@flighthq/physics3d 0.4.0-next.1694.598ef6f

package/dist/jointRows.js

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+import { applyPhysics3DJointAngularImpulse, applyPhysics3DJointImpulse, applyPhysics3DJointRowImpulse, getPhysics3DJointRowMass, getPhysics3DJointRowVelocity, writePhysics3DJointAnchorVelocity, writePhysics3DJointAnchors, writePhysics3DJointAngularMass, writePhysics3DJointFrameBasis, writePhysics3DJointFrameRotation, writePhysics3DJointPointMass, writePhysics3DJointRotationError, writePhysics3DJointSeparation, } from './jointMath';
+import { applySymmetricTensor, inverseSymmetricTensor } from './symmetricTensor';
+// The constraint FAMILIES every 3D joint kind is composed from. `jointMath` is the arithmetic; this is the
+// sequential-impulse pattern applied to it — prepare a block, warm-start it, solve it — so a kind reads as a
+// list of the constraints it imposes rather than as a page of index arithmetic.
+//
+// Package-internal, and layered: `jointMath` knows nothing about per-step state, this file owns the layout
+// of that state, and `joints` composes these into kinds.
+//
+// A CONSTRAINT ROW is nine consecutive numbers in a joint's per-step state: the linear direction, then the
+// angular arm on A, then the angular arm on B. Storing the three vectors as one block is what lets a row's
+// mass, velocity, and impulse be addressed as `(state, offset)` rather than as nine arguments repeated at
+// every call site — and it is why a row's three readings can never quietly describe different constraints.
+// A PURELY ANGULAR row is one whose direction is zero and whose two arms are the axis it turns about.
+// The width of one constraint row in a joint's per-step state.
+export const ROW_LENGTH = 9;
+// The three-number blocks a point constraint occupies at the start of a joint's state: the inverted 3x3
+// effective mass, then the positional bias.
+export const POINT_MASS = 0;
+export const POINT_BIAS = 6;
+export const POINT_LENGTH = 9;
+// Applies one row's impulse.
+export function applyRow(bodyA, bodyB, state, offset, impulse) {
+    if (impulse === 0)
+        return;
+    applyPhysics3DJointRowImpulse(bodyA, bodyB, state[offset], state[offset + 1], state[offset + 2], state[offset + 3], state[offset + 4], state[offset + 5], state[offset + 6], state[offset + 7], state[offset + 8], impulse);
+}
+// Establishes a joint's impulse accumulators and returns its reusable per-step scratch, sized to `length`.
+//
+// The accumulators are established HERE rather than defended at each read, because every read assumes the
+// field is already a number and a joint can reach a solver without one: the type declares them required, but
+// a joint reconstructed from a saved world satisfies that only at compile time. The first read then computes
+// `undefined + x`, and because an accumulator feeds the next iteration the NaN does not stay local — it goes
+// out through the applied impulse into both bodies' velocities and from there into every contact they touch.
+//
+// The scratch array is reused rather than reallocated. Every solver rebuilds its whole block each substep, so
+// it is pure destination; allocating a fresh one per joint per step made the step's allocation profile scale
+// with the joint count, which is the hidden per-frame allocation this package's charter forbids.
+export function beginJointSolve(joint, length) {
+    joint.impulse0 ??= 0;
+    joint.impulse1 ??= 0;
+    joint.impulse2 ??= 0;
+    joint.impulse3 ??= 0;
+    joint.impulse4 ??= 0;
+    joint.impulse5 ??= 0;
+    let state = jointSolveStates.get(joint);
+    if (state === undefined) {
+        state = [];
+        jointSolveStates.set(joint, state);
+    }
+    state.length = length;
+    return state;
+}
+// Discards a joint's per-step state, so a `solve` after a `prepare` that could not run finds nothing rather
+// than the previous step's numbers. A prepare bails when a body index no longer resolves, and without this
+// the stale block would be applied against whichever bodies did resolve — an impulse computed for a pair
+// that no longer exists.
+export function clearJointSolve(joint) {
+    jointSolveStates.delete(joint);
+}
+// A joint's per-step state, or undefined when it has none. A `solve` reads this and returns early on
+// undefined, which is what makes a bailed `prepare` mean "this joint does nothing this step".
+export function getJointSolveState(joint) {
+    return jointSolveStates.get(joint);
+}
+// The scalar effective mass of one row, or 0 when the pair cannot move along it.
+export function getRowMass(bodyA, bodyB, state, offset) {
+    return getPhysics3DJointRowMass(bodyA, bodyB, state[offset], state[offset + 1], state[offset + 2], state[offset + 3], state[offset + 4], state[offset + 5], state[offset + 6], state[offset + 7], state[offset + 8]);
+}
+// The rate one row's coordinate is changing, B relative to A.
+export function getRowVelocity(bodyA, bodyB, state, offset) {
+    return getPhysics3DJointRowVelocity(bodyA, bodyB, state[offset], state[offset + 1], state[offset + 2], state[offset + 3], state[offset + 4], state[offset + 5], state[offset + 6], state[offset + 7], state[offset + 8]);
+}
+// Builds the three-row angular lock: the inverted sum of the two world inverse inertia tensors, and the bias
+// that rotates frame B back onto frame A. Reads the frames left by `readFrameRotations`.
+export function prepareAngularBlock(bodyA, bodyB, state, massOffset, biasOffset, dt) {
+    writePhysics3DJointAngularMass(bodyA, bodyB, blockTensor);
+    inverseSymmetricTensor(blockTensor, blockInverse);
+    writeBlock(state, massOffset, blockInverse);
+    writePhysics3DJointRotationError(frameARotation[0], frameARotation[1], frameARotation[2], frameARotation[3], frameBRotation[0], frameBRotation[1], frameBRotation[2], frameBRotation[3], blockVector);
+    const bias = BAUMGARTE / dt;
+    state[biasOffset] = blockVector[0] * bias;
+    state[biasOffset + 1] = blockVector[1] * bias;
+    state[biasOffset + 2] = blockVector[2] * bias;
+}
+// Builds the three-row point constraint: the lever arms, the inverted 3x3 effective mass, and the bias that
+// pulls the two anchors back together. Occupies `POINT_MASS` through `POINT_BIAS` at the head of the state.
+export function preparePointBlock(bodyA, bodyB, joint, state, dt) {
+    writePhysics3DJointAnchors(bodyA, bodyB, joint);
+    writePhysics3DJointPointMass(bodyA, bodyB, joint.rAX, joint.rAY, joint.rAZ, joint.rBX, joint.rBY, joint.rBZ, blockTensor);
+    inverseSymmetricTensor(blockTensor, blockInverse);
+    writeBlock(state, POINT_MASS, blockInverse);
+    writePhysics3DJointSeparation(bodyA, bodyB, joint, blockVector);
+    const bias = BAUMGARTE / dt;
+    state[POINT_BIAS] = blockVector[0] * bias;
+    state[POINT_BIAS + 1] = blockVector[1] * bias;
+    state[POINT_BIAS + 2] = blockVector[2] * bias;
+}
+// The world-space axes of both bodies' joint frames, left in `frameABasis` and `frameBBasis`. Each is nine
+// numbers, column-major: X axis, then Y, then Z.
+export function readFrameBases(bodyA, bodyB, frames) {
+    establishFrames(frames);
+    writePhysics3DJointFrameBasis(bodyA, frames.localRotationAX, frames.localRotationAY, frames.localRotationAZ, frames.localRotationAW, frameABasis);
+    writePhysics3DJointFrameBasis(bodyB, frames.localRotationBX, frames.localRotationBY, frames.localRotationBZ, frames.localRotationBW, frameBBasis);
+}
+// Both bodies' joint frames as world-space quaternions, left in `frameARotation` and `frameBRotation`.
+export function readFrameRotations(bodyA, bodyB, frames) {
+    establishFrames(frames);
+    writePhysics3DJointFrameRotation(bodyA, frames.localRotationAX, frames.localRotationAY, frames.localRotationAZ, frames.localRotationAW, frameARotation);
+    writePhysics3DJointFrameRotation(bodyB, frames.localRotationBX, frames.localRotationBY, frames.localRotationBZ, frames.localRotationBW, frameBRotation);
+}
+// Reads one of the six common accumulators by index, for the kinds whose rows are numbered rather than named.
+export function readJointImpulse(joint, slot) {
+    switch (slot) {
+        case 0:
+            return joint.impulse0;
+        case 1:
+            return joint.impulse1;
+        case 2:
+            return joint.impulse2;
+        case 3:
+            return joint.impulse3;
+        case 4:
+            return joint.impulse4;
+        default:
+            return joint.impulse5;
+    }
+}
+// Solves the three angular lock rows as one coupled block, accumulating into `impulse3` through `impulse5`.
+export function solveAngularBlock(bodyA, bodyB, joint, state, massOffset, biasOffset) {
+    readBlock(state, massOffset, blockTensor);
+    applySymmetricTensor(blockTensor, bodyB.angularVelocityX - bodyA.angularVelocityX + state[biasOffset], bodyB.angularVelocityY - bodyA.angularVelocityY + state[biasOffset + 1], bodyB.angularVelocityZ - bodyA.angularVelocityZ + state[biasOffset + 2], blockResult);
+    const impulseX = -blockResult[0];
+    const impulseY = -blockResult[1];
+    const impulseZ = -blockResult[2];
+    joint.impulse3 += impulseX;
+    joint.impulse4 += impulseY;
+    joint.impulse5 += impulseZ;
+    applyPhysics3DJointAngularImpulse(bodyA, bodyB, impulseX, impulseY, impulseZ);
+}
+// Solves one equality row — a coordinate held at exactly its target — accumulating into a common slot.
+export function solveEqualityRow(bodyA, bodyB, joint, slot, state, offset, mass, error, biasFactor) {
+    const velocity = getRowVelocity(bodyA, bodyB, state, offset);
+    const impulse = -mass * (velocity + error * biasFactor);
+    writeJointImpulse(joint, slot, readJointImpulse(joint, slot) + impulse);
+    applyRow(bodyA, bodyB, state, offset, impulse);
+}
+// Holds a row's coordinate at or above its lower bound. `error` is the SIGNED distance above the bound —
+// positive inside the interval, negative once the bound has been crossed.
+//
+// The non-negative clamp on the ACCUMULATED impulse is what makes this a limit rather than a spring: it may
+// push the coordinate back up through the bound and may never pull it down.
+//
+// The bias uses the signed error with no clamp, and both clamps are wrong in opposite ways. `max(error, 0)`
+// suppresses correctly but cannot correct: it zeroes the bias exactly when the bound has been crossed, so a
+// joint authored out of range and sitting still is never pushed back. `min(error, 0)` corrects but cannot
+// suppress: it zeroes the bias while INSIDE the interval, and the row then brakes any approach to the bound
+// from a distance — a motor at speed held at a standstill by a limit it was nowhere near.
+export function solveLowerLimitRow(bodyA, bodyB, state, offset, mass, error, biasFactor, accumulatorSlot) {
+    const velocity = getRowVelocity(bodyA, bodyB, state, offset);
+    const previous = state[accumulatorSlot];
+    const total = Math.max(previous - mass * (velocity + error * biasFactor), 0);
+    state[accumulatorSlot] = total;
+    applyRow(bodyA, bodyB, state, offset, total - previous);
+}
+// Drives a row's coordinate toward `speed`, spending at most `maxImpulse`, and returns the new accumulated
+// motor impulse for the caller to store on its kind-specific field.
+//
+// Clamped on the ACCUMULATED impulse rather than per iteration, so the bound is a force or a torque. A
+// per-iteration clamp would scale the motor's real strength with the iteration count, which presents as a
+// motor that gets stronger when the solver is tuned for accuracy.
+export function solveMotorRow(bodyA, bodyB, state, offset, mass, speed, maxImpulse, previous) {
+    const velocity = getRowVelocity(bodyA, bodyB, state, offset);
+    const total = Math.min(Math.max(previous - mass * (velocity - speed), -maxImpulse), maxImpulse);
+    applyRow(bodyA, bodyB, state, offset, total - previous);
+    return total;
+}
+// Solves the three point rows as one coupled block, accumulating into `impulse0` through `impulse2`.
+//
+// Coupled rather than solved axis by axis. Solving x, then y, then z lets each undo part of the previous
+// correction, and a loaded joint visibly creeps — the 3D form of the same failure a 2D revolute shows when
+// its two rows are separated.
+export function solvePointBlock(bodyA, bodyB, joint, state) {
+    writePhysics3DJointAnchorVelocity(bodyA, bodyB, joint, blockVector);
+    readBlock(state, POINT_MASS, blockTensor);
+    applySymmetricTensor(blockTensor, blockVector[0] + state[POINT_BIAS], blockVector[1] + state[POINT_BIAS + 1], blockVector[2] + state[POINT_BIAS + 2], blockResult);
+    const impulseX = -blockResult[0];
+    const impulseY = -blockResult[1];
+    const impulseZ = -blockResult[2];
+    joint.impulse0 += impulseX;
+    joint.impulse1 += impulseY;
+    joint.impulse2 += impulseZ;
+    applyPhysics3DJointImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rAZ, joint.rBX, joint.rBY, joint.rBZ, impulseX, impulseY, impulseZ);
+}
+// Holds a row's coordinate at or below its upper bound. `error` is the SIGNED distance below the bound —
+// positive inside the interval, negative once the bound has been crossed.
+//
+// The mirror of `solveLowerLimitRow`, reached by reading the row backwards: negating both the velocity and
+// the applied impulse turns "at least" into "at most" without a second sign convention to keep straight.
+export function solveUpperLimitRow(bodyA, bodyB, state, offset, mass, error, biasFactor, accumulatorSlot) {
+    const velocity = -getRowVelocity(bodyA, bodyB, state, offset);
+    const previous = state[accumulatorSlot];
+    const total = Math.max(previous - mass * (velocity + error * biasFactor), 0);
+    state[accumulatorSlot] = total;
+    applyRow(bodyA, bodyB, state, offset, -(total - previous));
+}
+// Reapplies the angular lock's accumulated impulse before iteration begins.
+export function warmStartAngularBlock(bodyA, bodyB, joint) {
+    applyPhysics3DJointAngularImpulse(bodyA, bodyB, joint.impulse3, joint.impulse4, joint.impulse5);
+}
+// Reapplies the point constraint's accumulated impulse before iteration begins.
+export function warmStartPointBlock(bodyA, bodyB, joint) {
+    applyPhysics3DJointImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rAZ, joint.rBX, joint.rBY, joint.rBZ, joint.impulse0, joint.impulse1, joint.impulse2);
+}
+// Writes a purely angular row: no linear impulse, both arms the axis it turns about. The row's coordinate is
+// then the relative rotation angle about that axis.
+export function writeAngularRow(state, offset, axisX, axisY, axisZ) {
+    writeRow(state, offset, 0, 0, 0, axisX, axisY, axisZ, axisX, axisY, axisZ);
+}
+// Writes one of the six common accumulators by index.
+export function writeJointImpulse(joint, slot, value) {
+    switch (slot) {
+        case 0:
+            joint.impulse0 = value;
+            break;
+        case 1:
+            joint.impulse1 = value;
+            break;
+        case 2:
+            joint.impulse2 = value;
+            break;
+        case 3:
+            joint.impulse3 = value;
+            break;
+        case 4:
+            joint.impulse4 = value;
+            break;
+        default:
+            joint.impulse5 = value;
+            break;
+    }
+}
+// Writes one constraint row into a joint's per-step state.
+export function writeRow(state, offset, directionX, directionY, directionZ, armAX, armAY, armAZ, armBX, armBY, armBZ) {
+    state[offset] = directionX;
+    state[offset + 1] = directionY;
+    state[offset + 2] = directionZ;
+    state[offset + 3] = armAX;
+    state[offset + 4] = armAY;
+    state[offset + 5] = armAZ;
+    state[offset + 6] = armBX;
+    state[offset + 7] = armBY;
+    state[offset + 8] = armBZ;
+}
+// Establishes a frame pair's eight components for the same reason `beginJointSolve` establishes the impulse
+// accumulators: a reconstructed joint satisfies the required type at compile time only, and an absent
+// rotation would multiply through into both bodies as NaN. Four absent components give the identity, which is
+// what an author who never set a frame meant.
+function establishFrames(frames) {
+    frames.localRotationAX ??= 0;
+    frames.localRotationAY ??= 0;
+    frames.localRotationAZ ??= 0;
+    frames.localRotationAW ??= 1;
+    frames.localRotationBX ??= 0;
+    frames.localRotationBY ??= 0;
+    frames.localRotationBZ ??= 0;
+    frames.localRotationBW ??= 1;
+}
+function readBlock(state, offset, out) {
+    out[0] = state[offset];
+    out[1] = state[offset + 1];
+    out[2] = state[offset + 2];
+    out[3] = state[offset + 3];
+    out[4] = state[offset + 4];
+    out[5] = state[offset + 5];
+}
+function writeBlock(state, offset, source) {
+    state[offset] = source[0];
+    state[offset + 1] = source[1];
+    state[offset + 2] = source[2];
+    state[offset + 3] = source[3];
+    state[offset + 4] = source[4];
+    state[offset + 5] = source[5];
+}
+// The fraction of a joint's positional error corrected per step. Matches the contact solver's rationale:
+// correcting all of it at once turns a deep error into an explosion.
+const BAUMGARTE = 0.2;
+// The world-space frames the prepare pass leaves for the kind that asked for them. Module scratch rather than
+// per-joint state because they are consumed within one `prepare`, never across two.
+export const frameABasis = new Array(9).fill(0);
+export const frameBBasis = new Array(9).fill(0);
+export const frameARotation = [0, 0, 0, 1];
+export const frameBRotation = [0, 0, 0, 1];
+const blockTensor = [0, 0, 0, 0, 0, 0];
+const blockInverse = [0, 0, 0, 0, 0, 0];
+const blockVector = [0, 0, 0];
+const blockResult = [0, 0, 0];
+// Per-step solver state, keyed WEAKLY by joint. A module-global strong Map would retain every joint ever
+// prepared for the lifetime of the module: removing a joint from a world drops the world's reference but not
+// this one, and there is no deletion hook to forget, because a joint can leave a world without this module
+// being told. Keying weakly makes the retention question disappear rather than answering it — the entry goes
+// when the joint does, at every exit path, including ones nobody has written yet.
+//
+// A Map of arrays rather than fields on the joint, because the numbers each kind needs mean different things
+// per kind, and a fixed block of untyped scratch on the public entity would make the header describe the
+// solver's internals.
+const jointSolveStates = new WeakMap();
+//# sourceMappingURL=jointRows.js.map

package/dist/jointRows.js.map

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package/dist/joints.d.ts

@@ -0,0 +1,14 @@
+import type { Physics3DJointSolver } from '@flighthq/types/contract';
+export declare const Physics3DBallAndSocketJointKind = "BallAndSocket";
+export declare const Physics3DConeTwistJointKind = "ConeTwist";
+export declare const Physics3DFixedJointKind = "Fixed";
+export declare const Physics3DGeneric6DofJointKind = "Generic6Dof";
+export declare const Physics3DHingeJointKind = "Hinge";
+export declare const Physics3DSliderJointKind = "Slider";
+export declare const physics3DBallAndSocketJointSolver: Physics3DJointSolver;
+export declare const physics3DFixedJointSolver: Physics3DJointSolver;
+export declare const physics3DHingeJointSolver: Physics3DJointSolver;
+export declare const physics3DConeTwistJointSolver: Physics3DJointSolver;
+export declare const physics3DGeneric6DofJointSolver: Physics3DJointSolver;
+export declare const physics3DSliderJointSolver: Physics3DJointSolver;
+//# sourceMappingURL=joints.d.ts.map

package/dist/joints.d.ts.map

@@ -0,0 +1 @@
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