@flighthq/physics3d 0.4.0-next.1694.598ef6f

package/dist/joints.js.map

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

@@ -0,0 +1,8 @@
+import type { Physics3DMassData, RigidBody3D } from '@flighthq/types/contract';
+export declare function combinePhysics3DMassData(target: Physics3DMassData, addend: Readonly<Physics3DMassData>): void;
+export declare function computePhysics3DBoxMassData(halfExtentX: number, halfExtentY: number, halfExtentZ: number, density: number, out: Physics3DMassData): void;
+export declare function computePhysics3DCapsuleMassData(radius: number, halfHeight: number, density: number, out: Physics3DMassData): void;
+export declare function computePhysics3DSphereMassData(radius: number, density: number, out: Physics3DMassData): void;
+export declare function createPhysics3DMassData(): Physics3DMassData;
+export declare function setRigidBody3DMassData(body: RigidBody3D, data: Readonly<Physics3DMassData>): void;
+//# sourceMappingURL=massProperties.d.ts.map

package/dist/massProperties.d.ts.map

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

@@ -0,0 +1,169 @@
+import { inverseSymmetricTensor, translateSymmetricTensor, TENSOR_XX, TENSOR_XY, TENSOR_XZ, TENSOR_YY, TENSOR_YZ, TENSOR_ZZ, } from './symmetricTensor';
+// Mass properties for 3D primitives, and the combination of several into one body's.
+//
+// Mass is derived from geometry and density rather than set directly, so a body's inertia can never
+// disagree with its shape. The primitives here are the ones whose inertia has a closed form; a convex
+// hull's and a triangle mesh's are integrals over their geometry, and arrive with the 3D narrow phase
+// that produces those shapes in the first place.
+//
+// Every tensor produced here is about the primitive's OWN centre, in the frame the primitive is
+// described in. `combinePhysics3DMassData` is what shifts them onto a shared centre.
+// Accumulates `addend` into `target`, shifting both tensors onto their combined centre of mass by the
+// parallel-axis theorem. `target` is left holding the combined mass, centre, and inertia.
+//
+// This is how a body made of several primitives gets one tensor. Note that both sides move: the
+// combined centre is somewhere between them, so the tensor already in `target` is shifted too. A
+// version that only shifted the addend would be correct for the first primitive and wrong for every
+// one after it, in a way that looks right until a body is built from two halves and swings about the
+// wrong point.
+export function combinePhysics3DMassData(target, addend) {
+    const totalMass = target.mass + addend.mass;
+    if (totalMass <= 0) {
+        target.mass = 0;
+        target.inertiaXX = 0;
+        target.inertiaYY = 0;
+        target.inertiaZZ = 0;
+        target.inertiaXY = 0;
+        target.inertiaXZ = 0;
+        target.inertiaYZ = 0;
+        return;
+    }
+    const inverseTotal = 1 / totalMass;
+    const centerX = (target.centerX * target.mass + addend.centerX * addend.mass) * inverseTotal;
+    const centerY = (target.centerY * target.mass + addend.centerY * addend.mass) * inverseTotal;
+    const centerZ = (target.centerZ * target.mass + addend.centerZ * addend.mass) * inverseTotal;
+    readTensor(target, scratchTensorA);
+    translateSymmetricTensor(scratchTensorA, target.mass, target.centerX - centerX, target.centerY - centerY, target.centerZ - centerZ, scratchTensorA);
+    readTensor(addend, scratchTensorB);
+    translateSymmetricTensor(scratchTensorB, addend.mass, addend.centerX - centerX, addend.centerY - centerY, addend.centerZ - centerZ, scratchTensorB);
+    target.mass = totalMass;
+    target.centerX = centerX;
+    target.centerY = centerY;
+    target.centerZ = centerZ;
+    target.inertiaXX = scratchTensorA[TENSOR_XX] + scratchTensorB[TENSOR_XX];
+    target.inertiaYY = scratchTensorA[TENSOR_YY] + scratchTensorB[TENSOR_YY];
+    target.inertiaZZ = scratchTensorA[TENSOR_ZZ] + scratchTensorB[TENSOR_ZZ];
+    target.inertiaXY = scratchTensorA[TENSOR_XY] + scratchTensorB[TENSOR_XY];
+    target.inertiaXZ = scratchTensorA[TENSOR_XZ] + scratchTensorB[TENSOR_XZ];
+    target.inertiaYZ = scratchTensorA[TENSOR_YZ] + scratchTensorB[TENSOR_YZ];
+}
+// Mass data for a solid box with the given half-extents, centred on the origin and axis-aligned.
+export function computePhysics3DBoxMassData(halfExtentX, halfExtentY, halfExtentZ, density, out) {
+    const mass = 8 * halfExtentX * halfExtentY * halfExtentZ * density;
+    const x2 = halfExtentX * halfExtentX;
+    const y2 = halfExtentY * halfExtentY;
+    const z2 = halfExtentZ * halfExtentZ;
+    // For a solid box of full extents 2h, I = m/12 * (a^2 + b^2) with a,b the two full extents; in
+    // half-extents that is m/3 * (h^2 + h^2).
+    writeDiagonal(out, mass, (mass * (y2 + z2)) / 3, (mass * (x2 + z2)) / 3, (mass * (x2 + y2)) / 3);
+}
+// Mass data for a solid capsule: a cylinder of `halfHeight` capped by two hemispheres of `radius`,
+// centred on the origin with its axis along Y.
+//
+// The Y axis is the convention because a capsule is overwhelmingly used as an upright character
+// collider, and the alternative — an axis parameter — puts a branch in a function whose whole job is to
+// return six numbers. A capsule on another axis is this tensor rotated, which the body's orientation
+// already does.
+export function computePhysics3DCapsuleMassData(radius, halfHeight, density, out) {
+    const height = halfHeight + halfHeight;
+    const radius2 = radius * radius;
+    const cylinderMass = Math.PI * radius2 * height * density;
+    const hemisphereMass = (2 / 3) * Math.PI * radius2 * radius * density;
+    const mass = cylinderMass + hemisphereMass + hemisphereMass;
+    // Along the axis, cylinder and hemispheres are all rotating about their own symmetry axis.
+    const axial = 0.5 * cylinderMass * radius2 + 2 * ((2 / 5) * hemisphereMass * radius2);
+    // Across the axis: the cylinder's own transverse moment, plus each hemisphere's about its own centre
+    // shifted out to where it sits. A hemisphere's centre of mass is 3r/8 from its flat face, and its
+    // moment about a diameter through THAT centre is (2/5 - 9/64) m r^2 — the solid-sphere-half value
+    // less the parallel-axis term that would move it back to the flat face.
+    const hemisphereCenter = halfHeight + 0.375 * radius;
+    const hemisphereOwn = hemisphereMass * radius2 * (2 / 5 - 9 / 64);
+    const transverse = cylinderMass * ((height * height) / 12 + radius2 / 4) +
+        2 * (hemisphereOwn + hemisphereMass * hemisphereCenter * hemisphereCenter);
+    writeDiagonal(out, mass, transverse, axial, transverse);
+}
+// Mass data for a solid sphere centred on the origin.
+export function computePhysics3DSphereMassData(radius, density, out) {
+    const mass = (4 / 3) * Math.PI * radius * radius * radius * density;
+    const moment = 0.4 * mass * radius * radius;
+    writeDiagonal(out, mass, moment, moment, moment);
+}
+// Allocates a zeroed mass-data record — no mass, no inertia, centred on the origin. The identity for
+// `combinePhysics3DMassData`, so an assembly starts here and accumulates.
+export function createPhysics3DMassData() {
+    return {
+        mass: 0,
+        inertiaXX: 0,
+        inertiaYY: 0,
+        inertiaZZ: 0,
+        inertiaXY: 0,
+        inertiaXZ: 0,
+        inertiaYZ: 0,
+        centerX: 0,
+        centerY: 0,
+        centerZ: 0,
+    };
+}
+// Writes mass data onto a body, deriving the inverse mass and the LOCAL inverse inertia tensor.
+//
+// A non-dynamic or fixed-rotation body keeps its forward mass and inertia — a caller may still want to
+// read them — but is given a zero inverse, which is the sentinel that makes the solver apply no impulse
+// to it with no branch. The world-space inverse tensor is left alone: it is derived from the
+// orientation and is refreshed by the step, not here.
+export function setRigidBody3DMassData(body, data) {
+    body.mass = data.mass;
+    body.centerX = data.centerX;
+    body.centerY = data.centerY;
+    body.centerZ = data.centerZ;
+    body.inertiaXX = data.inertiaXX;
+    body.inertiaYY = data.inertiaYY;
+    body.inertiaZZ = data.inertiaZZ;
+    body.inertiaXY = data.inertiaXY;
+    body.inertiaXZ = data.inertiaXZ;
+    body.inertiaYZ = data.inertiaYZ;
+    const movable = body.type === 'dynamic' && data.mass > 0;
+    body.inverseMass = movable ? 1 / data.mass : 0;
+    if (!movable || body.fixedRotation) {
+        body.inverseInertiaXX = 0;
+        body.inverseInertiaYY = 0;
+        body.inverseInertiaZZ = 0;
+        body.inverseInertiaXY = 0;
+        body.inverseInertiaXZ = 0;
+        body.inverseInertiaYZ = 0;
+        return;
+    }
+    readTensor(data, scratchTensorA);
+    inverseSymmetricTensor(scratchTensorA, scratchTensorB);
+    body.inverseInertiaXX = scratchTensorB[TENSOR_XX];
+    body.inverseInertiaYY = scratchTensorB[TENSOR_YY];
+    body.inverseInertiaZZ = scratchTensorB[TENSOR_ZZ];
+    body.inverseInertiaXY = scratchTensorB[TENSOR_XY];
+    body.inverseInertiaXZ = scratchTensorB[TENSOR_XZ];
+    body.inverseInertiaYZ = scratchTensorB[TENSOR_YZ];
+}
+function readTensor(data, out) {
+    out[TENSOR_XX] = data.inertiaXX;
+    out[TENSOR_YY] = data.inertiaYY;
+    out[TENSOR_ZZ] = data.inertiaZZ;
+    out[TENSOR_XY] = data.inertiaXY;
+    out[TENSOR_XZ] = data.inertiaXZ;
+    out[TENSOR_YZ] = data.inertiaYZ;
+}
+function writeDiagonal(out, mass, inertiaXX, inertiaYY, inertiaZZ) {
+    out.mass = mass;
+    out.inertiaXX = inertiaXX;
+    out.inertiaYY = inertiaYY;
+    out.inertiaZZ = inertiaZZ;
+    out.inertiaXY = 0;
+    out.inertiaXZ = 0;
+    out.inertiaYZ = 0;
+    out.centerX = 0;
+    out.centerY = 0;
+    out.centerZ = 0;
+}
+// Module scratch for the two tensors a combine or an inversion needs at once. Reused rather than
+// allocated because these run per body whenever mass properties change, and a rebuild of a large
+// world's bodies would otherwise churn two arrays per primitive.
+const scratchTensorA = [0, 0, 0, 0, 0, 0];
+const scratchTensorB = [0, 0, 0, 0, 0, 0];
+//# sourceMappingURL=massProperties.js.map

package/dist/massProperties.js.map

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package/dist/ownership.d.ts

@@ -0,0 +1,5 @@
+import type { Physics3DJoint, Physics3DWorld } from '@flighthq/types/contract';
+export declare const physics3DJointOwners: WeakMap<Physics3DJoint, Physics3DWorld>;
+export declare const steppingPhysics3DWorlds: WeakSet<Physics3DWorld>;
+export declare function assertPhysics3DWorldNotStepping(world: Readonly<Physics3DWorld>): void;
+//# sourceMappingURL=ownership.d.ts.map

package/dist/ownership.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"ownership.d.ts","sourceRoot":"","sources":["../src/ownership.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,cAAc,EAAE,cAAc,EAAE,MAAM,0BAA0B,CAAC;AAO/E,eAAO,MAAM,oBAAoB,yCAAgD,CAAC;AAKlF,eAAO,MAAM,uBAAuB,yBAAgC,CAAC;AAErE,wBAAgB,+BAA+B,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,GAAG,IAAI,CAIrF"}

package/dist/ownership.js

@@ -0,0 +1,16 @@
+// Ownership is RUNTIME state rather than serialized entity data. Weak keys make membership follow the
+// explicit add/remove lifecycle without keeping a detached entity alive, and map directly to an owner
+// pointer in the native port. They are what stops one mutable joint — and the impulse cache that rides on
+// it — from participating in two solve lists at once, where each world's iterations would overwrite the
+// other's accumulators every step.
+export const physics3DJointOwners = new WeakMap();
+// A world step is a strict mutation boundary. Contact hooks run inside it and may change only the contact
+// fields their contract names: adding or removing a body, contact, or joint while an array is being solved
+// can skip a constraint, partially integrate a newly-added body, or invalidate the iterator outright.
+export const steppingPhysics3DWorlds = new WeakSet();
+export function assertPhysics3DWorldNotStepping(world) {
+    if (steppingPhysics3DWorlds.has(world)) {
+        throw new Error('Cannot mutate a physics world while it is stepping');
+    }
+}
+//# sourceMappingURL=ownership.js.map

package/dist/ownership.js.map

@@ -0,0 +1 @@
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package/dist/registerBuiltInPhysics3DJointSolvers.d.ts

@@ -0,0 +1,3 @@
+import type { Physics3DWorld } from '@flighthq/types/contract';
+export declare function registerBuiltInPhysics3DJointSolvers(world: Physics3DWorld): void;
+//# sourceMappingURL=registerBuiltInPhysics3DJointSolvers.d.ts.map

package/dist/registerBuiltInPhysics3DJointSolvers.d.ts.map

@@ -0,0 +1 @@
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package/dist/registerBuiltInPhysics3DJointSolvers.js

@@ -0,0 +1,14 @@
+import { registerPhysics3DJointSolver } from './jointRegistry';
+import { physics3DBallAndSocketJointSolver, physics3DConeTwistJointSolver, physics3DFixedJointSolver, physics3DGeneric6DofJointSolver, physics3DHingeJointSolver, physics3DSliderJointSolver, Physics3DBallAndSocketJointKind, Physics3DConeTwistJointKind, Physics3DFixedJointKind, Physics3DGeneric6DofJointKind, Physics3DHingeJointKind, Physics3DSliderJointKind, } from './joints';
+// Installs the complete built-in joint bank into one world. Kept as an explicit assembly rather than as part
+// of `createPhysics3DWorld`: importing or constructing a world still links no constraint math, and a caller
+// may register only the kinds it uses. Importing this function opts into all six at once.
+export function registerBuiltInPhysics3DJointSolvers(world) {
+    registerPhysics3DJointSolver(world, Physics3DBallAndSocketJointKind, physics3DBallAndSocketJointSolver);
+    registerPhysics3DJointSolver(world, Physics3DConeTwistJointKind, physics3DConeTwistJointSolver);
+    registerPhysics3DJointSolver(world, Physics3DFixedJointKind, physics3DFixedJointSolver);
+    registerPhysics3DJointSolver(world, Physics3DGeneric6DofJointKind, physics3DGeneric6DofJointSolver);
+    registerPhysics3DJointSolver(world, Physics3DHingeJointKind, physics3DHingeJointSolver);
+    registerPhysics3DJointSolver(world, Physics3DSliderJointKind, physics3DSliderJointSolver);
+}
+//# sourceMappingURL=registerBuiltInPhysics3DJointSolvers.js.map

package/dist/registerBuiltInPhysics3DJointSolvers.js.map

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package/dist/solver.d.ts

@@ -0,0 +1,8 @@
+import type { Physics3DContactConstraint, Physics3DContactConstraintPoint, Physics3DWorld } from '@flighthq/types/contract';
+export declare function createPhysics3DContactConstraint(): Physics3DContactConstraint;
+export declare function createPhysics3DContactConstraintPoint(): Physics3DContactConstraintPoint;
+export declare function preparePhysics3DContactConstraints(world: Physics3DWorld): void;
+export declare function solvePhysics3DContactPositions(world: Physics3DWorld): number;
+export declare function solvePhysics3DContactVelocities(world: Physics3DWorld): void;
+export declare function warmStartPhysics3DContacts(world: Physics3DWorld): void;
+//# sourceMappingURL=solver.d.ts.map

package/dist/solver.d.ts.map

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