@flighthq/physics3d 0.4.0-edge.1908.751021c

package/dist/step.js

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+import { buildPhysics3DContacts, refreshPhysics3DContacts } from './contactIntake';
+import { hasActivePhysics3DBullet, integratePhysics3DContinuous } from './continuous';
+import { clearRigidBody3DForces, integrateRigidBody3DPose, integrateRigidBody3DVelocity, refreshRigidBody3DWorldInertia, } from './integrate';
+import { buildPhysics3DSolveIslands, updatePhysics3DSleep } from './islands';
+import { evaluatePhysics3DJointBreakage } from './jointBreakage';
+import { steppingPhysics3DWorlds } from './ownership';
+import { preparePhysics3DContactConstraints, solvePhysics3DContactPositions, solvePhysics3DContactVelocities, warmStartPhysics3DContacts, } from './solver';
+import { isPhysics3DBodyStateValid, isPhysics3DColliderStateValid, isPhysics3DContactStateValid, isPhysics3DContactValid, isPhysics3DGravityValid, isPhysics3DJointStateValid, isPhysics3DPositionIterationsValid, isPhysics3DSolverConfigValid, isPhysics3DSubstepsValid, isPhysics3DTimestepValid, isPhysics3DVelocityIterationsValid, } from './stepValidation';
+// Installs the optional diagnostics seam consulted when a step declines its preconditions. Null by
+// default and set only by `enablePhysics3DGuards`, so a build that never enables guards links neither the
+// message text nor `@flighthq/log`.
+export function setPhysics3DStepGuard(guard) {
+    physics3DStepGuard = guard;
+}
+// Advances the simulation by `dt` seconds. Everything the step does, it does because the caller asked:
+// no implicit accumulation, no fixed-timestep loop hidden inside, and no allocation once the world's
+// bodies, contacts, and joints exist.
+//
+// It declines SILENTLY on any failed precondition rather than throwing, because a NaN velocity or a zero
+// timestep is a state a caller reaches by writing a field, and a throw from inside the step would take
+// down a frame loop for something the caller can inspect and repair. `explainPhysics3DStep` is how a
+// caller finds out which precondition failed, and it is separately importable so a shipping build that
+// never asks never links it.
+//
+// Recursion IS a throw, because it is API misuse rather than data: reaching this from inside a contact
+// hook would run a whole nested step against the arrays the outer one is midway through.
+export function stepPhysics3D(world, dt) {
+    if (steppingPhysics3DWorlds.has(world)) {
+        throw new Error('Cannot step a physics world recursively');
+    }
+    const config = world.config;
+    if (!isPhysics3DTimestepValid(dt) ||
+        !isPhysics3DSubstepsValid(config) ||
+        !isPhysics3DVelocityIterationsValid(config) ||
+        !isPhysics3DPositionIterationsValid(config) ||
+        !isPhysics3DSolverConfigValid(config) ||
+        !isPhysics3DGravityValid(world) ||
+        !isPhysics3DBodyStateValid(world) ||
+        !isPhysics3DColliderStateValid(world) ||
+        !isPhysics3DContactStateValid(world) ||
+        !isPhysics3DJointStateValid(world)) {
+        // The one place the silent decline is observable from outside. The seam takes the world and the
+        // timestep rather than a reason, so the guard asks `explainPhysics3DStep` for ALL of them — a world
+        // with two faults reported one at a time would be repaired one frame at a time.
+        physics3DStepGuard?.(world, dt);
+        return;
+    }
+    // The flag is set and cleared in exactly one place, whatever the body does or throws. It is what makes
+    // every world lifecycle and joint lifecycle helper reject a call from inside a contact hook: the hook's
+    // sole mutation surface is the contact fields its contract names.
+    steppingPhysics3DWorlds.add(world);
+    try {
+        stepValidatedPhysics3D(world, dt);
+    }
+    finally {
+        steppingPhysics3DWorlds.delete(world);
+    }
+}
+// One sub-interval of a step: integrate velocities, solve the constraints, integrate poses, repair
+// penetration.
+//
+// Exported because the solver ruling requires the step to ship as a composition of named functions rather
+// than a monolith. A caller assembling its own loop wants exactly this piece, and a second solver would
+// replace this while `stepPhysics3D` above it stays as it is.
+//
+// The substep loop is the OUTER loop, which is the whole reason this is a separate function. A solver
+// that integrates once and then iterates cannot be turned into one that substeps without restructuring
+// everything that reads the step, so the shape is reserved from the first release even at `substeps: 1`.
+//
+// The ordering is not arbitrary, and one piece of it is a trap. `refreshRigidBody3DWorldInertia` runs at
+// the TOP, before the velocity integration reads the world tensor, and AGAIN once the poses have moved,
+// before the position pass reads it. Integrating angular velocity against the previous sub-interval's
+// world tensor is wrong in a way that shows only on a rotating asymmetric body — a slow, plausible
+// precession no single-step assertion catches.
+export function stepPhysics3DInterval(world, dt) {
+    const sequential = world.config.sequentialImpulse;
+    forEachSolveIslandBody(world, refreshRigidBody3DWorldInertia);
+    forEachSolveIslandBody(world, (body) => integrateRigidBody3DVelocity(body, world.gravityX, world.gravityY, world.gravityZ, dt));
+    preparePhysics3DContactConstraints(world);
+    forEachSolveIslandJoint(world, (joint, solver) => solver.prepare(world, joint, dt));
+    if (sequential.warmStarting) {
+        warmStartPhysics3DContacts(world);
+        // Warm starting is a per-KIND capability as well as a per-world preference. A kind that declares no
+        // `warmStart` never reapplies its accumulator, so that accumulator has to be cleared even while the
+        // world IS warm starting — an impulse that is never reapplied must be cleared, or it is neither warm
+        // nor cold, and it grows without ever acting.
+        forEachSolveIslandJoint(world, (joint, solver) => {
+            if (solver.warmStart !== undefined)
+                solver.warmStart(world, joint);
+            else
+                clearJointAccumulators(joint, solver);
+        });
+    }
+    else {
+        // Contacts need no clearing here: `preparePhysics3DContactConstraints` carries an accumulator across
+        // only when the flag is set, so the constraint it just built is already cold.
+        forEachSolveIslandJoint(world, clearJointAccumulators);
+    }
+    // Joints and contacts share one iteration count and one interleaved pass. Solving them in separate
+    // passes would let each undo the other's correction — a hinge under load creeps if the contacts beneath
+    // it get a whole pass to themselves between joint iterations.
+    for (let iteration = 0; iteration < sequential.velocityIterations; iteration += 1) {
+        forEachSolveIslandJoint(world, (joint, solver) => solver.solve(world, joint, dt));
+        solvePhysics3DContactVelocities(world);
+    }
+    evaluatePhysics3DJointBreakage(world, dt);
+    forEachSolveIslandPose(world, dt);
+    for (let iteration = 0; iteration < sequential.positionIterations; iteration += 1) {
+        solvePhysics3DContactPositions(world);
+    }
+}
+function clearJointAccumulators(joint, solver) {
+    solver.clearAccumulatedImpulses?.(joint);
+    joint.impulse0 = 0;
+    joint.impulse1 = 0;
+    joint.impulse2 = 0;
+    joint.impulse3 = 0;
+    joint.impulse4 = 0;
+    joint.impulse5 = 0;
+}
+// Visits every body the solve islands admit, in island-major order.
+//
+// The workspace holds only awake, non-static bodies, so this is also the sleeping skip — and the skip is
+// a COST saving rather than a behavioural one, which is worth having in writing: a sleeping body's
+// velocity is zeroed when it falls asleep and nothing can hand it more, because any awake neighbour puts
+// it in an awake island before this point. What the skip buys is that a settled thousand-body pile costs
+// no integration at all, which is the entire reason sleep exists.
+function forEachSolveIslandBody(world, visit) {
+    for (let island = 0; island < world.solveIslandRoots.length; island += 1) {
+        const start = world.solveIslandBodyStarts[island];
+        const end = start + world.solveIslandBodyCounts[island];
+        for (let at = start; at < end; at += 1)
+            visit(world.bodies[world.solveIslandBodyIndices[at]]);
+    }
+}
+// Visits every joint the solve islands admit, paired with its registered solver. The workspace already
+// excluded unregistered kinds and sleeping islands, so the callback never has to ask again.
+function forEachSolveIslandJoint(world, visit) {
+    for (let island = 0; island < world.solveIslandRoots.length; island += 1) {
+        const start = world.solveIslandJointStarts[island];
+        const end = start + world.solveIslandJointCounts[island];
+        for (let at = start; at < end; at += 1) {
+            const joint = world.joints[world.solveIslandJointIndices[at]];
+            const solver = world.jointSolvers.get(joint.kind);
+            if (solver !== undefined)
+                visit(joint, solver);
+        }
+    }
+}
+// Moves every awake body by its solved velocity, then refreshes the world inertia the position pass is
+// about to read. Two passes rather than one, because a body's pose must not move between another body's
+// integration and its own: a single fused loop would have the second body's constraint arms measured
+// against a world the first body had already left.
+//
+// Routes through the CONTINUOUS path when the world asks for it and some body is actually flagged. That
+// path integrates in chronological order of impact instead of in one jump, which is the only way a body
+// fast enough to cross a wall within the interval generates a contact at all. It is checked here rather
+// than inside the continuous pass so a world with the config on and no bullets pays one scan of the body
+// list rather than a swept broadphase.
+function forEachSolveIslandPose(world, dt) {
+    if (world.config.continuousCollision && hasActivePhysics3DBullet(world)) {
+        integratePhysics3DContinuous(world, dt);
+        return;
+    }
+    forEachSolveIslandBody(world, (body) => integrateRigidBody3DPose(body, dt));
+    forEachSolveIslandBody(world, refreshRigidBody3DWorldInertia);
+}
+function restoreContactHookFields(contact, friction, restitution, enabled, sensor) {
+    contact.friction = friction;
+    contact.restitution = restitution;
+    contact.enabled = enabled;
+    contact.sensor = sensor;
+}
+// Runs a contact hook over every resolvable contact, putting back the fields it may touch if it
+// misbehaves.
+//
+// Sensors are skipped, because they produce no constraint to solve and there is nothing for a hook to
+// adjust. A hook that throws, or that leaves a contact the step cannot use, has its four mutable fields
+// restored before the failure propagates — otherwise a caller catching the error would resume against a
+// world the hook half-edited.
+function runPhysics3DContactHook(world, hook, phase) {
+    if (hook === null)
+        return;
+    for (let contactIndex = 0; contactIndex < world.contacts.length; contactIndex += 1) {
+        const contact = world.contacts[contactIndex];
+        if (contact.sensor)
+            continue;
+        const friction = contact.friction;
+        const restitution = contact.restitution;
+        const enabled = contact.enabled;
+        const sensor = contact.sensor;
+        try {
+            hook(world, contact);
+        }
+        catch (error) {
+            restoreContactHookFields(contact, friction, restitution, enabled, sensor);
+            throw error;
+        }
+        if (!isPhysics3DContactValid(contact)) {
+            restoreContactHookFields(contact, friction, restitution, enabled, sensor);
+            throw new Error(`Physics3D ${phase} hook produced invalid contact state`);
+        }
+    }
+}
+// Expresses every cached impulse in the interval it is about to be reapplied over.
+//
+// An accumulated impulse has force-times-time units. Reusing one unchanged across a different interval
+// applies the wrong force before the first iteration can correct it, which presents as a stack or a motor
+// kicking whenever a frame changes cadence. The comparison is against the previous SUB-interval rather
+// than the previous whole step, because a sub-interval's iterations are what built the cache — which is
+// also why changing `substeps` between steps rescales correctly rather than silently by the wrong factor.
+//
+// A non-finite ratio clears the cache rather than seeding infinity from two otherwise-valid timesteps.
+function scalePhysics3DWarmStartCaches(world, dt) {
+    const previous = world.previousTimestep;
+    if (!(previous > 0) || previous === dt)
+        return;
+    const divided = dt / previous;
+    const timestepRatio = Number.isFinite(divided) ? divided : 0;
+    for (let constraintIndex = 0; constraintIndex < world.solver.constraints.length; constraintIndex += 1) {
+        const constraint = world.solver.constraints[constraintIndex];
+        for (let i = 0; i < constraint.pointCount; i += 1) {
+            const point = constraint.points[i];
+            point.normalImpulse *= timestepRatio;
+            point.tangentImpulse0 *= timestepRatio;
+            point.tangentImpulse1 *= timestepRatio;
+        }
+    }
+    for (let jointIndex = 0; jointIndex < world.joints.length; jointIndex += 1) {
+        const joint = world.joints[jointIndex];
+        joint.impulse0 *= timestepRatio;
+        joint.impulse1 *= timestepRatio;
+        joint.impulse2 *= timestepRatio;
+        joint.impulse3 *= timestepRatio;
+        joint.impulse4 *= timestepRatio;
+        joint.impulse5 *= timestepRatio;
+        world.jointSolvers.get(joint.kind)?.scaleAccumulatedImpulses?.(joint, timestepRatio);
+    }
+}
+// The body of one step whose preconditions already hold.
+function stepValidatedPhysics3D(world, dt) {
+    const substepDt = dt / world.config.substeps;
+    // Break events are cleared once per STEP, not per sub-interval, so a joint that parted during the first
+    // substep is still reported after the last one. Clearing inside the substep loop would drop every break
+    // but the final sub-interval's, and would do it silently — the joint stays broken either way, so the
+    // simulation would look right and only the notification would go missing.
+    world.jointEvents.broke.length = 0;
+    // Contacts are generated FIRST, from the poses the previous step left behind. The pre-solve hook is
+    // one transaction per public step: it runs before any interval commits, so a throw cannot leave half a
+    // substepped frame behind. Later interval refreshes retain its four mutable fields.
+    buildPhysics3DContacts(world);
+    // Pre-solve runs before anything is scaled or prepared, so a hook that disables a contact for this step
+    // does so before the constraint that would have resolved it is built.
+    runPhysics3DContactHook(world, world.contactHooks.preSolve, 'pre-solve');
+    // Scale only after pre-solve succeeds. A callback may throw, and scaling first would leave the cache
+    // expressed in the new interval while `previousTimestep` still described the old one; a retry would
+    // then scale an already-scaled cache a second time.
+    scalePhysics3DWarmStartCaches(world, substepDt);
+    // Sleep TIME is advanced once per step; later refreshes pass zero merely to rebuild the constraint
+    // graph and wake a sleeper reached by a body during an earlier interval. This preserves the meaning of
+    // `timeToSleep` while making a newly connected island live in the interval that discovered it.
+    updatePhysics3DSleep(world, dt);
+    buildPhysics3DSolveIslands(world);
+    for (let substep = 0; substep < world.config.substeps; substep += 1) {
+        if (substep > 0) {
+            // A substep that only re-runs the solver against the outer step's original contact list is not a
+            // smaller timestep: bodies can cross into a collider in interval one and remain invisible through
+            // every interval after it. Refreshing here makes N substeps topologically equivalent to N calls at
+            // the sub-interval, while aggregating begin/end events across the one public call.
+            refreshPhysics3DContacts(world);
+            updatePhysics3DSleep(world, 0);
+            buildPhysics3DSolveIslands(world);
+        }
+        stepPhysics3DInterval(world, substepDt);
+    }
+    for (let bodyIndex = 0; bodyIndex < world.bodies.length; bodyIndex += 1) {
+        clearRigidBody3DForces(world.bodies[bodyIndex]);
+    }
+    // CCD contacts are appended at TOI so they cannot shift the contact indices held by constraints that
+    // were prepared earlier in the interval. Those indices have expired now, so restore the canonical
+    // identity order before publishing the committed world and invoking post-solve hooks. The active-
+    // bullet condition is the same condition that can enter the CCD path; sorting every ordinary settled
+    // contact here added an O(n log n) tax to worlds that could not possibly have appended anything.
+    if (world.config.continuousCollision && hasActivePhysics3DBullet(world)) {
+        world.contacts.sort(comparePhysics3DContactIdentity);
+    }
+    world.previousTimestep = substepDt;
+    // Post-solve observes a committed step. A hook that throws here cannot prevent pose integration, force
+    // cleanup, or the timestep agreement above, so the next call never resumes a half-finished step.
+    runPhysics3DContactHook(world, world.contactHooks.postSolve, 'post-solve');
+}
+function comparePhysics3DContactIdentity(left, right) {
+    if (left.bodyA !== right.bodyA)
+        return left.bodyA - right.bodyA;
+    if (left.bodyB !== right.bodyB)
+        return left.bodyB - right.bodyB;
+    if (left.colliderA !== right.colliderA)
+        return left.colliderA - right.colliderA;
+    return left.colliderB - right.colliderB;
+}
+let physics3DStepGuard = null;
+//# sourceMappingURL=step.js.map

package/dist/step.js.map

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package/dist/stepValidation.d.ts

@@ -0,0 +1,13 @@
+import type { Physics3DContact, Physics3DSolverConfig, Physics3DWorld } from '@flighthq/types/contract';
+export declare function isPhysics3DBodyStateValid(world: Readonly<Physics3DWorld>): boolean;
+export declare function isPhysics3DColliderStateValid(world: Readonly<Physics3DWorld>): boolean;
+export declare function isPhysics3DContactStateValid(world: Readonly<Physics3DWorld>): boolean;
+export declare function isPhysics3DContactValid(contact: Readonly<Physics3DContact>): boolean;
+export declare function isPhysics3DGravityValid(world: Readonly<Physics3DWorld>): boolean;
+export declare function isPhysics3DJointStateValid(world: Readonly<Physics3DWorld>): boolean;
+export declare function isPhysics3DPositionIterationsValid(config: Readonly<Physics3DSolverConfig>): boolean;
+export declare function isPhysics3DSolverConfigValid(config: Readonly<Physics3DSolverConfig>): boolean;
+export declare function isPhysics3DSubstepsValid(config: Readonly<Physics3DSolverConfig>): boolean;
+export declare function isPhysics3DTimestepValid(dt: number): boolean;
+export declare function isPhysics3DVelocityIterationsValid(config: Readonly<Physics3DSolverConfig>): boolean;
+//# sourceMappingURL=stepValidation.d.ts.map

package/dist/stepValidation.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"stepValidation.d.ts","sourceRoot":"","sources":["../src/stepValidation.ts"],"names":[],"mappings":"AAKA,OAAO,KAAK,EAEV,gBAAgB,EAEhB,qBAAqB,EACrB,cAAc,EAEf,MAAM,0BAA0B,CAAC;AAclC,wBAAgB,yBAAyB,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,GAAG,OAAO,CAclF;AAQD,wBAAgB,6BAA6B,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,GAAG,OAAO,CAStF;AAED,wBAAgB,4BAA4B,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,GAAG,OAAO,CAKrF;AAID,wBAAgB,uBAAuB,CAAC,OAAO,EAAE,QAAQ,CAAC,gBAAgB,CAAC,GAAG,OAAO,CA4CpF;AAED,wBAAgB,uBAAuB,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,GAAG,OAAO,CAEhF;AAED,wBAAgB,0BAA0B,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,GAAG,OAAO,CAKnF;AAED,wBAAgB,kCAAkC,CAAC,MAAM,EAAE,QAAQ,CAAC,qBAAqB,CAAC,GAAG,OAAO,CAGnG;AAKD,wBAAgB,4BAA4B,CAAC,MAAM,EAAE,QAAQ,CAAC,qBAAqB,CAAC,GAAG,OAAO,CAwB7F;AAID,wBAAgB,wBAAwB,CAAC,MAAM,EAAE,QAAQ,CAAC,qBAAqB,CAAC,GAAG,OAAO,CAEzF;AAED,wBAAgB,wBAAwB,CAAC,EAAE,EAAE,MAAM,GAAG,OAAO,CAE5D;AAED,wBAAgB,kCAAkC,CAAC,MAAM,EAAE,QAAQ,CAAC,qBAAqB,CAAC,GAAG,OAAO,CAGnG"}

package/dist/stepValidation.js

@@ -0,0 +1,284 @@
+import { getCollisionHeightfieldValidationStatus3D, getCollisionShapeValidationStatus3D, getCollisionTriangleMeshValidationStatus3D, } from '@flighthq/collision/contract';
+// The preconditions one explicit step needs to be meaningful, each asked as its own question.
+//
+// Separate predicates rather than one `canStep`, because they are the rows of `Physics3DStepExplanation`
+// and a caller diagnosing a world that will not advance needs to know WHICH one failed. `stepPhysics3D`
+// asks all of them and returns silently on any false; `explainPhysics3DStep` asks the same ones and
+// reports. That is the diagnostics inversion — the step carries no messages, and the explain seam is
+// separately importable so a shipping build that never asks never links it.
+//
+// A world that fails one of these is not an error to throw on: a NaN velocity, a zero timestep, or a
+// negative iteration count is a state a caller can reach by writing a field, and a throw from inside the
+// step would take down a frame loop for something the caller can inspect and repair.
+export function isPhysics3DBodyStateValid(world) {
+    if (!Number.isSafeInteger(world.nextBodyIndex) || world.nextBodyIndex < 0)
+        return false;
+    for (let bodyIndex = 0; bodyIndex < world.bodies.length; bodyIndex += 1) {
+        const body = world.bodies[bodyIndex];
+        if (!isRigidBody3DStateValid(body) ||
+            !Array.isArray(body.colliders) ||
+            (body.type !== 'static' && body.colliders.some(isPhysics3DStaticSurfaceCollider)) ||
+            world.bodyByIndex.get(body.index) !== body) {
+            return false;
+        }
+    }
+    return true;
+}
+function isPhysics3DStaticSurfaceCollider(collider) {
+    return collider.local.kind === 'triangle-mesh' || collider.local.kind === 'heightfield';
+}
+// Validates the data that will generate NEW contacts during this step. Keeping this separate from body
+// state is diagnostic: a NaN material is repaired at a collider, not in the body's pose or inertia.
+export function isPhysics3DColliderStateValid(world) {
+    for (let bodyIndex = 0; bodyIndex < world.bodies.length; bodyIndex += 1) {
+        const body = world.bodies[bodyIndex];
+        if (!Array.isArray(body.colliders))
+            return false;
+        for (let colliderIndex = 0; colliderIndex < body.colliders.length; colliderIndex += 1) {
+            if (!isPhysics3DColliderValid(body.colliders[colliderIndex]))
+                return false;
+        }
+    }
+    return true;
+}
+export function isPhysics3DContactStateValid(world) {
+    for (let contactIndex = 0; contactIndex < world.contacts.length; contactIndex += 1) {
+        if (!isPhysics3DContactValid(world.contacts[contactIndex]))
+            return false;
+    }
+    return true;
+}
+// Also the post-hook check: a pre-solve or post-solve callback may write contact fields, and this is what
+// says whether what it wrote is still steppable.
+export function isPhysics3DContactValid(contact) {
+    if (!Number.isSafeInteger(contact.bodyA) ||
+        !Number.isSafeInteger(contact.bodyB) ||
+        !Number.isSafeInteger(contact.colliderA) ||
+        contact.colliderA < 0 ||
+        !Number.isSafeInteger(contact.colliderB) ||
+        contact.colliderB < 0 ||
+        !Number.isSafeInteger(contact.pointCount) ||
+        contact.pointCount < 0 ||
+        contact.pointCount > contact.points.length ||
+        !Number.isFinite(contact.normalX) ||
+        !Number.isFinite(contact.normalY) ||
+        !Number.isFinite(contact.normalZ) ||
+        !Number.isFinite(contact.friction) ||
+        contact.friction < 0 ||
+        !Number.isFinite(contact.restitution) ||
+        contact.restitution < 0 ||
+        typeof contact.enabled !== 'boolean' ||
+        typeof contact.sensor !== 'boolean' ||
+        typeof contact.touching !== 'boolean') {
+        return false;
+    }
+    for (let i = 0; i < contact.pointCount; i += 1) {
+        const point = contact.points[i];
+        if (point === undefined)
+            return false;
+        if (!Number.isFinite(point.x) ||
+            !Number.isFinite(point.y) ||
+            !Number.isFinite(point.z) ||
+            !Number.isFinite(point.depth) ||
+            !Number.isFinite(point.featureId) ||
+            !Number.isFinite(point.rAX) ||
+            !Number.isFinite(point.rAY) ||
+            !Number.isFinite(point.rAZ) ||
+            !Number.isFinite(point.rBX) ||
+            !Number.isFinite(point.rBY) ||
+            !Number.isFinite(point.rBZ)) {
+            return false;
+        }
+    }
+    return true;
+}
+export function isPhysics3DGravityValid(world) {
+    return Number.isFinite(world.gravityX) && Number.isFinite(world.gravityY) && Number.isFinite(world.gravityZ);
+}
+export function isPhysics3DJointStateValid(world) {
+    for (let jointIndex = 0; jointIndex < world.joints.length; jointIndex += 1) {
+        if (!isPhysics3DJointValid(world.joints[jointIndex]))
+            return false;
+    }
+    return true;
+}
+export function isPhysics3DPositionIterationsValid(config) {
+    const iterations = config.sequentialImpulse.positionIterations;
+    return Number.isSafeInteger(iterations) && iterations >= 0;
+}
+// The solver-independent knobs plus the sequential-impulse block. Iteration counts and `substeps` are
+// asked separately, because they are the three a caller is most likely to have tuned by hand and the
+// explanation names each of them.
+export function isPhysics3DSolverConfigValid(config) {
+    const sequential = config.sequentialImpulse;
+    return (typeof config.allowSleeping === 'boolean' &&
+        Number.isFinite(config.sleepLinearThreshold) &&
+        config.sleepLinearThreshold >= 0 &&
+        Number.isFinite(config.sleepAngularThreshold) &&
+        config.sleepAngularThreshold >= 0 &&
+        Number.isFinite(config.timeToSleep) &&
+        config.timeToSleep >= 0 &&
+        typeof config.continuousCollision === 'boolean' &&
+        Number.isSafeInteger(config.maxCcdSubsteps) &&
+        config.maxCcdSubsteps >= 0 &&
+        Number.isSafeInteger(config.maxCcdRotationSubsteps) &&
+        config.maxCcdRotationSubsteps >= 0 &&
+        Number.isFinite(sequential.penetrationSlop) &&
+        sequential.penetrationSlop >= 0 &&
+        Number.isFinite(sequential.positionCorrection) &&
+        sequential.positionCorrection >= 0 &&
+        sequential.positionCorrection <= 1 &&
+        Number.isFinite(sequential.restitutionThreshold) &&
+        sequential.restitutionThreshold >= 0 &&
+        typeof sequential.warmStarting === 'boolean');
+}
+// At least one, because `substeps` divides the timestep and the step runs the loop that many times. Zero
+// would advance nothing while reporting a completed step, which is worse than declining to step at all.
+export function isPhysics3DSubstepsValid(config) {
+    return Number.isSafeInteger(config.substeps) && config.substeps >= 1;
+}
+export function isPhysics3DTimestepValid(dt) {
+    return Number.isFinite(dt) && dt > 0;
+}
+export function isPhysics3DVelocityIterationsValid(config) {
+    const iterations = config.sequentialImpulse.velocityIterations;
+    return Number.isSafeInteger(iterations) && iterations >= 0;
+}
+function isPhysics3DJointValid(joint) {
+    if (typeof joint.kind !== 'string' ||
+        joint.kind.length === 0 ||
+        !Number.isSafeInteger(joint.bodyA) ||
+        !Number.isSafeInteger(joint.bodyB) ||
+        typeof joint.collideConnected !== 'boolean') {
+        return false;
+    }
+    // Every numeric field, whatever the kind added — a limit, a motor speed, a frame component. Walking the
+    // object rather than a fixed key list is what makes this cover a user's own joint kind, which is the
+    // point of an open registry.
+    //
+    // Except the fields where INFINITY IS THE VALUE, not a symptom. A `breakForce` of infinity is a joint
+    // that never breaks and a `maxLength` of infinity is a rope with no far stop, and both are the natural
+    // defaults — so a blanket finiteness walk declares every ordinary joint invalid and the world declines
+    // to step at all. That failure is silent by design (an invalid step is skipped, not thrown), so it
+    // presents as a motor that does not turn and contacts that never fire, with nothing pointing at the
+    // joint. Adding a field whose unset state is "no bound" means adding it here too.
+    for (const key in joint) {
+        if (UNBOUNDED_JOINT_FIELDS.has(key))
+            continue;
+        const value = joint[key];
+        if (typeof value === 'number' && !Number.isFinite(value))
+            return false;
+    }
+    return true;
+}
+function isRigidBody3DStateValid(body) {
+    const orientationLengthSquared = body.orientationX * body.orientationX +
+        body.orientationY * body.orientationY +
+        body.orientationZ * body.orientationZ +
+        body.orientationW * body.orientationW;
+    if (!Number.isSafeInteger(body.index) ||
+        body.index < 0 ||
+        (body.type !== 'dynamic' && body.type !== 'kinematic' && body.type !== 'static') ||
+        typeof body.fixedRotation !== 'boolean' ||
+        typeof body.bullet !== 'boolean' ||
+        typeof body.sleeping !== 'boolean' ||
+        typeof body.sleepEnabled !== 'boolean' ||
+        !Number.isFinite(body.sleepTimer) ||
+        body.sleepTimer < 0 ||
+        !Number.isFinite(body.linearDamping) ||
+        body.linearDamping < 0 ||
+        !Number.isFinite(body.angularDamping) ||
+        body.angularDamping < 0 ||
+        !Number.isFinite(body.gravityScale) ||
+        !Number.isFinite(body.mass) ||
+        body.mass < 0 ||
+        !Number.isFinite(body.inverseMass) ||
+        body.inverseMass < 0 ||
+        !Number.isFinite(orientationLengthSquared) ||
+        Math.abs(orientationLengthSquared - 1) > PHYSICS3D_QUATERNION_LENGTH_TOLERANCE) {
+        return false;
+    }
+    for (let keyIndex = 0; keyIndex < rigidBody3DFiniteKeys.length; keyIndex += 1) {
+        if (!Number.isFinite(body[rigidBody3DFiniteKeys[keyIndex]]))
+            return false;
+    }
+    return true;
+}
+function isPhysics3DColliderValid(collider) {
+    const material = collider.material;
+    const filter = collider.filter;
+    return (getPhysics3DColliderShapeValidationStatus(collider.local) === null &&
+        getPhysics3DColliderShapeValidationStatus(collider.world) === null &&
+        isPhysics3DColliderWorldShapeCompatible(collider) &&
+        Number.isFinite(material.density) &&
+        material.density >= 0 &&
+        Number.isFinite(material.friction) &&
+        material.friction >= 0 &&
+        Number.isFinite(material.restitution) &&
+        material.restitution >= 0 &&
+        Number.isSafeInteger(filter.categoryBits) &&
+        Number.isSafeInteger(filter.maskBits) &&
+        Number.isSafeInteger(filter.groupIndex) &&
+        typeof collider.sensor === 'boolean');
+}
+function getPhysics3DColliderShapeValidationStatus(shape) {
+    if (shape.kind === 'triangle-mesh')
+        return getCollisionTriangleMeshValidationStatus3D(shape);
+    if (shape.kind === 'heightfield')
+        return getCollisionHeightfieldValidationStatus3D(shape);
+    return getCollisionShapeValidationStatus3D(shape);
+}
+function isPhysics3DColliderWorldShapeCompatible(collider) {
+    return collider.world.kind === (collider.local.kind === 'aabb' ? 'box' : collider.local.kind);
+}
+// Every field that has to be a real number for the step to mean anything: the pose, the velocities, the
+// accumulators, the centre of mass, and all three inertia tensors. The world tensor is derived and is
+// included anyway — it is what every constraint row multiplies by, so a NaN there reaches both bodies of
+// every contact and joint within one substep.
+const rigidBody3DFiniteKeys = [
+    'x',
+    'y',
+    'z',
+    'orientationX',
+    'orientationY',
+    'orientationZ',
+    'orientationW',
+    'velocityX',
+    'velocityY',
+    'velocityZ',
+    'angularVelocityX',
+    'angularVelocityY',
+    'angularVelocityZ',
+    'forceX',
+    'forceY',
+    'forceZ',
+    'torqueX',
+    'torqueY',
+    'torqueZ',
+    'centerX',
+    'centerY',
+    'centerZ',
+    'inertiaXX',
+    'inertiaYY',
+    'inertiaZZ',
+    'inertiaXY',
+    'inertiaXZ',
+    'inertiaYZ',
+    'inverseInertiaXX',
+    'inverseInertiaYY',
+    'inverseInertiaZZ',
+    'inverseInertiaXY',
+    'inverseInertiaXZ',
+    'inverseInertiaYZ',
+    'inverseInertiaWorldXX',
+    'inverseInertiaWorldYY',
+    'inverseInertiaWorldZZ',
+    'inverseInertiaWorldXY',
+    'inverseInertiaWorldXZ',
+    'inverseInertiaWorldYZ',
+];
+// Joint fields whose infinite value is meaningful rather than corrupt: a threshold that is never reached
+// and a bound that never stops anything.
+const UNBOUNDED_JOINT_FIELDS = new Set(['breakForce', 'breakTorque', 'maxLength']);
+const PHYSICS3D_QUATERNION_LENGTH_TOLERANCE = 1e-6;
+//# sourceMappingURL=stepValidation.js.map

package/dist/stepValidation.js.map

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