@flighthq/spatial 0.3.1-next.975.01aea94 → 0.4.0-edge.1908.751021c

package/dist/uniformGrid3D.js

@@ -0,0 +1,627 @@
+import { reportSpatialIndexing } from './spatialIndexingGuard';
+import { MAX_INDEXED_CELLS_PER_OBJECT } from './uniformGrid';
+// Builds a 3D uniform-grid (spatial-hash) backend: an object's AABB is mapped to the rectangular
+// block of fixed-size cells it covers, and each cell holds the ids overlapping it. Co-located objects
+// share a cell, so candidate pairs and region/point/ray hits are found by looking only at the relevant
+// cells instead of scanning every object. `cellSize` is the world-space side length of one cell; a
+// good value is roughly the size of a typical object. No import-time side effect — the caller
+// constructs a grid explicitly, and createSpatialIndex3D uses this as its default index.
+//
+// The cost policy is the 2D grid's, unchanged and deliberately so, but the per-object cell budget
+// BINDS HARDER HERE and that is worth stating plainly: MAX_INDEXED_CELLS_PER_OBJECT is a 32x32 block
+// in two dimensions and only a ~10x10x10 block in three. An object more than about ten cells wide on
+// a side overflows, where its 2D counterpart would have had to be thirty-two. That is the bound doing
+// its job rather than a mis-set constant — the walk it prevents grows as extent divided by cellSize
+// CUBED, so the runaway it exists to stop arrives sooner and steeper. A workload whose objects
+// overflow is telling the caller its cell size is wrong, which the indexing guard reports.
+export function createUniformGridSpatialBackend3D(cellSize) {
+    const grid = {
+        cellSize,
+        cells: new Map(),
+        bounds: new Map(),
+        overflow: new Set(),
+        declined: new Map(),
+        minCellX: 0,
+        minCellY: 0,
+        minCellZ: 0,
+        maxCellX: 0,
+        maxCellY: 0,
+        maxCellZ: 0,
+        seen: new Set(),
+        pairIds: [],
+    };
+    return {
+        insertSpatialObject(id, bounds) {
+            return _insertIntoGrid3D(grid, id, bounds, 'insert');
+        },
+        updateSpatialObject(id, bounds) {
+            return _updateGrid3DObject(grid, id, bounds);
+        },
+        removeSpatialObject(id) {
+            const wasMissing = !grid.bounds.has(id) && !grid.declined.has(id);
+            _removeFromGrid3D(grid, id);
+            if (wasMissing)
+                _reportGrid3DIndexing(grid, id, 'absent', 'remove', 'missing-id', 0);
+        },
+        clearSpatialIndex() {
+            grid.cells.clear();
+            grid.bounds.clear();
+            grid.overflow.clear();
+            grid.declined.clear();
+            grid.seen.clear();
+            grid.pairIds.length = 0;
+        },
+        explainSpatialIndexing(id) {
+            return _explainGrid3DIndexing(grid, id);
+        },
+        querySpatialPairs(out) {
+            _queryGrid3DPairs(grid, out);
+        },
+        querySpatialRegion(region, out) {
+            _queryGrid3DRegion(grid, region, out);
+        },
+        querySpatialPoint(x, y, z, out) {
+            _queryGrid3DPoint(grid, x, y, z, out);
+        },
+        querySpatialRay(x, y, z, dx, dy, dz, out) {
+            _queryGrid3DRay(grid, x, y, z, dx, dy, dz, out);
+        },
+    };
+}
+// Maps a world coordinate to its cell index along one axis. Uses floor so negative coordinates map
+// to consistently decreasing cell indices (world 0 is the boundary between cell -1 and cell 0).
+function _cellIndex3D(coord, cellSize) {
+    return Math.floor(coord / cellSize);
+}
+// The map key for a cell. A string of the three signed integer coordinates — negatives and large
+// magnitudes are represented exactly, unlike a numeric pairing that could overflow or collide.
+function _cellKey3D(cx, cy, cz) {
+    return `${cx},${cy},${cz}`;
+}
+// Reports how `id` is currently held. Pure: reads only, allocates only the returned record.
+function _explainGrid3DIndexing(grid, id) {
+    const declineReason = grid.declined.get(id);
+    if (declineReason !== undefined)
+        return { bucketCount: 0, id, mode: 'declined', reason: declineReason };
+    if (grid.overflow.has(id))
+        return { bucketCount: 0, id, mode: 'overflow', reason: null };
+    const bounds = grid.bounds.get(id);
+    if (bounds === undefined)
+        return { bucketCount: 0, id, mode: 'absent', reason: null };
+    return { bucketCount: _spannedCellCount3D(grid.cellSize, bounds), id, mode: 'cells', reason: null };
+}
+// Adds an object to the index, storing a private copy of the bounds; the caller may safely mutate or
+// reuse the passed bounds afterward. Returns false only for bounds that cannot be indexed at all.
+//
+// Five outcomes, and which one applies is decided *before* any cell is touched — that ordering is the
+// whole point, since deciding afterward would mean walking the cells to find out they were too many,
+// and in three dimensions that walk is cubic in the object's extent.
+function _insertIntoGrid3D(grid, id, bounds, operation) {
+    if (!Number.isFinite(bounds.minX) ||
+        !Number.isFinite(bounds.minY) ||
+        !Number.isFinite(bounds.minZ) ||
+        !Number.isFinite(bounds.maxX) ||
+        !Number.isFinite(bounds.maxY) ||
+        !Number.isFinite(bounds.maxZ)) {
+        grid.declined.set(id, 'non-finite-bounds');
+        _reportGrid3DIndexing(grid, id, 'declined', operation, 'non-finite-bounds', 0);
+        return false;
+    }
+    if (bounds.maxX < bounds.minX || bounds.maxY < bounds.minY || bounds.maxZ < bounds.minZ) {
+        grid.declined.set(id, 'inverted-bounds');
+        _reportGrid3DIndexing(grid, id, 'declined', operation, 'inverted-bounds', 0);
+        return false;
+    }
+    const cs = grid.cellSize;
+    const copy = {
+        minX: bounds.minX,
+        minY: bounds.minY,
+        minZ: bounds.minZ,
+        maxX: bounds.maxX,
+        maxY: bounds.maxY,
+        maxZ: bounds.maxZ,
+    };
+    if (!(cs > 0 && Number.isFinite(cs))) {
+        grid.bounds.set(id, copy);
+        grid.overflow.add(id);
+        _reportGrid3DIndexing(grid, id, 'overflow', operation, 'invalid-cell-size', 0);
+        return true;
+    }
+    const spanned = _spannedCellCount3D(cs, copy);
+    // Written as a negated `<=` so an unrepresentable span falls to overflow rather than through to a
+    // loop that cannot index it.
+    if (!(spanned <= MAX_INDEXED_CELLS_PER_OBJECT)) {
+        grid.bounds.set(id, copy);
+        grid.overflow.add(id);
+        _reportGrid3DIndexing(grid, id, 'overflow', operation, null, spanned);
+        return true;
+    }
+    const cx0 = _cellIndex3D(copy.minX, cs);
+    const cx1 = _cellIndex3D(copy.maxX, cs);
+    const cy0 = _cellIndex3D(copy.minY, cs);
+    const cy1 = _cellIndex3D(copy.maxY, cs);
+    const cz0 = _cellIndex3D(copy.minZ, cs);
+    const cz1 = _cellIndex3D(copy.maxZ, cs);
+    // Whether a cell range exists yet, read *before* this object's cells are added. A first celled
+    // object seeds the range; a later one widens it.
+    const hadCells = grid.cells.size !== 0;
+    grid.bounds.set(id, copy);
+    for (let cz = cz0; cz <= cz1; cz++) {
+        for (let cy = cy0; cy <= cy1; cy++) {
+            for (let cx = cx0; cx <= cx1; cx++) {
+                const key = _cellKey3D(cx, cy, cz);
+                let cell = grid.cells.get(key);
+                if (cell === undefined) {
+                    cell = { cx, cy, cz, ids: new Set() };
+                    grid.cells.set(key, cell);
+                }
+                cell.ids.add(id);
+            }
+        }
+    }
+    if (!hadCells) {
+        grid.minCellX = cx0;
+        grid.maxCellX = cx1;
+        grid.minCellY = cy0;
+        grid.maxCellY = cy1;
+        grid.minCellZ = cz0;
+        grid.maxCellZ = cz1;
+    }
+    else {
+        if (cx0 < grid.minCellX)
+            grid.minCellX = cx0;
+        if (cx1 > grid.maxCellX)
+            grid.maxCellX = cx1;
+        if (cy0 < grid.minCellY)
+            grid.minCellY = cy0;
+        if (cy1 > grid.maxCellY)
+            grid.maxCellY = cy1;
+        if (cz0 < grid.minCellZ)
+            grid.minCellZ = cz0;
+        if (cz1 > grid.maxCellZ)
+            grid.maxCellZ = cz1;
+    }
+    return true;
+}
+// Reports whether an AABB contains the point (`x`,`y`,`z`).
+function _isSpatialAabb3DContainsPoint(aabb, x, y, z) {
+    const minX = aabb.minX;
+    const minY = aabb.minY;
+    const minZ = aabb.minZ;
+    const maxX = aabb.maxX;
+    const maxY = aabb.maxY;
+    const maxZ = aabb.maxZ;
+    return x >= minX && x < maxX && y >= minY && y < maxY && z >= minZ && z < maxZ;
+}
+// Reports whether two AABBs overlap; face-touching counts as disjoint.
+function _isSpatialAabb3DOverlapping(a, b) {
+    const aMinX = a.minX;
+    const aMinY = a.minY;
+    const aMinZ = a.minZ;
+    const aMaxX = a.maxX;
+    const aMaxY = a.maxY;
+    const aMaxZ = a.maxZ;
+    const bMinX = b.minX;
+    const bMinY = b.minY;
+    const bMinZ = b.minZ;
+    const bMaxX = b.maxX;
+    const bMaxY = b.maxY;
+    const bMaxZ = b.maxZ;
+    return aMinX < bMaxX && aMaxX > bMinX && aMinY < bMaxY && aMaxY > bMinY && aMinZ < bMaxZ && aMaxZ > bMinZ;
+}
+// Appends the pairs involving overflowed objects. An overflowed object occupies no cell, so the cell
+// walk in _queryGrid3DPairs can never emit a pair for it and no dedup against that walk is needed. Its
+// pairs are enumerated here instead: against every other indexed object, which is what "spans nearly
+// the whole world" already means. Unlike the cell path these are filtered by a real AABB overlap test
+// rather than emitted as bare locality candidates.
+function _queryGrid3DOverflowPairs(grid, out, written) {
+    for (const id of grid.overflow) {
+        const bounds = grid.bounds.get(id);
+        if (bounds === undefined)
+            continue;
+        for (const [otherId, otherBounds] of grid.bounds) {
+            if (otherId === id)
+                continue;
+            // Each overflow×overflow pair would otherwise be emitted from both sides; taking it only from
+            // the lower id emits it once. An overflow×celled pair reaches this test from one side only.
+            if (grid.overflow.has(otherId) && otherId < id)
+                continue;
+            if (!_isSpatialAabb3DOverlapping(bounds, otherBounds))
+                continue;
+            written =
+                id < otherId ? _writeGrid3DPair(out, written, id, otherId) : _writeGrid3DPair(out, written, otherId, id);
+        }
+    }
+    return written;
+}
+// Enumerates candidate pairs. Within each cell every co-occupant pair is a candidate, but a pair may
+// share several cells; to emit it exactly once, a pair is emitted only from its canonical cell — the
+// minimum-corner (min x, min y, min z) cell of the two objects' overlapping cell ranges, which both
+// objects are guaranteed to occupy. Ids are ordered a < b so the unordered pair is canonical. A pair
+// is never (a,a). The pair is a broadphase candidate (shared cell locality); the caller confirms real
+// overlap.
+function _queryGrid3DPairs(grid, out) {
+    let written = 0;
+    const cs = grid.cellSize;
+    const list = grid.pairIds;
+    for (const cell of grid.cells.values()) {
+        const ids = cell.ids;
+        if (ids.size < 2)
+            continue;
+        list.length = 0;
+        for (const id of ids)
+            list.push(id);
+        for (let i = 0; i < list.length; i++) {
+            for (let j = i + 1; j < list.length; j++) {
+                let a = list[i];
+                let b = list[j];
+                if (a > b) {
+                    const t = a;
+                    a = b;
+                    b = t;
+                }
+                const ab = grid.bounds.get(a);
+                const bb = grid.bounds.get(b);
+                if (ab === undefined || bb === undefined)
+                    continue;
+                const canonicalX = Math.max(_cellIndex3D(ab.minX, cs), _cellIndex3D(bb.minX, cs));
+                const canonicalY = Math.max(_cellIndex3D(ab.minY, cs), _cellIndex3D(bb.minY, cs));
+                const canonicalZ = Math.max(_cellIndex3D(ab.minZ, cs), _cellIndex3D(bb.minZ, cs));
+                if (cell.cx === canonicalX && cell.cy === canonicalY && cell.cz === canonicalZ) {
+                    written = _writeGrid3DPair(out, written, a, b);
+                }
+            }
+        }
+    }
+    if (grid.overflow.size !== 0)
+        written = _queryGrid3DOverflowPairs(grid, out, written);
+    out.length = written;
+}
+// Rewrites a caller-owned high-water pair object instead of allocating one on every broadphase query.
+// `out.length` is trimmed only after the gather, so every slot that survives from the previous query is
+// still reachable while this one fills it.
+function _writeGrid3DPair(out, index, a, b) {
+    const pair = out[index];
+    if (pair === undefined)
+        out.push({ a, b });
+    else {
+        pair.a = a;
+        pair.b = b;
+    }
+    return index + 1;
+}
+// Gathers the ids in the cell containing the point, then confirms each against its real bounds. A
+// single cell holds each id at most once, so no dedup pass is needed. Overflowed objects hold no cell
+// and are tested directly; they cannot collide with the cell gather, so no dedup is needed there
+// either.
+function _queryGrid3DPoint(grid, x, y, z, out) {
+    out.length = 0;
+    const cs = grid.cellSize;
+    const cell = grid.cells.get(_cellKey3D(_cellIndex3D(x, cs), _cellIndex3D(y, cs), _cellIndex3D(z, cs)));
+    if (cell !== undefined) {
+        for (const id of cell.ids) {
+            const bounds = grid.bounds.get(id);
+            if (bounds !== undefined && _isSpatialAabb3DContainsPoint(bounds, x, y, z))
+                out.push(id);
+        }
+    }
+    for (const id of grid.overflow) {
+        const bounds = grid.bounds.get(id);
+        if (bounds !== undefined && _isSpatialAabb3DContainsPoint(bounds, x, y, z))
+            out.push(id);
+    }
+}
+// Walks the cells the ray crosses (bounded to the occupied cell range) via an amanatides-woo DDA
+// carrying a third axis, gathering deduplicated ids, then confirms each against a real ray-vs-AABB
+// slab test — so a cell co-occupant the ray does not actually strike is dropped. A zero-length
+// direction degenerates to a point query at the origin. An empty grid returns nothing.
+function _queryGrid3DRay(grid, ox, oy, oz, dx, dy, dz, out) {
+    out.length = 0;
+    const cs = grid.cellSize;
+    const seen = grid.seen;
+    seen.clear();
+    if (dx === 0 && dy === 0 && dz === 0) {
+        _queryGrid3DPoint(grid, ox, oy, oz, out);
+        return;
+    }
+    // Overflowed objects are outside the cell range the DDA walks — deliberately, so one huge AABB
+    // cannot stretch that range and make every ray traverse it — so they are slab-tested directly.
+    for (const id of grid.overflow) {
+        const bounds = grid.bounds.get(id);
+        if (bounds !== undefined && _rayBox3DEntryT(ox, oy, oz, dx, dy, dz, bounds) >= 0)
+            out.push(id);
+    }
+    // The cell range describes the CELLS, so the cells decide whether it means anything. Deriving this
+    // rather than keeping an `empty` flag removes a whole class of defect: there is no flag that can
+    // disagree with the structure it describes at any transition. The 2D grid learned this the hard way.
+    if (grid.cells.size === 0)
+        return;
+    const rangeBounds = {
+        minX: grid.minCellX * cs,
+        minY: grid.minCellY * cs,
+        minZ: grid.minCellZ * cs,
+        maxX: (grid.maxCellX + 1) * cs,
+        maxY: (grid.maxCellY + 1) * cs,
+        maxZ: (grid.maxCellZ + 1) * cs,
+    };
+    const tEnter = _rayBox3DEntryT(ox, oy, oz, dx, dy, dz, rangeBounds);
+    if (tEnter < 0)
+        return;
+    let cx = _cellIndex3D(ox + tEnter * dx, cs);
+    let cy = _cellIndex3D(oy + tEnter * dy, cs);
+    let cz = _cellIndex3D(oz + tEnter * dz, cs);
+    if (cx < grid.minCellX)
+        cx = grid.minCellX;
+    else if (cx > grid.maxCellX)
+        cx = grid.maxCellX;
+    if (cy < grid.minCellY)
+        cy = grid.minCellY;
+    else if (cy > grid.maxCellY)
+        cy = grid.maxCellY;
+    if (cz < grid.minCellZ)
+        cz = grid.minCellZ;
+    else if (cz > grid.maxCellZ)
+        cz = grid.maxCellZ;
+    const stepX = dx > 0 ? 1 : dx < 0 ? -1 : 0;
+    const stepY = dy > 0 ? 1 : dy < 0 ? -1 : 0;
+    const stepZ = dz > 0 ? 1 : dz < 0 ? -1 : 0;
+    let tMaxX = Infinity;
+    let tDeltaX = Infinity;
+    if (stepX !== 0) {
+        tMaxX = ((stepX > 0 ? (cx + 1) * cs : cx * cs) - ox) / dx;
+        tDeltaX = cs / Math.abs(dx);
+    }
+    let tMaxY = Infinity;
+    let tDeltaY = Infinity;
+    if (stepY !== 0) {
+        tMaxY = ((stepY > 0 ? (cy + 1) * cs : cy * cs) - oy) / dy;
+        tDeltaY = cs / Math.abs(dy);
+    }
+    let tMaxZ = Infinity;
+    let tDeltaZ = Infinity;
+    if (stepZ !== 0) {
+        tMaxZ = ((stepZ > 0 ? (cz + 1) * cs : cz * cs) - oz) / dz;
+        tDeltaZ = cs / Math.abs(dz);
+    }
+    const maxSteps = grid.maxCellX - grid.minCellX + (grid.maxCellY - grid.minCellY) + (grid.maxCellZ - grid.minCellZ) + 4;
+    for (let step = 0; step <= maxSteps; step++) {
+        if (cx < grid.minCellX ||
+            cx > grid.maxCellX ||
+            cy < grid.minCellY ||
+            cy > grid.maxCellY ||
+            cz < grid.minCellZ ||
+            cz > grid.maxCellZ) {
+            break;
+        }
+        const cell = grid.cells.get(_cellKey3D(cx, cy, cz));
+        if (cell !== undefined) {
+            for (const id of cell.ids)
+                seen.add(id);
+        }
+        if (tMaxX < tMaxY && tMaxX < tMaxZ) {
+            cx += stepX;
+            tMaxX += tDeltaX;
+        }
+        else if (tMaxY < tMaxZ) {
+            cy += stepY;
+            tMaxY += tDeltaY;
+        }
+        else {
+            cz += stepZ;
+            tMaxZ += tDeltaZ;
+        }
+    }
+    for (const id of seen) {
+        const bounds = grid.bounds.get(id);
+        if (bounds !== undefined && _rayBox3DEntryT(ox, oy, oz, dx, dy, dz, bounds) >= 0)
+            out.push(id);
+    }
+}
+// Gathers the ids in every cell the region covers (deduplicated via the reused scratch set), then
+// confirms each against the region's real bounds — so a false cell-mate whose bounds miss the region
+// is dropped. Overflowed objects hold no cell and are tested directly.
+//
+// The region is caller-supplied, so it carries the same unbounded-walk hazard the insert bound closes
+// and needs its own guard: a query region wider than the world costs extent ÷ cellSize CUBED cell
+// lookups against a grid that may hold one object. When the region spans more cells than the grid has
+// occupied, walking the objects is both cheaper and exact, so the walk flips — a region query is never
+// more expensive than a full scan.
+function _queryGrid3DRegion(grid, region, out) {
+    out.length = 0;
+    const cs = grid.cellSize;
+    const seen = grid.seen;
+    seen.clear();
+    if (!(_spannedCellCount3D(cs, region) <= grid.cells.size)) {
+        for (const [id, bounds] of grid.bounds) {
+            if (_isSpatialAabb3DOverlapping(bounds, region))
+                out.push(id);
+        }
+        return;
+    }
+    const cx0 = _cellIndex3D(region.minX, cs);
+    const cx1 = _cellIndex3D(region.maxX, cs);
+    const cy0 = _cellIndex3D(region.minY, cs);
+    const cy1 = _cellIndex3D(region.maxY, cs);
+    const cz0 = _cellIndex3D(region.minZ, cs);
+    const cz1 = _cellIndex3D(region.maxZ, cs);
+    for (let cz = cz0; cz <= cz1; cz++) {
+        for (let cy = cy0; cy <= cy1; cy++) {
+            for (let cx = cx0; cx <= cx1; cx++) {
+                const cell = grid.cells.get(_cellKey3D(cx, cy, cz));
+                if (cell === undefined)
+                    continue;
+                for (const id of cell.ids) {
+                    if (seen.has(id))
+                        continue;
+                    seen.add(id);
+                    const bounds = grid.bounds.get(id);
+                    if (bounds !== undefined && _isSpatialAabb3DOverlapping(bounds, region))
+                        out.push(id);
+                }
+            }
+        }
+    }
+    for (const id of grid.overflow) {
+        const bounds = grid.bounds.get(id);
+        if (bounds !== undefined && _isSpatialAabb3DOverlapping(bounds, region))
+            out.push(id);
+    }
+}
+// Slab test for a ray (origin `o*`, direction `d*`, `t >= 0`) against an axis-aligned box. Returns the
+// entry parameter `t` (0 when the origin is already inside), or -1 when the ray misses the box or the
+// box lies entirely behind the origin. Direction need not be normalized.
+function _rayBox3DEntryT(ox, oy, oz, dx, dy, dz, box) {
+    let tmin = -Infinity;
+    let tmax = Infinity;
+    if (dx !== 0) {
+        const inv = 1 / dx;
+        let t1 = (box.minX - ox) * inv;
+        let t2 = (box.maxX - ox) * inv;
+        if (t1 > t2) {
+            const t = t1;
+            t1 = t2;
+            t2 = t;
+        }
+        if (t1 > tmin)
+            tmin = t1;
+        if (t2 < tmax)
+            tmax = t2;
+    }
+    else if (ox < box.minX || ox > box.maxX) {
+        return -1;
+    }
+    if (dy !== 0) {
+        const inv = 1 / dy;
+        let t1 = (box.minY - oy) * inv;
+        let t2 = (box.maxY - oy) * inv;
+        if (t1 > t2) {
+            const t = t1;
+            t1 = t2;
+            t2 = t;
+        }
+        if (t1 > tmin)
+            tmin = t1;
+        if (t2 < tmax)
+            tmax = t2;
+    }
+    else if (oy < box.minY || oy > box.maxY) {
+        return -1;
+    }
+    if (dz !== 0) {
+        const inv = 1 / dz;
+        let t1 = (box.minZ - oz) * inv;
+        let t2 = (box.maxZ - oz) * inv;
+        if (t1 > t2) {
+            const t = t1;
+            t1 = t2;
+            t2 = t;
+        }
+        if (t1 > tmin)
+            tmin = t1;
+        if (t2 < tmax)
+            tmax = t2;
+    }
+    else if (oz < box.minZ || oz > box.maxZ) {
+        return -1;
+    }
+    if (tmax < tmin || tmax < 0)
+        return -1;
+    return tmin > 0 ? tmin : 0;
+}
+// Removes an object from every cell its stored AABB covered and drops now-empty cells. The occupied
+// cell range is intentionally not shrunk (only reset when the grid fully empties). A no-op for an
+// unknown id. Overflowed and declined ids leave through their own sets without a cell walk — remove
+// re-derives the cell range from the stored bounds, so an overflowed object taking the ordinary path
+// here would reintroduce exactly the unbounded walk the insert bound removed.
+function _removeFromGrid3D(grid, id) {
+    grid.declined.delete(id);
+    const bounds = grid.bounds.get(id);
+    if (bounds === undefined)
+        return;
+    if (grid.overflow.delete(id)) {
+        grid.bounds.delete(id);
+        return;
+    }
+    const cs = grid.cellSize;
+    const cx0 = _cellIndex3D(bounds.minX, cs);
+    const cx1 = _cellIndex3D(bounds.maxX, cs);
+    const cy0 = _cellIndex3D(bounds.minY, cs);
+    const cy1 = _cellIndex3D(bounds.maxY, cs);
+    const cz0 = _cellIndex3D(bounds.minZ, cs);
+    const cz1 = _cellIndex3D(bounds.maxZ, cs);
+    for (let cz = cz0; cz <= cz1; cz++) {
+        for (let cy = cy0; cy <= cy1; cy++) {
+            for (let cx = cx0; cx <= cx1; cx++) {
+                const key = _cellKey3D(cx, cy, cz);
+                const cell = grid.cells.get(key);
+                if (cell === undefined)
+                    continue;
+                cell.ids.delete(id);
+                if (cell.ids.size === 0)
+                    grid.cells.delete(key);
+            }
+        }
+    }
+    grid.bounds.delete(id);
+}
+function _reportGrid3DIndexing(grid, id, mode, operation, reason, wouldOccupyBucketCount) {
+    reportSpatialIndexing({ cellSize: grid.cellSize, id, mode, operation, reason, wouldOccupyBucketCount });
+}
+// How many cells an AABB's span covers, as a count rather than a walk — the number the per-object
+// budget is compared against, computed before any cell is touched. Returns NaN for bounds or a cell
+// size that make the cell indices non-finite; callers test it with a negated `<=` so NaN falls to the
+// bounded path rather than through it.
+function _spannedCellCount3D(cellSize, aabb) {
+    const cx0 = _cellIndex3D(aabb.minX, cellSize);
+    const cx1 = _cellIndex3D(aabb.maxX, cellSize);
+    const cy0 = _cellIndex3D(aabb.minY, cellSize);
+    const cy1 = _cellIndex3D(aabb.maxY, cellSize);
+    const cz0 = _cellIndex3D(aabb.minZ, cellSize);
+    const cz1 = _cellIndex3D(aabb.maxZ, cellSize);
+    return (cx1 - cx0 + 1) * (cy1 - cy0 + 1) * (cz1 - cz0 + 1);
+}
+// Updates an object's private AABB copy without touching its cell sets when both the old and new
+// bounds take the ordinary indexing path and cover exactly the same cells. Small per-frame movement
+// usually stays inside this range, so its dominant cost becomes six field writes instead of a
+// remove-and-reinsert walk. Every mode or range transition keeps using the shared slow path below.
+function _updateGrid3DObject(grid, id, bounds) {
+    const wasMissing = !grid.bounds.has(id) && !grid.declined.has(id);
+    const previous = grid.bounds.get(id);
+    if (previous !== undefined &&
+        !grid.overflow.has(id) &&
+        Number.isFinite(bounds.minX) &&
+        Number.isFinite(bounds.minY) &&
+        Number.isFinite(bounds.minZ) &&
+        Number.isFinite(bounds.maxX) &&
+        Number.isFinite(bounds.maxY) &&
+        Number.isFinite(bounds.maxZ) &&
+        bounds.minX <= bounds.maxX &&
+        bounds.minY <= bounds.maxY &&
+        bounds.minZ <= bounds.maxZ) {
+        const cs = grid.cellSize;
+        const spanned = _spannedCellCount3D(cs, bounds);
+        if (spanned <= MAX_INDEXED_CELLS_PER_OBJECT &&
+            _cellIndex3D(previous.minX, cs) === _cellIndex3D(bounds.minX, cs) &&
+            _cellIndex3D(previous.minY, cs) === _cellIndex3D(bounds.minY, cs) &&
+            _cellIndex3D(previous.minZ, cs) === _cellIndex3D(bounds.minZ, cs) &&
+            _cellIndex3D(previous.maxX, cs) === _cellIndex3D(bounds.maxX, cs) &&
+            _cellIndex3D(previous.maxY, cs) === _cellIndex3D(bounds.maxY, cs) &&
+            _cellIndex3D(previous.maxZ, cs) === _cellIndex3D(bounds.maxZ, cs)) {
+            previous.minX = bounds.minX;
+            previous.minY = bounds.minY;
+            previous.minZ = bounds.minZ;
+            previous.maxX = bounds.maxX;
+            previous.maxY = bounds.maxY;
+            previous.maxZ = bounds.maxZ;
+            return true;
+        }
+    }
+    _removeFromGrid3D(grid, id);
+    const inserted = _insertIntoGrid3D(grid, id, bounds, 'update');
+    if (wasMissing) {
+        const explanation = _explainGrid3DIndexing(grid, id);
+        _reportGrid3DIndexing(grid, id, explanation.mode, 'update', 'missing-id', 0);
+    }
+    return inserted;
+}
+//# sourceMappingURL=uniformGrid3D.js.map

package/dist/uniformGrid3D.js.map

@@ -0,0 +1 @@
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