@flighthq/physics3d 0.4.0-edge.1908.751021c

package/dist/colliderTransform.js

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+import { writeCollisionHeightfieldBounds3D, writeCollisionTriangleMeshBounds3D } from '@flighthq/collision/contract';
+// Allocates the world-space shape a collider needs for `local`, choosing the kind the transform can
+// actually express. Every field is filled at creation so the shape is never read half-initialised, and
+// convex-hull storage is sized once here so the per-step transform can write in place.
+export function createPhysics3DColliderWorldShape(local) {
+    switch (local.kind) {
+        case 'sphere':
+            return { kind: 'sphere', x: local.x, y: local.y, z: local.z, radius: local.radius };
+        case 'aabb':
+        case 'box':
+            return {
+                kind: 'box',
+                x: 0,
+                y: 0,
+                z: 0,
+                halfX: 0,
+                halfY: 0,
+                halfZ: 0,
+                rotationX: 0,
+                rotationY: 0,
+                rotationZ: 0,
+                rotationW: 1,
+            };
+        case 'capsule':
+            return {
+                kind: 'capsule',
+                x0: local.x0,
+                y0: local.y0,
+                z0: local.z0,
+                x1: local.x1,
+                y1: local.y1,
+                z1: local.z1,
+                radius: local.radius,
+            };
+        case 'cylinder':
+            return {
+                kind: 'cylinder',
+                x0: local.x0,
+                y0: local.y0,
+                z0: local.z0,
+                x1: local.x1,
+                y1: local.y1,
+                z1: local.z1,
+                radius: local.radius,
+            };
+        case 'cone':
+            return {
+                kind: 'cone',
+                apexX: local.apexX,
+                apexY: local.apexY,
+                apexZ: local.apexZ,
+                baseX: local.baseX,
+                baseY: local.baseY,
+                baseZ: local.baseZ,
+                radius: local.radius,
+            };
+        case 'convex':
+            return { kind: 'convex', points: local.points.slice() };
+        case 'triangle-mesh':
+            return {
+                kind: 'triangle-mesh',
+                points: local.points,
+                indices: local.indices,
+                version: local.version,
+                x: local.x,
+                y: local.y,
+                z: local.z,
+                rotationX: local.rotationX,
+                rotationY: local.rotationY,
+                rotationZ: local.rotationZ,
+                rotationW: local.rotationW,
+            };
+        case 'heightfield':
+            return {
+                kind: 'heightfield',
+                columns: local.columns,
+                rows: local.rows,
+                heights: local.heights,
+                cellSizeX: local.cellSizeX,
+                cellSizeZ: local.cellSizeZ,
+                version: local.version,
+                x: local.x,
+                y: local.y,
+                z: local.z,
+                rotationX: local.rotationX,
+                rotationY: local.rotationY,
+                rotationZ: local.rotationZ,
+                rotationW: local.rotationW,
+            };
+        default:
+            return { kind: 'sphere', x: 0, y: 0, z: 0, radius: 0 };
+    }
+}
+// Rewrites `collider.world` from its local shape and the body's current pose. Called once per collider
+// per step, before the narrow phase — never per contact test, because a body with four colliders against
+// a hundred broadphase candidates would otherwise transform the same shape a hundred times to produce
+// the same answer.
+//
+// The world shape is preallocated at collider creation and mutated in place, so a step allocates
+// nothing. Hull points are the only variable-length part, and the world array is sized once from the
+// local one; `invalidatePhysics3DCollider` replaces that storage after an authored shape changes.
+export function updatePhysics3DColliderWorldShape(collider, body) {
+    const local = collider.local;
+    const world = collider.world;
+    const qX = body.orientationX;
+    const qY = body.orientationY;
+    const qZ = body.orientationZ;
+    const qW = body.orientationW;
+    if (local.kind === 'sphere' && world.kind === 'sphere') {
+        rotatePhysics3DPoint(qX, qY, qZ, qW, local.x, local.y, local.z, scratchPoint);
+        world.x = body.x + scratchPoint[0];
+        world.y = body.y + scratchPoint[1];
+        world.z = body.z + scratchPoint[2];
+        world.radius = local.radius;
+        return;
+    }
+    // An axis-aligned box promotes to an ORIENTED box in world space: rotate it and it is no longer
+    // axis-aligned, and silently keeping the `aabb` kind would grow the box to its bounding extent the
+    // first time the body turned.
+    if (local.kind === 'aabb' && world.kind === 'box') {
+        const centerX = (local.minX + local.maxX) / 2;
+        const centerY = (local.minY + local.maxY) / 2;
+        const centerZ = (local.minZ + local.maxZ) / 2;
+        rotatePhysics3DPoint(qX, qY, qZ, qW, centerX, centerY, centerZ, scratchPoint);
+        world.x = body.x + scratchPoint[0];
+        world.y = body.y + scratchPoint[1];
+        world.z = body.z + scratchPoint[2];
+        world.halfX = (local.maxX - local.minX) / 2;
+        world.halfY = (local.maxY - local.minY) / 2;
+        world.halfZ = (local.maxZ - local.minZ) / 2;
+        world.rotationX = qX;
+        world.rotationY = qY;
+        world.rotationZ = qZ;
+        world.rotationW = qW;
+        return;
+    }
+    if (local.kind === 'box' && world.kind === 'box') {
+        rotatePhysics3DPoint(qX, qY, qZ, qW, local.x, local.y, local.z, scratchPoint);
+        world.x = body.x + scratchPoint[0];
+        world.y = body.y + scratchPoint[1];
+        world.z = body.z + scratchPoint[2];
+        world.halfX = local.halfX;
+        world.halfY = local.halfY;
+        world.halfZ = local.halfZ;
+        // Quaternion composition, body THEN local — the order a local rotation is applied first and the
+        // body's on top of it. Reversing the operands is the classic silent error: it produces a valid unit
+        // quaternion describing the wrong orientation, so nothing is non-finite and nothing throws.
+        world.rotationX = qW * local.rotationX + qX * local.rotationW + qY * local.rotationZ - qZ * local.rotationY;
+        world.rotationY = qW * local.rotationY - qX * local.rotationZ + qY * local.rotationW + qZ * local.rotationX;
+        world.rotationZ = qW * local.rotationZ + qX * local.rotationY - qY * local.rotationX + qZ * local.rotationW;
+        world.rotationW = qW * local.rotationW - qX * local.rotationX - qY * local.rotationY - qZ * local.rotationZ;
+        return;
+    }
+    if (local.kind === 'capsule' && world.kind === 'capsule') {
+        rotatePhysics3DPoint(qX, qY, qZ, qW, local.x0, local.y0, local.z0, scratchPoint);
+        world.x0 = body.x + scratchPoint[0];
+        world.y0 = body.y + scratchPoint[1];
+        world.z0 = body.z + scratchPoint[2];
+        rotatePhysics3DPoint(qX, qY, qZ, qW, local.x1, local.y1, local.z1, scratchPoint);
+        world.x1 = body.x + scratchPoint[0];
+        world.y1 = body.y + scratchPoint[1];
+        world.z1 = body.z + scratchPoint[2];
+        world.radius = local.radius;
+        return;
+    }
+    if (local.kind === 'cylinder' && world.kind === 'cylinder') {
+        rotatePhysics3DPoint(qX, qY, qZ, qW, local.x0, local.y0, local.z0, scratchPoint);
+        world.x0 = body.x + scratchPoint[0];
+        world.y0 = body.y + scratchPoint[1];
+        world.z0 = body.z + scratchPoint[2];
+        rotatePhysics3DPoint(qX, qY, qZ, qW, local.x1, local.y1, local.z1, scratchPoint);
+        world.x1 = body.x + scratchPoint[0];
+        world.y1 = body.y + scratchPoint[1];
+        world.z1 = body.z + scratchPoint[2];
+        world.radius = local.radius;
+        return;
+    }
+    if (local.kind === 'cone' && world.kind === 'cone') {
+        rotatePhysics3DPoint(qX, qY, qZ, qW, local.apexX, local.apexY, local.apexZ, scratchPoint);
+        world.apexX = body.x + scratchPoint[0];
+        world.apexY = body.y + scratchPoint[1];
+        world.apexZ = body.z + scratchPoint[2];
+        rotatePhysics3DPoint(qX, qY, qZ, qW, local.baseX, local.baseY, local.baseZ, scratchPoint);
+        world.baseX = body.x + scratchPoint[0];
+        world.baseY = body.y + scratchPoint[1];
+        world.baseZ = body.z + scratchPoint[2];
+        world.radius = local.radius;
+        return;
+    }
+    if (local.kind === 'convex' && world.kind === 'convex') {
+        const source = local.points;
+        const target = world.points;
+        for (let i = 0; i + 2 < source.length; i += 3) {
+            rotatePhysics3DPoint(qX, qY, qZ, qW, source[i], source[i + 1], source[i + 2], scratchPoint);
+            target[i] = body.x + scratchPoint[0];
+            target[i + 1] = body.y + scratchPoint[1];
+            target[i + 2] = body.z + scratchPoint[2];
+        }
+        return;
+    }
+    if (local.kind === 'triangle-mesh' && world.kind === 'triangle-mesh') {
+        updatePhysics3DStaticSurfacePose(local, world, body);
+        world.points = local.points;
+        world.indices = local.indices;
+        world.version = local.version;
+        return;
+    }
+    if (local.kind === 'heightfield' && world.kind === 'heightfield') {
+        updatePhysics3DStaticSurfacePose(local, world, body);
+        world.columns = local.columns;
+        world.rows = local.rows;
+        world.heights = local.heights;
+        world.cellSizeX = local.cellSizeX;
+        world.cellSizeZ = local.cellSizeZ;
+        world.version = local.version;
+    }
+}
+// Writes `collider.world`'s axis-aligned bounds into `out` — the broadphase's view of the collider.
+// Bounds are computed from the WORLD shape rather than by transforming local bounds, because rotating
+// an extent and rotating a shape's bounds are different boxes: the second is the bound of the first and
+// grows without limit as the body spins.
+export function writePhysics3DColliderBounds(collider, out) {
+    const shape = collider.world;
+    switch (shape.kind) {
+        case 'sphere':
+            out.minX = shape.x - shape.radius;
+            out.minY = shape.y - shape.radius;
+            out.minZ = shape.z - shape.radius;
+            out.maxX = shape.x + shape.radius;
+            out.maxY = shape.y + shape.radius;
+            out.maxZ = shape.z + shape.radius;
+            return;
+        case 'aabb':
+            out.minX = shape.minX;
+            out.minY = shape.minY;
+            out.minZ = shape.minZ;
+            out.maxX = shape.maxX;
+            out.maxY = shape.maxY;
+            out.maxZ = shape.maxZ;
+            return;
+        case 'box': {
+            // The support of a rotated box along each world axis: the absolute row of its rotation matrix
+            // dotted with the half extents. Taking absolute values is what makes this the extent of the
+            // rotated box rather than of one particular corner.
+            const x = shape.rotationX;
+            const y = shape.rotationY;
+            const z = shape.rotationZ;
+            const w = shape.rotationW;
+            const m00 = Math.abs(1 - 2 * (y * y + z * z));
+            const m01 = Math.abs(2 * (x * y - w * z));
+            const m02 = Math.abs(2 * (x * z + w * y));
+            const m10 = Math.abs(2 * (x * y + w * z));
+            const m11 = Math.abs(1 - 2 * (x * x + z * z));
+            const m12 = Math.abs(2 * (y * z - w * x));
+            const m20 = Math.abs(2 * (x * z - w * y));
+            const m21 = Math.abs(2 * (y * z + w * x));
+            const m22 = Math.abs(1 - 2 * (x * x + y * y));
+            const extentX = m00 * shape.halfX + m01 * shape.halfY + m02 * shape.halfZ;
+            const extentY = m10 * shape.halfX + m11 * shape.halfY + m12 * shape.halfZ;
+            const extentZ = m20 * shape.halfX + m21 * shape.halfY + m22 * shape.halfZ;
+            out.minX = shape.x - extentX;
+            out.minY = shape.y - extentY;
+            out.minZ = shape.z - extentZ;
+            out.maxX = shape.x + extentX;
+            out.maxY = shape.y + extentY;
+            out.maxZ = shape.z + extentZ;
+            return;
+        }
+        case 'capsule':
+            out.minX = Math.min(shape.x0, shape.x1) - shape.radius;
+            out.minY = Math.min(shape.y0, shape.y1) - shape.radius;
+            out.minZ = Math.min(shape.z0, shape.z1) - shape.radius;
+            out.maxX = Math.max(shape.x0, shape.x1) + shape.radius;
+            out.maxY = Math.max(shape.y0, shape.y1) + shape.radius;
+            out.maxZ = Math.max(shape.z0, shape.z1) + shape.radius;
+            return;
+        case 'cylinder': {
+            // A cylinder's cap is a DISC, not a sphere, so its extent along each axis is `radius` reduced by
+            // how much the axis lies along the cylinder's own. Padding by the full radius the way the capsule
+            // above does is valid but loose — an axis-aligned cylinder would claim a bounding box a full
+            // radius too tall, and every extra unit is broadphase pairs the narrow phase then has to reject.
+            writeDiscExtent(shape.x1 - shape.x0, shape.y1 - shape.y0, shape.z1 - shape.z0, shape.radius, scratchExtent);
+            out.minX = Math.min(shape.x0, shape.x1) - scratchExtent[0];
+            out.minY = Math.min(shape.y0, shape.y1) - scratchExtent[1];
+            out.minZ = Math.min(shape.z0, shape.z1) - scratchExtent[2];
+            out.maxX = Math.max(shape.x0, shape.x1) + scratchExtent[0];
+            out.maxY = Math.max(shape.y0, shape.y1) + scratchExtent[1];
+            out.maxZ = Math.max(shape.z0, shape.z1) + scratchExtent[2];
+            return;
+        }
+        case 'cone': {
+            // The union of a point and a disc: the apex contributes no extent at all, so padding it the way
+            // the base is padded would describe a cylinder rather than a cone.
+            writeDiscExtent(shape.baseX - shape.apexX, shape.baseY - shape.apexY, shape.baseZ - shape.apexZ, shape.radius, scratchExtent);
+            out.minX = Math.min(shape.apexX, shape.baseX - scratchExtent[0]);
+            out.minY = Math.min(shape.apexY, shape.baseY - scratchExtent[1]);
+            out.minZ = Math.min(shape.apexZ, shape.baseZ - scratchExtent[2]);
+            out.maxX = Math.max(shape.apexX, shape.baseX + scratchExtent[0]);
+            out.maxY = Math.max(shape.apexY, shape.baseY + scratchExtent[1]);
+            out.maxZ = Math.max(shape.apexZ, shape.baseZ + scratchExtent[2]);
+            return;
+        }
+        case 'convex': {
+            const points = shape.points;
+            if (points.length < 3) {
+                out.minX = 0;
+                out.minY = 0;
+                out.minZ = 0;
+                out.maxX = 0;
+                out.maxY = 0;
+                out.maxZ = 0;
+                return;
+            }
+            let minX = points[0];
+            let minY = points[1];
+            let minZ = points[2];
+            let maxX = minX;
+            let maxY = minY;
+            let maxZ = minZ;
+            for (let i = 3; i + 2 < points.length; i += 3) {
+                const x = points[i];
+                const y = points[i + 1];
+                const z = points[i + 2];
+                if (x < minX)
+                    minX = x;
+                else if (x > maxX)
+                    maxX = x;
+                if (y < minY)
+                    minY = y;
+                else if (y > maxY)
+                    maxY = y;
+                if (z < minZ)
+                    minZ = z;
+                else if (z > maxZ)
+                    maxZ = z;
+            }
+            out.minX = minX;
+            out.minY = minY;
+            out.minZ = minZ;
+            out.maxX = maxX;
+            out.maxY = maxY;
+            out.maxZ = maxZ;
+            return;
+        }
+        case 'triangle-mesh':
+            writeCollisionTriangleMeshBounds3D(shape, out);
+            return;
+        case 'heightfield':
+            writeCollisionHeightfieldBounds3D(shape, out);
+            return;
+        default:
+            out.minX = 0;
+            out.minY = 0;
+            out.minZ = 0;
+            out.maxX = 0;
+            out.maxY = 0;
+            out.maxZ = 0;
+    }
+}
+function updatePhysics3DStaticSurfacePose(local, world, body) {
+    rotatePhysics3DPoint(body.orientationX, body.orientationY, body.orientationZ, body.orientationW, local.x, local.y, local.z, scratchPoint);
+    world.x = body.x + scratchPoint[0];
+    world.y = body.y + scratchPoint[1];
+    world.z = body.z + scratchPoint[2];
+    world.rotationX =
+        body.orientationW * local.rotationX +
+            body.orientationX * local.rotationW +
+            body.orientationY * local.rotationZ -
+            body.orientationZ * local.rotationY;
+    world.rotationY =
+        body.orientationW * local.rotationY -
+            body.orientationX * local.rotationZ +
+            body.orientationY * local.rotationW +
+            body.orientationZ * local.rotationX;
+    world.rotationZ =
+        body.orientationW * local.rotationZ +
+            body.orientationX * local.rotationY -
+            body.orientationY * local.rotationX +
+            body.orientationZ * local.rotationW;
+    world.rotationW =
+        body.orientationW * local.rotationW -
+            body.orientationX * local.rotationX -
+            body.orientationY * local.rotationY -
+            body.orientationZ * local.rotationZ;
+}
+// Rotates (`x`,`y`,`z`) by the unit quaternion, writing three components into `out`. The two-cross-product
+// form rather than a matrix build: this runs per point of every hull of every collider every step, and
+// materialising nine matrix entries to use them once is the more expensive of the two.
+function rotatePhysics3DPoint(qX, qY, qZ, qW, x, y, z, out) {
+    const tX = 2 * (qY * z - qZ * y);
+    const tY = 2 * (qZ * x - qX * z);
+    const tZ = 2 * (qX * y - qY * x);
+    out[0] = x + qW * tX + qY * tZ - qZ * tY;
+    out[1] = y + qW * tY + qZ * tX - qX * tZ;
+    out[2] = z + qW * tZ + qX * tY - qY * tX;
+}
+// The per-axis half-extent of a disc of `radius` whose plane normal is `axis`, written as `[x, y, z]`.
+//
+// A disc reaches its full radius along an axis only when that axis lies IN its plane; along its own
+// normal it reaches nothing. `sqrt(1 - component^2)` is exactly that falloff, with `component` the
+// direction cosine between the world axis and the disc's normal. A degenerate (zero) axis has no plane,
+// so the full radius is returned on every axis — the conservative answer, matching what validation
+// would have rejected anyway.
+function writeDiscExtent(axisX, axisY, axisZ, radius, out) {
+    const lengthSquared = axisX * axisX + axisY * axisY + axisZ * axisZ;
+    if (lengthSquared <= 0) {
+        out[0] = radius;
+        out[1] = radius;
+        out[2] = radius;
+        return;
+    }
+    const inverse = 1 / Math.sqrt(lengthSquared);
+    const nx = axisX * inverse;
+    const ny = axisY * inverse;
+    const nz = axisZ * inverse;
+    // Clamped at zero because 1 - n^2 can land a few ulps below it when the axis is exactly cardinal, and
+    // Math.sqrt of a negative would put NaN into a broadphase bound.
+    out[0] = radius * Math.sqrt(Math.max(0, 1 - nx * nx));
+    out[1] = radius * Math.sqrt(Math.max(0, 1 - ny * ny));
+    out[2] = radius * Math.sqrt(Math.max(0, 1 - nz * nz));
+}
+const scratchExtent = [0, 0, 0];
+const scratchPoint = [0, 0, 0];
+//# sourceMappingURL=colliderTransform.js.map

package/dist/colliderTransform.js.map

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

@@ -0,0 +1,5 @@
+import type { Physics3DContactIntakeGuard, Physics3DWorld } from '@flighthq/types/contract';
+export declare function buildPhysics3DContacts(world: Physics3DWorld): void;
+export declare function refreshPhysics3DContacts(world: Physics3DWorld): void;
+export declare function setPhysics3DContactIntakeGuard(guard: Physics3DContactIntakeGuard | null): void;
+//# sourceMappingURL=contactIntake.d.ts.map

package/dist/contactIntake.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"contactIntake.d.ts","sourceRoot":"","sources":["../src/contactIntake.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAGV,2BAA2B,EAE3B,cAAc,EAEf,MAAM,0BAA0B,CAAC;AAuBlC,wBAAgB,sBAAsB,CAAC,KAAK,EAAE,cAAc,GAAG,IAAI,CAElE;AAMD,wBAAgB,wBAAwB,CAAC,KAAK,EAAE,cAAc,GAAG,IAAI,CAEpE;AAmBD,wBAAgB,8BAA8B,CAAC,KAAK,EAAE,2BAA2B,GAAG,IAAI,GAAG,IAAI,CAE9F"}