@daneren2005/shared-memory-objects 1.6.1 → 1.6.3

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

@@ -1 +1 @@
-{"version":3,"file":"shared-spatial-grid.js","names":["AllocatedMemory","SharedMap","SharedPool","CELL_POINTER_INDEX","ENTITY_POOL_POINTER_INDEX","SLOT_POOL_POINTER_INDEX","MAP_POINTER_INDEX","COLS_INDEX","ROWS_INDEX","CELL_COUNT_INDEX","TYPE_INDEX","BOUNDS_INDEX","CELL_LOCK_OFFSET","CELL_HEAD_OFFSET","CELL_SIZE","SLOT_ID","SLOT_ANCHOR_COL","SLOT_ANCHOR_ROW","SLOT_NEXT","SLOT_FIELDS","ENTITY_MIN_COL","ENTITY_MIN_ROW","ENTITY_MAX_COL","ENTITY_MAX_ROW","ENTITY_X","ENTITY_Y","ENTITY_WIDTH","ENTITY_HEIGHT","ENTITY_FIELDS","FLOAT32_LIMIT","FLOAT32_NULL_INDEX","FLOAT64_NULL_INDEX","DEFAULT_GRID_SIZE","DEFAULT_MAX_ENTITIES","DEFAULT_SLOTS_PER_ENTITY","DEFAULT_COORD_TYPE","SharedSpatialGrid","memory","config","getPointer","loadRawPointer","nullIndexFor","bounds","gridSize","maxEntities","maxSlots","getCoordTypeCode","ARRAY_TYPE","entityPoolConfig","getCoordTypeConstructor","getSpatialPoolChunkSize","getByteMultipler","slotPoolConfig","entityPoolAllocateCount","slotPoolAllocateCount","mapAllocateCount","boundsView","cellBlock","heads","i","entityPoolBlock","storeRawPointer","slotPoolBlock","mapBlock","getSpatialMapCapacity","id","x","y","width","height","minCol","minRow","maxCol","maxRow","entity","entityIndex","byId","entities","unique","existing","mappings","newCount","newSlotCount","nextEntityIndex","nextSlotIndex","block","offset","row","rowBase","col","off","oldMinCol","oldMinRow","oldMaxCol","oldMaxRow","out","filter","start","qMinCol","qMinRow","qMaxCol","qMaxRow","cols","cellHeads","nullIndex","cell","write","read","maxResults","maxDistance","maxDistanceSquared","cellIds","startCol","startRow","nearest","visit","entityOffset","minX","minY","distance","distanceSquaredToRect","maxRadius","radius","top","bottom","left","right","candidates","seenEntities","seenCells","queue","MinPriorityQueue","enqueue","candidateLimit","addCandidate","candidate","keys","key","makeArrayView","centerCol","centerRow","minDistance","cellSize","originX","originY","slot","pool","cellInts","slotIndex","lockIndex","headIndex","lock","unlock","ovMinCol","ovMaxCol","ovMinRow","ovMaxRow","hasOverlap","inOverlapRow","index","anchorCol","anchorRow","slotOffset","prev","next","code","getArrayTypeCode","type","typeCode"],"sources":["../../src/spatial/shared-spatial-grid.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// Uniform fixed-grid spatial index (\"spatial hash grid\") built for concurrent updates from many threads. Like\n// SharedQuadtree it avoids any runtime reshaping - the cols x rows array of cells is allocated once and never changes\n// shape, so concurrency reduces to per-cell content updates and different cells never contend. Locating a cell is O(1)\n// arithmetic instead of a tree descent, which tends to beat the quadtree for evenly distributed, similarly-sized entities.\n//\n// Unlike the quadtree (each entity in exactly one node), a grid entity occupies every cell its rect overlaps - so a large\n// or straddling entity is linked into several cells at once. Each (entity, cell) membership is a \"slot\" record living in a\n// SharedPool; each cell owns an intrusive singly-linked bucket of slots (cell record holds a lock and the head slot index,\n// each slot carries the next index). The entity's occupied cell rectangle is stored once in a separate entity pool, keyed\n// by an id->entityIndex SharedMap, so remove(id) (which only gets an id) knows which cells to unlink from.\n//\n// search returns each entity at most once even though it spans multiple cells: every slot carries the entity's anchor\n// (top-left) cell, and a slot only emits its id when its cell is the top-left cell of the entity that intersects the query\n// (col == max(anchorCol, qMinCol) && row == max(anchorRow, qMinRow)). That cell is always one of the entity's cells and\n// inside the query, so exactly one slot emits - no Set and no per-query mutation, so concurrent queries stay safe.\n//\n// Records are stored at the configured precision. Float32 (the default) keeps everything exact as long as entity ids and\n// both pools' index spaces stay under 2^24 (~16.7M) - every id, pool index, cell index and the NULL sentinel is Float32\n// exact there. Need more (or ids >= 2^24)? Pass type: Float64Array.\n\n// Header (firstBlock) u32 layout\nconst CELL_POINTER_INDEX = 0;\nconst ENTITY_POOL_POINTER_INDEX = 1;\nconst SLOT_POOL_POINTER_INDEX = 2;\nconst MAP_POINTER_INDEX = 3;\nconst COLS_INDEX = 4;\nconst ROWS_INDEX = 5;\nconst CELL_COUNT_INDEX = 6;\nconst TYPE_INDEX = 7;\n// bounds view starts at slot 8 (offset 32 bytes is 8-byte aligned, so a Float64 view is valid): [x, y, width, height, gridSize]\nconst BOUNDS_INDEX = 8;\n\n// Per-cell record: [lock, head]\nconst CELL_LOCK_OFFSET = 0;\nconst CELL_HEAD_OFFSET = 1;\nconst CELL_SIZE = 2;\n\n// Slot record fields (one per entity-cell membership)\nconst SLOT_ID = 0;\nconst SLOT_ANCHOR_COL = 1;\nconst SLOT_ANCHOR_ROW = 2;\nconst SLOT_NEXT = 3;\nconst SLOT_FIELDS = 4;\n\n// Entity record fields: the occupied cell rectangle\nconst ENTITY_MIN_COL = 0;\nconst ENTITY_MIN_ROW = 1;\nconst ENTITY_MAX_COL = 2;\nconst ENTITY_MAX_ROW = 3;\nconst ENTITY_X = 4;\nconst ENTITY_Y = 5;\nconst ENTITY_WIDTH = 6;\nconst ENTITY_HEIGHT = 7;\nconst ENTITY_FIELDS = 8;\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_GRID_SIZE = 50;\nconst DEFAULT_MAX_ENTITIES = 1_000_000;\n// A grid entity can span several cells, so the slot pool needs headroom over the entity count\nconst DEFAULT_SLOTS_PER_ENTITY = 4;\nconst DEFAULT_COORD_TYPE = Float32Array;\n\ntype CoordArray = Float32Array | Float64Array;\ntype CoordArrayConstructor = Float32ArrayConstructor | Float64ArrayConstructor;\n\nexport default class SharedSpatialGrid {\n\tstatic readonly ALLOCATE_COUNT = 18;\n\n\tprivate memory: MemoryHeap;\n\tprivate firstBlock: AllocatedMemory;\n\tprivate entityPool: SharedPool<CoordArray>;\n\tprivate slotPool: SharedPool<CoordArray>;\n\tprivate idMap: SharedMap<number>;\n\n\t// Reused to hand a full record to pool.push without allocating a fresh array per operation (single writer per id)\n\tprivate entityScratch: Array<number> = [0, 0, 0, 0, 0, 0, 0, 0];\n\tprivate slotScratch: Array<number> = [0, 0, 0, 0];\n\n\t// Cell block views over one contiguous region: Int32 for the per-cell locks, Uint32 for the head indexes.\n\tprivate cellInts: Int32Array;\n\tprivate cellHeads: Uint32Array;\n\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\tprivate readonly cols: number;\n\tprivate readonly rows: number;\n\tprivate readonly cellCount: number;\n\t// Grid origin and cell size, read once (stored at the configured precision, math done in float64)\n\tprivate readonly originX: number;\n\tprivate readonly originY: number;\n\tprivate readonly rootWidth: number;\n\tprivate readonly rootHeight: number;\n\tprivate readonly cellSize: 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(): SpatialGridBounds {\n\t\treturn { x: this.originX, y: this.originY, width: this.rootWidth, height: this.rootHeight };\n\t}\n\n\tget gridSize(): number {\n\t\treturn this.cellSize;\n\t}\n\tget columns(): number {\n\t\treturn this.cols;\n\t}\n\tget rowCount(): number {\n\t\treturn this.rows;\n\t}\n\n\t// Element type the records are 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?: SharedSpatialGridConfig | SharedSpatialGridMemory) {\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.entityPool = new SharedPool<CoordArray>(memory, {\n\t\t\t\tfirstBlock: getPointer(loadRawPointer(this.firstBlock.data, ENTITY_POOL_POINTER_INDEX), memory.positionBits),\n\t\t\t});\n\t\t\tthis.slotPool = new SharedPool<CoordArray>(memory, {\n\t\t\t\tfirstBlock: getPointer(loadRawPointer(this.firstBlock.data, SLOT_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.cols = this.firstBlock.data[COLS_INDEX];\n\t\t\tthis.rows = this.firstBlock.data[ROWS_INDEX];\n\t\t\tthis.cellCount = this.firstBlock.data[CELL_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 gridSize = config?.gridSize ?? DEFAULT_GRID_SIZE;\n\t\t\tlet maxEntities = config?.maxEntities ?? DEFAULT_MAX_ENTITIES;\n\t\t\tlet maxSlots = config?.maxSlots ?? maxEntities * DEFAULT_SLOTS_PER_ENTITY;\n\t\t\tthis.coordType = getCoordTypeCode(config?.type);\n\t\t\tthis.nullIndex = nullIndexFor(this.coordType);\n\n\t\t\tthis.cols = Math.max(1, Math.ceil(bounds.width / gridSize));\n\t\t\tthis.rows = Math.max(1, Math.ceil(bounds.height / gridSize));\n\t\t\tthis.cellCount = this.cols * this.rows;\n\n\t\t\tif(this.coordType === ARRAY_TYPE.float32 && (maxEntities > FLOAT32_LIMIT || maxSlots > FLOAT32_LIMIT)) {\n\t\t\t\tthrow new Error(`Float32 SharedSpatialGrid supports at most ${FLOAT32_LIMIT} entities and slots; pass type: Float64Array for more`);\n\t\t\t}\n\n\t\t\t// Inline the two pools' and the id-map's firstBlocks right after the header so the whole spine is one contiguous\n\t\t\t// allocation. The cell block stays separate: it is large and sized independently of these headers.\n\t\t\tlet entityPoolConfig: SharedPoolConfig<CoordArray> = {\n\t\t\t\ttype: getCoordTypeConstructor(this.coordType),\n\t\t\t\tdataLength: ENTITY_FIELDS,\n\t\t\t\tmaxLength: maxEntities,\n\t\t\t\tmaxChunkSize: getSpatialPoolChunkSize(maxEntities, ENTITY_FIELDS, getByteMultipler(this.coordType), memory.maxAllocationLength),\n\t\t\t};\n\t\t\tlet slotPoolConfig: SharedPoolConfig<CoordArray> = {\n\t\t\t\ttype: getCoordTypeConstructor(this.coordType),\n\t\t\t\tdataLength: SLOT_FIELDS,\n\t\t\t\tmaxLength: maxSlots,\n\t\t\t\tmaxChunkSize: getSpatialPoolChunkSize(maxSlots, SLOT_FIELDS, getByteMultipler(this.coordType), memory.maxAllocationLength),\n\t\t\t};\n\t\t\tlet entityPoolAllocateCount = SharedPool.getAllocateCount(memory, entityPoolConfig);\n\t\t\tlet slotPoolAllocateCount = SharedPool.getAllocateCount(memory, slotPoolConfig);\n\t\t\tlet mapAllocateCount = SharedMap.ALLOCATE_COUNT;\n\t\t\tthis.firstBlock = memory.allocUI32(SharedSpatialGrid.ALLOCATE_COUNT + entityPoolAllocateCount + slotPoolAllocateCount + mapAllocateCount);\n\t\t\tthis.firstBlock.data[COLS_INDEX] = this.cols;\n\t\t\tthis.firstBlock.data[ROWS_INDEX] = this.rows;\n\t\t\tthis.firstBlock.data[CELL_COUNT_INDEX] = this.cellCount;\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\t\t\tboundsView[4] = gridSize;\n\n\t\t\t// Cell block must fit one allocation - it is never resized. Every head starts as NULL (calloc leaves them 0, a\n\t\t\t// valid slot index, so they must be initialized explicitly).\n\t\t\tlet cellBlock = memory.allocUI32(this.cellCount * CELL_SIZE);\n\t\t\tlet heads = new Uint32Array(cellBlock.data.buffer, cellBlock.bufferByteOffset, this.cellCount * CELL_SIZE);\n\t\t\tfor(let i = 0; i < this.cellCount; i++) {\n\t\t\t\theads[i * CELL_SIZE + CELL_HEAD_OFFSET] = this.nullIndex;\n\t\t\t}\n\t\t\tstoreRawPointer(this.firstBlock.data, CELL_POINTER_INDEX, cellBlock.pointer);\n\n\t\t\tlet entityPoolBlock = this.firstBlock.getSubAllocation(SharedSpatialGrid.ALLOCATE_COUNT, entityPoolAllocateCount);\n\t\t\tthis.entityPool = new SharedPool<CoordArray>(memory, { firstBlock: entityPoolBlock, ...entityPoolConfig });\n\t\t\tstoreRawPointer(this.firstBlock.data, ENTITY_POOL_POINTER_INDEX, entityPoolBlock.pointer);\n\n\t\t\tlet slotPoolBlock = this.firstBlock.getSubAllocation(SharedSpatialGrid.ALLOCATE_COUNT + entityPoolAllocateCount, slotPoolAllocateCount);\n\t\t\tthis.slotPool = new SharedPool<CoordArray>(memory, { firstBlock: slotPoolBlock, ...slotPoolConfig });\n\t\t\tstoreRawPointer(this.firstBlock.data, SLOT_POOL_POINTER_INDEX, slotPoolBlock.pointer);\n\n\t\t\tlet mapBlock = this.firstBlock.getSubAllocation(SharedSpatialGrid.ALLOCATE_COUNT + entityPoolAllocateCount + slotPoolAllocateCount, 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.originX = boundsView[0];\n\t\tthis.originY = boundsView[1];\n\t\tthis.rootWidth = boundsView[2];\n\t\tthis.rootHeight = boundsView[3];\n\t\tthis.cellSize = boundsView[4];\n\n\t\tlet cellBlock = new AllocatedMemory(memory, getPointer(loadRawPointer(this.firstBlock.data, CELL_POINTER_INDEX), memory.positionBits));\n\t\tthis.cellInts = new Int32Array(cellBlock.data.buffer, cellBlock.bufferByteOffset, this.cellCount * CELL_SIZE);\n\t\tthis.cellHeads = new Uint32Array(cellBlock.data.buffer, cellBlock.bufferByteOffset, this.cellCount * CELL_SIZE);\n\t}\n\n\tget pointer(): number {\n\t\treturn this.firstBlock.pointer;\n\t}\n\n\tget usedMemory(): number {\n\t\tlet cellBlock = new AllocatedMemory(this.memory, getPointer(loadRawPointer(this.firstBlock.data, CELL_POINTER_INDEX), this.memory.positionBits));\n\t\treturn this.firstBlock.usedMemory + cellBlock.usedMemory + this.entityPool.usedMemory + this.slotPool.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 minCol = this.colOf(x);\n\t\tlet minRow = this.rowOf(y);\n\t\tlet maxCol = this.colOf(x + width);\n\t\tlet maxRow = this.rowOf(y + height);\n\n\t\tlet entity = this.entityScratch;\n\t\tentity[ENTITY_MIN_COL] = minCol;\n\t\tentity[ENTITY_MIN_ROW] = minRow;\n\t\tentity[ENTITY_MAX_COL] = maxCol;\n\t\tentity[ENTITY_MAX_ROW] = maxRow;\n\t\tentity[ENTITY_X] = x;\n\t\tentity[ENTITY_Y] = y;\n\t\tentity[ENTITY_WIDTH] = width;\n\t\tentity[ENTITY_HEIGHT] = height;\n\t\tlet entityIndex = this.entityPool.push(entity);\n\t\tthis.idMap.set(id, entityIndex);\n\n\t\tthis.linkRange(id, minCol, minRow, maxCol, maxRow);\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 = 0;\n\t\tlet newSlotCount = 0;\n\t\tfor(let i = 0; i < unique.length; i++) {\n\t\t\tif(existing[i] === undefined) {\n\t\t\t\tlet entity = unique[i];\n\t\t\t\tnewCount++;\n\t\t\t\tnewSlotCount += (this.colOf(entity.x + (entity.width ?? 0)) - this.colOf(entity.x) + 1)\n\t\t\t\t\t* (this.rowOf(entity.y + (entity.height ?? 0)) - this.rowOf(entity.y) + 1);\n\t\t\t}\n\t\t}\n\t\tlet nextEntityIndex = this.entityPool.reserveContiguous(newCount);\n\t\tlet nextSlotIndex = this.slotPool.reserveContiguous(newSlotCount);\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 minCol = this.colOf(entity.x);\n\t\t\tlet minRow = this.rowOf(entity.y);\n\t\t\tlet maxCol = this.colOf(entity.x + width);\n\t\t\tlet maxRow = this.rowOf(entity.y + height);\n\t\t\tlet entityIndex = nextEntityIndex++;\n\t\t\tlet block = this.entityPool.blockFor(entityIndex);\n\t\t\tlet offset = this.entityPool.blockOffset(entityIndex);\n\t\t\tblock[offset + ENTITY_MIN_COL] = minCol;\n\t\t\tblock[offset + ENTITY_MIN_ROW] = minRow;\n\t\t\tblock[offset + ENTITY_MAX_COL] = maxCol;\n\t\t\tblock[offset + ENTITY_MAX_ROW] = maxRow;\n\t\t\tblock[offset + ENTITY_X] = entity.x;\n\t\t\tblock[offset + ENTITY_Y] = entity.y;\n\t\t\tblock[offset + ENTITY_WIDTH] = width;\n\t\t\tblock[offset + ENTITY_HEIGHT] = height;\n\t\t\tmappings.push([entity.id, entityIndex]);\n\t\t\tfor(let row = minRow; row <= maxRow; row++) {\n\t\t\t\tlet rowBase = row * this.cols;\n\t\t\t\tfor(let col = minCol; col <= maxCol; col++) {\n\t\t\t\t\tthis.linkReservedCell(rowBase + col, nextSlotIndex++, entity.id, minCol, minRow);\n\t\t\t\t}\n\t\t\t}\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 record is stable until we lock its cell(s).\n\tupdate(id: number, x: number, y: number, width = 0, height = 0) {\n\t\tlet entityIndex = this.idMap.get(id);\n\t\tif(entityIndex === undefined) {\n\t\t\tthis.insert(id, x, y, width, height);\n\t\t\treturn;\n\t\t}\n\n\t\tlet block = this.entityPool.blockFor(entityIndex);\n\t\tlet off = this.entityPool.blockOffset(entityIndex);\n\t\tlet oldMinCol = block[off + ENTITY_MIN_COL];\n\t\tlet oldMinRow = block[off + ENTITY_MIN_ROW];\n\t\tlet oldMaxCol = block[off + ENTITY_MAX_COL];\n\t\tlet oldMaxRow = block[off + ENTITY_MAX_ROW];\n\n\t\tlet minCol = this.colOf(x);\n\t\tlet minRow = this.rowOf(y);\n\t\tlet maxCol = this.colOf(x + width);\n\t\tlet maxRow = this.rowOf(y + height);\n\n\t\t// Same cell rectangle: membership is unchanged, but neighbors still needs the new exact rectangle.\n\t\tif(minCol === oldMinCol && minRow === oldMinRow && maxCol === oldMaxCol && maxRow === oldMaxRow) {\n\t\t\tblock[off + ENTITY_X] = x;\n\t\t\tblock[off + ENTITY_Y] = y;\n\t\t\tblock[off + ENTITY_WIDTH] = width;\n\t\t\tblock[off + ENTITY_HEIGHT] = height;\n\t\t\treturn;\n\t\t}\n\n\t\tthis.relinkRange(id, minCol, minRow, maxCol, maxRow, oldMinCol, oldMinRow, oldMaxCol, oldMaxRow);\n\n\t\tblock[off + ENTITY_MIN_COL] = minCol;\n\t\tblock[off + ENTITY_MIN_ROW] = minRow;\n\t\tblock[off + ENTITY_MAX_COL] = maxCol;\n\t\tblock[off + ENTITY_MAX_ROW] = maxRow;\n\t\tblock[off + ENTITY_X] = x;\n\t\tblock[off + ENTITY_Y] = y;\n\t\tblock[off + ENTITY_WIDTH] = width;\n\t\tblock[off + ENTITY_HEIGHT] = height;\n\t}\n\n\tremove(id: number): boolean {\n\t\tlet entityIndex = this.idMap.get(id);\n\t\tif(entityIndex === undefined) {\n\t\t\treturn false;\n\t\t}\n\n\t\tlet block = this.entityPool.blockFor(entityIndex);\n\t\tlet off = this.entityPool.blockOffset(entityIndex);\n\t\tthis.unlinkRange(id, block[off + ENTITY_MIN_COL], block[off + ENTITY_MIN_ROW], block[off + ENTITY_MAX_COL], block[off + ENTITY_MAX_ROW]);\n\n\t\tthis.entityPool.deleteIndex(entityIndex);\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 occupying a cell that overlaps the query rect. Each entity is returned at most\n\t// once (see the anchor-cell dedup in collectCell); the caller does the narrow-phase overlap check.\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\tlet qMinCol = this.colOf(x);\n\t\tlet qMinRow = this.rowOf(y);\n\t\tlet qMaxCol = this.colOf(x + width);\n\t\tlet qMaxRow = this.rowOf(y + height);\n\n\t\tlet cols = this.cols;\n\t\tlet cellHeads = this.cellHeads;\n\t\tlet nullIndex = this.nullIndex;\n\t\tfor(let row = qMinRow; row <= qMaxRow; row++) {\n\t\t\tlet rowBase = row * cols;\n\t\t\tfor(let col = qMinCol; col <= qMaxCol; col++) {\n\t\t\t\tlet cell = rowBase + col;\n\t\t\t\t// Inline the empty-bucket peek (the common case) so an empty cell never pays for a method call - most cells in\n\t\t\t\t// a typical query are empty, so this skip dominates query cost.\n\t\t\t\tif(cellHeads[cell * CELL_SIZE + CELL_HEAD_OFFSET] === nullIndex) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\t\t\t\tthis.collectCell(out, cell, col, row, qMinCol, qMinRow);\n\t\t\t}\n\t\t}\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\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.neighborsBestFirst(x, y, maxResults, maxDistanceSquared, filter);\n\t\t}\n\t\tlet cellIds: Array<number> = [];\n\t\tlet startCol = this.colOf(x);\n\t\tlet startRow = this.rowOf(y);\n\t\tlet nearest: NearestNeighbor = { id: undefined, distance: maxDistanceSquared };\n\t\tlet visit = (col: number, row: number) => {\n\t\t\tlet cell = row * this.cols + col;\n\t\t\tif(filter === undefined) {\n\t\t\t\tthis.collectNearestCell(nearest, cell, x, y);\n\t\t\t\treturn;\n\t\t\t}\n\t\t\tcellIds.length = 0;\n\t\t\tthis.collectNeighborCell(cellIds, cell);\n\t\t\tfor(let id of cellIds) {\n\t\t\t\tif(!filter(id)) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\t\t\t\tlet entityIndex = this.idMap.get(id);\n\t\t\t\tif(entityIndex !== undefined) {\n\t\t\t\t\tlet entity = this.entityPool.blockFor(entityIndex);\n\t\t\t\t\tlet entityOffset = this.entityPool.blockOffset(entityIndex);\n\t\t\t\t\tlet minX = entity[entityOffset + ENTITY_X];\n\t\t\t\t\tlet minY = entity[entityOffset + ENTITY_Y];\n\t\t\t\t\tlet distance = distanceSquaredToRect(\n\t\t\t\t\t\tx, y, minX, minY,\n\t\t\t\t\t\tminX + entity[entityOffset + ENTITY_WIDTH], minY + entity[entityOffset + ENTITY_HEIGHT],\n\t\t\t\t\t);\n\t\t\t\t\tif(distance < nearest.distance || (distance === nearest.distance && (nearest.id === undefined || id < nearest.id))) {\n\t\t\t\t\t\tnearest.id = id;\n\t\t\t\t\t\tnearest.distance = distance;\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t\t}\n\t\t};\n\n\t\tlet maxRadius = Math.max(startCol, this.cols - 1 - startCol, startRow, this.rows - 1 - startRow);\n\t\tfor(let radius = 0; radius <= maxRadius; radius++) {\n\t\t\tif(this.gridRingDistanceSquared(x, y, startCol, startRow, radius) > nearest.distance) {\n\t\t\t\tbreak;\n\t\t\t}\n\t\t\tif(radius === 0) {\n\t\t\t\tvisit(startCol, startRow);\n\t\t\t\tcontinue;\n\t\t\t}\n\t\t\tlet minCol = Math.max(0, startCol - radius);\n\t\t\tlet maxCol = Math.min(this.cols - 1, startCol + radius);\n\t\t\tlet top = startRow - radius;\n\t\t\tlet bottom = startRow + radius;\n\t\t\tif(top >= 0) {\n\t\t\t\tfor(let col = minCol; col <= maxCol; col++) {\n\t\t\t\t\tvisit(col, top);\n\t\t\t\t}\n\t\t\t}\n\t\t\tif(bottom < this.rows) {\n\t\t\t\tfor(let col = minCol; col <= maxCol; col++) {\n\t\t\t\t\tvisit(col, bottom);\n\t\t\t\t}\n\t\t\t}\n\t\t\tlet minRow = Math.max(0, startRow - radius + 1);\n\t\t\tlet maxRow = Math.min(this.rows - 1, startRow + radius - 1);\n\t\t\tlet left = startCol - radius;\n\t\t\tlet right = startCol + radius;\n\t\t\tif(left >= 0) {\n\t\t\t\tfor(let row = minRow; row <= maxRow; row++) {\n\t\t\t\t\tvisit(left, row);\n\t\t\t\t}\n\t\t\t}\n\t\t\tif(right < this.cols) {\n\t\t\t\tfor(let row = minRow; row <= maxRow; row++) {\n\t\t\t\t\tvisit(right, row);\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\n\t\treturn nearest.id === undefined ? [] : [nearest.id];\n\t}\n\n\tprivate neighborsBestFirst(\n\t\tx: number, y: number, maxResults: number, maxDistanceSquared: number,\n\t\tfilter: ((id: number) => boolean) | undefined,\n\t): Array<number> {\n\t\tlet candidates: Array<NeighborCandidate> = [];\n\t\tlet cellIds: Array<number> = [];\n\t\tlet seenEntities = new Set<number>();\n\t\tlet seenCells = new Uint8Array(this.cellCount);\n\t\tlet queue = new MinPriorityQueue<number>();\n\t\tlet enqueue = (col: number, row: number) => {\n\t\t\tif(col < 0 || col >= this.cols || row < 0 || row >= this.rows) {\n\t\t\t\treturn;\n\t\t\t}\n\t\t\tlet cell = row * this.cols + col;\n\t\t\tif(seenCells[cell] !== 0) {\n\t\t\t\treturn;\n\t\t\t}\n\t\t\tseenCells[cell] = 1;\n\t\t\tlet minX = this.originX + col * this.cellSize;\n\t\t\tlet minY = this.originY + row * this.cellSize;\n\t\t\tqueue.push(cell, distanceSquaredToRect(x, y, minX, minY, minX + this.cellSize, minY + this.cellSize));\n\t\t};\n\t\tenqueue(this.colOf(x), this.rowOf(y));\n\t\twhile(queue.length > 0 && queue.priority <= candidateLimit(candidates, maxResults, maxDistanceSquared)) {\n\t\t\tlet cell = queue.pop();\n\t\t\tif(cell === undefined) {\n\t\t\t\tbreak;\n\t\t\t}\n\t\t\tcellIds.length = 0;\n\t\t\tthis.collectNeighborCell(cellIds, cell);\n\t\t\tfor(let id of cellIds) {\n\t\t\t\tif(seenEntities.has(id)) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\t\t\t\tseenEntities.add(id);\n\t\t\t\tif(filter !== undefined && !filter(id)) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\t\t\t\tlet entityIndex = this.idMap.get(id);\n\t\t\t\tif(entityIndex === undefined) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\t\t\t\tlet entity = this.entityPool.blockFor(entityIndex);\n\t\t\t\tlet entityOffset = this.entityPool.blockOffset(entityIndex);\n\t\t\t\tlet minX = entity[entityOffset + ENTITY_X];\n\t\t\t\tlet minY = entity[entityOffset + ENTITY_Y];\n\t\t\t\tlet distance = distanceSquaredToRect(\n\t\t\t\t\tx, y, minX, minY,\n\t\t\t\t\tminX + entity[entityOffset + ENTITY_WIDTH], minY + entity[entityOffset + ENTITY_HEIGHT],\n\t\t\t\t);\n\t\t\t\tif(distance <= maxDistanceSquared) {\n\t\t\t\t\taddCandidate(candidates, id, distance, maxResults);\n\t\t\t\t}\n\t\t\t}\n\t\t\tlet col = cell % this.cols;\n\t\t\tlet row = Math.floor(cell / this.cols);\n\t\t\tenqueue(col - 1, row);\n\t\t\tenqueue(col + 1, row);\n\t\t\tenqueue(col, row - 1);\n\t\t\tenqueue(col, row + 1);\n\t\t}\n\t\treturn candidates.map(candidate => candidate.id);\n\t}\n\n\tclear() {\n\t\tfor(let i = 0; i < this.cellCount; i++) {\n\t\t\tthis.cellHeads[i * CELL_SIZE + CELL_HEAD_OFFSET] = this.nullIndex;\n\t\t}\n\t\tthis.entityPool.clear();\n\t\tthis.slotPool.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 cellBlock = new AllocatedMemory(this.memory, getPointer(loadRawPointer(this.firstBlock.data, CELL_POINTER_INDEX), this.memory.positionBits));\n\t\tcellBlock.free();\n\t\tthis.entityPool.free();\n\t\tthis.slotPool.free();\n\t\tthis.idMap.free();\n\t\tthis.firstBlock.free();\n\t}\n\n\tgetSharedMemory(): SharedSpatialGridMemory {\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\t5,\n\t\t) as CoordArray;\n\t}\n\n\tprivate colOf(x: number): number {\n\t\tlet col = Math.floor((x - this.originX) / this.cellSize);\n\t\treturn col < 0 ? 0 : col >= this.cols ? this.cols - 1 : col;\n\t}\n\tprivate rowOf(y: number): number {\n\t\tlet row = Math.floor((y - this.originY) / this.cellSize);\n\t\treturn row < 0 ? 0 : row >= this.rows ? this.rows - 1 : row;\n\t}\n\n\tprivate gridRingDistanceSquared(x: number, y: number, centerCol: number, centerRow: number, radius: number): number {\n\t\tif(radius === 0) {\n\t\t\tlet minX = this.originX + centerCol * this.cellSize;\n\t\t\tlet minY = this.originY + centerRow * this.cellSize;\n\t\t\treturn distanceSquaredToRect(x, y, minX, minY, minX + this.cellSize, minY + this.cellSize);\n\t\t}\n\n\t\tlet minDistance = Infinity;\n\t\tlet minCol = Math.max(0, centerCol - radius);\n\t\tlet maxCol = Math.min(this.cols - 1, centerCol + radius);\n\t\tlet minRow = Math.max(0, centerRow - radius);\n\t\tlet maxRow = Math.min(this.rows - 1, centerRow + radius);\n\t\tlet left = centerCol - radius;\n\t\tlet right = centerCol + radius;\n\t\tlet top = centerRow - radius;\n\t\tlet bottom = centerRow + radius;\n\t\tlet cellSize = this.cellSize;\n\t\tlet originX = this.originX;\n\t\tlet originY = this.originY;\n\t\tif(top >= 0) {\n\t\t\tminDistance = distanceSquaredToRect(\n\t\t\t\tx, y, originX + minCol * cellSize, originY + top * cellSize,\n\t\t\t\toriginX + (maxCol + 1) * cellSize, originY + (top + 1) * cellSize,\n\t\t\t);\n\t\t}\n\t\tif(bottom < this.rows) {\n\t\t\tminDistance = Math.min(minDistance, distanceSquaredToRect(\n\t\t\t\tx, y, originX + minCol * cellSize, originY + bottom * cellSize,\n\t\t\t\toriginX + (maxCol + 1) * cellSize, originY + (bottom + 1) * cellSize,\n\t\t\t));\n\t\t}\n\t\tif(left >= 0) {\n\t\t\tminDistance = Math.min(minDistance, distanceSquaredToRect(\n\t\t\t\tx, y, originX + left * cellSize, originY + minRow * cellSize,\n\t\t\t\toriginX + (left + 1) * cellSize, originY + (maxRow + 1) * cellSize,\n\t\t\t));\n\t\t}\n\t\tif(right < this.cols) {\n\t\t\tminDistance = Math.min(minDistance, distanceSquaredToRect(\n\t\t\t\tx, y, originX + right * cellSize, originY + minRow * cellSize,\n\t\t\t\toriginX + (right + 1) * cellSize, originY + (maxRow + 1) * cellSize,\n\t\t\t));\n\t\t}\n\t\treturn minDistance;\n\t}\n\n\t// Push one slot into each cell of the rectangle, carrying the entity's top-left cell as the dedup anchor. Every slot\n\t// carries the same record, so the scratch is filled once before the loop.\n\tprivate linkRange(id: number, minCol: number, minRow: number, maxCol: number, maxRow: number) {\n\t\tlet slot = this.slotScratch;\n\t\tslot[SLOT_ID] = id;\n\t\tslot[SLOT_ANCHOR_COL] = minCol;\n\t\tslot[SLOT_ANCHOR_ROW] = minRow;\n\t\tslot[SLOT_NEXT] = this.nullIndex;\n\n\t\tlet cols = this.cols;\n\t\tfor(let row = minRow; row <= maxRow; row++) {\n\t\t\tlet rowBase = row * cols;\n\t\t\tfor(let col = minCol; col <= maxCol; col++) {\n\t\t\t\tthis.linkIntoCell(rowBase + col, slot);\n\t\t\t}\n\t\t}\n\t}\n\n\t// Push a fresh slot carrying the given record onto the head of one cell's bucket.\n\tprivate linkIntoCell(cell: number, slot: Array<number>) {\n\t\tlet pool = this.slotPool;\n\t\tlet cellInts = this.cellInts;\n\t\tlet cellHeads = this.cellHeads;\n\t\tlet slotIndex = pool.push(slot);\n\t\tlet lockIndex = cell * CELL_SIZE + CELL_LOCK_OFFSET;\n\t\tlet headIndex = cell * CELL_SIZE + CELL_HEAD_OFFSET;\n\t\tlock(cellInts, lockIndex);\n\t\tpool.set(slotIndex, SLOT_NEXT, cellHeads[headIndex]);\n\t\tcellHeads[headIndex] = slotIndex;\n\t\tunlock(cellInts, lockIndex);\n\t}\n\n\t// Move an entity's slots from its old cell rectangle to a new one, touching only the cells that actually change. A cell\n\t// in both rectangles keeps its slot and just gets its anchor refreshed; new-only cells are linked before old-only cells\n\t// are unlinked, so a query racing the move never sees the entity in neither rectangle. Doing it this way (rather than\n\t// linkRange(new) + unlinkRange(old)) is what keeps overlap cells correct: unlinkRange matches by id and would splice out\n\t// the freshly linked slot in an overlap cell, leaving the stale one behind and corrupting the dedup anchor.\n\tprivate relinkRange(id: number, minCol: number, minRow: number, maxCol: number, maxRow: number, oldMinCol: number, oldMinRow: number, oldMaxCol: number, oldMaxRow: number) {\n\t\tlet ovMinCol = minCol > oldMinCol ? minCol : oldMinCol;\n\t\tlet ovMaxCol = maxCol < oldMaxCol ? maxCol : oldMaxCol;\n\t\tlet ovMinRow = minRow > oldMinRow ? minRow : oldMinRow;\n\t\tlet ovMaxRow = maxRow < oldMaxRow ? maxRow : oldMaxRow;\n\t\tlet hasOverlap = ovMinCol <= ovMaxCol && ovMinRow <= ovMaxRow;\n\n\t\tlet slot = this.slotScratch;\n\t\tslot[SLOT_ID] = id;\n\t\tslot[SLOT_ANCHOR_COL] = minCol;\n\t\tslot[SLOT_ANCHOR_ROW] = minRow;\n\t\tslot[SLOT_NEXT] = this.nullIndex;\n\n\t\tlet cols = this.cols;\n\t\tfor(let row = minRow; row <= maxRow; row++) {\n\t\t\tlet inOverlapRow = hasOverlap && row >= ovMinRow && row <= ovMaxRow;\n\t\t\tlet rowBase = row * cols;\n\t\t\tfor(let col = minCol; col <= maxCol; col++) {\n\t\t\t\tlet cell = rowBase + col;\n\t\t\t\tif(inOverlapRow && col >= ovMinCol && col <= ovMaxCol) {\n\t\t\t\t\tthis.refreshAnchorInCell(cell, id, minCol, minRow);\n\t\t\t\t} else {\n\t\t\t\t\tthis.linkIntoCell(cell, slot);\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\n\t\tlet nullIndex = this.nullIndex;\n\t\tlet pool = this.slotPool;\n\t\tfor(let row = oldMinRow; row <= oldMaxRow; row++) {\n\t\t\tlet inOverlapRow = hasOverlap && row >= ovMinRow && row <= ovMaxRow;\n\t\t\tlet rowBase = row * cols;\n\t\t\tfor(let col = oldMinCol; col <= oldMaxCol; col++) {\n\t\t\t\tif(inOverlapRow && col >= ovMinCol && col <= ovMaxCol) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\t\t\t\tlet slotIndex = this.unlinkFromCell(rowBase + col, id);\n\t\t\t\tif(slotIndex !== nullIndex) {\n\t\t\t\t\tpool.deleteIndex(slotIndex);\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\t}\n\n\t// Refresh the anchor on this entity's slot already linked into the cell (single writer per id, so it is present).\n\tprivate refreshAnchorInCell(cell: number, id: number, anchorCol: number, anchorRow: number) {\n\t\tlet nullIndex = this.nullIndex;\n\t\tlet cellInts = this.cellInts;\n\t\tlet lockIndex = cell * CELL_SIZE + CELL_LOCK_OFFSET;\n\t\tlock(cellInts, lockIndex);\n\t\tlet pool = this.slotPool;\n\t\tlet index = this.cellHeads[cell * CELL_SIZE + CELL_HEAD_OFFSET];\n\t\twhile(index !== nullIndex) {\n\t\t\tlet block = pool.blockFor(index);\n\t\t\tlet off = pool.blockOffset(index);\n\t\t\tif(block[off + SLOT_ID] === id) {\n\t\t\t\tblock[off + SLOT_ANCHOR_COL] = anchorCol;\n\t\t\t\tblock[off + SLOT_ANCHOR_ROW] = anchorRow;\n\t\t\t\tbreak;\n\t\t\t}\n\t\t\tindex = block[off + SLOT_NEXT];\n\t\t}\n\t\tunlock(cellInts, lockIndex);\n\t}\n\n\t// Remove and recycle this entity's slot from each cell of the rectangle.\n\tprivate unlinkRange(id: number, minCol: number, minRow: number, maxCol: number, maxRow: number) {\n\t\tlet cols = this.cols;\n\t\tlet nullIndex = this.nullIndex;\n\t\tlet pool = this.slotPool;\n\t\tfor(let row = minRow; row <= maxRow; row++) {\n\t\t\tlet rowBase = row * cols;\n\t\t\tfor(let col = minCol; col <= maxCol; col++) {\n\t\t\t\tlet slotIndex = this.unlinkFromCell(rowBase + col, id);\n\t\t\t\tif(slotIndex !== nullIndex) {\n\t\t\t\t\tpool.deleteIndex(slotIndex);\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\t}\n\n\t// Caller has already peeked the head unlocked and skipped empty cells (an empty bucket has nothing to read, so the lock\n\t// and its atomics would be pure overhead). Taking the lock only to walk a non-empty bucket preserves the snapshot\n\t// guarantee - a concurrent insert we race is simply not in this snapshot.\n\tprivate collectCell(out: Array<number>, cell: number, col: number, row: number, qMinCol: number, qMinRow: number) {\n\t\tlet nullIndex = this.nullIndex;\n\t\tlet cellInts = this.cellInts;\n\t\tlet headIndex = cell * CELL_SIZE + CELL_HEAD_OFFSET;\n\t\tlet lockIndex = cell * CELL_SIZE + CELL_LOCK_OFFSET;\n\t\tlock(cellInts, lockIndex);\n\t\tlet index = this.cellHeads[headIndex];\n\t\tlet pool = this.slotPool;\n\t\twhile(index !== nullIndex) {\n\t\t\t// One chunk resolve per slot covers every field it reads\n\t\t\tlet block = pool.blockFor(index);\n\t\t\tlet off = pool.blockOffset(index);\n\t\t\t// Emit only from the entity's top-left cell that intersects this query, so a multi-cell entity is returned once.\n\t\t\tlet anchorCol = block[off + SLOT_ANCHOR_COL];\n\t\t\tlet anchorRow = block[off + SLOT_ANCHOR_ROW];\n\t\t\tlet tlCol = anchorCol > qMinCol ? anchorCol : qMinCol;\n\t\t\tlet tlRow = anchorRow > qMinRow ? anchorRow : qMinRow;\n\t\t\tif(col === tlCol && row === tlRow) {\n\t\t\t\tout.push(block[off + SLOT_ID]);\n\t\t\t}\n\t\t\tindex = block[off + SLOT_NEXT];\n\t\t}\n\t\tunlock(cellInts, lockIndex);\n\t}\n\n\tprivate linkReservedCell(cell: number, slotIndex: number, id: number, anchorCol: number, anchorRow: number) {\n\t\tlet pool = this.slotPool;\n\t\tlet block = pool.blockFor(slotIndex);\n\t\tlet offset = pool.blockOffset(slotIndex);\n\t\tblock[offset + SLOT_ID] = id;\n\t\tblock[offset + SLOT_ANCHOR_COL] = anchorCol;\n\t\tblock[offset + SLOT_ANCHOR_ROW] = anchorRow;\n\t\tlet lockIndex = cell * CELL_SIZE + CELL_LOCK_OFFSET;\n\t\tlock(this.cellInts, lockIndex);\n\t\tlet headIndex = cell * CELL_SIZE + CELL_HEAD_OFFSET;\n\t\tblock[offset + SLOT_NEXT] = this.cellHeads[headIndex];\n\t\tthis.cellHeads[headIndex] = slotIndex;\n\t\tunlock(this.cellInts, lockIndex);\n\t}\n\n\tprivate collectNeighborCell(out: Array<number>, cell: number) {\n\t\tlet headIndex = cell * CELL_SIZE + CELL_HEAD_OFFSET;\n\t\tif(this.cellHeads[headIndex] === this.nullIndex) {\n\t\t\treturn;\n\t\t}\n\t\tlet lockIndex = cell * CELL_SIZE + CELL_LOCK_OFFSET;\n\t\tlock(this.cellInts, lockIndex);\n\t\tlet index = this.cellHeads[headIndex];\n\t\twhile(index !== this.nullIndex) {\n\t\t\tlet block = this.slotPool.blockFor(index);\n\t\t\tlet off = this.slotPool.blockOffset(index);\n\t\t\tout.push(block[off + SLOT_ID]);\n\t\t\tindex = block[off + SLOT_NEXT];\n\t\t}\n\t\tunlock(this.cellInts, lockIndex);\n\t}\n\n\tprivate collectNearestCell(nearest: NearestNeighbor, cell: number, x: number, y: number) {\n\t\tlet headIndex = cell * CELL_SIZE + CELL_HEAD_OFFSET;\n\t\tif(this.cellHeads[headIndex] === this.nullIndex) {\n\t\t\treturn;\n\t\t}\n\t\tlet lockIndex = cell * CELL_SIZE + CELL_LOCK_OFFSET;\n\t\tlock(this.cellInts, lockIndex);\n\t\tlet index = this.cellHeads[headIndex];\n\t\twhile(index !== this.nullIndex) {\n\t\t\tlet slot = this.slotPool.blockFor(index);\n\t\t\tlet slotOffset = this.slotPool.blockOffset(index);\n\t\t\tlet id = slot[slotOffset + SLOT_ID];\n\t\t\tlet entityIndex = this.idMap.get(id);\n\t\t\tif(entityIndex !== undefined) {\n\t\t\t\tlet entity = this.entityPool.blockFor(entityIndex);\n\t\t\t\tlet entityOffset = this.entityPool.blockOffset(entityIndex);\n\t\t\t\tlet minX = entity[entityOffset + ENTITY_X];\n\t\t\t\tlet minY = entity[entityOffset + ENTITY_Y];\n\t\t\t\tlet distance = distanceSquaredToRect(\n\t\t\t\t\tx, y, minX, minY,\n\t\t\t\t\tminX + entity[entityOffset + ENTITY_WIDTH], minY + entity[entityOffset + ENTITY_HEIGHT],\n\t\t\t\t);\n\t\t\t\tif(distance < nearest.distance\n\t\t\t\t\t|| (distance === nearest.distance && (nearest.id === undefined || id < nearest.id))) {\n\t\t\t\t\tnearest.id = id;\n\t\t\t\t\tnearest.distance = distance;\n\t\t\t\t}\n\t\t\t}\n\t\t\tindex = slot[slotOffset + SLOT_NEXT];\n\t\t}\n\t\tunlock(this.cellInts, lockIndex);\n\t}\n\n\t// Splice this entity's slot out of the cell's bucket and return its index (nullIndex if the cell held no slot for it).\n\tprivate unlinkFromCell(cell: number, id: number): number {\n\t\tlet nullIndex = this.nullIndex;\n\t\tlet cellInts = this.cellInts;\n\t\tlet cellHeads = this.cellHeads;\n\t\tlet lockIndex = cell * CELL_SIZE + CELL_LOCK_OFFSET;\n\t\tlock(cellInts, lockIndex);\n\t\tlet headIndex = cell * CELL_SIZE + CELL_HEAD_OFFSET;\n\t\tlet pool = this.slotPool;\n\n\t\tlet prev = nullIndex;\n\t\tlet index = cellHeads[headIndex];\n\t\twhile(index !== nullIndex) {\n\t\t\t// One chunk resolve per slot covers both fields it reads\n\t\t\tlet block = pool.blockFor(index);\n\t\t\tlet off = pool.blockOffset(index);\n\t\t\tlet next = block[off + SLOT_NEXT];\n\t\t\tif(block[off + SLOT_ID] === id) {\n\t\t\t\tif(prev === nullIndex) {\n\t\t\t\t\tcellHeads[headIndex] = next;\n\t\t\t\t} else {\n\t\t\t\t\tpool.set(prev, SLOT_NEXT, next);\n\t\t\t\t}\n\t\t\t\tunlock(cellInts, lockIndex);\n\t\t\t\treturn index;\n\t\t\t}\n\t\t\tprev = index;\n\t\t\tindex = next;\n\t\t}\n\n\t\tunlock(cellInts, lockIndex);\n\t\treturn nullIndex;\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('SharedSpatialGrid 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 SpatialGridBounds {\n\tx: number\n\ty: number\n\twidth: number\n\theight: number\n}\ninterface SharedSpatialGridConfig {\n\tbounds: SpatialGridBounds\n\tgridSize?: number\n\tmaxEntities?: number\n\tmaxSlots?: number\n\ttype?: CoordArrayConstructor\n}\ninterface SharedSpatialGridMemory {\n\tfirstBlock: SharedAllocatedMemory\n}\n\nexport type { SharedSpatialGridConfig, SharedSpatialGridMemory, SpatialGridBounds, SpatialEntity 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+{"version":3,"file":"shared-spatial-grid.js","names":["AllocatedMemory","SharedPool","SharedMap","CELL_POINTER_INDEX","ENTITY_POOL_POINTER_INDEX","SLOT_POOL_POINTER_INDEX","MAP_POINTER_INDEX","COLS_INDEX","ROWS_INDEX","CELL_COUNT_INDEX","TYPE_INDEX","BOUNDS_INDEX","CELL_LOCK_OFFSET","CELL_HEAD_OFFSET","CELL_SIZE","SLOT_ID","SLOT_ANCHOR_COL","SLOT_ANCHOR_ROW","SLOT_NEXT","SLOT_FIELDS","ENTITY_MIN_COL","ENTITY_MIN_ROW","ENTITY_MAX_COL","ENTITY_MAX_ROW","ENTITY_X","ENTITY_Y","ENTITY_WIDTH","ENTITY_HEIGHT","ENTITY_FIELDS","FLOAT32_LIMIT","FLOAT32_NULL_INDEX","FLOAT64_NULL_INDEX","DEFAULT_GRID_SIZE","DEFAULT_MAX_ENTITIES","DEFAULT_SLOTS_PER_ENTITY","DEFAULT_COORD_TYPE","SharedSpatialGrid","memory","config","getPointer","loadRawPointer","nullIndexFor","bounds","gridSize","maxEntities","maxSlots","getCoordTypeCode","ARRAY_TYPE","entityPoolConfig","getCoordTypeConstructor","getSpatialPoolChunkSize","getByteMultipler","slotPoolConfig","entityPoolAllocateCount","slotPoolAllocateCount","mapAllocateCount","boundsView","cellBlock","heads","i","entityPoolBlock","storeRawPointer","slotPoolBlock","mapBlock","getSpatialMapCapacity","id","x","y","width","height","minCol","minRow","maxCol","maxRow","entity","entityIndex","byId","entities","unique","existing","mappings","newCount","newSlotCount","nextEntityIndex","nextSlotIndex","block","offset","row","rowBase","col","off","oldMinCol","oldMinRow","oldMaxCol","oldMaxRow","out","filter","start","qMinCol","qMinRow","qMaxCol","qMaxRow","cols","cellHeads","nullIndex","cell","write","read","maxResults","maxDistance","maxDistanceSquared","cellIds","startCol","startRow","nearest","visit","entityOffset","minX","minY","distance","distanceSquaredToRect","maxRadius","radius","top","bottom","left","right","candidates","seenEntities","seenCells","queue","MinPriorityQueue","enqueue","candidateLimit","addCandidate","candidate","keys","key","makeArrayView","centerCol","centerRow","minDistance","cellSize","originX","originY","slot","pool","cellInts","slotIndex","lockIndex","headIndex","lock","unlock","ovMinCol","ovMaxCol","ovMinRow","ovMaxRow","hasOverlap","inOverlapRow","index","anchorCol","anchorRow","slotOffset","prev","next","code","getArrayTypeCode","type","typeCode"],"sources":["../../src/spatial/shared-spatial-grid.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// Uniform fixed-grid spatial index (\"spatial hash grid\") built for concurrent updates from many threads. Like\n// SharedQuadtree it avoids any runtime reshaping - the cols x rows array of cells is allocated once and never changes\n// shape, so concurrency reduces to per-cell content updates and different cells never contend. Locating a cell is O(1)\n// arithmetic instead of a tree descent, which tends to beat the quadtree for evenly distributed, similarly-sized entities.\n//\n// Unlike the quadtree (each entity in exactly one node), a grid entity occupies every cell its rect overlaps - so a large\n// or straddling entity is linked into several cells at once. Each (entity, cell) membership is a \"slot\" record living in a\n// SharedPool; each cell owns an intrusive singly-linked bucket of slots (cell record holds a lock and the head slot index,\n// each slot carries the next index). The entity's occupied cell rectangle is stored once in a separate entity pool, keyed\n// by an id->entityIndex SharedMap, so remove(id) (which only gets an id) knows which cells to unlink from.\n//\n// search returns each entity at most once even though it spans multiple cells: every slot carries the entity's anchor\n// (top-left) cell, and a slot only emits its id when its cell is the top-left cell of the entity that intersects the query\n// (col == max(anchorCol, qMinCol) && row == max(anchorRow, qMinRow)). That cell is always one of the entity's cells and\n// inside the query, so exactly one slot emits - no Set and no per-query mutation, so concurrent queries stay safe.\n//\n// Records are stored at the configured precision. Float32 (the default) keeps everything exact as long as entity ids and\n// both pools' index spaces stay under 2^24 (~16.7M) - every id, pool index, cell index and the NULL sentinel is Float32\n// exact there. Need more (or ids >= 2^24)? Pass type: Float64Array.\n\n// Header (firstBlock) u32 layout\nconst CELL_POINTER_INDEX = 0;\nconst ENTITY_POOL_POINTER_INDEX = 1;\nconst SLOT_POOL_POINTER_INDEX = 2;\nconst MAP_POINTER_INDEX = 3;\nconst COLS_INDEX = 4;\nconst ROWS_INDEX = 5;\nconst CELL_COUNT_INDEX = 6;\nconst TYPE_INDEX = 7;\n// bounds view starts at slot 8 (offset 32 bytes is 8-byte aligned, so a Float64 view is valid): [x, y, width, height, gridSize]\nconst BOUNDS_INDEX = 8;\n\n// Per-cell record: [lock, head]\nconst CELL_LOCK_OFFSET = 0;\nconst CELL_HEAD_OFFSET = 1;\nconst CELL_SIZE = 2;\n\n// Slot record fields (one per entity-cell membership)\nconst SLOT_ID = 0;\nconst SLOT_ANCHOR_COL = 1;\nconst SLOT_ANCHOR_ROW = 2;\nconst SLOT_NEXT = 3;\nconst SLOT_FIELDS = 4;\n\n// Entity record fields: the occupied cell rectangle\nconst ENTITY_MIN_COL = 0;\nconst ENTITY_MIN_ROW = 1;\nconst ENTITY_MAX_COL = 2;\nconst ENTITY_MAX_ROW = 3;\nconst ENTITY_X = 4;\nconst ENTITY_Y = 5;\nconst ENTITY_WIDTH = 6;\nconst ENTITY_HEIGHT = 7;\nconst ENTITY_FIELDS = 8;\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_GRID_SIZE = 50;\nconst DEFAULT_MAX_ENTITIES = 1_000_000;\n// A grid entity can span several cells, so the slot pool needs headroom over the entity count\nconst DEFAULT_SLOTS_PER_ENTITY = 4;\nconst DEFAULT_COORD_TYPE = Float32Array;\n\ntype CoordArray = Float32Array | Float64Array;\ntype CoordArrayConstructor = Float32ArrayConstructor | Float64ArrayConstructor;\n\nexport default class SharedSpatialGrid {\n\tstatic readonly ALLOCATE_COUNT = 18;\n\n\tprivate memory: MemoryHeap;\n\tprivate firstBlock: AllocatedMemory;\n\tprivate entityPool: SharedPool<CoordArray>;\n\tprivate slotPool: SharedPool<CoordArray>;\n\tprivate idMap: SharedMap<number>;\n\n\t// Reused to hand a full record to pool.push without allocating a fresh array per operation (single writer per id)\n\tprivate entityScratch: Array<number> = [0, 0, 0, 0, 0, 0, 0, 0];\n\tprivate slotScratch: Array<number> = [0, 0, 0, 0];\n\n\t// Cell block views over one contiguous region: Int32 for the per-cell locks, Uint32 for the head indexes.\n\tprivate cellInts: Int32Array;\n\tprivate cellHeads: Uint32Array;\n\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\tprivate readonly cols: number;\n\tprivate readonly rows: number;\n\tprivate readonly cellCount: number;\n\t// Grid origin and cell size, read once (stored at the configured precision, math done in float64)\n\tprivate readonly originX: number;\n\tprivate readonly originY: number;\n\tprivate readonly rootWidth: number;\n\tprivate readonly rootHeight: number;\n\tprivate readonly cellSize: 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(): SpatialGridBounds {\n\t\treturn { x: this.originX, y: this.originY, width: this.rootWidth, height: this.rootHeight };\n\t}\n\n\tget gridSize(): number {\n\t\treturn this.cellSize;\n\t}\n\tget columns(): number {\n\t\treturn this.cols;\n\t}\n\tget rowCount(): number {\n\t\treturn this.rows;\n\t}\n\n\t// Element type the records are 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?: SharedSpatialGridConfig | SharedSpatialGridMemory) {\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.entityPool = new SharedPool<CoordArray>(memory, {\n\t\t\t\tfirstBlock: getPointer(loadRawPointer(this.firstBlock.data, ENTITY_POOL_POINTER_INDEX), memory.positionBits),\n\t\t\t});\n\t\t\tthis.slotPool = new SharedPool<CoordArray>(memory, {\n\t\t\t\tfirstBlock: getPointer(loadRawPointer(this.firstBlock.data, SLOT_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.cols = this.firstBlock.data[COLS_INDEX];\n\t\t\tthis.rows = this.firstBlock.data[ROWS_INDEX];\n\t\t\tthis.cellCount = this.firstBlock.data[CELL_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 gridSize = config?.gridSize ?? DEFAULT_GRID_SIZE;\n\t\t\tlet maxEntities = config?.maxEntities ?? DEFAULT_MAX_ENTITIES;\n\t\t\tlet maxSlots = config?.maxSlots ?? maxEntities * DEFAULT_SLOTS_PER_ENTITY;\n\t\t\tthis.coordType = getCoordTypeCode(config?.type);\n\t\t\tthis.nullIndex = nullIndexFor(this.coordType);\n\n\t\t\tthis.cols = Math.max(1, Math.ceil(bounds.width / gridSize));\n\t\t\tthis.rows = Math.max(1, Math.ceil(bounds.height / gridSize));\n\t\t\tthis.cellCount = this.cols * this.rows;\n\n\t\t\tif(this.coordType === ARRAY_TYPE.float32 && (maxEntities > FLOAT32_LIMIT || maxSlots > FLOAT32_LIMIT)) {\n\t\t\t\tthrow new Error(`Float32 SharedSpatialGrid supports at most ${FLOAT32_LIMIT} entities and slots; pass type: Float64Array for more`);\n\t\t\t}\n\n\t\t\t// Inline the two pools' and the id-map's firstBlocks right after the header so the whole spine is one contiguous\n\t\t\t// allocation. The cell block stays separate: it is large and sized independently of these headers.\n\t\t\tlet entityPoolConfig: SharedPoolConfig<CoordArray> = {\n\t\t\t\ttype: getCoordTypeConstructor(this.coordType),\n\t\t\t\tdataLength: ENTITY_FIELDS,\n\t\t\t\tmaxLength: maxEntities,\n\t\t\t\tmaxChunkSize: getSpatialPoolChunkSize(maxEntities, ENTITY_FIELDS, getByteMultipler(this.coordType), memory.maxAllocationLength),\n\t\t\t};\n\t\t\tlet slotPoolConfig: SharedPoolConfig<CoordArray> = {\n\t\t\t\ttype: getCoordTypeConstructor(this.coordType),\n\t\t\t\tdataLength: SLOT_FIELDS,\n\t\t\t\tmaxLength: maxSlots,\n\t\t\t\tmaxChunkSize: getSpatialPoolChunkSize(maxSlots, SLOT_FIELDS, getByteMultipler(this.coordType), memory.maxAllocationLength),\n\t\t\t};\n\t\t\tlet entityPoolAllocateCount = SharedPool.getAllocateCount(memory, entityPoolConfig);\n\t\t\tlet slotPoolAllocateCount = SharedPool.getAllocateCount(memory, slotPoolConfig);\n\t\t\tlet mapAllocateCount = SharedMap.ALLOCATE_COUNT;\n\t\t\tthis.firstBlock = memory.allocUI32(SharedSpatialGrid.ALLOCATE_COUNT + entityPoolAllocateCount + slotPoolAllocateCount + mapAllocateCount);\n\t\t\tthis.firstBlock.data[COLS_INDEX] = this.cols;\n\t\t\tthis.firstBlock.data[ROWS_INDEX] = this.rows;\n\t\t\tthis.firstBlock.data[CELL_COUNT_INDEX] = this.cellCount;\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\t\t\tboundsView[4] = gridSize;\n\n\t\t\t// Cell block must fit one allocation - it is never resized. Every head starts as NULL (calloc leaves them 0, a\n\t\t\t// valid slot index, so they must be initialized explicitly).\n\t\t\tlet cellBlock = memory.allocUI32(this.cellCount * CELL_SIZE);\n\t\t\tlet heads = new Uint32Array(cellBlock.data.buffer, cellBlock.bufferByteOffset, this.cellCount * CELL_SIZE);\n\t\t\tfor(let i = 0; i < this.cellCount; i++) {\n\t\t\t\theads[i * CELL_SIZE + CELL_HEAD_OFFSET] = this.nullIndex;\n\t\t\t}\n\t\t\tstoreRawPointer(this.firstBlock.data, CELL_POINTER_INDEX, cellBlock.pointer);\n\n\t\t\tlet entityPoolBlock = this.firstBlock.getSubAllocation(SharedSpatialGrid.ALLOCATE_COUNT, entityPoolAllocateCount);\n\t\t\tthis.entityPool = new SharedPool<CoordArray>(memory, { firstBlock: entityPoolBlock, ...entityPoolConfig });\n\t\t\tstoreRawPointer(this.firstBlock.data, ENTITY_POOL_POINTER_INDEX, entityPoolBlock.pointer);\n\n\t\t\tlet slotPoolBlock = this.firstBlock.getSubAllocation(SharedSpatialGrid.ALLOCATE_COUNT + entityPoolAllocateCount, slotPoolAllocateCount);\n\t\t\tthis.slotPool = new SharedPool<CoordArray>(memory, { firstBlock: slotPoolBlock, ...slotPoolConfig });\n\t\t\tstoreRawPointer(this.firstBlock.data, SLOT_POOL_POINTER_INDEX, slotPoolBlock.pointer);\n\n\t\t\tlet mapBlock = this.firstBlock.getSubAllocation(SharedSpatialGrid.ALLOCATE_COUNT + entityPoolAllocateCount + slotPoolAllocateCount, 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.originX = boundsView[0];\n\t\tthis.originY = boundsView[1];\n\t\tthis.rootWidth = boundsView[2];\n\t\tthis.rootHeight = boundsView[3];\n\t\tthis.cellSize = boundsView[4];\n\n\t\tlet cellBlock = new AllocatedMemory(memory, getPointer(loadRawPointer(this.firstBlock.data, CELL_POINTER_INDEX), memory.positionBits));\n\t\tthis.cellInts = new Int32Array(cellBlock.data.buffer, cellBlock.bufferByteOffset, this.cellCount * CELL_SIZE);\n\t\tthis.cellHeads = new Uint32Array(cellBlock.data.buffer, cellBlock.bufferByteOffset, this.cellCount * CELL_SIZE);\n\t}\n\n\tget pointer(): number {\n\t\treturn this.firstBlock.pointer;\n\t}\n\n\tget usedMemory(): number {\n\t\tlet cellBlock = new AllocatedMemory(this.memory, getPointer(loadRawPointer(this.firstBlock.data, CELL_POINTER_INDEX), this.memory.positionBits));\n\t\treturn this.firstBlock.usedMemory + cellBlock.usedMemory + this.entityPool.usedMemory + this.slotPool.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 minCol = this.colOf(x);\n\t\tlet minRow = this.rowOf(y);\n\t\tlet maxCol = this.colOf(x + width);\n\t\tlet maxRow = this.rowOf(y + height);\n\n\t\tlet entity = this.entityScratch;\n\t\tentity[ENTITY_MIN_COL] = minCol;\n\t\tentity[ENTITY_MIN_ROW] = minRow;\n\t\tentity[ENTITY_MAX_COL] = maxCol;\n\t\tentity[ENTITY_MAX_ROW] = maxRow;\n\t\tentity[ENTITY_X] = x;\n\t\tentity[ENTITY_Y] = y;\n\t\tentity[ENTITY_WIDTH] = width;\n\t\tentity[ENTITY_HEIGHT] = height;\n\t\tlet entityIndex = this.entityPool.push(entity);\n\t\tthis.idMap.set(id, entityIndex);\n\n\t\tthis.linkRange(id, minCol, minRow, maxCol, maxRow);\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 = 0;\n\t\tlet newSlotCount = 0;\n\t\tfor(let i = 0; i < unique.length; i++) {\n\t\t\tif(existing[i] === undefined) {\n\t\t\t\tlet entity = unique[i];\n\t\t\t\tnewCount++;\n\t\t\t\tnewSlotCount += (this.colOf(entity.x + (entity.width ?? 0)) - this.colOf(entity.x) + 1)\n\t\t\t\t\t* (this.rowOf(entity.y + (entity.height ?? 0)) - this.rowOf(entity.y) + 1);\n\t\t\t}\n\t\t}\n\t\tlet nextEntityIndex = this.entityPool.reserveContiguous(newCount);\n\t\tlet nextSlotIndex = this.slotPool.reserveContiguous(newSlotCount);\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 minCol = this.colOf(entity.x);\n\t\t\tlet minRow = this.rowOf(entity.y);\n\t\t\tlet maxCol = this.colOf(entity.x + width);\n\t\t\tlet maxRow = this.rowOf(entity.y + height);\n\t\t\tlet entityIndex = nextEntityIndex++;\n\t\t\tlet block = this.entityPool.blockFor(entityIndex);\n\t\t\tlet offset = this.entityPool.blockOffset(entityIndex);\n\t\t\tblock[offset + ENTITY_MIN_COL] = minCol;\n\t\t\tblock[offset + ENTITY_MIN_ROW] = minRow;\n\t\t\tblock[offset + ENTITY_MAX_COL] = maxCol;\n\t\t\tblock[offset + ENTITY_MAX_ROW] = maxRow;\n\t\t\tblock[offset + ENTITY_X] = entity.x;\n\t\t\tblock[offset + ENTITY_Y] = entity.y;\n\t\t\tblock[offset + ENTITY_WIDTH] = width;\n\t\t\tblock[offset + ENTITY_HEIGHT] = height;\n\t\t\tmappings.push([entity.id, entityIndex]);\n\t\t\tfor(let row = minRow; row <= maxRow; row++) {\n\t\t\t\tlet rowBase = row * this.cols;\n\t\t\t\tfor(let col = minCol; col <= maxCol; col++) {\n\t\t\t\t\tthis.linkReservedCell(rowBase + col, nextSlotIndex++, entity.id, minCol, minRow);\n\t\t\t\t}\n\t\t\t}\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 record is stable until we lock its cell(s).\n\tupdate(id: number, x: number, y: number, width = 0, height = 0) {\n\t\tlet entityIndex = this.idMap.get(id);\n\t\tif(entityIndex === undefined) {\n\t\t\tthis.insert(id, x, y, width, height);\n\t\t\treturn;\n\t\t}\n\n\t\tlet block = this.entityPool.blockFor(entityIndex);\n\t\tlet off = this.entityPool.blockOffset(entityIndex);\n\t\tlet oldMinCol = block[off + ENTITY_MIN_COL];\n\t\tlet oldMinRow = block[off + ENTITY_MIN_ROW];\n\t\tlet oldMaxCol = block[off + ENTITY_MAX_COL];\n\t\tlet oldMaxRow = block[off + ENTITY_MAX_ROW];\n\n\t\tlet minCol = this.colOf(x);\n\t\tlet minRow = this.rowOf(y);\n\t\tlet maxCol = this.colOf(x + width);\n\t\tlet maxRow = this.rowOf(y + height);\n\n\t\t// Same cell rectangle: membership is unchanged, but neighbors still needs the new exact rectangle.\n\t\tif(minCol === oldMinCol && minRow === oldMinRow && maxCol === oldMaxCol && maxRow === oldMaxRow) {\n\t\t\tblock[off + ENTITY_X] = x;\n\t\t\tblock[off + ENTITY_Y] = y;\n\t\t\tblock[off + ENTITY_WIDTH] = width;\n\t\t\tblock[off + ENTITY_HEIGHT] = height;\n\t\t\treturn;\n\t\t}\n\n\t\tthis.relinkRange(id, minCol, minRow, maxCol, maxRow, oldMinCol, oldMinRow, oldMaxCol, oldMaxRow);\n\n\t\tblock[off + ENTITY_MIN_COL] = minCol;\n\t\tblock[off + ENTITY_MIN_ROW] = minRow;\n\t\tblock[off + ENTITY_MAX_COL] = maxCol;\n\t\tblock[off + ENTITY_MAX_ROW] = maxRow;\n\t\tblock[off + ENTITY_X] = x;\n\t\tblock[off + ENTITY_Y] = y;\n\t\tblock[off + ENTITY_WIDTH] = width;\n\t\tblock[off + ENTITY_HEIGHT] = height;\n\t}\n\n\tremove(id: number): boolean {\n\t\tlet entityIndex = this.idMap.get(id);\n\t\tif(entityIndex === undefined) {\n\t\t\treturn false;\n\t\t}\n\n\t\tlet block = this.entityPool.blockFor(entityIndex);\n\t\tlet off = this.entityPool.blockOffset(entityIndex);\n\t\tthis.unlinkRange(id, block[off + ENTITY_MIN_COL], block[off + ENTITY_MIN_ROW], block[off + ENTITY_MAX_COL], block[off + ENTITY_MAX_ROW]);\n\n\t\tthis.entityPool.deleteIndex(entityIndex);\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 occupying a cell that overlaps the query rect. Each entity is returned at most\n\t// once (see the anchor-cell dedup in collectCell); the caller does the narrow-phase overlap check.\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\tlet qMinCol = this.colOf(x);\n\t\tlet qMinRow = this.rowOf(y);\n\t\tlet qMaxCol = this.colOf(x + width);\n\t\tlet qMaxRow = this.rowOf(y + height);\n\n\t\tlet cols = this.cols;\n\t\tlet cellHeads = this.cellHeads;\n\t\tlet nullIndex = this.nullIndex;\n\t\tfor(let row = qMinRow; row <= qMaxRow; row++) {\n\t\t\tlet rowBase = row * cols;\n\t\t\tfor(let col = qMinCol; col <= qMaxCol; col++) {\n\t\t\t\tlet cell = rowBase + col;\n\t\t\t\t// Inline the empty-bucket peek (the common case) so an empty cell never pays for a method call - most cells in\n\t\t\t\t// a typical query are empty, so this skip dominates query cost.\n\t\t\t\tif(cellHeads[cell * CELL_SIZE + CELL_HEAD_OFFSET] === nullIndex) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\t\t\t\tthis.collectCell(out, cell, col, row, qMinCol, qMinRow);\n\t\t\t}\n\t\t}\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\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.neighborsBestFirst(x, y, maxResults, maxDistanceSquared, filter);\n\t\t}\n\t\tlet cellIds: Array<number> = [];\n\t\tlet startCol = this.colOf(x);\n\t\tlet startRow = this.rowOf(y);\n\t\tlet nearest: NearestNeighbor = { id: undefined, distance: maxDistanceSquared };\n\t\tlet visit = (col: number, row: number) => {\n\t\t\tlet cell = row * this.cols + col;\n\t\t\tif(filter === undefined) {\n\t\t\t\tthis.collectNearestCell(nearest, cell, x, y);\n\t\t\t\treturn;\n\t\t\t}\n\t\t\tcellIds.length = 0;\n\t\t\tthis.collectNeighborCell(cellIds, cell);\n\t\t\tfor(let id of cellIds) {\n\t\t\t\tif(!filter(id)) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\t\t\t\tlet entityIndex = this.idMap.get(id);\n\t\t\t\tif(entityIndex !== undefined) {\n\t\t\t\t\tlet entity = this.entityPool.blockFor(entityIndex);\n\t\t\t\t\tlet entityOffset = this.entityPool.blockOffset(entityIndex);\n\t\t\t\t\tlet minX = entity[entityOffset + ENTITY_X];\n\t\t\t\t\tlet minY = entity[entityOffset + ENTITY_Y];\n\t\t\t\t\tlet distance = distanceSquaredToRect(\n\t\t\t\t\t\tx, y, minX, minY,\n\t\t\t\t\t\tminX + entity[entityOffset + ENTITY_WIDTH], minY + entity[entityOffset + ENTITY_HEIGHT],\n\t\t\t\t\t);\n\t\t\t\t\tif(distance < nearest.distance || (distance === nearest.distance && (nearest.id === undefined || id < nearest.id))) {\n\t\t\t\t\t\tnearest.id = id;\n\t\t\t\t\t\tnearest.distance = distance;\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t\t}\n\t\t};\n\n\t\tlet maxRadius = Math.max(startCol, this.cols - 1 - startCol, startRow, this.rows - 1 - startRow);\n\t\tfor(let radius = 0; radius <= maxRadius; radius++) {\n\t\t\tif(this.gridRingDistanceSquared(x, y, startCol, startRow, radius) > nearest.distance) {\n\t\t\t\tbreak;\n\t\t\t}\n\t\t\tif(radius === 0) {\n\t\t\t\tvisit(startCol, startRow);\n\t\t\t\tcontinue;\n\t\t\t}\n\t\t\tlet minCol = Math.max(0, startCol - radius);\n\t\t\tlet maxCol = Math.min(this.cols - 1, startCol + radius);\n\t\t\tlet top = startRow - radius;\n\t\t\tlet bottom = startRow + radius;\n\t\t\tif(top >= 0) {\n\t\t\t\tfor(let col = minCol; col <= maxCol; col++) {\n\t\t\t\t\tvisit(col, top);\n\t\t\t\t}\n\t\t\t}\n\t\t\tif(bottom < this.rows) {\n\t\t\t\tfor(let col = minCol; col <= maxCol; col++) {\n\t\t\t\t\tvisit(col, bottom);\n\t\t\t\t}\n\t\t\t}\n\t\t\tlet minRow = Math.max(0, startRow - radius + 1);\n\t\t\tlet maxRow = Math.min(this.rows - 1, startRow + radius - 1);\n\t\t\tlet left = startCol - radius;\n\t\t\tlet right = startCol + radius;\n\t\t\tif(left >= 0) {\n\t\t\t\tfor(let row = minRow; row <= maxRow; row++) {\n\t\t\t\t\tvisit(left, row);\n\t\t\t\t}\n\t\t\t}\n\t\t\tif(right < this.cols) {\n\t\t\t\tfor(let row = minRow; row <= maxRow; row++) {\n\t\t\t\t\tvisit(right, row);\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\n\t\treturn nearest.id === undefined ? [] : [nearest.id];\n\t}\n\n\tprivate neighborsBestFirst(\n\t\tx: number, y: number, maxResults: number, maxDistanceSquared: number,\n\t\tfilter: ((id: number) => boolean) | undefined,\n\t): Array<number> {\n\t\tlet candidates: Array<NeighborCandidate> = [];\n\t\tlet cellIds: Array<number> = [];\n\t\tlet seenEntities = new Set<number>();\n\t\tlet seenCells = new Uint8Array(this.cellCount);\n\t\tlet queue = new MinPriorityQueue<number>();\n\t\tlet enqueue = (col: number, row: number) => {\n\t\t\tif(col < 0 || col >= this.cols || row < 0 || row >= this.rows) {\n\t\t\t\treturn;\n\t\t\t}\n\t\t\tlet cell = row * this.cols + col;\n\t\t\tif(seenCells[cell] !== 0) {\n\t\t\t\treturn;\n\t\t\t}\n\t\t\tseenCells[cell] = 1;\n\t\t\tlet minX = this.originX + col * this.cellSize;\n\t\t\tlet minY = this.originY + row * this.cellSize;\n\t\t\tqueue.push(cell, distanceSquaredToRect(x, y, minX, minY, minX + this.cellSize, minY + this.cellSize));\n\t\t};\n\t\tenqueue(this.colOf(x), this.rowOf(y));\n\t\twhile(queue.length > 0 && queue.priority <= candidateLimit(candidates, maxResults, maxDistanceSquared)) {\n\t\t\tlet cell = queue.pop();\n\t\t\tif(cell === undefined) {\n\t\t\t\tbreak;\n\t\t\t}\n\t\t\tcellIds.length = 0;\n\t\t\tthis.collectNeighborCell(cellIds, cell);\n\t\t\tfor(let id of cellIds) {\n\t\t\t\tif(seenEntities.has(id)) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\t\t\t\tseenEntities.add(id);\n\t\t\t\tif(filter !== undefined && !filter(id)) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\t\t\t\tlet entityIndex = this.idMap.get(id);\n\t\t\t\tif(entityIndex === undefined) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\t\t\t\tlet entity = this.entityPool.blockFor(entityIndex);\n\t\t\t\tlet entityOffset = this.entityPool.blockOffset(entityIndex);\n\t\t\t\tlet minX = entity[entityOffset + ENTITY_X];\n\t\t\t\tlet minY = entity[entityOffset + ENTITY_Y];\n\t\t\t\tlet distance = distanceSquaredToRect(\n\t\t\t\t\tx, y, minX, minY,\n\t\t\t\t\tminX + entity[entityOffset + ENTITY_WIDTH], minY + entity[entityOffset + ENTITY_HEIGHT],\n\t\t\t\t);\n\t\t\t\tif(distance <= maxDistanceSquared) {\n\t\t\t\t\taddCandidate(candidates, id, distance, maxResults);\n\t\t\t\t}\n\t\t\t}\n\t\t\tlet col = cell % this.cols;\n\t\t\tlet row = Math.floor(cell / this.cols);\n\t\t\tenqueue(col - 1, row);\n\t\t\tenqueue(col + 1, row);\n\t\t\tenqueue(col, row - 1);\n\t\t\tenqueue(col, row + 1);\n\t\t}\n\t\treturn candidates.map(candidate => candidate.id);\n\t}\n\n\tclear() {\n\t\tfor(let i = 0; i < this.cellCount; i++) {\n\t\t\tthis.cellHeads[i * CELL_SIZE + CELL_HEAD_OFFSET] = this.nullIndex;\n\t\t}\n\t\tthis.entityPool.clear();\n\t\tthis.slotPool.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 cellBlock = new AllocatedMemory(this.memory, getPointer(loadRawPointer(this.firstBlock.data, CELL_POINTER_INDEX), this.memory.positionBits));\n\t\tcellBlock.free();\n\t\tthis.entityPool.free();\n\t\tthis.slotPool.free();\n\t\tthis.idMap.free();\n\t\tthis.firstBlock.free();\n\t}\n\n\tgetSharedMemory(): SharedSpatialGridMemory {\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\t5,\n\t\t) as CoordArray;\n\t}\n\n\tprivate colOf(x: number): number {\n\t\tlet col = Math.floor((x - this.originX) / this.cellSize);\n\t\treturn col < 0 ? 0 : col >= this.cols ? this.cols - 1 : col;\n\t}\n\tprivate rowOf(y: number): number {\n\t\tlet row = Math.floor((y - this.originY) / this.cellSize);\n\t\treturn row < 0 ? 0 : row >= this.rows ? this.rows - 1 : row;\n\t}\n\n\tprivate gridRingDistanceSquared(x: number, y: number, centerCol: number, centerRow: number, radius: number): number {\n\t\tif(radius === 0) {\n\t\t\tlet minX = this.originX + centerCol * this.cellSize;\n\t\t\tlet minY = this.originY + centerRow * this.cellSize;\n\t\t\treturn distanceSquaredToRect(x, y, minX, minY, minX + this.cellSize, minY + this.cellSize);\n\t\t}\n\n\t\tlet minDistance = Infinity;\n\t\tlet minCol = Math.max(0, centerCol - radius);\n\t\tlet maxCol = Math.min(this.cols - 1, centerCol + radius);\n\t\tlet minRow = Math.max(0, centerRow - radius);\n\t\tlet maxRow = Math.min(this.rows - 1, centerRow + radius);\n\t\tlet left = centerCol - radius;\n\t\tlet right = centerCol + radius;\n\t\tlet top = centerRow - radius;\n\t\tlet bottom = centerRow + radius;\n\t\tlet cellSize = this.cellSize;\n\t\tlet originX = this.originX;\n\t\tlet originY = this.originY;\n\t\tif(top >= 0) {\n\t\t\tminDistance = distanceSquaredToRect(\n\t\t\t\tx, y, originX + minCol * cellSize, originY + top * cellSize,\n\t\t\t\toriginX + (maxCol + 1) * cellSize, originY + (top + 1) * cellSize,\n\t\t\t);\n\t\t}\n\t\tif(bottom < this.rows) {\n\t\t\tminDistance = Math.min(minDistance, distanceSquaredToRect(\n\t\t\t\tx, y, originX + minCol * cellSize, originY + bottom * cellSize,\n\t\t\t\toriginX + (maxCol + 1) * cellSize, originY + (bottom + 1) * cellSize,\n\t\t\t));\n\t\t}\n\t\tif(left >= 0) {\n\t\t\tminDistance = Math.min(minDistance, distanceSquaredToRect(\n\t\t\t\tx, y, originX + left * cellSize, originY + minRow * cellSize,\n\t\t\t\toriginX + (left + 1) * cellSize, originY + (maxRow + 1) * cellSize,\n\t\t\t));\n\t\t}\n\t\tif(right < this.cols) {\n\t\t\tminDistance = Math.min(minDistance, distanceSquaredToRect(\n\t\t\t\tx, y, originX + right * cellSize, originY + minRow * cellSize,\n\t\t\t\toriginX + (right + 1) * cellSize, originY + (maxRow + 1) * cellSize,\n\t\t\t));\n\t\t}\n\t\treturn minDistance;\n\t}\n\n\t// Push one slot into each cell of the rectangle, carrying the entity's top-left cell as the dedup anchor. Every slot\n\t// carries the same record, so the scratch is filled once before the loop.\n\tprivate linkRange(id: number, minCol: number, minRow: number, maxCol: number, maxRow: number) {\n\t\tlet slot = this.slotScratch;\n\t\tslot[SLOT_ID] = id;\n\t\tslot[SLOT_ANCHOR_COL] = minCol;\n\t\tslot[SLOT_ANCHOR_ROW] = minRow;\n\t\tslot[SLOT_NEXT] = this.nullIndex;\n\n\t\tlet cols = this.cols;\n\t\tfor(let row = minRow; row <= maxRow; row++) {\n\t\t\tlet rowBase = row * cols;\n\t\t\tfor(let col = minCol; col <= maxCol; col++) {\n\t\t\t\tthis.linkIntoCell(rowBase + col, slot);\n\t\t\t}\n\t\t}\n\t}\n\n\t// Push a fresh slot carrying the given record onto the head of one cell's bucket.\n\tprivate linkIntoCell(cell: number, slot: Array<number>) {\n\t\tlet pool = this.slotPool;\n\t\tlet cellInts = this.cellInts;\n\t\tlet cellHeads = this.cellHeads;\n\t\tlet slotIndex = pool.push(slot);\n\t\tlet lockIndex = cell * CELL_SIZE + CELL_LOCK_OFFSET;\n\t\tlet headIndex = cell * CELL_SIZE + CELL_HEAD_OFFSET;\n\t\tlock(cellInts, lockIndex);\n\t\tpool.set(slotIndex, SLOT_NEXT, cellHeads[headIndex]);\n\t\tcellHeads[headIndex] = slotIndex;\n\t\tunlock(cellInts, lockIndex);\n\t}\n\n\t// Move an entity's slots from its old cell rectangle to a new one, touching only the cells that actually change. A cell\n\t// in both rectangles keeps its slot and just gets its anchor refreshed; new-only cells are linked before old-only cells\n\t// are unlinked, so a query racing the move never sees the entity in neither rectangle. Doing it this way (rather than\n\t// linkRange(new) + unlinkRange(old)) is what keeps overlap cells correct: unlinkRange matches by id and would splice out\n\t// the freshly linked slot in an overlap cell, leaving the stale one behind and corrupting the dedup anchor.\n\tprivate relinkRange(id: number, minCol: number, minRow: number, maxCol: number, maxRow: number, oldMinCol: number, oldMinRow: number, oldMaxCol: number, oldMaxRow: number) {\n\t\tlet ovMinCol = minCol > oldMinCol ? minCol : oldMinCol;\n\t\tlet ovMaxCol = maxCol < oldMaxCol ? maxCol : oldMaxCol;\n\t\tlet ovMinRow = minRow > oldMinRow ? minRow : oldMinRow;\n\t\tlet ovMaxRow = maxRow < oldMaxRow ? maxRow : oldMaxRow;\n\t\tlet hasOverlap = ovMinCol <= ovMaxCol && ovMinRow <= ovMaxRow;\n\n\t\tlet slot = this.slotScratch;\n\t\tslot[SLOT_ID] = id;\n\t\tslot[SLOT_ANCHOR_COL] = minCol;\n\t\tslot[SLOT_ANCHOR_ROW] = minRow;\n\t\tslot[SLOT_NEXT] = this.nullIndex;\n\n\t\tlet cols = this.cols;\n\t\tfor(let row = minRow; row <= maxRow; row++) {\n\t\t\tlet inOverlapRow = hasOverlap && row >= ovMinRow && row <= ovMaxRow;\n\t\t\tlet rowBase = row * cols;\n\t\t\tfor(let col = minCol; col <= maxCol; col++) {\n\t\t\t\tlet cell = rowBase + col;\n\t\t\t\tif(inOverlapRow && col >= ovMinCol && col <= ovMaxCol) {\n\t\t\t\t\tthis.refreshAnchorInCell(cell, id, minCol, minRow);\n\t\t\t\t} else {\n\t\t\t\t\tthis.linkIntoCell(cell, slot);\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\n\t\tlet nullIndex = this.nullIndex;\n\t\tlet pool = this.slotPool;\n\t\tfor(let row = oldMinRow; row <= oldMaxRow; row++) {\n\t\t\tlet inOverlapRow = hasOverlap && row >= ovMinRow && row <= ovMaxRow;\n\t\t\tlet rowBase = row * cols;\n\t\t\tfor(let col = oldMinCol; col <= oldMaxCol; col++) {\n\t\t\t\tif(inOverlapRow && col >= ovMinCol && col <= ovMaxCol) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\t\t\t\tlet slotIndex = this.unlinkFromCell(rowBase + col, id);\n\t\t\t\tif(slotIndex !== nullIndex) {\n\t\t\t\t\tpool.deleteIndex(slotIndex);\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\t}\n\n\t// Refresh the anchor on this entity's slot already linked into the cell (single writer per id, so it is present).\n\tprivate refreshAnchorInCell(cell: number, id: number, anchorCol: number, anchorRow: number) {\n\t\tlet nullIndex = this.nullIndex;\n\t\tlet cellInts = this.cellInts;\n\t\tlet lockIndex = cell * CELL_SIZE + CELL_LOCK_OFFSET;\n\t\tlock(cellInts, lockIndex);\n\t\tlet pool = this.slotPool;\n\t\tlet index = this.cellHeads[cell * CELL_SIZE + CELL_HEAD_OFFSET];\n\t\twhile(index !== nullIndex) {\n\t\t\tlet block = pool.blockFor(index);\n\t\t\tlet off = pool.blockOffset(index);\n\t\t\tif(block[off + SLOT_ID] === id) {\n\t\t\t\tblock[off + SLOT_ANCHOR_COL] = anchorCol;\n\t\t\t\tblock[off + SLOT_ANCHOR_ROW] = anchorRow;\n\t\t\t\tbreak;\n\t\t\t}\n\t\t\tindex = block[off + SLOT_NEXT];\n\t\t}\n\t\tunlock(cellInts, lockIndex);\n\t}\n\n\t// Remove and recycle this entity's slot from each cell of the rectangle.\n\tprivate unlinkRange(id: number, minCol: number, minRow: number, maxCol: number, maxRow: number) {\n\t\tlet cols = this.cols;\n\t\tlet nullIndex = this.nullIndex;\n\t\tlet pool = this.slotPool;\n\t\tfor(let row = minRow; row <= maxRow; row++) {\n\t\t\tlet rowBase = row * cols;\n\t\t\tfor(let col = minCol; col <= maxCol; col++) {\n\t\t\t\tlet slotIndex = this.unlinkFromCell(rowBase + col, id);\n\t\t\t\tif(slotIndex !== nullIndex) {\n\t\t\t\t\tpool.deleteIndex(slotIndex);\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\t}\n\n\t// Caller has already peeked the head unlocked and skipped empty cells (an empty bucket has nothing to read, so the lock\n\t// and its atomics would be pure overhead). Taking the lock only to walk a non-empty bucket preserves the snapshot\n\t// guarantee - a concurrent insert we race is simply not in this snapshot.\n\tprivate collectCell(out: Array<number>, cell: number, col: number, row: number, qMinCol: number, qMinRow: number) {\n\t\tlet nullIndex = this.nullIndex;\n\t\tlet cellInts = this.cellInts;\n\t\tlet headIndex = cell * CELL_SIZE + CELL_HEAD_OFFSET;\n\t\tlet lockIndex = cell * CELL_SIZE + CELL_LOCK_OFFSET;\n\t\tlock(cellInts, lockIndex);\n\t\tlet index = this.cellHeads[headIndex];\n\t\tlet pool = this.slotPool;\n\t\twhile(index !== nullIndex) {\n\t\t\t// One chunk resolve per slot covers every field it reads\n\t\t\tlet block = pool.blockFor(index);\n\t\t\tlet off = pool.blockOffset(index);\n\t\t\t// Emit only from the entity's top-left cell that intersects this query, so a multi-cell entity is returned once.\n\t\t\tlet anchorCol = block[off + SLOT_ANCHOR_COL];\n\t\t\tlet anchorRow = block[off + SLOT_ANCHOR_ROW];\n\t\t\tlet tlCol = anchorCol > qMinCol ? anchorCol : qMinCol;\n\t\t\tlet tlRow = anchorRow > qMinRow ? anchorRow : qMinRow;\n\t\t\tif(col === tlCol && row === tlRow) {\n\t\t\t\tout.push(block[off + SLOT_ID]);\n\t\t\t}\n\t\t\tindex = block[off + SLOT_NEXT];\n\t\t}\n\t\tunlock(cellInts, lockIndex);\n\t}\n\n\tprivate linkReservedCell(cell: number, slotIndex: number, id: number, anchorCol: number, anchorRow: number) {\n\t\tlet pool = this.slotPool;\n\t\tlet block = pool.blockFor(slotIndex);\n\t\tlet offset = pool.blockOffset(slotIndex);\n\t\tblock[offset + SLOT_ID] = id;\n\t\tblock[offset + SLOT_ANCHOR_COL] = anchorCol;\n\t\tblock[offset + SLOT_ANCHOR_ROW] = anchorRow;\n\t\tlet lockIndex = cell * CELL_SIZE + CELL_LOCK_OFFSET;\n\t\tlock(this.cellInts, lockIndex);\n\t\tlet headIndex = cell * CELL_SIZE + CELL_HEAD_OFFSET;\n\t\tblock[offset + SLOT_NEXT] = this.cellHeads[headIndex];\n\t\tthis.cellHeads[headIndex] = slotIndex;\n\t\tunlock(this.cellInts, lockIndex);\n\t}\n\n\tprivate collectNeighborCell(out: Array<number>, cell: number) {\n\t\tlet headIndex = cell * CELL_SIZE + CELL_HEAD_OFFSET;\n\t\tif(this.cellHeads[headIndex] === this.nullIndex) {\n\t\t\treturn;\n\t\t}\n\t\tlet lockIndex = cell * CELL_SIZE + CELL_LOCK_OFFSET;\n\t\tlock(this.cellInts, lockIndex);\n\t\tlet index = this.cellHeads[headIndex];\n\t\twhile(index !== this.nullIndex) {\n\t\t\tlet block = this.slotPool.blockFor(index);\n\t\t\tlet off = this.slotPool.blockOffset(index);\n\t\t\tout.push(block[off + SLOT_ID]);\n\t\t\tindex = block[off + SLOT_NEXT];\n\t\t}\n\t\tunlock(this.cellInts, lockIndex);\n\t}\n\n\tprivate collectNearestCell(nearest: NearestNeighbor, cell: number, x: number, y: number) {\n\t\tlet headIndex = cell * CELL_SIZE + CELL_HEAD_OFFSET;\n\t\tif(this.cellHeads[headIndex] === this.nullIndex) {\n\t\t\treturn;\n\t\t}\n\t\tlet lockIndex = cell * CELL_SIZE + CELL_LOCK_OFFSET;\n\t\tlock(this.cellInts, lockIndex);\n\t\tlet index = this.cellHeads[headIndex];\n\t\twhile(index !== this.nullIndex) {\n\t\t\tlet slot = this.slotPool.blockFor(index);\n\t\t\tlet slotOffset = this.slotPool.blockOffset(index);\n\t\t\tlet id = slot[slotOffset + SLOT_ID];\n\t\t\tlet entityIndex = this.idMap.get(id);\n\t\t\tif(entityIndex !== undefined) {\n\t\t\t\tlet entity = this.entityPool.blockFor(entityIndex);\n\t\t\t\tlet entityOffset = this.entityPool.blockOffset(entityIndex);\n\t\t\t\tlet minX = entity[entityOffset + ENTITY_X];\n\t\t\t\tlet minY = entity[entityOffset + ENTITY_Y];\n\t\t\t\tlet distance = distanceSquaredToRect(\n\t\t\t\t\tx, y, minX, minY,\n\t\t\t\t\tminX + entity[entityOffset + ENTITY_WIDTH], minY + entity[entityOffset + ENTITY_HEIGHT],\n\t\t\t\t);\n\t\t\t\tif(distance < nearest.distance\n\t\t\t\t\t|| (distance === nearest.distance && (nearest.id === undefined || id < nearest.id))) {\n\t\t\t\t\tnearest.id = id;\n\t\t\t\t\tnearest.distance = distance;\n\t\t\t\t}\n\t\t\t}\n\t\t\tindex = slot[slotOffset + SLOT_NEXT];\n\t\t}\n\t\tunlock(this.cellInts, lockIndex);\n\t}\n\n\t// Splice this entity's slot out of the cell's bucket and return its index (nullIndex if the cell held no slot for it).\n\tprivate unlinkFromCell(cell: number, id: number): number {\n\t\tlet nullIndex = this.nullIndex;\n\t\tlet cellInts = this.cellInts;\n\t\tlet cellHeads = this.cellHeads;\n\t\tlet lockIndex = cell * CELL_SIZE + CELL_LOCK_OFFSET;\n\t\tlock(cellInts, lockIndex);\n\t\tlet headIndex = cell * CELL_SIZE + CELL_HEAD_OFFSET;\n\t\tlet pool = this.slotPool;\n\n\t\tlet prev = nullIndex;\n\t\tlet index = cellHeads[headIndex];\n\t\twhile(index !== nullIndex) {\n\t\t\t// One chunk resolve per slot covers both fields it reads\n\t\t\tlet block = pool.blockFor(index);\n\t\t\tlet off = pool.blockOffset(index);\n\t\t\tlet next = block[off + SLOT_NEXT];\n\t\t\tif(block[off + SLOT_ID] === id) {\n\t\t\t\tif(prev === nullIndex) {\n\t\t\t\t\tcellHeads[headIndex] = next;\n\t\t\t\t} else {\n\t\t\t\t\tpool.set(prev, SLOT_NEXT, next);\n\t\t\t\t}\n\t\t\t\tunlock(cellInts, lockIndex);\n\t\t\t\treturn index;\n\t\t\t}\n\t\t\tprev = index;\n\t\t\tindex = next;\n\t\t}\n\n\t\tunlock(cellInts, lockIndex);\n\t\treturn nullIndex;\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('SharedSpatialGrid 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 SpatialGridBounds {\n\tx: number\n\ty: number\n\twidth: number\n\theight: number\n}\ninterface SharedSpatialGridConfig {\n\tbounds: SpatialGridBounds\n\tgridSize?: number\n\tmaxEntities?: number\n\tmaxSlots?: number\n\ttype?: CoordArrayConstructor\n}\ninterface SharedSpatialGridMemory {\n\tfirstBlock: SharedAllocatedMemory\n}\n\nexport type { SharedSpatialGridConfig, SharedSpatialGridMemory, SpatialGridBounds, SpatialEntity 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package/dist/spatial/shared-spatial-map.d.ts

@@ -17,6 +17,7 @@ export default class SharedSpatialMap {
     private tableLock;
     private readonly coordType;
     private readonly nullIndex;
+    private readonly idLimit;
     private bucketCount;
     private readonly maxBucketCount;
     private bucketMask;
@@ -31,6 +32,7 @@ export default class SharedSpatialMap {
     get usedMemory(): number;
     insert(id: number, x: number, y: number, width?: number, height?: number): void;
     bulkInsert(entities: Iterable<SpatialEntity>): void;
+    private assertValidId;
     private insertLocked;
     update(id: number, x: number, y: number, width?: number, height?: number): void;
     private updateLocked;