@flighthq/physics3d 0.4.0-next.1821.efb1cbc → 0.4.0-next.1836.147ae1e

package/dist/broadphase.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"broadphase.d.ts","sourceRoot":"","sources":["../src/broadphase.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,cAAc,EAAiB,MAAM,0BAA0B,CAAC;AAa9E,wBAAgB,8BAA8B,CAAC,KAAK,EAAE,cAAc,GAAG,IAAI,CAO1E;AAQD,wBAAgB,mCAAmC,CAAC,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CAO3F"}

package/dist/broadphase.js

@@ -1,4 +1,6 @@
 import { updatePhysics3DColliderWorldShape, writePhysics3DColliderBounds } from './colliderTransform';
+import { getPhysics3DBroadphaseBodyIndices, publishPhysics3DBroadphaseBody, withdrawPhysics3DBroadphaseBody, } from './physics3DBroadphasePublication';
+import { reportPhysics3DSpatialIndexing } from './physics3DSpatialIndexingGuards';
 // 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.
@@ -31,6 +33,7 @@ export function synchronizePhysics3DSweptBroadphase(world, dt) {
 // refines a body pair down to its collider pairs — which is where the filter and sensor decisions live
 // anyway.
 function synchronizePhysics3DBroadphaseWithScratch(world, scratch, dt) {
+    const publishedBodyIndices = getPhysics3DBroadphaseBodyIndices(world);
     for (let bodyIndex = 0; bodyIndex < world.bodies.length; bodyIndex += 1) {
         const body = world.bodies[bodyIndex];
         let minX = Infinity;
@@ -69,7 +72,7 @@ function synchronizePhysics3DBroadphaseWithScratch(world, scratch, dt) {
             // 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);
+            withdrawPhysics3DBroadphaseBody(world, body.index, publishedBodyIndices);
             continue;
         }
         if (dt > 0 && body.type !== 'static' && !body.sleeping) {
@@ -116,7 +119,7 @@ function synchronizePhysics3DBroadphaseWithScratch(world, scratch, dt) {
             maxX - minX > MAX_SIMULATED_EXTENT ||
             maxY - minY > MAX_SIMULATED_EXTENT ||
             maxZ - minZ > MAX_SIMULATED_EXTENT) {
-            world.index.removeSpatialObject(body.index);
+            withdrawPhysics3DBroadphaseBody(world, body.index, publishedBodyIndices);
             continue;
         }
         scratch.bodyBounds.minX = minX;
@@ -128,8 +131,9 @@ function synchronizePhysics3DBroadphaseWithScratch(world, scratch, dt) {
         scratch.bodyBounds.maxX = paddedUpperBound(maxX);
         scratch.bodyBounds.maxY = paddedUpperBound(maxY);
         scratch.bodyBounds.maxZ = paddedUpperBound(maxZ);
-        world.index.updateSpatialObject(body.index, scratch.bodyBounds);
+        publishPhysics3DBroadphaseBody(world, body.index, scratch.bodyBounds, publishedBodyIndices);
     }
+    reportPhysics3DSpatialIndexing(world);
 }
 function paddedUpperBound(value) {
     const padded = value + Math.max(1, Math.abs(value)) * Number.EPSILON * 4;

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package/dist/enablePhysics3DGuards.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"enablePhysics3DGuards.d.ts","sourceRoot":"","sources":["../src/enablePhysics3DGuards.ts"],"names":[],"mappings":"AAWA,wBAAgB,yBAAyB,IAAI,OAAO,CAEnD;AAED,wBAAgB,sBAAsB,IAAI,IAAI,CAK7C;AAkBD,wBAAgB,qBAAqB,IAAI,IAAI,CAK5C"}
+{"version":3,"file":"enablePhysics3DGuards.d.ts","sourceRoot":"","sources":["../src/enablePhysics3DGuards.ts"],"names":[],"mappings":"AAYA,wBAAgB,yBAAyB,IAAI,OAAO,CAEnD;AAED,wBAAgB,sBAAsB,IAAI,IAAI,CAM7C;AAqBD,wBAAgB,qBAAqB,IAAI,IAAI,CAM5C"}

package/dist/enablePhysics3DGuards.js

@@ -5,6 +5,7 @@ import { explainPhysics3DCollision } from './explainPhysics3DCollision';
 import { explainPhysics3DJoints } from './explainPhysics3DJoints';
 import { explainPhysics3DStep } from './explainPhysics3DStep';
 import { setPhysics3DJointResolutionGuard } from './islands';
+import { setPhysics3DSpatialIndexingGuard } from './physics3DSpatialIndexingGuards';
 import { setPhysics3DStepGuard } from './step';
 export function arePhysics3DGuardsEnabled() {
     return physics3DGuardsEnabled;
@@ -13,10 +14,11 @@ export function disablePhysics3DGuards() {
     setPhysics3DStepGuard(null);
     setPhysics3DContactIntakeGuard(null);
     setPhysics3DJointResolutionGuard(null);
+    setPhysics3DSpatialIndexingGuard(null);
     physics3DGuardsEnabled = false;
 }
-// Installs opt-in diagnostics for the three ways a world can advance without simulating what its data
-// appears to describe.
+// Installs opt-in diagnostics for the ways a world can advance without simulating what its data appears
+// to describe, plus the broadphase cost fallback that preserves results while defeating spatial pruning.
 //
 // `stepPhysics3D` declines silently on any failed precondition, which is the right behaviour — a NaN
 // velocity is a state a caller reaches by writing a field, and throwing would take down a frame loop over
@@ -31,12 +33,44 @@ export function disablePhysics3DGuards() {
 // The third is a stored joint omitted from the solve because its kind has no solver or an endpoint no
 // longer resolves. Deserializing ahead of registration is supported, so storing it stays silent; stepping
 // while it remains inert is the moment the opt-in guard names it.
+// The fourth is a body routed through a backend's overflow path. Collision remains correct, but every
+// broadphase query scans that body linearly, so a mixed-scale world can retain the right contacts while
+// silently shedding the pruning its index exists to provide.
 export function enablePhysics3DGuards() {
     setPhysics3DStepGuard(warnOnUnsteppablePhysics3DWorld);
     setPhysics3DContactIntakeGuard(warnOnUndetectablePhysics3DColliders);
     setPhysics3DJointResolutionGuard(warnOnUnresolvedPhysics3DJoints);
+    setPhysics3DSpatialIndexingGuard(warnOnPhysics3DSpatialIndexing);
     physics3DGuardsEnabled = true;
 }
+// Reports the broadphase fallback that preserves correctness while materially changing cost. Reading the
+// world's own backend keeps this diagnostic scoped to physics3d instead of taking ownership of spatial's
+// process-wide caller-composed guard.
+function warnOnPhysics3DSpatialIndexing(world) {
+    const overflowBodyIndices = [];
+    for (let bodyIndex = 0; bodyIndex < world.bodies.length; bodyIndex += 1) {
+        const index = world.bodies[bodyIndex].index;
+        const explanation = world.index.explainSpatialIndexing(index);
+        if (explanation.mode === 'overflow')
+            overflowBodyIndices.push(index);
+    }
+    if (overflowBodyIndices.length > 0) {
+        logOnce(`physics3d:spatial-overflow:${getPhysics3DGuardWorldId(world)}`, LogLevel.Warn, {
+            bodyIndices: overflowBodyIndices,
+            message: `synchronizePhysics3DBroadphase: ${overflowBodyIndices.length} ${overflowBodyIndices.length === 1 ? 'body is' : 'bodies are'} held in the spatial backend's overflow path, so broadphase queries scan ${overflowBodyIndices.length === 1 ? 'it' : 'them'} linearly — pass createBvhSpatialBackend3D() to createPhysics3DWorld(index) for a mixed-scale world, or tune createUniformGridSpatialBackend3D(cellSize) to the workload's typical body size.`,
+            status: 'spatial-overflow',
+        }, 'physics3d');
+    }
+}
+function getPhysics3DGuardWorldId(world) {
+    const existing = physics3DGuardWorldIds.get(world);
+    if (existing !== undefined)
+        return existing;
+    const created = nextPhysics3DGuardWorldId;
+    nextPhysics3DGuardWorldId += 1;
+    physics3DGuardWorldIds.set(world, created);
+    return created;
+}
 // Warns once per distinct set of undetectable collider kinds.
 //
 // Keyed on the kinds rather than logged per step, so a 60Hz loop says this once — and a world that later
@@ -116,4 +150,6 @@ const physics3DPreconditionFlags = [
     'positionIterationsValid',
 ];
 let physics3DGuardsEnabled = false;
+let nextPhysics3DGuardWorldId = 0;
+const physics3DGuardWorldIds = new WeakMap();
 //# sourceMappingURL=enablePhysics3DGuards.js.map

package/dist/enablePhysics3DGuards.js.map

@@ -1 +1 @@
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package/dist/physics3DBroadphasePublication.d.ts

@@ -0,0 +1,5 @@
+import type { Physics3DWorld, SpatialAabb3D } from '@flighthq/types/contract';
+export declare function getPhysics3DBroadphaseBodyIndices(world: Physics3DWorld): Set<number>;
+export declare function publishPhysics3DBroadphaseBody(world: Physics3DWorld, bodyIndex: number, bounds: Readonly<SpatialAabb3D>, bodyIndices?: Set<number>): void;
+export declare function withdrawPhysics3DBroadphaseBody(world: Physics3DWorld, bodyIndex: number, bodyIndices?: Set<number>): void;
+//# sourceMappingURL=physics3DBroadphasePublication.d.ts.map

package/dist/physics3DBroadphasePublication.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"physics3DBroadphasePublication.d.ts","sourceRoot":"","sources":["../src/physics3DBroadphasePublication.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,cAAc,EAAE,aAAa,EAAE,MAAM,0BAA0B,CAAC;AAE9E,wBAAgB,iCAAiC,CAAC,KAAK,EAAE,cAAc,GAAG,GAAG,CAAC,MAAM,CAAC,CAepF;AAMD,wBAAgB,8BAA8B,CAC5C,KAAK,EAAE,cAAc,EACrB,SAAS,EAAE,MAAM,EACjB,MAAM,EAAE,QAAQ,CAAC,aAAa,CAAC,EAC/B,WAAW,cAA2C,GACrD,IAAI,CAaN;AAKD,wBAAgB,+BAA+B,CAC7C,KAAK,EAAE,cAAc,EACrB,SAAS,EAAE,MAAM,EACjB,WAAW,cAA2C,GACrD,IAAI,CAQN"}

package/dist/physics3DBroadphasePublication.js

@@ -0,0 +1,49 @@
+export function getPhysics3DBroadphaseBodyIndices(world) {
+    const existing = physics3DBroadphasePublicationByWorld.get(world);
+    if (existing !== undefined && existing.index === world.index)
+        return existing.bodyIndices;
+    // A hydrated world or a caller-supplied pre-populated backend can already hold bodies before this
+    // module has observed it. Rebuild once when the world/index pairing is first seen (and whenever the
+    // public backend reference changes), then maintain the set alongside physics3d's own operations.
+    const bodyIndices = new Set();
+    for (let bodyIndex = 0; bodyIndex < world.bodies.length; bodyIndex += 1) {
+        const id = world.bodies[bodyIndex].index;
+        if (world.index.explainSpatialIndexing(id).mode !== 'absent')
+            bodyIndices.add(id);
+    }
+    const created = { bodyIndices, index: world.index };
+    physics3DBroadphasePublicationByWorld.set(world, created);
+    return created.bodyIndices;
+}
+// Uses the backend's distinct insert/update vocabulary even though update is contractually an upsert. The
+// latter is result-correct, but spatial diagnostics deliberately report update of a missing id as a
+// lifecycle fault. Physics3d knows whether it has published each body, so preserving that information
+// keeps a supported add-body-then-add-collider sequence silent without paying explain() on the hot path.
+export function publishPhysics3DBroadphaseBody(world, bodyIndex, bounds, bodyIndices = getPhysics3DBroadphaseBodyIndices(world)) {
+    if (bodyIndices.has(bodyIndex)) {
+        const updated = world.index.updateSpatialObject(bodyIndex, bounds);
+        if (!updated && world.index.explainSpatialIndexing(bodyIndex).mode === 'absent') {
+            bodyIndices.delete(bodyIndex);
+        }
+        return;
+    }
+    const inserted = world.index.insertSpatialObject(bodyIndex, bounds);
+    if (inserted || world.index.explainSpatialIndexing(bodyIndex).mode !== 'absent') {
+        bodyIndices.add(bodyIndex);
+    }
+}
+// Removes a body's publication only when physics3d previously placed it in the backend. A colliderless
+// body is valid authored state, and repeatedly asking the backend to remove its never-published id would
+// turn that ordinary state into a false `missing-id` lifecycle notice whenever spatial diagnostics are on.
+export function withdrawPhysics3DBroadphaseBody(world, bodyIndex, bodyIndices = getPhysics3DBroadphaseBodyIndices(world)) {
+    if (!bodyIndices.delete(bodyIndex)) {
+        // A caller-supplied backend may already contain the id when physics3d first sees it. Consult the
+        // backend only on this uncommon withdrawal path so stale external publication is still removed
+        // without adding another map lookup to every moving body on every step.
+        if (world.index.explainSpatialIndexing(bodyIndex).mode === 'absent')
+            return;
+    }
+    world.index.removeSpatialObject(bodyIndex);
+}
+const physics3DBroadphasePublicationByWorld = new WeakMap();
+//# sourceMappingURL=physics3DBroadphasePublication.js.map

package/dist/physics3DBroadphasePublication.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"physics3DBroadphasePublication.js","sourceRoot":"","sources":["../src/physics3DBroadphasePublication.ts"],"names":[],"mappings":"AAEA,MAAM,UAAU,iCAAiC,CAAC,KAAqB;IACrE,MAAM,QAAQ,GAAG,qCAAqC,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;IAClE,IAAI,QAAQ,KAAK,SAAS,IAAI,QAAQ,CAAC,KAAK,KAAK,KAAK,CAAC,KAAK;QAAE,OAAO,QAAQ,CAAC,WAAW,CAAC;IAE1F,kGAAkG;IAClG,oGAAoG;IACpG,iGAAiG;IACjG,MAAM,WAAW,GAAG,IAAI,GAAG,EAAU,CAAC;IACtC,KAAK,IAAI,SAAS,GAAG,CAAC,EAAE,SAAS,GAAG,KAAK,CAAC,MAAM,CAAC,MAAM,EAAE,SAAS,IAAI,CAAC,EAAE,CAAC;QACxE,MAAM,EAAE,GAAG,KAAK,CAAC,MAAM,CAAC,SAAS,CAAC,CAAC,KAAK,CAAC;QACzC,IAAI,KAAK,CAAC,KAAK,CAAC,sBAAsB,CAAC,EAAE,CAAC,CAAC,IAAI,KAAK,QAAQ;YAAE,WAAW,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC;IACpF,CAAC;IACD,MAAM,OAAO,GAAG,EAAE,WAAW,EAAE,KAAK,EAAE,KAAK,CAAC,KAAK,EAAE,CAAC;IACpD,qCAAqC,CAAC,GAAG,CAAC,KAAK,EAAE,OAAO,CAAC,CAAC;IAC1D,OAAO,OAAO,CAAC,WAAW,CAAC;AAC7B,CAAC;AAED,0GAA0G;AAC1G,oGAAoG;AACpG,sGAAsG;AACtG,yGAAyG;AACzG,MAAM,UAAU,8BAA8B,CAC5C,KAAqB,EACrB,SAAiB,EACjB,MAA+B,EAC/B,WAAW,GAAG,iCAAiC,CAAC,KAAK,CAAC;IAEtD,IAAI,WAAW,CAAC,GAAG,CAAC,SAAS,CAAC,EAAE,CAAC;QAC/B,MAAM,OAAO,GAAG,KAAK,CAAC,KAAK,CAAC,mBAAmB,CAAC,SAAS,EAAE,MAAM,CAAC,CAAC;QACnE,IAAI,CAAC,OAAO,IAAI,KAAK,CAAC,KAAK,CAAC,sBAAsB,CAAC,SAAS,CAAC,CAAC,IAAI,KAAK,QAAQ,EAAE,CAAC;YAChF,WAAW,CAAC,MAAM,CAAC,SAAS,CAAC,CAAC;QAChC,CAAC;QACD,OAAO;IACT,CAAC;IAED,MAAM,QAAQ,GAAG,KAAK,CAAC,KAAK,CAAC,mBAAmB,CAAC,SAAS,EAAE,MAAM,CAAC,CAAC;IACpE,IAAI,QAAQ,IAAI,KAAK,CAAC,KAAK,CAAC,sBAAsB,CAAC,SAAS,CAAC,CAAC,IAAI,KAAK,QAAQ,EAAE,CAAC;QAChF,WAAW,CAAC,GAAG,CAAC,SAAS,CAAC,CAAC;IAC7B,CAAC;AACH,CAAC;AAED,uGAAuG;AACvG,yGAAyG;AACzG,2GAA2G;AAC3G,MAAM,UAAU,+BAA+B,CAC7C,KAAqB,EACrB,SAAiB,EACjB,WAAW,GAAG,iCAAiC,CAAC,KAAK,CAAC;IAEtD,IAAI,CAAC,WAAW,CAAC,MAAM,CAAC,SAAS,CAAC,EAAE,CAAC;QACnC,iGAAiG;QACjG,+FAA+F;QAC/F,wEAAwE;QACxE,IAAI,KAAK,CAAC,KAAK,CAAC,sBAAsB,CAAC,SAAS,CAAC,CAAC,IAAI,KAAK,QAAQ;YAAE,OAAO;IAC9E,CAAC;IACD,KAAK,CAAC,KAAK,CAAC,mBAAmB,CAAC,SAAS,CAAC,CAAC;AAC7C,CAAC;AAOD,MAAM,qCAAqC,GAAG,IAAI,OAAO,EAAkD,CAAC"}

package/dist/physics3DSpatialIndexingGuards.d.ts

@@ -0,0 +1,4 @@
+import type { Physics3DWorld } from '@flighthq/types/contract';
+export declare function reportPhysics3DSpatialIndexing(world: Readonly<Physics3DWorld>): void;
+export declare function setPhysics3DSpatialIndexingGuard(guard: ((world: Readonly<Physics3DWorld>) => void) | null): void;
+//# sourceMappingURL=physics3DSpatialIndexingGuards.d.ts.map

package/dist/physics3DSpatialIndexingGuards.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"physics3DSpatialIndexingGuards.d.ts","sourceRoot":"","sources":["../src/physics3DSpatialIndexingGuards.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,cAAc,EAAE,MAAM,0BAA0B,CAAC;AAK/D,wBAAgB,8BAA8B,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,GAAG,IAAI,CAEpF;AAED,wBAAgB,gCAAgC,CAAC,KAAK,EAAE,CAAC,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,KAAK,IAAI,CAAC,GAAG,IAAI,GAAG,IAAI,CAEhH"}

package/dist/physics3DSpatialIndexingGuards.js

@@ -0,0 +1,11 @@
+// The core-side seam for physics3d's spatial outcome diagnostics. It is deliberately local rather than
+// installing spatial's global caller-composed guard: doing that would overwrite application policy and
+// receive notices from every unrelated 2D and 3D index in the process.
+export function reportPhysics3DSpatialIndexing(world) {
+    physics3DSpatialIndexingGuard?.(world);
+}
+export function setPhysics3DSpatialIndexingGuard(guard) {
+    physics3DSpatialIndexingGuard = guard;
+}
+let physics3DSpatialIndexingGuard = null;
+//# sourceMappingURL=physics3DSpatialIndexingGuards.js.map

package/dist/physics3DSpatialIndexingGuards.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"physics3DSpatialIndexingGuards.js","sourceRoot":"","sources":["../src/physics3DSpatialIndexingGuards.ts"],"names":[],"mappings":"AAEA,uGAAuG;AACvG,uGAAuG;AACvG,uEAAuE;AACvE,MAAM,UAAU,8BAA8B,CAAC,KAA+B;IAC5E,6BAA6B,EAAE,CAAC,KAAK,CAAC,CAAC;AACzC,CAAC;AAED,MAAM,UAAU,gCAAgC,CAAC,KAAyD;IACxG,6BAA6B,GAAG,KAAK,CAAC;AACxC,CAAC;AAED,IAAI,6BAA6B,GAAuD,IAAI,CAAC"}

package/dist/world.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"world.d.ts","sourceRoot":"","sources":["../src/world.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EACV,wBAAwB,EACxB,iBAAiB,EACjB,iBAAiB,EACjB,wBAAwB,EAGxB,iBAAiB,EACjB,gCAAgC,EAChC,qBAAqB,EACrB,cAAc,EACd,WAAW,EACX,qBAAqB,EACtB,MAAM,0BAA0B,CAAC;AAsClC,wBAAgB,gBAAgB,CAAC,KAAK,EAAE,cAAc,EAAE,IAAI,EAAE,WAAW,GAAG,MAAM,CAgCjF;AAQD,wBAAgB,oBAAoB,CAClC,KAAK,EAAE,cAAc,EACrB,IAAI,EAAE,WAAW,EACjB,QAAQ,EAAE,iBAAiB,GAC1B,iBAAiB,CA6BnB;AAID,wBAAgB,mBAAmB,CAAC,IAAI,EAAE,WAAW,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,OAAO,CAQ/F;AAID,wBAAgB,0BAA0B,CACxC,IAAI,EAAE,WAAW,EACjB,CAAC,EAAE,MAAM,EACT,CAAC,EAAE,MAAM,EACT,CAAC,EAAE,MAAM,EACT,MAAM,EAAE,MAAM,EACd,MAAM,EAAE,MAAM,EACd,MAAM,EAAE,MAAM,GACb,OAAO,CAwBT;AAID,wBAAgB,2BAA2B,CAAC,IAAI,EAAE,WAAW,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,OAAO,CAQvG;AAKD,wBAAgB,kCAAkC,CAChD,IAAI,EAAE,WAAW,EACjB,CAAC,EAAE,MAAM,EACT,CAAC,EAAE,MAAM,EACT,CAAC,EAAE,MAAM,EACT,MAAM,EAAE,MAAM,EACd,MAAM,EAAE,MAAM,EACd,MAAM,EAAE,MAAM,GACb,OAAO,CA+BT;AAGD,wBAAgB,oBAAoB,CAAC,IAAI,EAAE,WAAW,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,OAAO,CAQhG;AAQD,wBAAgB,uBAAuB,CACrC,KAAK,EAAE,QAAQ,CAAC,wBAAwB,CAAC,EACzC,QAAQ,CAAC,EAAE,QAAQ,CAAC,iBAAiB,CAAC,EACtC,MAAM,CAAC,EAAE,QAAQ,CAAC,wBAAwB,CAAC,EAC3C,MAAM,UAAQ,GACb,iBAAiB,CAiBnB;AAKD,wBAAgB,sCAAsC,IAAI,gCAAgC,CASzF;AAGD,wBAAgB,2BAA2B,IAAI,qBAAqB,CAYnE;AAQD,wBAAgB,oBAAoB,CAAC,KAAK,CAAC,EAAE,qBAAqB,GAAG,cAAc,CAuClF;AAKD,wBAAgB,iBAAiB,CAAC,IAAI,GAAE,iBAA6B,GAAG,WAAW,CAwDlF;AAID,wBAAgB,iBAAiB,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,EAAE,KAAK,EAAE,MAAM,GAAG,WAAW,GAAG,IAAI,CAEpG;AAKD,wBAAgB,qBAAqB,CAAC,KAAK,EAAE,cAAc,GAAG,OAAO,CAoCpE;AASD,wBAAgB,2BAA2B,CACzC,KAAK,EAAE,cAAc,EACrB,IAAI,EAAE,WAAW,EACjB,QAAQ,EAAE,iBAAiB,GAC1B,OAAO,CAeT;AAaD,wBAAgB,mBAAmB,CAAC,KAAK,EAAE,cAAc,EAAE,IAAI,EAAE,WAAW,GAAG,OAAO,CA8BrF;AAQD,wBAAgB,uBAAuB,CACrC,KAAK,EAAE,cAAc,EACrB,IAAI,EAAE,WAAW,EACjB,QAAQ,EAAE,iBAAiB,GAC1B,OAAO,CAiBT;AAKD,wBAAgB,sBAAsB,CAAC,IAAI,EAAE,WAAW,EAAE,MAAM,EAAE,OAAO,GAAG,OAAO,CAOlF;AAQD,wBAAgB,6BAA6B,CAAC,IAAI,EAAE,WAAW,EAAE,aAAa,EAAE,OAAO,GAAG,OAAO,CAkBhG;AAID,wBAAgB,4BAA4B,CAAC,IAAI,EAAE,WAAW,EAAE,YAAY,EAAE,OAAO,GAAG,OAAO,CAO9F;AAOD,wBAAgB,yBAAyB,CACvC,IAAI,EAAE,WAAW,EACjB,CAAC,EAAE,MAAM,EACT,CAAC,EAAE,MAAM,EACT,CAAC,EAAE,MAAM,EACT,YAAY,EAAE,MAAM,EACpB,YAAY,EAAE,MAAM,EACpB,YAAY,EAAE,MAAM,EACpB,YAAY,EAAE,MAAM,GACnB,OAAO,CAqCT;AAOD,wBAAgB,oBAAoB,CAAC,IAAI,EAAE,WAAW,EAAE,IAAI,EAAE,iBAAiB,GAAG,OAAO,CA2BxF;AAID,wBAAgB,iBAAiB,CAAC,IAAI,EAAE,WAAW,GAAG,IAAI,CAKzD;AAID,wBAAgB,2BAA2B,CAAC,IAAI,EAAE,QAAQ,CAAC,WAAW,CAAC,EAAE,GAAG,EAAE,MAAM,EAAE,GAAG,IAAI,CAwB5F;AAID,eAAO,MAAM,qBAAqB,IAAI,CAAC"}

package/dist/world.js

@@ -5,6 +5,7 @@ import { refreshRigidBody3DWorldInertia } from './integrate';
 import { rebuildPhysics3DJointCollisionSuppressions } from './jointCollisionSuppression';
 import { createPhysics3DMassData, setRigidBody3DMassData, updateRigidBody3DMassData } from './massProperties';
 import { assertPhysics3DBodyNotStepping, assertPhysics3DWorldNotStepping, physics3DBodyOwners, physics3DColliderOwners, physics3DJointOwners, } from './ownership';
+import { withdrawPhysics3DBroadphaseBody } from './physics3DBroadphasePublication';
 import { applySymmetricTensor, TENSOR_XX, TENSOR_XY, TENSOR_XZ, TENSOR_YY, TENSOR_YZ, TENSOR_ZZ, } from './symmetricTensor';
 // World and body lifecycle: allocation, membership, and the mutations that have to run through a
 // function because something derived follows from them.
@@ -240,8 +241,8 @@ export function createPhysics3DSolverConfig() {
 //
 // The broadphase defaults to a uniform grid and is a constructor PARAMETER rather than a fixed choice:
 // `SpatialIndexBackend3D` is the swap point, so a caller with a scene the grid suits badly — a sparse
-// world spanning kilometres, say — hands over an octree or its own implementation without this package
-// changing.
+// world spanning kilometres or carrying bodies at widely different scales, say — hands over the BVH or
+// its own implementation without this package changing.
 export function createPhysics3DWorld(index) {
     return {
         version: Physics3DWorldVersion,
@@ -445,7 +446,7 @@ export function removePhysics3DBody(world, body) {
         physics3DJointOwners.delete(joint);
     }
     rebuildPhysics3DJointCollisionSuppressions(world);
-    world.index.removeSpatialObject(index);
+    withdrawPhysics3DBroadphaseBody(world, index);
     body.index = -1;
     physics3DBodyOwners.delete(body);
     return true;

package/dist/world.js.map

@@ -1 +1 @@
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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@flighthq/physics3d",
-  "version": "0.4.0-next.1821.efb1cbc",
+  "version": "0.4.0-next.1836.147ae1e",
   "author": "Joshua Granick and other contributors",
   "license": "MIT",
   "repository": {
@@ -38,11 +38,11 @@
     "clean:dist": "tsx ../../scripts/clean-package-dist.ts"
   },
   "dependencies": {
-    "@flighthq/collision": "0.4.0-next.1821.efb1cbc",
-    "@flighthq/log": "0.4.0-next.1821.efb1cbc",
-    "@flighthq/math": "0.4.0-next.1821.efb1cbc",
-    "@flighthq/spatial": "0.4.0-next.1821.efb1cbc",
-    "@flighthq/types": "0.4.0-next.1821.efb1cbc"
+    "@flighthq/collision": "0.4.0-next.1836.147ae1e",
+    "@flighthq/log": "0.4.0-next.1836.147ae1e",
+    "@flighthq/math": "0.4.0-next.1836.147ae1e",
+    "@flighthq/spatial": "0.4.0-next.1836.147ae1e",
+    "@flighthq/types": "0.4.0-next.1836.147ae1e"
   },
   "devDependencies": {
     "@flighthq/geometry": "*",

package/src/broadphase.test.ts

@@ -1,4 +1,11 @@
-import type { CollisionBuiltInShape3D, Physics3DWorld, RigidBody3D, SpatialPair } from '@flighthq/types/contract';
+import { setSpatialIndexingGuard } from '@flighthq/spatial/contract';
+import type {
+  CollisionBuiltInShape3D,
+  Physics3DWorld,
+  RigidBody3D,
+  SpatialIndexingNotice,
+  SpatialPair,
+} from '@flighthq/types/contract';
 import { describe, expect, it } from 'vitest';
 
 import { synchronizePhysics3DBroadphase, synchronizePhysics3DSweptBroadphase } from './broadphase';
@@ -8,8 +15,13 @@ import {
   createPhysics3DCollider,
   createPhysics3DWorld,
   createRigidBody3D,
+  removePhysics3DBody,
 } from './world';
 
+afterEach(() => {
+  setSpatialIndexingGuard(null);
+});
+
 function unitBox(): CollisionBuiltInShape3D {
   return { kind: 'aabb', minX: -0.5, minY: -0.5, minZ: -0.5, maxX: 0.5, maxY: 0.5, maxZ: 0.5 };
 }
@@ -31,6 +43,24 @@ function pairs(world: Readonly<Physics3DWorld>): SpatialPair[] {
 }
 
 describe('synchronizePhysics3DBroadphase', () => {
+  it('uses insert, update, and remove without false missing-id lifecycle notices', () => {
+    const notices: SpatialIndexingNotice[] = [];
+    setSpatialIndexingGuard((notice) => notices.push({ ...notice }));
+    const world = createPhysics3DWorld();
+    const body = createRigidBody3D('dynamic');
+
+    addPhysics3DBody(world, body);
+    for (let step = 0; step < 100; step += 1) synchronizePhysics3DBroadphase(world);
+    addPhysics3DCollider(world, body, createPhysics3DCollider(unitBox()));
+    synchronizePhysics3DBroadphase(world);
+    body.colliders.length = 0;
+    synchronizePhysics3DBroadphase(world);
+    synchronizePhysics3DBroadphase(world);
+    removePhysics3DBody(world, body);
+
+    expect(notices.filter((notice) => notice.reason === 'missing-id')).toEqual([]);
+  });
+
   it('publishes a body so an overlapping neighbour becomes a candidate pair', () => {
     const world = createPhysics3DWorld();
     addBoxBody(world, 0, 0, 0);

package/src/enablePhysics3DGuards.test.ts

@@ -1,6 +1,7 @@
 import { addLogSink, createMemoryLogSink, getMemoryLogSinkEntries, removeLogSink } from '@flighthq/log/contract';
 import type { LogEntry, Physics3DWorld } from '@flighthq/types/contract';
 
+import { synchronizePhysics3DBroadphase } from './broadphase';
 import { arePhysics3DGuardsEnabled, disablePhysics3DGuards, enablePhysics3DGuards } from './enablePhysics3DGuards';
 import { createPhysics3DHingeJoint } from './jointFactories';
 import { addPhysics3DJoint } from './jointRegistry';
@@ -59,6 +60,15 @@ describe('disablePhysics3DGuards', () => {
 
     expect(entries).toHaveLength(0);
   });
+
+  it('removes the spatial-indexing seam', () => {
+    enablePhysics3DGuards();
+    disablePhysics3DGuards();
+
+    const entries = captureLog(() => addPhysics3DBody(createPhysics3DWorld(), createOverflowBody()));
+
+    expect(entries).toHaveLength(0);
+  });
 });
 
 describe('enablePhysics3DGuards', () => {
@@ -141,6 +151,27 @@ describe('enablePhysics3DGuards', () => {
       { index: 1, kind: 'Hinge', status: 'invalid-bodies' },
     ]);
   });
+
+  it('reports a body routed through spatial overflow once and stays silent for ordinary indexing', () => {
+    enablePhysics3DGuards();
+    const world = createPhysics3DWorld();
+
+    const entries = captureLog(() => {
+      const ordinary = createRigidBody3D('dynamic');
+      ordinary.colliders.push(createPhysics3DCollider({ kind: 'sphere', x: 0, y: 0, z: 0, radius: 0.5 }));
+      addPhysics3DBody(world, ordinary);
+      addPhysics3DBody(world, createOverflowBody());
+      addPhysics3DBody(world, createOverflowBody());
+      synchronizePhysics3DBroadphase(world);
+      synchronizePhysics3DBroadphase(world);
+    });
+
+    expect(entries).toHaveLength(1);
+    expect(entries[0]).toMatchObject({
+      channel: 'physics3d',
+      data: { bodyIndices: [1], status: 'spatial-overflow' },
+    });
+  });
 });
 
 // `LogData` is deliberately `string | Record<string, unknown>`, so a structured entry's fields are only
@@ -165,3 +196,11 @@ function createTestWorld(): Physics3DWorld {
   addPhysics3DBody(world, createRigidBody3D('dynamic'));
   return world;
 }
+
+function createOverflowBody() {
+  const body = createRigidBody3D('static');
+  body.colliders.push(
+    createPhysics3DCollider({ kind: 'aabb', minX: -16, minY: -16, minZ: -16, maxX: 16, maxY: 16, maxZ: 16 }),
+  );
+  return body;
+}

package/src/physics3DBroadphasePublication.test.ts

@@ -0,0 +1,63 @@
+import { createBvhSpatialBackend3D, setSpatialIndexingGuard } from '@flighthq/spatial/contract';
+import type { SpatialAabb3D, SpatialIndexingNotice } from '@flighthq/types/contract';
+import { afterEach, describe, expect, it } from 'vitest';
+
+import {
+  getPhysics3DBroadphaseBodyIndices,
+  publishPhysics3DBroadphaseBody,
+  withdrawPhysics3DBroadphaseBody,
+} from './physics3DBroadphasePublication';
+import { createPhysics3DWorld } from './world';
+
+afterEach(() => {
+  setSpatialIndexingGuard(null);
+});
+
+describe('getPhysics3DBroadphaseBodyIndices', () => {
+  it('retains publication state for one backend and rebuilds it when the backend changes', () => {
+    const world = createPhysics3DWorld();
+    const first = getPhysics3DBroadphaseBodyIndices(world);
+    first.add(7);
+    expect(getPhysics3DBroadphaseBodyIndices(world)).toBe(first);
+
+    world.index = createBvhSpatialBackend3D();
+
+    const replaced = getPhysics3DBroadphaseBodyIndices(world);
+    expect(replaced).not.toBe(first);
+    expect(replaced.size).toBe(0);
+  });
+});
+
+describe('publishPhysics3DBroadphaseBody', () => {
+  it('inserts once and then updates without reporting a missing-id lifecycle fault', () => {
+    const notices: SpatialIndexingNotice[] = [];
+    setSpatialIndexingGuard((notice) => notices.push({ ...notice }));
+    const world = createPhysics3DWorld();
+
+    publishPhysics3DBroadphaseBody(world, 7, box(0));
+    publishPhysics3DBroadphaseBody(world, 7, box(1));
+
+    expect(world.index.explainSpatialIndexing(7).mode).toBe('cells');
+    expect(notices.filter((notice) => notice.reason === 'missing-id')).toEqual([]);
+  });
+});
+
+describe('withdrawPhysics3DBroadphaseBody', () => {
+  it('removes a publication once and leaves a never-published id alone', () => {
+    const notices: SpatialIndexingNotice[] = [];
+    setSpatialIndexingGuard((notice) => notices.push({ ...notice }));
+    const world = createPhysics3DWorld();
+
+    withdrawPhysics3DBroadphaseBody(world, 8);
+    publishPhysics3DBroadphaseBody(world, 7, box(0));
+    withdrawPhysics3DBroadphaseBody(world, 7);
+    withdrawPhysics3DBroadphaseBody(world, 7);
+
+    expect(world.index.explainSpatialIndexing(7).mode).toBe('absent');
+    expect(notices.filter((notice) => notice.reason === 'missing-id')).toEqual([]);
+  });
+});
+
+function box(offset: number): SpatialAabb3D {
+  return { minX: offset, minY: 0, minZ: 0, maxX: offset + 1, maxY: 1, maxZ: 1 };
+}

package/src/physics3DSpatialIndexingGuards.test.ts

@@ -0,0 +1,43 @@
+import type { Physics3DWorld } from '@flighthq/types/contract';
+import { afterEach, describe, expect, it } from 'vitest';
+
+import { reportPhysics3DSpatialIndexing, setPhysics3DSpatialIndexingGuard } from './physics3DSpatialIndexingGuards';
+import { createPhysics3DWorld } from './world';
+
+afterEach(() => {
+  setPhysics3DSpatialIndexingGuard(null);
+});
+
+describe('reportPhysics3DSpatialIndexing', () => {
+  it('reports the world only while the optional seam is installed', () => {
+    const world = createPhysics3DWorld();
+    const received: Readonly<Physics3DWorld>[] = [];
+
+    reportPhysics3DSpatialIndexing(world);
+    setPhysics3DSpatialIndexingGuard((reported) => received.push(reported));
+    reportPhysics3DSpatialIndexing(world);
+    setPhysics3DSpatialIndexingGuard(null);
+    reportPhysics3DSpatialIndexing(world);
+
+    expect(received).toEqual([world]);
+  });
+});
+
+describe('setPhysics3DSpatialIndexingGuard', () => {
+  it('replaces the previous guard instead of accumulating callbacks', () => {
+    const world = createPhysics3DWorld();
+    let firstCalls = 0;
+    let secondCalls = 0;
+    setPhysics3DSpatialIndexingGuard(() => {
+      firstCalls += 1;
+    });
+    setPhysics3DSpatialIndexingGuard(() => {
+      secondCalls += 1;
+    });
+
+    reportPhysics3DSpatialIndexing(world);
+
+    expect(firstCalls).toBe(0);
+    expect(secondCalls).toBe(1);
+  });
+});