@flighthq/physics3d 0.5.1-next.820.97b3830 → 0.5.1-next.903.f434bc2

package/README.md

@@ -13,5 +13,5 @@ Import the supported application-facing API from `@flighthq/physics3d`. The `@fl
 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.
 
 - [Flight project](https://github.com/flighthq/flight)
-- [Source for @flighthq/physics3d@0.5.1-next.820.97b3830](https://github.com/flighthq/flight/tree/97b3830e843209d92da169e02a52c0574efe5c09/packages/physics3d)
-- [License](https://github.com/flighthq/flight/blob/97b3830e843209d92da169e02a52c0574efe5c09/LICENSE.md)
+- [Source for @flighthq/physics3d@0.5.1-next.903.f434bc2](https://github.com/flighthq/flight/tree/f434bc233778d75aeea61995df3a8cfaec459a85/packages/physics3d)
+- [License](https://github.com/flighthq/flight/blob/f434bc233778d75aeea61995df3a8cfaec459a85/LICENSE.md)

package/dist/colliderTransform.d.ts

@@ -1,5 +1,23 @@
-import type { CollisionColliderShape3D, Entity, Physics3DCollider, RigidBody3D, SpatialAabb3D } from '@flighthq/types/contract';
+import type { CollisionColliderShape3D, Entity, EntityConstruction, Physics3DCollider, RigidBody3D, SpatialAabb3D } from '@flighthq/types/contract';
 export declare function createPhysics3DColliderWorldShape(local: Readonly<CollisionColliderShape3D>): CollisionColliderShape3D & Entity;
+export declare function initializeCollisionBox3D(out: EntityConstruction<Extract<CollisionColliderShape3D, {
+    kind: 'box';
+}> & Entity>, kind: 'box'): void;
+export declare function initializeCollisionCapsule3D(out: EntityConstruction<Extract<CollisionColliderShape3D, {
+    kind: 'capsule';
+}> & Entity>, kind: 'capsule', radius: number, x0: number, x1: number, y0: number, y1: number, z0: number, z1: number): void;
+export declare function initializeCollisionCone3D(out: EntityConstruction<Extract<CollisionColliderShape3D, {
+    kind: 'cone';
+}> & Entity>, apexX: number, apexY: number, apexZ: number, baseX: number, baseY: number, baseZ: number, kind: 'cone', radius: number): void;
+export declare function initializeCollisionConvex3D(out: EntityConstruction<Extract<CollisionColliderShape3D, {
+    kind: 'convex';
+}> & Entity>, kind: 'convex', points: number[]): void;
+export declare function initializeCollisionCylinder3D(out: EntityConstruction<Extract<CollisionColliderShape3D, {
+    kind: 'cylinder';
+}> & Entity>, kind: 'cylinder', radius: number, x0: number, x1: number, y0: number, y1: number, z0: number, z1: number): void;
+export declare function initializeCollisionSphere3D(out: EntityConstruction<Extract<CollisionColliderShape3D, {
+    kind: 'sphere';
+}> & Entity>, kind: 'sphere', radius: number, x: number, y: number, z: number): void;
 export declare function updatePhysics3DColliderWorldShape(collider: Physics3DCollider, body: Readonly<RigidBody3D>): void;
 export declare function writePhysics3DColliderBounds(collider: Readonly<Physics3DCollider>, out: SpatialAabb3D): void;
 //# sourceMappingURL=colliderTransform.d.ts.map

package/dist/colliderTransform.d.ts.map

@@ -1 +1 @@
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package/dist/colliderTransform.js

@@ -1,97 +1,141 @@
 import { writeCollisionHeightfieldBounds3D, writeCollisionTriangleMeshBounds3D } from '@flighthq/collision/contract';
-import { createEntity } from '@flighthq/entity/contract';
+import { allocateEntity, finishEntity } from '@flighthq/entity/contract';
 // Allocates the world-space shape a collider needs for `local`, choosing the kind the transform can
 // actually express. Every field is filled at creation so the shape is never read half-initialised, and
 // convex-hull storage is sized once here so the per-step transform can write in place.
 export function createPhysics3DColliderWorldShape(local) {
     switch (local.kind) {
-        case 'sphere':
-            return createEntity({ kind: 'sphere', x: local.x, y: local.y, z: local.z, radius: local.radius });
+        case 'sphere': {
+            const out = allocateEntity();
+            initializeCollisionSphere3D(out, 'sphere', local.radius, local.x, local.y, local.z);
+            return finishEntity(out);
+        }
         case 'aabb':
-        case 'box':
-            return createEntity({
-                kind: 'box',
-                x: 0,
-                y: 0,
-                z: 0,
-                halfX: 0,
-                halfY: 0,
-                halfZ: 0,
-                rotationX: 0,
-                rotationY: 0,
-                rotationZ: 0,
-                rotationW: 1,
-            });
-        case 'capsule':
-            return createEntity({
-                kind: 'capsule',
-                x0: local.x0,
-                y0: local.y0,
-                z0: local.z0,
-                x1: local.x1,
-                y1: local.y1,
-                z1: local.z1,
-                radius: local.radius,
-            });
-        case 'cylinder':
-            return createEntity({
-                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 createEntity({
-                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 createEntity({ kind: 'convex', points: local.points.slice() });
-        case 'triangle-mesh':
-            return createEntity({
-                kind: 'triangle-mesh',
-                points: local.points,
-                indices: local.indices,
-                version: local.version,
-                x: local.x,
-                y: local.y,
-                z: local.z,
-                rotationX: local.rotationX,
-                rotationY: local.rotationY,
-                rotationZ: local.rotationZ,
-                rotationW: local.rotationW,
-            });
-        case 'heightfield':
-            return createEntity({
-                kind: 'heightfield',
-                columns: local.columns,
-                rows: local.rows,
-                heights: local.heights,
-                cellSizeX: local.cellSizeX,
-                cellSizeZ: local.cellSizeZ,
-                version: local.version,
-                x: local.x,
-                y: local.y,
-                z: local.z,
-                rotationX: local.rotationX,
-                rotationY: local.rotationY,
-                rotationZ: local.rotationZ,
-                rotationW: local.rotationW,
-            });
-        default:
-            return createEntity({ kind: 'sphere', x: 0, y: 0, z: 0, radius: 0 });
+        case 'box': {
+            const out = allocateEntity();
+            initializeCollisionBox3D(out, 'box');
+            return finishEntity(out);
+        }
+        case 'capsule': {
+            const out = allocateEntity();
+            initializeCollisionCapsule3D(out, 'capsule', local.radius, local.x0, local.x1, local.y0, local.y1, local.z0, local.z1);
+            return finishEntity(out);
+        }
+        case 'cylinder': {
+            const out = allocateEntity();
+            initializeCollisionCylinder3D(out, 'cylinder', local.radius, local.x0, local.x1, local.y0, local.y1, local.z0, local.z1);
+            return finishEntity(out);
+        }
+        case 'cone': {
+            const out = allocateEntity();
+            initializeCollisionCone3D(out, local.apexX, local.apexY, local.apexZ, local.baseX, local.baseY, local.baseZ, 'cone', local.radius);
+            return finishEntity(out);
+        }
+        case 'convex': {
+            const out = allocateEntity();
+            initializeCollisionConvex3D(out, 'convex', local.points.slice());
+            return finishEntity(out);
+        }
+        case 'triangle-mesh': {
+            const out = allocateEntity();
+            assignCollisionTriangleMesh3DFields(out, local.indices, 'triangle-mesh', local.points, local.rotationW, local.rotationX, local.rotationY, local.rotationZ, local.version, local.x, local.y, local.z);
+            return finishEntity(out);
+        }
+        case 'heightfield': {
+            const out = allocateEntity();
+            assignCollisionHeightfield3DFields(out, local.cellSizeX, local.cellSizeZ, local.columns, local.heights, 'heightfield', local.rotationW, local.rotationX, local.rotationY, local.rotationZ, local.rows, local.version, local.x, local.y, local.z);
+            return finishEntity(out);
+        }
+        default: {
+            const out = allocateEntity();
+            initializeCollisionSphere3D(out, 'sphere', 0, 0, 0, 0);
+            return finishEntity(out);
+        }
     }
 }
+export function initializeCollisionBox3D(out, kind) {
+    out.halfX = 0;
+    out.halfY = 0;
+    out.halfZ = 0;
+    out.kind = kind;
+    out.rotationW = 1;
+    out.rotationX = 0;
+    out.rotationY = 0;
+    out.rotationZ = 0;
+    out.x = 0;
+    out.y = 0;
+    out.z = 0;
+}
+export function initializeCollisionCapsule3D(out, kind, radius, x0, x1, y0, y1, z0, z1) {
+    out.kind = kind;
+    out.radius = radius;
+    out.x0 = x0;
+    out.x1 = x1;
+    out.y0 = y0;
+    out.y1 = y1;
+    out.z0 = z0;
+    out.z1 = z1;
+}
+export function initializeCollisionCone3D(out, apexX, apexY, apexZ, baseX, baseY, baseZ, kind, radius) {
+    out.apexX = apexX;
+    out.apexY = apexY;
+    out.apexZ = apexZ;
+    out.baseX = baseX;
+    out.baseY = baseY;
+    out.baseZ = baseZ;
+    out.kind = kind;
+    out.radius = radius;
+}
+export function initializeCollisionConvex3D(out, kind, points) {
+    out.kind = kind;
+    out.points = points;
+}
+export function initializeCollisionCylinder3D(out, kind, radius, x0, x1, y0, y1, z0, z1) {
+    out.kind = kind;
+    out.radius = radius;
+    out.x0 = x0;
+    out.x1 = x1;
+    out.y0 = y0;
+    out.y1 = y1;
+    out.z0 = z0;
+    out.z1 = z1;
+}
+function assignCollisionHeightfield3DFields(out, cellSizeX, cellSizeZ, columns, heights, kind, rotationW, rotationX, rotationY, rotationZ, rows, version, x, y, z) {
+    out.cellSizeX = cellSizeX;
+    out.cellSizeZ = cellSizeZ;
+    out.columns = columns;
+    out.heights = heights;
+    out.kind = kind;
+    out.rotationW = rotationW;
+    out.rotationX = rotationX;
+    out.rotationY = rotationY;
+    out.rotationZ = rotationZ;
+    out.rows = rows;
+    out.version = version;
+    out.x = x;
+    out.y = y;
+    out.z = z;
+}
+export function initializeCollisionSphere3D(out, kind, radius, x, y, z) {
+    out.kind = kind;
+    out.radius = radius;
+    out.x = x;
+    out.y = y;
+    out.z = z;
+}
+function assignCollisionTriangleMesh3DFields(out, indices, kind, points, rotationW, rotationX, rotationY, rotationZ, version, x, y, z) {
+    out.indices = indices;
+    out.kind = kind;
+    out.points = points;
+    out.rotationW = rotationW;
+    out.rotationX = rotationX;
+    out.rotationY = rotationY;
+    out.rotationZ = rotationZ;
+    out.version = version;
+    out.x = x;
+    out.y = y;
+    out.z = z;
+}
 // Rewrites `collider.world` from its local shape and the body's current pose. Called once per collider
 // per step, before the narrow phase — never per contact test, because a body with four colliders against
 // a hundred broadphase candidates would otherwise transform the same shape a hundred times to produce

package/dist/colliderTransform.js.map

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

@@ -1,4 +1,6 @@
-import type { Physics3DContact, Physics3DContactPoint } from '@flighthq/types/contract';
+import type { Physics3DContact, Physics3DContactPoint, EntityConstruction } from '@flighthq/types/contract';
 export declare function createPhysics3DContact(bodyA: number, bodyB: number, colliderA?: number, colliderB?: number): Physics3DContact;
 export declare function createPhysics3DContactPoint(): Physics3DContactPoint;
+export declare function initializePhysics3DContact(out: EntityConstruction<Physics3DContact>, bodyA: number, bodyB: number, colliderA?: number, colliderB?: number): void;
+export declare function initializePhysics3DContactPoint(out: EntityConstruction<Physics3DContactPoint>): void;
 //# sourceMappingURL=contacts.d.ts.map

package/dist/contacts.d.ts.map

@@ -1 +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"}
+{"version":3,"file":"contacts.d.ts","sourceRoot":"","sources":["../src/contacts.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,gBAAgB,EAAE,qBAAqB,EAAE,kBAAkB,EAAE,MAAM,0BAA0B,CAAC;AAe5G,wBAAgB,sBAAsB,CAAC,KAAK,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,SAAS,SAAI,EAAE,SAAS,SAAI,GAAG,gBAAgB,CAInH;AAED,wBAAgB,2BAA2B,IAAI,qBAAqB,CAInE;AAgBD,wBAAgB,0BAA0B,CACxC,GAAG,EAAE,kBAAkB,CAAC,gBAAgB,CAAC,EACzC,KAAK,EAAE,MAAM,EACb,KAAK,EAAE,MAAM,EACb,SAAS,SAAI,EACb,SAAS,SAAI,GACZ,IAAI,CAgBN;AAKD,wBAAgB,+BAA+B,CAAC,GAAG,EAAE,kBAAkB,CAAC,qBAAqB,CAAC,GAAG,IAAI,CAYpG"}

package/dist/contacts.js

@@ -1,4 +1,4 @@
-import { createEntity } from '@flighthq/entity/contract';
+import { allocateEntity, finishEntity } from '@flighthq/entity/contract';
 // Constructors for the contact records the step consumes.
 //
 // The step GENERATES contacts from a body's colliders, so these are not the ordinary path. They are the
@@ -11,6 +11,16 @@ import { createEntity } from '@flighthq/entity/contract';
 // nothing. Note that a contact the step does not re-find is retired at the end of the next step, because
 // contact lifetime is owned by intake — a hand-built contact survives only as long as the geometry that
 // justifies it does.
+export function createPhysics3DContact(bodyA, bodyB, colliderA = 0, colliderB = 0) {
+    const out = allocateEntity();
+    initializePhysics3DContact(out, bodyA, bodyB, colliderA, colliderB);
+    return finishEntity(out);
+}
+export function createPhysics3DContactPoint() {
+    const out = allocateEntity();
+    initializePhysics3DContactPoint(out);
+    return finishEntity(out);
+}
 // Allocates one contact between two bodies, in canonical order.
 //
 // The order is an invariant of creation rather than a convention a caller is asked to respect, so it is
@@ -25,41 +35,37 @@ import { createEntity } from '@flighthq/entity/contract';
 // The normal is NOT reordered with the bodies, because there is nothing yet to reorder: a fresh contact
 // carries a zero normal, and the caller writing the geometry is the one who knows which way it points. It
 // must point so that resolving pushes A out of B.
-export function createPhysics3DContact(bodyA, bodyB, colliderA = 0, colliderB = 0) {
+export function initializePhysics3DContact(out, bodyA, bodyB, colliderA = 0, colliderB = 0) {
     const ordered = bodyA <= bodyB;
-    return createEntity({
-        bodyA: ordered ? bodyA : bodyB,
-        bodyB: ordered ? bodyB : bodyA,
-        colliderA: ordered ? colliderA : colliderB,
-        colliderB: ordered ? colliderB : colliderA,
-        normalX: 0,
-        normalY: 0,
-        normalZ: 0,
-        pointCount: 0,
-        points: [],
-        friction: 0,
-        restitution: 0,
-        enabled: true,
-        sensor: false,
-        touching: false,
-    });
+    out.bodyA = ordered ? bodyA : bodyB;
+    out.bodyB = ordered ? bodyB : bodyA;
+    out.colliderA = ordered ? colliderA : colliderB;
+    out.colliderB = ordered ? colliderB : colliderA;
+    out.normalX = 0;
+    out.normalY = 0;
+    out.normalZ = 0;
+    out.pointCount = 0;
+    out.points = [];
+    out.friction = 0;
+    out.restitution = 0;
+    out.enabled = true;
+    out.sensor = false;
+    out.touching = false;
 }
 // Allocates one contact point, zeroed. `featureId` is the caller's to assign and is opaque to this
 // package: its only contract is that the SAME physical feature carries the SAME id between steps, which is
 // what lets the solver match this step's points against last step's accumulators.
-export function createPhysics3DContactPoint() {
-    return createEntity({
-        x: 0,
-        y: 0,
-        z: 0,
-        depth: 0,
-        featureId: 0,
-        rAX: 0,
-        rAY: 0,
-        rAZ: 0,
-        rBX: 0,
-        rBY: 0,
-        rBZ: 0,
-    });
+export function initializePhysics3DContactPoint(out) {
+    out.x = 0;
+    out.y = 0;
+    out.z = 0;
+    out.depth = 0;
+    out.featureId = 0;
+    out.rAX = 0;
+    out.rAY = 0;
+    out.rAZ = 0;
+    out.rBX = 0;
+    out.rBY = 0;
+    out.rBZ = 0;
 }
 //# sourceMappingURL=contacts.js.map

package/dist/contacts.js.map

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

@@ -25,4 +25,11 @@ export * from './stepValidation';
 export * from './world';
 export * from './worldQueries';
 export * from './debugGeometry';
+export { initializePhysics3DDebugGeometry } from './debugGeometry';
+export { initializePhysics3DContactConstraint, initializePhysics3DContactConstraintPoint } from './solver';
+export { initializePhysics3DMassData } from './massProperties';
+export { initializePhysics3DContact, initializePhysics3DContactPoint } from './contacts';
+export { initializePhysics3DJointReaction } from './jointReaction';
+export { initializePhysics3DBallAndSocketJoint, initializePhysics3DConeTwistJoint, initializePhysics3DDistanceJoint, initializePhysics3DFixedJoint, initializePhysics3DGeneric6DofJoint, initializePhysics3DHingeJoint, initializePhysics3DSliderJoint, } from './jointFactories';
+export { initializePhysics3DQueryResult, initializePhysics3DRayResult, initializePhysics3DShapeCastResult, } from './worldQueries';
 //# sourceMappingURL=contract.d.ts.map

package/dist/contract.d.ts.map

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package/dist/contract.js

@@ -25,4 +25,11 @@ export * from './stepValidation';
 export * from './world';
 export * from './worldQueries';
 export * from './debugGeometry';
+export { initializePhysics3DDebugGeometry } from './debugGeometry';
+export { initializePhysics3DContactConstraint, initializePhysics3DContactConstraintPoint } from './solver';
+export { initializePhysics3DMassData } from './massProperties';
+export { initializePhysics3DContact, initializePhysics3DContactPoint } from './contacts';
+export { initializePhysics3DJointReaction } from './jointReaction';
+export { initializePhysics3DBallAndSocketJoint, initializePhysics3DConeTwistJoint, initializePhysics3DDistanceJoint, initializePhysics3DFixedJoint, initializePhysics3DGeneric6DofJoint, initializePhysics3DHingeJoint, initializePhysics3DSliderJoint, } from './jointFactories';
+export { initializePhysics3DQueryResult, initializePhysics3DRayResult, initializePhysics3DShapeCastResult, } from './worldQueries';
 //# sourceMappingURL=contract.js.map

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package/dist/debugGeometry.d.ts

@@ -1,4 +1,5 @@
-import type { Physics3DDebugGeometry, Physics3DDebugGeometryOptions, Physics3DWorld } from '@flighthq/types/contract';
+import type { EntityConstruction, Physics3DDebugGeometry, Physics3DDebugGeometryOptions, Physics3DWorld } from '@flighthq/types/contract';
 export declare function createPhysics3DDebugGeometry(): Physics3DDebugGeometry;
+export declare function initializePhysics3DDebugGeometry(out: EntityConstruction<Physics3DDebugGeometry>): void;
 export declare function writePhysics3DDebugGeometry(world: Readonly<Physics3DWorld>, out: Physics3DDebugGeometry, options?: Readonly<Partial<Physics3DDebugGeometryOptions>>): void;
 //# sourceMappingURL=debugGeometry.d.ts.map

package/dist/debugGeometry.d.ts.map

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package/dist/debugGeometry.js

@@ -1,11 +1,19 @@
 import { writeCollisionConvexHullFaces3D } from '@flighthq/collision/contract';
-import { createEntity } from '@flighthq/entity/contract';
+import { allocateEntity, finishEntity } from '@flighthq/entity/contract';
 import { writeRigidBody3DWorldCenter } from './world';
+export function createPhysics3DDebugGeometry() {
+    const out = allocateEntity();
+    initializePhysics3DDebugGeometry(out);
+    return finishEntity(out);
+}
 // Creates a reusable destination for `writePhysics3DDebugGeometry`. The arrays are capacity pools: the
 // writer advances counts and overwrites existing entries before growing them, so a steady scene stops
 // allocating after its first query.
-export function createPhysics3DDebugGeometry() {
-    return createEntity({ lines: [], lineCount: 0, spheres: [], sphereCount: 0 });
+export function initializePhysics3DDebugGeometry(out) {
+    out.lines = [];
+    out.lineCount = 0;
+    out.spheres = [];
+    out.sphereCount = 0;
 }
 // Extracts the world's visible constraint geometry without choosing a renderer.
 //