@flighthq/physics3d 0.4.0-next.1694.598ef6f

package/dist/step.js

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+import { clearRigidBody3DForces, integrateRigidBody3DPose, integrateRigidBody3DVelocity, refreshRigidBody3DWorldInertia, } from './integrate';
+import { buildPhysics3DSolveIslands, updatePhysics3DSleep } from './islands';
+import { steppingPhysics3DWorlds } from './ownership';
+import { preparePhysics3DContactConstraints, solvePhysics3DContactPositions, solvePhysics3DContactVelocities, warmStartPhysics3DContacts, } from './solver';
+import { isPhysics3DBodyStateValid, isPhysics3DContactStateValid, isPhysics3DContactValid, isPhysics3DGravityValid, isPhysics3DJointStateValid, isPhysics3DPositionIterationsValid, isPhysics3DSolverConfigValid, isPhysics3DSubstepsValid, isPhysics3DTimestepValid, isPhysics3DVelocityIterationsValid, } from './stepValidation';
+// Installs the optional diagnostics seam consulted when a step declines its preconditions. Null by
+// default and set only by `enablePhysics3DGuards`, so a build that never enables guards links neither the
+// message text nor `@flighthq/log`.
+export function setPhysics3DStepGuard(guard) {
+    physics3DStepGuard = guard;
+}
+// Advances the simulation by `dt` seconds. Everything the step does, it does because the caller asked:
+// no implicit accumulation, no fixed-timestep loop hidden inside, and no allocation once the world's
+// bodies, contacts, and joints exist.
+//
+// It declines SILENTLY on any failed precondition rather than throwing, because a NaN velocity or a zero
+// timestep is a state a caller reaches by writing a field, and a throw from inside the step would take
+// down a frame loop for something the caller can inspect and repair. `explainPhysics3DStep` is how a
+// caller finds out which precondition failed, and it is separately importable so a shipping build that
+// never asks never links it.
+//
+// Recursion IS a throw, because it is API misuse rather than data: reaching this from inside a contact
+// hook would run a whole nested step against the arrays the outer one is midway through.
+export function stepPhysics3D(world, dt) {
+    if (steppingPhysics3DWorlds.has(world)) {
+        throw new Error('Cannot step a physics world recursively');
+    }
+    const config = world.config;
+    if (!isPhysics3DTimestepValid(dt) ||
+        !isPhysics3DSubstepsValid(config) ||
+        !isPhysics3DVelocityIterationsValid(config) ||
+        !isPhysics3DPositionIterationsValid(config) ||
+        !isPhysics3DSolverConfigValid(config) ||
+        !isPhysics3DGravityValid(world) ||
+        !isPhysics3DBodyStateValid(world) ||
+        !isPhysics3DContactStateValid(world) ||
+        !isPhysics3DJointStateValid(world)) {
+        // The one place the silent decline is observable from outside. The seam takes the world and the
+        // timestep rather than a reason, so the guard asks `explainPhysics3DStep` for ALL of them — a world
+        // with two faults reported one at a time would be repaired one frame at a time.
+        physics3DStepGuard?.(world, dt);
+        return;
+    }
+    // The flag is set and cleared in exactly one place, whatever the body does or throws. It is what makes
+    // every world lifecycle and joint lifecycle helper reject a call from inside a contact hook: the hook's
+    // sole mutation surface is the contact fields its contract names.
+    steppingPhysics3DWorlds.add(world);
+    try {
+        stepValidatedPhysics3D(world, dt);
+    }
+    finally {
+        steppingPhysics3DWorlds.delete(world);
+    }
+}
+// One sub-interval of a step: integrate velocities, solve the constraints, integrate poses, repair
+// penetration.
+//
+// Exported because the solver ruling requires the step to ship as a composition of named functions rather
+// than a monolith. A caller assembling its own loop wants exactly this piece, and a second solver would
+// replace this while `stepPhysics3D` above it stays as it is.
+//
+// The substep loop is the OUTER loop, which is the whole reason this is a separate function. A solver
+// that integrates once and then iterates cannot be turned into one that substeps without restructuring
+// everything that reads the step, so the shape is reserved from the first release even at `substeps: 1`.
+//
+// The ordering is not arbitrary, and one piece of it is a trap. `refreshRigidBody3DWorldInertia` runs at
+// the TOP, before the velocity integration reads the world tensor, and AGAIN once the poses have moved,
+// before the position pass reads it. Integrating angular velocity against the previous sub-interval's
+// world tensor is wrong in a way that shows only on a rotating asymmetric body — a slow, plausible
+// precession no single-step assertion catches.
+export function stepPhysics3DInterval(world, dt) {
+    const sequential = world.config.sequentialImpulse;
+    forEachSolveIslandBody(world, refreshRigidBody3DWorldInertia);
+    forEachSolveIslandBody(world, (body) => integrateRigidBody3DVelocity(body, world.gravityX, world.gravityY, world.gravityZ, dt));
+    preparePhysics3DContactConstraints(world);
+    forEachSolveIslandJoint(world, (joint, solver) => solver.prepare(world, joint, dt));
+    if (sequential.warmStarting) {
+        warmStartPhysics3DContacts(world);
+        // Warm starting is a per-KIND capability as well as a per-world preference. A kind that declares no
+        // `warmStart` never reapplies its accumulator, so that accumulator has to be cleared even while the
+        // world IS warm starting — an impulse that is never reapplied must be cleared, or it is neither warm
+        // nor cold, and it grows without ever acting.
+        forEachSolveIslandJoint(world, (joint, solver) => {
+            if (solver.warmStart !== undefined)
+                solver.warmStart(world, joint);
+            else
+                clearJointAccumulators(joint, solver);
+        });
+    }
+    else {
+        // Contacts need no clearing here: `preparePhysics3DContactConstraints` carries an accumulator across
+        // only when the flag is set, so the constraint it just built is already cold.
+        forEachSolveIslandJoint(world, clearJointAccumulators);
+    }
+    // Joints and contacts share one iteration count and one interleaved pass. Solving them in separate
+    // passes would let each undo the other's correction — a hinge under load creeps if the contacts beneath
+    // it get a whole pass to themselves between joint iterations.
+    for (let iteration = 0; iteration < sequential.velocityIterations; iteration += 1) {
+        forEachSolveIslandJoint(world, (joint, solver) => solver.solve(world, joint, dt));
+        solvePhysics3DContactVelocities(world);
+    }
+    forEachSolveIslandPose(world, dt);
+    for (let iteration = 0; iteration < sequential.positionIterations; iteration += 1) {
+        solvePhysics3DContactPositions(world);
+    }
+}
+function clearJointAccumulators(joint, solver) {
+    solver.clearAccumulatedImpulses?.(joint);
+    joint.impulse0 = 0;
+    joint.impulse1 = 0;
+    joint.impulse2 = 0;
+    joint.impulse3 = 0;
+    joint.impulse4 = 0;
+    joint.impulse5 = 0;
+}
+// Visits every body the solve islands admit, in island-major order.
+//
+// The workspace holds only awake, non-static bodies, so this is also the sleeping skip — and the skip is
+// a COST saving rather than a behavioural one, which is worth having in writing: a sleeping body's
+// velocity is zeroed when it falls asleep and nothing can hand it more, because any awake neighbour puts
+// it in an awake island before this point. What the skip buys is that a settled thousand-body pile costs
+// no integration at all, which is the entire reason sleep exists.
+function forEachSolveIslandBody(world, visit) {
+    for (let island = 0; island < world.solveIslandRoots.length; island += 1) {
+        const start = world.solveIslandBodyStarts[island];
+        const end = start + world.solveIslandBodyCounts[island];
+        for (let at = start; at < end; at += 1)
+            visit(world.bodies[world.solveIslandBodyIndices[at]]);
+    }
+}
+// Visits every joint the solve islands admit, paired with its registered solver. The workspace already
+// excluded unregistered kinds and sleeping islands, so the callback never has to ask again.
+function forEachSolveIslandJoint(world, visit) {
+    for (let island = 0; island < world.solveIslandRoots.length; island += 1) {
+        const start = world.solveIslandJointStarts[island];
+        const end = start + world.solveIslandJointCounts[island];
+        for (let at = start; at < end; at += 1) {
+            const joint = world.joints[world.solveIslandJointIndices[at]];
+            const solver = world.jointSolvers.get(joint.kind);
+            if (solver !== undefined)
+                visit(joint, solver);
+        }
+    }
+}
+// Moves every awake body by its solved velocity, then refreshes the world inertia the position pass is
+// about to read. Two passes rather than one, because a body's pose must not move between another body's
+// integration and its own: a single fused loop would have the second body's constraint arms measured
+// against a world the first body had already left.
+function forEachSolveIslandPose(world, dt) {
+    forEachSolveIslandBody(world, (body) => integrateRigidBody3DPose(body, dt));
+    forEachSolveIslandBody(world, refreshRigidBody3DWorldInertia);
+}
+function restoreContactHookFields(contact, friction, restitution, enabled, sensor) {
+    contact.friction = friction;
+    contact.restitution = restitution;
+    contact.enabled = enabled;
+    contact.sensor = sensor;
+}
+// Runs a contact hook over every resolvable contact, putting back the fields it may touch if it
+// misbehaves.
+//
+// Sensors are skipped, because they produce no constraint to solve and there is nothing for a hook to
+// adjust. A hook that throws, or that leaves a contact the step cannot use, has its four mutable fields
+// restored before the failure propagates — otherwise a caller catching the error would resume against a
+// world the hook half-edited.
+function runPhysics3DContactHook(world, hook, phase) {
+    if (hook === null)
+        return;
+    for (const contact of world.contacts) {
+        if (contact.sensor)
+            continue;
+        const friction = contact.friction;
+        const restitution = contact.restitution;
+        const enabled = contact.enabled;
+        const sensor = contact.sensor;
+        try {
+            hook(world, contact);
+        }
+        catch (error) {
+            restoreContactHookFields(contact, friction, restitution, enabled, sensor);
+            throw error;
+        }
+        if (!isPhysics3DContactValid(contact)) {
+            restoreContactHookFields(contact, friction, restitution, enabled, sensor);
+            throw new Error(`Physics3D ${phase} hook produced invalid contact state`);
+        }
+    }
+}
+// Expresses every cached impulse in the interval it is about to be reapplied over.
+//
+// An accumulated impulse has force-times-time units. Reusing one unchanged across a different interval
+// applies the wrong force before the first iteration can correct it, which presents as a stack or a motor
+// kicking whenever a frame changes cadence. The comparison is against the previous SUB-interval rather
+// than the previous whole step, because a sub-interval's iterations are what built the cache — which is
+// also why changing `substeps` between steps rescales correctly rather than silently by the wrong factor.
+//
+// A non-finite ratio clears the cache rather than seeding infinity from two otherwise-valid timesteps.
+function scalePhysics3DWarmStartCaches(world, dt) {
+    const previous = world.previousTimestep;
+    if (!(previous > 0) || previous === dt)
+        return;
+    const divided = dt / previous;
+    const timestepRatio = Number.isFinite(divided) ? divided : 0;
+    for (const constraint of world.solver.constraints) {
+        for (let i = 0; i < constraint.pointCount; i += 1) {
+            const point = constraint.points[i];
+            point.normalImpulse *= timestepRatio;
+            point.tangentImpulse0 *= timestepRatio;
+            point.tangentImpulse1 *= timestepRatio;
+        }
+    }
+    for (const joint of world.joints) {
+        joint.impulse0 *= timestepRatio;
+        joint.impulse1 *= timestepRatio;
+        joint.impulse2 *= timestepRatio;
+        joint.impulse3 *= timestepRatio;
+        joint.impulse4 *= timestepRatio;
+        joint.impulse5 *= timestepRatio;
+        world.jointSolvers.get(joint.kind)?.scaleAccumulatedImpulses?.(joint, timestepRatio);
+    }
+}
+// The body of one step whose preconditions already hold.
+function stepValidatedPhysics3D(world, dt) {
+    const substepDt = dt / world.config.substeps;
+    // Pre-solve runs before anything is scaled or prepared, so a hook that disables a contact for this step
+    // does so before the constraint that would have resolved it is built.
+    runPhysics3DContactHook(world, world.contactHooks.preSolve, 'pre-solve');
+    // Scale only after pre-solve succeeds. A callback may throw, and scaling first would leave the cache
+    // expressed in the new interval while `previousTimestep` still described the old one; a retry would
+    // then scale an already-scaled cache a second time.
+    scalePhysics3DWarmStartCaches(world, substepDt);
+    // Sleep is decided HERE — before anything integrates — which is what makes every wake transition cost
+    // zero steps. A body woken by a force, by a new neighbour, or by the caller writing a velocity is awake
+    // in time to be integrated by this same step; deciding after integration would skip it once and move it
+    // a step late. It is decided once per STEP rather than per sub-interval, because stillness measured over
+    // a fraction of a frame is a different and much twitchier quantity than the one `timeToSleep` names.
+    updatePhysics3DSleep(world, dt);
+    buildPhysics3DSolveIslands(world);
+    for (let substep = 0; substep < world.config.substeps; substep += 1) {
+        stepPhysics3DInterval(world, substepDt);
+    }
+    for (const body of world.bodies)
+        clearRigidBody3DForces(body);
+    world.previousTimestep = substepDt;
+    // Post-solve observes a committed step. A hook that throws here cannot prevent pose integration, force
+    // cleanup, or the timestep agreement above, so the next call never resumes a half-finished step.
+    runPhysics3DContactHook(world, world.contactHooks.postSolve, 'post-solve');
+}
+let physics3DStepGuard = null;
+//# sourceMappingURL=step.js.map

package/dist/step.js.map

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package/dist/stepValidation.d.ts

@@ -0,0 +1,12 @@
+import type { Physics3DContact, Physics3DSolverConfig, Physics3DWorld } from '@flighthq/types/contract';
+export declare function isPhysics3DBodyStateValid(world: Readonly<Physics3DWorld>): boolean;
+export declare function isPhysics3DContactStateValid(world: Readonly<Physics3DWorld>): boolean;
+export declare function isPhysics3DContactValid(contact: Readonly<Physics3DContact>): boolean;
+export declare function isPhysics3DGravityValid(world: Readonly<Physics3DWorld>): boolean;
+export declare function isPhysics3DJointStateValid(world: Readonly<Physics3DWorld>): boolean;
+export declare function isPhysics3DPositionIterationsValid(config: Readonly<Physics3DSolverConfig>): boolean;
+export declare function isPhysics3DSolverConfigValid(config: Readonly<Physics3DSolverConfig>): boolean;
+export declare function isPhysics3DSubstepsValid(config: Readonly<Physics3DSolverConfig>): boolean;
+export declare function isPhysics3DTimestepValid(dt: number): boolean;
+export declare function isPhysics3DVelocityIterationsValid(config: Readonly<Physics3DSolverConfig>): boolean;
+//# sourceMappingURL=stepValidation.d.ts.map

package/dist/stepValidation.d.ts.map

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

@@ -0,0 +1,201 @@
+// The preconditions one explicit step needs to be meaningful, each asked as its own question.
+//
+// Separate predicates rather than one `canStep`, because they are the rows of `Physics3DStepExplanation`
+// and a caller diagnosing a world that will not advance needs to know WHICH one failed. `stepPhysics3D`
+// asks all of them and returns silently on any false; `explainPhysics3DStep` asks the same ones and
+// reports. That is the diagnostics inversion — the step carries no messages, and the explain seam is
+// separately importable so a shipping build that never asks never links it.
+//
+// A world that fails one of these is not an error to throw on: a NaN velocity, a zero timestep, or a
+// negative iteration count is a state a caller can reach by writing a field, and a throw from inside the
+// step would take down a frame loop for something the caller can inspect and repair.
+export function isPhysics3DBodyStateValid(world) {
+    if (!Number.isSafeInteger(world.nextBodyIndex) || world.nextBodyIndex < 0)
+        return false;
+    for (const body of world.bodies) {
+        if (!isRigidBody3DStateValid(body) || world.bodyByIndex.get(body.index) !== body)
+            return false;
+    }
+    return true;
+}
+export function isPhysics3DContactStateValid(world) {
+    for (const contact of world.contacts) {
+        if (!isPhysics3DContactValid(contact))
+            return false;
+    }
+    return true;
+}
+// Also the post-hook check: a pre-solve or post-solve callback may write contact fields, and this is what
+// says whether what it wrote is still steppable.
+export function isPhysics3DContactValid(contact) {
+    if (!Number.isSafeInteger(contact.bodyA) ||
+        !Number.isSafeInteger(contact.bodyB) ||
+        !Number.isSafeInteger(contact.pointCount) ||
+        contact.pointCount < 0 ||
+        contact.pointCount > contact.points.length ||
+        !Number.isFinite(contact.normalX) ||
+        !Number.isFinite(contact.normalY) ||
+        !Number.isFinite(contact.normalZ) ||
+        !Number.isFinite(contact.friction) ||
+        contact.friction < 0 ||
+        !Number.isFinite(contact.restitution) ||
+        contact.restitution < 0 ||
+        typeof contact.enabled !== 'boolean' ||
+        typeof contact.sensor !== 'boolean' ||
+        typeof contact.touching !== 'boolean') {
+        return false;
+    }
+    for (let i = 0; i < contact.pointCount; i += 1) {
+        const point = contact.points[i];
+        if (point === undefined)
+            return false;
+        for (const key in point) {
+            const value = point[key];
+            if (typeof value === 'number' && !Number.isFinite(value))
+                return false;
+        }
+    }
+    return true;
+}
+export function isPhysics3DGravityValid(world) {
+    return Number.isFinite(world.gravityX) && Number.isFinite(world.gravityY) && Number.isFinite(world.gravityZ);
+}
+export function isPhysics3DJointStateValid(world) {
+    for (const joint of world.joints) {
+        if (!isPhysics3DJointValid(joint))
+            return false;
+    }
+    return true;
+}
+export function isPhysics3DPositionIterationsValid(config) {
+    const iterations = config.sequentialImpulse.positionIterations;
+    return Number.isSafeInteger(iterations) && iterations >= 0;
+}
+// The solver-independent knobs plus the sequential-impulse block. Iteration counts and `substeps` are
+// asked separately, because they are the three a caller is most likely to have tuned by hand and the
+// explanation names each of them.
+export function isPhysics3DSolverConfigValid(config) {
+    const sequential = config.sequentialImpulse;
+    return (typeof config.allowSleeping === 'boolean' &&
+        Number.isFinite(config.sleepLinearThreshold) &&
+        config.sleepLinearThreshold >= 0 &&
+        Number.isFinite(config.sleepAngularThreshold) &&
+        config.sleepAngularThreshold >= 0 &&
+        Number.isFinite(config.timeToSleep) &&
+        config.timeToSleep >= 0 &&
+        typeof config.continuousCollision === 'boolean' &&
+        Number.isSafeInteger(config.maxCcdSubsteps) &&
+        config.maxCcdSubsteps >= 0 &&
+        Number.isFinite(sequential.penetrationSlop) &&
+        sequential.penetrationSlop >= 0 &&
+        Number.isFinite(sequential.positionCorrection) &&
+        sequential.positionCorrection >= 0 &&
+        sequential.positionCorrection <= 1 &&
+        Number.isFinite(sequential.restitutionThreshold) &&
+        sequential.restitutionThreshold >= 0 &&
+        typeof sequential.warmStarting === 'boolean');
+}
+// At least one, because `substeps` divides the timestep and the step runs the loop that many times. Zero
+// would advance nothing while reporting a completed step, which is worse than declining to step at all.
+export function isPhysics3DSubstepsValid(config) {
+    return Number.isSafeInteger(config.substeps) && config.substeps >= 1;
+}
+export function isPhysics3DTimestepValid(dt) {
+    return Number.isFinite(dt) && dt > 0;
+}
+export function isPhysics3DVelocityIterationsValid(config) {
+    const iterations = config.sequentialImpulse.velocityIterations;
+    return Number.isSafeInteger(iterations) && iterations >= 0;
+}
+function isPhysics3DJointValid(joint) {
+    if (typeof joint.kind !== 'string' ||
+        joint.kind.length === 0 ||
+        !Number.isSafeInteger(joint.bodyA) ||
+        !Number.isSafeInteger(joint.bodyB) ||
+        typeof joint.collideConnected !== 'boolean') {
+        return false;
+    }
+    // Every numeric field, whatever the kind added — a limit, a motor speed, a frame component. Walking the
+    // object rather than a fixed key list is what makes this cover a user's own joint kind, which is the
+    // point of an open registry.
+    for (const key in joint) {
+        const value = joint[key];
+        if (typeof value === 'number' && !Number.isFinite(value))
+            return false;
+    }
+    return true;
+}
+function isRigidBody3DStateValid(body) {
+    if (!Number.isSafeInteger(body.index) ||
+        body.index < 0 ||
+        (body.type !== 'dynamic' && body.type !== 'kinematic' && body.type !== 'static') ||
+        typeof body.fixedRotation !== 'boolean' ||
+        typeof body.bullet !== 'boolean' ||
+        typeof body.sleeping !== 'boolean' ||
+        typeof body.sleepEnabled !== 'boolean' ||
+        !Number.isFinite(body.sleepTimer) ||
+        body.sleepTimer < 0 ||
+        !Number.isFinite(body.linearDamping) ||
+        body.linearDamping < 0 ||
+        !Number.isFinite(body.angularDamping) ||
+        body.angularDamping < 0 ||
+        !Number.isFinite(body.gravityScale) ||
+        !Number.isFinite(body.mass) ||
+        body.mass < 0 ||
+        !Number.isFinite(body.inverseMass) ||
+        body.inverseMass < 0) {
+        return false;
+    }
+    for (const key of rigidBody3DFiniteKeys) {
+        if (!Number.isFinite(body[key]))
+            return false;
+    }
+    return true;
+}
+// Every field that has to be a real number for the step to mean anything: the pose, the velocities, the
+// accumulators, the centre of mass, and all three inertia tensors. The world tensor is derived and is
+// included anyway — it is what every constraint row multiplies by, so a NaN there reaches both bodies of
+// every contact and joint within one substep.
+const rigidBody3DFiniteKeys = [
+    'x',
+    'y',
+    'z',
+    'orientationX',
+    'orientationY',
+    'orientationZ',
+    'orientationW',
+    'velocityX',
+    'velocityY',
+    'velocityZ',
+    'angularVelocityX',
+    'angularVelocityY',
+    'angularVelocityZ',
+    'forceX',
+    'forceY',
+    'forceZ',
+    'torqueX',
+    'torqueY',
+    'torqueZ',
+    'centerX',
+    'centerY',
+    'centerZ',
+    'inertiaXX',
+    'inertiaYY',
+    'inertiaZZ',
+    'inertiaXY',
+    'inertiaXZ',
+    'inertiaYZ',
+    'inverseInertiaXX',
+    'inverseInertiaYY',
+    'inverseInertiaZZ',
+    'inverseInertiaXY',
+    'inverseInertiaXZ',
+    'inverseInertiaYZ',
+    'inverseInertiaWorldXX',
+    'inverseInertiaWorldYY',
+    'inverseInertiaWorldZZ',
+    'inverseInertiaWorldXY',
+    'inverseInertiaWorldXZ',
+    'inverseInertiaWorldYZ',
+];
+//# sourceMappingURL=stepValidation.js.map

package/dist/stepValidation.js.map

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package/dist/symmetricTensor.d.ts

@@ -0,0 +1,11 @@
+export declare const TENSOR_XX = 0;
+export declare const TENSOR_YY = 1;
+export declare const TENSOR_ZZ = 2;
+export declare const TENSOR_XY = 3;
+export declare const TENSOR_XZ = 4;
+export declare const TENSOR_YZ = 5;
+export declare function applySymmetricTensor(tensor: Readonly<ArrayLike<number>>, vX: number, vY: number, vZ: number, out: number[]): void;
+export declare function inverseSymmetricTensor(tensor: Readonly<ArrayLike<number>>, out: number[]): boolean;
+export declare function rotateSymmetricTensor(tensor: Readonly<ArrayLike<number>>, quaternionX: number, quaternionY: number, quaternionZ: number, quaternionW: number, out: number[]): void;
+export declare function translateSymmetricTensor(tensor: Readonly<ArrayLike<number>>, mass: number, dX: number, dY: number, dZ: number, out: number[]): void;
+//# sourceMappingURL=symmetricTensor.d.ts.map

package/dist/symmetricTensor.d.ts.map

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