@datamoc/mw_games 0.43.0 → 0.45.0

package/dist/physics/XpbdWorld.js

@@ -1,336 +0,0 @@
-import { Signal } from '../core/Signal.js';
-/**
- * A deterministic structure solver: point masses joined by springs, solved with extended
- * position-based dynamics (XPBD), with the force in every link read back so a link can break
- * at a real load rather than at a stretch.
- *
- * The method (Macklin, Muller and Chentanaput's XPBD) moves each node freely for a substep,
- * then corrects positions so every link returns to its rest length, with a compliance of
- * `rest / stiffness / dt^2`: a link behaves as a spring of the stated stiffness whatever the
- * step or iteration count, and the correction's Lagrange multiplier divided by `dt^2` is the
- * force it carried. Steps are fixed and nothing is random, so the same structure and the same
- * calls give the same result on every machine, which is what replaying or validating a
- * player's bridge needs.
- *
- * 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: nodes and links only.
- *
- * @example
- * ```ts
- * import { XpbdWorld } from '@datamoc/mw_games/physics/xpbd';
- *
- * const world = new XpbdWorld({ gravity: 520 });
- * const wall = world.addNode({ x: 0, y: 0, fixed: true });
- * const weight = world.addNode({ x: 40, y: 0, mass: 1 });
- * const rope = world.addLink({ a: wall, b: weight, stiffness: 2e4, strength: 900 });
- * world.breaking = true;
- * for (let i = 0; i < 120; i++) world.step();
- * console.log(world.links[rope].broken, world.nodes[weight].y > 0);
- * ```
- *
- * A bridge is a truss: beams are links, a cable is a link with `tensionOnly: true` (it pulls when
- * stretched and goes slack when pushed), and a link with a `strength` breaks at that load. A bare
- * chain of planks has no vertical stiffness and only sags like a rope, so the deck needs triangles.
- *
- * @example
- * ```ts
- * import { XpbdWorld } from '@datamoc/mw_games/physics/xpbd';
- *
- * //a Warren truss between two abutments, with a cart of `cartMass` at midspan
- * function loadBridge(cartMass: number): { sag: number; broken: number; peakLoad: number } {
- * 	const world = new XpbdWorld({ gravity: 520 });
- * 	const spacing = 50;
- * 	const bottom: number[] = [];
- * 	for (let i = 0; i <= 6; i++) bottom.push(world.addNode({ x: i * spacing, y: 0, fixed: i === 0 || i === 6 }));
- * 	const top: number[] = [];
- * 	for (let i = 0; i < 6; i++) top.push(world.addNode({ x: i * spacing + spacing / 2, y: -45 }));
- *
- * 	const beam = (a: number, b: number): void => {
- * 		world.addLink({ a, b, stiffness: 6e4, strength: 16000 });
- * 	};
- * 	for (let i = 0; i < 6; i++) beam(bottom[i], bottom[i + 1]); //the deck
- * 	for (let i = 0; i < 5; i++) beam(top[i], top[i + 1]); //the upper chord
- * 	for (let i = 0; i < 6; i++) {
- * 		beam(bottom[i], top[i]); //the diagonals
- * 		beam(top[i], bottom[i + 1]);
- * 	}
- *
- * 	//the cart rests on the deck and the chord; without a `strength` its links cannot break
- * 	const cart = world.addNode({ x: 150, y: -6, mass: cartMass });
- * 	world.addLink({ a: cart, b: bottom[3], stiffness: 6e4 });
- * 	world.addLink({ a: cart, b: top[2], stiffness: 6e4 });
- *
- * 	world.breaking = true;
- * 	for (let i = 0; i < 360; i++) world.step();
- * 	return {
- * 		sag: Math.max(...bottom.map((node) => world.nodes[node].y)),
- * 		broken: world.links.filter((link) => link.broken).length,
- * 		peakLoad: Math.max(...world.links.map((link) => link.ratio)), //1 is the breaking point
- * 	};
- * }
- *
- * console.log(loadBridge(2)); //holds, a little sag
- * console.log(loadBridge(20)); //too heavy: beams break
- * ```
- */
-export class XpbdWorld {
-    constructor(options = {}) {
-        this.nodes = [];
-        this.links = [];
-        /** fires once for a link that passed its strength, which has already stopped carrying load */
-        this.onBreak = new Signal();
-        /** links break only while this is true, so a structure can settle under its own weight first */
-        this.breaking = false;
-        /** the highest smoothed load ratio across the links at the last step, for a strain gauge */
-        this.peakRatio = 0;
-        /** nodes are held on or above this; null for none. Water, a gorge or a cliff face is the game's own business */
-        this.ground = null;
-        this.forces = [];
-        this.masses = [];
-        this.lambda = [];
-        this.accumulated = [];
-        this.gravity = options.gravity ?? 520;
-        this.damping = options.damping ?? 2.5;
-        this.groundFriction = options.groundFriction ?? 0.5;
-        this.frame = options.step ?? 1 / 60;
-        this.substeps = Math.max(1, Math.floor(options.substeps ?? 16));
-        this.iterations = Math.max(1, Math.floor(options.iterations ?? 2));
-        this.smoothing = options.smoothing ?? 0.06;
-    }
-    /** adds a node and returns its index */
-    addNode(spec) {
-        const mass = spec.mass ?? 1;
-        if (!(mass > 0) && !spec.fixed)
-            throw new Error('a moving node needs a positive mass');
-        this.nodes.push({ x: spec.x, y: spec.y, fixed: spec.fixed ?? false, vx: 0, vy: 0, w: 0 });
-        this.masses.push(mass);
-        this.forces.push({ x: 0, y: 0 });
-        this.refreshInverseMass();
-        return this.nodes.length - 1;
-    }
-    /** adds a link between two existing nodes and returns its index */
-    addLink(spec) {
-        const a = this.nodes[spec.a];
-        const b = this.nodes[spec.b];
-        if (!a || !b)
-            throw new Error('a link needs two existing nodes');
-        const rest = spec.rest ?? Math.hypot(a.x - b.x, a.y - b.y);
-        if (!(rest > 0))
-            throw new Error('a link needs a positive rest length');
-        if (!(spec.stiffness > 0))
-            throw new Error('a link needs a positive stiffness');
-        const share = (spec.mass ?? 0) / 2;
-        this.masses[spec.a] += share;
-        this.masses[spec.b] += share;
-        this.links.push({
-            a: spec.a,
-            b: spec.b,
-            stiffness: spec.stiffness,
-            rest,
-            tensionOnly: spec.tensionOnly ?? false,
-            strength: spec.strength,
-            tensionStrength: spec.tensionStrength,
-            broken: false,
-            force: 0,
-            ratio: 0,
-            data: spec.data,
-        });
-        this.lambda.push(0);
-        this.accumulated.push(0);
-        this.refreshInverseMass();
-        return this.links.length - 1;
-    }
-    /** breaks a link now, as if it had passed its strength: it stops carrying load and `onBreak` fires. A broken link is left alone */
-    breakLink(index) {
-        const link = this.links[index];
-        if (!link || link.broken)
-            return;
-        link.broken = true;
-        const p = this.nodes[link.a];
-        const q = this.nodes[link.b];
-        this.onBreak.dispatch({ link: index, x: (p.x + q.x) / 2, y: (p.y + q.y) / 2 });
-    }
-    /** indices of the unbroken links with an endpoint or a crossing inside the box (a ship's hull, a blast area) */
-    linksInBox(left, top, right, bottom) {
-        const hits = [];
-        this.links.forEach((link, i) => {
-            if (link.broken)
-                return;
-            const p = this.nodes[link.a];
-            const q = this.nodes[link.b];
-            if (segmentCrossesBox(p.x, p.y, q.x, q.y, left, top, right, bottom))
-                hits.push(i);
-        });
-        return hits;
-    }
-    /** indices of the unbroken links whose segment passes within `radius` of a point, nearest first */
-    linksNear(x, y, radius) {
-        const hits = [];
-        this.links.forEach((link, index) => {
-            if (link.broken)
-                return;
-            const p = this.nodes[link.a];
-            const q = this.nodes[link.b];
-            const dx = q.x - p.x;
-            const dy = q.y - p.y;
-            const t = Math.max(0, Math.min(1, ((x - p.x) * dx + (y - p.y) * dy) / (dx * dx + dy * dy || 1)));
-            const distance = Math.hypot(p.x + dx * t - x, p.y + dy * t - y);
-            if (distance <= radius)
-                hits.push({ index, distance });
-        });
-        return hits.sort((m, n) => m.distance - n.distance || m.index - n.index).map((hit) => hit.index);
-    }
-    /** Dynamic solver state and queued forces, for comparing runs with the same configuration. Game payloads and the ground callback are not captured. */
-    snapshot() {
-        return {
-            nodes: this.nodes.map((node) => [node.x, node.y, node.vx, node.vy, node.w, node.fixed ? 1 : 0]),
-            links: this.links.map((link) => [link.broken ? 1 : 0, link.force, link.ratio]),
-            forces: this.forces.map((force) => [force.x, force.y]),
-        };
-    }
-    /** a 32-bit FNV-1a hash of `snapshot()`'s exact bits: equal for equal states, whatever the machine */
-    hash() {
-        const { nodes, links, forces } = this.snapshot();
-        const view = new DataView(new ArrayBuffer(8));
-        let h = 0x811c9dc5;
-        for (const value of [nodes.length, links.length, ...nodes.flat(), ...links.flat(), ...forces.flat()]) {
-            view.setFloat64(0, value);
-            for (let i = 0; i < 8; i++)
-                h = Math.imul(h ^ view.getUint8(i), 0x01000193);
-        }
-        return (h >>> 0).toString(16).padStart(8, '0');
-    }
-    /** an external force on a node for the next `step` only (a wheel's weight, wind) */
-    applyForce(node, fx, fy) {
-        this.forces[node].x += fx;
-        this.forces[node].y += fy;
-    }
-    /** advances one frame: the substeps, then the link loads and any breaking */
-    step() {
-        const dt = this.frame / this.substeps;
-        this.accumulated.fill(0);
-        for (let s = 0; s < this.substeps; s++)
-            this.substep(dt);
-        for (const force of this.forces) {
-            force.x = 0;
-            force.y = 0;
-        }
-        this.settleLoads();
-    }
-    refreshInverseMass() {
-        this.nodes.forEach((node, i) => {
-            node.w = node.fixed ? 0 : 1 / this.masses[i];
-        });
-    }
-    substep(dt) {
-        const damp = Math.exp(-this.damping * dt);
-        const previous = this.nodes.map((node) => ({ x: node.x, y: node.y }));
-        this.nodes.forEach((node, i) => {
-            if (node.fixed)
-                return;
-            const force = this.forces[i];
-            node.vx = (node.vx + force.x * node.w * dt) * damp;
-            node.vy = (node.vy + (force.y * node.w + this.gravity) * dt) * damp;
-            node.x += node.vx * dt;
-            node.y += node.vy * dt;
-        });
-        this.lambda.fill(0);
-        for (let iteration = 0; iteration < this.iterations; iteration++) {
-            this.links.forEach((link, i) => {
-                if (link.broken)
-                    return;
-                const p = this.nodes[link.a];
-                const q = this.nodes[link.b];
-                const w = p.w + q.w;
-                if (w === 0)
-                    return;
-                const dx = q.x - p.x;
-                const dy = q.y - p.y;
-                const length = Math.hypot(dx, dy) || 1e-9;
-                const c = length - link.rest;
-                if (link.tensionOnly && c < 0 && this.lambda[i] >= 0)
-                    return;
-                const alpha = link.rest / link.stiffness / (dt * dt);
-                const delta = (-c - alpha * this.lambda[i]) / (w + alpha);
-                this.lambda[i] += delta;
-                const nx = dx / length;
-                const ny = dy / length;
-                p.x -= p.w * delta * nx;
-                p.y -= p.w * delta * ny;
-                q.x += q.w * delta * nx;
-                q.y += q.w * delta * ny;
-            });
-        }
-        this.collideWithGround(previous);
-        this.nodes.forEach((node, i) => {
-            if (node.fixed)
-                return;
-            node.vx = (node.x - previous[i].x) / dt;
-            node.vy = (node.y - previous[i].y) / dt;
-        });
-        this.links.forEach((_, i) => {
-            this.accumulated[i] += -this.lambda[i] / (dt * dt);
-        });
-    }
-    /** lifts any node that sank below the ground back onto it, and takes some of its sideways motion with it */
-    collideWithGround(previous) {
-        const ground = this.ground;
-        if (ground === null)
-            return;
-        this.nodes.forEach((node, i) => {
-            if (node.fixed)
-                return;
-            const surface = typeof ground === 'number' ? ground : ground(node.x);
-            if (node.y <= surface)
-                return;
-            node.y = surface;
-            node.x -= (node.x - previous[i].x) * this.groundFriction;
-        });
-    }
-    /** averages each link's force over the substeps, smooths the load ratio and breaks what passed its strength */
-    settleLoads() {
-        const blend = 1 - Math.exp(-this.frame / this.smoothing);
-        let peak = 0;
-        this.links.forEach((link, i) => {
-            if (link.broken)
-                return;
-            link.force = this.accumulated[i] / this.substeps;
-            const limit = link.force > 0 ? (link.tensionStrength ?? link.strength) : link.strength;
-            const instant = limit === undefined ? 0 : Math.abs(link.force) / limit;
-            link.ratio += (instant - link.ratio) * blend;
-            peak = Math.max(peak, link.ratio);
-            if (this.breaking && link.ratio > 1)
-                this.breakLink(i);
-        });
-        this.peakRatio = peak;
-    }
-}
-/** Liang-Barsky: does the segment touch the axis-aligned box */
-function segmentCrossesBox(x0, y0, x1, y1, left, top, right, bottom) {
-    let enter = 0;
-    let leave = 1;
-    const dx = x1 - x0;
-    const dy = y1 - y0;
-    for (const [p, q] of [
-        [-dx, x0 - left],
-        [dx, right - x0],
-        [-dy, y0 - top],
-        [dy, bottom - y0],
-    ]) {
-        if (p === 0) {
-            if (q < 0)
-                return false;
-            continue;
-        }
-        const t = q / p;
-        if (p < 0)
-            enter = Math.max(enter, t);
-        else
-            leave = Math.min(leave, t);
-        if (enter > leave)
-            return false;
-    }
-    return true;
-}
-//# sourceMappingURL=XpbdWorld.js.map

package/dist/physics/XpbdWorld.js.map

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

@@ -1,99 +0,0 @@
-/** Grid size and dynamics for `Cloth`. The top row is the pinned attachment edge. */
-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;
-    };
-}
-/**
- * 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 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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