@flighthq/physics3d 0.5.1-next.731.0ae0aa4 → 0.5.1-next.799.62ef0c7

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 (45) hide show
  1. package/README.md +2 -2
  2. package/dist/colliderTransform.d.ts +2 -2
  3. package/dist/colliderTransform.d.ts.map +1 -1
  4. package/dist/colliderTransform.js +16 -15
  5. package/dist/colliderTransform.js.map +1 -1
  6. package/dist/contactIntake.js +6 -17
  7. package/dist/contactIntake.js.map +1 -1
  8. package/dist/contacts.d.ts.map +1 -1
  9. package/dist/contacts.js +5 -4
  10. package/dist/contacts.js.map +1 -1
  11. package/dist/continuous.js +17 -33
  12. package/dist/continuous.js.map +1 -1
  13. package/dist/debugGeometry.d.ts.map +1 -1
  14. package/dist/debugGeometry.js +2 -1
  15. package/dist/debugGeometry.js.map +1 -1
  16. package/dist/jointFactories.d.ts.map +1 -1
  17. package/dist/jointFactories.js +13 -12
  18. package/dist/jointFactories.js.map +1 -1
  19. package/dist/jointReaction.d.ts.map +1 -1
  20. package/dist/jointReaction.js +2 -1
  21. package/dist/jointReaction.js.map +1 -1
  22. package/dist/massProperties.d.ts.map +1 -1
  23. package/dist/massProperties.js +3 -2
  24. package/dist/massProperties.js.map +1 -1
  25. package/dist/solver.d.ts.map +1 -1
  26. package/dist/solver.js +5 -4
  27. package/dist/solver.js.map +1 -1
  28. package/dist/world.d.ts +3 -3
  29. package/dist/world.d.ts.map +1 -1
  30. package/dist/world.js +17 -17
  31. package/dist/world.js.map +1 -1
  32. package/dist/worldQueries.d.ts +2 -2
  33. package/dist/worldQueries.d.ts.map +1 -1
  34. package/dist/worldQueries.js +7 -6
  35. package/dist/worldQueries.js.map +1 -1
  36. package/package.json +8 -7
  37. package/src/colliderTransform.test.ts +4 -1
  38. package/src/debugGeometry.test.ts +1 -1
  39. package/src/islands.test.ts +12 -30
  40. package/src/jointMath.test.ts +4 -27
  41. package/src/jointReaction.test.ts +2 -2
  42. package/src/massProperties.test.ts +3 -55
  43. package/src/solver.test.ts +16 -29
  44. package/src/world.test.ts +9 -43
  45. package/src/worldQueries.test.ts +2 -2
package/README.md CHANGED
@@ -13,5 +13,5 @@ Import the supported application-facing API from `@flighthq/physics3d`. The `@fl
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  This package is part of the locked-version Flight SDK graph. Applications may instead install and import `@flighthq/sdk` when package-level tree shaking is sufficient.
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  - [Flight project](https://github.com/flighthq/flight)
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- - [Source for @flighthq/physics3d@0.5.1-next.731.0ae0aa4](https://github.com/flighthq/flight/tree/0ae0aa49d8251d23b546f64bc242f3ad59a98dcb/packages/physics3d)
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- - [License](https://github.com/flighthq/flight/blob/0ae0aa49d8251d23b546f64bc242f3ad59a98dcb/LICENSE.md)
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+ - [Source for @flighthq/physics3d@0.5.1-next.799.62ef0c7](https://github.com/flighthq/flight/tree/62ef0c74f09f24177aac3695b2487b2d743d4fe6/packages/physics3d)
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+ - [License](https://github.com/flighthq/flight/blob/62ef0c74f09f24177aac3695b2487b2d743d4fe6/LICENSE.md)
package/dist/colliderTransform.d.ts CHANGED
@@ -1,5 +1,5 @@
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- import type { CollisionColliderShape3D, Physics3DCollider, RigidBody3D, SpatialAabb3D } from '@flighthq/types/contract';
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- export declare function createPhysics3DColliderWorldShape(local: Readonly<CollisionColliderShape3D>): CollisionColliderShape3D;
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+ import type { CollisionColliderShape3D, Entity, Physics3DCollider, RigidBody3D, SpatialAabb3D } from '@flighthq/types/contract';
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+ export declare function createPhysics3DColliderWorldShape(local: Readonly<CollisionColliderShape3D>): CollisionColliderShape3D & Entity;
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  export declare function updatePhysics3DColliderWorldShape(collider: Physics3DCollider, body: Readonly<RigidBody3D>): void;
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  export declare function writePhysics3DColliderBounds(collider: Readonly<Physics3DCollider>, out: SpatialAabb3D): void;
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  //# sourceMappingURL=colliderTransform.d.ts.map
package/dist/colliderTransform.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"colliderTransform.d.ts","sourceRoot":"","sources":["../src/colliderTransform.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,wBAAwB,EAAE,iBAAiB,EAAE,WAAW,EAAE,aAAa,EAAE,MAAM,0BAA0B,CAAC;AAKxH,wBAAgB,iCAAiC,CAAC,KAAK,EAAE,QAAQ,CAAC,wBAAwB,CAAC,GAAG,wBAAwB,CAwFrH;AAUD,wBAAgB,iCAAiC,CAAC,QAAQ,EAAE,iBAAiB,EAAE,IAAI,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,IAAI,CA4HhH;AAMD,wBAAgB,4BAA4B,CAAC,QAAQ,EAAE,QAAQ,CAAC,iBAAiB,CAAC,EAAE,GAAG,EAAE,aAAa,GAAG,IAAI,CAyI5G"}
1
+ {"version":3,"file":"colliderTransform.d.ts","sourceRoot":"","sources":["../src/colliderTransform.ts"],"names":[],"mappings":"AAEA,OAAO,KAAK,EACV,wBAAwB,EACxB,MAAM,EACN,iBAAiB,EACjB,WAAW,EACX,aAAa,EACd,MAAM,0BAA0B,CAAC;AAKlC,wBAAgB,iCAAiC,CAC/C,KAAK,EAAE,QAAQ,CAAC,wBAAwB,CAAC,GACxC,wBAAwB,GAAG,MAAM,CAwFnC;AAUD,wBAAgB,iCAAiC,CAAC,QAAQ,EAAE,iBAAiB,EAAE,IAAI,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,IAAI,CA4HhH;AAMD,wBAAgB,4BAA4B,CAAC,QAAQ,EAAE,QAAQ,CAAC,iBAAiB,CAAC,EAAE,GAAG,EAAE,aAAa,GAAG,IAAI,CAyI5G"}
package/dist/colliderTransform.js CHANGED
@@ -1,14 +1,15 @@
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  import { writeCollisionHeightfieldBounds3D, writeCollisionTriangleMeshBounds3D } from '@flighthq/collision/contract';
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+ import { createEntity } from '@flighthq/entity/contract';
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  // Allocates the world-space shape a collider needs for `local`, choosing the kind the transform can
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  // actually express. Every field is filled at creation so the shape is never read half-initialised, and
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  // convex-hull storage is sized once here so the per-step transform can write in place.
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  export function createPhysics3DColliderWorldShape(local) {
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  switch (local.kind) {
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  case 'sphere':
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- return { kind: 'sphere', x: local.x, y: local.y, z: local.z, radius: local.radius };
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+ return createEntity({ kind: 'sphere', x: local.x, y: local.y, z: local.z, radius: local.radius });
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  case 'aabb':
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  case 'box':
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- return {
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+ return createEntity({
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  kind: 'box',
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  x: 0,
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  y: 0,
@@ -20,9 +21,9 @@ export function createPhysics3DColliderWorldShape(local) {
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  rotationY: 0,
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  rotationZ: 0,
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  rotationW: 1,
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- };
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+ });
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  case 'capsule':
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- return {
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+ return createEntity({
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  kind: 'capsule',
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  x0: local.x0,
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  y0: local.y0,
@@ -31,9 +32,9 @@ export function createPhysics3DColliderWorldShape(local) {
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  y1: local.y1,
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  z1: local.z1,
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  radius: local.radius,
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- };
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+ });
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  case 'cylinder':
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- return {
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+ return createEntity({
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  kind: 'cylinder',
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  x0: local.x0,
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  y0: local.y0,
@@ -42,9 +43,9 @@ export function createPhysics3DColliderWorldShape(local) {
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  y1: local.y1,
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  z1: local.z1,
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  radius: local.radius,
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- };
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+ });
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  case 'cone':
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- return {
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+ return createEntity({
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  kind: 'cone',
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  apexX: local.apexX,
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  apexY: local.apexY,
@@ -53,11 +54,11 @@ export function createPhysics3DColliderWorldShape(local) {
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  baseY: local.baseY,
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  baseZ: local.baseZ,
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  radius: local.radius,
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- };
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+ });
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  case 'convex':
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- return { kind: 'convex', points: local.points.slice() };
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+ return createEntity({ kind: 'convex', points: local.points.slice() });
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  case 'triangle-mesh':
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- return {
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+ return createEntity({
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  kind: 'triangle-mesh',
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  points: local.points,
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  indices: local.indices,
@@ -69,9 +70,9 @@ export function createPhysics3DColliderWorldShape(local) {
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  rotationY: local.rotationY,
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  rotationZ: local.rotationZ,
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  rotationW: local.rotationW,
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- };
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+ });
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  case 'heightfield':
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- return {
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+ return createEntity({
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  kind: 'heightfield',
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  columns: local.columns,
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  rows: local.rows,
@@ -86,9 +87,9 @@ export function createPhysics3DColliderWorldShape(local) {
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  rotationY: local.rotationY,
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  rotationZ: local.rotationZ,
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  rotationW: local.rotationW,
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- };
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+ });
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  default:
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- return { kind: 'sphere', x: 0, y: 0, z: 0, radius: 0 };
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+ return createEntity({ kind: 'sphere', x: 0, y: 0, z: 0, radius: 0 });
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  }
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  }
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  // Rewrites `collider.world` from its local shape and the body's current pose. Called once per collider
package/dist/colliderTransform.js.map CHANGED
@@ -1 +1 @@
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package/dist/contactIntake.js CHANGED
@@ -1,7 +1,7 @@
1
1
  import { createCollisionContactManifold3D } from '@flighthq/collision/contract';
2
2
  import { synchronizePhysics3DBroadphase } from './broadphase';
3
3
  import { collidePhysics3DColliderShapes } from './colliderCollision';
4
- import { createPhysics3DContactPoint } from './contacts';
4
+ import { createPhysics3DContact, createPhysics3DContactPoint } from './contacts';
5
5
  import { isPhysics3DPairJointSuppressed } from './jointCollisionSuppression';
6
6
  import { isPhysics3DPairOrdered } from './jointRegistry';
7
7
  import { mixPhysics3DFriction, mixPhysics3DRestitution } from './material';
@@ -153,22 +153,11 @@ function mergePhysics3DContact(world, bodyA, bodyB, colliderA, colliderB, manifo
153
153
  }
154
154
  const existing = contact !== null;
155
155
  if (contact === null) {
156
- contact = {
157
- bodyA,
158
- bodyB,
159
- colliderA,
160
- colliderB,
161
- normalX: 0,
162
- normalY: 0,
163
- normalZ: 0,
164
- pointCount: 0,
165
- points: [],
166
- friction,
167
- restitution,
168
- enabled: true,
169
- sensor,
170
- touching: true,
171
- };
156
+ contact = createPhysics3DContact(bodyA, bodyB, colliderA, colliderB);
157
+ contact.friction = friction;
158
+ contact.restitution = restitution;
159
+ contact.sensor = sensor;
160
+ contact.touching = true;
172
161
  world.contacts.push(contact);
173
162
  world.events.began.push(contact);
174
163
  }
package/dist/contactIntake.js.map CHANGED
@@ -1 +1 @@
1
- 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package/dist/contacts.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"contacts.d.ts","sourceRoot":"","sources":["../src/contacts.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,gBAAgB,EAAE,qBAAqB,EAAE,MAAM,0BAA0B,CAAC;AA6BxF,wBAAgB,sBAAsB,CAAC,KAAK,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,SAAS,SAAI,EAAE,SAAS,SAAI,GAAG,gBAAgB,CAkBnH;AAKD,wBAAgB,2BAA2B,IAAI,qBAAqB,CAcnE"}
1
+ {"version":3,"file":"contacts.d.ts","sourceRoot":"","sources":["../src/contacts.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,gBAAgB,EAAE,qBAAqB,EAAE,MAAM,0BAA0B,CAAC;AA6BxF,wBAAgB,sBAAsB,CAAC,KAAK,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,SAAS,SAAI,EAAE,SAAS,SAAI,GAAG,gBAAgB,CAkBnH;AAKD,wBAAgB,2BAA2B,IAAI,qBAAqB,CAcnE"}
package/dist/contacts.js CHANGED
@@ -1,3 +1,4 @@
1
+ import { createEntity } from '@flighthq/entity/contract';
1
2
  // Constructors for the contact records the step consumes.
2
3
  //
3
4
  // The step GENERATES contacts from a body's colliders, so these are not the ordinary path. They are the
@@ -26,7 +27,7 @@
26
27
  // must point so that resolving pushes A out of B.
27
28
  export function createPhysics3DContact(bodyA, bodyB, colliderA = 0, colliderB = 0) {
28
29
  const ordered = bodyA <= bodyB;
29
- return {
30
+ return createEntity({
30
31
  bodyA: ordered ? bodyA : bodyB,
31
32
  bodyB: ordered ? bodyB : bodyA,
32
33
  colliderA: ordered ? colliderA : colliderB,
@@ -41,13 +42,13 @@ export function createPhysics3DContact(bodyA, bodyB, colliderA = 0, colliderB =
41
42
  enabled: true,
42
43
  sensor: false,
43
44
  touching: false,
44
- };
45
+ });
45
46
  }
46
47
  // Allocates one contact point, zeroed. `featureId` is the caller's to assign and is opaque to this
47
48
  // package: its only contract is that the SAME physical feature carries the SAME id between steps, which is
48
49
  // what lets the solver match this step's points against last step's accumulators.
49
50
  export function createPhysics3DContactPoint() {
50
- return {
51
+ return createEntity({
51
52
  x: 0,
52
53
  y: 0,
53
54
  z: 0,
@@ -59,6 +60,6 @@ export function createPhysics3DContactPoint() {
59
60
  rBX: 0,
60
61
  rBY: 0,
61
62
  rBZ: 0,
62
- };
63
+ });
63
64
  }
64
65
  //# sourceMappingURL=contacts.js.map
package/dist/contacts.js.map CHANGED
@@ -1 +1 @@
1
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1
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package/dist/continuous.js CHANGED
@@ -3,7 +3,7 @@ import { DEG_TO_RAD } from '@flighthq/math/contract';
3
3
  import { synchronizePhysics3DBroadphase, synchronizePhysics3DSweptBroadphase } from './broadphase';
4
4
  import { collidePhysics3DColliderShapes, sweepPhysics3DColliderShapes } from './colliderCollision';
5
5
  import { updatePhysics3DColliderWorldShape } from './colliderTransform';
6
- import { createPhysics3DContactPoint } from './contacts';
6
+ import { createPhysics3DContact, createPhysics3DContactPoint } from './contacts';
7
7
  import { integrateRigidBody3DPose, refreshRigidBody3DWorldInertia } from './integrate';
8
8
  import { isPhysics3DPairJointSuppressed } from './jointCollisionSuppression';
9
9
  import { isPhysics3DPairOrdered } from './jointRegistry';
@@ -418,22 +418,13 @@ function writePhysics3DImpactContact(world, bodyA, bodyB, scratch) {
418
418
  }
419
419
  scratch.contactCreated = contact === null;
420
420
  if (contact === null) {
421
- contact = {
422
- bodyA: scratch.bodyA,
423
- bodyB: scratch.bodyB,
424
- colliderA: scratch.colliderA,
425
- colliderB: scratch.colliderB,
426
- normalX: scratch.normalX,
427
- normalY: scratch.normalY,
428
- normalZ: scratch.normalZ,
429
- pointCount: 0,
430
- points: [],
431
- friction: scratch.friction,
432
- restitution: scratch.restitution,
433
- enabled: true,
434
- sensor: false,
435
- touching: true,
436
- };
421
+ contact = createPhysics3DContact(scratch.bodyA, scratch.bodyB, scratch.colliderA, scratch.colliderB);
422
+ contact.normalX = scratch.normalX;
423
+ contact.normalY = scratch.normalY;
424
+ contact.normalZ = scratch.normalZ;
425
+ contact.friction = scratch.friction;
426
+ contact.restitution = scratch.restitution;
427
+ contact.touching = true;
437
428
  world.contacts.push(contact);
438
429
  world.events.began.push(contact);
439
430
  }
@@ -486,22 +477,15 @@ function reportPhysics3DSensorImpact(world, bodyA, bodyB, colliderAIndex, collid
486
477
  restorePhysics3DBodyPose(bodyB, scratch.poseB);
487
478
  }
488
479
  const pointCount = rotational ? scratch.rotationalManifold.pointCount : 1;
489
- const contact = {
490
- bodyA: bodyA.index,
491
- bodyB: bodyB.index,
492
- colliderA: colliderAIndex,
493
- colliderB: colliderBIndex,
494
- normalX: impact.normalX,
495
- normalY: impact.normalY,
496
- normalZ: impact.normalZ,
497
- pointCount,
498
- points: [],
499
- friction: mixPhysics3DFriction(colliderA.material.friction, colliderB.material.friction),
500
- restitution: mixPhysics3DRestitution(colliderA.material.restitution, colliderB.material.restitution),
501
- enabled: true,
502
- sensor: true,
503
- touching: true,
504
- };
480
+ const contact = createPhysics3DContact(bodyA.index, bodyB.index, colliderAIndex, colliderBIndex);
481
+ contact.normalX = impact.normalX;
482
+ contact.normalY = impact.normalY;
483
+ contact.normalZ = impact.normalZ;
484
+ contact.pointCount = pointCount;
485
+ contact.friction = mixPhysics3DFriction(colliderA.material.friction, colliderB.material.friction);
486
+ contact.restitution = mixPhysics3DRestitution(colliderA.material.restitution, colliderB.material.restitution);
487
+ contact.sensor = true;
488
+ contact.touching = true;
505
489
  for (let pointIndex = 0; pointIndex < pointCount; pointIndex += 1) {
506
490
  const source = rotational ? scratch.rotationalManifold.points[pointIndex] : impact;
507
491
  const point = createPhysics3DContactPoint();
package/dist/continuous.js.map CHANGED
@@ -1 +1 @@
1
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