@downdraft/engine 0.0.0 → 0.1.0

package/libraries/physics-rapier/src/backend.ts

@@ -0,0 +1,1207 @@
+import type {
+    BodyDesc,
+    BodyType,
+    CharacterControllerDesc,
+    CharacterControllerHandle,
+    CharacterMoveResult,
+    ColliderDesc,
+    ColliderShape,
+    ContactManifold,
+    Entity,
+    IntersectionPair,
+    IslandInfo,
+    JointDesc,
+    PhysicsBackend,
+    PhysicsBody,
+    PhysicsRealmConfig,
+    RaycastResult,
+    ShapeCastResult,
+} from "@downdraft/engine";
+import { loadPhysicsLib, type PhysicsLib } from "./rapier-backend";
+
+interface RealmState {
+  id: number;
+  config: PhysicsRealmConfig;
+  bodies: Map<number, BodyState>;
+  nextBodyId: number;
+  contacts: ContactManifold[];
+  intersections: IntersectionPair[];
+  nextControllerId: number;
+  nextJointId: number;
+  /** Scratch buffers for the batched awake-body readback path in step(). */
+  readbackIds: Uint32Array;
+  readbackStates: Float32Array;
+}
+
+interface BodyState {
+  body: PhysicsBody;
+  desc: BodyDesc;
+  colliders: Map<number, ColliderDesc>;
+  position: [number, number, number];
+  rotation: [number, number, number, number];
+  linearVelocity: [number, number, number];
+  angularVelocity: [number, number, number];
+  sleeping: boolean;
+}
+
+export class RapierPhysicsBackend implements PhysicsBackend {
+  readonly name: string = "rapier";
+  readonly version: string = "0.2.0";
+
+  private lib: PhysicsLib | null = null;
+  private readonly libFactory?: () => Promise<PhysicsLib>;
+  private realms: Map<number, RealmState> = new Map();
+  private realmIds: number[] = [];
+  private nextRealmId = 1;
+  private nextColliderId = 1;
+  private destroyed = false;
+
+  /**
+   * Step options — set by UniversalPhysicsAPI from PhysicsModuleConfig.
+   * Games that don't read contacts/intersections set extractContacts=false
+   * to skip the expensive WASM↔JS callback traversal in step().
+   * Games that read transforms via the Raw API set readBackTransformsOnStep=false
+   * to skip redundant high-level transform readback.
+   */
+  extractContacts = true;
+  readBackTransformsOnStep = true;
+
+  /**
+   * @param libFactory — override the PhysicsLib source. Defaults to the WASM
+   * Rapier bundle; the native runtime passes `loadFfiPhysicsLib` from
+   * `./ffi-lib` to drive the Rust cdylib instead.
+   */
+  constructor(libFactory?: () => Promise<PhysicsLib>) {
+    this.libFactory = libFactory;
+  }
+
+  async init(): Promise<void> {
+    if (this.lib) return;
+    this.lib = await (this.libFactory ? this.libFactory() : loadPhysicsLib());
+  }
+
+  private ensureLib(): PhysicsLib {
+    if (!this.lib) {
+      throw new Error("RapierPhysicsBackend not initialized. Call init() first.");
+    }
+    return this.lib;
+  }
+
+  createRealm(config: PhysicsRealmConfig): number {
+    const id = config.id ?? this.nextRealmId++;
+    const realm: RealmState = {
+      id,
+      config,
+      bodies: new Map(),
+      nextBodyId: 1,
+      contacts: [],
+      intersections: [],
+      nextControllerId: 1,
+      nextJointId: 1,
+      readbackIds: new Uint32Array(0),
+      readbackStates: new Float32Array(0),
+ };
+    this.realms.set(id, realm);
+    this.realmIds.push(id);
+
+    if (this.lib) {
+      this.lib.createRealm(id, config.gravity);
+    }
+    return id;
+  }
+
+  destroyRealm(realmId: number): void {
+    const realm = this.realms.get(realmId);
+    if (!realm) return;
+    if (this.lib) {
+      this.lib.destroyRealm(realmId);
+    }
+    realm.bodies.clear();
+    this.realms.delete(realmId);
+    this.realmIds = this.realmIds.filter((id) => id !== realmId);
+  }
+
+  getRealmIds(): number[] {
+    return [...this.realmIds];
+  }
+
+  createBody(realmId: number, desc: BodyDesc, entity: Entity): PhysicsBody {
+    const realm = this.realms.get(realmId);
+    if (!realm) throw new Error(`Realm ${realmId} not found`);
+
+    const bodyId = realm.nextBodyId++;
+    const body: PhysicsBody = { id: bodyId, realmId, entity };
+
+    const state: BodyState = {
+      body,
+      desc,
+      colliders: new Map(),
+      position: [...desc.position] as [number, number, number],
+      rotation: [...desc.rotation] as [number, number, number, number],
+      linearVelocity: [...(desc.linearVelocity ?? [0, 0, 0])] as [number, number, number],
+      angularVelocity: [...(desc.angularVelocity ?? [0, 0, 0])] as [number, number, number],
+      sleeping: desc.sleeping ?? false,
+    };
+
+    realm.bodies.set(bodyId, state);
+
+    if (this.lib) {
+      this.lib.createBody(realmId, bodyId, desc, entity);
+    }
+
+    return body;
+  }
+
+  destroyBody(body: PhysicsBody): void {
+    const realm = this.realms.get(body.realmId);
+    if (!realm) return;
+    if (this.lib) {
+      this.lib.destroyBody(body.realmId, body.id);
+    }
+    realm.bodies.delete(body.id);
+  }
+
+  setBodyType(body: PhysicsBody, type: BodyType): void {
+    const state = this.getBodyState(body);
+    if (!state) return;
+    state.desc.type = type;
+    if (this.lib) {
+      this.lib.setBodyType(body.realmId, body.id, type);
+    }
+  }
+
+  addCollider(body: PhysicsBody, desc: ColliderDesc): number {
+    const state = this.getBodyState(body);
+    if (!state) return -1;
+    // Collider ids are allocated from a backend-global counter — the
+    // realm-scoped lib APIs (colliderMaps, FFI collider_map) key by
+    // colliderId alone, so per-body counters would collide across bodies
+    // and silently swap/remove the wrong collider.
+    const id = this.nextColliderId++;
+    state.colliders.set(id, desc);
+    if (this.lib) {
+      this.lib.addCollider(body.realmId, body.id, id, desc);
+    }
+    return id;
+  }
+
+  removeCollider(body: PhysicsBody, colliderId: number): void {
+    const state = this.getBodyState(body);
+    if (!state) return;
+    state.colliders.delete(colliderId);
+    if (this.lib) {
+      this.lib.removeCollider(body.realmId, body.id, colliderId);
+    }
+  }
+
+  testConvexHull(vertices: Float32Array): boolean {
+    if (!this.lib?.testConvexHull) return false;
+    return this.lib.testConvexHull(vertices);
+  }
+
+  getColliderShapeType(body: PhysicsBody, colliderId: number): number {
+    if (!this.lib?.getColliderShapeType) return -1;
+    return this.lib.getColliderShapeType(body.realmId, colliderId);
+  }
+
+  getColliderCount(body: PhysicsBody): number {
+    if (!this.lib?.getColliderCount) return -1;
+    return this.lib.getColliderCount(body.realmId, body.id);
+  }
+
+  setColliderPosition(realmId: number, colliderId: number, pos: [number, number, number]): void {
+    if (this.lib && this.lib.setColliderPosition) {
+      this.lib.setColliderPosition(realmId, colliderId, pos);
+    }
+  }
+
+  getColliderPosition(realmId: number, colliderId: number): [number, number, number] {
+    if (this.lib && this.lib.getColliderPosition) {
+      return this.lib.getColliderPosition(realmId, colliderId);
+    }
+    return [0, 0, 0];
+  }
+
+  applyForce(body: PhysicsBody, force: [number, number, number]): void {
+    const state = this.getBodyState(body);
+    if (!state || state.desc.type !== "dynamic") return;
+    if (this.lib) {
+      this.lib.applyForce(body.realmId, body.id, force);
+    }
+  }
+
+  applyImpulse(body: PhysicsBody, impulse: [number, number, number]): void {
+    const state = this.getBodyState(body);
+    if (!state || state.desc.type !== "dynamic") return;
+    state.linearVelocity[0] += impulse[0] / (state.desc.mass ?? 1);
+    state.linearVelocity[1] += impulse[1] / (state.desc.mass ?? 1);
+    state.linearVelocity[2] += impulse[2] / (state.desc.mass ?? 1);
+    if (this.lib) {
+      this.lib.applyImpulse(body.realmId, body.id, impulse);
+    }
+  }
+
+  applyTorque(body: PhysicsBody, torque: [number, number, number]): void {
+    const state = this.getBodyState(body);
+    if (!state || state.desc.type !== "dynamic") return;
+    if (this.lib) {
+      this.lib.applyTorque(body.realmId, body.id, torque);
+    }
+  }
+
+  applyTorqueImpulse(body: PhysicsBody, impulse: [number, number, number]): void {
+    const state = this.getBodyState(body);
+    if (!state || state.desc.type !== "dynamic") return;
+    state.angularVelocity[0] += impulse[0];
+    state.angularVelocity[1] += impulse[1];
+    state.angularVelocity[2] += impulse[2];
+    if (this.lib) {
+      this.lib.applyTorqueImpulse(body.realmId, body.id, impulse);
+    }
+  }
+
+  applyImpulseAtPoint(
+    body: PhysicsBody,
+    impulse: [number, number, number],
+    point: [number, number, number],
+  ): void {
+    const state = this.getBodyState(body);
+    if (!state || state.desc.type !== "dynamic") return;
+    state.linearVelocity[0] += impulse[0] / (state.desc.mass ?? 1);
+    state.linearVelocity[1] += impulse[1] / (state.desc.mass ?? 1);
+    state.linearVelocity[2] += impulse[2] / (state.desc.mass ?? 1);
+    if (this.lib) {
+      this.lib.applyImpulseAtPoint(body.realmId, body.id, impulse, point);
+    }
+  }
+
+  setLinearVelocity(body: PhysicsBody, vel: [number, number, number]): void {
+    const state = this.getBodyState(body);
+    if (!state) return;
+    state.linearVelocity = [...vel] as [number, number, number];
+    if (this.lib) {
+      this.lib.setLinearVelocity(body.realmId, body.id, vel);
+    }
+  }
+
+  getLinearVelocity(body: PhysicsBody): [number, number, number] {
+    const state = this.getBodyState(body);
+    return state ? [...state.linearVelocity] as [number, number, number] : [0, 0, 0];
+  }
+
+  setAngularVelocity(body: PhysicsBody, vel: [number, number, number]): void {
+    const state = this.getBodyState(body);
+    if (!state) return;
+    state.angularVelocity = [...vel] as [number, number, number];
+    if (this.lib) {
+      this.lib.setAngularVelocity(body.realmId, body.id, vel);
+    }
+  }
+
+  getAngularVelocity(body: PhysicsBody): [number, number, number] {
+    const state = this.getBodyState(body);
+    return state ? [...state.angularVelocity] as [number, number, number] : [0, 0, 0];
+  }
+
+  setPosition(body: PhysicsBody, pos: [number, number, number]): void {
+    const state = this.getBodyState(body);
+    if (!state) return;
+    state.position = [...pos] as [number, number, number];
+    if (this.lib) {
+      this.lib.setPosition(body.realmId, body.id, pos);
+    }
+  }
+
+  getPosition(body: PhysicsBody): [number, number, number] {
+    const state = this.getBodyState(body);
+    return state ? [...state.position] as [number, number, number] : [0, 0, 0];
+  }
+
+  setRotation(body: PhysicsBody, rot: [number, number, number, number]): void {
+    const state = this.getBodyState(body);
+    if (!state) return;
+    state.rotation = [...rot] as [number, number, number, number];
+    if (this.lib) {
+      this.lib.setRotation(body.realmId, body.id, rot);
+    }
+  }
+
+  getRotation(body: PhysicsBody): [number, number, number, number] {
+    const state = this.getBodyState(body);
+    return state ? [...state.rotation] as [number, number, number, number] : [0, 0, 0, 1];
+  }
+
+  wakeUp(body: PhysicsBody): void {
+    const state = this.getBodyState(body);
+    if (!state) return;
+    state.sleeping = false;
+    if (this.lib) {
+      this.lib.wakeUp(body.realmId, body.id);
+    }
+  }
+
+  isSleeping(body: PhysicsBody): boolean {
+    const state = this.getBodyState(body);
+    return state ? state.sleeping : false;
+  }
+
+  // --- Raw fast paths ---
+
+  setTranslationRaw(body: PhysicsBody, x: number, y: number, z: number, wakeUp: boolean): void {
+    const state = this.getBodyState(body);
+    if (state) {
+      state.position[0] = x; state.position[1] = y; state.position[2] = z;
+    }
+    if (this.lib && this.lib.setTranslationRaw) {
+      this.lib.setTranslationRaw(body.realmId, body.id, x, y, z, wakeUp);
+    } else if (this.lib) {
+      this.lib.setPosition(body.realmId, body.id, [x, y, z]);
+    }
+  }
+
+  setRotationRaw(body: PhysicsBody, x: number, y: number, z: number, w: number, wakeUp: boolean): void {
+    const state = this.getBodyState(body);
+    if (state) {
+      state.rotation[0] = x; state.rotation[1] = y; state.rotation[2] = z; state.rotation[3] = w;
+    }
+    if (this.lib && this.lib.setRotationRaw) {
+      this.lib.setRotationRaw(body.realmId, body.id, x, y, z, w, wakeUp);
+    } else if (this.lib) {
+      this.lib.setRotation(body.realmId, body.id, [x, y, z, w]);
+    }
+  }
+
+  getTranslationRaw(body: PhysicsBody, out: [number, number, number]): void {
+    if (this.lib && this.lib.getTranslationRaw) {
+      this.lib.getTranslationRaw(body.realmId, body.id, out);
+    } else {
+      const state = this.getBodyState(body);
+      if (state) { out[0] = state.position[0]; out[1] = state.position[1]; out[2] = state.position[2]; }
+      else { out[0] = 0; out[1] = 0; out[2] = 0; }
+    }
+  }
+
+  getRotationRaw(body: PhysicsBody, out: [number, number, number, number]): void {
+    if (this.lib && this.lib.getRotationRaw) {
+      this.lib.getRotationRaw(body.realmId, body.id, out);
+    } else {
+      const state = this.getBodyState(body);
+      if (state) { out[0] = state.rotation[0]; out[1] = state.rotation[1]; out[2] = state.rotation[2]; out[3] = state.rotation[3]; }
+      else { out[0] = 0; out[1] = 0; out[2] = 0; out[3] = 1; }
+    }
+  }
+
+  getLinearVelocityRaw(body: PhysicsBody, out: [number, number, number]): void {
+    if (this.lib && this.lib.getLinearVelocityRaw) {
+      this.lib.getLinearVelocityRaw(body.realmId, body.id, out);
+    } else {
+      const state = this.getBodyState(body);
+      if (state) { out[0] = state.linearVelocity[0]; out[1] = state.linearVelocity[1]; out[2] = state.linearVelocity[2]; }
+      else { out[0] = 0; out[1] = 0; out[2] = 0; }
+    }
+  }
+
+  setLinearVelocityRaw(body: PhysicsBody, x: number, y: number, z: number, wakeUp: boolean): void {
+    const state = this.getBodyState(body);
+    if (state) {
+      state.linearVelocity[0] = x; state.linearVelocity[1] = y; state.linearVelocity[2] = z;
+    }
+    if (this.lib && this.lib.setLinearVelocityRaw) {
+      this.lib.setLinearVelocityRaw(body.realmId, body.id, x, y, z, wakeUp);
+    } else if (this.lib) {
+      this.lib.setLinearVelocity(body.realmId, body.id, [x, y, z]);
+    }
+  }
+
+  setAngularVelocityRaw(body: PhysicsBody, x: number, y: number, z: number, wakeUp: boolean): void {
+    const state = this.getBodyState(body);
+    if (state) {
+      state.angularVelocity[0] = x; state.angularVelocity[1] = y; state.angularVelocity[2] = z;
+    }
+    if (this.lib && this.lib.setAngularVelocityRaw) {
+      this.lib.setAngularVelocityRaw(body.realmId, body.id, x, y, z, wakeUp);
+    } else if (this.lib) {
+      this.lib.setAngularVelocity(body.realmId, body.id, [x, y, z]);
+    }
+  }
+
+  isSleepingRaw(body: PhysicsBody): boolean {
+    if (this.lib && this.lib.isSleepingRaw) {
+      return this.lib.isSleepingRaw(body.realmId, body.id);
+    }
+    const state = this.getBodyState(body);
+    return state ? state.sleeping : false;
+  }
+
+  readAwakeBodyStates(realmId: number, idsOut: Uint32Array, out: Float32Array, maxCount: number): number {
+    if (this.lib?.readAwakeBodyStates) {
+      return this.lib.readAwakeBodyStates(realmId, idsOut, out, maxCount);
+    }
+    const realm = this.realms.get(realmId);
+    if (!realm) return 0;
+    let n = 0;
+    for (const [bodyId, b] of realm.bodies.entries()) {
+      if (n >= maxCount) break;
+      if (b.sleeping || b.desc.type !== "dynamic") continue;
+      const o = n * 10;
+      out[o] = b.position[0]; out[o + 1] = b.position[1]; out[o + 2] = b.position[2];
+      out[o + 3] = b.rotation[0]; out[o + 4] = b.rotation[1]; out[o + 5] = b.rotation[2]; out[o + 6] = b.rotation[3];
+      out[o + 7] = b.linearVelocity[0]; out[o + 8] = b.linearVelocity[1]; out[o + 9] = b.linearVelocity[2];
+      idsOut[n] = bodyId;
+      n++;
+    }
+    return n;
+  }
+
+  swapColliderShapeRaw(realmId: number, colliderId: number, vertices: Float32Array, indices: Uint32Array): boolean {
+    if (this.lib && this.lib.swapColliderShapeRaw) {
+      return this.lib.swapColliderShapeRaw(realmId, colliderId, vertices, indices);
+    }
+    return false;
+  }
+
+  reserveMemory(bytes: number): void {
+    if (this.lib && this.lib.reserveMemory) {
+      this.lib.reserveMemory(bytes);
+    }
+  }
+
+  setIntegrationDt(realmId: number, dt: number): void {
+    if (this.lib && this.lib.setIntegrationDt) {
+      this.lib.setIntegrationDt(realmId, dt);
+    }
+  }
+
+  setSleepThresholds(realmId: number, linearThreshold: number, angularThreshold: number): void {
+    if (this.lib) {
+      this.lib.setSleepThresholds(realmId, linearThreshold, angularThreshold);
+    }
+  }
+
+  setSolverIterations(realmId: number, iterations: number): void {
+    if (this.lib) {
+      this.lib.setSolverIterations(realmId, iterations);
+    }
+  }
+
+  setMinIslandSize(realmId: number, size: number): void {
+    if (this.lib && this.lib.setMinIslandSize) {
+      this.lib.setMinIslandSize(realmId, size);
+    }
+  }
+
+  setCCDEnabled(body: PhysicsBody, enabled: boolean): void {
+    if (this.lib) {
+      this.lib.setCCDEnabled(body.realmId, body.id, enabled);
+    }
+  }
+
+  raycast(
+    realmId: number,
+    origin: [number, number, number],
+    direction: [number, number, number],
+    maxDistance: number,
+    filter?: { collisionGroups?: number; excludeEntity?: Entity },
+  ): RaycastResult | null {
+    if (this.lib) {
+      return this.lib.raycast(realmId, origin, direction, maxDistance, filter);
+    }
+
+    const realm = this.realms.get(realmId);
+    if (!realm) return null;
+
+    let closest: RaycastResult | null = null;
+    let closestDist = maxDistance;
+
+    for (const [, b] of realm.bodies.entries()) {
+      if (filter?.excludeEntity && b.body.entity.index === filter.excludeEntity.index) continue;
+
+      for (const collider of b.colliders.values()) {
+        const hit = raycastCollider(
+          origin,
+          direction,
+          maxDistance,
+          b.position,
+          collider.shape,
+        );
+        if (hit && hit.distance < closestDist) {
+          closestDist = hit.distance;
+          closest = {
+            entity: b.body.entity,
+            point: hit.point,
+            normal: hit.normal,
+            distance: hit.distance,
+          };
+        }
+      }
+    }
+
+    return closest;
+  }
+
+  raycastMulti(
+    realmId: number,
+    origin: [number, number, number],
+    direction: [number, number, number],
+    maxDistance: number,
+    filter?: { collisionGroups?: number; excludeEntity?: Entity },
+  ): RaycastResult[] {
+    const results: RaycastResult[] = [];
+    if (this.lib) {
+      return this.lib.raycastMulti(realmId, origin, direction, maxDistance, filter);
+    }
+
+    const realm = this.realms.get(realmId);
+    if (!realm) return [];
+
+    for (const [, b] of realm.bodies.entries()) {
+      if (filter?.excludeEntity && b.body.entity.index === filter.excludeEntity.index) continue;
+
+      for (const collider of b.colliders.values()) {
+        const hit = raycastCollider(origin, direction, maxDistance, b.position, collider.shape);
+        if (hit) {
+          results.push({
+            entity: b.body.entity,
+            point: hit.point,
+            normal: hit.normal,
+            distance: hit.distance,
+          });
+        }
+      }
+    }
+
+    return results.sort((a, b) => a.distance - b.distance);
+  }
+
+  shapeCast(
+    realmId: number,
+    shape: ColliderShape,
+    origin: [number, number, number],
+    rotation: [number, number, number, number],
+    direction: [number, number, number],
+    maxDistance: number,
+    filter?: { collisionGroups?: number; excludeEntity?: Entity },
+  ): ShapeCastResult | null {
+    if (this.lib) {
+      return this.lib.shapeCast(realmId, shape, origin, rotation, direction, maxDistance, filter);
+    }
+    return null;
+  }
+
+  step(realmId: number, dt: number): void {
+    const realm = this.realms.get(realmId);
+    if (!realm) return;
+
+    if (this.lib) {
+      if (this.readBackTransformsOnStep && this.lib.readAwakeBodyStates && realm.bodies.size > 0) {
+        // Batched readback: one lib call for the whole awake set instead of a
+        // per-body getBodyTransform round trip. Sleeping bodies don't move, so
+        // the JS cache keeps last-synced values for them.
+        const cap = realm.bodies.size;
+        if (realm.readbackIds.length < cap) {
+          realm.readbackIds = new Uint32Array(cap);
+          realm.readbackStates = new Float32Array(cap * 10);
+        }
+        const n = this.lib.stepAndReadAwake
+          ? this.lib.stepAndReadAwake(realmId, dt, realm.readbackIds, realm.readbackStates, cap)
+          : (this.lib.step(realmId, dt),
+             this.lib.readAwakeBodyStates(realmId, realm.readbackIds, realm.readbackStates, cap));
+        for (let i = 0; i < n; i++) {
+          const b = realm.bodies.get(realm.readbackIds[i]);
+          if (!b) continue;
+          const o = i * 10;
+          b.position[0] = realm.readbackStates[o];
+          b.position[1] = realm.readbackStates[o + 1];
+          b.position[2] = realm.readbackStates[o + 2];
+          b.rotation[0] = realm.readbackStates[o + 3];
+          b.rotation[1] = realm.readbackStates[o + 4];
+          b.rotation[2] = realm.readbackStates[o + 5];
+          b.rotation[3] = realm.readbackStates[o + 6];
+          b.linearVelocity[0] = realm.readbackStates[o + 7];
+          b.linearVelocity[1] = realm.readbackStates[o + 8];
+          b.linearVelocity[2] = realm.readbackStates[o + 9];
+        }
+      } else {
+        this.lib.step(realmId, dt);
+        if (this.readBackTransformsOnStep) this.readBackTransforms(realm);
+      }
+      if (this.extractContacts) {
+        realm.contacts = this.lib.getContacts(realmId);
+        realm.intersections = this.lib.getIntersections(realmId);
+      } else {
+        realm.contacts.length = 0;
+        realm.intersections.length = 0;
+      }
+      return;
+    }
+
+    this.stepFallback(realm, dt);
+  }
+
+  stepAll(dt: number): void {
+    this.realmIds.forEach((realmId) => {
+      this.step(realmId, dt);
+    });
+  }
+
+  getContacts(realmId: number): ContactManifold[] {
+    const realm = this.realms.get(realmId);
+    return realm ? realm.contacts : [];
+  }
+
+  getIntersections(realmId: number): IntersectionPair[] {
+    const realm = this.realms.get(realmId);
+    return realm ? realm.intersections : [];
+  }
+
+  getIslands(realmId: number): IslandInfo[] {
+    if (this.lib) {
+      return this.lib.getIslands(realmId);
+    }
+    // Fallback: each body is its own island
+    const realm = this.realms.get(realmId);
+    if (!realm) return [];
+    const islands: IslandInfo[] = [];
+    for (const [bodyId, b] of realm.bodies.entries()) {
+      const speed = Math.sqrt(
+        b.linearVelocity[0] ** 2 + b.linearVelocity[1] ** 2 + b.linearVelocity[2] ** 2,
+      );
+      islands.push({ bodyIds: [bodyId], maxImportance: 0, avgVelocity: speed });
+    }
+    return islands;
+  }
+
+  createCharacterController(realmId: number, desc: CharacterControllerDesc, entity: Entity): CharacterControllerHandle {
+    const realm = this.realms.get(realmId);
+    if (!realm) throw new Error(`Realm ${realmId} not found`);
+    const controllerId = realm.nextControllerId++;
+    const handle: CharacterControllerHandle = { realmId, controllerId, entity };
+    if (this.lib) {
+      this.lib.createCharacterController(realmId, desc, handle);
+    }
+    return handle;
+  }
+
+  destroyCharacterController(handle: CharacterControllerHandle): void {
+    if (this.lib) {
+      this.lib.destroyCharacterController(handle.realmId, handle.controllerId);
+    }
+  }
+
+  characterMove(handle: CharacterControllerHandle, desiredMovement: [number, number, number], dt: number): CharacterMoveResult {
+    if (this.lib) {
+      return this.lib.characterMove(handle.realmId, handle.controllerId, desiredMovement, dt);
+    }
+    return this.characterMoveFallback(handle, desiredMovement, dt);
+  }
+
+  setCharacterColliderPosition(handle: CharacterControllerHandle, pos: [number, number, number]): void {
+    if (this.lib && this.lib.setCharacterColliderPosition) {
+      this.lib.setCharacterColliderPosition(handle.realmId, handle.controllerId, pos);
+    }
+  }
+
+  createJoint(realmId: number, parentBody: PhysicsBody, childBody: PhysicsBody, desc: JointDesc): number {
+    const realm = this.realms.get(realmId);
+    if (!realm) throw new Error(`Realm ${realmId} not found`);
+    const jointId = realm.nextJointId++;
+    if (this.lib) {
+      this.lib.createJoint(realmId, parentBody.id, childBody.id, jointId, desc);
+    }
+    return jointId;
+  }
+
+  destroyJoint(realmId: number, jointId: number): void {
+    if (this.lib) {
+      this.lib.destroyJoint(realmId, jointId);
+    }
+  }
+
+  syncTransforms(realmId: number, transformBuffer: Float32Array, entityCount: number): void {
+    const realm = this.realms.get(realmId);
+    if (!realm) return;
+    for (const [, b] of realm.bodies.entries()) {
+      const idx = b.body.entity.index;
+      if (idx < entityCount) {
+        const offset = idx * 8;
+        b.position[0] = transformBuffer[offset];
+        b.position[1] = transformBuffer[offset + 1];
+        b.position[2] = transformBuffer[offset + 2];
+        b.rotation[0] = transformBuffer[offset + 3];
+        b.rotation[1] = transformBuffer[offset + 4];
+        b.rotation[2] = transformBuffer[offset + 5];
+        b.rotation[3] = transformBuffer[offset + 6];
+      }
+    }
+  }
+
+  readTransforms(realmId: number, transformBuffer: Float32Array, entityCount: number): void {
+    const realm = this.realms.get(realmId);
+    if (!realm) return;
+    for (const [, b] of realm.bodies.entries()) {
+      const idx = b.body.entity.index;
+      if (idx < entityCount) {
+        const offset = idx * 8;
+        transformBuffer[offset] = b.position[0];
+        transformBuffer[offset + 1] = b.position[1];
+        transformBuffer[offset + 2] = b.position[2];
+        transformBuffer[offset + 3] = b.rotation[0];
+        transformBuffer[offset + 4] = b.rotation[1];
+        transformBuffer[offset + 5] = b.rotation[2];
+        transformBuffer[offset + 6] = b.rotation[3];
+      }
+    }
+  }
+
+  serializeRealm(realmId: number): Uint8Array {
+    if (this.lib) {
+      return this.lib.serializeRealm(realmId);
+    }
+    return new Uint8Array(0);
+  }
+
+  deserializeRealm(realmId: number, data: Uint8Array): void {
+    if (this.lib) {
+      this.lib.deserializeRealm(realmId, data);
+    }
+  }
+
+  destroy(): void {
+    if (this.destroyed) return;
+    this.destroyed = true;
+    if (this.lib) {
+      // Only destroy this backend's realms — do NOT call this.lib.destroy(),
+      // which would clear the shared lib's closure maps for ALL backends
+      // (the lib is a process-wide singleton via cachedLib).
+      for (let _i26137 = 0, _it26137 = this.realmIds, _n26137 = _it26137.length; _i26137 < _n26137; _i26137++) { const realmId = _it26137[_i26137];
+        this.lib.destroyRealm(realmId);
+      };
+    }
+    this.realms.clear();
+    this.realmIds = [];
+  }
+
+  private getBodyState(body: PhysicsBody): BodyState | undefined {
+    const realm = this.realms.get(body.realmId);
+    return realm?.bodies.get(body.id);
+  }
+
+  private characterMoveFallback(handle: CharacterControllerHandle, desiredMovement: [number, number, number], dt: number): CharacterMoveResult {
+    const realm = this.realms.get(handle.realmId);
+    if (!realm) {
+      return { grounded: false, groundNormal: [0, 1, 0], groundEntity: null, slid: false, stepped: false, effectiveMovement: [0, 0, 0], collisions: [] };
+    }
+
+    // Find the body associated with this character controller's entity
+    let body: BodyState | null = null;
+    for (const b of realm.bodies.values()) {
+      if (b.body.entity.index === handle.entity.index) { body = b; break; }
+    }
+    if (!body) {
+      return { grounded: false, groundNormal: [0, 1, 0], groundEntity: null, slid: false, stepped: false, effectiveMovement: [0, 0, 0], collisions: [] };
+    }
+
+    const desired = [...desiredMovement] as [number, number, number];
+    let effective = [...desired] as [number, number, number];
+    let slid = false;
+    let stepped = false;
+
+    const groundRay = this.raycast(handle.realmId, body.position, [0, -1, 0], 1.2);
+    const grounded = groundRay !== null && groundRay.distance <= 1.0;
+    const groundNormal = groundRay ? groundRay.normal : [0, 1, 0] as [number, number, number];
+    const groundEntity = groundRay ? groundRay.entity : null;
+
+    if (grounded) {
+      const slopeDot = groundNormal[1];
+      const maxSlopeCos = Math.cos(Math.PI / 3);
+      if (slopeDot < maxSlopeCos) {
+        const slideDir: [number, number, number] = [
+          groundNormal[0] * (1 - slopeDot),
+          groundNormal[1] * (1 - slopeDot) - 1,
+          groundNormal[2] * (1 - slopeDot),
+        ];
+        const slideLen = Math.sqrt(slideDir[0] ** 2 + slideDir[1] ** 2 + slideDir[2] ** 2);
+        if (slideLen > 1e-6) {
+          effective[0] = slideDir[0] / slideLen * Math.abs(desired[1]) * 0.5;
+          effective[1] = slideDir[1] / slideLen * Math.abs(desired[1]) * 0.5;
+          effective[2] = slideDir[2] / slideLen * Math.abs(desired[1]) * 0.5;
+          slid = true;
+        }
+      }
+    }
+
+    const wallRay = this.raycast(handle.realmId, body.position, [desired[0], 0, desired[2]], 0.6);
+    if (wallRay && wallRay.distance < 0.5) {
+      const wallNormal = wallRay.normal;
+      const dot = effective[0] * wallNormal[0] + effective[2] * wallNormal[2];
+      if (dot < 0) {
+        effective[0] -= dot * wallNormal[0];
+        effective[2] -= dot * wallNormal[2];
+        slid = true;
+      }
+    }
+
+    body.position[0] += effective[0] * dt;
+    body.position[1] += effective[1] * dt;
+    body.position[2] += effective[2] * dt;
+
+    return { grounded, groundNormal, groundEntity, slid, stepped, effectiveMovement: effective, collisions: [] };
+  }
+
+  private readBackTransforms(realm: RealmState): void {
+    if (!this.lib) return;
+    for (const [bodyId, b] of realm.bodies.entries()) {
+      const transform = this.lib.getBodyTransform(realm.id, bodyId);
+      if (transform) {
+        b.position = transform.position;
+        b.rotation = transform.rotation;
+      }
+    }
+  }
+
+  private stepFallback(realm: RealmState, dt: number): void {
+    const gravity = realm.config.gravity;
+
+    for (const [, b] of realm.bodies.entries()) {
+      if (b.desc.type !== "dynamic" || b.sleeping) continue;
+
+      b.linearVelocity[0] += gravity[0] * (b.desc.gravityScale ?? 1) * dt;
+      b.linearVelocity[1] += gravity[1] * (b.desc.gravityScale ?? 1) * dt;
+      b.linearVelocity[2] += gravity[2] * (b.desc.gravityScale ?? 1) * dt;
+
+      const damping = b.desc.linearDamping ?? 0;
+      const dampFactor = Math.max(0, 1 - damping * dt);
+      b.linearVelocity[0] *= dampFactor;
+      b.linearVelocity[1] *= dampFactor;
+      b.linearVelocity[2] *= dampFactor;
+
+      const angDamping = b.desc.angularDamping ?? 0;
+      const angDampFactor = Math.max(0, 1 - angDamping * dt);
+      b.angularVelocity[0] *= angDampFactor;
+      b.angularVelocity[1] *= angDampFactor;
+      b.angularVelocity[2] *= angDampFactor;
+
+      b.position[0] += b.linearVelocity[0] * dt;
+      b.position[1] += b.linearVelocity[1] * dt;
+      b.position[2] += b.linearVelocity[2] * dt;
+
+      integrateRotation(b.rotation, b.angularVelocity, dt);
+    }
+
+    realm.contacts = this.detectContacts(realm);
+    realm.intersections = this.detectIntersections(realm);
+  }
+
+  private detectContacts(realm: RealmState): ContactManifold[] {
+    const contacts: ContactManifold[] = [];
+    const bodies = [...realm.bodies.values()];
+
+    for (let i = 0; i < bodies.length; i++) {
+      for (let j = i + 1; j < bodies.length; j++) {
+        const a = bodies[i];
+        const b = bodies[j];
+
+        for (const colA of a.colliders.values()) {
+          if (colA.sensor) continue;
+          for (const colB of b.colliders.values()) {
+            if (colB.sensor) continue;
+            const contact = checkColliderCollision(
+              a.position,
+              colA.shape,
+              b.position,
+              colB.shape,
+            );
+            if (contact) {
+              contacts.push({
+                entityA: a.body.entity,
+                entityB: b.body.entity,
+                normal: contact.normal,
+                points: [contact.point],
+                penetrationDepth: contact.penetration,
+              });
+            }
+          }
+        }
+      }
+    }
+
+    return contacts;
+  }
+
+  private detectIntersections(realm: RealmState): IntersectionPair[] {
+    const intersections: IntersectionPair[] = [];
+    const bodies = [...realm.bodies.values()];
+
+    for (let i = 0; i < bodies.length; i++) {
+      for (let j = i + 1; j < bodies.length; j++) {
+        const a = bodies[i];
+        const b = bodies[j];
+
+        for (const colA of a.colliders.values()) {
+          for (const colB of b.colliders.values()) {
+            // Only report pairs where at least one collider is a sensor
+            if (!colA.sensor && !colB.sensor) continue;
+            const contact = checkColliderCollision(
+              a.position,
+              colA.shape,
+              b.position,
+              colB.shape,
+            );
+            if (contact) {
+              intersections.push({
+                entityA: a.body.entity,
+                entityB: b.body.entity,
+              });
+            }
+          }
+        }
+      }
+    }
+
+    return intersections;
+  }
+}
+
+function integrateRotation(
+  rot: [number, number, number, number],
+  angularVel: [number, number, number],
+  dt: number,
+): void {
+  const ax = angularVel[0] * dt * 0.5;
+  const ay = angularVel[1] * dt * 0.5;
+  const az = angularVel[2] * dt * 0.5;
+  const dq: [number, number, number, number] = [ax, ay, az, 1];
+  const len = Math.sqrt(dq[0] ** 2 + dq[1] ** 2 + dq[2] ** 2 + dq[3] ** 2);
+  if (len > 1e-9) {
+    dq[0] /= len; dq[1] /= len; dq[2] /= len; dq[3] /= len;
+  }
+  const result = multiplyQuat(rot, dq);
+  rot[0] = result[0]; rot[1] = result[1]; rot[2] = result[2]; rot[3] = result[3];
+}
+
+function multiplyQuat(
+  a: [number, number, number, number],
+  b: [number, number, number, number],
+): [number, number, number, number] {
+  return [
+    a[3] * b[0] + a[0] * b[3] + a[1] * b[2] - a[2] * b[1],
+    a[3] * b[1] - a[0] * b[2] + a[1] * b[3] + a[2] * b[0],
+    a[3] * b[2] + a[0] * b[1] - a[1] * b[0] + a[2] * b[3],
+    a[3] * b[3] - a[0] * b[0] - a[1] * b[1] - a[2] * b[2],
+  ];
+}
+
+function raycastCollider(
+  origin: [number, number, number],
+  direction: [number, number, number],
+  maxDistance: number,
+  bodyPos: [number, number, number],
+  shape: ColliderShape,
+): { point: [number, number, number]; normal: [number, number, number]; distance: number } | null {
+  if (shape.type === "sphere") {
+    return raycastSphere(origin, direction, maxDistance, bodyPos, shape.radius);
+  }
+  if (shape.type === "box") {
+    return raycastBox(origin, direction, maxDistance, bodyPos, shape.halfExtents);
+  }
+  return null;
+}
+
+function raycastSphere(
+  origin: [number, number, number],
+  dir: [number, number, number],
+  maxDist: number,
+  center: [number, number, number],
+  radius: number,
+): { point: [number, number, number]; normal: [number, number, number]; distance: number } | null {
+  const ox = origin[0] - center[0];
+  const oy = origin[1] - center[1];
+  const oz = origin[2] - center[2];
+  const b = ox * dir[0] + oy * dir[1] + oz * dir[2];
+  const c = ox * ox + oy * oy + oz * oz - radius * radius;
+  const disc = b * b - c;
+  if (disc < 0) return null;
+  const t = -b - Math.sqrt(disc);
+  if (t < 0 || t > maxDist) return null;
+  const point: [number, number, number] = [
+    origin[0] + dir[0] * t,
+    origin[1] + dir[1] * t,
+    origin[2] + dir[2] * t,
+  ];
+  const normal: [number, number, number] = [
+    (point[0] - center[0]) / radius,
+    (point[1] - center[1]) / radius,
+    (point[2] - center[2]) / radius,
+  ];
+  return { point, normal, distance: t };
+}
+
+function raycastBox(
+  origin: [number, number, number],
+  dir: [number, number, number],
+  maxDist: number,
+  center: [number, number, number],
+  halfExtents: [number, number, number],
+): { point: [number, number, number]; normal: [number, number, number]; distance: number } | null {
+  let tmin = 0;
+  let tmax = maxDist;
+
+  for (let i = 0; i < 3; i++) {
+    const o = origin[i] - center[i];
+    const d = dir[i];
+    const half = halfExtents[i];
+
+    if (Math.abs(d) < 1e-9) {
+      if (Math.abs(o) > half) return null;
+    } else {
+      let t1 = (-half - o) / d;
+      let t2 = (half - o) / d;
+      if (t1 > t2) { const tmp = t1; t1 = t2; t2 = tmp; }
+      tmin = Math.max(tmin, t1);
+      tmax = Math.min(tmax, t2);
+      if (tmin > tmax) return null;
+    }
+  }
+
+  const t = tmin;
+  const point: [number, number, number] = [
+    origin[0] + dir[0] * t,
+    origin[1] + dir[1] * t,
+    origin[2] + dir[2] * t,
+  ];
+
+  const rel: [number, number, number] = [
+    point[0] - center[0],
+    point[1] - center[1],
+    point[2] - center[2],
+  ];
+  const nx = rel[0] / halfExtents[0];
+  const ny = rel[1] / halfExtents[1];
+  const nz = rel[2] / halfExtents[2];
+  const ax = Math.abs(nx);
+  const ay = Math.abs(ny);
+  const az = Math.abs(nz);
+  let normal: [number, number, number];
+  if (ax >= ay && ax >= az) normal = [Math.sign(nx), 0, 0];
+  else if (ay >= ax && ay >= az) normal = [0, Math.sign(ny), 0];
+  else normal = [0, 0, Math.sign(nz)];
+
+  return { point, normal, distance: t };
+}
+
+function checkColliderCollision(
+  posA: [number, number, number],
+  shapeA: ColliderShape,
+  posB: [number, number, number],
+  shapeB: ColliderShape,
+): { normal: [number, number, number]; point: [number, number, number]; penetration: number } | null {
+  if (shapeA.type === "sphere" && shapeB.type === "sphere") {
+    return sphereSphere(posA, shapeA.radius, posB, shapeB.radius);
+  }
+  if (shapeA.type === "box" && shapeB.type === "box") {
+    return aabbAabb(posA, shapeA.halfExtents, posB, shapeB.halfExtents);
+  }
+  if (shapeA.type === "sphere" && shapeB.type === "box") {
+    return sphereAabb(posA, shapeA.radius, posB, shapeB.halfExtents);
+  }
+  if (shapeA.type === "box" && shapeB.type === "sphere") {
+    const result = sphereAabb(posB, shapeB.radius, posA, shapeA.halfExtents);
+    if (result) {
+      result.normal = [-result.normal[0], -result.normal[1], -result.normal[2]] as [number, number, number];
+    }
+    return result;
+  }
+  return null;
+}
+
+function sphereSphere(
+  posA: [number, number, number],
+  rA: number,
+  posB: [number, number, number],
+  rB: number,
+): { normal: [number, number, number]; point: [number, number, number]; penetration: number } | null {
+  const dx = posB[0] - posA[0];
+  const dy = posB[1] - posA[1];
+  const dz = posB[2] - posA[2];
+  const dist = Math.sqrt(dx * dx + dy * dy + dz * dz);
+  const sumR = rA + rB;
+  if (dist >= sumR) return null;
+  const penetration = sumR - dist;
+  const normal: [number, number, number] = dist > 1e-9
+    ? [dx / dist, dy / dist, dz / dist]
+    : [0, 1, 0];
+  const point: [number, number, number] = [
+    posA[0] + normal[0] * rA,
+    posA[1] + normal[1] * rA,
+    posA[2] + normal[2] * rA,
+  ];
+  return { normal, point, penetration };
+}
+
+function aabbAabb(
+  posA: [number, number, number],
+  halfA: [number, number, number],
+  posB: [number, number, number],
+  halfB: [number, number, number],
+): { normal: [number, number, number]; point: [number, number, number]; penetration: number } | null {
+  const dx = posB[0] - posA[0];
+  const px = halfA[0] + halfB[0] - Math.abs(dx);
+  if (px <= 0) return null;
+
+  const dy = posB[1] - posA[1];
+  const py = halfA[1] + halfB[1] - Math.abs(dy);
+  if (py <= 0) return null;
+
+  const dz = posB[2] - posA[2];
+  const pz = halfA[2] + halfB[2] - Math.abs(dz);
+  if (pz <= 0) return null;
+
+  if (px < py && px < pz) {
+    const nx = dx < 0 ? -1 : 1;
+    return {
+      normal: [nx, 0, 0],
+      point: [posA[0] + nx * halfA[0], posA[1], posA[2]],
+      penetration: px,
+    };
+  } else if (py < pz) {
+    const ny = dy < 0 ? -1 : 1;
+    return {
+      normal: [0, ny, 0],
+      point: [posA[0], posA[1] + ny * halfA[1], posA[2]],
+      penetration: py,
+    };
+  } else {
+    const nz = dz < 0 ? -1 : 1;
+    return {
+      normal: [0, 0, nz],
+      point: [posA[0], posA[1], posA[2] + nz * halfA[2]],
+      penetration: pz,
+    };
+  }
+}
+
+function sphereAabb(
+  spherePos: [number, number, number],
+  radius: number,
+  boxPos: [number, number, number],
+  halfExtents: [number, number, number],
+): { normal: [number, number, number]; point: [number, number, number]; penetration: number } | null {
+  const closest: [number, number, number] = [
+    Math.max(boxPos[0] - halfExtents[0], Math.min(spherePos[0], boxPos[0] + halfExtents[0])),
+    Math.max(boxPos[1] - halfExtents[1], Math.min(spherePos[1], boxPos[1] + halfExtents[1])),
+    Math.max(boxPos[2] - halfExtents[2], Math.min(spherePos[2], boxPos[2] + halfExtents[2])),
+  ];
+
+  const dx = spherePos[0] - closest[0];
+  const dy = spherePos[1] - closest[1];
+  const dz = spherePos[2] - closest[2];
+  const distSq = dx * dx + dy * dy + dz * dz;
+  if (distSq >= radius * radius) return null;
+
+  const dist = Math.sqrt(distSq);
+  const penetration = radius - dist;
+  const normal: [number, number, number] = dist > 1e-9
+    ? [dx / dist, dy / dist, dz / dist]
+    : [0, 1, 0];
+  return { normal, point: closest, penetration };
+}