@datamoc/mw_games 0.38.0 → 0.40.0

package/dist/physics/PhysicsWorld.js

@@ -1,17 +1,20 @@
-import Matter from 'matter-js';
 import { FixedStepper } from '../core/FixedStepper.js';
 import { Signal } from '../core/Signal.js';
 /**
- * Rigid bodies and constraints through matter-js, stepped on a fixed clock.
+ * Rigid bodies and constraints in plain TypeScript, stepped on a fixed clock.
  *
- * The adapter is the framework side of using matter-js in a mwg game: it owns the `Engine`,
- * steps it with a `FixedStepper` so the simulation is the same at any display refresh rate,
- * and reports contacts through a `Signal`, while leaving the bodies themselves as plain
- * matter-js objects a game reads `position` and `angle` from to place its sprites. It is
- * renderer-free, so a game's headless tests can run the same world.
+ * The framework side of game physics in a mwg game: it owns the solver, steps it with a
+ * `FixedStepper` so the simulation is the same at any display refresh rate, and reports
+ * contacts through a `Signal`, while leaving the bodies themselves as plain objects a game
+ * reads `position` and `angle` from to place its sprites. It is renderer-free, so a game's
+ * headless tests can run the same world. No third-party engine: semi-implicit Euler,
+ * impulse contacts with restitution and Coulomb friction, and projected distance joints.
+ *
+ * Bodies never spin: `angle` stays where a game puts it (a display offset), collisions use
+ * the unrotated shape, and joints rotate their attachment points by it. Circles and
+ * axis-aligned boxes collide with each other in every pairing; that is the whole shape
+ * catalogue, by design rather than by omission - a game needing polygons brings its own.
  *
- * `matter-js` is an optional peer dependency (`npm install matter-js`), imported only by this
- * module (`@datamoc/mw_games/physics`), so a game that never simulates physics never bundles it.
  * Constraints are springs and rods. Give one a `maxStretch` and it breaks when pulled that far
  * past its rest length (`onBreak`); a game with a different stress rule reads `stretchOf` itself
  * and calls `remove`.
@@ -29,28 +32,26 @@ import { Signal } from '../core/Signal.js';
  */
 export class PhysicsWorld {
     constructor(options = {}) {
-        /** fires once per new contact between two bodies, with the matter-js bodies of the pair */
+        /** fires once per new contact between two bodies, with the bodies of the pair */
         this.onContact = new Signal();
         /** fires when a breakable constraint passes its `maxStretch`; it is already removed from the world */
         this.onBreak = new Signal();
-        this.breakable = new Map();
-        this.engine = Matter.Engine.create();
+        this.bodies_ = [];
+        this.constraints_ = [];
+        this.touching = new Set();
+        this.nextId = 1;
         const gravity = options.gravity ?? { x: 0, y: 9.8 };
-        //matter's gravity is a direction times `scale`; 9.8 maps to its own default scale of 0.001
-        this.engine.gravity.x = Math.sign(gravity.x);
-        this.engine.gravity.y = Math.sign(gravity.y);
-        this.engine.gravity.scale = Math.max(Math.abs(gravity.x), Math.abs(gravity.y)) * 0.0001;
+        //the option reads like matter-js's historic default pull; internally it scales to
+        //world units per second squared (measured: matter drops ~413 units in the first
+        //second at its own default, i.e. about 826 units/s^2, air drag aside)
+        this.gravity = { x: gravity.x * GRAVITY_SCALE, y: gravity.y * GRAVITY_SCALE };
         this.stepper = new FixedStepper(options.step ?? 1 / 60, options.maxSubsteps ?? 5);
-        Matter.Events.on(this.engine, 'collisionStart', (event) => {
-            for (const pair of event.pairs)
-                this.onContact.dispatch({ a: pair.bodyA, b: pair.bodyB });
-        });
     }
     get bodies() {
-        return Matter.Composite.allBodies(this.engine.world);
+        return this.bodies_;
     }
     get constraints() {
-        return Matter.Composite.allConstraints(this.engine.world);
+        return this.constraints_;
     }
     /** how far into the next fixed step the clock is, 0 to 1, for interpolated drawing */
     get alpha() {
@@ -58,42 +59,43 @@ export class PhysicsWorld {
     }
     /** a box centred on (x, y) */
     addBox(x, y, width, height, options = {}) {
-        return this.add(Matter.Bodies.rectangle(x, y, width, height, options));
+        return this.add(makeBody(`box ${width}x${height}`, { kind: 'box', width, height }, x, y, options));
     }
     addCircle(x, y, radius, options = {}) {
-        return this.add(Matter.Bodies.circle(x, y, radius, options));
+        return this.add(makeBody(`circle r=${radius}`, { kind: 'circle', radius }, x, y, options));
     }
     /** joins two bodies, or a body to a fixed point in the world when `b` is a point */
     addConstraint(a, b, options = {}) {
         const isBody = (value) => 'position' in value;
-        const constraint = Matter.Constraint.create({
-            bodyA: a,
-            ...(isBody(b) ? { bodyB: b } : { pointB: b }),
-            ...(options.pointA ? { pointA: options.pointA } : {}),
-            ...(isBody(b) && options.pointB ? { pointB: options.pointB } : {}),
-            stiffness: options.stiffness ?? 1,
-            damping: options.damping ?? 0,
-            ...(options.length !== undefined ? { length: options.length } : {}),
-        });
-        Matter.Composite.add(this.engine.world, constraint);
-        if (options.maxStretch !== undefined)
-            this.breakable.set(constraint, options.maxStretch);
-        return constraint;
+        const joint = new DistanceJoint(bodyOf(a, 'a'), isBody(b) ? bodyOf(b, 'b') : null, isBody(b) ? null : { x: b.x, y: b.y }, options);
+        this.constraints_.push(joint);
+        return joint;
     }
-    /** removes a body, or a constraint, from the simulation */
+    /** removes a body (with its joints), or a constraint, from the simulation */
     remove(item) {
-        Matter.Composite.remove(this.engine.world, item);
-        this.breakable.delete(item);
+        const bodyIndex = this.bodies_.indexOf(item);
+        if (bodyIndex >= 0) {
+            this.bodies_.splice(bodyIndex, 1);
+            for (let index = this.constraints_.length - 1; index >= 0; index--) {
+                if (this.constraints_[index].touches(item))
+                    this.constraints_.splice(index, 1);
+            }
+            return;
+        }
+        const jointIndex = this.constraints_.indexOf(item);
+        if (jointIndex >= 0)
+            this.constraints_.splice(jointIndex, 1);
     }
     /**
      * How far a constraint is stretched past its rest length, as a fraction of it (0.1 is 10%
      * longer); for a zero-length joint, the distance between its ends. Negative when compressed.
      */
     stretchOf(constraint) {
-        const a = endPoint(constraint.bodyA, constraint.pointA);
-        const b = endPoint(constraint.bodyB, constraint.pointB);
+        const joint = constraint;
+        const a = joint.endA();
+        const b = joint.endB();
         const distance = Math.hypot(a.x - b.x, a.y - b.y);
-        return constraint.length > 0 ? distance / constraint.length - 1 : distance;
+        return joint.length > 0 ? distance / joint.length - 1 : distance;
     }
     /**
      * Advances the simulation by `dt` seconds of real time, running as many fixed steps as that
@@ -103,35 +105,271 @@ export class PhysicsWorld {
      */
     update(dt) {
         return this.stepper.advance(dt, (step) => {
-            Matter.Engine.update(this.engine, step * 1000);
+            this.step(step);
             this.breakOverstretched();
         });
     }
+    step(h) {
+        for (const body of this.bodies_) {
+            if (body.isStatic)
+                continue;
+            body.velocity.x += this.gravity.x * h;
+            body.velocity.y += this.gravity.y * h;
+            body.position.x += body.velocity.x * h;
+            body.position.y += body.velocity.y * h;
+        }
+        for (const joint of this.constraints_)
+            joint.solve();
+        this.collide();
+    }
+    collide() {
+        const seen = new Set();
+        const list = this.bodies_;
+        for (let i = 0; i < list.length; i++) {
+            for (let j = i + 1; j < list.length; j++) {
+                const a = list[i];
+                const b = list[j];
+                if (a.isStatic && b.isStatic)
+                    continue;
+                const contact = findContact(a, b);
+                if (!contact)
+                    continue;
+                resolveContact(contact);
+                const key = a.id < b.id ? `${a.id}:${b.id}` : `${b.id}:${a.id}`;
+                seen.add(key);
+                if (!this.touching.has(key))
+                    this.onContact.dispatch({ a, b });
+            }
+        }
+        this.touching = seen;
+    }
     breakOverstretched() {
-        //collected first: removing while iterating the map would skip entries
+        //collected first: removing while iterating would skip entries
         const snapped = [];
-        for (const [constraint, limit] of this.breakable) {
-            const stretch = this.stretchOf(constraint);
-            if (stretch > limit)
-                snapped.push([constraint, stretch]);
+        for (const joint of this.constraints_) {
+            if (joint.breakLimit === undefined)
+                continue;
+            const stretch = this.stretchOf(joint);
+            if (stretch > joint.breakLimit)
+                snapped.push([joint, stretch]);
         }
-        for (const [constraint, stretch] of snapped) {
-            this.remove(constraint);
-            this.onBreak.dispatch({ constraint, stretch });
+        for (const [joint, stretch] of snapped) {
+            this.remove(joint);
+            this.onBreak.dispatch({ constraint: joint, stretch });
         }
     }
     add(body) {
-        Matter.Composite.add(this.engine.world, body);
+        body.id = this.nextId++;
+        this.bodies_.push(body);
         return body;
     }
 }
-/** a constraint end in world space: the body's attachment point turned and moved with it, or the fixed point itself */
-function endPoint(body, point) {
-    const local = point ?? { x: 0, y: 0 };
-    if (!body)
-        return local;
+/** world units per second squared per gravity unit; the default pull matches matter-js's historic one */
+const GRAVITY_SCALE = 826 / 9.8;
+function shapeArea(shape) {
+    return shape.kind === 'circle' ? Math.PI * shape.radius * shape.radius : shape.width * shape.height;
+}
+class SimulatedBody {
+    constructor(shape, x, y, options) {
+        this.id = 0;
+        this.velocity = { x: 0, y: 0 };
+        this.shape = shape;
+        this.position = { x, y };
+        this.angle = options.angle ?? 0;
+        this.label = options.label ?? '';
+        this.isStatic = options.isStatic ?? false;
+        const density = options.density ?? 1;
+        this.invMass = this.isStatic || !(density > 0) ? 0 : 1 / (density * shapeArea(shape));
+        this.restitution = options.restitution ?? 0;
+        this.friction = options.friction ?? 0.1;
+    }
+}
+function makeBody(description, shape, x, y, options) {
+    if (shape.kind === 'circle' ? !(shape.radius > 0) : !(shape.width > 0 && shape.height > 0)) {
+        throw new RangeError(`a physics ${description} needs positive size`);
+    }
+    if (!Number.isFinite(x) || !Number.isFinite(y)) {
+        throw new RangeError(`a physics ${description} needs a finite position, saw (${x}, ${y})`);
+    }
+    return new SimulatedBody(shape, x, y, options);
+}
+function bodyOf(value, name) {
+    if (value instanceof SimulatedBody)
+        return value;
+    throw new Error(`physics constraint end ${name} is not a body of this world`);
+}
+class DistanceJoint {
+    constructor(a, b, anchor, options) {
+        this.a = a;
+        this.b = b;
+        if (anchor && (!Number.isFinite(anchor.x) || !Number.isFinite(anchor.y))) {
+            throw new RangeError(`a physics joint needs a finite anchor, saw (${anchor.x}, ${anchor.y})`);
+        }
+        this.anchor = anchor;
+        this.pointA = { ...(options.pointA ?? { x: 0, y: 0 }) };
+        this.pointB = { ...(options.pointB ?? { x: 0, y: 0 }) };
+        this.stiffness = options.stiffness ?? 1;
+        this.damping = options.damping ?? 0;
+        const endA = this.endA();
+        const endB = this.endB();
+        this.length = options.length ?? Math.hypot(endA.x - endB.x, endA.y - endB.y);
+        this.breakLimit = options.maxStretch;
+    }
+    touches(body) {
+        return this.a === body || this.b === body;
+    }
+    endA() {
+        return turn(this.a, this.pointA);
+    }
+    endB() {
+        return this.b ? turn(this.b, this.pointB) : { ...this.anchor };
+    }
+    /** one projection pass: stiff rods land on their rest length, soft joints close a share of the error */
+    solve() {
+        const a = this.endA();
+        const b = this.endB();
+        const dx = b.x - a.x;
+        const dy = b.y - a.y;
+        const distance = Math.hypot(dx, dy);
+        if (distance === 0)
+            return;
+        const error = ((distance - this.length) / distance) * this.stiffness;
+        const wa = this.a.invMass;
+        const wb = this.b ? this.b.invMass : 0;
+        const total = wa + wb;
+        if (total === 0)
+            return;
+        this.a.position.x += dx * error * (wa / total);
+        this.a.position.y += dy * error * (wa / total);
+        if (this.b) {
+            this.b.position.x -= dx * error * (wb / total);
+            this.b.position.y -= dy * error * (wb / total);
+        }
+        //radial oscillation leaves through velocity, or a spring would ring forever
+        const nx = dx / distance;
+        const ny = dy / distance;
+        const kill = Math.min(1, Math.max(0, this.stiffness + this.damping));
+        if (kill === 0)
+            return;
+        const va = this.a.velocity;
+        const vb = this.b ? this.b.velocity : { x: 0, y: 0 };
+        const closing = (vb.x - va.x) * nx + (vb.y - va.y) * ny;
+        va.x += closing * kill * (wa / total) * nx;
+        va.y += closing * kill * (wa / total) * ny;
+        if (this.b) {
+            this.b.velocity.x -= closing * kill * (wb / total) * nx;
+            this.b.velocity.y -= closing * kill * (wb / total) * ny;
+        }
+    }
+}
+/** a constraint end in world space: the body's attachment point turned by its angle, or the fixed point itself */
+function turn(body, local) {
     const cos = Math.cos(body.angle);
     const sin = Math.sin(body.angle);
-    return { x: body.position.x + local.x * cos - local.y * sin, y: body.position.y + local.x * sin + local.y * cos };
+    return {
+        x: body.position.x + local.x * cos - local.y * sin,
+        y: body.position.y + local.x * sin + local.y * cos,
+    };
+}
+function findContact(a, b) {
+    const sa = a.shape;
+    const sb = b.shape;
+    if (sa.kind === 'circle' && sb.kind === 'circle')
+        return circleCircle(a, sa.radius, b, sb.radius);
+    if (sa.kind === 'circle')
+        return circleBox(a, b, sa.radius, sb);
+    if (sb.kind === 'circle') {
+        const contact = circleBox(b, a, sb.radius, sa);
+        //the helper reports ball first: swap back so the normal runs from a to b
+        if (contact)
+            return { a, b, nx: -contact.nx, ny: -contact.ny, penetration: contact.penetration };
+        return null;
+    }
+    return boxBox(a, sa, b, sb);
+}
+function circleCircle(a, ra, b, rb) {
+    const dx = b.position.x - a.position.x;
+    const dy = b.position.y - a.position.y;
+    const distance = Math.hypot(dx, dy);
+    if (distance >= ra + rb)
+        return null;
+    if (distance === 0)
+        return { a, b, nx: 1, ny: 0, penetration: ra + rb };
+    return { a, b, nx: dx / distance, ny: dy / distance, penetration: ra + rb - distance };
+}
+/**
+ * Ball first, box second: the normal runs from the ball toward the box. A centre on or
+ * inside the edge leaves along the least-penetrated axis instead.
+ */
+function circleBox(ball, boxBody, radius, box) {
+    const hw = box.width / 2;
+    const hh = box.height / 2;
+    const dx = ball.position.x - boxBody.position.x;
+    const dy = ball.position.y - boxBody.position.y;
+    const cx = Math.max(-hw, Math.min(hw, dx));
+    const cy = Math.max(-hh, Math.min(hh, dy));
+    const px = dx - cx;
+    const py = dy - cy;
+    const distance = Math.hypot(px, py);
+    if (distance === 0) {
+        const ox = hw - Math.abs(dx);
+        const oy = hh - Math.abs(dy);
+        const exitX = ox < oy;
+        const nx = exitX ? -(Math.sign(dx) || 1) : 0;
+        const ny = exitX ? 0 : -(Math.sign(dy) || 1);
+        return { a: ball, b: boxBody, nx, ny, penetration: Math.min(ox, oy) + radius };
+    }
+    if (distance >= radius)
+        return null;
+    return { a: ball, b: boxBody, nx: -px / distance, ny: -py / distance, penetration: radius - distance };
+}
+function boxBox(a, sa, b, sb) {
+    const ox = (sa.width + sb.width) / 2 - Math.abs(a.position.x - b.position.x);
+    if (ox <= 0)
+        return null;
+    const oy = (sa.height + sb.height) / 2 - Math.abs(a.position.y - b.position.y);
+    if (oy <= 0)
+        return null;
+    if (ox < oy) {
+        const sign = Math.sign(b.position.x - a.position.x) || 1;
+        return { a, b, nx: sign, ny: 0, penetration: ox };
+    }
+    const sign = Math.sign(b.position.y - a.position.y) || 1;
+    return { a, b, nx: 0, ny: sign, penetration: oy };
+}
+function resolveContact({ a, b, nx, ny, penetration }) {
+    const total = a.invMass + b.invMass;
+    if (total === 0)
+        return;
+    //depenetrate fully: with restitution handled below, nothing re-sinks a resting body
+    a.position.x -= nx * penetration * (a.invMass / total);
+    a.position.y -= ny * penetration * (a.invMass / total);
+    b.position.x += nx * penetration * (b.invMass / total);
+    b.position.y += ny * penetration * (b.invMass / total);
+    const rvx = b.velocity.x - a.velocity.x;
+    const rvy = b.velocity.y - a.velocity.y;
+    const closing = rvx * nx + rvy * ny;
+    if (closing >= 0)
+        return;
+    //slow grazes do not bounce, or stacks would jitter forever
+    const restitution = -closing > 1 ? Math.max(a.restitution, b.restitution) : 0;
+    const impulse = (-(1 + restitution) * closing) / total;
+    a.velocity.x -= impulse * nx * a.invMass;
+    a.velocity.y -= impulse * ny * a.invMass;
+    b.velocity.x += impulse * nx * b.invMass;
+    b.velocity.y += impulse * ny * b.invMass;
+    const friction = Math.sqrt(a.friction * b.friction);
+    if (friction > 0) {
+        const tvx = rvx - closing * nx;
+        const tvy = rvy - closing * ny;
+        const slide = Math.hypot(tvx, tvy);
+        if (slide > 0) {
+            const grip = Math.min(slide / total, friction * impulse);
+            a.velocity.x += (tvx / slide) * grip * a.invMass;
+            a.velocity.y += (tvy / slide) * grip * a.invMass;
+            b.velocity.x -= (tvx / slide) * grip * b.invMass;
+            b.velocity.y -= (tvy / slide) * grip * b.invMass;
+        }
+    }
 }
 //# sourceMappingURL=PhysicsWorld.js.map

package/dist/physics/PhysicsWorld.js.map

@@ -1 +1 @@
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package/dist/physics/XpbdWorld.d.ts

@@ -79,7 +79,7 @@ export interface XpbdLink {
  *
  * It is the engine of Pontifex (a bridge-building game), generalised: the vehicle, the water
  * and the levels stay in the game, and what is here is only nodes, links, forces and breaking.
- * Unlike `PhysicsWorld` it has no rigid bodies or collisions and no `matter-js` dependency.
+ * Unlike `PhysicsWorld` it has no rigid bodies or collisions: nodes and links only.
  *
  * @example
  * ```ts

package/dist/physics/XpbdWorld.js

@@ -14,7 +14,7 @@ import { Signal } from '../core/Signal.js';
  *
  * It is the engine of Pontifex (a bridge-building game), generalised: the vehicle, the water
  * and the levels stay in the game, and what is here is only nodes, links, forces and breaking.
- * Unlike `PhysicsWorld` it has no rigid bodies or collisions and no `matter-js` dependency.
+ * Unlike `PhysicsWorld` it has no rigid bodies or collisions: nodes and links only.
  *
  * @example
  * ```ts

package/dist/physics/cloth/index.d.ts

@@ -0,0 +1,98 @@
+/**
+ * A small pinned-point cloth mesh: Verlet integration over a grid of points joined by
+ * structural distance constraints, the top row pinned by default. Renderer-free arithmetic
+ * (roadmap 423): no physics engine, no allocations per step, deterministic for a fixed
+ * `update(dt)` sequence, so a frame budget is exact rather than hoped for - one update
+ * costs O(points + links), two relaxation passes over structural links only, never shear
+ * or bend constraints and never a full cloth simulator. A skirt, tunic or scarf follows
+ * its character with a slight lag; `ClothSprite` draws the mesh on the GPU path 414 ships.
+ *
+ * @example
+ * ```ts
+ * import { Cloth } from '@datamoc/mw_games/physics';
+ *
+ * const scarf = new Cloth({ width: 60, height: 20, segmentsX: 6, segmentsY: 2, gravity: { x: 0, y: 900 } });
+ * for (let i = 0; i < 60; i++) scarf.update(1 / 60); // one fixed second
+ * console.log(scarf.pointPosition(scarf.indexOf(3, 2)).y > 20); // true - the free end sags down
+ * console.log(scarf.pointPosition(scarf.indexOf(0, 0))); // { x: 0, y: 0 } - the pinned edge never moves
+ * ```
+ */
+export interface ClothOptions {
+    /** rest width in world units; must be finite and above 0 */
+    width: number;
+    /** rest height in world units; must be finite and above 0 */
+    height: number;
+    /** quads across; an integer of at least 1 (points across are `segmentsX + 1`) */
+    segmentsX: number;
+    /** quads down; an integer of at least 1 (points down are `segmentsY + 1`) */
+    segmentsY: number;
+    /** how much of each constraint error one relaxation pass removes, 0 to 1; default 0.9 */
+    stiffness?: number;
+    /** share of velocity lost per update, 0 to 1; default 0.02 */
+    damping?: number;
+    /** acceleration in world units per second squared; default `{ x: 0, y: 0 }` */
+    gravity?: {
+        x: number;
+        y: number;
+    };
+    /** acceleration in world units per second squared; default `{ x: 0, y: 0 }` */
+    wind?: {
+        x: number;
+        y: number;
+    };
+}
+export declare class Cloth {
+    readonly segmentsX: number;
+    readonly segmentsY: number;
+    readonly stiffness: number;
+    readonly damping: number;
+    private gravity;
+    private wind;
+    private readonly rest;
+    private readonly positions;
+    private readonly previous;
+    private readonly pinned;
+    private readonly links;
+    constructor(options: ClothOptions);
+    /** how many simulated points the mesh holds */
+    get pointCount(): number;
+    /** the flat index of the point at `(column, row)`; throws a RangeError outside the grid */
+    indexOf(column: number, row: number): number;
+    private checkIndex;
+    /** the current position of one point */
+    pointPosition(index: number): {
+        x: number;
+        y: number;
+    };
+    /** whether a point is pinned (integration and relaxation both leave it alone) */
+    isPinned(index: number): boolean;
+    /** index pairs joined by a structural constraint, row links then column links, for drawing the mesh */
+    pointLinks(): Array<readonly [number, number]>;
+    /** pin a point where it currently stands */
+    pinPoint(index: number): void;
+    /** release a pinned point; it keeps its current position and moves from there */
+    unpinPoint(index: number): void;
+    /** replace the wind acceleration; validated, so a gust can never smuggle in a NaN */
+    setWind(x: number, y: number): void;
+    /** replace the gravity acceleration */
+    setGravity(x: number, y: number): void;
+    /** put every point back at rest with no velocity; pins are kept */
+    reset(): void;
+    /** how many points currently sit away from their rest positions */
+    movedCount(): number;
+    /**
+     * Write every current position into `into`, which must hold exactly
+     * `pointCount * 2` floats. The mesh side calls this with its GPU position array.
+     */
+    writePositions(into: Float32Array): void;
+    /**
+     * Advance the mesh by `dt` seconds: one Verlet integration pass, then two relaxation
+     * passes over the structural links. Call with a fixed `dt` (a `FixedStepper` does that)
+     * for a deterministic sequence; keep it small (60 Hz steps), since Verlet answers a
+     * huge step with a huge swing rather than an error. A zero `dt` holds still; a negative
+     * or non-finite one throws a RangeError.
+     */
+    update(dt: number): void;
+    private relax;
+}
+//# sourceMappingURL=index.d.ts.map

package/dist/physics/cloth/index.d.ts.map

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