@flighthq/physics3d 0.4.0-next.1725.752ca79 → 0.4.0-next.1749.d81a21c

package/dist/broadphase.d.ts

@@ -0,0 +1,4 @@
+import type { Physics3DWorld } from '@flighthq/types/contract';
+export declare function synchronizePhysics3DBroadphase(world: Physics3DWorld): void;
+export declare function synchronizePhysics3DSweptBroadphase(world: Physics3DWorld, dt: number): void;
+//# sourceMappingURL=broadphase.d.ts.map

package/dist/broadphase.d.ts.map

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

@@ -0,0 +1,152 @@
+import { updatePhysics3DColliderWorldShape, writePhysics3DColliderBounds } from './colliderTransform';
+// Refreshes every collider's world shape and republishes its body's bounds to the broadphase index. The
+// step and the public world queries share this path, so a query observes the body's current authored
+// pose rather than the pre-integration snapshot the most recent contact set was built from.
+export function synchronizePhysics3DBroadphase(world) {
+    const scratch = acquirePhysics3DBroadphaseScratch();
+    try {
+        synchronizePhysics3DBroadphaseWithScratch(world, scratch, 0);
+    }
+    finally {
+        releasePhysics3DBroadphaseScratch(scratch);
+    }
+}
+// Publishes the union of every body's current bounds and the bounds it would have after `dt` of its
+// current motion — the volume it sweeps through, which is what a continuous pass must find candidates in.
+//
+// The ORDINARY index is reused rather than a second swept one. A continuous step queries the candidate
+// pairs immediately and then restores the current bounds, so nothing observes the widened state, and the
+// backend swap point stays single.
+export function synchronizePhysics3DSweptBroadphase(world, dt) {
+    const scratch = acquirePhysics3DBroadphaseScratch();
+    try {
+        synchronizePhysics3DBroadphaseWithScratch(world, scratch, dt);
+    }
+    finally {
+        releasePhysics3DBroadphaseScratch(scratch);
+    }
+}
+// The BODY is what the index holds, not the collider: a `SpatialObjectId` is one number, and the pair
+// query returns pairs of them. Indexing colliders would need a composite id, and the step already
+// refines a body pair down to its collider pairs — which is where the filter and sensor decisions live
+// anyway.
+function synchronizePhysics3DBroadphaseWithScratch(world, scratch, dt) {
+    for (const body of world.bodies) {
+        let minX = Infinity;
+        let minY = Infinity;
+        let minZ = Infinity;
+        let maxX = -Infinity;
+        let maxY = -Infinity;
+        let maxZ = -Infinity;
+        let rotationRadiusSquared = 0;
+        for (const collider of body.colliders) {
+            updatePhysics3DColliderWorldShape(collider, body);
+            writePhysics3DColliderBounds(collider, scratch.bounds);
+            if (scratch.bounds.minX < minX)
+                minX = scratch.bounds.minX;
+            if (scratch.bounds.minY < minY)
+                minY = scratch.bounds.minY;
+            if (scratch.bounds.minZ < minZ)
+                minZ = scratch.bounds.minZ;
+            if (scratch.bounds.maxX > maxX)
+                maxX = scratch.bounds.maxX;
+            if (scratch.bounds.maxY > maxY)
+                maxY = scratch.bounds.maxY;
+            if (scratch.bounds.maxZ > maxZ)
+                maxZ = scratch.bounds.maxZ;
+            if (dt > 0) {
+                const radiusX = Math.max(Math.abs(scratch.bounds.minX - body.x), Math.abs(scratch.bounds.maxX - body.x));
+                const radiusY = Math.max(Math.abs(scratch.bounds.minY - body.y), Math.abs(scratch.bounds.maxY - body.y));
+                const radiusZ = Math.max(Math.abs(scratch.bounds.minZ - body.z), Math.abs(scratch.bounds.maxZ - body.z));
+                const radiusSquared = radiusX * radiusX + radiusY * radiusY + radiusZ * radiusZ;
+                if (radiusSquared > rotationRadiusSquared)
+                    rotationRadiusSquared = radiusSquared;
+            }
+        }
+        if (minX > maxX) {
+            // No collider produced bounds, so there is nothing to index. Withdraw rather than skip: the id may
+            // have been indexed on a previous step, and stale bounds would keep returning a body that has since
+            // lost its geometry.
+            world.index.removeSpatialObject(body.index);
+            continue;
+        }
+        if (dt > 0 && body.type !== 'static' && !body.sleeping) {
+            const translationX = body.velocityX * dt;
+            const translationY = body.velocityY * dt;
+            const translationZ = body.velocityZ * dt;
+            const spinning = body.angularVelocityX !== 0 || body.angularVelocityY !== 0 || body.angularVelocityZ !== 0;
+            if (spinning) {
+                // A SPHERE around the body origin encloses every orientation of every collider, so sweeping that
+                // sphere along the origin's translation is conservative for arbitrary rotation — including an
+                // offset collider whose centre follows an arc rather than the straight line a shape sweep assumes.
+                const radius = Math.sqrt(rotationRadiusSquared);
+                minX = Math.min(minX, body.x - radius, body.x + translationX - radius);
+                minY = Math.min(minY, body.y - radius, body.y + translationY - radius);
+                minZ = Math.min(minZ, body.z - radius, body.z + translationZ - radius);
+                maxX = Math.max(maxX, body.x + radius, body.x + translationX + radius);
+                maxY = Math.max(maxY, body.y + radius, body.y + translationY + radius);
+                maxZ = Math.max(maxZ, body.z + radius, body.z + translationZ + radius);
+            }
+            else {
+                if (translationX < 0)
+                    minX += translationX;
+                else
+                    maxX += translationX;
+                if (translationY < 0)
+                    minY += translationY;
+                else
+                    maxY += translationY;
+                if (translationZ < 0)
+                    minZ += translationZ;
+                else
+                    maxZ += translationZ;
+            }
+        }
+        // The spatial package bounds its own indexing cost. This second limit expresses the physics world's
+        // stricter judgement that a non-finite or ten-million-unit body has diverged and should no longer
+        // participate in collision or queries.
+        if (!Number.isFinite(minX) ||
+            !Number.isFinite(minY) ||
+            !Number.isFinite(minZ) ||
+            !Number.isFinite(maxX) ||
+            !Number.isFinite(maxY) ||
+            !Number.isFinite(maxZ) ||
+            maxX - minX > MAX_SIMULATED_EXTENT ||
+            maxY - minY > MAX_SIMULATED_EXTENT ||
+            maxZ - minZ > MAX_SIMULATED_EXTENT) {
+            world.index.removeSpatialObject(body.index);
+            continue;
+        }
+        scratch.bodyBounds.minX = minX;
+        scratch.bodyBounds.minY = minY;
+        scratch.bodyBounds.minZ = minZ;
+        // Spatial cells use half-open containment while collision point tests include a shape's boundary.
+        // Publish a minimally conservative upper corner so an exact query at the maximum remains a broadphase
+        // candidate, and so a degenerate zero-volume collider still spans a non-empty indexed cell.
+        scratch.bodyBounds.maxX = paddedUpperBound(maxX);
+        scratch.bodyBounds.maxY = paddedUpperBound(maxY);
+        scratch.bodyBounds.maxZ = paddedUpperBound(maxZ);
+        world.index.updateSpatialObject(body.index, scratch.bodyBounds);
+    }
+}
+function paddedUpperBound(value) {
+    const padded = value + Math.max(1, Math.abs(value)) * Number.EPSILON * 4;
+    return Number.isFinite(padded) ? padded : value;
+}
+// The widest body this world still treats as simulating. Named for what it bounds — the simulation's
+// tolerance for divergence — not for the index, which bounds its own insert cost independently.
+const MAX_SIMULATED_EXTENT = 1e7;
+function acquirePhysics3DBroadphaseScratch() {
+    return physics3DBroadphaseScratchPool.pop() ?? createPhysics3DBroadphaseScratch();
+}
+function createPhysics3DBroadphaseScratch() {
+    return {
+        bounds: { minX: 0, minY: 0, minZ: 0, maxX: 0, maxY: 0, maxZ: 0 },
+        bodyBounds: { minX: 0, minY: 0, minZ: 0, maxX: 0, maxY: 0, maxZ: 0 },
+    };
+}
+function releasePhysics3DBroadphaseScratch(scratch) {
+    physics3DBroadphaseScratchPool.push(scratch);
+}
+const physics3DBroadphaseScratchPool = [createPhysics3DBroadphaseScratch()];
+//# sourceMappingURL=broadphase.js.map

package/dist/broadphase.js.map

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

@@ -0,0 +1,5 @@
+import type { CollisionBuiltInShape3D, Physics3DCollider, RigidBody3D, SpatialAabb3D } from '@flighthq/types/contract';
+export declare function createPhysics3DColliderWorldShape(local: Readonly<CollisionBuiltInShape3D>): CollisionBuiltInShape3D;
+export declare function updatePhysics3DColliderWorldShape(collider: Physics3DCollider, body: Readonly<RigidBody3D>): void;
+export declare function writePhysics3DColliderBounds(collider: Readonly<Physics3DCollider>, out: SpatialAabb3D): void;
+//# sourceMappingURL=colliderTransform.d.ts.map

package/dist/colliderTransform.d.ts.map

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package/dist/colliderTransform.js

@@ -0,0 +1,245 @@
+// Allocates the world-space shape a collider needs for `local`, choosing the kind the transform can
+// actually express. Every field is filled at creation so the shape is never read half-initialised, and
+// convex-hull storage is sized once here so the per-step transform can write in place.
+export function createPhysics3DColliderWorldShape(local) {
+    switch (local.kind) {
+        case 'sphere':
+            return { kind: 'sphere', x: local.x, y: local.y, z: local.z, radius: local.radius };
+        case 'aabb':
+        case 'box':
+            return {
+                kind: 'box',
+                x: 0,
+                y: 0,
+                z: 0,
+                halfX: 0,
+                halfY: 0,
+                halfZ: 0,
+                rotationX: 0,
+                rotationY: 0,
+                rotationZ: 0,
+                rotationW: 1,
+            };
+        case 'capsule':
+            return {
+                kind: 'capsule',
+                x0: local.x0,
+                y0: local.y0,
+                z0: local.z0,
+                x1: local.x1,
+                y1: local.y1,
+                z1: local.z1,
+                radius: local.radius,
+            };
+        case 'convex':
+            return { kind: 'convex', points: local.points.slice() };
+        default:
+            return { kind: 'sphere', x: 0, y: 0, z: 0, radius: 0 };
+    }
+}
+// Rewrites `collider.world` from its local shape and the body's current pose. Called once per collider
+// per step, before the narrow phase — never per contact test, because a body with four colliders against
+// a hundred broadphase candidates would otherwise transform the same shape a hundred times to produce
+// the same answer.
+//
+// The world shape is preallocated at collider creation and mutated in place, so a step allocates
+// nothing. Hull points are the only variable-length part, and the world array is sized once from the
+// local one; `invalidatePhysics3DCollider` replaces that storage after an authored shape changes.
+export function updatePhysics3DColliderWorldShape(collider, body) {
+    const local = collider.local;
+    const world = collider.world;
+    const qX = body.orientationX;
+    const qY = body.orientationY;
+    const qZ = body.orientationZ;
+    const qW = body.orientationW;
+    if (local.kind === 'sphere' && world.kind === 'sphere') {
+        rotatePhysics3DPoint(qX, qY, qZ, qW, local.x, local.y, local.z, scratchPoint);
+        world.x = body.x + scratchPoint[0];
+        world.y = body.y + scratchPoint[1];
+        world.z = body.z + scratchPoint[2];
+        world.radius = local.radius;
+        return;
+    }
+    // An axis-aligned box promotes to an ORIENTED box in world space: rotate it and it is no longer
+    // axis-aligned, and silently keeping the `aabb` kind would grow the box to its bounding extent the
+    // first time the body turned.
+    if (local.kind === 'aabb' && world.kind === 'box') {
+        const centerX = (local.minX + local.maxX) / 2;
+        const centerY = (local.minY + local.maxY) / 2;
+        const centerZ = (local.minZ + local.maxZ) / 2;
+        rotatePhysics3DPoint(qX, qY, qZ, qW, centerX, centerY, centerZ, scratchPoint);
+        world.x = body.x + scratchPoint[0];
+        world.y = body.y + scratchPoint[1];
+        world.z = body.z + scratchPoint[2];
+        world.halfX = (local.maxX - local.minX) / 2;
+        world.halfY = (local.maxY - local.minY) / 2;
+        world.halfZ = (local.maxZ - local.minZ) / 2;
+        world.rotationX = qX;
+        world.rotationY = qY;
+        world.rotationZ = qZ;
+        world.rotationW = qW;
+        return;
+    }
+    if (local.kind === 'box' && world.kind === 'box') {
+        rotatePhysics3DPoint(qX, qY, qZ, qW, local.x, local.y, local.z, scratchPoint);
+        world.x = body.x + scratchPoint[0];
+        world.y = body.y + scratchPoint[1];
+        world.z = body.z + scratchPoint[2];
+        world.halfX = local.halfX;
+        world.halfY = local.halfY;
+        world.halfZ = local.halfZ;
+        // Quaternion composition, body THEN local — the order a local rotation is applied first and the
+        // body's on top of it. Reversing the operands is the classic silent error: it produces a valid unit
+        // quaternion describing the wrong orientation, so nothing is non-finite and nothing throws.
+        world.rotationX = qW * local.rotationX + qX * local.rotationW + qY * local.rotationZ - qZ * local.rotationY;
+        world.rotationY = qW * local.rotationY - qX * local.rotationZ + qY * local.rotationW + qZ * local.rotationX;
+        world.rotationZ = qW * local.rotationZ + qX * local.rotationY - qY * local.rotationX + qZ * local.rotationW;
+        world.rotationW = qW * local.rotationW - qX * local.rotationX - qY * local.rotationY - qZ * local.rotationZ;
+        return;
+    }
+    if (local.kind === 'capsule' && world.kind === 'capsule') {
+        rotatePhysics3DPoint(qX, qY, qZ, qW, local.x0, local.y0, local.z0, scratchPoint);
+        world.x0 = body.x + scratchPoint[0];
+        world.y0 = body.y + scratchPoint[1];
+        world.z0 = body.z + scratchPoint[2];
+        rotatePhysics3DPoint(qX, qY, qZ, qW, local.x1, local.y1, local.z1, scratchPoint);
+        world.x1 = body.x + scratchPoint[0];
+        world.y1 = body.y + scratchPoint[1];
+        world.z1 = body.z + scratchPoint[2];
+        world.radius = local.radius;
+        return;
+    }
+    if (local.kind === 'convex' && world.kind === 'convex') {
+        const source = local.points;
+        const target = world.points;
+        for (let i = 0; i + 2 < source.length; i += 3) {
+            rotatePhysics3DPoint(qX, qY, qZ, qW, source[i], source[i + 1], source[i + 2], scratchPoint);
+            target[i] = body.x + scratchPoint[0];
+            target[i + 1] = body.y + scratchPoint[1];
+            target[i + 2] = body.z + scratchPoint[2];
+        }
+    }
+}
+// Writes `collider.world`'s axis-aligned bounds into `out` — the broadphase's view of the collider.
+// Bounds are computed from the WORLD shape rather than by transforming local bounds, because rotating
+// an extent and rotating a shape's bounds are different boxes: the second is the bound of the first and
+// grows without limit as the body spins.
+export function writePhysics3DColliderBounds(collider, out) {
+    const shape = collider.world;
+    switch (shape.kind) {
+        case 'sphere':
+            out.minX = shape.x - shape.radius;
+            out.minY = shape.y - shape.radius;
+            out.minZ = shape.z - shape.radius;
+            out.maxX = shape.x + shape.radius;
+            out.maxY = shape.y + shape.radius;
+            out.maxZ = shape.z + shape.radius;
+            return;
+        case 'aabb':
+            out.minX = shape.minX;
+            out.minY = shape.minY;
+            out.minZ = shape.minZ;
+            out.maxX = shape.maxX;
+            out.maxY = shape.maxY;
+            out.maxZ = shape.maxZ;
+            return;
+        case 'box': {
+            // The support of a rotated box along each world axis: the absolute row of its rotation matrix
+            // dotted with the half extents. Taking absolute values is what makes this the extent of the
+            // rotated box rather than of one particular corner.
+            const x = shape.rotationX;
+            const y = shape.rotationY;
+            const z = shape.rotationZ;
+            const w = shape.rotationW;
+            const m00 = Math.abs(1 - 2 * (y * y + z * z));
+            const m01 = Math.abs(2 * (x * y - w * z));
+            const m02 = Math.abs(2 * (x * z + w * y));
+            const m10 = Math.abs(2 * (x * y + w * z));
+            const m11 = Math.abs(1 - 2 * (x * x + z * z));
+            const m12 = Math.abs(2 * (y * z - w * x));
+            const m20 = Math.abs(2 * (x * z - w * y));
+            const m21 = Math.abs(2 * (y * z + w * x));
+            const m22 = Math.abs(1 - 2 * (x * x + y * y));
+            const extentX = m00 * shape.halfX + m01 * shape.halfY + m02 * shape.halfZ;
+            const extentY = m10 * shape.halfX + m11 * shape.halfY + m12 * shape.halfZ;
+            const extentZ = m20 * shape.halfX + m21 * shape.halfY + m22 * shape.halfZ;
+            out.minX = shape.x - extentX;
+            out.minY = shape.y - extentY;
+            out.minZ = shape.z - extentZ;
+            out.maxX = shape.x + extentX;
+            out.maxY = shape.y + extentY;
+            out.maxZ = shape.z + extentZ;
+            return;
+        }
+        case 'capsule':
+            out.minX = Math.min(shape.x0, shape.x1) - shape.radius;
+            out.minY = Math.min(shape.y0, shape.y1) - shape.radius;
+            out.minZ = Math.min(shape.z0, shape.z1) - shape.radius;
+            out.maxX = Math.max(shape.x0, shape.x1) + shape.radius;
+            out.maxY = Math.max(shape.y0, shape.y1) + shape.radius;
+            out.maxZ = Math.max(shape.z0, shape.z1) + shape.radius;
+            return;
+        case 'convex': {
+            const points = shape.points;
+            if (points.length < 3) {
+                out.minX = 0;
+                out.minY = 0;
+                out.minZ = 0;
+                out.maxX = 0;
+                out.maxY = 0;
+                out.maxZ = 0;
+                return;
+            }
+            let minX = points[0];
+            let minY = points[1];
+            let minZ = points[2];
+            let maxX = minX;
+            let maxY = minY;
+            let maxZ = minZ;
+            for (let i = 3; i + 2 < points.length; i += 3) {
+                const x = points[i];
+                const y = points[i + 1];
+                const z = points[i + 2];
+                if (x < minX)
+                    minX = x;
+                else if (x > maxX)
+                    maxX = x;
+                if (y < minY)
+                    minY = y;
+                else if (y > maxY)
+                    maxY = y;
+                if (z < minZ)
+                    minZ = z;
+                else if (z > maxZ)
+                    maxZ = z;
+            }
+            out.minX = minX;
+            out.minY = minY;
+            out.minZ = minZ;
+            out.maxX = maxX;
+            out.maxY = maxY;
+            out.maxZ = maxZ;
+            return;
+        }
+        default:
+            out.minX = 0;
+            out.minY = 0;
+            out.minZ = 0;
+            out.maxX = 0;
+            out.maxY = 0;
+            out.maxZ = 0;
+    }
+}
+// Rotates (`x`,`y`,`z`) by the unit quaternion, writing three components into `out`. The two-cross-product
+// form rather than a matrix build: this runs per point of every hull of every collider every step, and
+// materialising nine matrix entries to use them once is the more expensive of the two.
+function rotatePhysics3DPoint(qX, qY, qZ, qW, x, y, z, out) {
+    const tX = 2 * (qY * z - qZ * y);
+    const tY = 2 * (qZ * x - qX * z);
+    const tZ = 2 * (qX * y - qY * x);
+    out[0] = x + qW * tX + qY * tZ - qZ * tY;
+    out[1] = y + qW * tY + qZ * tX - qX * tZ;
+    out[2] = z + qW * tZ + qX * tY - qY * tX;
+}
+const scratchPoint = [0, 0, 0];
+//# sourceMappingURL=colliderTransform.js.map

package/dist/colliderTransform.js.map

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package/dist/contactIntake.d.ts

@@ -0,0 +1,4 @@
+import type { Physics3DContactIntakeGuard, Physics3DWorld } from '@flighthq/types/contract';
+export declare function buildPhysics3DContacts(world: Physics3DWorld): void;
+export declare function setPhysics3DContactIntakeGuard(guard: Physics3DContactIntakeGuard | null): void;
+//# sourceMappingURL=contactIntake.d.ts.map

package/dist/contactIntake.d.ts.map

@@ -0,0 +1 @@
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