _scratchRay.dir.z = dz;
+    }
+    return _scratchRay;
+}
+// Cached collider map — rebuilt once per invalidation cycle
+let _cachedMap = new Map();
+let _cachedScene = null;
+let _cacheValid = false;
+/** Invalidate the cached collider map. Call once per frame or when colliders change. */
+export function invalidateColliderMap() {
+    _cacheValid = false;
+}
+/** Build handle→Collider reverse map. Cached until invalidated to avoid repeated traversals. */
+function buildColliderMap() {
+    const scene = Scene.current;
+    if (!scene)
+        return new Map();
+    if (_cacheValid && scene === _cachedScene)
+        return _cachedMap;
+    _cachedScene = scene;
+    _cacheValid = true;
+    _cachedMap = new Map();
+    const colliders = scene.findAll(Collider);
+    for (const c of colliders) {
+        if (c.collider) {
+            _cachedMap.set(c.collider.handle, c);
+        }
+    }
+    return _cachedMap;
+}
+function hitFromRapier(rapierCollider, toi, normal, origin, dir, map) {
+    const comp = map.get(rapierCollider.handle);
+    if (!comp)
+        return null;
+    const point = Vec3.create();
+    const scaled = Vec3.create();
+    Vec3.scale(scaled, dir, toi);
+    Vec3.add(point, origin, scaled);
+    const norm = Vec3.create();
+    norm[0] = normal.x;
+    norm[1] = normal.y;
+    norm[2] = normal.z;
+    return {
+        collider: comp,
+        gameObject: comp.gameObject,
+        point,
+        normal: norm,
+        distance: toi,
+    };
+}
+/** Shared overlap query helper: runs intersectionsWithShape and maps results to HitResults. */
+function overlapQuery(world, center, shape, firstOnly) {
+    const pos = { x: center[0], y: center[1], z: center[2] };
+    const rot = { x: 0, y: 0, z: 0, w: 1 };
+    const map = buildColliderMap();
+    const results = [];
+    world.world.intersectionsWithShape(pos, rot, shape, (rapierCol) => {
+        const comp = map.get(rapierCol.handle);
+        if (comp) {
+            const point = Vec3.create();
+            Vec3.set(point, center[0], center[1], center[2]);
+            results.push({
+                collider: comp,
+                gameObject: comp.gameObject,
+                point,
+                normal: Vec3.create(),
+                distance: 0,
+            });
+            if (firstOnly)
+                return false;
+        }
+        return true;
+    });
+    return results;
+}
+/**
+ * Stateless physics query utilities.
+ * All methods require a PhysicsWorld and use Scene.current to resolve collider ownership.
+ */
+export class Physics {
+    /** Cast a ray and return the first hit, or null. */
+    static raycast(world, origin, dir, maxDist) {
+        const ray = getScratchRay(origin[0], origin[1], origin[2], dir[0], dir[1], dir[2]);
+        const hit = world.world.castRayAndGetNormal(ray, maxDist, true);
+        if (!hit)
+            return null;
+        const map = buildColliderMap();
+        return hitFromRapier(hit.collider, hit.timeOfImpact, hit.normal, origin, dir, map);
+    }
+    /** Cast a ray and return all hits. */
+    static raycastAll(world, origin, dir, maxDist) {
+        const ray = getScratchRay(origin[0], origin[1], origin[2], dir[0], dir[1], dir[2]);
+        const map = buildColliderMap();
+        const results = [];
+        world.world.intersectionsWithRay(ray, maxDist, true, (intersection) => {
+            const result = hitFromRapier(intersection.collider, intersection.timeOfImpact, intersection.normal, origin, dir, map);
+            if (result)
+                results.push(result);
+            return true;
+        });
+        return results;
+    }
+    /** Find the first collider overlapping a sphere at the given center and radius. */
+    static sphereCast(world, center, radius) {
+        const results = overlapQuery(world, center, new RAPIER.Ball(radius), true);
+        return results[0] ?? null;
+    }
+    /** Find all colliders overlapping a sphere. */
+    static sphereCastAll(world, center, radius) {
+        return overlapQuery(world, center, new RAPIER.Ball(radius), false);
+    }
+    /** Find the first collider overlapping a box at the given center with half-extents. */
+    static boxCast(world, center, halfExtents) {
+        const shape = new RAPIER.Cuboid(halfExtents[0], halfExtents[1], halfExtents[2]);
+        const results = overlapQuery(world, center, shape, true);
+        return results[0] ?? null;
+    }
+    /** Find all colliders overlapping a box. */
+    static boxCastAll(world, center, halfExtents) {
+        return overlapQuery(world, center, new RAPIER.Cuboid(halfExtents[0], halfExtents[1], halfExtents[2]), false);
+    }
+}
+//# sourceMappingURL=physics-query.js.map

package/dist/physics-query.js.map

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package/dist/physics-system.d.ts

@@ -0,0 +1,17 @@
+import type { Scene, PhysicsStepper } from '@certe/atmos-core';
+import type { PhysicsWorld } from './physics-world.js';
+export declare class PhysicsSystem implements PhysicsStepper {
+    private readonly _world;
+    private _scene;
+    /** Cached previous scale per GameObject id to detect changes */
+    private readonly _prevScales;
+    /** Cached previous position for fixed bodies (avoids WASM FFI when unchanged) */
+    private readonly _prevFixedPos;
+    /** Cached previous local transform (pos3+rot4+scale3) for child collider GOs */
+    private readonly _prevChildTransforms;
+    constructor(world: PhysicsWorld, scene: Scene);
+    set scene(s: Scene);
+    step(dt: number): void;
+    private _syncChildColliderOffset;
+}
+//# sourceMappingURL=physics-system.d.ts.map

package/dist/physics-system.d.ts.map

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package/dist/physics-system.js

@@ -0,0 +1,133 @@
+import { Vec3 } from '@certe/atmos-math';
+import { RigidBody } from './rigid-body.js';
+import { Collider } from './collider.js';
+import { invalidateColliderMap } from './physics-query.js';
+export class PhysicsSystem {
+    _world;
+    _scene;
+    /** Cached previous scale per GameObject id to detect changes */
+    _prevScales = new Map();
+    /** Cached previous position for fixed bodies (avoids WASM FFI when unchanged) */
+    _prevFixedPos = new Map();
+    /** Cached previous local transform (pos3+rot4+scale3) for child collider GOs */
+    _prevChildTransforms = new Map();
+    constructor(world, scene) {
+        this._world = world;
+        this._scene = scene;
+    }
+    set scene(s) {
+        this._scene = s;
+        this._prevScales.clear();
+        this._prevFixedPos.clear();
+        this._prevChildTransforms.clear();
+    }
+    step(dt) {
+        // Invalidate physics query collider map cache for this frame
+        invalidateColliderMap();
+        // Pre-step: push transforms into Rapier + detect changes
+        for (const obj of this._scene.getAllObjects()) {
+            const rb = obj.getComponent(RigidBody);
+            if (rb && rb.enabled && rb.body) {
+                // --- Scale change detection (all body types) ---
+                const scale = obj.transform.scale;
+                const prev = this._prevScales.get(obj.id);
+                if (!prev) {
+                    this._prevScales.set(obj.id, new Float32Array([scale[0], scale[1], scale[2]]));
+                }
+                else if (prev[0] !== scale[0] || prev[1] !== scale[1] || prev[2] !== scale[2]) {
+                    const col = obj.getComponent(Collider);
+                    if (col) {
+                        col.applyScale(scale[0], scale[1], scale[2]);
+                    }
+                    Vec3.set(prev, scale[0], scale[1], scale[2]);
+                }
+                // --- Position / rotation sync ---
+                if (rb.bodyType === 'kinematic') {
+                    rb.syncFromTransform();
+                }
+                else if (rb.bodyType === 'dynamic') {
+                    // Interpolated bodies hold extrapolated positions — skip false teleport
+                    if (!rb.interpolate) {
+                        const pos = obj.transform.position;
+                        const bpos = rb.body.translation();
+                        const dx = pos[0] - bpos.x;
+                        const dy = pos[1] - bpos.y;
+                        const dz = pos[2] - bpos.z;
+                        if (dx * dx + dy * dy + dz * dz > 1e-6) {
+                            rb.teleportToTransform();
+                        }
+                    }
+                }
+                else if (rb.bodyType === 'fixed') {
+                    // Fixed bodies only change via editor — compare against JS-side cache
+                    const pos = obj.transform.position;
+                    const prev = this._prevFixedPos.get(obj.id);
+                    if (!prev) {
+                        this._prevFixedPos.set(obj.id, new Float32Array([pos[0], pos[1], pos[2]]));
+                        rb.teleportToTransform();
+                    }
+                    else if (prev[0] !== pos[0] || prev[1] !== pos[1] || prev[2] !== pos[2]) {
+                        rb.teleportToTransform();
+                        Vec3.set(prev, pos[0], pos[1], pos[2]);
+                    }
+                }
+            }
+            // --- Child collider offset sync ---
+            const col = obj.getComponent(Collider);
+            if (col && col.enabled && col.isChildCollider && col.collider) {
+                this._syncChildColliderOffset(obj, col);
+            }
+        }
+        // Step physics world (fixed timestep accumulator)
+        this._world.step(dt);
+        // Post-step: pull dynamic body transforms back
+        const remaining = this._world.accumulator;
+        for (const obj of this._scene.getAllObjects()) {
+            const rb = obj.getComponent(RigidBody);
+            if (!rb || !rb.enabled || !rb.body)
+                continue;
+            if (rb.bodyType === 'dynamic') {
+                if (rb.interpolate && remaining > 0) {
+                    rb.extrapolateTransform(remaining);
+                }
+                else {
+                    rb.syncToTransform();
+                }
+            }
+        }
+    }
+    _syncChildColliderOffset(obj, col) {
+        const pos = obj.transform.position;
+        const rot = obj.transform.rotation;
+        const scale = obj.transform.scale;
+        const prev = this._prevChildTransforms.get(obj.id);
+        if (!prev) {
+            const data = new Float32Array(10);
+            data.set(pos, 0);
+            data.set(rot, 3);
+            data.set(scale, 7);
+            this._prevChildTransforms.set(obj.id, data);
+            return;
+        }
+        let changed = false;
+        for (let i = 0; i < 3 && !changed; i++) {
+            if (prev[i] !== pos[i])
+                changed = true;
+        }
+        for (let i = 0; i < 4 && !changed; i++) {
+            if (prev[3 + i] !== rot[i])
+                changed = true;
+        }
+        for (let i = 0; i < 3 && !changed; i++) {
+            if (prev[7 + i] !== scale[i])
+                changed = true;
+        }
+        if (changed) {
+            col.syncOffset();
+            prev.set(pos, 0);
+            prev.set(rot, 3);
+            prev.set(scale, 7);
+        }
+    }
+}
+//# sourceMappingURL=physics-system.js.map

package/dist/physics-system.js.map

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package/dist/physics-world.d.ts

@@ -0,0 +1,33 @@
+import RAPIER from '@dimforge/rapier3d-compat';
+export interface PhysicsWorldOptions {
+    gravity?: {
+        x: number;
+        y: number;
+        z: number;
+    };
+    fixedTimestep?: number;
+    solverIterations?: number;
+}
+export declare class PhysicsWorld {
+    readonly world: RAPIER.World;
+    fixedTimestep: number;
+    substeps: number;
+    private _accumulator;
+    /** Time remaining after the last fixed step (for interpolation/extrapolation). */
+    get accumulator(): number;
+    constructor(options?: PhysicsWorldOptions);
+    setGravity(x: number, y: number, z: number): void;
+    setSolverIterations(n: number): void;
+    /** Advance the simulation by dt seconds using fixed timestep accumulator. Returns steps taken. */
+    step(dt: number): number;
+    createRigidBody(desc: RAPIER.RigidBodyDesc): RAPIER.RigidBody;
+    createCollider(desc: RAPIER.ColliderDesc, body: RAPIER.RigidBody): RAPIER.Collider;
+    removeRigidBody(body: RAPIER.RigidBody): void;
+    removeCollider(collider: RAPIER.Collider): void;
+    createJoint(data: RAPIER.JointData, body1: RAPIER.RigidBody, body2: RAPIER.RigidBody): RAPIER.ImpulseJoint;
+    removeJoint(joint: RAPIER.ImpulseJoint): void;
+    /** Reset the fixed-timestep accumulator (e.g. after pause→play). */
+    resetAccumulator(): void;
+    destroy(): void;
+}
+//# sourceMappingURL=physics-world.d.ts.map

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

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