@flighthq/physics3d 0.4.0-edge.1908.751021c

package/dist/world.js.map

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

@@ -0,0 +1,11 @@
+import type { CollisionBuiltInShape3D, Physics3DQueryFilter, Physics3DQueryResult, Physics3DRayResult, Physics3DShapeCastResult, Physics3DWorld, SpatialAabb3D } from '@flighthq/types/contract';
+export declare function createPhysics3DQueryFilter(): Physics3DQueryFilter;
+export declare function createPhysics3DQueryResult(): Physics3DQueryResult;
+export declare function createPhysics3DRayResult(): Physics3DRayResult;
+export declare function createPhysics3DShapeCastResult(): Physics3DShapeCastResult;
+export declare function queryPhysics3DPoint(world: Physics3DWorld, x: number, y: number, z: number, out: Physics3DQueryResult, filter?: Readonly<Physics3DQueryFilter>): void;
+export declare function queryPhysics3DRay(world: Physics3DWorld, originX: number, originY: number, originZ: number, directionX: number, directionY: number, directionZ: number, out: Physics3DRayResult, maxFraction?: number, filter?: Readonly<Physics3DQueryFilter>): void;
+export declare function queryPhysics3DRayClosest(world: Physics3DWorld, originX: number, originY: number, originZ: number, directionX: number, directionY: number, directionZ: number, out: Physics3DRayResult, maxFraction?: number, filter?: Readonly<Physics3DQueryFilter>): void;
+export declare function queryPhysics3DRegion(world: Physics3DWorld, region: Readonly<SpatialAabb3D>, out: Physics3DQueryResult, filter?: Readonly<Physics3DQueryFilter>): void;
+export declare function queryPhysics3DShapeCast(world: Physics3DWorld, shape: Readonly<CollisionBuiltInShape3D>, dx: number, dy: number, dz: number, out: Physics3DShapeCastResult, maxFraction?: number, filter?: Readonly<Physics3DQueryFilter>): void;
+//# sourceMappingURL=worldQueries.d.ts.map

package/dist/worldQueries.d.ts.map

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

@@ -0,0 +1,409 @@
+import { createCollisionRaycastHit3D, createCollisionTimeOfImpact3D, getCollisionShapeContainsPoint3D, } from '@flighthq/collision/contract';
+import { synchronizePhysics3DBroadphase } from './broadphase';
+import { raycastPhysics3DColliderShape, sweepPhysics3DColliderShapes } from './colliderCollision';
+import { writePhysics3DColliderBounds } from './colliderTransform';
+// Queries against the world's CURRENT pose. Every one of them synchronizes the broadphase first, so a
+// query made between steps — or before the first step — observes where the caller just put a body
+// rather than the snapshot the most recent contact set was built from.
+//
+// Results are ordered by body index and then collider index rather than by backend traversal history,
+// which is what makes a pick deterministic: a uniform grid walks a Map whose order follows insertion and
+// movement, so two runs of the same scene would otherwise disagree about which of two overlapping
+// colliders came first.
+export function createPhysics3DQueryFilter() {
+    return {
+        categoryBits: 0xffffffff,
+        maskBits: 0xffffffff,
+        includeSensors: true,
+        includeDynamic: true,
+        includeKinematic: true,
+        includeStatic: true,
+    };
+}
+// Allocates a reusable query buffer. Entries stay allocated at their high-water mark; query functions
+// rewrite them and publish only `hitCount`, so picking can run each frame without garbage.
+export function createPhysics3DQueryResult() {
+    return { hits: [], hitCount: 0 };
+}
+export function createPhysics3DRayResult() {
+    return { hits: [], hitCount: 0 };
+}
+export function createPhysics3DShapeCastResult() {
+    return {
+        body: null,
+        collider: null,
+        colliderIndex: -1,
+        fraction: 0,
+        hit: false,
+        normalX: 0,
+        normalY: 0,
+        normalZ: 0,
+        x: 0,
+        y: 0,
+        z: 0,
+    };
+}
+// Writes every collider containing the world-space point. Broadphase candidates are confirmed by the
+// collision package's exact shape predicate, so a rotated box does not report the empty corners of its
+// bounding volume.
+export function queryPhysics3DPoint(world, x, y, z, out, filter) {
+    out.hitCount = 0;
+    if (!Number.isFinite(x) || !Number.isFinite(y) || !Number.isFinite(z))
+        return;
+    const scratch = acquirePhysics3DQueryScratch();
+    try {
+        synchronizePhysics3DBroadphase(world);
+        world.index.querySpatialPoint(x, y, z, scratch.candidateBodies);
+        scratch.candidateBodies.sort(compareNumbers);
+        for (const bodyIndex of scratch.candidateBodies) {
+            const body = world.bodyByIndex.get(bodyIndex);
+            if (body === undefined || !passesBodyFilter(body, filter))
+                continue;
+            for (let colliderIndex = 0; colliderIndex < body.colliders.length; colliderIndex += 1) {
+                const collider = body.colliders[colliderIndex];
+                if (!passesColliderFilter(collider, filter))
+                    continue;
+                const shape = collider.world;
+                if (shape.kind === 'triangle-mesh' || shape.kind === 'heightfield')
+                    continue;
+                if (!getCollisionShapeContainsPoint3D(shape, x, y, z))
+                    continue;
+                writeQueryHit(out, body, collider, colliderIndex);
+            }
+        }
+    }
+    finally {
+        releasePhysics3DQueryScratch(scratch);
+    }
+}
+// Writes every exact collider intersection with `origin + direction * fraction`, ordered nearest first.
+// `maxFraction` turns the unbounded ray into a finite sweep without requiring direction to be
+// normalized.
+export function queryPhysics3DRay(world, originX, originY, originZ, directionX, directionY, directionZ, out, maxFraction = Number.POSITIVE_INFINITY, filter) {
+    queryPhysics3DRayInternal(world, originX, originY, originZ, directionX, directionY, directionZ, out, maxFraction, filter, false);
+}
+// Writes at most the nearest exact hit — the ground check, the hitscan shot. Ties use the same
+// body-then-collider ordering as the all-hits query, so the selected result is deterministic rather than
+// broadphase-history dependent.
+export function queryPhysics3DRayClosest(world, originX, originY, originZ, directionX, directionY, directionZ, out, maxFraction = Number.POSITIVE_INFINITY, filter) {
+    queryPhysics3DRayInternal(world, originX, originY, originZ, directionX, directionY, directionZ, out, maxFraction, filter, true);
+}
+export function queryPhysics3DRegion(world, region, out, filter) {
+    out.hitCount = 0;
+    if (!isValidRegion(region))
+        return;
+    const scratch = acquirePhysics3DQueryScratch();
+    try {
+        synchronizePhysics3DBroadphase(world);
+        world.index.querySpatialRegion(region, scratch.candidateBodies);
+        scratch.candidateBodies.sort(compareNumbers);
+        for (const bodyIndex of scratch.candidateBodies) {
+            const body = world.bodyByIndex.get(bodyIndex);
+            if (body === undefined || !passesBodyFilter(body, filter))
+                continue;
+            for (let colliderIndex = 0; colliderIndex < body.colliders.length; colliderIndex += 1) {
+                const collider = body.colliders[colliderIndex];
+                if (!passesColliderFilter(collider, filter))
+                    continue;
+                writePhysics3DColliderBounds(collider, scratch.colliderBounds);
+                if (!boundsOverlap(scratch.colliderBounds, region))
+                    continue;
+                writeQueryHit(out, body, collider, colliderIndex);
+            }
+        }
+    }
+    finally {
+        releasePhysics3DQueryScratch(scratch);
+    }
+}
+// Writes every collider whose current world-space bounds overlap `region`. The spatial index holds
+// aggregate BODY bounds, so its candidates are refined per collider before publication: a region in the
+// empty gap between two colliders on one body must not report either of them.
+// Sweeps `shape` — a WORLD-space collider, positioned where the sweep begins — along the displacement
+// (`dx`,`dy`,`dz`) and writes the first collider it reaches.
+//
+// The query a character controller runs and a raycast cannot answer: a ray finds the first surface its
+// line touches, so a capsule's shoulders pass through a gap its centre line clears. `maxFraction`
+// bounds the sweep on the same normalized interval the displacement defines.
+//
+// The broadphase is asked for the SWEPT bounds — the shape's box at the start unioned with its box at
+// the end — rather than for the start box. Querying only the start would return the candidates already
+// touching the shape and miss every one it is about to reach, which is the entire question being asked.
+//
+// Candidates are then swept exactly and the earliest fraction wins. Ties break on body index then
+// collider index, matching the ray queries, so a shape driven squarely into the seam between two
+// colliders reports the same one every run rather than following broadphase insertion history.
+export function queryPhysics3DShapeCast(world, shape, dx, dy, dz, out, maxFraction = 1, filter) {
+    clearShapeCastResult(out);
+    if (!Number.isFinite(dx) || !Number.isFinite(dy) || !Number.isFinite(dz))
+        return;
+    if (!Number.isFinite(maxFraction) || maxFraction < 0)
+        return;
+    const scratch = acquirePhysics3DQueryScratch();
+    try {
+        synchronizePhysics3DBroadphase(world);
+        if (!writeSweptShapeBounds(shape, dx * maxFraction, dy * maxFraction, dz * maxFraction, scratch.colliderBounds)) {
+            return;
+        }
+        world.index.querySpatialRegion(scratch.colliderBounds, scratch.candidateBodies);
+        scratch.candidateBodies.sort(compareNumbers);
+        let bestFraction = Number.POSITIVE_INFINITY;
+        for (const bodyIndex of scratch.candidateBodies) {
+            const body = world.bodyByIndex.get(bodyIndex);
+            if (body === undefined || !passesBodyFilter(body, filter))
+                continue;
+            for (let colliderIndex = 0; colliderIndex < body.colliders.length; colliderIndex += 1) {
+                const collider = body.colliders[colliderIndex];
+                if (!passesColliderFilter(collider, filter))
+                    continue;
+                // The collider is stationary for the duration of the cast: this is a query about where the shape
+                // can go against the world as it stands, not a prediction of the next step.
+                if (!sweepPhysics3DColliderShapes(shape, dx, dy, dz, collider.world, 0, 0, 0, scratch.timeOfImpact, maxFraction)) {
+                    continue;
+                }
+                if (scratch.timeOfImpact.fraction >= bestFraction)
+                    continue;
+                bestFraction = scratch.timeOfImpact.fraction;
+                out.hit = true;
+                out.body = body;
+                out.collider = collider;
+                out.colliderIndex = colliderIndex;
+                out.fraction = scratch.timeOfImpact.fraction;
+                out.x = scratch.timeOfImpact.x;
+                out.y = scratch.timeOfImpact.y;
+                out.z = scratch.timeOfImpact.z;
+                out.normalX = scratch.timeOfImpact.normalX;
+                out.normalY = scratch.timeOfImpact.normalY;
+                out.normalZ = scratch.timeOfImpact.normalZ;
+            }
+        }
+    }
+    finally {
+        releasePhysics3DQueryScratch(scratch);
+    }
+}
+function queryPhysics3DRayInternal(world, originX, originY, originZ, directionX, directionY, directionZ, out, maxFraction, filter, closestOnly) {
+    out.hitCount = 0;
+    if (!Number.isFinite(originX) ||
+        !Number.isFinite(originY) ||
+        !Number.isFinite(originZ) ||
+        !Number.isFinite(directionX) ||
+        !Number.isFinite(directionY) ||
+        !Number.isFinite(directionZ) ||
+        Number.isNaN(maxFraction) ||
+        maxFraction < 0) {
+        return;
+    }
+    const scratch = acquirePhysics3DQueryScratch();
+    try {
+        synchronizePhysics3DBroadphase(world);
+        world.index.querySpatialRay(originX, originY, originZ, directionX, directionY, directionZ, scratch.candidateBodies);
+        scratch.candidateBodies.sort(compareNumbers);
+        for (const bodyIndex of scratch.candidateBodies) {
+            const body = world.bodyByIndex.get(bodyIndex);
+            if (body === undefined || !passesBodyFilter(body, filter))
+                continue;
+            for (let colliderIndex = 0; colliderIndex < body.colliders.length; colliderIndex += 1) {
+                const collider = body.colliders[colliderIndex];
+                if (!passesColliderFilter(collider, filter))
+                    continue;
+                if (!raycastPhysics3DColliderShape(collider.world, originX, originY, originZ, directionX, directionY, directionZ, scratch.raycastHit, maxFraction)) {
+                    continue;
+                }
+                if (closestOnly)
+                    writeClosestRayHit(out, body, collider, colliderIndex, scratch.raycastHit);
+                else
+                    writeRayHit(out, body, collider, colliderIndex, scratch.raycastHit);
+            }
+        }
+        if (!closestOnly)
+            sortLiveRayHits(out);
+    }
+    finally {
+        releasePhysics3DQueryScratch(scratch);
+    }
+}
+function boundsOverlap(a, b) {
+    return (a.minX <= b.maxX && a.maxX >= b.minX && a.minY <= b.maxY && a.maxY >= b.minY && a.minZ <= b.maxZ && a.maxZ >= b.minZ);
+}
+function compareNumbers(a, b) {
+    return a - b;
+}
+function compareRayHits(a, b) {
+    if (a.fraction !== b.fraction)
+        return a.fraction - b.fraction;
+    if (a.body.index !== b.body.index)
+        return a.body.index - b.body.index;
+    return a.colliderIndex - b.colliderIndex;
+}
+function isValidRegion(region) {
+    return (Number.isFinite(region.minX) &&
+        Number.isFinite(region.minY) &&
+        Number.isFinite(region.minZ) &&
+        Number.isFinite(region.maxX) &&
+        Number.isFinite(region.maxY) &&
+        Number.isFinite(region.maxZ) &&
+        region.minX <= region.maxX &&
+        region.minY <= region.maxY &&
+        region.minZ <= region.maxZ);
+}
+function passesBodyFilter(body, filter) {
+    if (filter === undefined)
+        return true;
+    if (body.type === 'dynamic')
+        return filter.includeDynamic;
+    if (body.type === 'kinematic')
+        return filter.includeKinematic;
+    return filter.includeStatic;
+}
+function passesColliderFilter(collider, filter) {
+    if (filter === undefined)
+        return true;
+    if (!filter.includeSensors && collider.sensor)
+        return false;
+    return ((collider.filter.categoryBits & filter.categoryBits) !== 0 && (collider.filter.maskBits & filter.maskBits) !== 0);
+}
+// Insertion-sort only the LIVE high-water prefix. `Array.sort` would include the retained stale entries
+// above `hitCount` and either publish them or displace reusable records unpredictably.
+function sortLiveRayHits(out) {
+    for (let i = 1; i < out.hitCount; i += 1) {
+        const value = out.hits[i];
+        let at = i;
+        while (at > 0 && compareRayHits(value, out.hits[at - 1]) < 0) {
+            out.hits[at] = out.hits[at - 1];
+            at -= 1;
+        }
+        out.hits[at] = value;
+    }
+}
+function writeClosestRayHit(out, body, collider, colliderIndex, source) {
+    if (out.hitCount === 0) {
+        writeRayHit(out, body, collider, colliderIndex, source);
+        return;
+    }
+    const current = out.hits[0];
+    if (source.fraction > current.fraction ||
+        (source.fraction === current.fraction &&
+            (body.index > current.body.index ||
+                (body.index === current.body.index && colliderIndex >= current.colliderIndex)))) {
+        return;
+    }
+    current.body = body;
+    current.collider = collider;
+    current.colliderIndex = colliderIndex;
+    current.fraction = source.fraction;
+    current.normalX = source.normalX;
+    current.normalY = source.normalY;
+    current.normalZ = source.normalZ;
+    current.x = source.x;
+    current.y = source.y;
+    current.z = source.z;
+}
+function writeQueryHit(out, body, collider, colliderIndex) {
+    const hit = out.hits[out.hitCount];
+    if (hit === undefined)
+        out.hits.push({ body, collider, colliderIndex });
+    else {
+        hit.body = body;
+        hit.collider = collider;
+        hit.colliderIndex = colliderIndex;
+    }
+    out.hitCount += 1;
+}
+function writeRayHit(out, body, collider, colliderIndex, source) {
+    const hit = out.hits[out.hitCount];
+    if (hit === undefined) {
+        out.hits.push({
+            body,
+            collider,
+            colliderIndex,
+            fraction: source.fraction,
+            normalX: source.normalX,
+            normalY: source.normalY,
+            normalZ: source.normalZ,
+            x: source.x,
+            y: source.y,
+            z: source.z,
+        });
+    }
+    else {
+        hit.body = body;
+        hit.collider = collider;
+        hit.colliderIndex = colliderIndex;
+        hit.fraction = source.fraction;
+        hit.normalX = source.normalX;
+        hit.normalY = source.normalY;
+        hit.normalZ = source.normalZ;
+        hit.x = source.x;
+        hit.y = source.y;
+        hit.z = source.z;
+    }
+    out.hitCount += 1;
+}
+function clearShapeCastResult(out) {
+    out.hit = false;
+    out.body = null;
+    out.collider = null;
+    out.colliderIndex = -1;
+    out.fraction = 0;
+    out.x = 0;
+    out.y = 0;
+    out.z = 0;
+    out.normalX = 0;
+    out.normalY = 0;
+    out.normalZ = 0;
+}
+// The bounds a shape passes through while being displaced: its own box unioned with that box shifted by
+// the displacement. Returns false when the shape has no usable bounds.
+//
+// Reuses the collider-bounds writer by wrapping the bare shape in the shape of a collider, so the swept
+// box is derived by the SAME code the broadphase indexes bodies with. A second bounds implementation
+// here would be a second source of truth about what a cylinder's extent is, free to disagree with the
+// first the next time a kind is added.
+function writeSweptShapeBounds(shape, dx, dy, dz, out) {
+    shapeCastProbe.world = shape;
+    writePhysics3DColliderBounds(shapeCastProbe, out);
+    if (!Number.isFinite(out.minX) || !Number.isFinite(out.maxZ))
+        return false;
+    if (dx < 0)
+        out.minX += dx;
+    else
+        out.maxX += dx;
+    if (dy < 0)
+        out.minY += dy;
+    else
+        out.maxY += dy;
+    if (dz < 0)
+        out.minZ += dz;
+    else
+        out.maxZ += dz;
+    return true;
+}
+function acquirePhysics3DQueryScratch() {
+    const scratch = physics3DQueryScratchPool.pop() ?? createPhysics3DQueryScratch();
+    scratch.candidateBodies.length = 0;
+    return scratch;
+}
+function createPhysics3DQueryScratch() {
+    return {
+        candidateBodies: [],
+        colliderBounds: { minX: 0, minY: 0, minZ: 0, maxX: 0, maxY: 0, maxZ: 0 },
+        raycastHit: createCollisionRaycastHit3D(),
+        timeOfImpact: createCollisionTimeOfImpact3D(),
+    };
+}
+function releasePhysics3DQueryScratch(scratch) {
+    scratch.candidateBodies.length = 0;
+    physics3DQueryScratchPool.push(scratch);
+}
+// A stand-in collider so a bare shape can reuse `writePhysics3DColliderBounds`. Only `world` is read by
+// that function; the rest is filled to keep the object one shape rather than a partial.
+const shapeCastProbe = {
+    filter: { categoryBits: 0xffffffff, groupIndex: 0, maskBits: 0xffffffff },
+    local: { kind: 'sphere', radius: 0, x: 0, y: 0, z: 0 },
+    material: { density: 0, friction: 0, restitution: 0 },
+    sensor: false,
+    world: { kind: 'sphere', radius: 0, x: 0, y: 0, z: 0 },
+};
+const physics3DQueryScratchPool = [createPhysics3DQueryScratch()];
+//# sourceMappingURL=worldQueries.js.map

package/dist/worldQueries.js.map

@@ -0,0 +1 @@
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package/package.json

@@ -0,0 +1,55 @@
+{
+  "name": "@flighthq/physics3d",
+  "version": "0.4.0-edge.1908.751021c",
+  "author": "Joshua Granick and other contributors",
+  "license": "MIT",
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/flighthq/flight.git",
+    "directory": "packages/physics3d"
+  },
+  "type": "module",
+  "main": "dist/index.js",
+  "types": "dist/index.d.ts",
+  "exports": {
+    ".": {
+      "types": "./dist/index.d.ts",
+      "default": "./dist/index.js"
+    },
+    "./contract": {
+      "types": "./dist/contract.d.ts",
+      "default": "./dist/contract.js"
+    }
+  },
+  "files": [
+    "dist",
+    "src/**/*.test.ts",
+    "!dist/**/*.test.js",
+    "!dist/**/*.test.d.ts",
+    "!dist/**/*.test.js.map",
+    "!dist/**/*.test.d.ts.map"
+  ],
+  "scripts": {
+    "build": "tsc -b",
+    "clean": "tsc -b --clean",
+    "test": "vitest run --config vitest.config.ts",
+    "test:watch": "vitest --watch --config vitest.config.ts",
+    "prepack": "npm run clean && npm run clean:dist && npm run build",
+    "clean:dist": "tsx ../../scripts/clean-package-dist.ts"
+  },
+  "dependencies": {
+    "@flighthq/collision": "0.4.0-edge.1908.751021c",
+    "@flighthq/log": "0.4.0-edge.1908.751021c",
+    "@flighthq/math": "0.4.0-edge.1908.751021c",
+    "@flighthq/node": "0.4.0-edge.1908.751021c",
+    "@flighthq/spatial": "0.4.0-edge.1908.751021c",
+    "@flighthq/types": "0.4.0-edge.1908.751021c"
+  },
+  "devDependencies": {
+    "@flighthq/geometry": "*",
+    "@flighthq/scene3d": "*",
+    "typescript": "^5.3.0"
+  },
+  "description": "3D rigid-body dynamics — quaternion integration over inertia tensors and a deterministic sequential-impulse solver, with explicit stepping and no hidden per-frame allocation",
+  "sideEffects": false
+}