@forgeax/engine-physics 0.1.2

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package/README.md

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+# @forgeax/engine-physics
+
+Physics interface package: ECS component schemas, PhysicsWorld resource shape, error codes, and enum constants. Backend implementations live in `@forgeax/engine-physics-rapier3d` and `@forgeax/engine-physics-rapier2d`.
+
+## Quick Start
+
+Attach three components to an entity and the physics engine drives its position every frame:
+
+```ts
+import { Collider, ColliderShapeValue, RigidBody, RigidBodyTypeValue } from '@forgeax/engine-physics';
+import { Transform } from '@forgeax/engine-scene';
+
+// Dynamic body: falls under gravity, responds to forces.
+world.spawn(
+  { component: Transform, data: { pos: [0, 5, 0] } },
+  { component: RigidBody, data: { type: RigidBodyTypeValue.dynamic, mass: 1 } },
+  { component: Collider, data: { shape: ColliderShapeValue.sphere, radius: 0.5 } },
+);
+
+// Static body: immovable, ground/collision target.
+world.spawn(
+  { component: Transform, data: { pos: [0, 0, 0] } },
+  { component: RigidBody, data: { type: RigidBodyTypeValue.static } },
+  { component: Collider, data: { shape: ColliderShapeValue.cuboid, halfExtents: [5, 1, 5] } },
+);
+```
+
+Enable physics by passing `physicsPlugin` to `createApp`:
+
+```ts
+import { physicsPlugin } from '@forgeax/engine-physics';
+
+const app = await createApp(canvas, { plugins: [physicsPlugin('rapier-3d')] });
+```
+
+## Three-Phase Tick Pipeline
+
+Three ECS systems run in order every frame (registered by `physicsPlugin` during `createApp`):
+
+| Phase | System Name | Runs After | What It Does |
+|:--|:--|:--|:--|
+| 1. Sync | `physicsSyncBackend` | `propagateTransforms` | Iterates archetypes with (Transform, RigidBody, Collider); calls `ensureBody` to create Rapier bodies for new entities |
+| 2. Step | `physicsStepSimulation` | `physicsSyncBackend` | Reads the constant `FixedTime.delta`; calls `PhysicsWorld.step()` once per bounded fixed iteration |
+| 3. Writeback | `physicsWriteback` | `physicsStepSimulation` | Calls `writebackDynamicBodies()`; writes dynamic-body pose back to ECS `Transform` |
+
+All three systems early-return safely when the `PhysicsWorld` resource is not yet available (WASM fire-and-forget load).
+
+The ECS `World` owns host-frame recovery. It clamps `Time.delta` to the configured
+`maxDeltaSeconds`, advances at most `FixedTime.maxStepsPerUpdate` fixed steps,
+records discarded whole fixed intervals in `FixedTime.droppedSeconds` and
+`FixedTime.droppedUpdates`, and retains only the fractional `overstep`. A later
+healthy frame consumes only its own fixed delta; discarded time is never replayed.
+The backend `dt <= 0` / `dt > 0.1` guard remains defensive because physics receives
+`FixedTime.delta`, not the host-frame gap.
+
+### Transform Pose Projection
+
+`Transform` is the authoring source for a Collider's world-space pose. After
+`propagateTransforms`, the backend projects the resolved world translation,
+rotation, and scale into Rapier. This applies at creation and on every later
+sync for static and non-CharacterController kinematic bodies; dynamic bodies
+own their pose after creation and write it back through the physics step.
+
+| Shape | 3D scale projection | 2D scale projection |
+|:--|:--|:--|
+| `cuboid` | `halfExtents × abs(worldScale)` componentwise | `halfExtents.xy × abs(worldScale.xy)` |
+| `sphere` | `radius × max(abs(worldScale))` | `radius × max(abs(worldScale.xy))` |
+| `capsule` | Y-axis half-height × `abs(scaleY)`; radius × `max(abs(scaleX), abs(scaleZ))` | Y-axis half-height × `abs(scaleY)`; radius × `abs(scaleX)` |
+
+Negative scale is treated as its absolute magnitude; it does not mirror a
+Rapier collision shape. A parented Collider consumes the resolved world pose,
+not its local TRS. 2D projects the resolved Z-axis quaternion rotation to its
+Rapier angle; out-of-plane rotation is not represented by Rapier 2D.
+
+## Enum Constants and Narrowing Helpers
+
+ECS `enum` fields map to `Uint32Array` numeric columns. Use named constants to avoid magic numbers:
+
+### RigidBodyType
+
+```ts
+RigidBodyTypeValue.static    // 0
+RigidBodyTypeValue.dynamic   // 1
+RigidBodyTypeValue.kinematic // 2
+```
+
+Narrowing helper: `rigidBodyTypeFromF32(n: number): RigidBodyType` returns `'static' | 'dynamic' | 'kinematic'`.
+
+### ColliderShape
+
+```ts
+ColliderShapeValue.cuboid  // 0
+ColliderShapeValue.sphere  // 1
+ColliderShapeValue.capsule // 2
+```
+
+Narrowing helper: `colliderShapeFromF32(n: number): ColliderShape` returns `'cuboid' | 'sphere' | 'capsule'`.
+
+Backend implementations use the narrowing helpers in `switch` statements for exhaustive matching (no default arm).
+
+## Component Schemas
+
+### RigidBody
+
+| Field | Type | Default | Description |
+|:--|:--|:--|:--|
+| `type` | `enum` | `1` (dynamic) | `static` / `dynamic` / `kinematic` |
+| `mass` | `f32` | `1` | Additional mass (dynamic only; collider mass comes from density) |
+| `linearDamping` | `f32` | `0` | Velocity damping per second |
+| `angularDamping` | `f32` | `0` | Angular velocity damping per second |
+| `gravityScale` | `f32` | `1` | Multiplier for world gravity |
+| `ccdEnabled` | `bool` | `false` | Continuous collision detection |
+
+### Collider
+
+| Field | Type | Default | Description |
+|:--|:--|:--|:--|
+| `shape` | `enum` | `0` (cuboid) | `cuboid` / `sphere` / `capsule` |
+| `halfExtents` | `array<f32, 3>` | `[0.5, 0.5, 0.5]` | Cuboid half-width/height/depth |
+| `radius` | `f32` | `0.5` | Sphere radius or capsule radius |
+| `halfHeight` | `f32` | `0.5` | Capsule half-height (along Y) |
+| `friction` | `f32` | `0.5` | Coulomb friction coefficient |
+| `restitution` | `f32` | `0` | Bounciness (0 = inelastic, 1 = perfectly elastic) |
+| `density` | `f32` | `1` | Mass per volume (affects dynamic body total mass) |
+| `isSensor` | `bool` | `false` | Sensor-only collider (no contact response) |
+| `collisionGroups` | `u32` | `0x0001ffff` | Rapier collision groups bitmask |
+| `solverGroups` | `u32` | `0xffffffff` | Rapier solver groups bitmask |
+
+### CollidingEntities
+
+| Field | Type | Default | Description |
+|:--|:--|:--|:--|
+| `entities` | `array<entity>` | `[]` | Set of entities currently colliding with the holder |
+
+### CharacterController
+
+Tuning + grounded output for the kinematic character movement primitive. Spawn
+alongside `RigidBody({ type: 'kinematic' })` + `Collider` to opt an entity into
+`moveAndSlide` (see below). Slope angles are in **degrees** (the backend converts
+to radians). `autoStepMaxHeight === 0` disables auto-step; `snapToGroundDist === 0`
+disables ground-snap — one field carries both the switch and the value. The same
+component is used by 2D and 3D (every field is dimension-agnostic).
+
+| Field | Type | Default | Description |
+|:--|:--|:--|:--|
+| `offset` | `f32` | `0.01` | Skin thickness; prevents penetration |
+| `maxSlopeClimbDeg` | `f32` | `45` | Max climbable slope angle (degrees) |
+| `minSlopeSlideDeg` | `f32` | `30` | Slope angle past which sliding starts (degrees) |
+| `autoStepMaxHeight` | `f32` | `0.3` | Max auto-step height (`0` = off) |
+| `autoStepMinWidth` | `f32` | `0.2` | Min step width to be steppable |
+| `snapToGroundDist` | `f32` | `0.2` | Downhill ground-snap distance (`0` = off) |
+| `grounded` | `bool` | `false` | **Engine-written** — true after the last `moveAndSlide` resolved a ground contact. Read-only for game code. |
+
+> [!NOTE]
+> `grounded` is a `bool` schema field; `world.get(e, CharacterController).value.grounded`
+> materializes as a JS `boolean` (not `0`/`1`) — compare `=== true`, never `!== 0`.
+> On a continuous slope Rapier reports `grounded === false` while sliding; the
+> snap-to-ground effect shows in the resolved position (the character stays on the
+> surface), not in the flag.
+
+## Character Movement: `moveAndSlide`
+
+`PhysicsWorld.moveAndSlide(entity, desiredDelta): Vec3` (and the symmetric
+`PhysicsWorld2D.moveAndSlide(entity, desiredDelta: Vec2): Vec2`) is the engine's
+unopinionated kinematic character primitive (modeled on Unity
+`CharacterController.Move`). The game layer computes `desiredDelta` from input +
+gravity + jump each frame; `moveAndSlide` resolves it against world geometry with
+collision response, slope handling, auto-step, and ground-snap, then writes the
+resolved position back to the entity's `Transform` and the contact state to
+`CharacterController.grounded`. It returns the actual displacement applied.
+
+```ts
+import { CharacterController, Collider, ColliderShapeValue, RigidBody, RigidBodyTypeValue } from '@forgeax/engine-physics';
+
+const character = world.spawn(
+  { component: Transform, data: { pos: [0, 0.45, 0] } },
+  { component: RigidBody, data: { type: RigidBodyTypeValue.kinematic } },
+  { component: Collider, data: { shape: ColliderShapeValue.capsule, radius: 0.3, halfHeight: 0.5 } },
+  { component: CharacterController, data: {} },
+).unwrap();
+
+// Per frame (e.g. inside app.registerUpdate):
+const pw = world.getResource('PhysicsWorld'); // PhysicsWorld | PhysicsWorld2D
+const actual = pw.moveAndSlide(character, [dx, dy, dz]); // Transform + grounded written back
+```
+
+Requirements: the entity must carry a kinematic `RigidBody`, a `Collider`, and a
+`CharacterController`. There is no per-call options object and no `dt` parameter —
+tuning is read from the component each call, and the delta already encodes elapsed
+time. Spawn the collider at its resting height (capsule center = ground top +
+radius + halfHeight); a capsule penetrating the floor has a degenerate contact and
+will not auto-step or report grounded correctly.
+
+Character entities are routed exclusively through `moveAndSlide`: the
+`physicsSyncBackend` kinematic mirror skips any archetype carrying
+`CharacterController` so it does not double-write the body the primitive owns.
+
+**Readiness contract**: the Rapier body is built asynchronously by the first
+`physicsSyncBackend` tick after `app.start()` (WASM fire-and-forget load). Before
+that tick, `PhysicsWorld.hasBody(entity)` returns `false`. Per-frame drivers must
+guard with `if (!pw.hasBody(entity)) return;` before calling `moveAndSlide` --
+do not rely on catching `body-not-found` as control flow.
+
+## Error Codes
+
+`PhysicsErrorCode` (9 members, closed union). Exhaustive `switch` without `default`. The public re-export is `packages/physics/src/errors.ts`; the union SSOT is `packages/types/src/index.ts`.
+
+`moveAndSlide` throws `PhysicsError` with `controller-requires-kinematic` (body is
+not kinematic), `body-not-found` (no Rapier body for the entity), or
+`collider-not-found` (body has no collider).
+
+## Architecture Notes
+
+- **Not a backend**: this package defines interfaces and schemas only. Runtime simulation requires a backend (`@forgeax/engine-physics-rapier3d` or `@forgeax/engine-physics-rapier2d`).
+- **ECS bridge**: backend packages call `registerPhysicsSystems(world, Transform)` to wire the three-phase tick pipeline into the ECS schedule.
+- **Fire-and-forget**: WASM backends load asynchronously; entities spawned before load are picked up once the `PhysicsWorld` resource appears.
+- **Component schemas SSOT**: `packages/physics/src/components.ts` is the authoritative definition for all physics component fields, defaults, and types.
+
+## Simulation participant boundary
+
+Physics backends may register one ready simulation participant with the ECS
+World. The participant owns only portable backend state; ECS owns the versioned
+record, atomic restore, fixed-tick trace, comparison report, tolerance, and
+closed errors.
+
+Use the minimum path: create a source World, capture its record, create a fresh
+target World with the same participant version/schema fingerprint, restore, and
+compare semantic collision facts. Do not pass Rapier WASM handles, native
+vectors, or backend World objects through App, Preview, or Remote.
+
+On failure, branch on `error.code`, read `expected`, `hint`, and the narrowed
+`detail`, then rebuild the participant or target named by the hint. A physics
+participant is not a network rollback store, RHI tape, or game replay owner.

package/dist/.tsbuildinfo

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package/dist/__tests__/physics.unit.test.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=physics.unit.test.d.ts.map

package/dist/__tests__/physics.unit.test.d.ts.map

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+{"version":3,"file":"physics.unit.test.d.ts","sourceRoot":"","sources":["../../src/__tests__/physics.unit.test.ts"],"names":[],"mappings":""}

package/dist/collision-event.d.ts

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+import type { Vec3 } from '@forgeax/engine-math';
+/**
+ * Collision event payload — per-contact-pair event emitted during Writeback.
+ *
+ * `type: 'started'` — two colliders just began touching.
+ * `type: 'stopped'` — two colliders just separated.
+ */
+export interface CollisionEventPayload {
+    type: 'started' | 'stopped';
+    entityA: number;
+    entityB: number;
+    contactPoint: Vec3;
+    contactNormal: Vec3;
+}
+/**
+ * CollisionEvent constant — identifies the collision event type.
+ * Backend systems push CollisionEventPayload instances into the event queue
+ * during the Writeback phase; user systems drain via query.
+ *
+ * The backing ECS event infrastructure (Event<T> generic + world.drainEvent)
+ * is deferred to a future feat. For M1, this is a type-only contract.
+ */
+export declare const CollisionEvent: "__CollisionEvent__";
+/** Type-level identifier for the CollisionEvent event channel. */
+export type CollisionEvent = typeof CollisionEvent;
+//# sourceMappingURL=collision-event.d.ts.map

package/dist/collision-event.d.ts.map

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