@flighthq/spatial 0.4.0-next.1752.f250cb9 → 0.4.0-next.1763.f98ae25

package/dist/bvh3D.d.ts

@@ -0,0 +1,3 @@
+import type { SpatialIndexBackend3D } from '@flighthq/types/contract';
+export declare function createBvhSpatialBackend3D(margin?: number): SpatialIndexBackend3D;
+//# sourceMappingURL=bvh3D.d.ts.map

package/dist/bvh3D.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"bvh3D.d.ts","sourceRoot":"","sources":["../src/bvh3D.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAEV,qBAAqB,EAKtB,MAAM,0BAA0B,CAAC;AA4BlC,wBAAgB,yBAAyB,CAAC,MAAM,SAAwB,GAAG,qBAAqB,CAa/F"}

package/dist/bvh3D.js

@@ -0,0 +1,545 @@
+import { reportSpatialIndexing } from './spatialIndexingGuard';
+// A dynamic bounding-volume hierarchy: the second 3D backend, beside the uniform grid.
+//
+// The grid is the right structure when objects are roughly one size and the world has a scale; a tree
+// is the right one when neither holds. A grid cell is a fixed world length, so an object much larger
+// than a cell occupies many of them and an object much smaller wastes one — and an unbounded world has
+// no cell size that is right anywhere. A tree adapts: it subdivides where objects are and nowhere else,
+// costs O(log n) per query regardless of extent, and has no tuning constant that can be wrong.
+//
+// It is DYNAMIC in the specific sense that leaves carry FAT bounds — the object's box grown by a
+// margin — so a body that moves a little stays inside the bounds already in the tree and needs no
+// reinsertion at all. That is what makes it usable for a physics broadphase, where nearly every object
+// moves nearly every step: without the margin, every step would be a full remove-and-reinsert.
+//
+// The margin buys cheap updates at the cost of looser traversal, which is why queries test a leaf's
+// EXACT bounds before publishing it. Traversal uses the fat box; the answer uses the real one. Skipping
+// that second test would make this backend report overlaps the grid does not, and the two are supposed
+// to be interchangeable.
+// Creates a BVH backend. `margin` is how far each leaf's stored box is grown beyond its object; a
+// larger margin means fewer reinsertions and looser internal nodes.
+//
+// The default suits a world whose objects are order-of-magnitude single-digit units and move a few
+// units per step. It is a world-space LENGTH, like the grid's cell size, so the two tune against the
+// same intuition.
+export function createBvhSpatialBackend3D(margin = DEFAULT_BVH_MARGIN_3D) {
+    const tree = createBvh3D(margin);
+    return {
+        clearSpatialIndex: () => clearBvh3D(tree),
+        explainSpatialIndexing: (id) => explainBvh3D(tree, id),
+        insertSpatialObject: (id, bounds) => insertBvh3D(tree, id, bounds, 'insert'),
+        querySpatialPairs: (out) => queryBvh3DPairs(tree, out),
+        querySpatialPoint: (x, y, z, out) => queryBvh3DPoint(tree, x, y, z, out),
+        querySpatialRay: (x, y, z, dx, dy, dz, out) => queryBvh3DRay(tree, x, y, z, dx, dy, dz, out),
+        querySpatialRegion: (region, out) => queryBvh3DRegion(tree, region, out),
+        removeSpatialObject: (id) => removeBvh3D(tree, id),
+        updateSpatialObject: (id, bounds) => insertBvh3D(tree, id, bounds, 'update'),
+    };
+}
+function createBvh3D(margin) {
+    return {
+        bounds: new Map(),
+        child1: [],
+        child2: [],
+        count: 0,
+        declined: new Map(),
+        freeList: [],
+        height: [],
+        leafByObject: new Map(),
+        margin: Number.isFinite(margin) && margin >= 0 ? margin : 0,
+        maxX: [],
+        maxY: [],
+        maxZ: [],
+        minX: [],
+        minY: [],
+        minZ: [],
+        object: [],
+        parent: [],
+        root: NIL,
+        stack: [],
+    };
+}
+function clearBvh3D(tree) {
+    tree.root = NIL;
+    tree.count = 0;
+    tree.freeList.length = 0;
+    tree.minX.length = 0;
+    tree.minY.length = 0;
+    tree.minZ.length = 0;
+    tree.maxX.length = 0;
+    tree.maxY.length = 0;
+    tree.maxZ.length = 0;
+    tree.parent.length = 0;
+    tree.child1.length = 0;
+    tree.child2.length = 0;
+    tree.height.length = 0;
+    tree.object.length = 0;
+    tree.leafByObject.clear();
+    tree.bounds.clear();
+    tree.declined.clear();
+}
+// A tree reports `cells` for an indexed object and a bucket count of zero.
+//
+// The mode vocabulary is shared with the grid and is grid-SHAPED — `cells` names a structure this one
+// does not have. It is used anyway because it is the only member meaning "indexed normally", and
+// `SpatialIndexingExplanation` already anticipates a bucketless structure by defining `bucketCount` as
+// zero for one. Renaming the mode would change a vocabulary every backend and both dimensions share.
+function explainBvh3D(tree, id) {
+    const reason = tree.declined.get(id);
+    if (reason !== undefined)
+        return { bucketCount: 0, id, mode: 'declined', reason };
+    if (!tree.leafByObject.has(id))
+        return { bucketCount: 0, id, mode: 'absent', reason: null };
+    return { bucketCount: 0, id, mode: 'cells', reason: null };
+}
+function insertBvh3D(tree, 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)) {
+        removeBvh3D(tree, id);
+        tree.declined.set(id, 'non-finite-bounds');
+        reportBvh3DIndexing(tree, id, 'declined', operation, 'non-finite-bounds');
+        return false;
+    }
+    if (bounds.maxX < bounds.minX || bounds.maxY < bounds.minY || bounds.maxZ < bounds.minZ) {
+        removeBvh3D(tree, id);
+        tree.declined.set(id, 'inverted-bounds');
+        reportBvh3DIndexing(tree, id, 'declined', operation, 'inverted-bounds');
+        return false;
+    }
+    tree.declined.delete(id);
+    const existing = tree.leafByObject.get(id);
+    if (existing !== undefined) {
+        // The whole point of the margin: if the object still sits inside the box already in the tree, the
+        // tree does not change at all. Only the exact bounds are refreshed, because queries answer from
+        // those and a stale one would report last step's overlap as this step's.
+        if (bounds.minX >= tree.minX[existing] &&
+            bounds.minY >= tree.minY[existing] &&
+            bounds.minZ >= tree.minZ[existing] &&
+            bounds.maxX <= tree.maxX[existing] &&
+            bounds.maxY <= tree.maxY[existing] &&
+            bounds.maxZ <= tree.maxZ[existing]) {
+            copyBounds3D(bounds, tree.bounds.get(id));
+            reportBvh3DIndexing(tree, id, 'cells', operation, null);
+            return true;
+        }
+        removeBvh3D(tree, id);
+    }
+    const leaf = allocateBvh3DNode(tree);
+    const margin = tree.margin;
+    tree.minX[leaf] = bounds.minX - margin;
+    tree.minY[leaf] = bounds.minY - margin;
+    tree.minZ[leaf] = bounds.minZ - margin;
+    tree.maxX[leaf] = bounds.maxX + margin;
+    tree.maxY[leaf] = bounds.maxY + margin;
+    tree.maxZ[leaf] = bounds.maxZ + margin;
+    tree.object[leaf] = id;
+    tree.height[leaf] = 0;
+    tree.child1[leaf] = NIL;
+    tree.child2[leaf] = NIL;
+    tree.leafByObject.set(id, leaf);
+    tree.bounds.set(id, {
+        maxX: bounds.maxX,
+        maxY: bounds.maxY,
+        maxZ: bounds.maxZ,
+        minX: bounds.minX,
+        minY: bounds.minY,
+        minZ: bounds.minZ,
+    });
+    tree.count += 1;
+    insertBvh3DLeaf(tree, leaf);
+    reportBvh3DIndexing(tree, id, 'cells', operation, null);
+    return true;
+}
+function removeBvh3D(tree, id) {
+    tree.declined.delete(id);
+    const leaf = tree.leafByObject.get(id);
+    if (leaf === undefined)
+        return;
+    tree.leafByObject.delete(id);
+    tree.bounds.delete(id);
+    tree.count -= 1;
+    removeBvh3DLeaf(tree, leaf);
+    freeBvh3DNode(tree, leaf);
+}
+// Descends to the leaf whose enclosing box grows LEAST by taking this one, which is the surface-area
+// heuristic in its simplest form. Descending by centre distance instead builds a tree that looks
+// balanced and traverses badly, because a node's cost is the area a ray or box must test against, not
+// how evenly its children are counted.
+function insertBvh3DLeaf(tree, leaf) {
+    if (tree.root === NIL) {
+        tree.root = leaf;
+        tree.parent[leaf] = NIL;
+        return;
+    }
+    let index = tree.root;
+    while (tree.height[index] > 0) {
+        const child1 = tree.child1[index];
+        const child2 = tree.child2[index];
+        const area = boundsArea(tree, index);
+        const combined = combinedArea(tree, index, leaf);
+        // The cost of putting the leaf here rather than deeper: a new parent covering both, plus the growth
+        // this node's own box would take on the way down.
+        const branchCost = 2 * combined;
+        const inheritanceCost = 2 * (combined - area);
+        const cost1 = descentCost(tree, child1, leaf, inheritanceCost);
+        const cost2 = descentCost(tree, child2, leaf, inheritanceCost);
+        if (branchCost < cost1 && branchCost < cost2)
+            break;
+        index = cost1 < cost2 ? child1 : child2;
+    }
+    const sibling = index;
+    const oldParent = tree.parent[sibling];
+    const newParent = allocateBvh3DNode(tree);
+    tree.parent[newParent] = oldParent;
+    tree.object[newParent] = NIL;
+    tree.child1[newParent] = sibling;
+    tree.child2[newParent] = leaf;
+    tree.height[newParent] = tree.height[sibling] + 1;
+    unionBounds(tree, newParent, sibling, leaf);
+    tree.parent[sibling] = newParent;
+    tree.parent[leaf] = newParent;
+    if (oldParent === NIL)
+        tree.root = newParent;
+    else if (tree.child1[oldParent] === sibling)
+        tree.child1[oldParent] = newParent;
+    else
+        tree.child2[oldParent] = newParent;
+    refitBvh3DAncestors(tree, tree.parent[leaf]);
+}
+function removeBvh3DLeaf(tree, leaf) {
+    if (leaf === tree.root) {
+        tree.root = NIL;
+        return;
+    }
+    const parent = tree.parent[leaf];
+    const grandParent = tree.parent[parent];
+    const sibling = tree.child1[parent] === leaf ? tree.child2[parent] : tree.child1[parent];
+    // The parent existed only to hold two children; with one gone it is pure indirection, so the sibling
+    // takes its place rather than the parent surviving with a single child.
+    if (grandParent === NIL) {
+        tree.root = sibling;
+        tree.parent[sibling] = NIL;
+        freeBvh3DNode(tree, parent);
+        return;
+    }
+    if (tree.child1[grandParent] === parent)
+        tree.child1[grandParent] = sibling;
+    else
+        tree.child2[grandParent] = sibling;
+    tree.parent[sibling] = grandParent;
+    freeBvh3DNode(tree, parent);
+    refitBvh3DAncestors(tree, grandParent);
+}
+// Walks to the root re-deriving each node's box and height, rebalancing as it goes.
+//
+// Both must happen on the way UP and in that order: a node's box is the union of its children's, so a
+// change at a leaf is only visible to a query once every ancestor has been rewritten. Refitting lazily
+// would leave a parent claiming a region its children no longer cover, which loses objects silently
+// rather than loudly.
+function refitBvh3DAncestors(tree, start) {
+    let index = start;
+    while (index !== NIL) {
+        index = balanceBvh3D(tree, index);
+        const child1 = tree.child1[index];
+        const child2 = tree.child2[index];
+        tree.height[index] = 1 + Math.max(tree.height[child1], tree.height[child2]);
+        unionBounds(tree, index, child1, child2);
+        index = tree.parent[index];
+    }
+}
+// One AVL-style rotation when a node's children differ in height by more than one, returning whichever
+// node now occupies the position. Without it a run of sorted insertions degenerates to a list and every
+// query becomes linear.
+function balanceBvh3D(tree, index) {
+    if (tree.height[index] < 2)
+        return index;
+    const child1 = tree.child1[index];
+    const child2 = tree.child2[index];
+    const balance = tree.height[child2] - tree.height[child1];
+    if (balance > 1)
+        return rotateBvh3D(tree, index, child2);
+    if (balance < -1)
+        return rotateBvh3D(tree, index, child1);
+    return index;
+}
+// Promotes `heavy` above `index`, re-parenting whichever of its children is taller to keep the result
+// balanced.
+function rotateBvh3D(tree, index, heavy) {
+    const heavyChild1 = tree.child1[heavy];
+    const heavyChild2 = tree.child2[heavy];
+    tree.child1[heavy] = index;
+    tree.parent[heavy] = tree.parent[index];
+    tree.parent[index] = heavy;
+    const grandParent = tree.parent[heavy];
+    if (grandParent === NIL)
+        tree.root = heavy;
+    else if (tree.child1[grandParent] === index)
+        tree.child1[grandParent] = heavy;
+    else
+        tree.child2[grandParent] = heavy;
+    const promote = tree.height[heavyChild1] > tree.height[heavyChild2] ? heavyChild1 : heavyChild2;
+    const demote = promote === heavyChild1 ? heavyChild2 : heavyChild1;
+    tree.child2[heavy] = promote;
+    if (tree.child1[index] === heavy)
+        tree.child1[index] = demote;
+    else
+        tree.child2[index] = demote;
+    tree.parent[demote] = index;
+    unionBounds(tree, index, tree.child1[index], tree.child2[index]);
+    unionBounds(tree, heavy, tree.child1[heavy], tree.child2[heavy]);
+    tree.height[index] = 1 + Math.max(tree.height[tree.child1[index]], tree.height[tree.child2[index]]);
+    tree.height[heavy] = 1 + Math.max(tree.height[tree.child1[heavy]], tree.height[tree.child2[heavy]]);
+    return heavy;
+}
+function queryBvh3DPairs(tree, out) {
+    out.length = 0;
+    if (tree.root === NIL)
+        return;
+    for (const [id, leaf] of tree.leafByObject) {
+        const exact = tree.bounds.get(id);
+        if (exact === undefined)
+            continue;
+        const stack = tree.stack;
+        stack.length = 0;
+        stack.push(tree.root);
+        while (stack.length > 0) {
+            const node = stack.pop();
+            if (node === NIL || node === leaf)
+                continue;
+            if (!nodeOverlapsBounds(tree, node, exact))
+                continue;
+            if (tree.height[node] === 0) {
+                const other = tree.object[node];
+                // Each unordered pair once. Comparing ids rather than tracking a seen-set is what keeps this
+                // allocation-free, and it is why a pair is emitted by the lower-id member only.
+                if (other <= id)
+                    continue;
+                const otherExact = tree.bounds.get(other);
+                if (otherExact !== undefined && boundsOverlap3D(exact, otherExact))
+                    out.push({ a: id, b: other });
+                continue;
+            }
+            stack.push(tree.child1[node]);
+            stack.push(tree.child2[node]);
+        }
+    }
+}
+function queryBvh3DPoint(tree, x, y, z, out) {
+    out.length = 0;
+    if (tree.root === NIL)
+        return;
+    const stack = tree.stack;
+    stack.length = 0;
+    stack.push(tree.root);
+    while (stack.length > 0) {
+        const node = stack.pop();
+        if (node === NIL)
+            continue;
+        if (x < tree.minX[node] ||
+            x > tree.maxX[node] ||
+            y < tree.minY[node] ||
+            y > tree.maxY[node] ||
+            z < tree.minZ[node] ||
+            z > tree.maxZ[node]) {
+            continue;
+        }
+        if (tree.height[node] === 0) {
+            const exact = tree.bounds.get(tree.object[node]);
+            // Half-open [min, max) on every axis, matching the grid: a point exactly on a maximum face is
+            // outside. Sharing the convention is what keeps a point on a shared face from belonging to two
+            // adjacent boxes in one backend and one box in the other.
+            if (exact !== undefined &&
+                x >= exact.minX &&
+                x < exact.maxX &&
+                y >= exact.minY &&
+                y < exact.maxY &&
+                z >= exact.minZ &&
+                z < exact.maxZ) {
+                out.push(tree.object[node]);
+            }
+            continue;
+        }
+        stack.push(tree.child1[node]);
+        stack.push(tree.child2[node]);
+    }
+}
+function queryBvh3DRay(tree, x, y, z, dx, dy, dz, out) {
+    out.length = 0;
+    if (tree.root === NIL)
+        return;
+    const stack = tree.stack;
+    stack.length = 0;
+    stack.push(tree.root);
+    while (stack.length > 0) {
+        const node = stack.pop();
+        if (node === NIL)
+            continue;
+        if (!raySlabsHit(x, y, z, dx, dy, dz, tree.minX[node], tree.minY[node], tree.minZ[node], tree.maxX[node], tree.maxY[node], tree.maxZ[node])) {
+            continue;
+        }
+        if (tree.height[node] === 0) {
+            const exact = tree.bounds.get(tree.object[node]);
+            if (exact !== undefined &&
+                raySlabsHit(x, y, z, dx, dy, dz, exact.minX, exact.minY, exact.minZ, exact.maxX, exact.maxY, exact.maxZ)) {
+                out.push(tree.object[node]);
+            }
+            continue;
+        }
+        stack.push(tree.child1[node]);
+        stack.push(tree.child2[node]);
+    }
+}
+function queryBvh3DRegion(tree, region, out) {
+    out.length = 0;
+    if (tree.root === NIL)
+        return;
+    const stack = tree.stack;
+    stack.length = 0;
+    stack.push(tree.root);
+    while (stack.length > 0) {
+        const node = stack.pop();
+        if (node === NIL || !nodeOverlapsBounds(tree, node, region))
+            continue;
+        if (tree.height[node] === 0) {
+            const exact = tree.bounds.get(tree.object[node]);
+            if (exact !== undefined && boundsOverlap3D(exact, region))
+                out.push(tree.object[node]);
+            continue;
+        }
+        stack.push(tree.child1[node]);
+        stack.push(tree.child2[node]);
+    }
+}
+function allocateBvh3DNode(tree) {
+    const recycled = tree.freeList.pop();
+    if (recycled !== undefined) {
+        tree.parent[recycled] = NIL;
+        tree.child1[recycled] = NIL;
+        tree.child2[recycled] = NIL;
+        tree.height[recycled] = 0;
+        tree.object[recycled] = NIL;
+        return recycled;
+    }
+    const index = tree.minX.length;
+    tree.minX.push(0);
+    tree.minY.push(0);
+    tree.minZ.push(0);
+    tree.maxX.push(0);
+    tree.maxY.push(0);
+    tree.maxZ.push(0);
+    tree.parent.push(NIL);
+    tree.child1.push(NIL);
+    tree.child2.push(NIL);
+    tree.height.push(0);
+    tree.object.push(NIL);
+    return index;
+}
+function freeBvh3DNode(tree, index) {
+    tree.parent[index] = NIL;
+    tree.child1[index] = NIL;
+    tree.child2[index] = NIL;
+    tree.object[index] = NIL;
+    tree.height[index] = -1;
+    tree.freeList.push(index);
+}
+function boundsArea(tree, index) {
+    const dx = tree.maxX[index] - tree.minX[index];
+    const dy = tree.maxY[index] - tree.minY[index];
+    const dz = tree.maxZ[index] - tree.minZ[index];
+    return 2 * (dx * dy + dy * dz + dz * dx);
+}
+// STRICT on every axis, so two boxes that merely touch do not overlap — the convention the uniform grid
+// already uses. The two backends sit behind one seam and a caller may swap them, so a boundary case must
+// not answer differently depending on which is installed. Node traversal above stays INCLUSIVE on
+// purpose: a conservative descent may visit a leaf that then fails this test, but it must never prune one
+// that would have passed it.
+function boundsOverlap3D(a, b) {
+    return a.minX < b.maxX && a.maxX > b.minX && a.minY < b.maxY && a.maxY > b.minY && a.minZ < b.maxZ && a.maxZ > b.minZ;
+}
+function combinedArea(tree, a, b) {
+    const dx = Math.max(tree.maxX[a], tree.maxX[b]) - Math.min(tree.minX[a], tree.minX[b]);
+    const dy = Math.max(tree.maxY[a], tree.maxY[b]) - Math.min(tree.minY[a], tree.minY[b]);
+    const dz = Math.max(tree.maxZ[a], tree.maxZ[b]) - Math.min(tree.minZ[a], tree.minZ[b]);
+    return 2 * (dx * dy + dy * dz + dz * dx);
+}
+function copyBounds3D(source, target) {
+    target.minX = source.minX;
+    target.minY = source.minY;
+    target.minZ = source.minZ;
+    target.maxX = source.maxX;
+    target.maxY = source.maxY;
+    target.maxZ = source.maxZ;
+}
+// What descending into `child` would cost. A leaf costs the box that would enclose it and the newcomer;
+// an internal node costs only the GROWTH, because its existing area is already paid for.
+function descentCost(tree, child, leaf, inheritanceCost) {
+    const combined = combinedArea(tree, child, leaf);
+    if (tree.height[child] === 0)
+        return combined + inheritanceCost;
+    return combined - boundsArea(tree, child) + inheritanceCost;
+}
+function nodeOverlapsBounds(tree, index, region) {
+    return (tree.minX[index] <= region.maxX &&
+        tree.maxX[index] >= region.minX &&
+        tree.minY[index] <= region.maxY &&
+        tree.maxY[index] >= region.minY &&
+        tree.minZ[index] <= region.maxZ &&
+        tree.maxZ[index] >= region.minZ);
+}
+// Slab test for a FORWARD ray, matching the uniform grid's reading: the ray extends from its origin in
+// the direction given and not behind it. A zero component is parallel to that pair of planes, which is
+// a hit exactly when the origin already lies between them.
+function raySlabsHit(x, y, z, dx, dy, dz, minX, minY, minZ, maxX, maxY, maxZ) {
+    let near = 0;
+    let far = Number.POSITIVE_INFINITY;
+    for (let axis = 0; axis < 3; axis += 1) {
+        const origin = axis === 0 ? x : axis === 1 ? y : z;
+        const direction = axis === 0 ? dx : axis === 1 ? dy : dz;
+        const low = axis === 0 ? minX : axis === 1 ? minY : minZ;
+        const high = axis === 0 ? maxX : axis === 1 ? maxY : maxZ;
+        if (direction === 0) {
+            if (origin < low || origin > high)
+                return false;
+            continue;
+        }
+        const inverse = 1 / direction;
+        let t0 = (low - origin) * inverse;
+        let t1 = (high - origin) * inverse;
+        if (t0 > t1) {
+            const swap = t0;
+            t0 = t1;
+            t1 = swap;
+        }
+        if (t0 > near)
+            near = t0;
+        if (t1 < far)
+            far = t1;
+        if (near > far)
+            return false;
+    }
+    return true;
+}
+function reportBvh3DIndexing(tree, id, mode, operation, reason) {
+    // `cellSize` is the grid's tuning constant and a tree has none, so the margin is reported in its
+    // place: it is the number a caller would tune for the same reason, and leaving the field at zero
+    // would tell a diagnostic reader the structure was misconfigured.
+    reportSpatialIndexing({ cellSize: tree.margin, id, mode, operation, reason, wouldOccupyBucketCount: 0 });
+}
+function unionBounds(tree, target, a, b) {
+    tree.minX[target] = Math.min(tree.minX[a], tree.minX[b]);
+    tree.minY[target] = Math.min(tree.minY[a], tree.minY[b]);
+    tree.minZ[target] = Math.min(tree.minZ[a], tree.minZ[b]);
+    tree.maxX[target] = Math.max(tree.maxX[a], tree.maxX[b]);
+    tree.maxY[target] = Math.max(tree.maxY[a], tree.maxY[b]);
+    tree.maxZ[target] = Math.max(tree.maxZ[a], tree.maxZ[b]);
+}
+// The sentinel for "no node", matching the -1 an index into a parallel array cannot hold.
+const NIL = -1;
+// A world-space length, chosen against the same intuition as the grid's default cell size: a few units,
+// suiting objects of order single-digit units moving a few units per step.
+const DEFAULT_BVH_MARGIN_3D = 2;
+//# sourceMappingURL=bvh3D.js.map

package/dist/bvh3D.js.map

@@ -0,0 +1 @@
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package/dist/contract.d.ts

@@ -1,4 +1,5 @@
 export * from './explainSpatialIndexing2D';
+export * from './bvh3D';
 export * from './explainSpatialIndexing3D';
 export * from './formatSpatialIndexingNotice';
 export * from './spatialIndex';

package/dist/contract.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"contract.d.ts","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAAA,cAAc,4BAA4B,CAAC;AAC3C,cAAc,4BAA4B,CAAC;AAC3C,cAAc,+BAA+B,CAAC;AAC9C,cAAc,gBAAgB,CAAC;AAC/B,cAAc,kBAAkB,CAAC;AACjC,cAAc,wBAAwB,CAAC;AACvC,cAAc,eAAe,CAAC;AAC9B,cAAc,iBAAiB,CAAC"}
+{"version":3,"file":"contract.d.ts","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAAA,cAAc,4BAA4B,CAAC;AAC3C,cAAc,SAAS,CAAC;AACxB,cAAc,4BAA4B,CAAC;AAC3C,cAAc,+BAA+B,CAAC;AAC9C,cAAc,gBAAgB,CAAC;AAC/B,cAAc,kBAAkB,CAAC;AACjC,cAAc,wBAAwB,CAAC;AACvC,cAAc,eAAe,CAAC;AAC9B,cAAc,iBAAiB,CAAC"}

package/dist/contract.js

@@ -1,4 +1,5 @@
 export * from './explainSpatialIndexing2D';
+export * from './bvh3D';
 export * from './explainSpatialIndexing3D';
 export * from './formatSpatialIndexingNotice';
 export * from './spatialIndex';

package/dist/contract.js.map

@@ -1 +1 @@
-{"version":3,"file":"contract.js","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAAA,cAAc,4BAA4B,CAAC;AAC3C,cAAc,4BAA4B,CAAC;AAC3C,cAAc,+BAA+B,CAAC;AAC9C,cAAc,gBAAgB,CAAC;AAC/B,cAAc,kBAAkB,CAAC;AACjC,cAAc,wBAAwB,CAAC;AACvC,cAAc,eAAe,CAAC;AAC9B,cAAc,iBAAiB,CAAC"}
+{"version":3,"file":"contract.js","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAAA,cAAc,4BAA4B,CAAC;AAC3C,cAAc,SAAS,CAAC;AACxB,cAAc,4BAA4B,CAAC;AAC3C,cAAc,+BAA+B,CAAC;AAC9C,cAAc,gBAAgB,CAAC;AAC/B,cAAc,kBAAkB,CAAC;AACjC,cAAc,wBAAwB,CAAC;AACvC,cAAc,eAAe,CAAC;AAC9B,cAAc,iBAAiB,CAAC"}

package/dist/index.d.ts

@@ -1,2 +1,2 @@
-export { MAX_INDEXED_CELLS_PER_OBJECT, clearSpatialIndex2D, clearSpatialIndex3D, createSpatialIndex2D, createSpatialIndex3D, createUniformGridSpatialBackend2D, createUniformGridSpatialBackend3D, explainSpatialIndexing2D, explainSpatialIndexing3D, formatSpatialIndexingNotice, insertSpatialObject2D, insertSpatialObject3D, querySpatialPairs2D, querySpatialPairs3D, querySpatialPoint2D, querySpatialPoint3D, querySpatialRay2D, querySpatialRay3D, querySpatialRegion2D, querySpatialRegion3D, removeSpatialObject2D, removeSpatialObject3D, setSpatialIndexingGuard, updateSpatialObject2D, updateSpatialObject3D, } from './contract';
+export { MAX_INDEXED_CELLS_PER_OBJECT, clearSpatialIndex2D, clearSpatialIndex3D, createSpatialIndex2D, createSpatialIndex3D, createUniformGridSpatialBackend2D, createBvhSpatialBackend3D, createUniformGridSpatialBackend3D, explainSpatialIndexing2D, explainSpatialIndexing3D, formatSpatialIndexingNotice, insertSpatialObject2D, insertSpatialObject3D, querySpatialPairs2D, querySpatialPairs3D, querySpatialPoint2D, querySpatialPoint3D, querySpatialRay2D, querySpatialRay3D, querySpatialRegion2D, querySpatialFrustum3D, querySpatialRegion3D, querySpatialSphere3D, removeSpatialObject2D, removeSpatialObject3D, setSpatialIndexingGuard, updateSpatialObject2D, updateSpatialObject3D, } from './contract';
 //# sourceMappingURL=index.d.ts.map

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,4BAA4B,EAC5B,mBAAmB,EACnB,mBAAmB,EACnB,oBAAoB,EACpB,oBAAoB,EACpB,iCAAiC,EACjC,yBAAyB,EACzB,iCAAiC,EACjC,wBAAwB,EACxB,wBAAwB,EACxB,2BAA2B,EAC3B,qBAAqB,EACrB,qBAAqB,EACrB,mBAAmB,EACnB,mBAAmB,EACnB,mBAAmB,EACnB,mBAAmB,EACnB,iBAAiB,EACjB,iBAAiB,EACjB,oBAAoB,EACpB,qBAAqB,EACrB,oBAAoB,EACpB,oBAAoB,EACpB,qBAAqB,EACrB,qBAAqB,EACrB,uBAAuB,EACvB,qBAAqB,EACrB,qBAAqB,GACtB,MAAM,YAAY,CAAC"}

package/dist/index.js

@@ -1,2 +1,2 @@
-export { MAX_INDEXED_CELLS_PER_OBJECT, clearSpatialIndex2D, clearSpatialIndex3D, createSpatialIndex2D, createSpatialIndex3D, createUniformGridSpatialBackend2D, createUniformGridSpatialBackend3D, explainSpatialIndexing2D, explainSpatialIndexing3D, formatSpatialIndexingNotice, insertSpatialObject2D, insertSpatialObject3D, querySpatialPairs2D, querySpatialPairs3D, querySpatialPoint2D, querySpatialPoint3D, querySpatialRay2D, querySpatialRay3D, querySpatialRegion2D, querySpatialRegion3D, removeSpatialObject2D, removeSpatialObject3D, setSpatialIndexingGuard, updateSpatialObject2D, updateSpatialObject3D, } from './contract';
+export { MAX_INDEXED_CELLS_PER_OBJECT, clearSpatialIndex2D, clearSpatialIndex3D, createSpatialIndex2D, createSpatialIndex3D, createUniformGridSpatialBackend2D, createBvhSpatialBackend3D, createUniformGridSpatialBackend3D, explainSpatialIndexing2D, explainSpatialIndexing3D, formatSpatialIndexingNotice, insertSpatialObject2D, insertSpatialObject3D, querySpatialPairs2D, querySpatialPairs3D, querySpatialPoint2D, querySpatialPoint3D, querySpatialRay2D, querySpatialRay3D, querySpatialRegion2D, querySpatialFrustum3D, querySpatialRegion3D, querySpatialSphere3D, removeSpatialObject2D, removeSpatialObject3D, setSpatialIndexingGuard, updateSpatialObject2D, updateSpatialObject3D, } from './contract';
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -1 +1 @@
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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,OAAO,EACL,4BAA4B,EAC5B,mBAAmB,EACnB,mBAAmB,EACnB,oBAAoB,EACpB,oBAAoB,EACpB,iCAAiC,EACjC,yBAAyB,EACzB,iCAAiC,EACjC,wBAAwB,EACxB,wBAAwB,EACxB,2BAA2B,EAC3B,qBAAqB,EACrB,qBAAqB,EACrB,mBAAmB,EACnB,mBAAmB,EACnB,mBAAmB,EACnB,mBAAmB,EACnB,iBAAiB,EACjB,iBAAiB,EACjB,oBAAoB,EACpB,qBAAqB,EACrB,oBAAoB,EACpB,oBAAoB,EACpB,qBAAqB,EACrB,qBAAqB,EACrB,uBAAuB,EACvB,qBAAqB,EACrB,qBAAqB,GACtB,MAAM,YAAY,CAAC"}

package/dist/spatialIndex3D.d.ts

@@ -1,11 +1,13 @@
-import type { SpatialAabb3D, SpatialIndex3D, SpatialIndexBackend3D, SpatialObjectId, SpatialPair } from '@flighthq/types/contract';
+import type { SpatialAabb3D, SpatialFrustum3D, SpatialIndex3D, SpatialIndexBackend3D, SpatialObjectId, SpatialPair } from '@flighthq/types/contract';
 export declare function clearSpatialIndex3D(index: Readonly<SpatialIndex3D>): void;
 export declare function createSpatialIndex3D(backend?: SpatialIndexBackend3D): SpatialIndex3D;
 export declare function insertSpatialObject3D(index: Readonly<SpatialIndex3D>, id: SpatialObjectId, bounds: Readonly<SpatialAabb3D>): boolean;
+export declare function querySpatialFrustum3D(index: Readonly<SpatialIndex3D>, frustum: Readonly<SpatialFrustum3D>, out: SpatialObjectId[], slices?: number): void;
 export declare function querySpatialPairs3D(index: Readonly<SpatialIndex3D>, out: SpatialPair[]): void;
 export declare function querySpatialPoint3D(index: Readonly<SpatialIndex3D>, x: number, y: number, z: number, out: SpatialObjectId[]): void;
 export declare function querySpatialRay3D(index: Readonly<SpatialIndex3D>, x: number, y: number, z: number, dx: number, dy: number, dz: number, out: SpatialObjectId[]): void;
 export declare function querySpatialRegion3D(index: Readonly<SpatialIndex3D>, region: Readonly<SpatialAabb3D>, out: SpatialObjectId[]): void;
+export declare function querySpatialSphere3D(index: Readonly<SpatialIndex3D>, x: number, y: number, z: number, radius: number, out: SpatialObjectId[]): void;
 export declare function removeSpatialObject3D(index: Readonly<SpatialIndex3D>, id: SpatialObjectId): void;
 export declare function updateSpatialObject3D(index: Readonly<SpatialIndex3D>, id: SpatialObjectId, bounds: Readonly<SpatialAabb3D>): boolean;
 //# sourceMappingURL=spatialIndex3D.d.ts.map

package/dist/spatialIndex3D.d.ts.map

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package/dist/spatialIndex3D.js

@@ -22,6 +22,82 @@ export function createSpatialIndex3D(backend) {
 export function insertSpatialObject3D(index, id, bounds) {
     return index.runtime.backend.insertSpatialObject(id, bounds);
 }
+// Fills `out` (cleared first) with the ids whose bounds may lie inside the view volume — the candidate
+// set for view culling.
+//
+// Built on the region query rather than on a new backend method, so every present and future backend
+// answers it without implementing anything, and the ratified eight-method seam does not widen for a
+// query that needs no structural knowledge.
+//
+// The volume is covered by `slices` axis-aligned boxes taken along its DEPTH rather than by one box
+// around the whole thing. A single AABB is correct but nearly useless for culling: a long perspective
+// frustum's bounding box approaches the whole world, so the query would hand back almost every object
+// and cull nothing. Slicing costs one region query per slice and shrinks the covered volume toward the
+// frustum itself — eight slices is a good default, and more is a straight trade of query time against
+// candidates the caller would otherwise reject.
+//
+// The result is a CANDIDATE set, in the same sense as `querySpatialPairs3D`: every id whose bounds the
+// covering boxes touch, which is a superset of what is truly visible. The caller applies the exact
+// plane test to what comes back.
+export function querySpatialFrustum3D(index, frustum, out, slices = DEFAULT_FRUSTUM_SLICES) {
+    out.length = 0;
+    const corners = frustum.corners;
+    if (corners.length < 24 || !(slices >= 1))
+        return;
+    const steps = Math.floor(slices);
+    frustumSeen.clear();
+    for (let slice = 0; slice < steps; slice += 1) {
+        const nearT = slice / steps;
+        const farT = (slice + 1) / steps;
+        let minX = Infinity;
+        let minY = Infinity;
+        let minZ = Infinity;
+        let maxX = -Infinity;
+        let maxY = -Infinity;
+        let maxZ = -Infinity;
+        // Both ends of the slice, for all four edges: the volume between two depths is bounded by the eight
+        // points at those depths. Taking only the far end would clip the slice's own near face away.
+        for (let corner = 0; corner < 4; corner += 1) {
+            const near = corner * 3;
+            const far = 12 + corner * 3;
+            for (const t of [nearT, farT]) {
+                const x = corners[near] + (corners[far] - corners[near]) * t;
+                const y = corners[near + 1] + (corners[far + 1] - corners[near + 1]) * t;
+                const z = corners[near + 2] + (corners[far + 2] - corners[near + 2]) * t;
+                if (x < minX)
+                    minX = x;
+                if (x > maxX)
+                    maxX = x;
+                if (y < minY)
+                    minY = y;
+                if (y > maxY)
+                    maxY = y;
+                if (z < minZ)
+                    minZ = z;
+                if (z > maxZ)
+                    maxZ = z;
+            }
+        }
+        if (!Number.isFinite(minX) || !Number.isFinite(maxZ))
+            return;
+        queryRegionScratch.minX = minX;
+        queryRegionScratch.minY = minY;
+        queryRegionScratch.minZ = minZ;
+        queryRegionScratch.maxX = maxX;
+        queryRegionScratch.maxY = maxY;
+        queryRegionScratch.maxZ = maxZ;
+        index.runtime.backend.querySpatialRegion(queryRegionScratch, frustumSlice);
+        // Slices share objects that straddle their boundary, so the union has to be deduplicated — without
+        // this the same id appears once per slice it touches, and a caller counting results would over-count
+        // a large object exactly in proportion to how large it is.
+        for (const id of frustumSlice) {
+            if (frustumSeen.has(id))
+                continue;
+            frustumSeen.add(id);
+            out.push(id);
+        }
+    }
+}
 // Fills `out` (cleared first) with every deduplicated candidate pair — each unordered pair at most
 // once, never an object with itself. A pair is a broadphase candidate: the two objects are close
 // enough to be worth a narrow-phase test, which the caller (or @flighthq/collision) performs.
@@ -42,6 +118,25 @@ export function querySpatialRay3D(index, x, y, z, dx, dy, dz, out) {
 export function querySpatialRegion3D(index, region, out) {
     index.runtime.backend.querySpatialRegion(region, out);
 }
+// Fills `out` (cleared first) with the ids whose bounds may lie within `radius` of (`x`,`y`,`z`).
+//
+// A CANDIDATE set over the sphere's bounding cube, not an exact sphere test — the index stores bounds
+// and answers box questions, and the corners of that cube reach past the sphere by a factor of the
+// square root of three. That is the same contract every other query here keeps, and the caller that
+// needs exactness applies the distance test to what comes back. The value of the export is that the
+// cube is derived once, correctly, instead of at every callsite.
+export function querySpatialSphere3D(index, x, y, z, radius, out) {
+    out.length = 0;
+    if (!Number.isFinite(x) || !Number.isFinite(y) || !Number.isFinite(z) || !(radius >= 0))
+        return;
+    queryRegionScratch.minX = x - radius;
+    queryRegionScratch.minY = y - radius;
+    queryRegionScratch.minZ = z - radius;
+    queryRegionScratch.maxX = x + radius;
+    queryRegionScratch.maxY = y + radius;
+    queryRegionScratch.maxZ = z + radius;
+    index.runtime.backend.querySpatialRegion(queryRegionScratch, out);
+}
 // Removes an object from the index. A no-op if the id is not present.
 export function removeSpatialObject3D(index, id) {
     index.runtime.backend.removeSpatialObject(id);
@@ -59,4 +154,13 @@ export function updateSpatialObject3D(index, id, bounds) {
 // workload with a known typical object size should pass its own grid — and in 3D it pays off sooner,
 // since the per-object cell budget is a ~10-cell cube rather than a 32-cell square.
 const DEFAULT_SPATIAL_CELL_SIZE_3D = 128;
+// How many depth slices cover a frustum when the caller does not choose. Eight brings a typical
+// perspective volume's covered bounds close to the volume itself while keeping the query to eight
+// region calls; one slice degenerates to the single-AABB behaviour that makes frustum culling pointless.
+const DEFAULT_FRUSTUM_SLICES = 8;
+// Reused across calls: a culling pass runs every frame, and these would otherwise be three allocations
+// per frame in the hot path. Never held beyond the call that fills them.
+const queryRegionScratch = { maxX: 0, maxY: 0, maxZ: 0, minX: 0, minY: 0, minZ: 0 };
+const frustumSeen = new Set();
+const frustumSlice = [];
 //# sourceMappingURL=spatialIndex3D.js.map

package/dist/spatialIndex3D.js.map

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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@flighthq/spatial",
-  "version": "0.4.0-next.1752.f250cb9",
+  "version": "0.4.0-next.1763.f98ae25",
   "author": "Joshua Granick and other contributors",
   "license": "MIT",
   "repository": {
@@ -38,8 +38,8 @@
     "clean:dist": "tsx ../../scripts/clean-package-dist.ts"
   },
   "dependencies": {
-    "@flighthq/geometry": "0.4.0-next.1752.f250cb9",
-    "@flighthq/types": "0.4.0-next.1752.f250cb9"
+    "@flighthq/geometry": "0.4.0-next.1763.f98ae25",
+    "@flighthq/types": "0.4.0-next.1763.f98ae25"
   },
   "devDependencies": {
     "typescript": "^5.3.0"

package/src/bvh3D.test.ts

@@ -0,0 +1,231 @@
+import type { SpatialAabb3D, SpatialIndexBackend3D, SpatialObjectId, SpatialPair } from '@flighthq/types/contract';
+import { describe, expect, it } from 'vitest';
+
+import { createBvhSpatialBackend3D } from './bvh3D';
+import { createUniformGridSpatialBackend3D } from './uniformGrid3D';
+
+// The BVH is tested against the UNIFORM GRID, not against itself. The grid is the proven incumbent and
+// the two are meant to be interchangeable behind one seam, so any disagreement is a defect in one of
+// them — which is a far stronger statement than "the tree returns something plausible".
+//
+// Sets are compared, never order: the seam promises which ids match, and two structures walk their
+// contents in different orders by construction.
+
+function createRandom(seed: number): () => number {
+  let state = seed | 0 || 1;
+  return () => {
+    state ^= state << 13;
+    state ^= state >>> 17;
+    state ^= state << 5;
+    return ((state >>> 0) % 100000) / 100000;
+  };
+}
+
+function box(x: number, y: number, z: number, size: number): SpatialAabb3D {
+  return { maxX: x + size, maxY: y + size, maxZ: z + size, minX: x, minY: y, minZ: z };
+}
+
+function sorted(ids: readonly SpatialObjectId[]): SpatialObjectId[] {
+  return [...ids].sort((a, b) => a - b);
+}
+
+function sortedPairs(pairs: readonly SpatialPair[]): string[] {
+  return pairs.map((pair) => `${String(Math.min(pair.a, pair.b))}-${String(Math.max(pair.a, pair.b))}`).sort();
+}
+
+describe('createBvhSpatialBackend3D', () => {
+  it('answers every query exactly as the uniform grid does, over a seeded scene', () => {
+    const random = createRandom(6112026);
+    const bvh = createBvhSpatialBackend3D(2);
+    const grid = createUniformGridSpatialBackend3D(16);
+
+    // Deliberately wide size variance — the case a uniform grid handles worst and a tree handles well.
+    // If the two agree here they agree anywhere.
+    for (let id = 0; id < 120; id += 1) {
+      const size = id % 12 === 0 ? 40 + random() * 30 : 0.5 + random() * 4;
+      const bounds = box((random() - 0.5) * 400, (random() - 0.5) * 400, (random() - 0.5) * 400, size);
+      expect(bvh.insertSpatialObject(id, bounds)).toBe(grid.insertSpatialObject(id, bounds));
+    }
+
+    const bvhOut: SpatialObjectId[] = [];
+    const gridOut: SpatialObjectId[] = [];
+
+    for (let probe = 0; probe < 60; probe += 1) {
+      const region = box((random() - 0.5) * 400, (random() - 0.5) * 400, (random() - 0.5) * 400, 10 + random() * 60);
+      bvh.querySpatialRegion(region, bvhOut);
+      grid.querySpatialRegion(region, gridOut);
+      expect(sorted(bvhOut), `region probe ${String(probe)}`).toEqual(sorted(gridOut));
+
+      const px = (random() - 0.5) * 400;
+      const py = (random() - 0.5) * 400;
+      const pz = (random() - 0.5) * 400;
+      bvh.querySpatialPoint(px, py, pz, bvhOut);
+      grid.querySpatialPoint(px, py, pz, gridOut);
+      expect(sorted(bvhOut), `point probe ${String(probe)}`).toEqual(sorted(gridOut));
+
+      const dx = random() - 0.5;
+      const dy = random() - 0.5;
+      const dz = random() - 0.5;
+      bvh.querySpatialRay(px, py, pz, dx, dy, dz, bvhOut);
+      grid.querySpatialRay(px, py, pz, dx, dy, dz, gridOut);
+      expect(sorted(bvhOut), `ray probe ${String(probe)}`).toEqual(sorted(gridOut));
+    }
+  });
+
+  it('reports every TRULY overlapping pair after inserts, moves, and removals', () => {
+    const random = createRandom(778291);
+    const bvh = createBvhSpatialBackend3D(1.5);
+    const grid = createUniformGridSpatialBackend3D(12);
+
+    // The oracle's own record of where everything ended up, kept alongside rather than read back out of
+    // either index — a truth set derived from the thing under test would prove nothing.
+    const live = new Map<number, SpatialAabb3D>();
+    for (let id = 0; id < 60; id += 1) {
+      const bounds = box((random() - 0.5) * 80, (random() - 0.5) * 80, (random() - 0.5) * 80, 1 + random() * 5);
+      bvh.insertSpatialObject(id, bounds);
+      grid.insertSpatialObject(id, bounds);
+      live.set(id, bounds);
+    }
+    for (let id = 0; id < 60; id += 3) {
+      const bounds = box((random() - 0.5) * 80, (random() - 0.5) * 80, (random() - 0.5) * 80, 1 + random() * 5);
+      bvh.updateSpatialObject(id, bounds);
+      grid.updateSpatialObject(id, bounds);
+      live.set(id, bounds);
+    }
+    for (let id = 1; id < 60; id += 7) {
+      bvh.removeSpatialObject(id);
+      grid.removeSpatialObject(id);
+      live.delete(id);
+    }
+
+    const bvhPairs: SpatialPair[] = [];
+    const gridPairs: SpatialPair[] = [];
+    bvh.querySpatialPairs(bvhPairs);
+    grid.querySpatialPairs(gridPairs);
+
+    // NOT set equality, and the difference is the contract rather than a defect. A pair is a CANDIDATE:
+    // the grid emits everything sharing a cell without testing bounds at all, so its answer is a strict
+    // superset, while the tree tests overlap at the leaf and returns the true set. Both are legal; what
+    // both owe is that no real overlap is missing. Asserting equality here would have been asserting that
+    // two backends make the same conservative approximation, which the seam never promised.
+    const truth = new Set<string>();
+    for (let a = 0; a < 60; a += 1) {
+      for (let b = a + 1; b < 60; b += 1) {
+        const boundsA = live.get(a);
+        const boundsB = live.get(b);
+        if (boundsA === undefined || boundsB === undefined) continue;
+        if (
+          boundsA.minX < boundsB.maxX &&
+          boundsA.maxX > boundsB.minX &&
+          boundsA.minY < boundsB.maxY &&
+          boundsA.maxY > boundsB.minY &&
+          boundsA.minZ < boundsB.maxZ &&
+          boundsA.maxZ > boundsB.minZ
+        ) {
+          truth.add(`${String(a)}-${String(b)}`);
+        }
+      }
+    }
+
+    const bvhSet = new Set(sortedPairs(bvhPairs));
+    const gridSet = new Set(sortedPairs(gridPairs));
+    expect(truth.size).toBeGreaterThan(0);
+    for (const pair of truth) {
+      expect(bvhSet.has(pair), `bvh missed ${pair}`).toBe(true);
+      expect(gridSet.has(pair), `grid missed ${pair}`).toBe(true);
+    }
+    // No self-pairs and no duplicates, which both backends do owe exactly.
+    expect(sortedPairs(bvhPairs)).toEqual([...bvhSet].sort());
+    expect(bvhPairs.every((pair) => pair.a !== pair.b)).toBe(true);
+  });
+
+  it('keeps answering correctly while objects move within their margin', () => {
+    // The fat-bounds fast path: a small move leaves the tree untouched, so only the exact bounds are
+    // refreshed. If they were not, the query would answer from where the object USED to be — the exact
+    // failure the margin risks introducing.
+    const bvh = createBvhSpatialBackend3D(10);
+    bvh.insertSpatialObject(1, box(0, 0, 0, 1));
+
+    const out: SpatialObjectId[] = [];
+    bvh.querySpatialPoint(0.5, 0.5, 0.5, out);
+    expect(out).toEqual([1]);
+
+    // Well inside the 10-unit margin, so no reinsertion happens.
+    bvh.updateSpatialObject(1, box(4, 0, 0, 1));
+    bvh.querySpatialPoint(0.5, 0.5, 0.5, out);
+    expect(out).toEqual([]);
+    bvh.querySpatialPoint(4.5, 0.5, 0.5, out);
+    expect(out).toEqual([1]);
+  });
+
+  it('declines non-finite and inverted bounds with the same sentinel as the grid', () => {
+    const bvh = createBvhSpatialBackend3D();
+    const grid = createUniformGridSpatialBackend3D(16);
+    const nonFinite: SpatialAabb3D = { maxX: 1, maxY: 1, maxZ: 1, minX: NaN, minY: 0, minZ: 0 };
+    const inverted: SpatialAabb3D = { maxX: -1, maxY: 1, maxZ: 1, minX: 0, minY: 0, minZ: 0 };
+
+    expect(bvh.insertSpatialObject(1, nonFinite)).toBe(grid.insertSpatialObject(1, nonFinite));
+    expect(bvh.insertSpatialObject(2, inverted)).toBe(grid.insertSpatialObject(2, inverted));
+    expect(bvh.explainSpatialIndexing(1).mode).toBe('declined');
+    expect(bvh.explainSpatialIndexing(1).reason).toBe('non-finite-bounds');
+    expect(bvh.explainSpatialIndexing(2).reason).toBe('inverted-bounds');
+
+    const out: SpatialObjectId[] = [];
+    bvh.querySpatialRegion(box(-100, -100, -100, 200), out);
+    expect(out).toEqual([]);
+  });
+
+  it('removes an object whose update is declined rather than leaving it at its old bounds', () => {
+    // The seam's contract: a declined update must not read as a current position. Kept identical to the
+    // grid's behaviour, since a caller ignoring the sentinel must not see the two backends differ.
+    const bvh = createBvhSpatialBackend3D();
+    bvh.insertSpatialObject(1, box(0, 0, 0, 4));
+    expect(bvh.updateSpatialObject(1, { maxX: 1, maxY: 1, maxZ: 1, minX: Infinity, minY: 0, minZ: 0 })).toBe(false);
+
+    const out: SpatialObjectId[] = [];
+    bvh.querySpatialRegion(box(-10, -10, -10, 40), out);
+    expect(out).toEqual([]);
+    expect(bvh.explainSpatialIndexing(1).mode).toBe('declined');
+  });
+
+  it('reports absent for an id it has never seen, and after a clear', () => {
+    const bvh = createBvhSpatialBackend3D();
+    expect(bvh.explainSpatialIndexing(99).mode).toBe('absent');
+    bvh.insertSpatialObject(99, box(0, 0, 0, 1));
+    expect(bvh.explainSpatialIndexing(99).mode).toBe('cells');
+    bvh.clearSpatialIndex();
+    expect(bvh.explainSpatialIndexing(99).mode).toBe('absent');
+  });
+
+  it('stays balanced under sorted insertion, which is the case that degenerates a naive tree', () => {
+    // A run of monotonically increasing boxes is the worst input for an unbalanced tree: it builds a
+    // linked list and every query goes linear. Measured indirectly through the query still being exact
+    // over a large sorted set, which a broken rotation would break outright rather than merely slow.
+    const bvh = createBvhSpatialBackend3D(0);
+    const grid = createUniformGridSpatialBackend3D(8);
+    for (let id = 0; id < 400; id += 1) {
+      const bounds = box(id * 3, 0, 0, 2);
+      bvh.insertSpatialObject(id, bounds);
+      grid.insertSpatialObject(id, bounds);
+    }
+    const bvhOut: SpatialObjectId[] = [];
+    const gridOut: SpatialObjectId[] = [];
+    bvh.querySpatialRegion(box(300, -5, -5, 60), bvhOut);
+    grid.querySpatialRegion(box(300, -5, -5, 60), gridOut);
+    expect(sorted(bvhOut)).toEqual(sorted(gridOut));
+    expect(bvhOut.length).toBeGreaterThan(5);
+  });
+
+  it('is interchangeable with the grid behind createSpatialIndex3D', () => {
+    // The seam's whole promise. Both are SpatialIndexBackend3D and neither is named in the call.
+    const backends: SpatialIndexBackend3D[] = [createBvhSpatialBackend3D(), createUniformGridSpatialBackend3D(16)];
+    const results = backends.map((backend) => {
+      backend.insertSpatialObject(1, box(0, 0, 0, 5));
+      backend.insertSpatialObject(2, box(100, 0, 0, 5));
+      const out: SpatialObjectId[] = [];
+      backend.querySpatialRegion(box(-1, -1, -1, 10), out);
+      return sorted(out);
+    });
+    expect(results[0]).toEqual(results[1]);
+  });
+});

package/src/spatialIndex3D.test.ts

@@ -1,14 +1,16 @@
-import type { SpatialAabb3D, SpatialObjectId, SpatialPair } from '@flighthq/types/contract';
+import type { SpatialAabb3D, SpatialFrustum3D, SpatialObjectId, SpatialPair } from '@flighthq/types/contract';
 import { describe, expect, it } from 'vitest';
 
 import {
   clearSpatialIndex3D,
   createSpatialIndex3D,
   insertSpatialObject3D,
+  querySpatialFrustum3D,
   querySpatialPairs3D,
   querySpatialPoint3D,
   querySpatialRay3D,
   querySpatialRegion3D,
+  querySpatialSphere3D,
   removeSpatialObject3D,
   updateSpatialObject3D,
 } from './spatialIndex3D';
@@ -74,6 +76,91 @@ describe('insertSpatialObject3D', () => {
   });
 });
 
+// A frustum looking down +Z: a small near quad at z=0 widening to a large far quad at z=400. Corner
+// order is the contracted one — four near corners, then the four far corners in the SAME winding.
+function viewFrustum(nearHalf: number, farHalf: number, farZ: number): SpatialFrustum3D {
+  return {
+    corners: [
+      -nearHalf,
+      -nearHalf,
+      0,
+      nearHalf,
+      -nearHalf,
+      0,
+      nearHalf,
+      nearHalf,
+      0,
+      -nearHalf,
+      nearHalf,
+      0,
+      -farHalf,
+      -farHalf,
+      farZ,
+      farHalf,
+      -farHalf,
+      farZ,
+      farHalf,
+      farHalf,
+      farZ,
+      -farHalf,
+      farHalf,
+      farZ,
+    ],
+  };
+}
+
+describe('querySpatialFrustum3D', () => {
+  it('finds an object inside the volume and excludes one far outside it', () => {
+    const index = createSpatialIndex3D(createUniformGridSpatialBackend3D(32));
+    insertSpatialObject3D(index, 1, box(-5, -5, 100, 10));
+    insertSpatialObject3D(index, 2, box(900, 900, 100, 10));
+    const out: SpatialObjectId[] = [];
+    querySpatialFrustum3D(index, viewFrustum(10, 200, 400), out);
+    expect(out).toContain(1);
+    expect(out).not.toContain(2);
+  });
+
+  it('reports each object once even when it straddles several slices', () => {
+    // A long object spanning most of the depth touches many slices. Without the dedup it would appear
+    // once per slice, so a caller counting results would over-count exactly the largest objects.
+    const index = createSpatialIndex3D(createUniformGridSpatialBackend3D(32));
+    insertSpatialObject3D(index, 7, { maxX: 5, maxY: 5, maxZ: 380, minX: -5, minY: -5, minZ: 10 });
+    const out: SpatialObjectId[] = [];
+    querySpatialFrustum3D(index, viewFrustum(10, 200, 400), out, 8);
+    expect(out.filter((id) => id === 7)).toHaveLength(1);
+  });
+
+  it('covers strictly less than the single bounding box as slices increase', () => {
+    // The point of slicing. An object out near the far corners of the frustum's own AABB but well
+    // outside the cone is a candidate at one slice and rejected at many.
+    const index = createSpatialIndex3D(createUniformGridSpatialBackend3D(32));
+    insertSpatialObject3D(index, 3, box(180, 180, 20, 8));
+    const coarse: SpatialObjectId[] = [];
+    const fine: SpatialObjectId[] = [];
+    querySpatialFrustum3D(index, viewFrustum(10, 200, 400), coarse, 1);
+    querySpatialFrustum3D(index, viewFrustum(10, 200, 400), fine, 16);
+    expect(coarse).toContain(3);
+    expect(fine).not.toContain(3);
+  });
+
+  it('returns nothing for a malformed corner list rather than guessing', () => {
+    const index = createSpatialIndex3D();
+    insertSpatialObject3D(index, 1, box(0, 0, 0, 10));
+    const out: SpatialObjectId[] = [];
+    querySpatialFrustum3D(index, { corners: [0, 0, 0] }, out);
+    expect(out).toEqual([]);
+    querySpatialFrustum3D(index, viewFrustum(10, 200, 400), out, 0);
+    expect(out).toEqual([]);
+  });
+
+  it('clears the output before filling it', () => {
+    const index = createSpatialIndex3D();
+    const out: SpatialObjectId[] = [99];
+    querySpatialFrustum3D(index, viewFrustum(10, 200, 400), out);
+    expect(out).not.toContain(99);
+  });
+});
+
 describe('querySpatialPairs3D', () => {
   it('reports a co-located pair once', () => {
     const index = createSpatialIndex3D();
@@ -118,6 +205,40 @@ describe('querySpatialRegion3D', () => {
   });
 });
 
+describe('querySpatialSphere3D', () => {
+  it('finds objects within the radius and excludes those beyond it', () => {
+    const index = createSpatialIndex3D(createUniformGridSpatialBackend3D(16));
+    insertSpatialObject3D(index, 1, box(0, 0, 0, 4));
+    insertSpatialObject3D(index, 2, box(500, 500, 500, 4));
+    const out: SpatialObjectId[] = [];
+    querySpatialSphere3D(index, 0, 0, 0, 20, out);
+    expect(out).toContain(1);
+    expect(out).not.toContain(2);
+  });
+
+  it('is a candidate set over the bounding cube, not an exact sphere test', () => {
+    // The corner of the cube reaches past the sphere by root three. This object sits in that corner —
+    // outside the sphere, inside the cube — and IS returned. Documented behaviour rather than a defect:
+    // the caller applies the exact distance test to what comes back.
+    const index = createSpatialIndex3D(createUniformGridSpatialBackend3D(16));
+    insertSpatialObject3D(index, 5, box(9, 9, 9, 0.5));
+    const out: SpatialObjectId[] = [];
+    querySpatialSphere3D(index, 0, 0, 0, 10, out);
+    expect(Math.hypot(9, 9, 9)).toBeGreaterThan(10);
+    expect(out).toContain(5);
+  });
+
+  it('returns nothing for a non-finite centre or negative radius', () => {
+    const index = createSpatialIndex3D();
+    insertSpatialObject3D(index, 1, box(0, 0, 0, 4));
+    const out: SpatialObjectId[] = [];
+    querySpatialSphere3D(index, NaN, 0, 0, 10, out);
+    expect(out).toEqual([]);
+    querySpatialSphere3D(index, 0, 0, 0, -1, out);
+    expect(out).toEqual([]);
+  });
+});
+
 describe('removeSpatialObject3D', () => {
   it('drops the object and is a no-op for an unknown id', () => {
     const index = createSpatialIndex3D();