@flighthq/physics3d 0.4.0-edge.1908.751021c

package/dist/broadphase.d.ts

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+import type { Physics3DWorld } from '@flighthq/types/contract';
+export declare function synchronizePhysics3DBroadphase(world: Physics3DWorld): void;
+export declare function synchronizePhysics3DSweptBroadphase(world: Physics3DWorld, dt: number): void;
+//# sourceMappingURL=broadphase.d.ts.map

package/dist/broadphase.d.ts.map

@@ -0,0 +1 @@
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package/dist/broadphase.js

@@ -0,0 +1,158 @@
+import { updatePhysics3DColliderWorldShape, writePhysics3DColliderBounds } from './colliderTransform';
+import { getPhysics3DBroadphaseBodyIndices, publishPhysics3DBroadphaseBody, withdrawPhysics3DBroadphaseBody, } from './physics3DBroadphasePublication';
+import { reportPhysics3DSpatialIndexing } from './physics3DSpatialIndexingGuards';
+// Refreshes every collider's world shape and republishes its body's bounds to the broadphase index. The
+// step and the public world queries share this path, so a query observes the body's current authored
+// pose rather than the pre-integration snapshot the most recent contact set was built from.
+export function synchronizePhysics3DBroadphase(world) {
+    const scratch = acquirePhysics3DBroadphaseScratch();
+    try {
+        synchronizePhysics3DBroadphaseWithScratch(world, scratch, 0);
+    }
+    finally {
+        releasePhysics3DBroadphaseScratch(scratch);
+    }
+}
+// Publishes the union of every body's current bounds and the bounds it would have after `dt` of its
+// current motion — the volume it sweeps through, which is what a continuous pass must find candidates in.
+//
+// The ORDINARY index is reused rather than a second swept one. A continuous step queries the candidate
+// pairs immediately and then restores the current bounds, so nothing observes the widened state, and the
+// backend swap point stays single.
+export function synchronizePhysics3DSweptBroadphase(world, dt) {
+    const scratch = acquirePhysics3DBroadphaseScratch();
+    try {
+        synchronizePhysics3DBroadphaseWithScratch(world, scratch, dt);
+    }
+    finally {
+        releasePhysics3DBroadphaseScratch(scratch);
+    }
+}
+// The BODY is what the index holds, not the collider: a `SpatialObjectId` is one number, and the pair
+// query returns pairs of them. Indexing colliders would need a composite id, and the step already
+// refines a body pair down to its collider pairs — which is where the filter and sensor decisions live
+// anyway.
+function synchronizePhysics3DBroadphaseWithScratch(world, scratch, dt) {
+    const publishedBodyIndices = getPhysics3DBroadphaseBodyIndices(world);
+    for (let bodyIndex = 0; bodyIndex < world.bodies.length; bodyIndex += 1) {
+        const body = world.bodies[bodyIndex];
+        let minX = Infinity;
+        let minY = Infinity;
+        let minZ = Infinity;
+        let maxX = -Infinity;
+        let maxY = -Infinity;
+        let maxZ = -Infinity;
+        let rotationRadiusSquared = 0;
+        for (let colliderIndex = 0; colliderIndex < body.colliders.length; colliderIndex += 1) {
+            const collider = body.colliders[colliderIndex];
+            updatePhysics3DColliderWorldShape(collider, body);
+            writePhysics3DColliderBounds(collider, scratch.bounds);
+            if (scratch.bounds.minX < minX)
+                minX = scratch.bounds.minX;
+            if (scratch.bounds.minY < minY)
+                minY = scratch.bounds.minY;
+            if (scratch.bounds.minZ < minZ)
+                minZ = scratch.bounds.minZ;
+            if (scratch.bounds.maxX > maxX)
+                maxX = scratch.bounds.maxX;
+            if (scratch.bounds.maxY > maxY)
+                maxY = scratch.bounds.maxY;
+            if (scratch.bounds.maxZ > maxZ)
+                maxZ = scratch.bounds.maxZ;
+            if (dt > 0) {
+                const radiusX = Math.max(Math.abs(scratch.bounds.minX - body.x), Math.abs(scratch.bounds.maxX - body.x));
+                const radiusY = Math.max(Math.abs(scratch.bounds.minY - body.y), Math.abs(scratch.bounds.maxY - body.y));
+                const radiusZ = Math.max(Math.abs(scratch.bounds.minZ - body.z), Math.abs(scratch.bounds.maxZ - body.z));
+                const radiusSquared = radiusX * radiusX + radiusY * radiusY + radiusZ * radiusZ;
+                if (radiusSquared > rotationRadiusSquared)
+                    rotationRadiusSquared = radiusSquared;
+            }
+        }
+        if (minX > maxX) {
+            // No collider produced bounds, so there is nothing to index. Withdraw rather than skip: the id may
+            // have been indexed on a previous step, and stale bounds would keep returning a body that has since
+            // lost its geometry.
+            withdrawPhysics3DBroadphaseBody(world, body.index, publishedBodyIndices);
+            continue;
+        }
+        if (dt > 0 && body.type !== 'static' && !body.sleeping) {
+            const translationX = body.velocityX * dt;
+            const translationY = body.velocityY * dt;
+            const translationZ = body.velocityZ * dt;
+            const spinning = body.angularVelocityX !== 0 || body.angularVelocityY !== 0 || body.angularVelocityZ !== 0;
+            if (spinning) {
+                // A SPHERE around the body origin encloses every orientation of every collider, so sweeping that
+                // sphere along the origin's translation is conservative for arbitrary rotation — including an
+                // offset collider whose centre follows an arc rather than the straight line a shape sweep assumes.
+                const radius = Math.sqrt(rotationRadiusSquared);
+                minX = Math.min(minX, body.x - radius, body.x + translationX - radius);
+                minY = Math.min(minY, body.y - radius, body.y + translationY - radius);
+                minZ = Math.min(minZ, body.z - radius, body.z + translationZ - radius);
+                maxX = Math.max(maxX, body.x + radius, body.x + translationX + radius);
+                maxY = Math.max(maxY, body.y + radius, body.y + translationY + radius);
+                maxZ = Math.max(maxZ, body.z + radius, body.z + translationZ + radius);
+            }
+            else {
+                if (translationX < 0)
+                    minX += translationX;
+                else
+                    maxX += translationX;
+                if (translationY < 0)
+                    minY += translationY;
+                else
+                    maxY += translationY;
+                if (translationZ < 0)
+                    minZ += translationZ;
+                else
+                    maxZ += translationZ;
+            }
+        }
+        // The spatial package bounds its own indexing cost. This second limit expresses the physics world's
+        // stricter judgement that a non-finite or ten-million-unit body has diverged and should no longer
+        // participate in collision or queries.
+        if (!Number.isFinite(minX) ||
+            !Number.isFinite(minY) ||
+            !Number.isFinite(minZ) ||
+            !Number.isFinite(maxX) ||
+            !Number.isFinite(maxY) ||
+            !Number.isFinite(maxZ) ||
+            maxX - minX > MAX_SIMULATED_EXTENT ||
+            maxY - minY > MAX_SIMULATED_EXTENT ||
+            maxZ - minZ > MAX_SIMULATED_EXTENT) {
+            withdrawPhysics3DBroadphaseBody(world, body.index, publishedBodyIndices);
+            continue;
+        }
+        scratch.bodyBounds.minX = minX;
+        scratch.bodyBounds.minY = minY;
+        scratch.bodyBounds.minZ = minZ;
+        // Spatial cells use half-open containment while collision point tests include a shape's boundary.
+        // Publish a minimally conservative upper corner so an exact query at the maximum remains a broadphase
+        // candidate, and so a degenerate zero-volume collider still spans a non-empty indexed cell.
+        scratch.bodyBounds.maxX = paddedUpperBound(maxX);
+        scratch.bodyBounds.maxY = paddedUpperBound(maxY);
+        scratch.bodyBounds.maxZ = paddedUpperBound(maxZ);
+        publishPhysics3DBroadphaseBody(world, body.index, scratch.bodyBounds, publishedBodyIndices);
+    }
+    reportPhysics3DSpatialIndexing(world);
+}
+function paddedUpperBound(value) {
+    const padded = value + Math.max(1, Math.abs(value)) * Number.EPSILON * 4;
+    return Number.isFinite(padded) ? padded : value;
+}
+// The widest body this world still treats as simulating. Named for what it bounds — the simulation's
+// tolerance for divergence — not for the index, which bounds its own insert cost independently.
+const MAX_SIMULATED_EXTENT = 1e7;
+function acquirePhysics3DBroadphaseScratch() {
+    return physics3DBroadphaseScratchPool.pop() ?? createPhysics3DBroadphaseScratch();
+}
+function createPhysics3DBroadphaseScratch() {
+    return {
+        bounds: { minX: 0, minY: 0, minZ: 0, maxX: 0, maxY: 0, maxZ: 0 },
+        bodyBounds: { minX: 0, minY: 0, minZ: 0, maxX: 0, maxY: 0, maxZ: 0 },
+    };
+}
+function releasePhysics3DBroadphaseScratch(scratch) {
+    physics3DBroadphaseScratchPool.push(scratch);
+}
+const physics3DBroadphaseScratchPool = [createPhysics3DBroadphaseScratch()];
+//# sourceMappingURL=broadphase.js.map

package/dist/broadphase.js.map

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package/dist/colliderCollision.d.ts

@@ -0,0 +1,5 @@
+import type { CollisionColliderShape3D, CollisionContactManifold3D, CollisionRaycastHit3D, CollisionTimeOfImpact3D } from '@flighthq/types/contract';
+export declare function collidePhysics3DColliderShapes(shapeA: Readonly<CollisionColliderShape3D>, shapeB: Readonly<CollisionColliderShape3D>, out: CollisionContactManifold3D): boolean;
+export declare function raycastPhysics3DColliderShape(shape: Readonly<CollisionColliderShape3D>, originX: number, originY: number, originZ: number, directionX: number, directionY: number, directionZ: number, out: CollisionRaycastHit3D, maxFraction: number): boolean;
+export declare function sweepPhysics3DColliderShapes(shapeA: Readonly<CollisionColliderShape3D>, deltaAX: number, deltaAY: number, deltaAZ: number, shapeB: Readonly<CollisionColliderShape3D>, deltaBX: number, deltaBY: number, deltaBZ: number, out: CollisionTimeOfImpact3D, maxFraction: number): boolean;
+//# sourceMappingURL=colliderCollision.d.ts.map

package/dist/colliderCollision.d.ts.map

@@ -0,0 +1 @@
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package/dist/colliderCollision.js

@@ -0,0 +1,55 @@
+import { collideCollisionHeightfield3D, collideCollisionTriangleMesh3D, collideContactManifold3D, raycastCollisionHeightfield3D, raycastCollisionShape3D, raycastCollisionTriangleMesh3D, sweepCollisionHeightfield3D, sweepCollisionShape3D, sweepCollisionTriangleMesh3D, } from '@flighthq/collision/contract';
+export function collidePhysics3DColliderShapes(shapeA, shapeB, out) {
+    if (shapeA.kind === 'triangle-mesh' || shapeA.kind === 'heightfield') {
+        if (shapeB.kind === 'triangle-mesh' || shapeB.kind === 'heightfield')
+            return false;
+        const hit = shapeA.kind === 'triangle-mesh'
+            ? collideCollisionTriangleMesh3D(shapeB, shapeA, out)
+            : collideCollisionHeightfield3D(shapeB, shapeA, out);
+        if (hit)
+            reversePhysics3DManifoldNormal(out);
+        return hit;
+    }
+    if (shapeB.kind === 'triangle-mesh')
+        return collideCollisionTriangleMesh3D(shapeA, shapeB, out);
+    if (shapeB.kind === 'heightfield')
+        return collideCollisionHeightfield3D(shapeA, shapeB, out);
+    return collideContactManifold3D(shapeA, shapeB, out);
+}
+export function raycastPhysics3DColliderShape(shape, originX, originY, originZ, directionX, directionY, directionZ, out, maxFraction) {
+    if (shape.kind === 'triangle-mesh') {
+        return raycastCollisionTriangleMesh3D(shape, originX, originY, originZ, directionX, directionY, directionZ, out, maxFraction);
+    }
+    if (shape.kind === 'heightfield') {
+        return raycastCollisionHeightfield3D(shape, originX, originY, originZ, directionX, directionY, directionZ, out, maxFraction);
+    }
+    return raycastCollisionShape3D(shape, originX, originY, originZ, directionX, directionY, directionZ, out, maxFraction);
+}
+export function sweepPhysics3DColliderShapes(shapeA, deltaAX, deltaAY, deltaAZ, shapeB, deltaBX, deltaBY, deltaBZ, out, maxFraction) {
+    if (shapeA.kind === 'triangle-mesh' || shapeA.kind === 'heightfield') {
+        if (shapeB.kind === 'triangle-mesh' || shapeB.kind === 'heightfield')
+            return false;
+        const hit = shapeA.kind === 'triangle-mesh'
+            ? sweepCollisionTriangleMesh3D(shapeB, deltaBX - deltaAX, deltaBY - deltaAY, deltaBZ - deltaAZ, shapeA, out, maxFraction)
+            : sweepCollisionHeightfield3D(shapeB, deltaBX - deltaAX, deltaBY - deltaAY, deltaBZ - deltaAZ, shapeA, out, maxFraction);
+        if (hit) {
+            out.normalX = -out.normalX;
+            out.normalY = -out.normalY;
+            out.normalZ = -out.normalZ;
+        }
+        return hit;
+    }
+    if (shapeB.kind === 'triangle-mesh') {
+        return sweepCollisionTriangleMesh3D(shapeA, deltaAX - deltaBX, deltaAY - deltaBY, deltaAZ - deltaBZ, shapeB, out, maxFraction);
+    }
+    if (shapeB.kind === 'heightfield') {
+        return sweepCollisionHeightfield3D(shapeA, deltaAX - deltaBX, deltaAY - deltaBY, deltaAZ - deltaBZ, shapeB, out, maxFraction);
+    }
+    return sweepCollisionShape3D(shapeA, deltaAX, deltaAY, deltaAZ, shapeB, deltaBX, deltaBY, deltaBZ, out, maxFraction);
+}
+function reversePhysics3DManifoldNormal(out) {
+    out.normalX = -out.normalX;
+    out.normalY = -out.normalY;
+    out.normalZ = -out.normalZ;
+}
+//# sourceMappingURL=colliderCollision.js.map

package/dist/colliderCollision.js.map

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package/dist/colliderTransform.d.ts

@@ -0,0 +1,5 @@
+import type { CollisionColliderShape3D, Physics3DCollider, RigidBody3D, SpatialAabb3D } from '@flighthq/types/contract';
+export declare function createPhysics3DColliderWorldShape(local: Readonly<CollisionColliderShape3D>): CollisionColliderShape3D;
+export declare function updatePhysics3DColliderWorldShape(collider: Physics3DCollider, body: Readonly<RigidBody3D>): void;
+export declare function writePhysics3DColliderBounds(collider: Readonly<Physics3DCollider>, out: SpatialAabb3D): void;
+//# sourceMappingURL=colliderTransform.d.ts.map

package/dist/colliderTransform.d.ts.map

@@ -0,0 +1 @@
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