@flighthq/physics3d 0.4.0-edge.1908.751021c

package/dist/symmetricTensor.d.ts

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+export declare const TENSOR_XX = 0;
+export declare const TENSOR_YY = 1;
+export declare const TENSOR_ZZ = 2;
+export declare const TENSOR_XY = 3;
+export declare const TENSOR_XZ = 4;
+export declare const TENSOR_YZ = 5;
+export declare function applySymmetricTensor(tensor: Readonly<ArrayLike<number>>, vX: number, vY: number, vZ: number, out: number[]): void;
+export declare function inverseSymmetricTensor(tensor: Readonly<ArrayLike<number>>, out: number[]): boolean;
+export declare function rotateSymmetricTensor(tensor: Readonly<ArrayLike<number>>, quaternionX: number, quaternionY: number, quaternionZ: number, quaternionW: number, out: number[]): void;
+export declare function translateSymmetricTensor(tensor: Readonly<ArrayLike<number>>, mass: number, dX: number, dY: number, dZ: number, out: number[]): void;
+//# sourceMappingURL=symmetricTensor.d.ts.map

package/dist/symmetricTensor.d.ts.map

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package/dist/symmetricTensor.js

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+// Symmetric 3x3 tensor arithmetic, in the six-component form the solver stores inertia in.
+//
+// Package-internal: these are how the mass and constraint code reads a tensor, not part of the
+// physics3d API. They take and return loose numbers rather than a matrix type because an inertia tensor
+// lives as six flat fields on `RigidBody3D` — `@flighthq/geometry`'s `Matrix3` is an `Entity` wrapping a
+// `Float32Array`, which is both an indirection in a hot loop and a precision step down from what a
+// solver's accumulators need.
+//
+// Every function here writes into a caller-provided `out` array of six numbers, ordered
+// `[xx, yy, zz, xy, xz, yz]`, and is safe when `out` also supplies the input.
+// Component offsets into the six-number form. Named so a caller indexes by meaning rather than by a
+// number whose order it has to remember.
+export const TENSOR_XX = 0;
+export const TENSOR_YY = 1;
+export const TENSOR_ZZ = 2;
+export const TENSOR_XY = 3;
+export const TENSOR_XZ = 4;
+export const TENSOR_YZ = 5;
+// Applies a symmetric tensor to a vector, writing `tensor * v` into `out`. The workhorse: every
+// constraint row multiplies an angular term by an inverse inertia tensor.
+export function applySymmetricTensor(tensor, vX, vY, vZ, out) {
+    const xx = tensor[TENSOR_XX];
+    const yy = tensor[TENSOR_YY];
+    const zz = tensor[TENSOR_ZZ];
+    const xy = tensor[TENSOR_XY];
+    const xz = tensor[TENSOR_XZ];
+    const yz = tensor[TENSOR_YZ];
+    out[0] = xx * vX + xy * vY + xz * vZ;
+    out[1] = xy * vX + yy * vY + yz * vZ;
+    out[2] = xz * vX + yz * vY + zz * vZ;
+}
+// Inverts a symmetric tensor, writing the result into `out`. Returns false and writes a zero tensor
+// when the tensor is singular — which is the ordinary case, not an error: a static body, a
+// fixed-rotation body, and a zero-mass body all carry a singular inertia, and a zero inverse is exactly
+// what makes "infinite inertia" fall out of the same arithmetic as any other body with no branch.
+//
+// The determinant is compared against a scale-relative epsilon rather than an absolute one, because an
+// inertia tensor's magnitude tracks mass times length squared and a fixed epsilon would call a small
+// but perfectly invertible body singular.
+export function inverseSymmetricTensor(tensor, out) {
+    const xx = tensor[TENSOR_XX];
+    const yy = tensor[TENSOR_YY];
+    const zz = tensor[TENSOR_ZZ];
+    const xy = tensor[TENSOR_XY];
+    const xz = tensor[TENSOR_XZ];
+    const yz = tensor[TENSOR_YZ];
+    // Cofactors of the symmetric matrix; only six are distinct.
+    const cofactorXX = yy * zz - yz * yz;
+    const cofactorXY = xz * yz - xy * zz;
+    const cofactorXZ = xy * yz - xz * yy;
+    const determinant = xx * cofactorXX + xy * cofactorXY + xz * cofactorXZ;
+    const scale = Math.abs(xx) + Math.abs(yy) + Math.abs(zz);
+    if (!Number.isFinite(determinant) || Math.abs(determinant) <= SINGULAR_EPSILON * scale * scale * scale) {
+        out[TENSOR_XX] = 0;
+        out[TENSOR_YY] = 0;
+        out[TENSOR_ZZ] = 0;
+        out[TENSOR_XY] = 0;
+        out[TENSOR_XZ] = 0;
+        out[TENSOR_YZ] = 0;
+        return false;
+    }
+    const inverseDeterminant = 1 / determinant;
+    out[TENSOR_XX] = cofactorXX * inverseDeterminant;
+    out[TENSOR_YY] = (xx * zz - xz * xz) * inverseDeterminant;
+    out[TENSOR_ZZ] = (xx * yy - xy * xy) * inverseDeterminant;
+    out[TENSOR_XY] = cofactorXY * inverseDeterminant;
+    out[TENSOR_XZ] = cofactorXZ * inverseDeterminant;
+    out[TENSOR_YZ] = (xy * xz - xx * yz) * inverseDeterminant;
+    return true;
+}
+// Rotates a symmetric tensor into world space by a unit quaternion, writing `R * tensor * transpose(R)`
+// into `out`. The result is symmetric by construction, so only six components are produced.
+//
+// The rotation matrix is built once and applied as two multiplies rather than composing the similarity
+// transform in closed quaternion form: the closed form is longer, no faster, and far harder to check
+// against a reference implementation.
+export function rotateSymmetricTensor(tensor, quaternionX, quaternionY, quaternionZ, quaternionW, out) {
+    const x2 = quaternionX + quaternionX;
+    const y2 = quaternionY + quaternionY;
+    const z2 = quaternionZ + quaternionZ;
+    const xx2 = quaternionX * x2;
+    const yy2 = quaternionY * y2;
+    const zz2 = quaternionZ * z2;
+    const xy2 = quaternionX * y2;
+    const xz2 = quaternionX * z2;
+    const yz2 = quaternionY * z2;
+    const wx2 = quaternionW * x2;
+    const wy2 = quaternionW * y2;
+    const wz2 = quaternionW * z2;
+    // Column-major rotation basis: r0 is the image of the local x axis, and so on.
+    const r00 = 1 - yy2 - zz2;
+    const r10 = xy2 + wz2;
+    const r20 = xz2 - wy2;
+    const r01 = xy2 - wz2;
+    const r11 = 1 - xx2 - zz2;
+    const r21 = yz2 + wx2;
+    const r02 = xz2 + wy2;
+    const r12 = yz2 - wx2;
+    const r22 = 1 - xx2 - yy2;
+    const xx = tensor[TENSOR_XX];
+    const yy = tensor[TENSOR_YY];
+    const zz = tensor[TENSOR_ZZ];
+    const xy = tensor[TENSOR_XY];
+    const xz = tensor[TENSOR_XZ];
+    const yz = tensor[TENSOR_YZ];
+    // m = tensor * transpose(R). Since `transpose(R)[k][j]` is `R[j][k]`, each entry pairs a row of the
+    // tensor with a ROW of R — pairing it with a column instead silently computes `R * tensor * R`, which
+    // agrees with the right answer for every symmetric rotation and disagrees for a quarter turn.
+    const m00 = xx * r00 + xy * r01 + xz * r02;
+    const m01 = xx * r10 + xy * r11 + xz * r12;
+    const m02 = xx * r20 + xy * r21 + xz * r22;
+    const m10 = xy * r00 + yy * r01 + yz * r02;
+    const m11 = xy * r10 + yy * r11 + yz * r12;
+    const m12 = xy * r20 + yy * r21 + yz * r22;
+    const m20 = xz * r00 + yz * r01 + zz * r02;
+    const m21 = xz * r10 + yz * r11 + zz * r12;
+    const m22 = xz * r20 + yz * r21 + zz * r22;
+    out[TENSOR_XX] = r00 * m00 + r01 * m10 + r02 * m20;
+    out[TENSOR_YY] = r10 * m01 + r11 * m11 + r12 * m21;
+    out[TENSOR_ZZ] = r20 * m02 + r21 * m12 + r22 * m22;
+    out[TENSOR_XY] = r00 * m01 + r01 * m11 + r02 * m21;
+    out[TENSOR_XZ] = r00 * m02 + r01 * m12 + r02 * m22;
+    out[TENSOR_YZ] = r10 * m02 + r11 * m12 + r12 * m22;
+}
+// Shifts a symmetric tensor from an axis through the centre of mass to a parallel axis offset by
+// (`dX`,`dY`,`dZ`), writing the result into `out` — the parallel-axis theorem,
+// `I + mass * (dot(d,d) * identity - outer(d,d))`.
+//
+// This is what lets primitives combine without an eigenvalue solve: each contributes its own tensor
+// about its own centre, and every one of them is shifted to the assembly's centre and summed. Note the
+// direction — this moves AWAY from the centre of mass. Passing a negated offset does not move back,
+// because the correction is quadratic in the offset and therefore even.
+export function translateSymmetricTensor(tensor, mass, dX, dY, dZ, out) {
+    const xx = tensor[TENSOR_XX];
+    const yy = tensor[TENSOR_YY];
+    const zz = tensor[TENSOR_ZZ];
+    const xy = tensor[TENSOR_XY];
+    const xz = tensor[TENSOR_XZ];
+    const yz = tensor[TENSOR_YZ];
+    out[TENSOR_XX] = xx + mass * (dY * dY + dZ * dZ);
+    out[TENSOR_YY] = yy + mass * (dX * dX + dZ * dZ);
+    out[TENSOR_ZZ] = zz + mass * (dX * dX + dY * dY);
+    out[TENSOR_XY] = xy - mass * dX * dY;
+    out[TENSOR_XZ] = xz - mass * dX * dZ;
+    out[TENSOR_YZ] = yz - mass * dY * dZ;
+}
+// Relative tolerance for calling a tensor singular. Cubed against the tensor's trace scale in
+// `inverseSymmetricTensor`, since a 3x3 determinant carries three factors of the matrix's magnitude.
+const SINGULAR_EPSILON = 1e-12;
+//# sourceMappingURL=symmetricTensor.js.map

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package/dist/world.d.ts

@@ -0,0 +1,27 @@
+import type { CollisionColliderShape3D, Physics3DBodyType, Physics3DCollider, Physics3DCollisionFilter, Physics3DMaterial, Physics3DSequentialImpulseConfig, Physics3DSolverConfig, Physics3DWorld, RigidBody3D, SpatialIndexBackend3D } from '@flighthq/types/contract';
+export declare function addPhysics3DBody(world: Physics3DWorld, body: RigidBody3D): number;
+export declare function addPhysics3DCollider(world: Physics3DWorld, body: RigidBody3D, collider: Physics3DCollider): Physics3DCollider;
+export declare function applyPhysics3DForce(body: RigidBody3D, x: number, y: number, z: number): boolean;
+export declare function applyPhysics3DForceAtPoint(body: RigidBody3D, x: number, y: number, z: number, pointX: number, pointY: number, pointZ: number): boolean;
+export declare function applyPhysics3DLinearImpulse(body: RigidBody3D, x: number, y: number, z: number): boolean;
+export declare function applyPhysics3DLinearImpulseAtPoint(body: RigidBody3D, x: number, y: number, z: number, pointX: number, pointY: number, pointZ: number): boolean;
+export declare function applyPhysics3DTorque(body: RigidBody3D, x: number, y: number, z: number): boolean;
+export declare function createPhysics3DCollider(local: Readonly<CollisionColliderShape3D>, material?: Readonly<Physics3DMaterial>, filter?: Readonly<Physics3DCollisionFilter>, sensor?: boolean): Physics3DCollider;
+export declare function createPhysics3DSequentialImpulseConfig(): Physics3DSequentialImpulseConfig;
+export declare function createPhysics3DSolverConfig(): Physics3DSolverConfig;
+export declare function createPhysics3DWorld(index?: SpatialIndexBackend3D): Physics3DWorld;
+export declare function createRigidBody3D(type?: Physics3DBodyType): RigidBody3D;
+export declare function findPhysics3DBody(world: Readonly<Physics3DWorld>, index: number): RigidBody3D | null;
+export declare function hydratePhysics3DWorld(world: Physics3DWorld): boolean;
+export declare function invalidatePhysics3DCollider(world: Physics3DWorld, body: RigidBody3D, collider: Physics3DCollider): boolean;
+export declare function removePhysics3DBody(world: Physics3DWorld, body: RigidBody3D): boolean;
+export declare function removePhysics3DCollider(world: Physics3DWorld, body: RigidBody3D, collider: Physics3DCollider): boolean;
+export declare function setPhysics3DBodyBullet(body: RigidBody3D, bullet: boolean): boolean;
+export declare function setPhysics3DBodyFixedRotation(body: RigidBody3D, fixedRotation: boolean): boolean;
+export declare function setPhysics3DBodySleepEnabled(body: RigidBody3D, sleepEnabled: boolean): boolean;
+export declare function setPhysics3DBodyTransform(body: RigidBody3D, x: number, y: number, z: number, orientationX: number, orientationY: number, orientationZ: number, orientationW: number): boolean;
+export declare function setPhysics3DBodyType(body: RigidBody3D, type: Physics3DBodyType): boolean;
+export declare function wakePhysics3DBody(body: RigidBody3D): void;
+export declare function writeRigidBody3DWorldCenter(body: Readonly<RigidBody3D>, out: number[]): void;
+export declare const Physics3DWorldVersion = 4;
+//# sourceMappingURL=world.d.ts.map

package/dist/world.d.ts.map

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