@downdraft/engine 0.0.0 → 0.1.0

package/core/src/physics/interface.ts

@@ -0,0 +1,473 @@
+import type { Entity } from "../ecs/entity";
+export type { Entity };
+
+export type BodyType = "static" | "dynamic" | "kinematic";
+
+export type ColliderShape =
+  | { type: "box"; halfExtents: [number, number, number] }
+  | { type: "sphere"; radius: number }
+  | { type: "capsule"; halfHeight: number; radius: number }
+  | { type: "mesh"; vertices: Float32Array; indices: Uint32Array }
+  | { type: "convex"; vertices: Float32Array }
+  | { type: "heightfield"; nrows: number; ncols: number; heights: Float32Array; scale: [number, number, number] };
+
+/**
+ * Opaque public handle for a physics body. Games never see raw backend/Rapier
+ * handles — all state access goes through validated `PhysicsBackend`/API methods
+ * keyed by this handle. `id` is unique within the owning `realmId`.
+ */
+export interface PhysicsBody {
+  readonly id: number;
+  readonly realmId: number;
+  readonly entity: Entity;
+}
+
+export interface RaycastResult {
+  entity: Entity;
+  point: [number, number, number];
+  normal: [number, number, number];
+  distance: number;
+}
+
+export interface ShapeCastResult extends RaycastResult {
+  hitFraction: number;
+}
+
+export interface BodyDesc {
+  type: BodyType;
+  position: [number, number, number];
+  rotation: [number, number, number, number];
+  linearVelocity?: [number, number, number];
+  angularVelocity?: [number, number, number];
+  gravityScale?: number;
+  mass?: number;
+  linearDamping?: number;
+  angularDamping?: number;
+  ccdEnabled?: boolean;
+  canSleep?: boolean;
+  sleeping?: boolean;
+  lockedAxes?: {
+    translation?: [boolean, boolean, boolean];
+    rotation?: [boolean, boolean, boolean];
+  };
+}
+
+export interface ColliderDesc {
+  shape: ColliderShape;
+  friction?: number;
+  restitution?: number;
+  density?: number;
+  sensor?: boolean;
+  collisionGroups?: number;
+  solverGroups?: number;
+  /** Local translation of the collider relative to the parent body. */
+  translation?: [number, number, number];
+  /** Local rotation of the collider relative to the parent body (quaternion). */
+  rotation?: [number, number, number, number];
+}
+
+export interface ContactManifold {
+  entityA: Entity;
+  entityB: Entity;
+  normal: [number, number, number];
+  points: Array<[number, number, number]>;
+  penetrationDepth: number;
+}
+
+/** Sensor intersection pair (no contact manifold — sensors report overlap only). */
+export interface IntersectionPair {
+  entityA: Entity;
+  entityB: Entity;
+}
+
+// ---------------------------------------------------------------------------
+// Realm tiers
+// ---------------------------------------------------------------------------
+
+/**
+ * Realm tier enum. Lower numeric value = higher fidelity (more frequent ticks,
+ * more solver iterations). Realm separation is the only mechanism for differing
+ * per-body update frequencies within Rapier (a single `World` has one tick rate).
+ */
+export enum RealmTier {
+  Near = 0,
+  Mid = 1,
+  Far = 2,
+}
+
+/**
+ * Per-tier quality + LOD transfer configuration. Orthogonal LOD axes:
+ *  - `tickFrequency`: how often the realm steps (1 = every frame).
+ *  - `solverIterations`: Rapier `IntegrationParameters.numSolverIterations`.
+ *  - `promoteThreshold`/`demoteThreshold`: hysteresis band for tier transfers.
+ *    `demoteThreshold` must be >= `promoteThreshold` to prevent boundary thrash.
+ */
+export interface RealmTierConfig {
+  tickFrequency: number;
+  solverIterations: number;
+  /** Distance below which a body promotes to the next-higher tier (immediate). */
+  promoteThreshold: number;
+  /** Distance above which a body is eligible to demote (must be >= promoteThreshold). */
+  demoteThreshold: number;
+  /** Seconds continuously outside the demote threshold before demotion fires. */
+  demoteDwellTime: number;
+}
+
+export interface PhysicsRealmConfig {
+  id: number;
+  name: string;
+  tier: RealmTier;
+  gravity: [number, number, number];
+  /** Per-tier LOD config (tick frequency, solver iterations, transfer thresholds). */
+  tierConfig: RealmTierConfig;
+  integrationParams?: {
+    dt?: number;
+    maxSubSteps?: number;
+    erp?: number;
+    cfm?: number;
+    numSolverIterations?: number;
+  };
+  broadphase?: "sap" | "grid";
+  broadphaseSize?: [number, number, number];
+}
+
+export interface CharacterControllerDesc {
+  offset: [number, number, number];
+  radius: number;
+  halfHeight: number;
+  slide: boolean;
+  autostep: {
+    enabled: boolean;
+    minWidth: number;
+    maxHeight: number;
+  };
+  maxSlope: number;
+  minSlopeSlide: number;
+  snapToGround: number;
+  /** If false, the character controller won't apply impulses to dynamic bodies (default: false). */
+  applyImpulsesToDynamicBodies: boolean;
+  /** Collision groups for the character's collider. */
+  collisionGroups?: number;
+  /**
+   * If set, create a parentless collider (no rigid body) at this position
+   * and use it for the character controller. If unset, the controller uses
+   * the first collider of the entity's body.
+   */
+  parentless?: {
+    position: [number, number, number];
+    collisionGroups?: number;
+  };
+}
+
+export interface CharacterControllerHandle {
+  realmId: number;
+  controllerId: number;
+  entity: Entity;
+}
+
+export interface CharacterCollisionInfo {
+  /** Entity of the body the character collided with (if resolvable). */
+  entity: Entity | null;
+  /** Entity type (for debug labeling). */
+  entityType?: number;
+  /** Entity ID (for debug labeling). */
+  entityId?: number;
+}
+
+export interface CharacterMoveResult {
+  grounded: boolean;
+  groundNormal: [number, number, number];
+  groundEntity: Entity | null;
+  slid: boolean;
+  stepped: boolean;
+  effectiveMovement: [number, number, number];
+  /** Collision details for debug/logging (empty if no collisions). */
+  collisions: CharacterCollisionInfo[];
+}
+
+export type JointType = "cone-twist" | "fixed" | "revolute" | "prismatic";
+
+export interface JointDesc {
+  type: JointType;
+  anchorA: [number, number, number];
+  anchorB: [number, number, number];
+  coneAngle?: number;
+  twistAngle?: number;
+  axis?: [number, number, number];
+  limits?: { min: number; max: number };
+}
+
+// ---------------------------------------------------------------------------
+// Islands (load shedding)
+// ---------------------------------------------------------------------------
+
+/**
+ * A connected contact island. Rapier sleeps/freezes touching bodies as a group,
+ * so load shedding must freeze whole islands, not individual bodies.
+ */
+export interface IslandInfo {
+  bodyIds: number[];
+  maxImportance: number;
+  avgVelocity: number;
+}
+
+// ---------------------------------------------------------------------------
+// Hooks (multiplayer / snapshots)
+// ---------------------------------------------------------------------------
+
+/**
+ * Per-body importance weight used to decide freeze order under load (lower =
+ * frozen first). `flags` is a game-defined bitmask for custom prioritization.
+ */
+export interface ImportanceWeight {
+  weight: number;
+  flags?: number;
+}
+
+/**
+ * Hook for customizing realm-transfer logic. Lets multiplayer/authoritative
+ * games override the default single-machine distance-based tier model.
+ */
+export interface RealmTransferHook {
+  onPromote?(bodyId: number, fromTier: RealmTier, toTier: RealmTier): void;
+  onDemote?(bodyId: number, fromTier: RealmTier, toTier: RealmTier): void;
+  /** Override the default tier decision. Return null to keep the default. */
+  shouldTransfer?(bodyId: number, currentTier: RealmTier, distances: number[]): RealmTier | null;
+}
+
+/**
+ * Snapshot hooks for reconnect/late-join. The plugin provides serialization;
+ * games provide the networking transport and trigger these hooks.
+ */
+export interface SnapshotHooks {
+  onSnapshot?(tier: RealmTier, data: Uint8Array, tick: number): void;
+  onRestore?(tier: RealmTier, tick: number): void;
+  onLateJoin?(playerId: string, snapshots: Map<RealmTier, Uint8Array>, tick: number): void;
+  onReconnect?(playerId: string, lastSeenTick: number, snapshots: Map<RealmTier, Uint8Array>, tick: number): void;
+}
+
+// ---------------------------------------------------------------------------
+// Module config
+// ---------------------------------------------------------------------------
+
+export type PredictionMode = "server-authoritative" | "client-prediction";
+
+export interface PhysicsModuleConfig {
+  gravity: [number, number, number];
+  fixedDt: number;
+  maxCatchUpSteps: number;
+  stepBudgetMs: number;
+  realmConfigs: {
+    near: RealmTierConfig;
+    mid: RealmTierConfig;
+    far: RealmTierConfig;
+  };
+  maxEntities: number;
+  /** Ticks between periodic internal finite-check sweeps (§6 backstop). */
+  nanSweepInterval: number;
+  /** Only sweep bodies whose speed exceeds this (skip stationary bulk). */
+  nanSweepVelocityThreshold: number;
+  /** Tunneling risk = speed*dt/colliderSize; enable CCD when above this. */
+  ccdTunnelingRatio: number;
+  /** Ticks between near-realm snapshots. */
+  snapshotInterval: number;
+  predictionMode: PredictionMode;
+  /** 0 = single-threaded (all realms on sim thread); N = worker pool size. */
+  workerCount: number;
+  /** If true, assert/throw on invalid input (dev builds). Shipped builds clamp+log. */
+  devMode: boolean;
+  /**
+   * If true, static bodies are duplicated into all three realms (default).
+   * If false, far-tier dynamic bodies are force-promoted on static contact.
+   */
+  duplicateStatics: boolean;
+  /**
+   * If true (default), `step()` extracts contact manifolds + intersection
+   * pairs after each physics step. Games that never read contacts/intersections
+   * (e.g. prop sandboxes) can set this to false to skip the expensive
+   * WASM↔JS callback traversal — ~43% of step time in such games.
+   */
+  extractContacts?: boolean;
+  /**
+   * If true (default), `step()` reads back all body transforms from WASM into
+   * the backend's cached body state after each step. Games that read transforms
+   * via the Raw scalar API (`getTranslationRaw`/`getLinearVelocityRaw`) or the
+   * bulk `readTransforms` buffer can set this to false to avoid redundant
+   * high-level API calls (each allocates wrapped RawVector/RawRotation objects).
+   */
+  readBackTransformsOnStep?: boolean;
+}
+
+export interface PhysicsStats {
+  bodyCount: number;
+  realmCounts: { near: number; mid: number; far: number };
+  frozenCount: number;
+  sleepingCount: number;
+  transfersThisFrame: number;
+  slipAmount: number;
+  overBudget: boolean;
+  tickCount: number;
+}
+
+// ---------------------------------------------------------------------------
+// Backend interface (PhysicsBody-keyed; no raw handles leak)
+// ---------------------------------------------------------------------------
+
+export interface PhysicsBackend {
+  readonly name: string;
+  readonly version: string;
+
+  init?(): Promise<void>;
+
+  createRealm(config: PhysicsRealmConfig): number;
+  destroyRealm(realmId: number): void;
+  getRealmIds(): number[];
+
+  createBody(realmId: number, desc: BodyDesc, entity: Entity): PhysicsBody;
+  destroyBody(body: PhysicsBody): void;
+  setBodyType(body: PhysicsBody, type: BodyType): void;
+
+  addCollider(body: PhysicsBody, desc: ColliderDesc): number;
+  removeCollider(body: PhysicsBody, colliderId: number): void;
+  /** Set the world-space position of a collider (used for parentless character capsules). */
+  setColliderPosition(realmId: number, colliderId: number, pos: [number, number, number]): void;
+  /** Get the world-space position of a collider. */
+  getColliderPosition(realmId: number, colliderId: number): [number, number, number];
+
+  applyForce(body: PhysicsBody, force: [number, number, number]): void;
+  applyImpulse(body: PhysicsBody, impulse: [number, number, number]): void;
+  applyTorque(body: PhysicsBody, torque: [number, number, number]): void;
+  applyTorqueImpulse(body: PhysicsBody, impulse: [number, number, number]): void;
+  applyImpulseAtPoint(body: PhysicsBody, impulse: [number, number, number], point: [number, number, number]): void;
+
+  setLinearVelocity(body: PhysicsBody, vel: [number, number, number]): void;
+  getLinearVelocity(body: PhysicsBody): [number, number, number];
+  setAngularVelocity(body: PhysicsBody, vel: [number, number, number]): void;
+  getAngularVelocity(body: PhysicsBody): [number, number, number];
+
+  setPosition(body: PhysicsBody, pos: [number, number, number]): void;
+  getPosition(body: PhysicsBody): [number, number, number];
+  setRotation(body: PhysicsBody, rot: [number, number, number, number]): void;
+  getRotation(body: PhysicsBody): [number, number, number, number];
+
+  wakeUp(body: PhysicsBody): void;
+  isSleeping(body: PhysicsBody): boolean;
+
+  // -------------------------------------------------------------------------
+  // Raw fast paths — bypass safety validation, avoid JS object allocation.
+  // Callers MUST validate inputs themselves (finiteness, quaternion normalize).
+  // PhysicsBody-keyed — no raw Rapier handles leak. Use these in hot loops.
+  // -------------------------------------------------------------------------
+
+  /** Scalar setTranslation — avoids Vector3 alloc. */
+  setTranslationRaw(body: PhysicsBody, x: number, y: number, z: number, wakeUp: boolean): void;
+  /** Scalar setRotation — avoids Quaternion alloc. */
+  setRotationRaw(body: PhysicsBody, x: number, y: number, z: number, w: number, wakeUp: boolean): void;
+  /** Scalar getTranslation — writes into out[0..2], avoids alloc. */
+  getTranslationRaw(body: PhysicsBody, out: [number, number, number]): void;
+  /** Scalar getRotation (quaternion) — writes into out[0..3], avoids alloc. */
+  getRotationRaw(body: PhysicsBody, out: [number, number, number, number]): void;
+  /** Scalar getLinearVelocity — writes into out[0..2]. */
+  getLinearVelocityRaw(body: PhysicsBody, out: [number, number, number]): void;
+  /** Scalar setLinearVelocity. */
+  setLinearVelocityRaw(body: PhysicsBody, x: number, y: number, z: number, wakeUp: boolean): void;
+  /** Scalar setAngularVelocity. */
+  setAngularVelocityRaw(body: PhysicsBody, x: number, y: number, z: number, wakeUp: boolean): void;
+  /** Scalar sleeping check — single boolean, no alloc. */
+  isSleepingRaw(body: PhysicsBody): boolean;
+
+  /**
+   * Bulk readback of AWAKE bodies in a realm. Writes idsOut[i] = body.id and
+   * out[i*10 .. +9] = [pos.x, pos.y, pos.z, rot.x, rot.y, rot.z, rot.w,
+   * linvel.x, linvel.y, linvel.z] for each awake body. Returns the number of
+   * bodies written (≤ maxCount). Sleeping bodies are excluded — they cannot
+   * move, so callers keep their last-synced values. One WASM→JS enumeration
+   * + raw scalar reads; replaces per-body isSleepingRaw checks in hot loops.
+   */
+  readAwakeBodyStates?(realmId: number, idsOut: Uint32Array, out: Float32Array, maxCount: number): number;
+
+  /**
+   * Swap a trimesh collider's shape in-place (avoids remove/create + broadphase
+   * re-insertion). Returns true if the swap succeeded, false if the backend
+   * doesn't support in-place swap (caller should fall back to remove+create).
+   */
+  swapColliderShapeRaw(realmId: number, colliderId: number, vertices: Float32Array, indices: Uint32Array): boolean;
+
+  /** Pre-allocate WASM heap (bytes). No-op if not supported. */
+  reserveMemory(bytes: number): void;
+
+  /** Set integration timestep on a realm. */
+  setIntegrationDt(realmId: number, dt: number): void;
+
+  /** Per-realm sleep thresholds for graceful degradation (load shedding first line). */
+  setSleepThresholds(realmId: number, linearThreshold: number, angularThreshold: number): void;
+  /** Per-realm solver iteration count (Rapier `IntegrationParameters.numSolverIterations`). */
+  setSolverIterations(realmId: number, iterations: number): void;
+  /** Per-realm minimum island size (smaller = islands sleep independently). */
+  setMinIslandSize?(realmId: number, size: number): void;
+  /** Per-body CCD (off by default globally; opt in via tunneling heuristic). */
+  setCCDEnabled(body: PhysicsBody, enabled: boolean): void;
+
+  raycast(
+    realmId: number,
+    origin: [number, number, number],
+    direction: [number, number, number],
+    maxDistance: number,
+    filter?: { collisionGroups?: number; excludeEntity?: Entity },
+  ): RaycastResult | null;
+
+  raycastMulti(
+    realmId: number,
+    origin: [number, number, number],
+    direction: [number, number, number],
+    maxDistance: number,
+    filter?: { collisionGroups?: number; excludeEntity?: Entity },
+  ): RaycastResult[];
+
+  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;
+
+  step(realmId: number, dt: number): void;
+  stepAll(dt: number): void;
+
+  getContacts(realmId: number): ContactManifold[];
+
+  /** Sensor intersection pairs for the given realm (overlap-only, no contact manifold). */
+  getIntersections(realmId: number): IntersectionPair[];
+
+  /** Enumerate contact islands for island-aware load shedding. */
+  getIslands(realmId: number): IslandInfo[];
+
+  createCharacterController(realmId: number, desc: CharacterControllerDesc, entity: Entity): CharacterControllerHandle;
+  destroyCharacterController(handle: CharacterControllerHandle): void;
+  characterMove(handle: CharacterControllerHandle, desiredMovement: [number, number, number], dt: number): CharacterMoveResult;
+  /** Set the world position of a character controller's parentless collider. */
+  setCharacterColliderPosition(handle: CharacterControllerHandle, pos: [number, number, number]): void;
+
+  createJoint(realmId: number, parentBody: PhysicsBody, childBody: PhysicsBody, desc: JointDesc): number;
+  destroyJoint(realmId: number, jointId: number): void;
+
+  /**
+   * Bulk write ECS transforms → physics (kinematic/static bodies). One FFI pass.
+   * Buffer layout: [x,y,z, qx,qy,qz,qw, pad] × entityCount (8 floats per entity).
+   */
+  syncTransforms(realmId: number, transformBuffer: Float32Array, entityCount: number): void;
+  /**
+   * Bulk read physics transforms → buffer (one FFI pass, no per-entity allocation).
+   * Same layout as `syncTransforms`.
+   */
+  readTransforms(realmId: number, transformBuffer: Float32Array, entityCount: number): void;
+
+  /** Rapier `world.takeSnapshot()` — for reconnect/late-join. */
+  serializeRealm(realmId: number): Uint8Array;
+  deserializeRealm(realmId: number, data: Uint8Array): void;
+
+  destroy(): void;
+}

package/core/src/physics/interpolation-buffer.ts

@@ -0,0 +1,192 @@
+import type { PhysicsBody } from "./interface";
+
+/**
+ * Double-buffered interpolation buffer for smooth rendering between
+ * fixed-timestep physics ticks.
+ *
+ * Two preallocated `Float32Array` slots (`prev`, `curr`), each sized
+ * `maxEntities × 8` (pos.xyz + rot.xyzw + 1 pad). No per-entity per-frame
+ * allocation in the hot path.
+ *
+ * The rendered state is ~1 tick behind (no extrapolation): we interpolate
+ * between `prev` and `curr` using the accumulator's alpha.
+ */
+export class InterpolationBuffer {
+  private maxEntities: number;
+  private prev: Float32Array;
+  private curr: Float32Array;
+  /** Map from entity index → slot offset in the buffer. */
+  private entityToSlot: Map<number, number> = new Map();
+  /** Reverse map: slot → entity index. */
+  private slotToEntity: Map<number, number> = new Map();
+  private nextSlot = 0;
+  /** Whether writeTick has been called at least once. */
+  private initialized: boolean = false;
+
+  constructor(maxEntities: number) {
+    this.maxEntities = maxEntities;
+    this.prev = new Float32Array(maxEntities * 8);
+    this.curr = new Float32Array(maxEntities * 8);
+  }
+
+  /**
+   * Assign a slot for an entity. Called when a body is registered.
+   * Returns the slot index, or -1 if capacity is exceeded.
+   */
+  assignSlot(entityIndex: number): number {
+    if (this.entityToSlot.has(entityIndex)) return this.entityToSlot.get(entityIndex)!;
+    if (this.nextSlot >= this.maxEntities) return -1;
+    const slot = this.nextSlot++;
+    this.entityToSlot.set(entityIndex, slot);
+    this.slotToEntity.set(slot, entityIndex);
+    return slot;
+  }
+
+  /**
+   * Release the slot for an entity. The slot is not reclaimed (simple
+   * bump allocator); call `resize` to compact if needed.
+   */
+  releaseSlot(entityIndex: number): void {
+    const slot = this.entityToSlot.get(entityIndex);
+    if (slot === undefined) return;
+    this.entityToSlot.delete(entityIndex);
+    this.slotToEntity.delete(slot);
+  }
+
+  /**
+   * Write the current tick's transforms into `curr`, then swap `prev ↔ curr`.
+   * Uses `readTransforms` from the backend (one FFI pass per realm).
+   *
+   * The caller provides a `readFn(realmId, buffer, count)` that delegates to
+   * `PhysicsBackend.readTransforms`.
+   */
+  writeTick(realmId: number, readFn: (realmId: number, buffer: Float32Array, count: number) => void, entityCount: number): void {
+    const count = Math.min(entityCount, this.maxEntities);
+    // On the first tick, copy data to both prev and curr so interpolation
+    // produces correct values instead of interpolating from zeros.
+    if (!this.initialized) {
+      readFn(realmId, this.curr, count);
+      this.prev.set(this.curr);
+      this.initialized = true;
+      return;
+    }
+    // Read into prev (reused as scratch), then swap so curr = new data
+    readFn(realmId, this.prev, count);
+    // Swap: the new data is in prev; we want curr = new, prev = old curr
+    const tmp = this.curr;
+    this.curr = this.prev;
+    this.prev = tmp;
+  }
+
+  /**
+   * Read interpolated transforms into `outBuffer`.
+   * Linear interpolation for position, nlerp for rotation quaternions.
+   * `alpha` is in [0, 1] — the fraction between prev and curr.
+   */
+  readInterpolated(alpha: number, outBuffer: Float32Array, entityCount: number): void {
+    const a = Math.max(0, Math.min(1, alpha));
+    const count = Math.min(entityCount, this.maxEntities);
+    const byteCount = count * 8;
+
+    // Fast paths: when alpha is 0 or 1, skip per-entity nlerp math entirely.
+    // alpha=1 is the most common case (render rate > sim rate → stalled at
+    // curr until the next tick arrives).
+    if (a >= 1) {
+      outBuffer.set(this.curr.subarray(0, byteCount));
+      return;
+    }
+    if (a <= 0) {
+      outBuffer.set(this.prev.subarray(0, byteCount));
+      return;
+    }
+
+    const invA = 1 - a;
+    for (let i = 0; i < count; i++) {
+      const offset = i * 8;
+      // Position: linear interp
+      outBuffer[offset] = this.prev[offset] * invA + this.curr[offset] * a;
+      outBuffer[offset + 1] = this.prev[offset + 1] * invA + this.curr[offset + 1] * a;
+      outBuffer[offset + 2] = this.prev[offset + 2] * invA + this.curr[offset + 2] * a;
+
+      // Rotation: nlerp (normalized lerp) — good enough for smooth visuals
+      const px = this.prev[offset + 3];
+      const py = this.prev[offset + 4];
+      const pz = this.prev[offset + 5];
+      const pw = this.prev[offset + 6];
+      const cx = this.curr[offset + 3];
+      const cy = this.curr[offset + 4];
+      const cz = this.curr[offset + 5];
+      const cw = this.curr[offset + 6];
+
+      // Choose the shorter arc (negate curr if dot < 0)
+      const dot = px * cx + py * cy + pz * cz + pw * cw;
+      const sign = dot < 0 ? -1 : 1;
+
+      let rx = px * invA + cx * a * sign;
+      let ry = py * invA + cy * a * sign;
+      let rz = pz * invA + cz * a * sign;
+      let rw = pw * invA + cw * a * sign;
+
+      // Normalize
+      const len = Math.sqrt(rx * rx + ry * ry + rz * rz + rw * rw);
+      if (len > 1e-9) {
+        rx /= len; ry /= len; rz /= len; rw /= len;
+      } else {
+        rx = 0; ry = 0; rz = 0; rw = 1;
+      }
+
+      outBuffer[offset + 3] = rx;
+      outBuffer[offset + 4] = ry;
+      outBuffer[offset + 5] = rz;
+      outBuffer[offset + 6] = rw;
+      // offset + 7 is padding (scale or unused)
+      outBuffer[offset + 7] = this.curr[offset + 7];
+    }
+  }
+
+  /**
+   * Reseed both prev and curr slots for a body (post-transfer).
+   * Writes identical values to avoid interpolation snap.
+   */
+  reseed(entityIndex: number, pos: [number, number, number], rot: [number, number, number, number], scale: number = 1): void {
+    const slot = this.entityToSlot.get(entityIndex);
+    if (slot === undefined) return;
+    const offset = slot * 8;
+    [this.prev, this.curr].forEach((buf) => {
+      buf[offset] = pos[0];
+      buf[offset + 1] = pos[1];
+      buf[offset + 2] = pos[2];
+      buf[offset + 3] = rot[0];
+      buf[offset + 4] = rot[1];
+      buf[offset + 5] = rot[2];
+      buf[offset + 6] = rot[3];
+      buf[offset + 7] = scale;
+    });
+  }
+
+  /**
+   * Reseed from a PhysicsBody's current state (post-transfer convenience).
+   * Reads pos/rot via the provided getter functions.
+   */
+  reseedBody(
+    body: PhysicsBody,
+    getPos: (body: PhysicsBody) => [number, number, number],
+    getRot: (body: PhysicsBody) => [number, number, number, number],
+  ): void {
+    this.reseed(body.entity.index, getPos(body), getRot(body));
+  }
+
+  resize(maxEntities: number): void {
+    if (maxEntities === this.maxEntities) return;
+    this.maxEntities = maxEntities;
+    this.prev = new Float32Array(maxEntities * 8);
+    this.curr = new Float32Array(maxEntities * 8);
+    this.entityToSlot.clear();
+    this.slotToEntity.clear();
+    this.nextSlot = 0;
+  }
+
+  getMaxEntities(): number {
+    return this.maxEntities;
+  }
+}