@flighthq/types 0.4.0-next.1725.752ca79 → 0.4.0-next.1749.d81a21c

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Files changed (11) hide show
  1. package/dist/Collision.d.ts +112 -0
  2. package/dist/Collision.d.ts.map +1 -1
  3. package/dist/Collision.js +8 -3
  4. package/dist/Collision.js.map +1 -1
  5. package/dist/Physics3D.d.ts +121 -2
  6. package/dist/Physics3D.d.ts.map +1 -1
  7. package/dist/Physics3D.js +0 -18
  8. package/dist/Physics3D.js.map +1 -1
  9. package/dist/Spatial.d.ts +25 -0
  10. package/dist/Spatial.d.ts.map +1 -1
  11. package/package.json +1 -1
package/dist/Collision.d.ts CHANGED
@@ -92,4 +92,116 @@ export interface CollisionContactManifold2D {
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  pointCount: number;
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  points: CollisionContactPoint2D[];
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  }
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+ export type CollisionShapeKind3D = 'sphere' | 'aabb' | 'box' | 'capsule' | 'convex' | (string & {});
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+ export interface CollisionSphere3D {
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+ x: number;
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+ y: number;
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+ z: number;
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+ radius: number;
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+ }
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+ export interface CollisionAabb3D {
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+ minX: number;
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+ minY: number;
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+ minZ: number;
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+ maxX: number;
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+ maxY: number;
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+ maxZ: number;
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+ }
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+ export interface CollisionBox3D {
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+ x: number;
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+ y: number;
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+ z: number;
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+ halfX: number;
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+ halfY: number;
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+ halfZ: number;
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+ rotationX: number;
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+ rotationY: number;
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+ rotationZ: number;
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+ rotationW: number;
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+ }
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+ export interface CollisionCapsule3D {
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+ x0: number;
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+ y0: number;
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+ z0: number;
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+ x1: number;
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+ y1: number;
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+ z1: number;
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+ radius: number;
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+ }
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+ export interface CollisionConvex3D {
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+ points: number[];
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+ }
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+ export type CollisionBuiltInShape3D = (CollisionSphere3D & {
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+ kind: 'sphere';
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+ }) | (CollisionAabb3D & {
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+ kind: 'aabb';
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+ }) | (CollisionBox3D & {
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+ kind: 'box';
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+ }) | (CollisionCapsule3D & {
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+ kind: 'capsule';
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+ }) | (CollisionConvex3D & {
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+ kind: 'convex';
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+ });
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+ export type CollisionVendorKind3D = `${string}.${string}`;
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+ export interface CollisionVendorShape3D {
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+ kind: CollisionVendorKind3D;
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+ }
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+ export type CollisionShape3D = CollisionBuiltInShape3D | CollisionVendorShape3D;
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+ export interface CollisionManifold3D {
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+ overlapping: boolean;
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+ normalX: number;
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+ normalY: number;
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+ normalZ: number;
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+ depth: number;
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+ }
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+ export type CollisionSupport3D = (shape: Readonly<CollisionShape3D>, dirX: number, dirY: number, dirZ: number, out: number[]) => void;
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+ export type CollisionPairTest3D = (a: Readonly<CollisionShape3D>, b: Readonly<CollisionShape3D>, out: CollisionManifold3D) => boolean;
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+ export interface CollisionContactPoint3D {
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+ x: number;
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+ y: number;
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+ z: number;
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+ depth: number;
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+ featureId: number;
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+ }
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+ export interface CollisionContactManifold3D {
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+ overlapping: boolean;
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+ normalX: number;
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+ normalY: number;
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+ normalZ: number;
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+ pointCount: number;
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+ points: CollisionContactPoint3D[];
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+ }
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+ export declare const MAX_COLLISION_CONTACT_POINTS_3D = 4;
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+ export type CollisionFaceQuery3D = (shape: Readonly<CollisionShape3D>, dirX: number, dirY: number, dirZ: number, out: number[]) => number;
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+ export interface CollisionRaycastHit3D {
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+ fraction: number;
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+ x: number;
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+ y: number;
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+ z: number;
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+ normalX: number;
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+ normalY: number;
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+ normalZ: number;
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+ }
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+ export interface CollisionDistance3D {
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+ distance: number;
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+ directionX: number;
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+ directionY: number;
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+ directionZ: number;
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+ pointAX: number;
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+ pointAY: number;
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+ pointAZ: number;
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+ pointBX: number;
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+ pointBY: number;
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+ pointBZ: number;
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+ overlapping: boolean;
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+ }
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+ export interface CollisionTimeOfImpact3D {
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+ fraction: number;
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+ x: number;
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+ y: number;
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+ z: number;
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+ normalX: number;
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+ normalY: number;
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+ normalZ: number;
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+ }
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  //# sourceMappingURL=Collision.d.ts.map
package/dist/Collision.d.ts.map CHANGED
@@ -1 +1 @@
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package/dist/Collision.js CHANGED
@@ -15,8 +15,13 @@
15
15
  // in the kind string, and never in a runtime `dimension` field. Passing a sphere to `testCollision2D`
16
16
  // is a compile error because the two shape unions never unify.
17
17
  //
18
- // The 3D half does not exist yet. When it lands it is a sibling set of types with the same shape and a
19
- // `3D` suffix, plus `testCollision3D`; nothing here becomes shared. See
18
+ // The 3D half is the sibling set below: the same types with a `3D` suffix, reached through
19
+ // `testCollision3D`, sharing nothing with these but the design. See
20
20
  // `agents/collision-support-registry.md`.
21
- export {};
21
+ // The most contact points a 3D convex pair can produce. Four, where the 2D twin caps at two: in the
22
+ // plane a convex face-face contact is a segment with two ends, and in space it is a POLYGON clipped
23
+ // against a polygon. Four is what rests a box flat on a floor — one per corner — which is the case the
24
+ // contact lane exists for, and clipping is capped there rather than at the clip's true maximum because
25
+ // a solver gains nothing from a fifth point on a coplanar face and pays an iteration for it.
26
+ export const MAX_COLLISION_CONTACT_POINTS_3D = 4;
22
27
  //# sourceMappingURL=Collision.js.map
package/dist/Collision.js.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"Collision.js","sourceRoot":"","sources":["../src/Collision.ts"],"names":[],"mappings":"AAAA,qGAAqG;AACrG,oGAAoG;AACpG,mGAAmG;AACnG,uGAAuG;AACvG,uGAAuG;AACvG,4EAA4E;AAC5E,qGAAqG;AACrG,0FAA0F;AAC1F,EAAE;AACF,sGAAsG;AACtG,6FAA6F;AAC7F,kGAAkG;AAClG,mGAAmG;AACnG,qGAAqG;AACrG,sGAAsG;AACtG,+DAA+D;AAC/D,EAAE;AACF,uGAAuG;AACvG,wEAAwE;AACxE,0CAA0C"}
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+ {"version":3,"file":"Collision.js","sourceRoot":"","sources":["../src/Collision.ts"],"names":[],"mappings":"AAAA,qGAAqG;AACrG,oGAAoG;AACpG,mGAAmG;AACnG,uGAAuG;AACvG,uGAAuG;AACvG,4EAA4E;AAC5E,qGAAqG;AACrG,0FAA0F;AAC1F,EAAE;AACF,sGAAsG;AACtG,6FAA6F;AAC7F,kGAAkG;AAClG,mGAAmG;AACnG,qGAAqG;AACrG,sGAAsG;AACtG,+DAA+D;AAC/D,EAAE;AACF,2FAA2F;AAC3F,oEAAoE;AACpE,0CAA0C;AA+Y1C,oGAAoG;AACpG,oGAAoG;AACpG,uGAAuG;AACvG,uGAAuG;AACvG,6FAA6F;AAC7F,MAAM,CAAC,MAAM,+BAA+B,GAAG,CAAC,CAAC"}
package/dist/Physics3D.d.ts CHANGED
@@ -1,3 +1,5 @@
1
+ import type { CollisionBuiltInShape3D } from './Collision';
2
+ import type { SpatialIndexBackend3D } from './Spatial';
1
3
  export type Physics3DBodyType = 'dynamic' | 'kinematic' | 'static';
2
4
  export interface Physics3DMaterial {
3
5
  density: number;
@@ -9,6 +11,13 @@ export interface Physics3DCollisionFilter {
9
11
  maskBits: number;
10
12
  groupIndex: number;
11
13
  }
14
+ export interface Physics3DCollider {
15
+ local: CollisionBuiltInShape3D;
16
+ world: CollisionBuiltInShape3D;
17
+ material: Physics3DMaterial;
18
+ filter: Physics3DCollisionFilter;
19
+ sensor: boolean;
20
+ }
12
21
  export interface Physics3DMassData {
13
22
  mass: number;
14
23
  inertiaXX: number;
@@ -74,8 +83,7 @@ export interface RigidBody3D {
74
83
  sleeping: boolean;
75
84
  sleepEnabled: boolean;
76
85
  sleepTimer: number;
77
- material: Physics3DMaterial;
78
- filter: Physics3DCollisionFilter;
86
+ colliders: Physics3DCollider[];
79
87
  }
80
88
  export interface Physics3DContactPoint {
81
89
  x: number;
@@ -93,6 +101,8 @@ export interface Physics3DContactPoint {
93
101
  export interface Physics3DContact {
94
102
  bodyA: number;
95
103
  bodyB: number;
104
+ colliderA: number;
105
+ colliderB: number;
96
106
  normalX: number;
97
107
  normalY: number;
98
108
  normalZ: number;
@@ -156,6 +166,10 @@ export interface Physics3DSolverConfig {
156
166
  maxCcdSubsteps: number;
157
167
  sequentialImpulse: Physics3DSequentialImpulseConfig;
158
168
  }
169
+ export interface Physics3DCollisionExplanation {
170
+ readonly unsupportedKinds: readonly string[];
171
+ readonly status: 'missing-support' | 'ready';
172
+ }
159
173
  export interface Physics3DStepExplanation {
160
174
  readonly bodyStateValid: boolean;
161
175
  readonly contactStateValid: boolean;
@@ -169,6 +183,7 @@ export interface Physics3DStepExplanation {
169
183
  readonly status: 'invalid-step' | 'ready';
170
184
  }
171
185
  export type Physics3DStepGuard = (world: Readonly<Physics3DWorld>, dt: number) => void;
186
+ export type Physics3DContactIntakeGuard = (world: Readonly<Physics3DWorld>) => void;
172
187
  export interface Physics3DJointExplanation {
173
188
  readonly kind: Physics3DJointKind;
174
189
  readonly index: number;
@@ -188,6 +203,9 @@ export interface Physics3DJoint {
188
203
  localAnchorBY: number;
189
204
  localAnchorBZ: number;
190
205
  collideConnected: boolean;
206
+ breakForce: number;
207
+ breakTorque: number;
208
+ broken: boolean;
191
209
  impulse0: number;
192
210
  impulse1: number;
193
211
  impulse2: number;
@@ -207,6 +225,7 @@ export interface Physics3DJointSolver {
207
225
  usesBodyA?: boolean;
208
226
  keepsBodiesAwake?: boolean;
209
227
  swapEnds?(joint: Physics3DJoint): boolean;
228
+ writeReaction?(joint: Readonly<Physics3DJoint>, inverseDt: number, out: Physics3DJointReaction): boolean;
210
229
  warmStart?(world: Physics3DWorld, joint: Physics3DJoint): void;
211
230
  scaleAccumulatedImpulses?(joint: Physics3DJoint, timestepRatio: number): void;
212
231
  clearAccumulatedImpulses?(joint: Physics3DJoint): void;
@@ -221,6 +240,17 @@ export interface Physics3DJointFrames {
221
240
  localRotationBZ: number;
222
241
  localRotationBW: number;
223
242
  }
243
+ export interface Physics3DJointReaction {
244
+ forceX: number;
245
+ forceY: number;
246
+ forceZ: number;
247
+ torqueX: number;
248
+ torqueY: number;
249
+ torqueZ: number;
250
+ }
251
+ export interface Physics3DJointEvents {
252
+ broke: Physics3DJoint[];
253
+ }
224
254
  export interface Physics3DJointOptions {
225
255
  bodyA: number;
226
256
  bodyB: number;
@@ -231,6 +261,8 @@ export interface Physics3DJointOptions {
231
261
  localAnchorBY?: number;
232
262
  localAnchorBZ?: number;
233
263
  collideConnected?: boolean;
264
+ breakForce?: number;
265
+ breakTorque?: number;
234
266
  }
235
267
  export interface Physics3DJointFrameOptions extends Physics3DJointOptions {
236
268
  localRotationAX?: number;
@@ -244,6 +276,26 @@ export interface Physics3DJointFrameOptions extends Physics3DJointOptions {
244
276
  }
245
277
  export type Physics3DBallAndSocketJoint = Physics3DJoint;
246
278
  export type Physics3DBallAndSocketJointOptions = Physics3DJointOptions;
279
+ export interface Physics3DDistanceJoint extends Physics3DJoint {
280
+ length: number;
281
+ enableSpring: boolean;
282
+ frequencyHz: number;
283
+ dampingRatio: number;
284
+ enableLimit: boolean;
285
+ minLength: number;
286
+ maxLength: number;
287
+ lowerLimitImpulse: number;
288
+ upperLimitImpulse: number;
289
+ }
290
+ export interface Physics3DDistanceJointOptions extends Physics3DJointOptions {
291
+ length?: number;
292
+ enableSpring?: boolean;
293
+ frequencyHz?: number;
294
+ dampingRatio?: number;
295
+ enableLimit?: boolean;
296
+ minLength?: number;
297
+ maxLength?: number;
298
+ }
247
299
  export type Physics3DFixedJoint = Physics3DJoint & Physics3DJointFrames;
248
300
  export type Physics3DFixedJointOptions = Physics3DJointFrameOptions;
249
301
  export interface Physics3DHingeJoint extends Physics3DJoint, Physics3DJointFrames {
@@ -337,11 +389,13 @@ export interface Physics3DWorld {
337
389
  version: number;
338
390
  bodies: RigidBody3D[];
339
391
  bodyByIndex: Map<number, RigidBody3D>;
392
+ index: SpatialIndexBackend3D;
340
393
  contacts: Physics3DContact[];
341
394
  joints: Physics3DJoint[];
342
395
  jointSolvers: Map<Physics3DJointKind, Physics3DJointSolver>;
343
396
  jointCollisionSuppressions: Map<number, Map<number, number>>;
344
397
  events: Physics3DContactEvents;
398
+ jointEvents: Physics3DJointEvents;
345
399
  contactHooks: Physics3DContactHooks;
346
400
  solver: Physics3DSequentialImpulseState;
347
401
  config: Physics3DSolverConfig;
@@ -365,4 +419,69 @@ export interface Physics3DWorld {
365
419
  previousTimestep: number;
366
420
  nextBodyIndex: number;
367
421
  }
422
+ export interface Physics3DQueryHit {
423
+ body: RigidBody3D;
424
+ collider: Physics3DCollider;
425
+ colliderIndex: number;
426
+ }
427
+ export interface Physics3DQueryResult {
428
+ hits: Physics3DQueryHit[];
429
+ hitCount: number;
430
+ }
431
+ export interface Physics3DQueryFilter {
432
+ categoryBits: number;
433
+ maskBits: number;
434
+ includeSensors: boolean;
435
+ includeDynamic: boolean;
436
+ includeKinematic: boolean;
437
+ includeStatic: boolean;
438
+ }
439
+ export interface Physics3DRayHit extends Physics3DQueryHit {
440
+ fraction: number;
441
+ x: number;
442
+ y: number;
443
+ z: number;
444
+ normalX: number;
445
+ normalY: number;
446
+ normalZ: number;
447
+ }
448
+ export interface Physics3DRayResult {
449
+ hits: Physics3DRayHit[];
450
+ hitCount: number;
451
+ }
452
+ export type Physics3DDebugFeature = 'center-of-mass' | 'collider' | 'contact-normal' | 'joint';
453
+ export interface Physics3DDebugLine {
454
+ feature: Physics3DDebugFeature;
455
+ bodyA: number;
456
+ bodyB: number;
457
+ x0: number;
458
+ y0: number;
459
+ z0: number;
460
+ x1: number;
461
+ y1: number;
462
+ z1: number;
463
+ }
464
+ export interface Physics3DDebugSphere {
465
+ feature: Physics3DDebugFeature;
466
+ bodyA: number;
467
+ bodyB: number;
468
+ x: number;
469
+ y: number;
470
+ z: number;
471
+ radius: number;
472
+ }
473
+ export interface Physics3DDebugGeometry {
474
+ lines: Physics3DDebugLine[];
475
+ lineCount: number;
476
+ spheres: Physics3DDebugSphere[];
477
+ sphereCount: number;
478
+ }
479
+ export interface Physics3DDebugGeometryOptions {
480
+ drawCentersOfMass: boolean;
481
+ drawColliders: boolean;
482
+ drawContacts: boolean;
483
+ drawJoints: boolean;
484
+ centerOfMassRadius: number;
485
+ contactNormalLength: number;
486
+ }
368
487
  //# sourceMappingURL=Physics3D.d.ts.map
package/dist/Physics3D.d.ts.map CHANGED
@@ -1 +1 @@
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package/dist/Physics3D.js CHANGED
@@ -1,20 +1,2 @@
1
- // 3D rigid-body dynamics header. `@flighthq/physics3d` owns integration and constraint resolution in
2
- // three dimensions and owns no detection of its own. Everything here is plain data advanced by an
3
- // explicit `stepPhysics3D(world, dt)` — no implicit world object, no hidden per-frame allocation, and
4
- // no scene-graph reference. Copying a body's transform onto a scene node is the caller's job.
5
- //
6
- // 2D rigid-body dynamics is `@flighthq/physics2d`, a separate package, because the dimension changes
7
- // the model rather than only its width: a 2D rotational inertia is one scalar about a fixed axis,
8
- // where 3D needs a tensor that must be re-expressed in world space every step; friction acts along one
9
- // tangent in 2D and spans a two-dimensional plane in 3D; and orientation integrates as a quaternion
10
- // rather than accumulating into a scalar angle.
11
- //
12
- // CONTACT GENERATION IS NOT HERE AND IS NOT YET ANYWHERE. A `Physics3DContact` is consumed by this
13
- // package, not produced by it: the 3D narrow phase (`@flighthq/collision`) and the 3D broadphase
14
- // (`@flighthq/spatial`) do not exist yet, so a caller supplies contacts directly. That seam is
15
- // deliberate rather than temporary — the solver is defined against contact records and would be so
16
- // defined regardless — but until those packages grow their 3D halves, a world simulates only the
17
- // contacts it is given. See `agents/collision-support-registry.md` and
18
- // `agents/spatial-dimension-seams.md`.
19
1
  export {};
20
2
  //# sourceMappingURL=Physics3D.js.map
package/dist/Physics3D.js.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"Physics3D.js","sourceRoot":"","sources":["../src/Physics3D.ts"],"names":[],"mappings":"AAAA,qGAAqG;AACrG,kGAAkG;AAClG,sGAAsG;AACtG,8FAA8F;AAC9F,EAAE;AACF,qGAAqG;AACrG,kGAAkG;AAClG,uGAAuG;AACvG,oGAAoG;AACpG,gDAAgD;AAChD,EAAE;AACF,mGAAmG;AACnG,iGAAiG;AACjG,+FAA+F;AAC/F,mGAAmG;AACnG,iGAAiG;AACjG,uEAAuE;AACvE,uCAAuC"}
1
+ {"version":3,"file":"Physics3D.js","sourceRoot":"","sources":["../src/Physics3D.ts"],"names":[],"mappings":""}
package/dist/Spatial.d.ts CHANGED
@@ -6,6 +6,14 @@ export interface SpatialAabb2D {
6
6
  maxX: number;
7
7
  maxY: number;
8
8
  }
9
+ export interface SpatialAabb3D {
10
+ minX: number;
11
+ minY: number;
12
+ minZ: number;
13
+ maxX: number;
14
+ maxY: number;
15
+ maxZ: number;
16
+ }
9
17
  export interface SpatialPair {
10
18
  a: SpatialObjectId;
11
19
  b: SpatialObjectId;
@@ -27,4 +35,21 @@ export interface SpatialIndexRuntime2D {
27
35
  export interface SpatialIndex2D {
28
36
  runtime: SpatialIndexRuntime2D;
29
37
  }
38
+ export interface SpatialIndexBackend3D {
39
+ insertSpatialObject(id: SpatialObjectId, bounds: Readonly<SpatialAabb3D>): boolean;
40
+ updateSpatialObject(id: SpatialObjectId, bounds: Readonly<SpatialAabb3D>): boolean;
41
+ removeSpatialObject(id: SpatialObjectId): void;
42
+ clearSpatialIndex(): void;
43
+ explainSpatialIndexing(id: SpatialObjectId): SpatialIndexingExplanation;
44
+ querySpatialPairs(out: SpatialPair[]): void;
45
+ querySpatialRegion(region: Readonly<SpatialAabb3D>, out: SpatialObjectId[]): void;
46
+ querySpatialPoint(x: number, y: number, z: number, out: SpatialObjectId[]): void;
47
+ querySpatialRay(x: number, y: number, z: number, dx: number, dy: number, dz: number, out: SpatialObjectId[]): void;
48
+ }
49
+ export interface SpatialIndexRuntime3D {
50
+ backend: SpatialIndexBackend3D;
51
+ }
52
+ export interface SpatialIndex3D {
53
+ runtime: SpatialIndexRuntime3D;
54
+ }
30
55
  //# sourceMappingURL=Spatial.d.ts.map
package/dist/Spatial.d.ts.map CHANGED
@@ -1 +1 @@
1
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package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "@flighthq/types",
3
- "version": "0.4.0-next.1725.752ca79",
3
+ "version": "0.4.0-next.1749.d81a21c",
4
4
  "author": "Joshua Granick and other contributors",
5
5
  "license": "MIT",
6
6
  "repository": {