@flighthq/physics3d 0.4.0-edge.1908.751021c

package/dist/joints.js.map

@@ -0,0 +1 @@
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package/dist/massProperties.d.ts

@@ -0,0 +1,13 @@
+import type { Physics3DCollider, Physics3DMassData, RigidBody3D } from '@flighthq/types/contract';
+export declare function combinePhysics3DMassData(target: Physics3DMassData, addend: Readonly<Physics3DMassData>): void;
+export declare function computePhysics3DBoxMassData(halfExtentX: number, halfExtentY: number, halfExtentZ: number, density: number, out: Physics3DMassData): void;
+export declare function computePhysics3DCapsuleMassData(radius: number, halfHeight: number, density: number, out: Physics3DMassData): void;
+export declare function computePhysics3DColliderMassData(collider: Readonly<Physics3DCollider>, out: Physics3DMassData): void;
+export declare function computePhysics3DConeMassData(radius: number, height: number, density: number, out: Physics3DMassData): void;
+export declare function computePhysics3DConvexHullMassData(points: readonly number[], density: number, out: Physics3DMassData): void;
+export declare function computePhysics3DCylinderMassData(radius: number, halfHeight: number, density: number, out: Physics3DMassData): void;
+export declare function computePhysics3DSphereMassData(radius: number, density: number, out: Physics3DMassData): void;
+export declare function createPhysics3DMassData(): Physics3DMassData;
+export declare function setRigidBody3DMassData(body: RigidBody3D, data: Readonly<Physics3DMassData>): void;
+export declare function updateRigidBody3DMassData(body: RigidBody3D): void;
+//# sourceMappingURL=massProperties.d.ts.map

package/dist/massProperties.d.ts.map

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

@@ -0,0 +1,462 @@
+import { writeCollisionConvexHullFaces3D } from '@flighthq/collision/contract';
+import { inverseSymmetricTensor, translateSymmetricTensor, TENSOR_XX, TENSOR_XY, TENSOR_XZ, TENSOR_YY, TENSOR_YZ, TENSOR_ZZ, } from './symmetricTensor';
+// Mass properties for 3D primitives, and the combination of several into one body's.
+//
+// Mass is derived from geometry and density rather than set directly, so a body's inertia can never
+// disagree with its shape. Sphere, box, and capsule have closed forms; a convex hull is integrated over
+// the triangulation `@flighthq/collision` derives from its bare point list.
+//
+// Every tensor produced here is about the primitive's OWN centre, in the frame the primitive is
+// described in. `combinePhysics3DMassData` is what shifts them onto a shared centre.
+// Accumulates `addend` into `target`, shifting both tensors onto their combined centre of mass by the
+// parallel-axis theorem. `target` is left holding the combined mass, centre, and inertia.
+//
+// This is how a body made of several primitives gets one tensor. Note that both sides move: the
+// combined centre is somewhere between them, so the tensor already in `target` is shifted too. A
+// version that only shifted the addend would be correct for the first primitive and wrong for every
+// one after it, in a way that looks right until a body is built from two halves and swings about the
+// wrong point.
+export function combinePhysics3DMassData(target, addend) {
+    const totalMass = target.mass + addend.mass;
+    if (totalMass <= 0) {
+        target.mass = 0;
+        target.inertiaXX = 0;
+        target.inertiaYY = 0;
+        target.inertiaZZ = 0;
+        target.inertiaXY = 0;
+        target.inertiaXZ = 0;
+        target.inertiaYZ = 0;
+        return;
+    }
+    const inverseTotal = 1 / totalMass;
+    const centerX = (target.centerX * target.mass + addend.centerX * addend.mass) * inverseTotal;
+    const centerY = (target.centerY * target.mass + addend.centerY * addend.mass) * inverseTotal;
+    const centerZ = (target.centerZ * target.mass + addend.centerZ * addend.mass) * inverseTotal;
+    readTensor(target, scratchTensorA);
+    translateSymmetricTensor(scratchTensorA, target.mass, target.centerX - centerX, target.centerY - centerY, target.centerZ - centerZ, scratchTensorA);
+    readTensor(addend, scratchTensorB);
+    translateSymmetricTensor(scratchTensorB, addend.mass, addend.centerX - centerX, addend.centerY - centerY, addend.centerZ - centerZ, scratchTensorB);
+    target.mass = totalMass;
+    target.centerX = centerX;
+    target.centerY = centerY;
+    target.centerZ = centerZ;
+    target.inertiaXX = scratchTensorA[TENSOR_XX] + scratchTensorB[TENSOR_XX];
+    target.inertiaYY = scratchTensorA[TENSOR_YY] + scratchTensorB[TENSOR_YY];
+    target.inertiaZZ = scratchTensorA[TENSOR_ZZ] + scratchTensorB[TENSOR_ZZ];
+    target.inertiaXY = scratchTensorA[TENSOR_XY] + scratchTensorB[TENSOR_XY];
+    target.inertiaXZ = scratchTensorA[TENSOR_XZ] + scratchTensorB[TENSOR_XZ];
+    target.inertiaYZ = scratchTensorA[TENSOR_YZ] + scratchTensorB[TENSOR_YZ];
+}
+// Mass data for a solid box with the given half-extents, centred on the origin and axis-aligned.
+export function computePhysics3DBoxMassData(halfExtentX, halfExtentY, halfExtentZ, density, out) {
+    const mass = 8 * halfExtentX * halfExtentY * halfExtentZ * density;
+    const x2 = halfExtentX * halfExtentX;
+    const y2 = halfExtentY * halfExtentY;
+    const z2 = halfExtentZ * halfExtentZ;
+    // For a solid box of full extents 2h, I = m/12 * (a^2 + b^2) with a,b the two full extents; in
+    // half-extents that is m/3 * (h^2 + h^2).
+    writeDiagonal(out, mass, (mass * (y2 + z2)) / 3, (mass * (x2 + z2)) / 3, (mass * (x2 + y2)) / 3);
+}
+// Mass data for a solid capsule: a cylinder of `halfHeight` capped by two hemispheres of `radius`,
+// centred on the origin with its axis along Y.
+//
+// The Y axis is the convention because a capsule is overwhelmingly used as an upright character
+// collider, and the alternative — an axis parameter — puts a branch in a function whose whole job is to
+// return six numbers. A capsule on another axis is this tensor rotated, which the body's orientation
+// already does.
+export function computePhysics3DCapsuleMassData(radius, halfHeight, density, out) {
+    const height = halfHeight + halfHeight;
+    const radius2 = radius * radius;
+    const cylinderMass = Math.PI * radius2 * height * density;
+    const hemisphereMass = (2 / 3) * Math.PI * radius2 * radius * density;
+    const mass = cylinderMass + hemisphereMass + hemisphereMass;
+    // Along the axis, cylinder and hemispheres are all rotating about their own symmetry axis.
+    const axial = 0.5 * cylinderMass * radius2 + 2 * ((2 / 5) * hemisphereMass * radius2);
+    // Across the axis: the cylinder's own transverse moment, plus each hemisphere's about its own centre
+    // shifted out to where it sits. A hemisphere's centre of mass is 3r/8 from its flat face, and its
+    // moment about a diameter through THAT centre is (2/5 - 9/64) m r^2 — the solid-sphere-half value
+    // less the parallel-axis term that would move it back to the flat face.
+    const hemisphereCenter = halfHeight + 0.375 * radius;
+    const hemisphereOwn = hemisphereMass * radius2 * (2 / 5 - 9 / 64);
+    const transverse = cylinderMass * ((height * height) / 12 + radius2 / 4) +
+        2 * (hemisphereOwn + hemisphereMass * hemisphereCenter * hemisphereCenter);
+    writeDiagonal(out, mass, transverse, axial, transverse);
+}
+// Writes `collider`'s mass, inertia tensor, and centroid into `out`, in the BODY's local frame — which
+// is the frame the collider's own `local` shape is described in, so an offset or rotated collider
+// contributes a tensor that is already offset and rotated.
+//
+// A convex hull is integrated over its own triangulation, which `@flighthq/collision` derives from the
+// bare point list. Every other kind has a closed form.
+export function computePhysics3DColliderMassData(collider, out) {
+    const shape = collider.local;
+    const density = collider.material.density;
+    switch (shape.kind) {
+        case 'sphere':
+            computePhysics3DSphereMassData(shape.radius, density, out);
+            out.centerX = shape.x;
+            out.centerY = shape.y;
+            out.centerZ = shape.z;
+            return;
+        case 'aabb':
+            computePhysics3DBoxMassData((shape.maxX - shape.minX) / 2, (shape.maxY - shape.minY) / 2, (shape.maxZ - shape.minZ) / 2, density, out);
+            out.centerX = (shape.minX + shape.maxX) / 2;
+            out.centerY = (shape.minY + shape.maxY) / 2;
+            out.centerZ = (shape.minZ + shape.maxZ) / 2;
+            return;
+        case 'box':
+            computePhysics3DBoxMassData(shape.halfX, shape.halfY, shape.halfZ, density, out);
+            // A box rotated within the body has three DISTINCT principal moments, so its tensor stops being
+            // diagonal in the body frame. Skipping this rotation is the silent failure the whole tensor
+            // representation exists to prevent: the mass and the diagonal both stay plausible, and only the
+            // swing about an off-axis edge comes out wrong.
+            rotateDiagonalTensor(out, shape.rotationX, shape.rotationY, shape.rotationZ, shape.rotationW);
+            out.centerX = shape.x;
+            out.centerY = shape.y;
+            out.centerZ = shape.z;
+            return;
+        case 'capsule': {
+            const axisX = shape.x1 - shape.x0;
+            const axisY = shape.y1 - shape.y0;
+            const axisZ = shape.z1 - shape.z0;
+            const length = Math.sqrt(axisX * axisX + axisY * axisY + axisZ * axisZ);
+            computePhysics3DCapsuleMassData(shape.radius, length / 2, density, out);
+            if (length > 0)
+                alignTensorAxisToY(out, axisX / length, axisY / length, axisZ / length);
+            out.centerX = (shape.x0 + shape.x1) / 2;
+            out.centerY = (shape.y0 + shape.y1) / 2;
+            out.centerZ = (shape.z0 + shape.z1) / 2;
+            return;
+        }
+        case 'cylinder': {
+            const axisX = shape.x1 - shape.x0;
+            const axisY = shape.y1 - shape.y0;
+            const axisZ = shape.z1 - shape.z0;
+            const length = Math.sqrt(axisX * axisX + axisY * axisY + axisZ * axisZ);
+            computePhysics3DCylinderMassData(shape.radius, length / 2, density, out);
+            if (length > 0)
+                alignTensorAxisToY(out, axisX / length, axisY / length, axisZ / length);
+            out.centerX = (shape.x0 + shape.x1) / 2;
+            out.centerY = (shape.y0 + shape.y1) / 2;
+            out.centerZ = (shape.z0 + shape.z1) / 2;
+            return;
+        }
+        case 'cone': {
+            const axisX = shape.baseX - shape.apexX;
+            const axisY = shape.baseY - shape.apexY;
+            const axisZ = shape.baseZ - shape.apexZ;
+            const length = Math.sqrt(axisX * axisX + axisY * axisY + axisZ * axisZ);
+            computePhysics3DConeMassData(shape.radius, length, density, out);
+            if (length > 0)
+                alignTensorAxisToY(out, axisX / length, axisY / length, axisZ / length);
+            // A cone's centroid sits three QUARTERS of the way from apex to base, not at the midpoint: the
+            // solid is widest at the base, so that is where its volume is. Using the midpoint the cylinder
+            // above uses would offset every cone body's centre of mass by an eighth of its height and make it
+            // swing about the wrong point — a plausible-looking wrongness with nothing to flag it.
+            out.centerX = shape.apexX + axisX * 0.75;
+            out.centerY = shape.apexY + axisY * 0.75;
+            out.centerZ = shape.apexZ + axisZ * 0.75;
+            return;
+        }
+        case 'convex':
+            computePhysics3DConvexHullMassData(shape.points, density, out);
+            return;
+        default:
+            zeroPhysics3DMassData(out);
+    }
+}
+// Mass data for a solid cone of base `radius` and `height`, about its own CENTROID, with the symmetry
+// axis along +Y — the frame `alignTensorAxisToY` then rotates into place.
+//
+// The two moments are the standard closed forms for a solid cone, and the transverse one is stated
+// about the centroid rather than the apex. The apex form carries a `(3/5) m h^2` term; moving it down
+// to the centroid subtracts the parallel-axis term `m (3h/4)^2`, and `3/5 - 9/16` is `3/80`. Writing
+// the apex value here instead would inflate a tall cone's transverse inertia by a factor of sixteen and
+// look merely "stiff" rather than wrong.
+export function computePhysics3DConeMassData(radius, height, density, out) {
+    const radius2 = radius * radius;
+    const mass = (Math.PI / 3) * radius2 * height * density;
+    const axial = 0.3 * mass * radius2;
+    const transverse = mass * ((3 / 20) * radius2 + (3 / 80) * height * height);
+    writeDiagonal(out, mass, transverse, axial, transverse);
+}
+// Mass data for the convex hull of a point list, by integrating over the hull's own triangulation.
+//
+// EACH SURFACE TRIANGLE FORMS A TETRAHEDRON WITH THE ORIGIN, and the solid is the signed sum of them —
+// the divergence theorem, so triangles facing away contribute negative volume and cancel the parts that
+// are not inside. That is why the triangulation's outward winding is load-bearing here and not merely
+// tidy: one inverted face subtracts a region that should have been added, and the result is a plausible
+// smaller mass rather than an error.
+//
+// The origin is used as the apex rather than the centroid because it needs no first pass to find, and
+// the cancellation makes the choice irrelevant to the answer. The tensor comes out about the ORIGIN and
+// is shifted onto the centre of mass at the end.
+export function computePhysics3DConvexHullMassData(points, density, out) {
+    zeroPhysics3DMassData(out);
+    const triangleCount = writeCollisionConvexHullFaces3D(points, scratchHullFaces);
+    if (triangleCount === 0)
+        return;
+    let volume = 0;
+    let momentX = 0;
+    let momentY = 0;
+    let momentZ = 0;
+    for (let i = 0; i < 6; i += 1)
+        scratchTensorA[i] = 0;
+    for (let f = 0; f < triangleCount; f += 1) {
+        const a = scratchHullFaces[f * 3] * 3;
+        const b = scratchHullFaces[f * 3 + 1] * 3;
+        const c = scratchHullFaces[f * 3 + 2] * 3;
+        const aX = points[a];
+        const aY = points[a + 1];
+        const aZ = points[a + 2];
+        const bX = points[b];
+        const bY = points[b + 1];
+        const bZ = points[b + 2];
+        const cX = points[c];
+        const cY = points[c + 1];
+        const cZ = points[c + 2];
+        // Six times the tetrahedron's signed volume.
+        const determinant = aX * (bY * cZ - bZ * cY) + aY * (bZ * cX - bX * cZ) + aZ * (bX * cY - bY * cX);
+        const tetrahedronVolume = determinant / 6;
+        volume += tetrahedronVolume;
+        momentX += tetrahedronVolume * ((aX + bX + cX) / 4);
+        momentY += tetrahedronVolume * ((aY + bY + cY) / 4);
+        momentZ += tetrahedronVolume * ((aZ + bZ + cZ) / 4);
+        // The second moments of one tetrahedron with a vertex at the origin. `determinant / 120` scales the
+        // canonical unit tetrahedron's moments onto this one.
+        const scale = determinant / 120;
+        const sumX = aX + bX + cX;
+        const sumY = aY + bY + cY;
+        const sumZ = aZ + bZ + cZ;
+        scratchTensorA[TENSOR_XX] += scale * (aX * aX + bX * bX + cX * cX + sumX * sumX);
+        scratchTensorA[TENSOR_YY] += scale * (aY * aY + bY * bY + cY * cY + sumY * sumY);
+        scratchTensorA[TENSOR_ZZ] += scale * (aZ * aZ + bZ * bZ + cZ * cZ + sumZ * sumZ);
+        scratchTensorA[TENSOR_XY] += scale * (aX * aY + bX * bY + cX * cY + sumX * sumY);
+        scratchTensorA[TENSOR_XZ] += scale * (aX * aZ + bX * bZ + cX * cZ + sumX * sumZ);
+        scratchTensorA[TENSOR_YZ] += scale * (aY * aZ + bY * bZ + cY * cZ + sumY * sumZ);
+    }
+    if (!(volume > 0))
+        return;
+    const mass = volume * density;
+    const centerX = momentX / volume;
+    const centerY = momentY / volume;
+    const centerZ = momentZ / volume;
+    // The accumulated products are volume-weighted covariances; density scales them, and the inertia
+    // tensor is the covariance's complement — a diagonal term is the sum of the OTHER two, and an
+    // off-diagonal term is the negated product.
+    const xx = scratchTensorA[TENSOR_XX] * density;
+    const yy = scratchTensorA[TENSOR_YY] * density;
+    const zz = scratchTensorA[TENSOR_ZZ] * density;
+    scratchTensorB[TENSOR_XX] = yy + zz;
+    scratchTensorB[TENSOR_YY] = xx + zz;
+    scratchTensorB[TENSOR_ZZ] = xx + yy;
+    scratchTensorB[TENSOR_XY] = -scratchTensorA[TENSOR_XY] * density;
+    scratchTensorB[TENSOR_XZ] = -scratchTensorA[TENSOR_XZ] * density;
+    scratchTensorB[TENSOR_YZ] = -scratchTensorA[TENSOR_YZ] * density;
+    // About the origin so far. Shift onto the centre of mass, which is where every consumer expects it.
+    //
+    // The mass is NEGATED rather than the offset, and that is the whole of the correction rather than a
+    // trick: `translateSymmetricTensor` moves a tensor AWAY from its centre, so its diagonal term is
+    // `mass * (d^2 + d^2)` and negating the offsets changes nothing at all — the offsets are squared.
+    // Only a negative mass runs the parallel-axis theorem backwards. Passing `-centerX` instead reads as
+    // correct and silently doubles the term, which a CENTRED hull cannot reveal because its offset is
+    // zero; it takes an offset one to show at all.
+    translateSymmetricTensor(scratchTensorB, -mass, centerX, centerY, centerZ, scratchTensorB);
+    out.mass = mass;
+    out.centerX = centerX;
+    out.centerY = centerY;
+    out.centerZ = centerZ;
+    out.inertiaXX = scratchTensorB[TENSOR_XX];
+    out.inertiaYY = scratchTensorB[TENSOR_YY];
+    out.inertiaZZ = scratchTensorB[TENSOR_ZZ];
+    out.inertiaXY = scratchTensorB[TENSOR_XY];
+    out.inertiaXZ = scratchTensorB[TENSOR_XZ];
+    out.inertiaYZ = scratchTensorB[TENSOR_YZ];
+}
+// Mass data for a solid cylinder of `radius` and half-height, about its centroid, symmetry axis along
+// +Y. The capsule above is this plus two hemispheres; this is the bare barrel.
+export function computePhysics3DCylinderMassData(radius, halfHeight, density, out) {
+    const height = halfHeight + halfHeight;
+    const radius2 = radius * radius;
+    const mass = Math.PI * radius2 * height * density;
+    const axial = 0.5 * mass * radius2;
+    const transverse = mass * ((height * height) / 12 + radius2 / 4);
+    writeDiagonal(out, mass, transverse, axial, transverse);
+}
+// Mass data for a solid sphere centred on the origin.
+export function computePhysics3DSphereMassData(radius, density, out) {
+    const mass = (4 / 3) * Math.PI * radius * radius * radius * density;
+    const moment = 0.4 * mass * radius * radius;
+    writeDiagonal(out, mass, moment, moment, moment);
+}
+// Allocates a zeroed mass-data record — no mass, no inertia, centred on the origin. The identity for
+// `combinePhysics3DMassData`, so an assembly starts here and accumulates.
+export function createPhysics3DMassData() {
+    return {
+        mass: 0,
+        inertiaXX: 0,
+        inertiaYY: 0,
+        inertiaZZ: 0,
+        inertiaXY: 0,
+        inertiaXZ: 0,
+        inertiaYZ: 0,
+        centerX: 0,
+        centerY: 0,
+        centerZ: 0,
+    };
+}
+// Writes mass data onto a body, deriving the inverse mass and the LOCAL inverse inertia tensor.
+//
+// A non-dynamic or fixed-rotation body keeps its forward mass and inertia — a caller may still want to
+// read them — but is given a zero inverse, which is the sentinel that makes the solver apply no impulse
+// to it with no branch. The world-space inverse tensor is left alone: it is derived from the
+// orientation and is refreshed by the step, not here.
+export function setRigidBody3DMassData(body, data) {
+    body.mass = data.mass;
+    body.centerX = data.centerX;
+    body.centerY = data.centerY;
+    body.centerZ = data.centerZ;
+    body.inertiaXX = data.inertiaXX;
+    body.inertiaYY = data.inertiaYY;
+    body.inertiaZZ = data.inertiaZZ;
+    body.inertiaXY = data.inertiaXY;
+    body.inertiaXZ = data.inertiaXZ;
+    body.inertiaYZ = data.inertiaYZ;
+    const movable = body.type === 'dynamic' && data.mass > 0;
+    body.inverseMass = movable ? 1 / data.mass : 0;
+    if (!movable || body.fixedRotation) {
+        body.inverseInertiaXX = 0;
+        body.inverseInertiaYY = 0;
+        body.inverseInertiaZZ = 0;
+        body.inverseInertiaXY = 0;
+        body.inverseInertiaXZ = 0;
+        body.inverseInertiaYZ = 0;
+        return;
+    }
+    readTensor(data, scratchTensorA);
+    inverseSymmetricTensor(scratchTensorA, scratchTensorB);
+    body.inverseInertiaXX = scratchTensorB[TENSOR_XX];
+    body.inverseInertiaYY = scratchTensorB[TENSOR_YY];
+    body.inverseInertiaZZ = scratchTensorB[TENSOR_ZZ];
+    body.inverseInertiaXY = scratchTensorB[TENSOR_XY];
+    body.inverseInertiaXZ = scratchTensorB[TENSOR_XZ];
+    body.inverseInertiaYZ = scratchTensorB[TENSOR_YZ];
+}
+// Recomputes `body`'s mass, inertia tensor, centre of mass, and the inverses the solver divides by,
+// from its colliders. Call after adding, removing, or reshaping a collider, or after changing a
+// material's density.
+//
+// Static and kinematic bodies keep their computed centre — the lever arms in a contact are measured from
+// it either way — but take zero inverse mass and inverse inertia. Zero is not a guard, it is the
+// arithmetic: an impulse scaled by an inverse mass of zero moves the body not at all, so "infinite mass"
+// needs no branch anywhere in the solver.
+export function updateRigidBody3DMassData(body) {
+    const total = acquirePhysics3DMassData();
+    const one = acquirePhysics3DMassData();
+    try {
+        zeroPhysics3DMassData(total);
+        for (const collider of body.colliders) {
+            computePhysics3DColliderMassData(collider, one);
+            // Combining shifts BOTH tensors onto the running centre, so the accumulation is correct at every
+            // step rather than only at the end — which is why this needs no second pass over the colliders.
+            combinePhysics3DMassData(total, one);
+        }
+        setRigidBody3DMassData(body, total);
+    }
+    finally {
+        releasePhysics3DMassData(one);
+        releasePhysics3DMassData(total);
+    }
+}
+// Re-expresses a tensor whose Y axis is its symmetry axis so that the axis points along the given unit
+// vector instead.
+//
+// The transverse moments are equal by symmetry, which collapses the general `R I R^T` to a form needing
+// no basis at all: `transverse * Identity + (axial - transverse) * (axis (x) axis)`. Picking arbitrary
+// perpendicular basis vectors would give the same answer with more arithmetic and one more chance to
+// get a handedness wrong.
+function alignTensorAxisToY(out, axisX, axisY, axisZ) {
+    const axial = out.inertiaYY;
+    const transverse = out.inertiaXX;
+    const difference = axial - transverse;
+    out.inertiaXX = transverse + difference * axisX * axisX;
+    out.inertiaYY = transverse + difference * axisY * axisY;
+    out.inertiaZZ = transverse + difference * axisZ * axisZ;
+    out.inertiaXY = difference * axisX * axisY;
+    out.inertiaXZ = difference * axisX * axisZ;
+    out.inertiaYZ = difference * axisY * axisZ;
+}
+function readTensor(data, out) {
+    out[TENSOR_XX] = data.inertiaXX;
+    out[TENSOR_YY] = data.inertiaYY;
+    out[TENSOR_ZZ] = data.inertiaZZ;
+    out[TENSOR_XY] = data.inertiaXY;
+    out[TENSOR_XZ] = data.inertiaXZ;
+    out[TENSOR_YZ] = data.inertiaYZ;
+}
+// Re-expresses a DIAGONAL tensor in a frame rotated by the given unit quaternion.
+//
+// A diagonal tensor is `sum(lambda_i * e_i (x) e_i)` over the local axes, so rotating it is the same sum
+// over the ROTATED axes — the columns of the quaternion's rotation matrix. That form is why this reads
+// as three outer products rather than an `R I R^T` triple product: with `I` diagonal, the general
+// product collapses to exactly this, at a third of the multiplications.
+function rotateDiagonalTensor(out, x, y, z, w) {
+    const a = out.inertiaXX;
+    const b = out.inertiaYY;
+    const c = out.inertiaZZ;
+    const c0X = 1 - 2 * (y * y + z * z);
+    const c0Y = 2 * (x * y + w * z);
+    const c0Z = 2 * (x * z - w * y);
+    const c1X = 2 * (x * y - w * z);
+    const c1Y = 1 - 2 * (x * x + z * z);
+    const c1Z = 2 * (y * z + w * x);
+    const c2X = 2 * (x * z + w * y);
+    const c2Y = 2 * (y * z - w * x);
+    const c2Z = 1 - 2 * (x * x + y * y);
+    out.inertiaXX = a * c0X * c0X + b * c1X * c1X + c * c2X * c2X;
+    out.inertiaYY = a * c0Y * c0Y + b * c1Y * c1Y + c * c2Y * c2Y;
+    out.inertiaZZ = a * c0Z * c0Z + b * c1Z * c1Z + c * c2Z * c2Z;
+    out.inertiaXY = a * c0X * c0Y + b * c1X * c1Y + c * c2X * c2Y;
+    out.inertiaXZ = a * c0X * c0Z + b * c1X * c1Z + c * c2X * c2Z;
+    out.inertiaYZ = a * c0Y * c0Z + b * c1Y * c1Z + c * c2Y * c2Z;
+}
+function writeDiagonal(out, mass, inertiaXX, inertiaYY, inertiaZZ) {
+    out.mass = mass;
+    out.inertiaXX = inertiaXX;
+    out.inertiaYY = inertiaYY;
+    out.inertiaZZ = inertiaZZ;
+    out.inertiaXY = 0;
+    out.inertiaXZ = 0;
+    out.inertiaYZ = 0;
+    out.centerX = 0;
+    out.centerY = 0;
+    out.centerZ = 0;
+}
+function zeroPhysics3DMassData(out) {
+    out.mass = 0;
+    out.inertiaXX = 0;
+    out.inertiaYY = 0;
+    out.inertiaZZ = 0;
+    out.inertiaXY = 0;
+    out.inertiaXZ = 0;
+    out.inertiaYZ = 0;
+    out.centerX = 0;
+    out.centerY = 0;
+    out.centerZ = 0;
+}
+function acquirePhysics3DMassData() {
+    return physics3DMassDataPool.pop() ?? createPhysics3DMassData();
+}
+function releasePhysics3DMassData(data) {
+    physics3DMassDataPool.push(data);
+}
+// A pool rather than two module scratch records, because `updateRigidBody3DMassData` holds two at once
+// and is itself reachable from a collider mutation inside a caller that is already holding one.
+const physics3DMassDataPool = [];
+// Module scratch for the two tensors a combine or an inversion needs at once. Reused rather than
+// allocated because these run per body whenever mass properties change, and a rebuild of a large
+// world's bodies would otherwise churn two arrays per primitive.
+const scratchHullFaces = [];
+const scratchTensorA = [0, 0, 0, 0, 0, 0];
+const scratchTensorB = [0, 0, 0, 0, 0, 0];
+//# sourceMappingURL=massProperties.js.map

package/dist/massProperties.js.map

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package/dist/material.d.ts

@@ -0,0 +1,3 @@
+export declare function mixPhysics3DFriction(first: number, second: number): number;
+export declare function mixPhysics3DRestitution(first: number, second: number): number;
+//# sourceMappingURL=material.d.ts.map