@flighthq/physics3d 0.4.0-next.1892.a0b519a → 0.4.0-next.1898.266773a

package/dist/contract.d.ts

@@ -15,6 +15,7 @@ export * from './jointCollisionSuppression';
 export * from './jointFactories';
 export * from './jointRegistry';
 export * from './joints';
+export * from './nodeSync';
 export * from './massProperties';
 export * from './material';
 export * from './registerBuiltInPhysics3DJointSolvers';

package/dist/contract.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"contract.d.ts","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAAA,cAAc,cAAc,CAAC;AAC7B,cAAc,qBAAqB,CAAC;AACpC,cAAc,iBAAiB,CAAC;AAChC,cAAc,cAAc,CAAC;AAC7B,cAAc,YAAY,CAAC;AAC3B,cAAc,6BAA6B,CAAC;AAC5C,cAAc,iBAAiB,CAAC;AAChC,cAAc,iBAAiB,CAAC;AAChC,cAAc,0BAA0B,CAAC;AACzC,cAAc,yBAAyB,CAAC;AACxC,cAAc,wBAAwB,CAAC;AACvC,cAAc,aAAa,CAAC;AAC5B,cAAc,WAAW,CAAC;AAC1B,cAAc,6BAA6B,CAAC;AAC5C,cAAc,kBAAkB,CAAC;AACjC,cAAc,iBAAiB,CAAC;AAChC,cAAc,UAAU,CAAC;AACzB,cAAc,YAAY,CAAC;AAC3B,cAAc,kBAAkB,CAAC;AACjC,cAAc,YAAY,CAAC;AAC3B,cAAc,wCAAwC,CAAC;AACvD,cAAc,UAAU,CAAC;AACzB,cAAc,QAAQ,CAAC;AACvB,cAAc,kBAAkB,CAAC;AACjC,cAAc,SAAS,CAAC;AACxB,cAAc,gBAAgB,CAAC;AAC/B,cAAc,iBAAiB,CAAC"}

package/dist/contract.js

@@ -15,6 +15,7 @@ export * from './jointCollisionSuppression';
 export * from './jointFactories';
 export * from './jointRegistry';
 export * from './joints';
+export * from './nodeSync';
 export * from './massProperties';
 export * from './material';
 export * from './registerBuiltInPhysics3DJointSolvers';

package/dist/contract.js.map

@@ -1 +1 @@
-{"version":3,"file":"contract.js","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAAA,cAAc,cAAc,CAAC;AAC7B,cAAc,qBAAqB,CAAC;AACpC,cAAc,iBAAiB,CAAC;AAChC,cAAc,cAAc,CAAC;AAC7B,cAAc,YAAY,CAAC;AAC3B,cAAc,6BAA6B,CAAC;AAC5C,cAAc,iBAAiB,CAAC;AAChC,cAAc,iBAAiB,CAAC;AAChC,cAAc,0BAA0B,CAAC;AACzC,cAAc,yBAAyB,CAAC;AACxC,cAAc,wBAAwB,CAAC;AACvC,cAAc,aAAa,CAAC;AAC5B,cAAc,WAAW,CAAC;AAC1B,cAAc,6BAA6B,CAAC;AAC5C,cAAc,kBAAkB,CAAC;AACjC,cAAc,iBAAiB,CAAC;AAChC,cAAc,UAAU,CAAC;AACzB,cAAc,kBAAkB,CAAC;AACjC,cAAc,YAAY,CAAC;AAC3B,cAAc,wCAAwC,CAAC;AACvD,cAAc,UAAU,CAAC;AACzB,cAAc,QAAQ,CAAC;AACvB,cAAc,kBAAkB,CAAC;AACjC,cAAc,SAAS,CAAC;AACxB,cAAc,gBAAgB,CAAC;AAC/B,cAAc,iBAAiB,CAAC"}
+{"version":3,"file":"contract.js","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAAA,cAAc,cAAc,CAAC;AAC7B,cAAc,qBAAqB,CAAC;AACpC,cAAc,iBAAiB,CAAC;AAChC,cAAc,cAAc,CAAC;AAC7B,cAAc,YAAY,CAAC;AAC3B,cAAc,6BAA6B,CAAC;AAC5C,cAAc,iBAAiB,CAAC;AAChC,cAAc,iBAAiB,CAAC;AAChC,cAAc,0BAA0B,CAAC;AACzC,cAAc,yBAAyB,CAAC;AACxC,cAAc,wBAAwB,CAAC;AACvC,cAAc,aAAa,CAAC;AAC5B,cAAc,WAAW,CAAC;AAC1B,cAAc,6BAA6B,CAAC;AAC5C,cAAc,kBAAkB,CAAC;AACjC,cAAc,iBAAiB,CAAC;AAChC,cAAc,UAAU,CAAC;AACzB,cAAc,YAAY,CAAC;AAC3B,cAAc,kBAAkB,CAAC;AACjC,cAAc,YAAY,CAAC;AAC3B,cAAc,wCAAwC,CAAC;AACvD,cAAc,UAAU,CAAC;AACzB,cAAc,QAAQ,CAAC;AACvB,cAAc,kBAAkB,CAAC;AACjC,cAAc,SAAS,CAAC;AACxB,cAAc,gBAAgB,CAAC;AAC/B,cAAc,iBAAiB,CAAC"}

package/dist/index.d.ts

@@ -10,6 +10,7 @@ export { addPhysics3DJoint, getPhysics3DJointSolver, invalidatePhysics3DJoint, r
 export { physics3DBallAndSocketJointSolver, physics3DConeTwistJointSolver, physics3DDistanceJointSolver, physics3DFixedJointSolver, physics3DGeneric6DofJointSolver, physics3DHingeJointSolver, physics3DSliderJointSolver, Physics3DBallAndSocketJointKind, Physics3DConeTwistJointKind, Physics3DDistanceJointKind, Physics3DFixedJointKind, Physics3DGeneric6DofJointKind, Physics3DHingeJointKind, Physics3DSliderJointKind, } from './joints';
 export { combinePhysics3DMassData, computePhysics3DBoxMassData, computePhysics3DCapsuleMassData, computePhysics3DConeMassData, computePhysics3DCylinderMassData, computePhysics3DColliderMassData, computePhysics3DConvexHullMassData, computePhysics3DSphereMassData, createPhysics3DMassData, setRigidBody3DMassData, updateRigidBody3DMassData, } from './massProperties';
 export { mixPhysics3DFriction, mixPhysics3DRestitution } from './material';
+export { syncPhysics3DBodyToNode3D } from './nodeSync';
 export { registerBuiltInPhysics3DJointSolvers } from './registerBuiltInPhysics3DJointSolvers';
 export { stepPhysics3D, stepPhysics3DInterval } from './step';
 export { addPhysics3DBody, addPhysics3DCollider, applyPhysics3DForce, applyPhysics3DForceAtPoint, applyPhysics3DLinearImpulse, applyPhysics3DLinearImpulseAtPoint, applyPhysics3DTorque, createPhysics3DCollider, createPhysics3DSequentialImpulseConfig, createPhysics3DSolverConfig, createPhysics3DWorld, createRigidBody3D, findPhysics3DBody, hydratePhysics3DWorld, invalidatePhysics3DCollider, Physics3DWorldVersion, removePhysics3DBody, removePhysics3DCollider, setPhysics3DBodyBullet, setPhysics3DBodyFixedRotation, setPhysics3DBodySleepEnabled, setPhysics3DBodyTransform, setPhysics3DBodyType, wakePhysics3DBody, writeRigidBody3DWorldCenter, } from './world';

package/dist/index.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,OAAO,EACL,sBAAsB,EACtB,wBAAwB,EACxB,4BAA4B,EAC5B,8BAA8B,GAC/B,MAAM,aAAa,CAAC;AACrB,OAAO,EAAE,sBAAsB,EAAE,2BAA2B,EAAE,MAAM,YAAY,CAAC;AACjF,OAAO,EAAE,yBAAyB,EAAE,MAAM,6BAA6B,CAAC;AACxE,OAAO,EAAE,sBAAsB,EAAE,MAAM,0BAA0B,CAAC;AAClE,OAAO,EAAE,yBAAyB,EAAE,sBAAsB,EAAE,qBAAqB,EAAE,MAAM,yBAAyB,CAAC;AACnH,OAAO,EAAE,oBAAoB,EAAE,MAAM,wBAAwB,CAAC;AAC9D,OAAO,EAAE,8BAA8B,EAAE,MAAM,6BAA6B,CAAC;AAC7E,OAAO,EACL,iCAAiC,EACjC,6BAA6B,EAC7B,4BAA4B,EAC5B,yBAAyB,EACzB,+BAA+B,EAC/B,yBAAyB,EACzB,0BAA0B,GAC3B,MAAM,kBAAkB,CAAC;AAC1B,OAAO,EACL,iBAAiB,EACjB,uBAAuB,EACvB,wBAAwB,EACxB,4BAA4B,EAC5B,oBAAoB,GACrB,MAAM,iBAAiB,CAAC;AACzB,OAAO,EACL,iCAAiC,EACjC,6BAA6B,EAC7B,4BAA4B,EAC5B,yBAAyB,EACzB,+BAA+B,EAC/B,yBAAyB,EACzB,0BAA0B,EAC1B,+BAA+B,EAC/B,2BAA2B,EAC3B,0BAA0B,EAC1B,uBAAuB,EACvB,6BAA6B,EAC7B,uBAAuB,EACvB,wBAAwB,GACzB,MAAM,UAAU,CAAC;AAClB,OAAO,EACL,wBAAwB,EACxB,2BAA2B,EAC3B,+BAA+B,EAC/B,4BAA4B,EAC5B,gCAAgC,EAChC,gCAAgC,EAChC,kCAAkC,EAClC,8BAA8B,EAC9B,uBAAuB,EACvB,sBAAsB,EACtB,yBAAyB,GAC1B,MAAM,kBAAkB,CAAC;AAC1B,OAAO,EAAE,oBAAoB,EAAE,uBAAuB,EAAE,MAAM,YAAY,CAAC;AAC3E,OAAO,EAAE,yBAAyB,EAAE,MAAM,YAAY,CAAC;AACvD,OAAO,EAAE,oCAAoC,EAAE,MAAM,wCAAwC,CAAC;AAC9F,OAAO,EAAE,aAAa,EAAE,qBAAqB,EAAE,MAAM,QAAQ,CAAC;AAC9D,OAAO,EACL,gBAAgB,EAChB,oBAAoB,EACpB,mBAAmB,EACnB,0BAA0B,EAC1B,2BAA2B,EAC3B,kCAAkC,EAClC,oBAAoB,EACpB,uBAAuB,EACvB,sCAAsC,EACtC,2BAA2B,EAC3B,oBAAoB,EACpB,iBAAiB,EACjB,iBAAiB,EACjB,qBAAqB,EACrB,2BAA2B,EAC3B,qBAAqB,EACrB,mBAAmB,EACnB,uBAAuB,EACvB,sBAAsB,EACtB,6BAA6B,EAC7B,4BAA4B,EAC5B,yBAAyB,EACzB,oBAAoB,EACpB,iBAAiB,EACjB,2BAA2B,GAC5B,MAAM,SAAS,CAAC;AACjB,OAAO,EACL,0BAA0B,EAC1B,0BAA0B,EAC1B,wBAAwB,EACxB,8BAA8B,EAC9B,mBAAmB,EACnB,iBAAiB,EACjB,wBAAwB,EACxB,oBAAoB,EACpB,uBAAuB,GACxB,MAAM,gBAAgB,CAAC;AACxB,OAAO,EAAE,4BAA4B,EAAE,2BAA2B,EAAE,MAAM,iBAAiB,CAAC;AAC5F,OAAO,EACL,wBAAwB,EACxB,4BAA4B,EAC5B,mCAAmC,GACpC,MAAM,cAAc,CAAC;AAEtB,OAAO,EAAE,mBAAmB,EAAE,8BAA8B,EAAE,yBAAyB,EAAE,MAAM,iBAAiB,CAAC;AACjH,OAAO,EACL,mCAAmC,EACnC,2BAA2B,EAC3B,4BAA4B,EAC5B,8BAA8B,EAC9B,+BAA+B,EAC/B,2BAA2B,GAC5B,MAAM,iBAAiB,CAAC"}

package/dist/index.js

@@ -10,6 +10,7 @@ export { addPhysics3DJoint, getPhysics3DJointSolver, invalidatePhysics3DJoint, r
 export { physics3DBallAndSocketJointSolver, physics3DConeTwistJointSolver, physics3DDistanceJointSolver, physics3DFixedJointSolver, physics3DGeneric6DofJointSolver, physics3DHingeJointSolver, physics3DSliderJointSolver, Physics3DBallAndSocketJointKind, Physics3DConeTwistJointKind, Physics3DDistanceJointKind, Physics3DFixedJointKind, Physics3DGeneric6DofJointKind, Physics3DHingeJointKind, Physics3DSliderJointKind, } from './joints';
 export { combinePhysics3DMassData, computePhysics3DBoxMassData, computePhysics3DCapsuleMassData, computePhysics3DConeMassData, computePhysics3DCylinderMassData, computePhysics3DColliderMassData, computePhysics3DConvexHullMassData, computePhysics3DSphereMassData, createPhysics3DMassData, setRigidBody3DMassData, updateRigidBody3DMassData, } from './massProperties';
 export { mixPhysics3DFriction, mixPhysics3DRestitution } from './material';
+export { syncPhysics3DBodyToNode3D } from './nodeSync';
 export { registerBuiltInPhysics3DJointSolvers } from './registerBuiltInPhysics3DJointSolvers';
 export { stepPhysics3D, stepPhysics3DInterval } from './step';
 export { addPhysics3DBody, addPhysics3DCollider, applyPhysics3DForce, applyPhysics3DForceAtPoint, applyPhysics3DLinearImpulse, applyPhysics3DLinearImpulseAtPoint, applyPhysics3DTorque, createPhysics3DCollider, createPhysics3DSequentialImpulseConfig, createPhysics3DSolverConfig, createPhysics3DWorld, createRigidBody3D, findPhysics3DBody, hydratePhysics3DWorld, invalidatePhysics3DCollider, Physics3DWorldVersion, removePhysics3DBody, removePhysics3DCollider, setPhysics3DBodyBullet, setPhysics3DBodyFixedRotation, setPhysics3DBodySleepEnabled, setPhysics3DBodyTransform, setPhysics3DBodyType, wakePhysics3DBody, writeRigidBody3DWorldCenter, } from './world';

package/dist/index.js.map

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

@@ -0,0 +1,3 @@
+import type { Node3D, RigidBody3D } from '@flighthq/types/contract';
+export declare function syncPhysics3DBodyToNode3D(body: Readonly<RigidBody3D>, node: Node3D): void;
+//# sourceMappingURL=nodeSync.d.ts.map

package/dist/nodeSync.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"nodeSync.d.ts","sourceRoot":"","sources":["../src/nodeSync.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,MAAM,EAAE,WAAW,EAAE,MAAM,0BAA0B,CAAC;AAMpE,wBAAgB,yBAAyB,CAAC,IAAI,EAAE,QAAQ,CAAC,WAAW,CAAC,EAAE,IAAI,EAAE,MAAM,GAAG,IAAI,CASzF"}

package/dist/nodeSync.js

@@ -0,0 +1,16 @@
+import { invalidateNodeLocalTransform } from '@flighthq/node/contract';
+// Copies a rigid body's world pose (position + orientation quaternion) onto a node's local transform
+// fields and invalidates its matrix cache. Call once per frame after `stepPhysics3D` to drive a scene
+// node from a simulation body. Does NOT handle centre-of-mass offset or compound collider transforms —
+// both body and node share the same origin convention (entity centre).
+export function syncPhysics3DBodyToNode3D(body, node) {
+    node.position.x = body.x;
+    node.position.y = body.y;
+    node.position.z = body.z;
+    node.rotation.x = body.orientationX;
+    node.rotation.y = body.orientationY;
+    node.rotation.z = body.orientationZ;
+    node.rotation.w = body.orientationW;
+    invalidateNodeLocalTransform(node);
+}
+//# sourceMappingURL=nodeSync.js.map

package/dist/nodeSync.js.map

@@ -0,0 +1 @@
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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@flighthq/physics3d",
-  "version": "0.4.0-next.1892.a0b519a",
+  "version": "0.4.0-next.1898.266773a",
   "author": "Joshua Granick and other contributors",
   "license": "MIT",
   "repository": {
@@ -38,14 +38,16 @@
     "clean:dist": "tsx ../../scripts/clean-package-dist.ts"
   },
   "dependencies": {
-    "@flighthq/collision": "0.4.0-next.1892.a0b519a",
-    "@flighthq/log": "0.4.0-next.1892.a0b519a",
-    "@flighthq/math": "0.4.0-next.1892.a0b519a",
-    "@flighthq/spatial": "0.4.0-next.1892.a0b519a",
-    "@flighthq/types": "0.4.0-next.1892.a0b519a"
+    "@flighthq/collision": "0.4.0-next.1898.266773a",
+    "@flighthq/log": "0.4.0-next.1898.266773a",
+    "@flighthq/math": "0.4.0-next.1898.266773a",
+    "@flighthq/node": "0.4.0-next.1898.266773a",
+    "@flighthq/spatial": "0.4.0-next.1898.266773a",
+    "@flighthq/types": "0.4.0-next.1898.266773a"
   },
   "devDependencies": {
     "@flighthq/geometry": "*",
+    "@flighthq/scene3d": "*",
     "typescript": "^5.3.0"
   },
   "description": "3D rigid-body dynamics — quaternion integration over inertia tensors and a deterministic sequential-impulse solver, with explicit stepping and no hidden per-frame allocation",

package/src/nodeSync.test.ts

@@ -0,0 +1,50 @@
+import { getNodeLocalMatrix4 } from '@flighthq/node/contract';
+import { createNode3D } from '@flighthq/scene3d/contract';
+import type { RigidBody3D } from '@flighthq/types/contract';
+import { describe, expect, it } from 'vitest';
+
+import { syncPhysics3DBodyToNode3D } from './nodeSync';
+
+function stubBody(x: number, y: number, z: number, qx: number, qy: number, qz: number, qw: number): RigidBody3D {
+  return {
+    x,
+    y,
+    z,
+    orientationX: qx,
+    orientationY: qy,
+    orientationZ: qz,
+    orientationW: qw,
+  } as RigidBody3D;
+}
+
+describe('syncPhysics3DBodyToNode3D', () => {
+  it('copies position from body to node', () => {
+    const body = stubBody(3, 7, -2, 0, 0, 0, 1);
+    const node = createNode3D();
+    syncPhysics3DBodyToNode3D(body, node);
+    expect(node.position.x).toBe(3);
+    expect(node.position.y).toBe(7);
+    expect(node.position.z).toBe(-2);
+  });
+
+  it('copies orientation quaternion from body to node', () => {
+    const body = stubBody(0, 0, 0, 0.5, 0.5, 0.5, 0.5);
+    const node = createNode3D();
+    syncPhysics3DBodyToNode3D(body, node);
+    expect(node.rotation.x).toBe(0.5);
+    expect(node.rotation.y).toBe(0.5);
+    expect(node.rotation.z).toBe(0.5);
+    expect(node.rotation.w).toBe(0.5);
+  });
+
+  it('invalidates the local matrix so the next world-transform read recomputes', () => {
+    const node = createNode3D();
+    const matrixBefore = getNodeLocalMatrix4(node);
+    const m12Before = matrixBefore.m[12];
+    const body = stubBody(10, 0, 0, 0, 0, 0, 1);
+    syncPhysics3DBodyToNode3D(body, node);
+    const matrixAfter = getNodeLocalMatrix4(node);
+    expect(matrixAfter.m[12]).toBe(10);
+    expect(matrixAfter.m[12]).not.toBe(m12Before);
+  });
+});

package/src/stress.test.ts

@@ -134,7 +134,7 @@ function snapshotWorld(world: Readonly<Physics3DWorld>): number[][] {
 }
 
 describe('physics3d stress qualification', () => {
-  it('settles a distributed load across large accelerated mesh and heightfield terrain', () => {
+  it('settles a distributed load across large accelerated mesh and heightfield terrain', { timeout: 15_000 }, () => {
     for (const surface of [
       createGridTriangleMesh(17, 17),
       createCollisionHeightfield3D(17, 17, new Array(17 * 17).fill(0)),