npm - @flighthq/physics3d - Versions diffs - 0.4.0-next.1752.f250cb9 → 0.4.0-next.1771.f4d15c3 - Mend

@flighthq/physics3d 0.4.0-next.1752.f250cb9 → 0.4.0-next.1771.f4d15c3

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (32) hide show

package/dist/colliderTransform.d.ts.map +1 -1
package/dist/colliderTransform.js +98 -0
package/dist/colliderTransform.js.map +1 -1
package/dist/debugGeometry.js +74 -0
package/dist/debugGeometry.js.map +1 -1
package/dist/index.d.ts +2 -2
package/dist/index.d.ts.map +1 -1
package/dist/index.js +2 -2
package/dist/index.js.map +1 -1
package/dist/jointFactories.d.ts.map +1 -1
package/dist/jointFactories.js +12 -0
package/dist/jointFactories.js.map +1 -1
package/dist/jointRows.d.ts +3 -2
package/dist/jointRows.d.ts.map +1 -1
package/dist/jointRows.js +48 -4
package/dist/jointRows.js.map +1 -1
package/dist/joints.d.ts.map +1 -1
package/dist/joints.js +75 -36
package/dist/joints.js.map +1 -1
package/dist/massProperties.d.ts +2 -0
package/dist/massProperties.d.ts.map +1 -1
package/dist/massProperties.js +55 -0
package/dist/massProperties.js.map +1 -1
package/dist/worldQueries.d.ts +3 -1
package/dist/worldQueries.d.ts.map +1 -1
package/dist/worldQueries.js +131 -4
package/dist/worldQueries.js.map +1 -1
package/package.json +5 -5
package/src/jointRows.test.ts +71 -7
package/src/joints.test.ts +125 -0
package/src/massProperties.test.ts +89 -0
package/src/worldQueries.test.ts +127 -0

package/dist/colliderTransform.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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1	+ {"version":3,"file":"colliderTransform.d.ts","sourceRoot":"","sources":["../src/colliderTransform.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,uBAAuB,EAAE,iBAAiB,EAAE,WAAW,EAAE,aAAa,EAAE,MAAM,0BAA0B,CAAC;AAKvH,wBAAgB,iCAAiC,CAAC,KAAK,EAAE,QAAQ,CAAC,uBAAuB,CAAC,GAAG,uBAAuB,CAyDnH;AAUD,wBAAgB,iCAAiC,CAAC,QAAQ,EAAE,iBAAiB,EAAE,IAAI,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,IAAI,CAyGhH;AAMD,wBAAgB,4BAA4B,CAAC,QAAQ,EAAE,QAAQ,CAAC,iBAAiB,CAAC,EAAE,GAAG,EAAE,aAAa,GAAG,IAAI,CAmI5G"}

package/dist/colliderTransform.js CHANGED Viewed

@@ -31,6 +31,28 @@ export function createPhysics3DColliderWorldShape(local) {
                 z1: local.z1,
                 radius: local.radius,
             };
+        case 'cylinder':
+            return {
+                kind: 'cylinder',
+                x0: local.x0,
+                y0: local.y0,
+                z0: local.z0,
+                x1: local.x1,
+                y1: local.y1,
+                z1: local.z1,
+                radius: local.radius,
+            };
+        case 'cone':
+            return {
+                kind: 'cone',
+                apexX: local.apexX,
+                apexY: local.apexY,
+                apexZ: local.apexZ,
+                baseX: local.baseX,
+                baseY: local.baseY,
+                baseZ: local.baseZ,
+                radius: local.radius,
+            };
         case 'convex':
             return { kind: 'convex', points: local.points.slice() };
         default:
@@ -109,6 +131,30 @@ export function updatePhysics3DColliderWorldShape(collider, body) {
         world.radius = local.radius;
         return;
     }
+    if (local.kind === 'cylinder' && world.kind === 'cylinder') {
+        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 === 'cone' && world.kind === 'cone') {
+        rotatePhysics3DPoint(qX, qY, qZ, qW, local.apexX, local.apexY, local.apexZ, scratchPoint);
+        world.apexX = body.x + scratchPoint[0];
+        world.apexY = body.y + scratchPoint[1];
+        world.apexZ = body.z + scratchPoint[2];
+        rotatePhysics3DPoint(qX, qY, qZ, qW, local.baseX, local.baseY, local.baseZ, scratchPoint);
+        world.baseX = body.x + scratchPoint[0];
+        world.baseY = body.y + scratchPoint[1];
+        world.baseZ = body.z + scratchPoint[2];
+        world.radius = local.radius;
+        return;
+    }
     if (local.kind === 'convex' && world.kind === 'convex') {
         const source = local.points;
         const target = world.points;
@@ -179,6 +225,32 @@ export function writePhysics3DColliderBounds(collider, out) {
             out.maxY = Math.max(shape.y0, shape.y1) + shape.radius;
             out.maxZ = Math.max(shape.z0, shape.z1) + shape.radius;
             return;
+        case 'cylinder': {
+            // A cylinder's cap is a DISC, not a sphere, so its extent along each axis is `radius` reduced by
+            // how much the axis lies along the cylinder's own. Padding by the full radius the way the capsule
+            // above does is valid but loose — an axis-aligned cylinder would claim a bounding box a full
+            // radius too tall, and every extra unit is broadphase pairs the narrow phase then has to reject.
+            writeDiscExtent(shape.x1 - shape.x0, shape.y1 - shape.y0, shape.z1 - shape.z0, shape.radius, scratchExtent);
+            out.minX = Math.min(shape.x0, shape.x1) - scratchExtent[0];
+            out.minY = Math.min(shape.y0, shape.y1) - scratchExtent[1];
+            out.minZ = Math.min(shape.z0, shape.z1) - scratchExtent[2];
+            out.maxX = Math.max(shape.x0, shape.x1) + scratchExtent[0];
+            out.maxY = Math.max(shape.y0, shape.y1) + scratchExtent[1];
+            out.maxZ = Math.max(shape.z0, shape.z1) + scratchExtent[2];
+            return;
+        }
+        case 'cone': {
+            // The union of a point and a disc: the apex contributes no extent at all, so padding it the way
+            // the base is padded would describe a cylinder rather than a cone.
+            writeDiscExtent(shape.baseX - shape.apexX, shape.baseY - shape.apexY, shape.baseZ - shape.apexZ, shape.radius, scratchExtent);
+            out.minX = Math.min(shape.apexX, shape.baseX - scratchExtent[0]);
+            out.minY = Math.min(shape.apexY, shape.baseY - scratchExtent[1]);
+            out.minZ = Math.min(shape.apexZ, shape.baseZ - scratchExtent[2]);
+            out.maxX = Math.max(shape.apexX, shape.baseX + scratchExtent[0]);
+            out.maxY = Math.max(shape.apexY, shape.baseY + scratchExtent[1]);
+            out.maxZ = Math.max(shape.apexZ, shape.baseZ + scratchExtent[2]);
+            return;
+        }
         case 'convex': {
             const points = shape.points;
             if (points.length < 3) {
@@ -241,5 +313,31 @@ function rotatePhysics3DPoint(qX, qY, qZ, qW, x, y, z, out) {
     out[1] = y + qW * tY + qZ * tX - qX * tZ;
     out[2] = z + qW * tZ + qX * tY - qY * tX;
 }
+// The per-axis half-extent of a disc of `radius` whose plane normal is `axis`, written as `[x, y, z]`.
+//
+// A disc reaches its full radius along an axis only when that axis lies IN its plane; along its own
+// normal it reaches nothing. `sqrt(1 - component^2)` is exactly that falloff, with `component` the
+// direction cosine between the world axis and the disc's normal. A degenerate (zero) axis has no plane,
+// so the full radius is returned on every axis — the conservative answer, matching what validation
+// would have rejected anyway.
+function writeDiscExtent(axisX, axisY, axisZ, radius, out) {
+    const lengthSquared = axisX * axisX + axisY * axisY + axisZ * axisZ;
+    if (lengthSquared <= 0) {
+        out[0] = radius;
+        out[1] = radius;
+        out[2] = radius;
+        return;
+    }
+    const inverse = 1 / Math.sqrt(lengthSquared);
+    const nx = axisX * inverse;
+    const ny = axisY * inverse;
+    const nz = axisZ * inverse;
+    // Clamped at zero because 1 - n^2 can land a few ulps below it when the axis is exactly cardinal, and
+    // Math.sqrt of a negative would put NaN into a broadphase bound.
+    out[0] = radius * Math.sqrt(Math.max(0, 1 - nx * nx));
+    out[1] = radius * Math.sqrt(Math.max(0, 1 - ny * ny));
+    out[2] = radius * Math.sqrt(Math.max(0, 1 - nz * nz));
+}
+const scratchExtent = [0, 0, 0];
 const scratchPoint = [0, 0, 0];
 //# sourceMappingURL=colliderTransform.js.map

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package/dist/debugGeometry.js CHANGED Viewed

@@ -79,6 +79,25 @@ function writeCollider(out, shape, body) {
             writeLine(out, 'collider', body.index, -1, scratchAnchorA[0], scratchAnchorA[1], scratchAnchorA[2], scratchAnchorB[0], scratchAnchorB[1], scratchAnchorB[2]);
             return;
         }
+        case 'cylinder': {
+            // The axis plus a ring at each cap. No spheres, unlike the capsule above — drawing one would show
+            // the rounded ends the cylinder deliberately does not have, and the two kinds would look identical
+            // in a debug view precisely where they differ.
+            writeBodyPoint(body, shape.x0, shape.y0, shape.z0, scratchAnchorA);
+            writeBodyPoint(body, shape.x1, shape.y1, shape.z1, scratchAnchorB);
+            writeAxialRing(out, body.index, scratchAnchorA, scratchAnchorB, shape.radius, 0);
+            writeAxialRing(out, body.index, scratchAnchorA, scratchAnchorB, shape.radius, 1);
+            writeLine(out, 'collider', body.index, -1, scratchAnchorA[0], scratchAnchorA[1], scratchAnchorA[2], scratchAnchorB[0], scratchAnchorB[1], scratchAnchorB[2]);
+            return;
+        }
+        case 'cone': {
+            // The base ring, plus the axis out to the apex. The apex is a point and needs no ring of its own.
+            writeBodyPoint(body, shape.apexX, shape.apexY, shape.apexZ, scratchAnchorA);
+            writeBodyPoint(body, shape.baseX, shape.baseY, shape.baseZ, scratchAnchorB);
+            writeAxialRing(out, body.index, scratchAnchorA, scratchAnchorB, shape.radius, 1);
+            writeLine(out, 'collider', body.index, -1, scratchAnchorA[0], scratchAnchorA[1], scratchAnchorA[2], scratchAnchorB[0], scratchAnchorB[1], scratchAnchorB[2]);
+            return;
+        }
         case 'convex': {
             // The hull's own triangulation, derived rather than stored: `CollisionConvex3D` carries no edges,
             // and drawing a guessed edge set would show a solid the simulation does not have. Each triangle
@@ -193,6 +212,61 @@ const BOX_EDGES = [
     [3, 7],
 ];
 const HULL_VERTEX_RADIUS = 0.02;
+// A closed ring of `RING_SEGMENTS` line segments around the axis from `start` to `end`, at parameter
+// `t` along it. Used for the flat caps a cylinder and a cone have and a capsule does not.
+//
+// The two in-plane basis vectors come from crossing the axis with whichever cardinal direction it leans
+// on LEAST, so the cross product never collapses — the same rule the collision core uses to pick a
+// perpendicular, and for the same reason: crossing with a fixed axis fails exactly when the shape is
+// aligned to it, which is the common case rather than a rare one.
+function writeAxialRing(out, bodyIndex, start, end, radius, t) {
+    const axisX = end[0] - start[0];
+    const axisY = end[1] - start[1];
+    const axisZ = end[2] - start[2];
+    const length = Math.sqrt(axisX * axisX + axisY * axisY + axisZ * axisZ);
+    if (!(length > 0))
+        return;
+    const unitX = axisX / length;
+    const unitY = axisY / length;
+    const unitZ = axisZ / length;
+    const absX = Math.abs(unitX);
+    const absY = Math.abs(unitY);
+    const absZ = Math.abs(unitZ);
+    const pickX = absX <= absY && absX <= absZ ? 1 : 0;
+    const pickY = pickX === 0 && absY <= absZ ? 1 : 0;
+    const pickZ = pickX === 0 && pickY === 0 ? 1 : 0;
+    let uX = unitY * pickZ - unitZ * pickY;
+    let uY = unitZ * pickX - unitX * pickZ;
+    let uZ = unitX * pickY - unitY * pickX;
+    const uLength = Math.sqrt(uX * uX + uY * uY + uZ * uZ);
+    if (!(uLength > 0))
+        return;
+    uX /= uLength;
+    uY /= uLength;
+    uZ /= uLength;
+    const vX = unitY * uZ - unitZ * uY;
+    const vY = unitZ * uX - unitX * uZ;
+    const vZ = unitX * uY - unitY * uX;
+    const centerX = start[0] + axisX * t;
+    const centerY = start[1] + axisY * t;
+    const centerZ = start[2] + axisZ * t;
+    let previousX = centerX + uX * radius;
+    let previousY = centerY + uY * radius;
+    let previousZ = centerZ + uZ * radius;
+    for (let i = 1; i <= RING_SEGMENTS; i += 1) {
+        const angle = (i / RING_SEGMENTS) * Math.PI * 2;
+        const cos = Math.cos(angle) * radius;
+        const sin = Math.sin(angle) * radius;
+        const nextX = centerX + uX * cos + vX * sin;
+        const nextY = centerY + uY * cos + vY * sin;
+        const nextZ = centerZ + uZ * cos + vZ * sin;
+        writeLine(out, 'collider', bodyIndex, -1, previousX, previousY, previousZ, nextX, nextY, nextZ);
+        previousX = nextX;
+        previousY = nextY;
+        previousZ = nextZ;
+    }
+}
+const RING_SEGMENTS = 16;
 const scratchAnchorA = [0, 0, 0];
 const scratchAnchorB = [0, 0, 0];
 const scratchCenter = [0, 0, 0];

package/dist/debugGeometry.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/dist/index.d.ts CHANGED Viewed

@@ -8,12 +8,12 @@ export { isPhysics3DPairJointSuppressed } from './jointCollisionSuppression';
 export { createPhysics3DBallAndSocketJoint, createPhysics3DConeTwistJoint, createPhysics3DDistanceJoint, createPhysics3DFixedJoint, createPhysics3DGeneric6DofJoint, createPhysics3DHingeJoint, createPhysics3DSliderJoint, } from './jointFactories';
 export { addPhysics3DJoint, getPhysics3DJointSolver, invalidatePhysics3DJoint, registerPhysics3DJointSolver, removePhysics3DJoint, } from './jointRegistry';
 export { physics3DBallAndSocketJointSolver, physics3DConeTwistJointSolver, physics3DDistanceJointSolver, physics3DFixedJointSolver, physics3DGeneric6DofJointSolver, physics3DHingeJointSolver, physics3DSliderJointSolver, Physics3DBallAndSocketJointKind, Physics3DConeTwistJointKind, Physics3DDistanceJointKind, Physics3DFixedJointKind, Physics3DGeneric6DofJointKind, Physics3DHingeJointKind, Physics3DSliderJointKind, } from './joints';
-export { combinePhysics3DMassData, computePhysics3DBoxMassData, computePhysics3DCapsuleMassData, computePhysics3DColliderMassData, computePhysics3DConvexHullMassData, computePhysics3DSphereMassData, createPhysics3DMassData, setRigidBody3DMassData, updateRigidBody3DMassData, } from './massProperties';
+export { combinePhysics3DMassData, computePhysics3DBoxMassData, computePhysics3DCapsuleMassData, computePhysics3DConeMassData, computePhysics3DCylinderMassData, computePhysics3DColliderMassData, computePhysics3DConvexHullMassData, computePhysics3DSphereMassData, createPhysics3DMassData, setRigidBody3DMassData, updateRigidBody3DMassData, } from './massProperties';
 export { mixPhysics3DFriction, mixPhysics3DRestitution } from './material';
 export { registerBuiltInPhysics3DJointSolvers } from './registerBuiltInPhysics3DJointSolvers';
 export { stepPhysics3D, stepPhysics3DInterval } from './step';
 export { addPhysics3DBody, addPhysics3DCollider, applyPhysics3DForce, applyPhysics3DForceAtPoint, applyPhysics3DLinearImpulse, applyPhysics3DTorque, createPhysics3DCollider, createPhysics3DSequentialImpulseConfig, createPhysics3DSolverConfig, createPhysics3DWorld, createRigidBody3D, findPhysics3DBody, invalidatePhysics3DCollider, Physics3DWorldVersion, removePhysics3DBody, removePhysics3DCollider, setPhysics3DBodyFixedRotation, setPhysics3DBodyTransform, setPhysics3DBodyType, wakePhysics3DBody, writeRigidBody3DWorldCenter, } from './world';
-export { createPhysics3DQueryFilter, createPhysics3DQueryResult, createPhysics3DRayResult, queryPhysics3DPoint, queryPhysics3DRay, queryPhysics3DRayClosest, queryPhysics3DRegion, } from './worldQueries';
+export { createPhysics3DQueryFilter, createPhysics3DQueryResult, createPhysics3DRayResult, createPhysics3DShapeCastResult, queryPhysics3DPoint, queryPhysics3DRay, queryPhysics3DRayClosest, queryPhysics3DRegion, queryPhysics3DShapeCast, } from './worldQueries';
 export { createPhysics3DDebugGeometry, writePhysics3DDebugGeometry } from './debugGeometry';
 export { hasActivePhysics3DBullet, integratePhysics3DContinuous } from './continuous';
 export { breakPhysics3DJoint, evaluatePhysics3DJointBreakage, isPhysics3DJointBreakable } from './jointBreakage';

package/dist/index.d.ts.map CHANGED Viewed

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package/dist/index.js CHANGED Viewed

@@ -8,12 +8,12 @@ export { isPhysics3DPairJointSuppressed } from './jointCollisionSuppression';
 export { createPhysics3DBallAndSocketJoint, createPhysics3DConeTwistJoint, createPhysics3DDistanceJoint, createPhysics3DFixedJoint, createPhysics3DGeneric6DofJoint, createPhysics3DHingeJoint, createPhysics3DSliderJoint, } from './jointFactories';
 export { addPhysics3DJoint, getPhysics3DJointSolver, invalidatePhysics3DJoint, registerPhysics3DJointSolver, removePhysics3DJoint, } from './jointRegistry';
 export { physics3DBallAndSocketJointSolver, physics3DConeTwistJointSolver, physics3DDistanceJointSolver, physics3DFixedJointSolver, physics3DGeneric6DofJointSolver, physics3DHingeJointSolver, physics3DSliderJointSolver, Physics3DBallAndSocketJointKind, Physics3DConeTwistJointKind, Physics3DDistanceJointKind, Physics3DFixedJointKind, Physics3DGeneric6DofJointKind, Physics3DHingeJointKind, Physics3DSliderJointKind, } from './joints';
-export { combinePhysics3DMassData, computePhysics3DBoxMassData, computePhysics3DCapsuleMassData, computePhysics3DColliderMassData, computePhysics3DConvexHullMassData, computePhysics3DSphereMassData, createPhysics3DMassData, setRigidBody3DMassData, updateRigidBody3DMassData, } from './massProperties';
+export { combinePhysics3DMassData, computePhysics3DBoxMassData, computePhysics3DCapsuleMassData, computePhysics3DConeMassData, computePhysics3DCylinderMassData, computePhysics3DColliderMassData, computePhysics3DConvexHullMassData, computePhysics3DSphereMassData, createPhysics3DMassData, setRigidBody3DMassData, updateRigidBody3DMassData, } from './massProperties';
 export { mixPhysics3DFriction, mixPhysics3DRestitution } from './material';
 export { registerBuiltInPhysics3DJointSolvers } from './registerBuiltInPhysics3DJointSolvers';
 export { stepPhysics3D, stepPhysics3DInterval } from './step';
 export { addPhysics3DBody, addPhysics3DCollider, applyPhysics3DForce, applyPhysics3DForceAtPoint, applyPhysics3DLinearImpulse, applyPhysics3DTorque, createPhysics3DCollider, createPhysics3DSequentialImpulseConfig, createPhysics3DSolverConfig, createPhysics3DWorld, createRigidBody3D, findPhysics3DBody, invalidatePhysics3DCollider, Physics3DWorldVersion, removePhysics3DBody, removePhysics3DCollider, setPhysics3DBodyFixedRotation, setPhysics3DBodyTransform, setPhysics3DBodyType, wakePhysics3DBody, writeRigidBody3DWorldCenter, } from './world';
-export { createPhysics3DQueryFilter, createPhysics3DQueryResult, createPhysics3DRayResult, queryPhysics3DPoint, queryPhysics3DRay, queryPhysics3DRayClosest, queryPhysics3DRegion, } from './worldQueries';
+export { createPhysics3DQueryFilter, createPhysics3DQueryResult, createPhysics3DRayResult, createPhysics3DShapeCastResult, queryPhysics3DPoint, queryPhysics3DRay, queryPhysics3DRayClosest, queryPhysics3DRegion, queryPhysics3DShapeCast, } from './worldQueries';
 export { createPhysics3DDebugGeometry, writePhysics3DDebugGeometry } from './debugGeometry';
 export { hasActivePhysics3DBullet, integratePhysics3DContinuous } from './continuous';
 export { breakPhysics3DJoint, evaluatePhysics3DJointBreakage, isPhysics3DJointBreakable } from './jointBreakage';

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package/dist/jointFactories.js CHANGED Viewed

@@ -22,6 +22,9 @@ export function createPhysics3DConeTwistJoint(options) {
         enableTwistLimit: options.enableTwistLimit ?? false,
         lowerTwistAngle: options.lowerTwistAngle ?? 0,
         upperTwistAngle: options.upperTwistAngle ?? 0,
+        enableLimitSpring: options.enableLimitSpring ?? false,
+        limitFrequencyHz: options.limitFrequencyHz ?? 0,
+        limitDampingRatio: options.limitDampingRatio ?? 0,
         swingLimitImpulse: 0,
         lowerTwistImpulse: 0,
         upperTwistImpulse: 0,
@@ -68,6 +71,9 @@ export function createPhysics3DGeneric6DofJoint(options) {
         upperAngularX: options.upperAngularX ?? -1,
         upperAngularY: options.upperAngularY ?? -1,
         upperAngularZ: options.upperAngularZ ?? -1,
+        enableLimitSpring: options.enableLimitSpring ?? false,
+        limitFrequencyHz: options.limitFrequencyHz ?? 0,
+        limitDampingRatio: options.limitDampingRatio ?? 0,
         lowerLimitImpulses: [0, 0, 0, 0, 0, 0],
         upperLimitImpulses: [0, 0, 0, 0, 0, 0],
     };
@@ -83,6 +89,9 @@ export function createPhysics3DHingeJoint(options) {
         enableMotor: options.enableMotor ?? false,
         motorSpeed: options.motorSpeed ?? 0,
         maxMotorTorque: options.maxMotorTorque ?? 0,
+        enableLimitSpring: options.enableLimitSpring ?? false,
+        limitFrequencyHz: options.limitFrequencyHz ?? 0,
+        limitDampingRatio: options.limitDampingRatio ?? 0,
         motorImpulse: 0,
         lowerLimitImpulse: 0,
         upperLimitImpulse: 0,
@@ -99,6 +108,9 @@ export function createPhysics3DSliderJoint(options) {
         enableMotor: options.enableMotor ?? false,
         motorSpeed: options.motorSpeed ?? 0,
         maxMotorForce: options.maxMotorForce ?? 0,
+        enableLimitSpring: options.enableLimitSpring ?? false,
+        limitFrequencyHz: options.limitFrequencyHz ?? 0,
+        limitDampingRatio: options.limitDampingRatio ?? 0,
         motorImpulse: 0,
         lowerLimitImpulse: 0,
         upperLimitImpulse: 0,

package/dist/jointFactories.js.map CHANGED Viewed

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1	+ 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package/dist/jointRows.d.ts CHANGED Viewed

@@ -16,14 +16,15 @@ export declare function readFrameRotations(bodyA: Readonly<RigidBody3D>, bodyB:
 export declare function readJointImpulse(joint: Readonly<Physics3DJoint>, slot: number): number;
 export declare function solveAngularBlock(bodyA: RigidBody3D, bodyB: RigidBody3D, joint: Physics3DJoint, state: readonly number[], massOffset: number, biasOffset: number): void;
 export declare function solveEqualityRow(bodyA: RigidBody3D, bodyB: RigidBody3D, joint: Physics3DJoint, slot: number, state: readonly number[], offset: number, mass: number, error: number, biasFactor: number): void;
-export declare function solveLowerLimitRow(bodyA: RigidBody3D, bodyB: RigidBody3D, state: number[], offset: number, mass: number, error: number, biasFactor: number, accumulatorSlot: number): void;
+export declare function solveLowerLimitRow(bodyA: RigidBody3D, bodyB: RigidBody3D, state: number[], offset: number, mass: number, error: number, biasFactor: number, accumulatorSlot: number, gamma?: number): void;
 export declare function solveMotorRow(bodyA: RigidBody3D, bodyB: RigidBody3D, state: readonly number[], offset: number, mass: number, speed: number, maxImpulse: number, previous: number): number;
 export declare function solvePointBlock(bodyA: RigidBody3D, bodyB: RigidBody3D, joint: Physics3DJoint, state: readonly number[]): void;
-export declare function solveUpperLimitRow(bodyA: RigidBody3D, bodyB: RigidBody3D, state: number[], offset: number, mass: number, error: number, biasFactor: number, accumulatorSlot: number): void;
+export declare function solveUpperLimitRow(bodyA: RigidBody3D, bodyB: RigidBody3D, state: number[], offset: number, mass: number, error: number, biasFactor: number, accumulatorSlot: number, gamma?: number): void;
 export declare function warmStartAngularBlock(bodyA: RigidBody3D, bodyB: RigidBody3D, joint: Readonly<Physics3DJoint>): void;
 export declare function warmStartPointBlock(bodyA: RigidBody3D, bodyB: RigidBody3D, joint: Readonly<Physics3DJoint>): void;
 export declare function writeAngularRow(state: number[], offset: number, axisX: number, axisY: number, axisZ: number): void;
 export declare function writeJointImpulse(joint: Physics3DJoint, slot: number, value: number): void;
+export declare function writePhysics3DSoftRowParameters(mass: number, frequencyHz: number, dampingRatio: number, dt: number, hardBiasFactor: number, out: number[]): void;
 export declare function writeRow(state: number[], offset: number, directionX: number, directionY: number, directionZ: number, armAX: number, armAY: number, armAZ: number, armBX: number, armBY: number, armBZ: number): void;
 export declare const frameABasis: number[];
 export declare const frameBBasis: number[];

package/dist/jointRows.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/jointRows.js CHANGED Viewed

@@ -156,10 +156,14 @@ export function solveEqualityRow(bodyA, bodyB, joint, slot, state, offset, mass,
 // 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) {
+// `gamma` is the row's COMPLIANCE, zero for a hard stop. It multiplies the ACCUMULATED impulse rather
+// than this iteration's, because a soft constraint is one that gives way in proportion to how hard it
+// has already been pushing — a statement about the total, not the increment. The non-negative clamp
+// survives softening untouched: a compliant stop still may only push back through the bound.
+export function solveLowerLimitRow(bodyA, bodyB, state, offset, mass, error, biasFactor, accumulatorSlot, gamma = 0) {
     const velocity = getRowVelocity(bodyA, bodyB, state, offset);
     const previous = state[accumulatorSlot];
-    const total = Math.max(previous - mass * (velocity + error * biasFactor), 0);
+    const total = Math.max(previous - mass * (velocity + error * biasFactor + gamma * previous), 0);
     state[accumulatorSlot] = total;
     applyRow(bodyA, bodyB, state, offset, total - previous);
 }
@@ -197,10 +201,10 @@ export function solvePointBlock(bodyA, bodyB, joint, state) {
 //
 // 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) {
+export function solveUpperLimitRow(bodyA, bodyB, state, offset, mass, error, biasFactor, accumulatorSlot, gamma = 0) {
     const velocity = -getRowVelocity(bodyA, bodyB, state, offset);
     const previous = state[accumulatorSlot];
-    const total = Math.max(previous - mass * (velocity + error * biasFactor), 0);
+    const total = Math.max(previous - mass * (velocity + error * biasFactor + gamma * previous), 0);
     state[accumulatorSlot] = total;
     applyRow(bodyA, bodyB, state, offset, -(total - previous));
 }
@@ -240,6 +244,45 @@ export function writeJointImpulse(joint, slot, value) {
             break;
     }
 }
+// Derives the three numbers a SOFT constraint row needs from the motion a caller described, writing
+// `[mass, biasFactor, gamma]`.
+//
+// A frequency and a damping ratio describe the motion wanted; stiffness and damping are what the solver
+// needs, and converting between them requires the mass being moved. Deriving them here, per-step and
+// per-pair, is what makes a 2 Hz spring oscillate at 2 Hz whatever it is attached to — an authored
+// stiffness would change frequency the moment either body's mass did.
+//
+// `biasFactor` is returned in the position a hard row's own bias factor occupies, so a row solves
+// identically either way and the only difference between a stop and a spring is which three numbers it
+// was handed.
+//
+// `hardBiasFactor` is what to fall back to when the spring cannot be computed, and it is a PARAMETER
+// rather than a constant because the two callers legitimately disagree about it: a two-sided rest row
+// corrects at `BAUMGARTE / dt`, while a one-sided limit row corrects fully at `1 / dt`. Baking either
+// in would silently change the other's hard behaviour the first time it took this path.
+//
+// Compliance adds to the INVERSE mass, which is why the returned mass is not a scaled version of the
+// input: softening makes a constraint easier to violate, and that is an addition on the reciprocal side.
+// A non-positive frequency or timestep returns the HARD parameters, so "spring enabled with no
+// frequency set" degrades to the stop it replaced rather than to a constraint that does nothing.
+export function writePhysics3DSoftRowParameters(mass, frequencyHz, dampingRatio, dt, hardBiasFactor, out) {
+    if (!(frequencyHz > 0) || !(dt > 0)) {
+        out[0] = mass;
+        out[1] = hardBiasFactor;
+        out[2] = 0;
+        return;
+    }
+    const angular = TAU * frequencyHz;
+    const damping = 2 * mass * dampingRatio * angular;
+    const stiffness = mass * angular * angular;
+    const gammaDenominator = dt * (damping + dt * stiffness);
+    const gamma = gammaDenominator > 0 ? 1 / gammaDenominator : 0;
+    const inverseMass = mass > 0 ? 1 / mass : 0;
+    const softened = inverseMass + gamma;
+    out[0] = softened > 0 ? 1 / softened : 0;
+    out[1] = dt * stiffness * gamma;
+    out[2] = gamma;
+}
 // 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;
@@ -285,6 +328,7 @@ function writeBlock(state, offset, source) {
 // 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;
+const TAU = 2 * Math.PI;
 // 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);