@daneren2005/shared-memory-objects 1.3.0 → 1.5.0

package/dist/spatial/shared-quadtree.js

@@ -0,0 +1,361 @@
+import { getPointer as e, loadRawPointer as t, storeRawPointer as n } from "../utils/pointer.js";
+import r from "../allocated-memory.js";
+import { ARRAY_TYPE as i, getArrayTypeCode as a, getByteMultipler as o, makeArrayView as s } from "../utils/array-type.js";
+import { lock as c, unlock as l } from "../lock/simple-lock.js";
+import u from "../shared-map.js";
+import d from "../shared-pool.js";
+import { MinPriorityQueue as f, addCandidate as p, candidateLimit as m, distanceSquaredToRect as h } from "./spatial-neighbors.js";
+import { getSpatialMapCapacity as g, getSpatialPoolChunkSize as _ } from "./spatial-entity.js";
+//#region src/spatial/shared-quadtree.ts
+var v = 0, y = 1, b = 2, x = 3, S = 4, C = 5, w = 6, T = 0, E = 1, D = 2, O = 0, k = 1, A = 2, j = 3, M = 4, N = 5, P = 6, F = 7, I = 16777216, L = I, R = 4294967295, z = 4, B = 1e6, V = Float32Array, H = class a {
+	static ALLOCATE_COUNT = 14;
+	memory;
+	firstBlock;
+	pool;
+	idMap;
+	insertScratch = [
+		0,
+		0,
+		0,
+		0,
+		0,
+		0,
+		0
+	];
+	nodeInts;
+	nodeHeads;
+	maxLevels;
+	nodeCount;
+	coordType;
+	nullIndex;
+	rootX;
+	rootY;
+	rootWidth;
+	rootHeight;
+	get size() {
+		return this.idMap.length;
+	}
+	get bounds() {
+		return {
+			x: this.rootX,
+			y: this.rootY,
+			width: this.rootWidth,
+			height: this.rootHeight
+		};
+	}
+	get type() {
+		return this.coordType;
+	}
+	constructor(s, c) {
+		if (this.memory = s, c && "firstBlock" in c) this.firstBlock = new r(s, c.firstBlock), this.coordType = this.firstBlock.data[C], this.pool = new d(s, { firstBlock: e(t(this.firstBlock.data, y), s.positionBits) }), this.idMap = new u(s, { firstBlock: e(t(this.firstBlock.data, b), s.positionBits) }), this.maxLevels = this.firstBlock.data[x], this.nodeCount = this.firstBlock.data[S], this.nullIndex = G(this.coordType);
+		else {
+			let e = c?.bounds ?? {
+				x: 0,
+				y: 0,
+				width: 0,
+				height: 0
+			}, t = c?.maxEntities ?? B;
+			if (this.maxLevels = c?.maxLevels ?? z, this.nodeCount = a.getNodeCount(this.maxLevels), this.coordType = U(c?.type), this.nullIndex = G(this.coordType), this.coordType === i.float32 && t > I) throw Error(`Float32 SharedQuadtree supports at most ${I} entities; pass type: Float64Array for more`);
+			let r = {
+				type: W(this.coordType),
+				dataLength: F,
+				maxLength: t,
+				maxChunkSize: _(t, F, o(this.coordType), s.maxAllocationLength)
+			}, l = d.getAllocateCount(s, r), f = u.ALLOCATE_COUNT;
+			this.firstBlock = s.allocUI32(a.ALLOCATE_COUNT + l + f), this.firstBlock.data[x] = this.maxLevels, this.firstBlock.data[S] = this.nodeCount, this.firstBlock.data[C] = this.coordType;
+			let p = this.getBoundsView();
+			p[0] = e.x, p[1] = e.y, p[2] = e.width, p[3] = e.height;
+			let m = s.allocUI32(this.nodeCount * D), h = new Uint32Array(m.data.buffer, m.bufferByteOffset, this.nodeCount * D);
+			for (let e = 0; e < this.nodeCount; e++) h[e * D + E] = this.nullIndex;
+			n(this.firstBlock.data, v, m.pointer);
+			let w = this.firstBlock.getSubAllocation(a.ALLOCATE_COUNT, l);
+			this.pool = new d(s, {
+				firstBlock: w,
+				...r
+			}), n(this.firstBlock.data, y, w.pointer);
+			let T = this.firstBlock.getSubAllocation(a.ALLOCATE_COUNT + l, f);
+			this.idMap = new u(s, {
+				firstBlock: T,
+				capacity: g(t, s.maxAllocationLength)
+			}), n(this.firstBlock.data, b, T.pointer);
+		}
+		let l = this.getBoundsView();
+		this.rootX = l[0], this.rootY = l[1], this.rootWidth = l[2], this.rootHeight = l[3];
+		let f = new r(s, e(t(this.firstBlock.data, v), s.positionBits));
+		this.nodeInts = new Int32Array(f.data.buffer, f.bufferByteOffset, this.nodeCount * D), this.nodeHeads = new Uint32Array(f.data.buffer, f.bufferByteOffset, this.nodeCount * D);
+	}
+	static getNodeCount(e) {
+		return (4 ** (e + 1) - 1) / 3;
+	}
+	get pointer() {
+		return this.firstBlock.pointer;
+	}
+	get usedMemory() {
+		let n = new r(this.memory, e(t(this.firstBlock.data, v), this.memory.positionBits));
+		return this.firstBlock.usedMemory + n.usedMemory + this.pool.usedMemory + this.idMap.usedMemory;
+	}
+	insert(e, t, n, r = 0, i = 0) {
+		if (this.idMap.get(e) !== void 0) {
+			this.update(e, t, n, r, i);
+			return;
+		}
+		let a = this.locate(t, n, r, i), o = this.insertScratch;
+		o[O] = e, o[k] = t, o[A] = n, o[j] = r, o[M] = i, o[N] = a, o[P] = this.nullIndex;
+		let s = this.pool.push(o);
+		this.linkIntoNode(a, s), this.idMap.set(e, s);
+	}
+	bulkInsert(e) {
+		let t = /* @__PURE__ */ new Map();
+		for (let n of e) t.set(n.id, n);
+		let n = Array.from(t.values()), r = this.idMap.getAll(n.map((e) => e.id)), i = [], a = r.reduce((e, t) => e + +(t === void 0), 0), o = this.pool.reserveContiguous(a);
+		for (let e = 0; e < n.length; e++) {
+			let t = n[e], a = t.width ?? 0, s = t.height ?? 0;
+			if (r[e] !== void 0) {
+				this.update(t.id, t.x, t.y, a, s);
+				continue;
+			}
+			let c = this.locate(t.x, t.y, a, s), l = o++, u = this.pool.blockFor(l), d = this.pool.blockOffset(l);
+			u[d + O] = t.id, u[d + k] = t.x, u[d + A] = t.y, u[d + j] = a, u[d + M] = s, u[d + N] = c, u[d + P] = this.nullIndex, this.linkIntoNode(c, l), i.push([t.id, l]);
+		}
+		this.idMap.setAll(i);
+	}
+	update(e, t, n, r = 0, i = 0) {
+		let a = this.idMap.get(e);
+		if (a === void 0) {
+			this.insert(e, t, n, r, i);
+			return;
+		}
+		let o = this.pool.blockFor(a), s = this.pool.blockOffset(a), u = o[s + N], d = this.locate(t, n, r, i);
+		if (u === d) {
+			c(this.nodeInts, u * D + T), o[s + k] = t, o[s + A] = n, o[s + j] = r, o[s + M] = i, l(this.nodeInts, u * D + T);
+			return;
+		}
+		let f = Math.min(u, d), p = Math.max(u, d);
+		c(this.nodeInts, f * D + T), c(this.nodeInts, p * D + T), this.unlinkNoLock(u, a), o[s + k] = t, o[s + A] = n, o[s + j] = r, o[s + M] = i, o[s + N] = d, this.linkNoLock(d, a), l(this.nodeInts, p * D + T), l(this.nodeInts, f * D + T);
+	}
+	remove(e) {
+		let t = this.idMap.get(e);
+		if (t === void 0) return !1;
+		let n = this.pool.get(t, N);
+		return this.unlinkFromNode(n, t), this.pool.deleteIndex(t), this.idMap.delete(e), !0;
+	}
+	has(e) {
+		return this.idMap.get(e) !== void 0;
+	}
+	search(e, t, n, r, i) {
+		let a = [];
+		return this.searchInto(a, e, t, n, r, i), a;
+	}
+	searchInto(e, t, n, r, i, a) {
+		let o = e.length;
+		if (this.collect(e, 0, this.rootX, this.rootY, this.rootWidth, this.rootHeight, 0, t, n, r, i), a !== void 0) {
+			let t = o;
+			for (let n = o; n < e.length; n++) {
+				let r = e[n];
+				a(r) && (e[t++] = r);
+			}
+			e.length = t;
+		}
+		return e;
+	}
+	neighbors(e, t, n, r, i) {
+		if (n <= 0 || r < 0 || Number.isNaN(n) || Number.isNaN(r) || (n = Math.floor(n), n === 0)) return [];
+		let a = r * r;
+		if (n === 1) return this.nearestNeighbor(e, t, a, i);
+		let o = [], s = [], c = new f(), l = {
+			index: 0,
+			x: this.rootX,
+			y: this.rootY,
+			width: this.rootWidth,
+			height: this.rootHeight,
+			level: 0
+		};
+		for (c.push(l, h(e, t, this.rootX, this.rootY, this.rootX + this.rootWidth, this.rootY + this.rootHeight)); c.length > 0 && c.priority <= m(o, n, a);) {
+			let r = c.pop();
+			if (r === void 0) break;
+			s.length = 0, this.collectNeighborNode(s, r.index, e, t, a);
+			for (let e of s) {
+				let t = !1;
+				for (let n of o) if (n.id === e.id) {
+					t = !0;
+					break;
+				}
+				t || (i === void 0 || i(e.id)) && p(o, e.id, e.distance, n);
+			}
+			if (r.level >= this.maxLevels) continue;
+			let l = r.width / 2, u = r.height / 2, d = r.level + 1, f = [
+				{
+					index: r.index * 4 + 1,
+					x: r.x,
+					y: r.y,
+					width: l,
+					height: u,
+					level: d
+				},
+				{
+					index: r.index * 4 + 2,
+					x: r.x + l,
+					y: r.y,
+					width: l,
+					height: u,
+					level: d
+				},
+				{
+					index: r.index * 4 + 3,
+					x: r.x,
+					y: r.y + u,
+					width: l,
+					height: u,
+					level: d
+				},
+				{
+					index: r.index * 4 + 4,
+					x: r.x + l,
+					y: r.y + u,
+					width: l,
+					height: u,
+					level: d
+				}
+			];
+			for (let r of f) {
+				let i = h(e, t, r.x, r.y, r.x + r.width, r.y + r.height);
+				i <= m(o, n, a) && c.push(r, i);
+			}
+		}
+		return o.map((e) => e.id);
+	}
+	nearestNeighbor(e, t, n, r) {
+		let i = {
+			id: void 0,
+			distance: n
+		};
+		return this.findNearest(0, this.rootX, this.rootY, this.rootWidth, this.rootHeight, 0, e, t, i, [], r), i.id === void 0 ? [] : [i.id];
+	}
+	findNearest(e, t, n, r, i, a, o, s, c, l, u) {
+		if (h(o, s, t, n, t + r, n + i) > c.distance) return;
+		if (u === void 0) this.collectNearestNode(c, e, o, s);
+		else {
+			l.length = 0, this.collectNeighborNode(l, e, o, s, c.distance);
+			for (let e of l) u(e.id) && (e.distance < c.distance || e.distance === c.distance && (c.id === void 0 || e.id < c.id)) && (c.id = e.id, c.distance = e.distance);
+		}
+		if (a >= this.maxLevels) return;
+		let d = r / 2, f = i / 2, p = t + d, m = n + f, g = e * 4, _ = a + 1, v = o >= p, y = s >= m, b = (e, t, n) => {
+			this.findNearest(e, t, n, d, f, _, o, s, c, l, u);
+		};
+		y ? v ? (b(g + 4, p, m), b(g + 3, t, m), b(g + 2, p, n), b(g + 1, t, n)) : (b(g + 3, t, m), b(g + 4, p, m), b(g + 1, t, n), b(g + 2, p, n)) : v ? (b(g + 2, p, n), b(g + 1, t, n), b(g + 4, p, m), b(g + 3, t, m)) : (b(g + 1, t, n), b(g + 2, p, n), b(g + 3, t, m), b(g + 4, p, m));
+	}
+	clear() {
+		for (let e = 0; e < this.nodeCount; e++) this.nodeHeads[e * D + E] = this.nullIndex;
+		this.pool.clear();
+		let e = [];
+		for (let [t] of this.idMap) e.push(t);
+		for (let t of e) this.idMap.delete(t);
+	}
+	free() {
+		new r(this.memory, e(t(this.firstBlock.data, v), this.memory.positionBits)).free(), this.pool.free(), this.idMap.free(), this.firstBlock.free();
+	}
+	getSharedMemory() {
+		return { firstBlock: this.firstBlock.getSharedMemory() };
+	}
+	getBoundsView() {
+		return s(this.coordType, this.firstBlock.data.buffer, this.firstBlock.bufferByteOffset + w * Uint32Array.BYTES_PER_ELEMENT, 4);
+	}
+	locate(e, t, n, r) {
+		let i = 0, a = this.rootX, o = this.rootY, s = this.rootWidth, c = this.rootHeight;
+		for (let l = 0; l < this.maxLevels; l++) {
+			let l = a + s / 2, u = o + c / 2, d = e >= a && e + n <= l && (n > 0 || e < l), f = e >= l && e + n <= a + s, p = t >= o && t + r <= u && (r > 0 || t < u), m = t >= u && t + r <= o + c;
+			if (p && d) i = i * 4 + 1, s /= 2, c /= 2;
+			else if (p && f) i = i * 4 + 2, a = l, s /= 2, c /= 2;
+			else if (m && d) i = i * 4 + 3, o = u, s /= 2, c /= 2;
+			else if (m && f) i = i * 4 + 4, a = l, o = u, s /= 2, c /= 2;
+			else break;
+		}
+		return i;
+	}
+	collect(e, t, n, r, i, a, o, s, u, d, f) {
+		let p = t * D + E;
+		if (this.nodeHeads[p] !== this.nullIndex) {
+			let n = t * D + T;
+			c(this.nodeInts, n);
+			let r = this.nodeHeads[p], i = this.pool;
+			for (; r !== this.nullIndex;) {
+				let t = i.blockFor(r), n = i.blockOffset(r);
+				e.push(t[n + O]), r = t[n + P];
+			}
+			l(this.nodeInts, n);
+		}
+		if (o >= this.maxLevels) return;
+		let m = n + i / 2, h = r + a / 2, g = i / 2, _ = a / 2, v = s < m, y = s + d > m, b = u < h, x = u + f > h;
+		b && v && this.collect(e, t * 4 + 1, n, r, g, _, o + 1, s, u, d, f), b && y && this.collect(e, t * 4 + 2, m, r, g, _, o + 1, s, u, d, f), x && v && this.collect(e, t * 4 + 3, n, h, g, _, o + 1, s, u, d, f), x && y && this.collect(e, t * 4 + 4, m, h, g, _, o + 1, s, u, d, f);
+	}
+	collectNeighborNode(e, t, n, r, i) {
+		let a = t * D + E;
+		if (this.nodeHeads[a] === this.nullIndex) return;
+		let o = t * D + T;
+		c(this.nodeInts, o);
+		let s = this.nodeHeads[a];
+		for (; s !== this.nullIndex;) {
+			let t = this.pool.blockFor(s), a = this.pool.blockOffset(s), o = t[a + O], c = h(n, r, t[a + k], t[a + A], t[a + k] + t[a + j], t[a + A] + t[a + M]);
+			c <= i && e.push({
+				id: o,
+				distance: c
+			}), s = t[a + P];
+		}
+		l(this.nodeInts, o);
+	}
+	collectNearestNode(e, t, n, r) {
+		let i = t * D + E;
+		if (this.nodeHeads[i] === this.nullIndex) return;
+		let a = t * D + T;
+		c(this.nodeInts, a);
+		let o = this.nodeHeads[i];
+		for (; o !== this.nullIndex;) {
+			let t = this.pool.blockFor(o), i = this.pool.blockOffset(o), a = t[i + O], s = h(n, r, t[i + k], t[i + A], t[i + k] + t[i + j], t[i + A] + t[i + M]);
+			(s < e.distance || s === e.distance && (e.id === void 0 || a < e.id)) && (e.id = a, e.distance = s), o = t[i + P];
+		}
+		l(this.nodeInts, a);
+	}
+	linkIntoNode(e, t) {
+		let n = e * D + T;
+		c(this.nodeInts, n), this.linkNoLock(e, t), l(this.nodeInts, n);
+	}
+	linkNoLock(e, t) {
+		let n = e * D + E;
+		this.pool.set(t, P, this.nodeHeads[n]), this.nodeHeads[n] = t;
+	}
+	unlinkFromNode(e, t) {
+		let n = e * D + T;
+		c(this.nodeInts, n), this.unlinkNoLock(e, t), l(this.nodeInts, n);
+	}
+	unlinkNoLock(e, t) {
+		let n = e * D + E, r = this.nodeHeads[n], i = this.pool.get(t, P);
+		if (r === t) {
+			this.nodeHeads[n] = i;
+			return;
+		}
+		let a = r;
+		for (; a !== this.nullIndex;) {
+			let e = this.pool.get(a, P);
+			if (e === t) {
+				this.pool.set(a, P, i);
+				return;
+			}
+			a = e;
+		}
+	}
+};
+function U(e) {
+	let t = a(e ?? V);
+	if (t !== i.float32 && t !== i.float64) throw Error("SharedQuadtree must be Float32Array or Float64Array");
+	return t;
+}
+function W(e) {
+	return o(e) === 2 ? Float64Array : Float32Array;
+}
+function G(e) {
+	return e === i.float32 ? L : R;
+}
+//#endregion
+export { H as default };
+
+//# sourceMappingURL=shared-quadtree.js.map

package/dist/spatial/shared-quadtree.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"shared-quadtree.js","names":[],"sources":["../../src/spatial/shared-quadtree.ts"],"sourcesContent":["import type { SharedAllocatedMemory } from '../allocated-memory';\nimport AllocatedMemory from '../allocated-memory';\nimport type MemoryHeap from '../memory-heap';\nimport SharedPool, { type SharedPoolConfig } from '../shared-pool';\nimport SharedMap from '../shared-map';\nimport { lock, unlock } from '../lock/simple-lock';\nimport { getPointer, loadRawPointer, storeRawPointer } from '../utils/pointer';\nimport { ARRAY_TYPE, getArrayTypeCode, getByteMultipler, makeArrayView } from '../utils/array-type';\nimport {\n\tMinPriorityQueue, addCandidate, candidateLimit, distanceSquaredToRect,\n\ttype NeighborCandidate, type NearestNeighbor,\n} from './spatial-neighbors';\nimport { getSpatialMapCapacity, getSpatialPoolChunkSize, type SpatialEntity } from './spatial-entity';\n\n// Fixed-depth region quadtree (\"implicit\" / hierarchical grid) built for concurrent updates from many threads. Dynamic\n// subdivision is deliberately avoided: creating/redistributing/freeing nodes at runtime races with readers mid-traversal\n// (the same hazard MemoryBuffer disables compaction for). Here the tree of nodes is allocated once and never changes\n// shape, so concurrency reduces to per-cell content updates - different cells never contend.\n//\n// Node layout is implicit: node 0 is the root, the four children of node i are 4i+1..4i+4 (NW, NE, SW, SE). Bounds are\n// derived from the root bounds during descent, never stored. Each node owns an intrusive singly-linked bucket: the node\n// record holds a lock and the head item index, and each item record carries the next index. Items live in a SharedPool\n// (stable indices, recycling) and an id->itemIndex SharedMap makes update/remove O(depth) by entity id.\n//\n// Each entity is stored in the single deepest node that fully contains its rect (an item too large or straddling a\n// midline stays at an ancestor). search walks every node whose region intersects the query and returns a broad-phase\n// superset of candidate ids - the same guarantee quadtree-js's retrieve gives, without duplicating straddlers.\n//\n// The whole item record (id, coords, node, bucket link) lives in one pool at the configured precision. Float32 (the\n// default, matching a physics engine that keeps positions in Float32) keeps everything exact as long as entity ids and\n// the pool's index space both stay under 2^24 (~16.7M) - every id, pool index, node index and the NULL sentinel is a\n// Float32-exact integer there. Need more than that many entities (or ids >= 2^24)? Pass type: Float64Array.\n\n// Header (firstBlock) u32 layout\nconst NODE_POINTER_INDEX = 0;\nconst POOL_POINTER_INDEX = 1;\nconst MAP_POINTER_INDEX = 2;\nconst MAX_LEVELS_INDEX = 3;\nconst NODE_COUNT_INDEX = 4;\nconst TYPE_INDEX = 5;\n// bounds view starts at slot 6 (offset 24 bytes is 8-byte aligned, so a Float64 bounds view is valid)\nconst BOUNDS_INDEX = 6;\n\n// Per-node record: [lock, head]\nconst NODE_LOCK_OFFSET = 0;\nconst NODE_HEAD_OFFSET = 1;\nconst NODE_SIZE = 2;\n\n// Item record fields\nconst ITEM_ID = 0;\nconst ITEM_X = 1;\nconst ITEM_Y = 2;\nconst ITEM_W = 3;\nconst ITEM_H = 4;\nconst ITEM_NODE = 5;\nconst ITEM_NEXT = 6;\nconst ITEM_FIELDS = 7;\n\n// Largest exact integer range for Float32 coordinates: [0, 2^24). Ids and pool indices must stay under this to survive a\n// Float32 round-trip, so it doubles as the Float32 entity cap and the value just past every valid index.\nconst FLOAT32_LIMIT = 0x1000000;\n// End-of-list / empty-bucket sentinel, chosen per element type so it is exact in the pool's view and above every valid\n// index: 2^24 for Float32 (its first non-representable index), 0xffffffff for Float64 (well within its exact range).\nconst FLOAT32_NULL_INDEX = FLOAT32_LIMIT;\nconst FLOAT64_NULL_INDEX = 0xffffffff;\n\nconst DEFAULT_MAX_LEVELS = 4;\nconst DEFAULT_MAX_ENTITIES = 1_000_000;\nconst DEFAULT_COORD_TYPE = Float32Array;\n\ntype CoordArray = Float32Array | Float64Array;\ntype CoordArrayConstructor = Float32ArrayConstructor | Float64ArrayConstructor;\n\nexport default class SharedQuadtree {\n\tstatic readonly ALLOCATE_COUNT = 14;\n\n\tprivate memory: MemoryHeap;\n\tprivate firstBlock: AllocatedMemory;\n\tprivate pool: SharedPool<CoordArray>;\n\tprivate idMap: SharedMap<number>;\n\n\t// Reused to hand a full item record to pool.push without allocating a fresh array per insert (single writer per id)\n\tprivate insertScratch: Array<number> = [0, 0, 0, 0, 0, 0, 0];\n\n\t// Node block views over one contiguous region: Int32 for the per-node locks, Uint32 for the head indexes.\n\tprivate nodeInts: Int32Array;\n\tprivate nodeHeads: Uint32Array;\n\n\tprivate readonly maxLevels: number;\n\tprivate readonly nodeCount: number;\n\tprivate readonly coordType: number;\n\t// Empty-bucket / end-of-list sentinel for this instance's element type (see FLOAT32_NULL_INDEX)\n\tprivate readonly nullIndex: number;\n\t// Root bounds, read once (stored at the configured precision, math done in float64)\n\tprivate readonly rootX: number;\n\tprivate readonly rootY: number;\n\tprivate readonly rootWidth: number;\n\tprivate readonly rootHeight: number;\n\n\t// Number of entities currently tracked\n\tget size(): number {\n\t\treturn this.idMap.length;\n\t}\n\n\tget bounds(): QuadtreeBounds {\n\t\treturn { x: this.rootX, y: this.rootY, width: this.rootWidth, height: this.rootHeight };\n\t}\n\n\t// Element type the record is stored in (an ARRAY_TYPE code: float32 or float64)\n\tget type(): number {\n\t\treturn this.coordType;\n\t}\n\n\tconstructor(memory: MemoryHeap, config?: SharedQuadtreeConfig | SharedQuadtreeMemory) {\n\t\tthis.memory = memory;\n\n\t\tif(config && 'firstBlock' in config) {\n\t\t\tthis.firstBlock = new AllocatedMemory(memory, config.firstBlock);\n\t\t\tthis.coordType = this.firstBlock.data[TYPE_INDEX];\n\t\t\tthis.pool = new SharedPool<CoordArray>(memory, {\n\t\t\t\tfirstBlock: getPointer(loadRawPointer(this.firstBlock.data, POOL_POINTER_INDEX), memory.positionBits),\n\t\t\t});\n\t\t\tthis.idMap = new SharedMap<number>(memory, {\n\t\t\t\tfirstBlock: getPointer(loadRawPointer(this.firstBlock.data, MAP_POINTER_INDEX), memory.positionBits),\n\t\t\t});\n\t\t\tthis.maxLevels = this.firstBlock.data[MAX_LEVELS_INDEX];\n\t\t\tthis.nodeCount = this.firstBlock.data[NODE_COUNT_INDEX];\n\t\t\tthis.nullIndex = nullIndexFor(this.coordType);\n\t\t} else {\n\t\t\tlet bounds = config?.bounds ?? { x: 0, y: 0, width: 0, height: 0 };\n\t\t\tlet maxEntities = config?.maxEntities ?? DEFAULT_MAX_ENTITIES;\n\t\t\tthis.maxLevels = config?.maxLevels ?? DEFAULT_MAX_LEVELS;\n\t\t\tthis.nodeCount = SharedQuadtree.getNodeCount(this.maxLevels);\n\t\t\tthis.coordType = getCoordTypeCode(config?.type);\n\t\t\tthis.nullIndex = nullIndexFor(this.coordType);\n\n\t\t\tif(this.coordType === ARRAY_TYPE.float32 && maxEntities > FLOAT32_LIMIT) {\n\t\t\t\tthrow new Error(`Float32 SharedQuadtree supports at most ${FLOAT32_LIMIT} entities; pass type: Float64Array for more`);\n\t\t\t}\n\n\t\t\t// Inline the pool and id-map firstBlocks right after the header so the whole spine is one contiguous allocation\n\t\t\t// (the pool's own firstBlock already inlines its two stacks). The node block stays separate: it is large and\n\t\t\t// sized independently of these headers.\n\t\t\tlet poolConfig: SharedPoolConfig<CoordArray> = {\n\t\t\t\ttype: getCoordTypeConstructor(this.coordType),\n\t\t\t\tdataLength: ITEM_FIELDS,\n\t\t\t\tmaxLength: maxEntities,\n\t\t\t\tmaxChunkSize: getSpatialPoolChunkSize(maxEntities, ITEM_FIELDS, getByteMultipler(this.coordType), memory.maxAllocationLength),\n\t\t\t};\n\t\t\tlet poolAllocateCount = SharedPool.getAllocateCount(memory, poolConfig);\n\t\t\tlet mapAllocateCount = SharedMap.ALLOCATE_COUNT;\n\t\t\tthis.firstBlock = memory.allocUI32(SharedQuadtree.ALLOCATE_COUNT + poolAllocateCount + mapAllocateCount);\n\t\t\tthis.firstBlock.data[MAX_LEVELS_INDEX] = this.maxLevels;\n\t\t\tthis.firstBlock.data[NODE_COUNT_INDEX] = this.nodeCount;\n\t\t\tthis.firstBlock.data[TYPE_INDEX] = this.coordType;\n\n\t\t\tlet boundsView = this.getBoundsView();\n\t\t\tboundsView[0] = bounds.x;\n\t\t\tboundsView[1] = bounds.y;\n\t\t\tboundsView[2] = bounds.width;\n\t\t\tboundsView[3] = bounds.height;\n\n\t\t\t// Node block must fit one allocation - it is never resized. Every head starts as NULL (calloc leaves them 0,\n\t\t\t// a valid item index, so they must be initialized explicitly).\n\t\t\tlet nodeBlock = memory.allocUI32(this.nodeCount * NODE_SIZE);\n\t\t\tlet heads = new Uint32Array(nodeBlock.data.buffer, nodeBlock.bufferByteOffset, this.nodeCount * NODE_SIZE);\n\t\t\tfor(let i = 0; i < this.nodeCount; i++) {\n\t\t\t\theads[i * NODE_SIZE + NODE_HEAD_OFFSET] = this.nullIndex;\n\t\t\t}\n\t\t\tstoreRawPointer(this.firstBlock.data, NODE_POINTER_INDEX, nodeBlock.pointer);\n\n\t\t\tlet poolBlock = this.firstBlock.getSubAllocation(SharedQuadtree.ALLOCATE_COUNT, poolAllocateCount);\n\t\t\tthis.pool = new SharedPool<CoordArray>(memory, { firstBlock: poolBlock, ...poolConfig });\n\t\t\tstoreRawPointer(this.firstBlock.data, POOL_POINTER_INDEX, poolBlock.pointer);\n\n\t\t\tlet mapBlock = this.firstBlock.getSubAllocation(SharedQuadtree.ALLOCATE_COUNT + poolAllocateCount, mapAllocateCount);\n\t\t\tthis.idMap = new SharedMap<number>(memory, { firstBlock: mapBlock, capacity: getSpatialMapCapacity(maxEntities, memory.maxAllocationLength) });\n\t\t\tstoreRawPointer(this.firstBlock.data, MAP_POINTER_INDEX, mapBlock.pointer);\n\t\t}\n\n\t\tlet boundsView = this.getBoundsView();\n\t\tthis.rootX = boundsView[0];\n\t\tthis.rootY = boundsView[1];\n\t\tthis.rootWidth = boundsView[2];\n\t\tthis.rootHeight = boundsView[3];\n\n\t\tlet nodeBlock = new AllocatedMemory(memory, getPointer(loadRawPointer(this.firstBlock.data, NODE_POINTER_INDEX), memory.positionBits));\n\t\tthis.nodeInts = new Int32Array(nodeBlock.data.buffer, nodeBlock.bufferByteOffset, this.nodeCount * NODE_SIZE);\n\t\tthis.nodeHeads = new Uint32Array(nodeBlock.data.buffer, nodeBlock.bufferByteOffset, this.nodeCount * NODE_SIZE);\n\t}\n\n\t// Total nodes in a complete quadtree of the given depth: sum of 4^level for level 0..maxLevels.\n\tstatic getNodeCount(maxLevels: number): number {\n\t\treturn (Math.pow(4, maxLevels + 1) - 1) / 3;\n\t}\n\n\tget pointer(): number {\n\t\treturn this.firstBlock.pointer;\n\t}\n\n\tget usedMemory(): number {\n\t\tlet nodeBlock = new AllocatedMemory(this.memory, getPointer(loadRawPointer(this.firstBlock.data, NODE_POINTER_INDEX), this.memory.positionBits));\n\t\treturn this.firstBlock.usedMemory + nodeBlock.usedMemory + this.pool.usedMemory + this.idMap.usedMemory;\n\t}\n\n\tinsert(id: number, x: number, y: number, width = 0, height = 0) {\n\t\tif(this.idMap.get(id) !== undefined) {\n\t\t\tthis.update(id, x, y, width, height);\n\t\t\treturn;\n\t\t}\n\n\t\tlet node = this.locate(x, y, width, height);\n\t\tlet record = this.insertScratch;\n\t\trecord[ITEM_ID] = id;\n\t\trecord[ITEM_X] = x;\n\t\trecord[ITEM_Y] = y;\n\t\trecord[ITEM_W] = width;\n\t\trecord[ITEM_H] = height;\n\t\trecord[ITEM_NODE] = node;\n\t\trecord[ITEM_NEXT] = this.nullIndex;\n\t\tlet index = this.pool.push(record);\n\t\tthis.linkIntoNode(node, index);\n\t\tthis.idMap.set(id, index);\n\t}\n\n\tbulkInsert(entities: Iterable<SpatialEntity>) {\n\t\tlet byId = new Map<number, SpatialEntity>();\n\t\tfor(let entity of entities) {\n\t\t\tbyId.set(entity.id, entity);\n\t\t}\n\t\tlet unique = Array.from(byId.values());\n\t\tlet existing = this.idMap.getAll(unique.map(entity => entity.id));\n\t\tlet mappings: Array<readonly [number, number]> = [];\n\t\tlet newCount = existing.reduce<number>((count, index) => count + (index === undefined ? 1 : 0), 0);\n\t\tlet nextIndex = this.pool.reserveContiguous(newCount);\n\t\tfor(let i = 0; i < unique.length; i++) {\n\t\t\tlet entity = unique[i];\n\t\t\tlet width = entity.width ?? 0;\n\t\t\tlet height = entity.height ?? 0;\n\t\t\tif(existing[i] !== undefined) {\n\t\t\t\tthis.update(entity.id, entity.x, entity.y, width, height);\n\t\t\t\tcontinue;\n\t\t\t}\n\n\t\t\tlet node = this.locate(entity.x, entity.y, width, height);\n\t\t\tlet index = nextIndex++;\n\t\t\tlet block = this.pool.blockFor(index);\n\t\t\tlet offset = this.pool.blockOffset(index);\n\t\t\tblock[offset + ITEM_ID] = entity.id;\n\t\t\tblock[offset + ITEM_X] = entity.x;\n\t\t\tblock[offset + ITEM_Y] = entity.y;\n\t\t\tblock[offset + ITEM_W] = width;\n\t\t\tblock[offset + ITEM_H] = height;\n\t\t\tblock[offset + ITEM_NODE] = node;\n\t\t\tblock[offset + ITEM_NEXT] = this.nullIndex;\n\t\t\tthis.linkIntoNode(node, index);\n\t\t\tmappings.push([entity.id, index]);\n\t\t}\n\t\tthis.idMap.setAll(mappings);\n\t}\n\n\t// Move an entity to a new position. Assumes a single writer per entity id (the standard shared-memory pattern - each\n\t// worker owns a disjoint set of entities), so this entity's item fields are stable until we lock its node(s).\n\tupdate(id: number, x: number, y: number, width = 0, height = 0) {\n\t\tlet index = this.idMap.get(id);\n\t\tif(index === undefined) {\n\t\t\tthis.insert(id, x, y, width, height);\n\t\t\treturn;\n\t\t}\n\n\t\tlet block = this.pool.blockFor(index);\n\t\tlet off = this.pool.blockOffset(index);\n\t\tlet oldNode = block[off + ITEM_NODE];\n\t\tlet newNode = this.locate(x, y, width, height);\n\n\t\tif(oldNode === newNode) {\n\t\t\t// Same cell: only the coordinates change, no relinking. Lock so a concurrent reader sees a consistent record.\n\t\t\tlock(this.nodeInts, oldNode * NODE_SIZE + NODE_LOCK_OFFSET);\n\t\t\tblock[off + ITEM_X] = x;\n\t\t\tblock[off + ITEM_Y] = y;\n\t\t\tblock[off + ITEM_W] = width;\n\t\t\tblock[off + ITEM_H] = height;\n\t\t\tunlock(this.nodeInts, oldNode * NODE_SIZE + NODE_LOCK_OFFSET);\n\t\t\treturn;\n\t\t}\n\n\t\t// Cross-cell move: hold both node locks, ordered by index to avoid deadlock with another thread moving the reverse way.\n\t\tlet first = Math.min(oldNode, newNode);\n\t\tlet second = Math.max(oldNode, newNode);\n\t\tlock(this.nodeInts, first * NODE_SIZE + NODE_LOCK_OFFSET);\n\t\tlock(this.nodeInts, second * NODE_SIZE + NODE_LOCK_OFFSET);\n\n\t\tthis.unlinkNoLock(oldNode, index);\n\t\tblock[off + ITEM_X] = x;\n\t\tblock[off + ITEM_Y] = y;\n\t\tblock[off + ITEM_W] = width;\n\t\tblock[off + ITEM_H] = height;\n\t\tblock[off + ITEM_NODE] = newNode;\n\t\tthis.linkNoLock(newNode, index);\n\n\t\tunlock(this.nodeInts, second * NODE_SIZE + NODE_LOCK_OFFSET);\n\t\tunlock(this.nodeInts, first * NODE_SIZE + NODE_LOCK_OFFSET);\n\t}\n\n\tremove(id: number): boolean {\n\t\tlet index = this.idMap.get(id);\n\t\tif(index === undefined) {\n\t\t\treturn false;\n\t\t}\n\n\t\tlet node = this.pool.get(index, ITEM_NODE);\n\t\tthis.unlinkFromNode(node, index);\n\t\tthis.pool.deleteIndex(index);\n\t\tthis.idMap.delete(id);\n\t\treturn true;\n\t}\n\n\thas(id: number): boolean {\n\t\treturn this.idMap.get(id) !== undefined;\n\t}\n\n\t// Broad-phase query: ids of every entity in a node whose region intersects the given rect. Result is a superset of true\n\t// overlaps (the caller does the narrow-phase check), matching quadtree-js retrieve.\n\tsearch(x: number, y: number, width: number, height: number, filter?: (id: number) => boolean): Array<number> {\n\t\tlet out: Array<number> = [];\n\t\tthis.searchInto(out, x, y, width, height, filter);\n\t\treturn out;\n\t}\n\t// Same as search but appends into a caller-owned array so hot loops can reuse it. Returns the array.\n\tsearchInto(out: Array<number>, x: number, y: number, width: number, height: number, filter?: (id: number) => boolean): Array<number> {\n\t\tlet start = out.length;\n\t\tthis.collect(out, 0, this.rootX, this.rootY, this.rootWidth, this.rootHeight, 0, x, y, width, height);\n\t\tif(filter !== undefined) {\n\t\t\tlet write = start;\n\t\t\tfor(let read = start; read < out.length; read++) {\n\t\t\t\tlet id = out[read];\n\t\t\t\tif(filter(id)) {\n\t\t\t\t\tout[write++] = id;\n\t\t\t\t}\n\t\t\t}\n\t\t\tout.length = write;\n\t\t}\n\t\treturn out;\n\t}\n\n\tneighbors(x: number, y: number, maxResults: number, maxDistance: number, filter?: (id: number) => boolean): Array<number> {\n\t\tif(maxResults <= 0 || maxDistance < 0 || Number.isNaN(maxResults) || Number.isNaN(maxDistance)) {\n\t\t\treturn [];\n\t\t}\n\n\t\tinterface Node {\n\t\t\tindex: number\n\t\t\tx: number\n\t\t\ty: number\n\t\t\twidth: number\n\t\t\theight: number\n\t\t\tlevel: number\n\t\t}\n\t\tmaxResults = Math.floor(maxResults);\n\t\tif(maxResults === 0) {\n\t\t\treturn [];\n\t\t}\n\t\tlet maxDistanceSquared = maxDistance * maxDistance;\n\t\tif(maxResults === 1) {\n\t\t\treturn this.nearestNeighbor(x, y, maxDistanceSquared, filter);\n\t\t}\n\t\tlet candidates: Array<NeighborCandidate> = [];\n\t\tlet nodeCandidates: Array<NeighborCandidate> = [];\n\t\tlet queue = new MinPriorityQueue<Node>();\n\t\tlet root = { index: 0, x: this.rootX, y: this.rootY, width: this.rootWidth, height: this.rootHeight, level: 0 };\n\t\tqueue.push(root, distanceSquaredToRect(x, y, this.rootX, this.rootY, this.rootX + this.rootWidth, this.rootY + this.rootHeight));\n\n\t\twhile(queue.length > 0 && queue.priority <= candidateLimit(candidates, maxResults, maxDistanceSquared)) {\n\t\t\tlet node = queue.pop();\n\t\t\tif(node === undefined) {\n\t\t\t\tbreak;\n\t\t\t}\n\t\t\tnodeCandidates.length = 0;\n\t\t\tthis.collectNeighborNode(nodeCandidates, node.index, x, y, maxDistanceSquared);\n\t\t\tfor(let candidate of nodeCandidates) {\n\t\t\t\tlet duplicate = false;\n\t\t\t\tfor(let existing of candidates) {\n\t\t\t\t\tif(existing.id === candidate.id) {\n\t\t\t\t\t\tduplicate = true;\n\t\t\t\t\t\tbreak;\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t\t\tif(duplicate) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\t\t\t\tif(filter === undefined || filter(candidate.id)) {\n\t\t\t\t\taddCandidate(candidates, candidate.id, candidate.distance, maxResults);\n\t\t\t\t}\n\t\t\t}\n\t\t\tif(node.level >= this.maxLevels) {\n\t\t\t\tcontinue;\n\t\t\t}\n\n\t\t\tlet halfWidth = node.width / 2;\n\t\t\tlet halfHeight = node.height / 2;\n\t\t\tlet childLevel = node.level + 1;\n\t\t\tlet children: Array<Node> = [\n\t\t\t\t{ index: node.index * 4 + 1, x: node.x, y: node.y, width: halfWidth, height: halfHeight, level: childLevel },\n\t\t\t\t{ index: node.index * 4 + 2, x: node.x + halfWidth, y: node.y, width: halfWidth, height: halfHeight, level: childLevel },\n\t\t\t\t{ index: node.index * 4 + 3, x: node.x, y: node.y + halfHeight, width: halfWidth, height: halfHeight, level: childLevel },\n\t\t\t\t{ index: node.index * 4 + 4, x: node.x + halfWidth, y: node.y + halfHeight, width: halfWidth, height: halfHeight, level: childLevel },\n\t\t\t];\n\t\t\tfor(let child of children) {\n\t\t\t\tlet distance = distanceSquaredToRect(x, y, child.x, child.y, child.x + child.width, child.y + child.height);\n\t\t\t\tif(distance <= candidateLimit(candidates, maxResults, maxDistanceSquared)) {\n\t\t\t\t\tqueue.push(child, distance);\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\n\t\treturn candidates.map(candidate => candidate.id);\n\t}\n\n\tprivate nearestNeighbor(\n\t\tx: number, y: number, maxDistanceSquared: number, filter: ((id: number) => boolean) | undefined,\n\t): Array<number> {\n\t\tlet nearest: NearestNeighbor = { id: undefined, distance: maxDistanceSquared };\n\t\tlet nodeCandidates: Array<NeighborCandidate> = [];\n\t\tthis.findNearest(\n\t\t\t0, this.rootX, this.rootY, this.rootWidth, this.rootHeight, 0,\n\t\t\tx, y, nearest, nodeCandidates, filter,\n\t\t);\n\t\treturn nearest.id === undefined ? [] : [nearest.id];\n\t}\n\n\tprivate findNearest(\n\t\tnode: number, nodeX: number, nodeY: number, width: number, height: number, level: number,\n\t\tx: number, y: number, nearest: NearestNeighbor,\n\t\tnodeCandidates: Array<NeighborCandidate>, filter: ((id: number) => boolean) | undefined,\n\t) {\n\t\tif(distanceSquaredToRect(x, y, nodeX, nodeY, nodeX + width, nodeY + height) > nearest.distance) {\n\t\t\treturn;\n\t\t}\n\t\tif(filter === undefined) {\n\t\t\tthis.collectNearestNode(nearest, node, x, y);\n\t\t} else {\n\t\t\tnodeCandidates.length = 0;\n\t\t\tthis.collectNeighborNode(nodeCandidates, node, x, y, nearest.distance);\n\t\t\tfor(let candidate of nodeCandidates) {\n\t\t\t\tif(filter(candidate.id)\n\t\t\t\t\t&& (candidate.distance < nearest.distance\n\t\t\t\t\t\t|| (candidate.distance === nearest.distance && (nearest.id === undefined || candidate.id < nearest.id)))) {\n\t\t\t\t\tnearest.id = candidate.id;\n\t\t\t\t\tnearest.distance = candidate.distance;\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\t\tif(level >= this.maxLevels) {\n\t\t\treturn;\n\t\t}\n\n\t\tlet halfWidth = width / 2;\n\t\tlet halfHeight = height / 2;\n\t\tlet midX = nodeX + halfWidth;\n\t\tlet midY = nodeY + halfHeight;\n\t\tlet base = node * 4;\n\t\tlet nextLevel = level + 1;\n\t\tlet east = x >= midX;\n\t\tlet south = y >= midY;\n\t\tlet visit = (index: number, childX: number, childY: number) => {\n\t\t\tthis.findNearest(\n\t\t\t\tindex, childX, childY, halfWidth, halfHeight, nextLevel,\n\t\t\t\tx, y, nearest, nodeCandidates, filter,\n\t\t\t);\n\t\t};\n\t\tif(south) {\n\t\t\tif(east) {\n\t\t\t\tvisit(base + 4, midX, midY);\n\t\t\t\tvisit(base + 3, nodeX, midY);\n\t\t\t\tvisit(base + 2, midX, nodeY);\n\t\t\t\tvisit(base + 1, nodeX, nodeY);\n\t\t\t} else {\n\t\t\t\tvisit(base + 3, nodeX, midY);\n\t\t\t\tvisit(base + 4, midX, midY);\n\t\t\t\tvisit(base + 1, nodeX, nodeY);\n\t\t\t\tvisit(base + 2, midX, nodeY);\n\t\t\t}\n\t\t} else if(east) {\n\t\t\tvisit(base + 2, midX, nodeY);\n\t\t\tvisit(base + 1, nodeX, nodeY);\n\t\t\tvisit(base + 4, midX, midY);\n\t\t\tvisit(base + 3, nodeX, midY);\n\t\t} else {\n\t\t\tvisit(base + 1, nodeX, nodeY);\n\t\t\tvisit(base + 2, midX, nodeY);\n\t\t\tvisit(base + 3, nodeX, midY);\n\t\t\tvisit(base + 4, midX, midY);\n\t\t}\n\t}\n\n\tclear() {\n\t\tfor(let i = 0; i < this.nodeCount; i++) {\n\t\t\tthis.nodeHeads[i * NODE_SIZE + NODE_HEAD_OFFSET] = this.nullIndex;\n\t\t}\n\t\tthis.pool.clear();\n\t\t// SharedMap has no clear(); drop every key. Not safe to run concurrently with writers (documented on clear()).\n\t\tlet keys: Array<number> = [];\n\t\tfor(let [key] of this.idMap) {\n\t\t\tkeys.push(key);\n\t\t}\n\t\tfor(let key of keys) {\n\t\t\tthis.idMap.delete(key);\n\t\t}\n\t}\n\n\tfree() {\n\t\tlet nodeBlock = new AllocatedMemory(this.memory, getPointer(loadRawPointer(this.firstBlock.data, NODE_POINTER_INDEX), this.memory.positionBits));\n\t\tnodeBlock.free();\n\t\tthis.pool.free();\n\t\tthis.idMap.free();\n\t\tthis.firstBlock.free();\n\t}\n\n\tgetSharedMemory(): SharedQuadtreeMemory {\n\t\treturn {\n\t\t\tfirstBlock: this.firstBlock.getSharedMemory(),\n\t\t};\n\t}\n\n\tprivate getBoundsView(): CoordArray {\n\t\treturn makeArrayView(\n\t\t\tthis.coordType,\n\t\t\tthis.firstBlock.data.buffer,\n\t\t\tthis.firstBlock.bufferByteOffset + BOUNDS_INDEX * Uint32Array.BYTES_PER_ELEMENT,\n\t\t\t4,\n\t\t) as CoordArray;\n\t}\n\n\t// Deepest node index that fully contains the rect. Descends into the one child that still fully contains it; stops at a\n\t// straddle or at max depth.\n\tprivate locate(x: number, y: number, width: number, height: number): number {\n\t\tlet node = 0;\n\t\tlet nx = this.rootX;\n\t\tlet ny = this.rootY;\n\t\tlet nw = this.rootWidth;\n\t\tlet nh = this.rootHeight;\n\n\t\tfor(let level = 0; level < this.maxLevels; level++) {\n\t\t\tlet midX = nx + nw / 2;\n\t\t\tlet midY = ny + nh / 2;\n\t\t\tlet west = x >= nx && x + width <= midX && (width > 0 || x < midX);\n\t\t\tlet east = x >= midX && x + width <= nx + nw;\n\t\t\tlet north = y >= ny && y + height <= midY && (height > 0 || y < midY);\n\t\t\tlet south = y >= midY && y + height <= ny + nh;\n\n\t\t\tif(north && west) {\n\t\t\t\tnode = node * 4 + 1;\n\t\t\t\tnw /= 2;\n\t\t\t\tnh /= 2;\n\t\t\t} else if(north && east) {\n\t\t\t\tnode = node * 4 + 2;\n\t\t\t\tnx = midX;\n\t\t\t\tnw /= 2;\n\t\t\t\tnh /= 2;\n\t\t\t} else if(south && west) {\n\t\t\t\tnode = node * 4 + 3;\n\t\t\t\tny = midY;\n\t\t\t\tnw /= 2;\n\t\t\t\tnh /= 2;\n\t\t\t} else if(south && east) {\n\t\t\t\tnode = node * 4 + 4;\n\t\t\t\tnx = midX;\n\t\t\t\tny = midY;\n\t\t\t\tnw /= 2;\n\t\t\t\tnh /= 2;\n\t\t\t} else {\n\t\t\t\tbreak;\n\t\t\t}\n\t\t}\n\n\t\treturn node;\n\t}\n\n\tprivate collect(out: Array<number>, node: number, nx: number, ny: number, nw: number, nh: number, level: number, qx: number, qy: number, qw: number, qh: number) {\n\t\t// Peek the head unlocked: an empty bucket has nothing to read, so the lock (and its atomics) is pure overhead. Most\n\t\t// nodes in a fixed-depth tree are empty, so skipping them dominates query cost. Taking the lock only to walk a\n\t\t// non-empty bucket preserves the snapshot guarantee - a concurrent insert we race is simply not in this snapshot.\n\t\tlet headIndex = node * NODE_SIZE + NODE_HEAD_OFFSET;\n\t\tif(this.nodeHeads[headIndex] !== this.nullIndex) {\n\t\t\tlet lockIndex = node * NODE_SIZE + NODE_LOCK_OFFSET;\n\t\t\tlock(this.nodeInts, lockIndex);\n\t\t\tlet index = this.nodeHeads[headIndex];\n\t\t\tlet pool = this.pool;\n\t\t\twhile(index !== this.nullIndex) {\n\t\t\t\t// One chunk resolve per item covers both fields it reads\n\t\t\t\tlet block = pool.blockFor(index);\n\t\t\t\tlet off = pool.blockOffset(index);\n\t\t\t\tout.push(block[off + ITEM_ID]);\n\t\t\t\tindex = block[off + ITEM_NEXT];\n\t\t\t}\n\t\t\tunlock(this.nodeInts, lockIndex);\n\t\t}\n\n\t\tif(level >= this.maxLevels) {\n\t\t\treturn;\n\t\t}\n\n\t\tlet midX = nx + nw / 2;\n\t\tlet midY = ny + nh / 2;\n\t\tlet hw = nw / 2;\n\t\tlet hh = nh / 2;\n\t\tlet overlapsWest = qx < midX;\n\t\tlet overlapsEast = qx + qw > midX;\n\t\tlet overlapsNorth = qy < midY;\n\t\tlet overlapsSouth = qy + qh > midY;\n\n\t\tif(overlapsNorth && overlapsWest) {\n\t\t\tthis.collect(out, node * 4 + 1, nx, ny, hw, hh, level + 1, qx, qy, qw, qh);\n\t\t}\n\t\tif(overlapsNorth && overlapsEast) {\n\t\t\tthis.collect(out, node * 4 + 2, midX, ny, hw, hh, level + 1, qx, qy, qw, qh);\n\t\t}\n\t\tif(overlapsSouth && overlapsWest) {\n\t\t\tthis.collect(out, node * 4 + 3, nx, midY, hw, hh, level + 1, qx, qy, qw, qh);\n\t\t}\n\t\tif(overlapsSouth && overlapsEast) {\n\t\t\tthis.collect(out, node * 4 + 4, midX, midY, hw, hh, level + 1, qx, qy, qw, qh);\n\t\t}\n\t}\n\n\tprivate collectNeighborNode(\n\t\tout: Array<NeighborCandidate>, node: number, x: number, y: number, maxDistanceSquared: number,\n\t) {\n\t\tlet headIndex = node * NODE_SIZE + NODE_HEAD_OFFSET;\n\t\tif(this.nodeHeads[headIndex] === this.nullIndex) {\n\t\t\treturn;\n\t\t}\n\t\tlet lockIndex = node * NODE_SIZE + NODE_LOCK_OFFSET;\n\t\tlock(this.nodeInts, lockIndex);\n\t\tlet index = this.nodeHeads[headIndex];\n\t\twhile(index !== this.nullIndex) {\n\t\t\tlet block = this.pool.blockFor(index);\n\t\t\tlet off = this.pool.blockOffset(index);\n\t\t\tlet id = block[off + ITEM_ID];\n\t\t\tlet distance = distanceSquaredToRect(x, y, block[off + ITEM_X], block[off + ITEM_Y], block[off + ITEM_X] + block[off + ITEM_W], block[off + ITEM_Y] + block[off + ITEM_H]);\n\t\t\tif(distance <= maxDistanceSquared) {\n\t\t\t\tout.push({ id, distance });\n\t\t\t}\n\t\t\tindex = block[off + ITEM_NEXT];\n\t\t}\n\t\tunlock(this.nodeInts, lockIndex);\n\t}\n\n\tprivate collectNearestNode(nearest: NearestNeighbor, node: number, x: number, y: number) {\n\t\tlet headIndex = node * NODE_SIZE + NODE_HEAD_OFFSET;\n\t\tif(this.nodeHeads[headIndex] === this.nullIndex) {\n\t\t\treturn;\n\t\t}\n\t\tlet lockIndex = node * NODE_SIZE + NODE_LOCK_OFFSET;\n\t\tlock(this.nodeInts, lockIndex);\n\t\tlet index = this.nodeHeads[headIndex];\n\t\twhile(index !== this.nullIndex) {\n\t\t\tlet block = this.pool.blockFor(index);\n\t\t\tlet off = this.pool.blockOffset(index);\n\t\t\tlet id = block[off + ITEM_ID];\n\t\t\tlet distance = distanceSquaredToRect(\n\t\t\t\tx, y, block[off + ITEM_X], block[off + ITEM_Y],\n\t\t\t\tblock[off + ITEM_X] + block[off + ITEM_W], block[off + ITEM_Y] + block[off + ITEM_H],\n\t\t\t);\n\t\t\tif(distance < nearest.distance\n\t\t\t\t|| (distance === nearest.distance && (nearest.id === undefined || id < nearest.id))) {\n\t\t\t\tnearest.id = id;\n\t\t\t\tnearest.distance = distance;\n\t\t\t}\n\t\t\tindex = block[off + ITEM_NEXT];\n\t\t}\n\t\tunlock(this.nodeInts, lockIndex);\n\t}\n\n\tprivate linkIntoNode(node: number, index: number) {\n\t\tlet lockIndex = node * NODE_SIZE + NODE_LOCK_OFFSET;\n\t\tlock(this.nodeInts, lockIndex);\n\t\tthis.linkNoLock(node, index);\n\t\tunlock(this.nodeInts, lockIndex);\n\t}\n\t// Push the item onto the node's bucket head. Caller holds the node lock.\n\tprivate linkNoLock(node: number, index: number) {\n\t\tlet headIndex = node * NODE_SIZE + NODE_HEAD_OFFSET;\n\t\tthis.pool.set(index, ITEM_NEXT, this.nodeHeads[headIndex]);\n\t\tthis.nodeHeads[headIndex] = index;\n\t}\n\n\tprivate unlinkFromNode(node: number, index: number) {\n\t\tlet lockIndex = node * NODE_SIZE + NODE_LOCK_OFFSET;\n\t\tlock(this.nodeInts, lockIndex);\n\t\tthis.unlinkNoLock(node, index);\n\t\tunlock(this.nodeInts, lockIndex);\n\t}\n\t// Splice the item out of the node's bucket. Caller holds the node lock.\n\tprivate unlinkNoLock(node: number, index: number) {\n\t\tlet headIndex = node * NODE_SIZE + NODE_HEAD_OFFSET;\n\t\tlet head = this.nodeHeads[headIndex];\n\t\tlet next = this.pool.get(index, ITEM_NEXT);\n\t\tif(head === index) {\n\t\t\tthis.nodeHeads[headIndex] = next;\n\t\t\treturn;\n\t\t}\n\n\t\tlet prev = head;\n\t\twhile(prev !== this.nullIndex) {\n\t\t\tlet prevNext = this.pool.get(prev, ITEM_NEXT);\n\t\t\tif(prevNext === index) {\n\t\t\t\tthis.pool.set(prev, ITEM_NEXT, next);\n\t\t\t\treturn;\n\t\t\t}\n\t\t\tprev = prevNext;\n\t\t}\n\t}\n}\n\nfunction getCoordTypeCode(type: CoordArrayConstructor | undefined): number {\n\tlet code = getArrayTypeCode(type ?? DEFAULT_COORD_TYPE);\n\tif(code !== ARRAY_TYPE.float32 && code !== ARRAY_TYPE.float64) {\n\t\tthrow new Error('SharedQuadtree must be Float32Array or Float64Array');\n\t}\n\treturn code;\n}\nfunction getCoordTypeConstructor(typeCode: number): CoordArrayConstructor {\n\treturn getByteMultipler(typeCode) === 2 ? Float64Array : Float32Array;\n}\nfunction nullIndexFor(typeCode: number): number {\n\treturn typeCode === ARRAY_TYPE.float32 ? FLOAT32_NULL_INDEX : FLOAT64_NULL_INDEX;\n}\n\ninterface QuadtreeBounds {\n\tx: number\n\ty: number\n\twidth: number\n\theight: number\n}\ninterface SharedQuadtreeConfig {\n\tbounds: QuadtreeBounds\n\tmaxLevels?: number\n\tmaxEntities?: number\n\ttype?: CoordArrayConstructor\n}\ninterface SharedQuadtreeMemory {\n\tfirstBlock: SharedAllocatedMemory\n}\n\nexport type { SharedQuadtreeConfig, SharedQuadtreeMemory, QuadtreeBounds, SpatialEntity 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package/dist/spatial/shared-spatial-grid.d.ts

@@ -0,0 +1,78 @@
+import type { SharedAllocatedMemory } from '../allocated-memory';
+import type MemoryHeap from '../memory-heap';
+import { type SpatialEntity } from './spatial-entity';
+type CoordArrayConstructor = Float32ArrayConstructor | Float64ArrayConstructor;
+export default class SharedSpatialGrid {
+    static readonly ALLOCATE_COUNT = 18;
+    private memory;
+    private firstBlock;
+    private entityPool;
+    private slotPool;
+    private idMap;
+    private entityScratch;
+    private slotScratch;
+    private cellInts;
+    private cellHeads;
+    private readonly coordType;
+    private readonly nullIndex;
+    private readonly cols;
+    private readonly rows;
+    private readonly cellCount;
+    private readonly originX;
+    private readonly originY;
+    private readonly rootWidth;
+    private readonly rootHeight;
+    private readonly cellSize;
+    get size(): number;
+    get bounds(): SpatialGridBounds;
+    get gridSize(): number;
+    get columns(): number;
+    get rowCount(): number;
+    get type(): number;
+    constructor(memory: MemoryHeap, config?: SharedSpatialGridConfig | SharedSpatialGridMemory);
+    get pointer(): number;
+    get usedMemory(): number;
+    insert(id: number, x: number, y: number, width?: number, height?: number): void;
+    bulkInsert(entities: Iterable<SpatialEntity>): void;
+    update(id: number, x: number, y: number, width?: number, height?: number): void;
+    remove(id: number): boolean;
+    has(id: number): boolean;
+    search(x: number, y: number, width: number, height: number, filter?: (id: number) => boolean): Array<number>;
+    searchInto(out: Array<number>, x: number, y: number, width: number, height: number, filter?: (id: number) => boolean): Array<number>;
+    neighbors(x: number, y: number, maxResults: number, maxDistance: number, filter?: (id: number) => boolean): Array<number>;
+    private neighborsBestFirst;
+    clear(): void;
+    free(): void;
+    getSharedMemory(): SharedSpatialGridMemory;
+    private getBoundsView;
+    private colOf;
+    private rowOf;
+    private gridRingDistanceSquared;
+    private linkRange;
+    private linkIntoCell;
+    private relinkRange;
+    private refreshAnchorInCell;
+    private unlinkRange;
+    private collectCell;
+    private linkReservedCell;
+    private collectNeighborCell;
+    private collectNearestCell;
+    private unlinkFromCell;
+}
+interface SpatialGridBounds {
+    x: number;
+    y: number;
+    width: number;
+    height: number;
+}
+interface SharedSpatialGridConfig {
+    bounds: SpatialGridBounds;
+    gridSize?: number;
+    maxEntities?: number;
+    maxSlots?: number;
+    type?: CoordArrayConstructor;
+}
+interface SharedSpatialGridMemory {
+    firstBlock: SharedAllocatedMemory;
+}
+export type { SharedSpatialGridConfig, SharedSpatialGridMemory, SpatialGridBounds, SpatialEntity };