@flighthq/physics3d 0.4.0-edge.1908.751021c

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Files changed (180) hide show
  1. package/dist/broadphase.d.ts +4 -0
  2. package/dist/broadphase.d.ts.map +1 -0
  3. package/dist/broadphase.js +158 -0
  4. package/dist/broadphase.js.map +1 -0
  5. package/dist/colliderCollision.d.ts +5 -0
  6. package/dist/colliderCollision.d.ts.map +1 -0
  7. package/dist/colliderCollision.js +55 -0
  8. package/dist/colliderCollision.js.map +1 -0
  9. package/dist/colliderTransform.d.ts +5 -0
  10. package/dist/colliderTransform.d.ts.map +1 -0
  11. package/dist/colliderTransform.js +424 -0
  12. package/dist/colliderTransform.js.map +1 -0
  13. package/dist/contactIntake.d.ts +5 -0
  14. package/dist/contactIntake.d.ts.map +1 -0
  15. package/dist/contactIntake.js +237 -0
  16. package/dist/contactIntake.js.map +1 -0
  17. package/dist/contacts.d.ts +4 -0
  18. package/dist/contacts.d.ts.map +1 -0
  19. package/dist/contacts.js +64 -0
  20. package/dist/contacts.js.map +1 -0
  21. package/dist/continuous.d.ts +5 -0
  22. package/dist/continuous.d.ts.map +1 -0
  23. package/dist/continuous.js +829 -0
  24. package/dist/continuous.js.map +1 -0
  25. package/dist/contract.d.ts +28 -0
  26. package/dist/contract.d.ts.map +1 -0
  27. package/dist/contract.js +28 -0
  28. package/dist/contract.js.map +1 -0
  29. package/dist/debugGeometry.d.ts +4 -0
  30. package/dist/debugGeometry.d.ts.map +1 -0
  31. package/dist/debugGeometry.js +333 -0
  32. package/dist/debugGeometry.js.map +1 -0
  33. package/dist/enablePhysics3DGuards.d.ts +4 -0
  34. package/dist/enablePhysics3DGuards.d.ts.map +1 -0
  35. package/dist/enablePhysics3DGuards.js +155 -0
  36. package/dist/enablePhysics3DGuards.js.map +1 -0
  37. package/dist/explainPhysics3DCollision.d.ts +3 -0
  38. package/dist/explainPhysics3DCollision.d.ts.map +1 -0
  39. package/dist/explainPhysics3DCollision.js +30 -0
  40. package/dist/explainPhysics3DCollision.js.map +1 -0
  41. package/dist/explainPhysics3DJoints.d.ts +3 -0
  42. package/dist/explainPhysics3DJoints.d.ts.map +1 -0
  43. package/dist/explainPhysics3DJoints.js +32 -0
  44. package/dist/explainPhysics3DJoints.js.map +1 -0
  45. package/dist/explainPhysics3DStep.d.ts +3 -0
  46. package/dist/explainPhysics3DStep.d.ts.map +1 -0
  47. package/dist/explainPhysics3DStep.js +51 -0
  48. package/dist/explainPhysics3DStep.js.map +1 -0
  49. package/dist/index.d.ts +22 -0
  50. package/dist/index.d.ts.map +1 -0
  51. package/dist/index.js +22 -0
  52. package/dist/index.js.map +1 -0
  53. package/dist/integrate.d.ts +6 -0
  54. package/dist/integrate.d.ts.map +1 -0
  55. package/dist/integrate.js +184 -0
  56. package/dist/integrate.js.map +1 -0
  57. package/dist/islands.d.ts +6 -0
  58. package/dist/islands.d.ts.map +1 -0
  59. package/dist/islands.js +333 -0
  60. package/dist/islands.js.map +1 -0
  61. package/dist/jointBreakage.d.ts +5 -0
  62. package/dist/jointBreakage.d.ts.map +1 -0
  63. package/dist/jointBreakage.js +44 -0
  64. package/dist/jointBreakage.js.map +1 -0
  65. package/dist/jointCollisionSuppression.d.ts +4 -0
  66. package/dist/jointCollisionSuppression.d.ts.map +1 -0
  67. package/dist/jointCollisionSuppression.js +40 -0
  68. package/dist/jointCollisionSuppression.js.map +1 -0
  69. package/dist/jointFactories.d.ts +9 -0
  70. package/dist/jointFactories.d.ts.map +1 -0
  71. package/dist/jointFactories.js +159 -0
  72. package/dist/jointFactories.js.map +1 -0
  73. package/dist/jointMath.d.ts +17 -0
  74. package/dist/jointMath.d.ts.map +1 -0
  75. package/dist/jointMath.js +361 -0
  76. package/dist/jointMath.js.map +1 -0
  77. package/dist/jointReaction.d.ts +8 -0
  78. package/dist/jointReaction.d.ts.map +1 -0
  79. package/dist/jointReaction.js +65 -0
  80. package/dist/jointReaction.js.map +1 -0
  81. package/dist/jointRegistry.d.ts +8 -0
  82. package/dist/jointRegistry.d.ts.map +1 -0
  83. package/dist/jointRegistry.js +144 -0
  84. package/dist/jointRegistry.js.map +1 -0
  85. package/dist/jointRows.d.ts +33 -0
  86. package/dist/jointRows.d.ts.map +1 -0
  87. package/dist/jointRows.js +352 -0
  88. package/dist/jointRows.js.map +1 -0
  89. package/dist/joints.d.ts +16 -0
  90. package/dist/joints.d.ts.map +1 -0
  91. package/dist/joints.js +1060 -0
  92. package/dist/joints.js.map +1 -0
  93. package/dist/massProperties.d.ts +13 -0
  94. package/dist/massProperties.d.ts.map +1 -0
  95. package/dist/massProperties.js +462 -0
  96. package/dist/massProperties.js.map +1 -0
  97. package/dist/material.d.ts +3 -0
  98. package/dist/material.d.ts.map +1 -0
  99. package/dist/material.js +13 -0
  100. package/dist/material.js.map +1 -0
  101. package/dist/nodeSync.d.ts +3 -0
  102. package/dist/nodeSync.d.ts.map +1 -0
  103. package/dist/nodeSync.js +16 -0
  104. package/dist/nodeSync.js.map +1 -0
  105. package/dist/ownership.d.ts +8 -0
  106. package/dist/ownership.d.ts.map +1 -0
  107. package/dist/ownership.js +26 -0
  108. package/dist/ownership.js.map +1 -0
  109. package/dist/physics3DBroadphasePublication.d.ts +5 -0
  110. package/dist/physics3DBroadphasePublication.d.ts.map +1 -0
  111. package/dist/physics3DBroadphasePublication.js +49 -0
  112. package/dist/physics3DBroadphasePublication.js.map +1 -0
  113. package/dist/physics3DSpatialIndexingGuards.d.ts +4 -0
  114. package/dist/physics3DSpatialIndexingGuards.d.ts.map +1 -0
  115. package/dist/physics3DSpatialIndexingGuards.js +11 -0
  116. package/dist/physics3DSpatialIndexingGuards.js.map +1 -0
  117. package/dist/registerBuiltInPhysics3DJointSolvers.d.ts +3 -0
  118. package/dist/registerBuiltInPhysics3DJointSolvers.d.ts.map +1 -0
  119. package/dist/registerBuiltInPhysics3DJointSolvers.js +15 -0
  120. package/dist/registerBuiltInPhysics3DJointSolvers.js.map +1 -0
  121. package/dist/solver.d.ts +8 -0
  122. package/dist/solver.d.ts.map +1 -0
  123. package/dist/solver.js +460 -0
  124. package/dist/solver.js.map +1 -0
  125. package/dist/step.d.ts +5 -0
  126. package/dist/step.d.ts.map +1 -0
  127. package/dist/step.js +302 -0
  128. package/dist/step.js.map +1 -0
  129. package/dist/stepValidation.d.ts +13 -0
  130. package/dist/stepValidation.d.ts.map +1 -0
  131. package/dist/stepValidation.js +284 -0
  132. package/dist/stepValidation.js.map +1 -0
  133. package/dist/symmetricTensor.d.ts +11 -0
  134. package/dist/symmetricTensor.d.ts.map +1 -0
  135. package/dist/symmetricTensor.js +150 -0
  136. package/dist/symmetricTensor.js.map +1 -0
  137. package/dist/world.d.ts +27 -0
  138. package/dist/world.d.ts.map +1 -0
  139. package/dist/world.js +762 -0
  140. package/dist/world.js.map +1 -0
  141. package/dist/worldQueries.d.ts +11 -0
  142. package/dist/worldQueries.d.ts.map +1 -0
  143. package/dist/worldQueries.js +409 -0
  144. package/dist/worldQueries.js.map +1 -0
  145. package/package.json +55 -0
  146. package/src/broadphase.test.ts +265 -0
  147. package/src/colliderCollision.test.ts +57 -0
  148. package/src/colliderTransform.test.ts +221 -0
  149. package/src/contactIntake.test.ts +370 -0
  150. package/src/contacts.test.ts +64 -0
  151. package/src/continuous.test.ts +679 -0
  152. package/src/debugGeometry.test.ts +288 -0
  153. package/src/enablePhysics3DGuards.test.ts +206 -0
  154. package/src/explainPhysics3DCollision.test.ts +78 -0
  155. package/src/explainPhysics3DJoints.test.ts +101 -0
  156. package/src/explainPhysics3DStep.test.ts +142 -0
  157. package/src/integrate.test.ts +279 -0
  158. package/src/islands.test.ts +384 -0
  159. package/src/jointBreakage.test.ts +143 -0
  160. package/src/jointCollisionSuppression.test.ts +94 -0
  161. package/src/jointFactories.test.ts +244 -0
  162. package/src/jointMath.test.ts +646 -0
  163. package/src/jointReaction.test.ts +241 -0
  164. package/src/jointRegistry.test.ts +229 -0
  165. package/src/jointRows.test.ts +548 -0
  166. package/src/joints.test.ts +1066 -0
  167. package/src/massProperties.test.ts +611 -0
  168. package/src/material.test.ts +40 -0
  169. package/src/nodeSync.test.ts +50 -0
  170. package/src/ownership.test.ts +61 -0
  171. package/src/physics3DBroadphasePublication.test.ts +63 -0
  172. package/src/physics3DSpatialIndexingGuards.test.ts +43 -0
  173. package/src/registerBuiltInPhysics3DJointSolvers.test.ts +51 -0
  174. package/src/solver.test.ts +567 -0
  175. package/src/step.test.ts +490 -0
  176. package/src/stepValidation.test.ts +346 -0
  177. package/src/stress.test.ts +526 -0
  178. package/src/symmetricTensor.test.ts +166 -0
  179. package/src/world.test.ts +1127 -0
  180. package/src/worldQueries.test.ts +565 -0
package/dist/continuous.js.map ADDED
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package/dist/contract.d.ts ADDED
@@ -0,0 +1,28 @@
1
+ export * from './broadphase';
2
+ export * from './colliderTransform';
3
+ export * from './contactIntake';
4
+ export * from './continuous';
5
+ export * from './contacts';
6
+ export * from './explainPhysics3DCollision';
7
+ export * from './jointReaction';
8
+ export * from './jointBreakage';
9
+ export * from './explainPhysics3DJoints';
10
+ export * from './enablePhysics3DGuards';
11
+ export * from './explainPhysics3DStep';
12
+ export * from './integrate';
13
+ export * from './islands';
14
+ export * from './jointCollisionSuppression';
15
+ export * from './jointFactories';
16
+ export * from './jointRegistry';
17
+ export * from './joints';
18
+ export * from './nodeSync';
19
+ export * from './massProperties';
20
+ export * from './material';
21
+ export * from './registerBuiltInPhysics3DJointSolvers';
22
+ export * from './solver';
23
+ export * from './step';
24
+ export * from './stepValidation';
25
+ export * from './world';
26
+ export * from './worldQueries';
27
+ export * from './debugGeometry';
28
+ //# sourceMappingURL=contract.d.ts.map
package/dist/contract.d.ts.map ADDED
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package/dist/contract.js ADDED
@@ -0,0 +1,28 @@
1
+ export * from './broadphase';
2
+ export * from './colliderTransform';
3
+ export * from './contactIntake';
4
+ export * from './continuous';
5
+ export * from './contacts';
6
+ export * from './explainPhysics3DCollision';
7
+ export * from './jointReaction';
8
+ export * from './jointBreakage';
9
+ export * from './explainPhysics3DJoints';
10
+ export * from './enablePhysics3DGuards';
11
+ export * from './explainPhysics3DStep';
12
+ export * from './integrate';
13
+ export * from './islands';
14
+ export * from './jointCollisionSuppression';
15
+ export * from './jointFactories';
16
+ export * from './jointRegistry';
17
+ export * from './joints';
18
+ export * from './nodeSync';
19
+ export * from './massProperties';
20
+ export * from './material';
21
+ export * from './registerBuiltInPhysics3DJointSolvers';
22
+ export * from './solver';
23
+ export * from './step';
24
+ export * from './stepValidation';
25
+ export * from './world';
26
+ export * from './worldQueries';
27
+ export * from './debugGeometry';
28
+ //# sourceMappingURL=contract.js.map
package/dist/contract.js.map ADDED
@@ -0,0 +1 @@
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package/dist/debugGeometry.d.ts ADDED
@@ -0,0 +1,4 @@
1
+ import type { Physics3DDebugGeometry, Physics3DDebugGeometryOptions, Physics3DWorld } from '@flighthq/types/contract';
2
+ export declare function createPhysics3DDebugGeometry(): Physics3DDebugGeometry;
3
+ export declare function writePhysics3DDebugGeometry(world: Readonly<Physics3DWorld>, out: Physics3DDebugGeometry, options?: Readonly<Partial<Physics3DDebugGeometryOptions>>): void;
4
+ //# sourceMappingURL=debugGeometry.d.ts.map
package/dist/debugGeometry.d.ts.map ADDED
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package/dist/debugGeometry.js ADDED
@@ -0,0 +1,333 @@
1
+ import { writeCollisionConvexHullFaces3D } from '@flighthq/collision/contract';
2
+ import { writeRigidBody3DWorldCenter } from './world';
3
+ // Creates a reusable destination for `writePhysics3DDebugGeometry`. The arrays are capacity pools: the
4
+ // writer advances counts and overwrites existing entries before growing them, so a steady scene stops
5
+ // allocating after its first query.
6
+ export function createPhysics3DDebugGeometry() {
7
+ return { lines: [], lineCount: 0, spheres: [], sphereCount: 0 };
8
+ }
9
+ // Extracts the world's visible constraint geometry without choosing a renderer.
10
+ //
11
+ // Collider outlines are transformed from LOCAL geometry and the body's current pose rather than read
12
+ // from `collider.world`: that cache is the narrow phase's snapshot from the top of the step, so drawing
13
+ // from it puts every wireframe one pose behind the body it belongs to — a lag that reads as the
14
+ // simulation being wrong rather than the debug view being stale.
15
+ //
16
+ // Two primitive kinds only. Everything curved becomes spheres, everything flat becomes lines, and a
17
+ // capsule becomes both; a renderer therefore needs one line pipeline and one sphere pipeline no matter
18
+ // which collider kinds a scene uses.
19
+ export function writePhysics3DDebugGeometry(world, out, options = DEFAULT_OPTIONS) {
20
+ out.lineCount = 0;
21
+ out.sphereCount = 0;
22
+ if (options.drawColliders ?? DEFAULT_OPTIONS.drawColliders) {
23
+ for (const body of world.bodies) {
24
+ for (const collider of body.colliders)
25
+ writeCollider(out, collider.local, body);
26
+ }
27
+ }
28
+ if (options.drawContacts ?? DEFAULT_OPTIONS.drawContacts) {
29
+ const length = options.contactNormalLength ?? DEFAULT_OPTIONS.contactNormalLength;
30
+ for (const contact of world.contacts) {
31
+ if (!contact.touching)
32
+ continue;
33
+ for (let i = 0; i < contact.pointCount; i += 1) {
34
+ const point = contact.points[i];
35
+ writeLine(out, 'contact-normal', contact.bodyA, contact.bodyB, point.x, point.y, point.z, point.x + contact.normalX * length, point.y + contact.normalY * length, point.z + contact.normalZ * length);
36
+ }
37
+ }
38
+ }
39
+ if (options.drawJoints ?? DEFAULT_OPTIONS.drawJoints) {
40
+ for (const joint of world.joints) {
41
+ const bodyA = world.bodyByIndex.get(joint.bodyA);
42
+ const bodyB = world.bodyByIndex.get(joint.bodyB);
43
+ if (bodyA === undefined || bodyB === undefined)
44
+ continue;
45
+ writeBodyPoint(bodyA, joint.localAnchorAX, joint.localAnchorAY, joint.localAnchorAZ, scratchAnchorA);
46
+ writeBodyPoint(bodyB, joint.localAnchorBX, joint.localAnchorBY, joint.localAnchorBZ, scratchAnchorB);
47
+ // Drawn as the two anchors joined, so a joint that has drifted apart under load is visible as a
48
+ // gap rather than as one line that looks correct from either end.
49
+ writeLine(out, 'joint', joint.bodyA, joint.bodyB, scratchAnchorA[0], scratchAnchorA[1], scratchAnchorA[2], scratchAnchorB[0], scratchAnchorB[1], scratchAnchorB[2]);
50
+ }
51
+ }
52
+ if (options.drawCentersOfMass ?? DEFAULT_OPTIONS.drawCentersOfMass) {
53
+ const radius = options.centerOfMassRadius ?? DEFAULT_OPTIONS.centerOfMassRadius;
54
+ for (const body of world.bodies) {
55
+ writeRigidBody3DWorldCenter(body, scratchCenter);
56
+ writeSphere(out, 'center-of-mass', body.index, -1, scratchCenter[0], scratchCenter[1], scratchCenter[2], radius);
57
+ }
58
+ }
59
+ }
60
+ function writeCollider(out, shape, body) {
61
+ switch (shape.kind) {
62
+ case 'sphere': {
63
+ writeBodyPoint(body, shape.x, shape.y, shape.z, scratchPoint);
64
+ writeSphere(out, 'collider', body.index, -1, scratchPoint[0], scratchPoint[1], scratchPoint[2], shape.radius);
65
+ return;
66
+ }
67
+ case 'aabb':
68
+ writeBoxWireframe(out, body, (shape.minX + shape.maxX) / 2, (shape.minY + shape.maxY) / 2, (shape.minZ + shape.maxZ) / 2, (shape.maxX - shape.minX) / 2, (shape.maxY - shape.minY) / 2, (shape.maxZ - shape.minZ) / 2, 0, 0, 0, 1);
69
+ return;
70
+ case 'box':
71
+ writeBoxWireframe(out, body, shape.x, shape.y, shape.z, shape.halfX, shape.halfY, shape.halfZ, shape.rotationX, shape.rotationY, shape.rotationZ, shape.rotationW);
72
+ return;
73
+ case 'capsule': {
74
+ writeBodyPoint(body, shape.x0, shape.y0, shape.z0, scratchAnchorA);
75
+ writeBodyPoint(body, shape.x1, shape.y1, shape.z1, scratchAnchorB);
76
+ writeSphere(out, 'collider', body.index, -1, scratchAnchorA[0], scratchAnchorA[1], scratchAnchorA[2], shape.radius);
77
+ writeSphere(out, 'collider', body.index, -1, scratchAnchorB[0], scratchAnchorB[1], scratchAnchorB[2], shape.radius);
78
+ // The axis itself, so a capsule's orientation is legible when the two caps overlap on screen.
79
+ writeLine(out, 'collider', body.index, -1, scratchAnchorA[0], scratchAnchorA[1], scratchAnchorA[2], scratchAnchorB[0], scratchAnchorB[1], scratchAnchorB[2]);
80
+ return;
81
+ }
82
+ case 'cylinder': {
83
+ // The axis plus a ring at each cap. No spheres, unlike the capsule above — drawing one would show
84
+ // the rounded ends the cylinder deliberately does not have, and the two kinds would look identical
85
+ // in a debug view precisely where they differ.
86
+ writeBodyPoint(body, shape.x0, shape.y0, shape.z0, scratchAnchorA);
87
+ writeBodyPoint(body, shape.x1, shape.y1, shape.z1, scratchAnchorB);
88
+ writeAxialRing(out, body.index, scratchAnchorA, scratchAnchorB, shape.radius, 0);
89
+ writeAxialRing(out, body.index, scratchAnchorA, scratchAnchorB, shape.radius, 1);
90
+ writeLine(out, 'collider', body.index, -1, scratchAnchorA[0], scratchAnchorA[1], scratchAnchorA[2], scratchAnchorB[0], scratchAnchorB[1], scratchAnchorB[2]);
91
+ return;
92
+ }
93
+ case 'cone': {
94
+ // The base ring, plus the axis out to the apex. The apex is a point and needs no ring of its own.
95
+ writeBodyPoint(body, shape.apexX, shape.apexY, shape.apexZ, scratchAnchorA);
96
+ writeBodyPoint(body, shape.baseX, shape.baseY, shape.baseZ, scratchAnchorB);
97
+ writeAxialRing(out, body.index, scratchAnchorA, scratchAnchorB, shape.radius, 1);
98
+ writeLine(out, 'collider', body.index, -1, scratchAnchorA[0], scratchAnchorA[1], scratchAnchorA[2], scratchAnchorB[0], scratchAnchorB[1], scratchAnchorB[2]);
99
+ return;
100
+ }
101
+ case 'convex': {
102
+ // The hull's own triangulation, derived rather than stored: `CollisionConvex3D` carries no edges,
103
+ // and drawing a guessed edge set would show a solid the simulation does not have. Each triangle
104
+ // contributes its three edges; shared edges are drawn twice, which costs a few lines and avoids a
105
+ // dedup pass in a debug path.
106
+ const points = shape.points;
107
+ const triangleCount = writeCollisionConvexHullFaces3D(points, scratchHullFaces);
108
+ if (triangleCount === 0) {
109
+ // Degenerate — coplanar or fewer than four points — so there is no surface. Fall back to the
110
+ // vertices, which are the only thing that is still true about it.
111
+ for (let i = 0; i + 2 < points.length; i += 3) {
112
+ writeBodyPoint(body, points[i], points[i + 1], points[i + 2], scratchPoint);
113
+ writeSphere(out, 'collider', body.index, -1, scratchPoint[0], scratchPoint[1], scratchPoint[2], HULL_VERTEX_RADIUS);
114
+ }
115
+ return;
116
+ }
117
+ for (let f = 0; f < triangleCount; f += 1) {
118
+ for (let e = 0; e < 3; e += 1) {
119
+ const from = scratchHullFaces[f * 3 + e] * 3;
120
+ const to = scratchHullFaces[f * 3 + ((e + 1) % 3)] * 3;
121
+ writeBodyPoint(body, points[from], points[from + 1], points[from + 2], scratchAnchorA);
122
+ writeBodyPoint(body, points[to], points[to + 1], points[to + 2], scratchAnchorB);
123
+ writeLine(out, 'collider', body.index, -1, scratchAnchorA[0], scratchAnchorA[1], scratchAnchorA[2], scratchAnchorB[0], scratchAnchorB[1], scratchAnchorB[2]);
124
+ }
125
+ }
126
+ return;
127
+ }
128
+ case 'triangle-mesh':
129
+ writeTriangleMeshWireframe(out, shape, body);
130
+ return;
131
+ case 'heightfield':
132
+ writeHeightfieldWireframe(out, shape, body);
133
+ return;
134
+ }
135
+ }
136
+ function writeHeightfieldWireframe(out, shape, body) {
137
+ for (let row = 0; row < shape.rows; row += 1) {
138
+ for (let column = 0; column < shape.columns; column += 1) {
139
+ const index = row * shape.columns + column;
140
+ if (column + 1 < shape.columns) {
141
+ writeStaticSurfacePoint(body, shape, column * shape.cellSizeX, shape.heights[index], row * shape.cellSizeZ, scratchAnchorA);
142
+ writeStaticSurfacePoint(body, shape, (column + 1) * shape.cellSizeX, shape.heights[index + 1], row * shape.cellSizeZ, scratchAnchorB);
143
+ writeColliderLineBetweenScratchAnchors(out, body.index);
144
+ }
145
+ if (row + 1 < shape.rows) {
146
+ writeStaticSurfacePoint(body, shape, column * shape.cellSizeX, shape.heights[index], row * shape.cellSizeZ, scratchAnchorA);
147
+ writeStaticSurfacePoint(body, shape, column * shape.cellSizeX, shape.heights[index + shape.columns], (row + 1) * shape.cellSizeZ, scratchAnchorB);
148
+ writeColliderLineBetweenScratchAnchors(out, body.index);
149
+ }
150
+ if (column + 1 < shape.columns && row + 1 < shape.rows) {
151
+ writeStaticSurfacePoint(body, shape, column * shape.cellSizeX, shape.heights[index], row * shape.cellSizeZ, scratchAnchorA);
152
+ writeStaticSurfacePoint(body, shape, (column + 1) * shape.cellSizeX, shape.heights[index + shape.columns + 1], (row + 1) * shape.cellSizeZ, scratchAnchorB);
153
+ writeColliderLineBetweenScratchAnchors(out, body.index);
154
+ }
155
+ }
156
+ }
157
+ }
158
+ function writeStaticSurfacePoint(body, shape, x, y, z, out) {
159
+ rotatePoint(shape.rotationX, shape.rotationY, shape.rotationZ, shape.rotationW, x, y, z, scratchSurfacePoint);
160
+ writeBodyPoint(body, shape.x + scratchSurfacePoint[0], shape.y + scratchSurfacePoint[1], shape.z + scratchSurfacePoint[2], out);
161
+ }
162
+ function writeTriangleMeshWireframe(out, shape, body) {
163
+ for (let triangle = 0; triangle + 2 < shape.indices.length; triangle += 3) {
164
+ for (let edge = 0; edge < 3; edge += 1) {
165
+ const from = shape.indices[triangle + edge] * 3;
166
+ const to = shape.indices[triangle + ((edge + 1) % 3)] * 3;
167
+ writeStaticSurfacePoint(body, shape, shape.points[from], shape.points[from + 1], shape.points[from + 2], scratchAnchorA);
168
+ writeStaticSurfacePoint(body, shape, shape.points[to], shape.points[to + 1], shape.points[to + 2], scratchAnchorB);
169
+ writeColliderLineBetweenScratchAnchors(out, body.index);
170
+ }
171
+ }
172
+ }
173
+ function writeColliderLineBetweenScratchAnchors(out, bodyIndex) {
174
+ writeLine(out, 'collider', bodyIndex, -1, scratchAnchorA[0], scratchAnchorA[1], scratchAnchorA[2], scratchAnchorB[0], scratchAnchorB[1], scratchAnchorB[2]);
175
+ }
176
+ // The twelve edges of a box, each corner rotated by the collider's own rotation and then by the body's.
177
+ function writeBoxWireframe(out, body, centerX, centerY, centerZ, halfX, halfY, halfZ, rotationX, rotationY, rotationZ, rotationW) {
178
+ for (let corner = 0; corner < 8; corner += 1) {
179
+ const signX = (corner & 1) === 0 ? -1 : 1;
180
+ const signY = (corner & 2) === 0 ? -1 : 1;
181
+ const signZ = (corner & 4) === 0 ? -1 : 1;
182
+ rotatePoint(rotationX, rotationY, rotationZ, rotationW, signX * halfX, signY * halfY, signZ * halfZ, scratchPoint);
183
+ writeBodyPoint(body, centerX + scratchPoint[0], centerY + scratchPoint[1], centerZ + scratchPoint[2], scratchCorners[corner]);
184
+ }
185
+ // Corner index bits are (x, y, z), so two corners share an edge exactly when their indices differ in
186
+ // ONE bit — which is what these pairs enumerate.
187
+ for (const [a, b] of BOX_EDGES) {
188
+ writeLine(out, 'collider', body.index, -1, scratchCorners[a][0], scratchCorners[a][1], scratchCorners[a][2], scratchCorners[b][0], scratchCorners[b][1], scratchCorners[b][2]);
189
+ }
190
+ }
191
+ // Takes a point in the body's LOCAL frame to world space.
192
+ function writeBodyPoint(body, x, y, z, out) {
193
+ rotatePoint(body.orientationX, body.orientationY, body.orientationZ, body.orientationW, x, y, z, out);
194
+ out[0] += body.x;
195
+ out[1] += body.y;
196
+ out[2] += body.z;
197
+ }
198
+ function rotatePoint(qX, qY, qZ, qW, x, y, z, out) {
199
+ const tX = 2 * (qY * z - qZ * y);
200
+ const tY = 2 * (qZ * x - qX * z);
201
+ const tZ = 2 * (qX * y - qY * x);
202
+ out[0] = x + qW * tX + qY * tZ - qZ * tY;
203
+ out[1] = y + qW * tY + qZ * tX - qX * tZ;
204
+ out[2] = z + qW * tZ + qX * tY - qY * tX;
205
+ }
206
+ function writeLine(out, feature, bodyA, bodyB, x0, y0, z0, x1, y1, z1) {
207
+ const line = out.lines[out.lineCount];
208
+ if (line === undefined)
209
+ out.lines.push({ feature, bodyA, bodyB, x0, y0, z0, x1, y1, z1 });
210
+ else {
211
+ line.feature = feature;
212
+ line.bodyA = bodyA;
213
+ line.bodyB = bodyB;
214
+ line.x0 = x0;
215
+ line.y0 = y0;
216
+ line.z0 = z0;
217
+ line.x1 = x1;
218
+ line.y1 = y1;
219
+ line.z1 = z1;
220
+ }
221
+ out.lineCount += 1;
222
+ }
223
+ function writeSphere(out, feature, bodyA, bodyB, x, y, z, radius) {
224
+ const sphere = out.spheres[out.sphereCount];
225
+ if (sphere === undefined)
226
+ out.spheres.push({ feature, bodyA, bodyB, x, y, z, radius });
227
+ else {
228
+ sphere.feature = feature;
229
+ sphere.bodyA = bodyA;
230
+ sphere.bodyB = bodyB;
231
+ sphere.x = x;
232
+ sphere.y = y;
233
+ sphere.z = z;
234
+ sphere.radius = radius;
235
+ }
236
+ out.sphereCount += 1;
237
+ }
238
+ const DEFAULT_OPTIONS = {
239
+ drawCentersOfMass: true,
240
+ drawColliders: true,
241
+ drawContacts: true,
242
+ drawJoints: true,
243
+ centerOfMassRadius: 0.08,
244
+ contactNormalLength: 0.5,
245
+ };
246
+ // The twelve pairs of corner indices differing in exactly one bit.
247
+ const BOX_EDGES = [
248
+ [0, 1],
249
+ [2, 3],
250
+ [4, 5],
251
+ [6, 7],
252
+ [0, 2],
253
+ [1, 3],
254
+ [4, 6],
255
+ [5, 7],
256
+ [0, 4],
257
+ [1, 5],
258
+ [2, 6],
259
+ [3, 7],
260
+ ];
261
+ const HULL_VERTEX_RADIUS = 0.02;
262
+ // A closed ring of `RING_SEGMENTS` line segments around the axis from `start` to `end`, at parameter
263
+ // `t` along it. Used for the flat caps a cylinder and a cone have and a capsule does not.
264
+ //
265
+ // The two in-plane basis vectors come from crossing the axis with whichever cardinal direction it leans
266
+ // on LEAST, so the cross product never collapses — the same rule the collision core uses to pick a
267
+ // perpendicular, and for the same reason: crossing with a fixed axis fails exactly when the shape is
268
+ // aligned to it, which is the common case rather than a rare one.
269
+ function writeAxialRing(out, bodyIndex, start, end, radius, t) {
270
+ const axisX = end[0] - start[0];
271
+ const axisY = end[1] - start[1];
272
+ const axisZ = end[2] - start[2];
273
+ const length = Math.sqrt(axisX * axisX + axisY * axisY + axisZ * axisZ);
274
+ if (!(length > 0))
275
+ return;
276
+ const unitX = axisX / length;
277
+ const unitY = axisY / length;
278
+ const unitZ = axisZ / length;
279
+ const absX = Math.abs(unitX);
280
+ const absY = Math.abs(unitY);
281
+ const absZ = Math.abs(unitZ);
282
+ const pickX = absX <= absY && absX <= absZ ? 1 : 0;
283
+ const pickY = pickX === 0 && absY <= absZ ? 1 : 0;
284
+ const pickZ = pickX === 0 && pickY === 0 ? 1 : 0;
285
+ let uX = unitY * pickZ - unitZ * pickY;
286
+ let uY = unitZ * pickX - unitX * pickZ;
287
+ let uZ = unitX * pickY - unitY * pickX;
288
+ const uLength = Math.sqrt(uX * uX + uY * uY + uZ * uZ);
289
+ if (!(uLength > 0))
290
+ return;
291
+ uX /= uLength;
292
+ uY /= uLength;
293
+ uZ /= uLength;
294
+ const vX = unitY * uZ - unitZ * uY;
295
+ const vY = unitZ * uX - unitX * uZ;
296
+ const vZ = unitX * uY - unitY * uX;
297
+ const centerX = start[0] + axisX * t;
298
+ const centerY = start[1] + axisY * t;
299
+ const centerZ = start[2] + axisZ * t;
300
+ let previousX = centerX + uX * radius;
301
+ let previousY = centerY + uY * radius;
302
+ let previousZ = centerZ + uZ * radius;
303
+ for (let i = 1; i <= RING_SEGMENTS; i += 1) {
304
+ const angle = (i / RING_SEGMENTS) * Math.PI * 2;
305
+ const cos = Math.cos(angle) * radius;
306
+ const sin = Math.sin(angle) * radius;
307
+ const nextX = centerX + uX * cos + vX * sin;
308
+ const nextY = centerY + uY * cos + vY * sin;
309
+ const nextZ = centerZ + uZ * cos + vZ * sin;
310
+ writeLine(out, 'collider', bodyIndex, -1, previousX, previousY, previousZ, nextX, nextY, nextZ);
311
+ previousX = nextX;
312
+ previousY = nextY;
313
+ previousZ = nextZ;
314
+ }
315
+ }
316
+ const RING_SEGMENTS = 16;
317
+ const scratchAnchorA = [0, 0, 0];
318
+ const scratchAnchorB = [0, 0, 0];
319
+ const scratchCenter = [0, 0, 0];
320
+ const scratchHullFaces = [];
321
+ const scratchCorners = [
322
+ [0, 0, 0],
323
+ [0, 0, 0],
324
+ [0, 0, 0],
325
+ [0, 0, 0],
326
+ [0, 0, 0],
327
+ [0, 0, 0],
328
+ [0, 0, 0],
329
+ [0, 0, 0],
330
+ ];
331
+ const scratchPoint = [0, 0, 0];
332
+ const scratchSurfacePoint = [0, 0, 0];
333
+ //# sourceMappingURL=debugGeometry.js.map
package/dist/debugGeometry.js.map ADDED
@@ -0,0 +1 @@
1
+ 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package/dist/enablePhysics3DGuards.d.ts ADDED
@@ -0,0 +1,4 @@
1
+ export declare function arePhysics3DGuardsEnabled(): boolean;
2
+ export declare function disablePhysics3DGuards(): void;
3
+ export declare function enablePhysics3DGuards(): void;
4
+ //# sourceMappingURL=enablePhysics3DGuards.d.ts.map
package/dist/enablePhysics3DGuards.d.ts.map ADDED
@@ -0,0 +1 @@
1
+ {"version":3,"file":"enablePhysics3DGuards.d.ts","sourceRoot":"","sources":["../src/enablePhysics3DGuards.ts"],"names":[],"mappings":"AAYA,wBAAgB,yBAAyB,IAAI,OAAO,CAEnD;AAED,wBAAgB,sBAAsB,IAAI,IAAI,CAM7C;AAqBD,wBAAgB,qBAAqB,IAAI,IAAI,CAM5C"}