@certe/atmos-physics 0.1.0

package/dist/physics-world.js

@@ -0,0 +1,65 @@
+import RAPIER from '@dimforge/rapier3d-compat';
+export class PhysicsWorld {
+    world;
+    fixedTimestep;
+    substeps = 1;
+    _accumulator = 0;
+    /** Time remaining after the last fixed step (for interpolation/extrapolation). */
+    get accumulator() { return this._accumulator; }
+    constructor(options = {}) {
+        const g = options.gravity ?? { x: 0, y: -9.81, z: 0 };
+        this.fixedTimestep = options.fixedTimestep ?? 1 / 60;
+        this.world = new RAPIER.World(new RAPIER.Vector3(g.x, g.y, g.z));
+        if (options.solverIterations !== undefined) {
+            this.world.numSolverIterations = options.solverIterations;
+        }
+    }
+    setGravity(x, y, z) {
+        this.world.gravity = new RAPIER.Vector3(x, y, z);
+    }
+    setSolverIterations(n) {
+        this.world.numSolverIterations = n;
+    }
+    /** Advance the simulation by dt seconds using fixed timestep accumulator. Returns steps taken. */
+    step(dt) {
+        this._accumulator += dt;
+        let steps = 0;
+        const sub = Math.max(1, this.substeps);
+        while (this._accumulator >= this.fixedTimestep) {
+            const subDt = this.fixedTimestep / sub;
+            for (let s = 0; s < sub; s++) {
+                this.world.timestep = subDt;
+                this.world.step();
+            }
+            this._accumulator -= this.fixedTimestep;
+            steps++;
+        }
+        return steps;
+    }
+    createRigidBody(desc) {
+        return this.world.createRigidBody(desc);
+    }
+    createCollider(desc, body) {
+        return this.world.createCollider(desc, body);
+    }
+    removeRigidBody(body) {
+        this.world.removeRigidBody(body);
+    }
+    removeCollider(collider) {
+        this.world.removeCollider(collider, true);
+    }
+    createJoint(data, body1, body2) {
+        return this.world.createImpulseJoint(data, body1, body2, true);
+    }
+    removeJoint(joint) {
+        this.world.removeImpulseJoint(joint, true);
+    }
+    /** Reset the fixed-timestep accumulator (e.g. after pause→play). */
+    resetAccumulator() {
+        this._accumulator = 0;
+    }
+    destroy() {
+        this.world.free();
+    }
+}
+//# sourceMappingURL=physics-world.js.map

package/dist/physics-world.js.map

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package/dist/register-builtins.d.ts

@@ -0,0 +1,2 @@
+export declare function registerPhysicsBuiltins(): void;
+//# sourceMappingURL=register-builtins.d.ts.map

package/dist/register-builtins.d.ts.map

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package/dist/register-builtins.js

@@ -0,0 +1,84 @@
+import { registerComponent } from '@certe/atmos-core';
+import { RigidBody } from './rigid-body.js';
+import { Collider } from './collider.js';
+import { FixedJoint } from './fixed-joint.js';
+import { HingeJoint } from './hinge-joint.js';
+import { SpringJoint } from './spring-joint.js';
+export function registerPhysicsBuiltins() {
+    registerComponent(RigidBody, {
+        name: 'RigidBody',
+        properties: [
+            { key: 'bodyType', type: 'enum', options: ['dynamic', 'fixed', 'kinematic'] },
+            { key: 'linearDamping', type: 'number', min: 0, max: 100, step: 0.1 },
+            { key: 'angularDamping', type: 'number', min: 0, max: 100, step: 0.1 },
+            { key: 'gravityScale', type: 'number', min: -10, max: 10, step: 0.1 },
+            { key: 'interpolate', type: 'boolean' },
+        ],
+    });
+    registerComponent(Collider, {
+        name: 'Collider',
+        properties: [
+            { key: 'friction', type: 'number', min: 0, max: 2, step: 0.05 },
+            { key: 'restitution', type: 'number', min: 0, max: 1, step: 0.05 },
+            { key: 'density', type: 'number', min: 0.01, max: 100, step: 0.1 },
+            { key: 'isSensor', type: 'boolean' },
+        ],
+    });
+    registerComponent(FixedJoint, {
+        name: 'FixedJoint',
+        allowMultiple: true,
+        properties: [
+            { key: 'connectedObject', type: 'gameObjectRef' },
+            { key: 'anchor', type: 'vec3' },
+            { key: 'autoConfigureConnectedAnchor', type: 'boolean' },
+            { key: 'connectedAnchor', type: 'vec3',
+                visibleWhen: (c) => !c.autoConfigureConnectedAnchor },
+        ],
+    });
+    registerComponent(HingeJoint, {
+        name: 'HingeJoint',
+        allowMultiple: true,
+        properties: [
+            { key: 'connectedObject', type: 'gameObjectRef' },
+            { key: 'anchor', type: 'vec3' },
+            { key: 'autoConfigureConnectedAnchor', type: 'boolean' },
+            { key: 'connectedAnchor', type: 'vec3',
+                visibleWhen: (c) => !c.autoConfigureConnectedAnchor },
+            { key: 'axis', type: 'vec3' },
+            { key: 'connectedAxis', type: 'vec3',
+                visibleWhen: (c) => !c.autoConfigureConnectedAxis },
+            { key: 'autoConfigureConnectedAxis', type: 'boolean' },
+            { key: 'limitsEnabled', type: 'boolean' },
+            { key: 'limitMin', type: 'number', min: -Math.PI, max: 0, step: 0.01 },
+            { key: 'limitMax', type: 'number', min: 0, max: Math.PI, step: 0.01 },
+            { key: 'motorEnabled', type: 'boolean' },
+            { key: 'motorMode', type: 'enum', options: ['velocity', 'position'],
+                visibleWhen: (c) => c.motorEnabled },
+            { key: 'motorTargetVelocity', type: 'number', min: -100, max: 100, step: 0.1,
+                visibleWhen: (c) => c.motorEnabled && c.motorMode === 'velocity' },
+            { key: 'motorMaxForce', type: 'number', min: 0, max: 10000, step: 1,
+                visibleWhen: (c) => c.motorEnabled && c.motorMode === 'velocity' },
+            { key: 'motorTargetPosition', type: 'number', min: -Math.PI, max: Math.PI, step: 0.01,
+                visibleWhen: (c) => c.motorEnabled && c.motorMode === 'position' },
+            { key: 'motorStiffness', type: 'number', min: 0, max: 10000, step: 1,
+                visibleWhen: (c) => c.motorEnabled && c.motorMode === 'position' },
+            { key: 'motorDamping', type: 'number', min: 0, max: 1000, step: 0.1,
+                visibleWhen: (c) => c.motorEnabled && c.motorMode === 'position' },
+        ],
+    });
+    registerComponent(SpringJoint, {
+        name: 'SpringJoint',
+        allowMultiple: true,
+        properties: [
+            { key: 'connectedObject', type: 'gameObjectRef' },
+            { key: 'anchor', type: 'vec3' },
+            { key: 'autoConfigureConnectedAnchor', type: 'boolean' },
+            { key: 'connectedAnchor', type: 'vec3',
+                visibleWhen: (c) => !c.autoConfigureConnectedAnchor },
+            { key: 'restLength', type: 'number', min: 0, max: 100, step: 0.1 },
+            { key: 'stiffness', type: 'number', min: 0, max: 1000, step: 1 },
+            { key: 'damping', type: 'number', min: 0, max: 100, step: 0.1 },
+        ],
+    });
+}
+//# sourceMappingURL=register-builtins.js.map

package/dist/register-builtins.js.map

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package/dist/rigid-body.d.ts

@@ -0,0 +1,42 @@
+import RAPIER from '@dimforge/rapier3d-compat';
+import { Component } from '@certe/atmos-core';
+import type { PhysicsWorld } from './physics-world.js';
+export type RigidBodyType = 'dynamic' | 'fixed' | 'kinematic';
+export interface RigidBodyOptions {
+    type?: RigidBodyType;
+    mass?: number;
+    linearDamping?: number;
+    angularDamping?: number;
+    gravityScale?: number;
+}
+export declare class RigidBody extends Component {
+    body: RAPIER.RigidBody | null;
+    bodyType: RigidBodyType;
+    private _world;
+    private _linearDamping;
+    private _angularDamping;
+    private _gravityScale;
+    /** When true, Transform is extrapolated between physics steps to reduce jitter. */
+    interpolate: boolean;
+    get linearDamping(): number;
+    set linearDamping(v: number);
+    get angularDamping(): number;
+    set angularDamping(v: number);
+    get gravityScale(): number;
+    set gravityScale(v: number);
+    init(world: PhysicsWorld, options?: RigidBodyOptions): void;
+    /** Copy Rapier body transform → engine Transform (for dynamic bodies) */
+    syncToTransform(): void;
+    /** Extrapolate Transform using Rapier body position + velocity * dt. */
+    extrapolateTransform(dt: number): void;
+    /** Copy engine Transform → Rapier body (for kinematic bodies) */
+    syncFromTransform(): void;
+    /** Teleport Rapier body to match engine Transform (for external edits on dynamic bodies) */
+    teleportToTransform(): void;
+    addForce(x: number, y: number, z: number): void;
+    addImpulse(x: number, y: number, z: number): void;
+    onDestroy(): void;
+    /** Walk descendants and null out collider handles that reference this body. */
+    private _invalidateChildColliders;
+}
+//# sourceMappingURL=rigid-body.d.ts.map

package/dist/rigid-body.d.ts.map

@@ -0,0 +1 @@
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package/dist/rigid-body.js

@@ -0,0 +1,189 @@
+import RAPIER from '@dimforge/rapier3d-compat';
+import { Component } from '@certe/atmos-core';
+// Scratch Rapier objects (reused to avoid GC pressure in hot paths)
+const _rVec3 = new RAPIER.Vector3(0, 0, 0);
+const _rQuat = new RAPIER.Quaternion(0, 0, 0, 1);
+const _rZero = new RAPIER.Vector3(0, 0, 0);
+export class RigidBody extends Component {
+    body = null;
+    bodyType = 'dynamic';
+    _world = null;
+    _linearDamping = 0;
+    _angularDamping = 0;
+    _gravityScale = 1;
+    /** When true, Transform is extrapolated between physics steps to reduce jitter. */
+    interpolate = false;
+    get linearDamping() { return this._linearDamping; }
+    set linearDamping(v) {
+        this._linearDamping = v;
+        if (this.body)
+            this.body.setLinearDamping(v);
+    }
+    get angularDamping() { return this._angularDamping; }
+    set angularDamping(v) {
+        this._angularDamping = v;
+        if (this.body)
+            this.body.setAngularDamping(v);
+    }
+    get gravityScale() { return this._gravityScale; }
+    set gravityScale(v) {
+        this._gravityScale = v;
+        if (this.body)
+            this.body.setGravityScale(v, true);
+    }
+    init(world, options = {}) {
+        this._world = world;
+        this.bodyType = options.type ?? 'dynamic';
+        const t = this.gameObject.transform;
+        const pos = t.position;
+        const rot = t.rotation;
+        let desc;
+        switch (this.bodyType) {
+            case 'dynamic':
+                desc = RAPIER.RigidBodyDesc.dynamic();
+                break;
+            case 'fixed':
+                desc = RAPIER.RigidBodyDesc.fixed();
+                break;
+            case 'kinematic':
+                desc = RAPIER.RigidBodyDesc.kinematicPositionBased();
+                break;
+        }
+        desc.setTranslation(pos[0], pos[1], pos[2]);
+        desc.setRotation({ x: rot[0], y: rot[1], z: rot[2], w: rot[3] });
+        if (options.linearDamping !== undefined) {
+            this._linearDamping = options.linearDamping;
+            desc.setLinearDamping(options.linearDamping);
+        }
+        if (options.angularDamping !== undefined) {
+            this._angularDamping = options.angularDamping;
+            desc.setAngularDamping(options.angularDamping);
+        }
+        if (options.gravityScale !== undefined) {
+            this._gravityScale = options.gravityScale;
+            desc.setGravityScale(options.gravityScale);
+        }
+        this.body = world.createRigidBody(desc);
+        if (options.mass !== undefined && this.bodyType === 'dynamic') {
+            this.body.setAdditionalMass(options.mass, true);
+        }
+    }
+    /** Copy Rapier body transform → engine Transform (for dynamic bodies) */
+    syncToTransform() {
+        if (!this.body)
+            return;
+        const t = this.gameObject.transform;
+        const pos = this.body.translation();
+        t.setPosition(pos.x, pos.y, pos.z);
+        const rot = this.body.rotation();
+        t.setRotation(rot.x, rot.y, rot.z, rot.w);
+    }
+    /** Extrapolate Transform using Rapier body position + velocity * dt. */
+    extrapolateTransform(dt) {
+        if (!this.body)
+            return;
+        const t = this.gameObject.transform;
+        const pos = this.body.translation();
+        const lv = this.body.linvel();
+        t.setPosition(pos.x + lv.x * dt, pos.y + lv.y * dt, pos.z + lv.z * dt);
+        const rot = this.body.rotation();
+        const av = this.body.angvel();
+        // Apply angular velocity as small rotation: q' = q + 0.5 * [av, 0] * q * dt
+        const hdt = 0.5 * dt;
+        const dqx = (av.x * rot.w + av.y * rot.z - av.z * rot.y) * hdt;
+        const dqy = (-av.x * rot.z + av.y * rot.w + av.z * rot.x) * hdt;
+        const dqz = (av.x * rot.y - av.y * rot.x + av.z * rot.w) * hdt;
+        const dqw = (-av.x * rot.x - av.y * rot.y - av.z * rot.z) * hdt;
+        let rx = rot.x + dqx;
+        let ry = rot.y + dqy;
+        let rz = rot.z + dqz;
+        let rw = rot.w + dqw;
+        // Renormalize
+        const len = Math.sqrt(rx * rx + ry * ry + rz * rz + rw * rw);
+        if (len > 1e-8) {
+            const inv = 1 / len;
+            rx *= inv;
+            ry *= inv;
+            rz *= inv;
+            rw *= inv;
+        }
+        t.setRotation(rx, ry, rz, rw);
+    }
+    /** Copy engine Transform → Rapier body (for kinematic bodies) */
+    syncFromTransform() {
+        if (!this.body)
+            return;
+        const pos = this.gameObject.transform.position;
+        const rot = this.gameObject.transform.rotation;
+        _rVec3.x = pos[0];
+        _rVec3.y = pos[1];
+        _rVec3.z = pos[2];
+        this.body.setNextKinematicTranslation(_rVec3);
+        _rQuat.x = rot[0];
+        _rQuat.y = rot[1];
+        _rQuat.z = rot[2];
+        _rQuat.w = rot[3];
+        this.body.setNextKinematicRotation(_rQuat);
+    }
+    /** Teleport Rapier body to match engine Transform (for external edits on dynamic bodies) */
+    teleportToTransform() {
+        if (!this.body)
+            return;
+        const pos = this.gameObject.transform.position;
+        const rot = this.gameObject.transform.rotation;
+        _rVec3.x = pos[0];
+        _rVec3.y = pos[1];
+        _rVec3.z = pos[2];
+        this.body.setTranslation(_rVec3, true);
+        _rQuat.x = rot[0];
+        _rQuat.y = rot[1];
+        _rQuat.z = rot[2];
+        _rQuat.w = rot[3];
+        this.body.setRotation(_rQuat, true);
+        _rZero.x = 0;
+        _rZero.y = 0;
+        _rZero.z = 0;
+        this.body.setLinvel(_rZero, true);
+        this.body.setAngvel(_rZero, true);
+        this.body.wakeUp();
+    }
+    addForce(x, y, z) {
+        if (!this.body)
+            return;
+        _rVec3.x = x;
+        _rVec3.y = y;
+        _rVec3.z = z;
+        this.body.addForce(_rVec3, true);
+    }
+    addImpulse(x, y, z) {
+        if (!this.body)
+            return;
+        _rVec3.x = x;
+        _rVec3.y = y;
+        _rVec3.z = z;
+        this.body.applyImpulse(_rVec3, true);
+    }
+    onDestroy() {
+        if (this.body && this._world) {
+            // Nullify descendant collider handles before body removal
+            // (Rapier auto-removes attached colliders when a body is removed)
+            this._invalidateChildColliders(this.gameObject);
+            this._world.removeRigidBody(this.body);
+            this.body = null;
+        }
+    }
+    /** Walk descendants and null out collider handles that reference this body. */
+    _invalidateChildColliders(go) {
+        for (const comp of go.getComponents()) {
+            // Duck-type: any component with collider + attachedBody pointing to this RB
+            const c = comp;
+            if ('collider' in c && 'attachedBody' in c && c['attachedBody'] === this) {
+                c['collider'] = null;
+            }
+        }
+        for (const child of go.children) {
+            this._invalidateChildColliders(child);
+        }
+    }
+}
+//# sourceMappingURL=rigid-body.js.map

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package/dist/spring-joint.d.ts

@@ -0,0 +1,23 @@
+import RAPIER from '@dimforge/rapier3d-compat';
+import { Joint } from './joint.js';
+import type { JointOptions } from './joint.js';
+import type { PhysicsWorld } from './physics-world.js';
+export interface SpringJointOptions extends JointOptions {
+    restLength?: number;
+    stiffness?: number;
+    damping?: number;
+}
+export declare class SpringJoint extends Joint {
+    private _restLength;
+    private _stiffness;
+    private _damping;
+    get restLength(): number;
+    set restLength(v: number);
+    get stiffness(): number;
+    set stiffness(v: number);
+    get damping(): number;
+    set damping(v: number);
+    init(world: PhysicsWorld, options?: SpringJointOptions): void;
+    protected _createJointData(): RAPIER.JointData;
+}
+//# sourceMappingURL=spring-joint.d.ts.map

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

@@ -0,0 +1 @@
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package/dist/spring-joint.js

@@ -0,0 +1,26 @@
+import RAPIER from '@dimforge/rapier3d-compat';
+import { Joint } from './joint.js';
+export class SpringJoint extends Joint {
+    _restLength = 1.0;
+    _stiffness = 10.0;
+    _damping = 1.0;
+    get restLength() { return this._restLength; }
+    set restLength(v) { this._restLength = v; this._recreateJoint(); }
+    get stiffness() { return this._stiffness; }
+    set stiffness(v) { this._stiffness = v; this._recreateJoint(); }
+    get damping() { return this._damping; }
+    set damping(v) { this._damping = v; this._recreateJoint(); }
+    init(world, options) {
+        if (options?.restLength !== undefined)
+            this._restLength = options.restLength;
+        if (options?.stiffness !== undefined)
+            this._stiffness = options.stiffness;
+        if (options?.damping !== undefined)
+            this._damping = options.damping;
+        super.init(world, options);
+    }
+    _createJointData() {
+        return RAPIER.JointData.spring(this._restLength, this._stiffness, this._damping, this._toXYZ(this.anchor), this._toXYZ(this.connectedAnchor));
+    }
+}
+//# sourceMappingURL=spring-joint.js.map

package/dist/spring-joint.js.map

@@ -0,0 +1 @@
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package/package.json

@@ -0,0 +1,29 @@
+{
+  "name": "@certe/atmos-physics",
+  "description": "Rapier-based physics integration for the Atmos Engine — rigid bodies, colliders, joints",
+  "version": "0.1.0",
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/certesolutions-cyber/atmos.git",
+    "directory": "packages/physics"
+  },
+  "homepage": "https://github.com/certesolutions-cyber/atmos",
+  "license": "GPL-3.0-or-later",
+  "keywords": ["physics", "rapier", "game-engine", "rigid-body", "collider", "atmos"],
+  "type": "module",
+  "main": "src/index.ts",
+  "types": "src/index.ts",
+  "publishConfig": {
+    "main": "dist/index.js",
+    "types": "dist/index.d.ts"
+  },
+  "files": ["dist", "!dist/__tests__", "package.json", "README.md", "LICENCE"],
+  "dependencies": {
+    "@certe/atmos-core": "^0.1.0",
+    "@certe/atmos-math": "^0.1.0",
+    "@dimforge/rapier3d-compat": "^0.14.0"
+  },
+  "scripts": {
+    "test": "vitest run"
+  }
+}

package/src/index.ts

@@ -0,0 +1,26 @@
+export { initRapier, getWasmMemory, getLockedAxesOffset } from './init.js';
+export { PhysicsWorld } from './physics-world.js';
+export type { PhysicsWorldOptions } from './physics-world.js';
+export { RigidBody } from './rigid-body.js';
+export type { RigidBodyType, RigidBodyOptions } from './rigid-body.js';
+export { Collider } from './collider.js';
+export type { ColliderShape, ColliderOptions } from './collider.js';
+export { Joint } from './joint.js';
+export type { JointOptions } from './joint.js';
+export { FixedJoint } from './fixed-joint.js';
+export type { FixedJointOptions } from './fixed-joint.js';
+export { HingeJoint } from './hinge-joint.js';
+export type { HingeJointOptions } from './hinge-joint.js';
+export { SpringJoint } from './spring-joint.js';
+export type { SpringJointOptions } from './spring-joint.js';
+export { PhysicsSystem } from './physics-system.js';
+export { registerPhysicsBuiltins } from './register-builtins.js';
+export {
+  findAncestorComponent,
+  hasAncestorComponent,
+  hasDescendantComponent,
+} from './physics-hierarchy.js';
+export { computeColliderOffset } from './collider-offset.js';
+export type { ColliderOffset } from './collider-offset.js';
+export { Physics, invalidateColliderMap } from './physics-query.js';
+export type { HitResult } from './physics-query.js';