@flighthq/physics3d 0.4.0-edge.1908.751021c

package/dist/contactIntake.js

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+import { createCollisionContactManifold3D } from '@flighthq/collision/contract';
+import { synchronizePhysics3DBroadphase } from './broadphase';
+import { collidePhysics3DColliderShapes } from './colliderCollision';
+import { createPhysics3DContactPoint } from './contacts';
+import { isPhysics3DPairJointSuppressed } from './jointCollisionSuppression';
+import { isPhysics3DPairOrdered } from './jointRegistry';
+import { mixPhysics3DFriction, mixPhysics3DRestitution } from './material';
+import { writeRigidBody3DWorldCenter } from './world';
+// Rebuilds the world's persistent contact set from the current poses, and reports this step's begin and
+// end transitions.
+//
+// TWO orderings are load-bearing here and they fix different problems:
+//   1. Each PAIR is ordered by body index before the narrow phase is called, because the narrow phase
+//      resolves contact points on the reference shape and ties toward its first argument. Reversed
+//      arguments move the points and renumber their feature ids, which discards the warm-start cache.
+//   2. The contact LIST is sorted, because a sequential-impulse solver is order-dependent by
+//      construction — each impulse is applied against the velocities the previous ones left behind — and
+//      a broadphase reports pairs in an order that follows insertion and movement history.
+//
+// Neither substitutes for the other: the first fixes contact identity, the second fixes solve order. A
+// determinism harness that shuffles only insertion order would pass with the first one broken.
+export function buildPhysics3DContacts(world) {
+    rebuildPhysics3DContacts(world, true, false);
+}
+// Refreshes contact geometry between solver sub-intervals without erasing transitions already emitted
+// by this outer step or overwriting the contact fields its pre-solve hook selected. A new contact still
+// receives its material defaults; an existing one retains friction, restitution, enabled, and sensor
+// until the next public step rebuild establishes a new hook transaction.
+export function refreshPhysics3DContacts(world) {
+    rebuildPhysics3DContacts(world, false, true);
+}
+function rebuildPhysics3DContacts(world, clearEvents, preserveOverrides) {
+    // The diagnostics seam for the one failure this function cannot signal by its output. Null unless
+    // `enablePhysics3DGuards` installed it, so a build that never enables guards links neither the check
+    // nor the message text.
+    physics3DIntakeGuard?.(world);
+    synchronizePhysics3DBroadphase(world);
+    const scratch = acquirePhysics3DIntakeScratch();
+    try {
+        buildPhysics3DContactsWithScratch(world, scratch, clearEvents, preserveOverrides);
+    }
+    finally {
+        releasePhysics3DIntakeScratch(scratch);
+    }
+}
+// Installs the optional diagnostics seam consulted before every contact rebuild. Null by default and set
+// only by `enablePhysics3DGuards`.
+export function setPhysics3DContactIntakeGuard(guard) {
+    physics3DIntakeGuard = guard;
+}
+function buildPhysics3DContactsWithScratch(world, scratch, clearEvents, preserveOverrides) {
+    world.index.querySpatialPairs(scratch.pairs);
+    if (clearEvents) {
+        world.events.began.length = 0;
+        world.events.ended.length = 0;
+    }
+    for (let contactIndex = 0; contactIndex < world.contacts.length; contactIndex += 1) {
+        world.contacts[contactIndex].touching = false;
+    }
+    for (let pairIndex = 0; pairIndex < scratch.pairs.length; pairIndex += 1) {
+        const pair = scratch.pairs[pairIndex];
+        const first = world.bodyByIndex.get(pair.a);
+        const second = world.bodyByIndex.get(pair.b);
+        if (first === undefined || second === undefined)
+            continue;
+        // Two bodies that cannot both move have no constraint to SOLVE, and skipping them keeps the solver's
+        // list free of pairs whose every impulse would be multiplied by zero. A sensor is reported and never
+        // resolved, though, so an immovable pair still matters when one side senses: a static trigger volume
+        // over static scenery is an ordinary thing to build.
+        const bothImmovable = first.inverseMass === 0 && second.inverseMass === 0;
+        if (bothImmovable && !hasPhysics3DSensorCollider(first) && !hasPhysics3DSensorCollider(second))
+            continue;
+        // A jointed pair almost always overlaps at the anchor, and resolving that contact fights the
+        // constraint holding them together, so a joint suppresses it unless the caller asks otherwise.
+        if (isPhysics3DPairJointSuppressed(world, first.index, second.index))
+            continue;
+        const ordered = isPhysics3DPairOrdered(first.index, second.index);
+        const bodyA = ordered ? first : second;
+        const bodyB = ordered ? second : first;
+        for (let i = 0; i < bodyA.colliders.length; i += 1) {
+            for (let j = 0; j < bodyB.colliders.length; j += 1) {
+                const colliderA = bodyA.colliders[i];
+                const colliderB = bodyB.colliders[j];
+                if (!isPhysics3DColliderPairEnabled(colliderA, colliderB))
+                    continue;
+                const sensorPair = colliderA.sensor || colliderB.sensor;
+                // The immovable test belongs HERE as well as on the bodies. Owning one sensor anywhere does not
+                // make a body's other colliders reportable: a static body carrying a trigger volume plus ordinary
+                // scenery would otherwise emit solid-vs-solid contacts against other static scenery, which nothing
+                // can ever resolve.
+                if (bothImmovable && !sensorPair)
+                    continue;
+                if (!collidePhysics3DColliderShapes(colliderA.world, colliderB.world, scratch.manifold))
+                    continue;
+                mergePhysics3DContact(world, bodyA.index, bodyB.index, i, j, scratch.manifold, sensorPair, mixPhysics3DFriction(colliderA.material.friction, colliderB.material.friction), mixPhysics3DRestitution(colliderA.material.restitution, colliderB.material.restitution), preserveOverrides);
+            }
+        }
+    }
+    // Contact events are read off the cache's own transitions rather than tracked beside it: the cache
+    // already knows which pairs are touching, so a pair gaining an entry IS the begin and losing one IS the
+    // end. An ended contact is reported for the step it leaves, then dropped.
+    for (let i = world.contacts.length - 1; i >= 0; i -= 1) {
+        const contact = world.contacts[i];
+        if (!contact.touching) {
+            world.events.ended.push(contact);
+            world.contacts.splice(i, 1);
+        }
+    }
+    world.contacts.sort(comparePhysics3DContacts);
+}
+// Total order over contacts by their four identity fields. Body pair first, then collider pair, so a
+// compound body's several contacts against one neighbour keep a stable relative order too.
+function comparePhysics3DContacts(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;
+}
+function hasPhysics3DSensorCollider(body) {
+    for (let colliderIndex = 0; colliderIndex < body.colliders.length; colliderIndex += 1) {
+        if (body.colliders[colliderIndex].sensor)
+            return true;
+    }
+    return false;
+}
+function isPhysics3DColliderPairEnabled(colliderA, colliderB) {
+    const filterA = colliderA.filter;
+    const filterB = colliderB.filter;
+    if (filterA.groupIndex !== 0 && filterA.groupIndex === filterB.groupIndex)
+        return filterA.groupIndex > 0;
+    return (filterA.maskBits & filterB.categoryBits) !== 0 && (filterB.maskBits & filterA.categoryBits) !== 0;
+}
+// Writes this step's manifold into the persistent contact for the pair, creating it if new.
+//
+// The point ARRAY is grown to the manifold's size once and then reused, and the geometry is copied field
+// by field rather than by holding the manifold's own point objects — the manifold is scratch that the
+// next collider pair overwrites, so retaining its points would give every contact in the world the last
+// pair's geometry.
+function mergePhysics3DContact(world, bodyA, bodyB, colliderA, colliderB, manifold, sensor, friction, restitution, preserveOverrides) {
+    let contact = null;
+    for (let contactIndex = 0; contactIndex < world.contacts.length; contactIndex += 1) {
+        const existing = world.contacts[contactIndex];
+        if (existing.bodyA === bodyA &&
+            existing.bodyB === bodyB &&
+            existing.colliderA === colliderA &&
+            existing.colliderB === colliderB) {
+            contact = existing;
+            break;
+        }
+    }
+    const existing = contact !== null;
+    if (contact === null) {
+        contact = {
+            bodyA,
+            bodyB,
+            colliderA,
+            colliderB,
+            normalX: 0,
+            normalY: 0,
+            normalZ: 0,
+            pointCount: 0,
+            points: [],
+            friction,
+            restitution,
+            enabled: true,
+            sensor,
+            touching: true,
+        };
+        world.contacts.push(contact);
+        world.events.began.push(contact);
+    }
+    contact.normalX = manifold.normalX;
+    contact.normalY = manifold.normalY;
+    contact.normalZ = manifold.normalZ;
+    if (!existing || !preserveOverrides) {
+        contact.friction = friction;
+        contact.restitution = restitution;
+        contact.enabled = true;
+        contact.sensor = sensor;
+    }
+    contact.touching = true;
+    // Warm starting needs no snapshot-and-rematch here, unlike the 2D package: the 3D solver holds its
+    // accumulators in `Physics3DContactConstraintPoint` rather than on the contact point, and matches them
+    // by `featureId` itself. The contact carries geometry and identity only, so overwriting it in place
+    // destroys nothing the next warm start needs.
+    while (contact.points.length < manifold.pointCount)
+        contact.points.push(createPhysics3DContactPoint());
+    const centerA = writePhysics3DBodyCenter(world, bodyA, scratchCenterA);
+    const centerB = writePhysics3DBodyCenter(world, bodyB, scratchCenterB);
+    for (let i = 0; i < manifold.pointCount; i += 1) {
+        const source = manifold.points[i];
+        const target = contact.points[i];
+        target.x = source.x;
+        target.y = source.y;
+        target.z = source.z;
+        target.depth = source.depth;
+        target.featureId = source.featureId;
+        // The lever arms are measured from each body's CENTRE OF MASS, not its origin. An offset collider on
+        // a body whose centre is elsewhere is exactly the case the two differ, and using the origin gives the
+        // contact a torque arm the body does not have.
+        target.rAX = source.x - centerA[0];
+        target.rAY = source.y - centerA[1];
+        target.rAZ = source.z - centerA[2];
+        target.rBX = source.x - centerB[0];
+        target.rBY = source.y - centerB[1];
+        target.rBZ = source.z - centerB[2];
+    }
+    contact.pointCount = manifold.pointCount;
+}
+function writePhysics3DBodyCenter(world, index, out) {
+    const body = world.bodyByIndex.get(index);
+    if (body === undefined) {
+        out[0] = 0;
+        out[1] = 0;
+        out[2] = 0;
+        return out;
+    }
+    writeRigidBody3DWorldCenter(body, out);
+    return out;
+}
+function acquirePhysics3DIntakeScratch() {
+    return physics3DIntakeScratchPool.pop() ?? createPhysics3DIntakeScratch();
+}
+function createPhysics3DIntakeScratch() {
+    return { pairs: [], manifold: createCollisionContactManifold3D() };
+}
+function releasePhysics3DIntakeScratch(scratch) {
+    physics3DIntakeScratchPool.push(scratch);
+}
+const physics3DIntakeScratchPool = [createPhysics3DIntakeScratch()];
+let physics3DIntakeGuard = null;
+const scratchCenterA = [0, 0, 0];
+const scratchCenterB = [0, 0, 0];
+//# sourceMappingURL=contactIntake.js.map

package/dist/contactIntake.js.map

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

@@ -0,0 +1,4 @@
+import type { Physics3DContact, Physics3DContactPoint } from '@flighthq/types/contract';
+export declare function createPhysics3DContact(bodyA: number, bodyB: number, colliderA?: number, colliderB?: number): Physics3DContact;
+export declare function createPhysics3DContactPoint(): Physics3DContactPoint;
+//# sourceMappingURL=contacts.d.ts.map

package/dist/contacts.d.ts.map

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

@@ -0,0 +1,64 @@
+// Constructors for the contact records the step consumes.
+//
+// The step GENERATES contacts from a body's colliders, so these are not the ordinary path. They are the
+// escape hatch: the solver is defined against contact records rather than against a detector, so a caller
+// driving it from its own detection — a replayed trace, a fixture, a narrow phase this package does not
+// own — builds the input here rather than hand-writing a literal that happens to match the fields.
+//
+// A contact allocated here is inert until a caller fills in the geometry: no points, a zero normal, and
+// `touching` false. The solver skips exactly that shape, so a half-built contact costs nothing and moves
+// nothing. Note that a contact the step does not re-find is retired at the end of the next step, because
+// contact lifetime is owned by intake — a hand-built contact survives only as long as the geometry that
+// justifies it does.
+// Allocates one contact between two bodies, in canonical order.
+//
+// The order is an invariant of creation rather than a convention a caller is asked to respect, so it is
+// enforced here: a narrow phase resolves contact points on the reference shape's surface and ties toward
+// its first argument, which means passing the same pair the other way round moves the points and renumbers
+// their feature ids — and the warm-start cache is keyed to those ids.
+//
+// The COLLIDER indices swap with the bodies, because they name a position in each body's own collider
+// list: leaving them behind would attach body A's contact to body B's geometry. They default to zero,
+// which is the right answer for the single-collider bodies a hand-built contact almost always names.
+//
+// The normal is NOT reordered with the bodies, because there is nothing yet to reorder: a fresh contact
+// carries a zero normal, and the caller writing the geometry is the one who knows which way it points. It
+// must point so that resolving pushes A out of B.
+export function createPhysics3DContact(bodyA, bodyB, colliderA = 0, colliderB = 0) {
+    const ordered = bodyA <= bodyB;
+    return {
+        bodyA: ordered ? bodyA : bodyB,
+        bodyB: ordered ? bodyB : bodyA,
+        colliderA: ordered ? colliderA : colliderB,
+        colliderB: ordered ? colliderB : colliderA,
+        normalX: 0,
+        normalY: 0,
+        normalZ: 0,
+        pointCount: 0,
+        points: [],
+        friction: 0,
+        restitution: 0,
+        enabled: true,
+        sensor: false,
+        touching: false,
+    };
+}
+// Allocates one contact point, zeroed. `featureId` is the caller's to assign and is opaque to this
+// package: its only contract is that the SAME physical feature carries the SAME id between steps, which is
+// what lets the solver match this step's points against last step's accumulators.
+export function createPhysics3DContactPoint() {
+    return {
+        x: 0,
+        y: 0,
+        z: 0,
+        depth: 0,
+        featureId: 0,
+        rAX: 0,
+        rAY: 0,
+        rAZ: 0,
+        rBX: 0,
+        rBY: 0,
+        rBZ: 0,
+    };
+}
+//# sourceMappingURL=contacts.js.map

package/dist/contacts.js.map

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

@@ -0,0 +1,5 @@
+import type { Physics3DRotationalCcdEnvelope, Physics3DWorld } from '@flighthq/types/contract';
+export declare function hasActivePhysics3DBullet(world: Readonly<Physics3DWorld>): boolean;
+export declare function integratePhysics3DContinuous(world: Physics3DWorld, dt: number): void;
+export declare function writePhysics3DRotationalCcdEnvelope(angularSpeed: number, maximumRadius: number, dt: number, maxSubsteps: number, out: Physics3DRotationalCcdEnvelope): boolean;
+//# sourceMappingURL=continuous.d.ts.map

package/dist/continuous.d.ts.map

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