@forgeax/engine-physics 0.1.27 → 0.1.29

package/README.md

@@ -39,7 +39,7 @@ Three ECS systems run in order every frame (registered by `physicsPlugin` during
 
 | 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 |
+| 1. Sync | `physicsSyncBackend` | `propagateTransforms` | Reconciles Transform-bearing entities with Collider or RigidBody; a RigidBody-only entity creates a native body without a placeholder collider |
 | 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` |
 
@@ -232,3 +232,117 @@ 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.
+
+## Derived voxel shape candidates (3D)
+
+A Transform-bearing RigidBody can receive derived shapes without an ordinary
+Collider. Adding, editing, or removing an ordinary Collider preserves committed
+derived shapes on that same body. Prepared native shapes are disabled and
+massless; only the admitted shape set contributes automatic density.
+
+For paired standard geometry, pass the optional synchronous `commitGeometry`
+argument to `admitDerivedShapeCandidate`. Physics invokes this once after native
+staging and before step/publication; failure rolls back through the same native
+old-state restoration as an admission failure. The callback performs only the
+complete Renderer binding commit and returns its Result. It must not query physics,
+draw, enqueue more work, or perform fallible work after a successful binding change.
+The borrowed `getDerivedAdmission(entity)` proof exists only in that interval;
+publications remain unavailable until the normal step/writeback boundary. See the
+[paired Render example](../render/README.md#paired-physics-admission).
+
+| Paired result | Observable state |
+|:--|:--|
+| Native staging fails | Geometry commit not called; old state retained or explicit rebuild required |
+| Geometry refuses | Native rollback; no new physics publication; old MeshFilter retained |
+| Geometry callback throws | Its ECS writes are uncertain; physics queries and rendering stop with explicit rebuild-required state |
+| Geometry succeeds | Step and writeback precede physics publication; Renderer draw follows World update |
+| Zero fixed steps | Both candidates stay pending and old state remains visible |
+
+Wave 1 keeps derived geometry inside the one `PhysicsWorld`. A consumer submits
+an immutable, standard-data description; the Rapier 3D owner creates disabled
+native `Voxels` colliders during preparation, then admits the whole candidate at
+the next fixed-step boundary. No Rapier handle, native world, worker, or second
+transaction registry crosses this API.
+
+```ts
+import type { PhysicsWorld, DerivedPhysicsCandidateInput } from '@forgeax/engine-physics';
+
+declare const physics: PhysicsWorld;
+declare const candidateInput: DerivedPhysicsCandidateInput;
+
+const prepared = physics.prepareDerivedShapeCandidate?.(candidateInput);
+if (prepared?.ok) {
+  const admitted = physics.admitDerivedShapeCandidate?.(prepared.value);
+  if (admitted?.ok) {
+    // Physics systems call step() from FixedUpdate. In an ECS-bound world the
+    // publication becomes visible only after physicsWriteback and
+    // physicsCollisionSync complete; direct PhysicsWorld consumers finalize in
+    // step() because they have no ECS writeback phase.
+    void physics.getDerivedPublication?.(candidateInput.entity);
+  }
+}
+```
+
+The fixed-step ownership is deliberately small:
+
+```mermaid
+sequenceDiagram
+  participant U as Update consumer
+  participant P as PhysicsWorld
+  participant R as Rapier World
+  U->>P: prepareDerivedShapeCandidate(input)
+  P->>R: create disabled Voxels per local Shape
+  U->>P: admitDerivedShapeCandidate(candidate)
+  P->>R: activate candidate before step
+  P->>R: step + refresh queries
+  P-->>U: publication/contact facts at fixedStep
+```
+
+`VoxelShapeInput.cells` is a contiguous integer `x,y,z` `Int32Array` (or a
+tuple list), `voxelSize` is positive, and `origin` is local. A cell at
+`[i,j,k]` occupies the local box whose center is
+`((i + 0.5) * sx, (j + 0.5) * sy, (k + 0.5) * sz)`; negative coordinates stay
+negative and are never rounded through a chunk index. A seam is accepted only
+when both Shapes have equal voxel size, quaternion-equivalent orientation, and
+an integer grid offset that matches `originB - originA` in that grid. Different
+grid sizes, unaligned rotations, origin/offset mismatches, or different Body
+identities return `derived-seam-invalid` rather than silently coupling shapes.
+
+The candidate may also carry a body type, explicit mass/center of mass/principal
+inertia (including its principal frame), a `preserve | reset` velocity policy,
+an explicit `motion` snapshot (`centerOfMass`, `linearVelocity`, and
+`angularVelocity`), and bounded spring/hinge updates. Every candidate carries a producer
+`sourceKey` and revision. Every constraint endpoint carries a
+`{ sourceKey, revision }` dependency; migration is rejected when either end is
+stale or missing, and these dependencies are included in the portable
+snapshot. Explicit mass zeros collider density before
+Rapier applies the authored mass properties, so the same density is not counted
+twice. With `preserve`, the committed linear velocity follows
+`v_new = v_old + omega_old x (COM_new - COM_old)` and angular velocity is
+retained; `reset` intentionally clears both. Constraints use the same Rapier
+solver and expose only the consumer's stable `id` and revision.
+
+Preparation and cancellation are non-visible. A stale revision, duplicate
+Shape identity, invalid mass, pending duplicate, missing Body, or bounded
+candidate overflow returns `DerivedPhysicsError` with `code`, `expected`,
+`hint`, and narrowed `detail`; the last publication remains intact. A
+PhysicsWorld bounds 32 in-flight candidates, 64 shapes/64 constraints and
+8 MiB of staged candidate data (with a 262144-cell per-candidate ceiling).
+If a native operation fails after admission, `getDerivedFailure(entity)` returns
+a structured failure receipt and the candidate is failed/cleaned while the
+prior body, shapes and constraints remain queryable; the backend never silently
+swallows the native error. `getContactObservations()` contains only detached facts from the real Rapier
+event drain: `fixedStep`, entity identities, optional Shape identities, and
+optional sampled point/normal. It does not claim impulse or energy data.
+
+For explicit recovery, call `captureDerivedPhysicsState()` only at a committed
+boundary. The returned cells, Shape revisions, seams, mass policy, velocity
+policy, committed COM/linear/angular motion, and constraint inputs are portable;
+`restoreDerivedPhysicsState()` admits the complete snapshot as one dependency-
+consistent batch, so a two-body constraint is never restored against a stale
+endpoint and native handles/pending candidates are never serialized. A native
+failure after mass/body/constraint mutation either restores the complete old
+state and exposes `old-state-retained`, or reports `rebuild-required` and blocks
+queries; it is never reported as a ready partial commit. Device or World teardown
+invalidates pending work; the 2D `PhysicsWorld2D` contract remains unchanged and
+does not pretend to support 3D voxel shapes.

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

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

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

@@ -0,0 +1 @@
+{"version":3,"file":"derived-physics.unit.test.d.ts","sourceRoot":"","sources":["../../src/__tests__/derived-physics.unit.test.ts"],"names":[],"mappings":""}

package/dist/derived-physics.d.ts

@@ -0,0 +1,218 @@
+import { type Result } from '@forgeax/engine-types';
+/** A portable integer grid coordinate. */
+export type VoxelCell = readonly [number, number, number];
+/** A portable quaternion used by derived-physics inputs. */
+export type PhysicsQuaternion = readonly [number, number, number, number];
+/** A portable three-component vector used by derived-physics inputs. */
+export type PhysicsVector = readonly [number, number, number];
+/**
+ * One local voxel shape. `cells` contains contiguous x/y/z triples. The
+ * backend copies it while preparing a candidate, so callers may reuse their
+ * scratch buffer after the call returns.
+ */
+export interface VoxelShapeInput {
+    readonly id: string;
+    readonly revision: number;
+    readonly cells: Int32Array | readonly VoxelCell[];
+    readonly voxelSize: PhysicsVector;
+    readonly origin?: PhysicsVector;
+    readonly rotation?: PhysicsQuaternion;
+    readonly friction?: number;
+    readonly restitution?: number;
+    readonly density?: number;
+    readonly isSensor?: boolean;
+    readonly collisionGroups?: number;
+    readonly solverGroups?: number;
+}
+/** Stable producer identity and revision for one constraint endpoint. */
+export interface PhysicsConstraintBodyDependency {
+    readonly sourceKey: string;
+    readonly revision: number;
+}
+/** Explicit or density-derived rigid-body mass properties. */
+export type PhysicsMassProperties = {
+    readonly mode: 'automatic';
+    readonly density?: number;
+} | {
+    readonly mode: 'explicit';
+    readonly mass: number;
+    readonly centerOfMass: PhysicsVector;
+    readonly principalInertia: PhysicsVector;
+    readonly principalInertiaLocalFrame?: PhysicsQuaternion;
+};
+/** How a topology replacement carries the committed body's motion. */
+export type PhysicsVelocityPolicy = 'preserve' | 'reset';
+/**
+ * Consumer-visible movement state for one committed derived body.
+ *
+ * `centerOfMass` is world-space (the same frame as the body's transform),
+ * while both velocity vectors are world-space.  Keeping this as one POD
+ * value makes snapshot/recovery carry the complete motion boundary instead
+ * of exposing Rapier objects or asking consumers to infer velocity from
+ * successive transforms.
+ */
+export interface DerivedPhysicsMotion {
+    readonly centerOfMass: PhysicsVector;
+    readonly linearVelocity: PhysicsVector;
+    readonly angularVelocity: PhysicsVector;
+}
+/** Stable, consumer-owned constraint input. */
+export type PhysicsConstraintInput = {
+    readonly id: string;
+    readonly revision: number;
+    readonly kind: 'spring';
+    readonly bodyA: number;
+    readonly bodyB: number;
+    readonly bodyASource: PhysicsConstraintBodyDependency;
+    readonly bodyBSource: PhysicsConstraintBodyDependency;
+    readonly anchorA: PhysicsVector;
+    readonly anchorB: PhysicsVector;
+    readonly restLength: number;
+    readonly stiffness: number;
+    readonly damping: number;
+} | {
+    readonly id: string;
+    readonly revision: number;
+    readonly kind: 'hinge';
+    readonly bodyA: number;
+    readonly bodyB: number;
+    readonly bodyASource: PhysicsConstraintBodyDependency;
+    readonly bodyBSource: PhysicsConstraintBodyDependency;
+    readonly anchorA: PhysicsVector;
+    readonly anchorB: PhysicsVector;
+    readonly axis: PhysicsVector;
+    readonly limits?: readonly [number, number];
+};
+/** All data needed to prepare one body's derived shape replacement. */
+export interface DerivedPhysicsCandidateInput {
+    readonly entity: number;
+    readonly revision: number;
+    readonly sourceKey: string;
+    readonly shapes: readonly VoxelShapeInput[];
+    readonly seams?: readonly DerivedShapeSeamInput[];
+    readonly bodyType?: 'static' | 'dynamic' | 'kinematic';
+    readonly massProperties?: PhysicsMassProperties;
+    readonly velocityPolicy?: PhysicsVelocityPolicy;
+    /** Optional committed motion to restore after native mass admission. */
+    readonly motion?: DerivedPhysicsMotion;
+    readonly constraints?: readonly PhysicsConstraintInput[];
+    /** Optional World identity; it is checked when the backend is ECS-bound. */
+    readonly worldIdentity?: object;
+}
+/** A same-body integer-grid seam maintained by the Rapier voxel backend. */
+export interface DerivedShapeSeamInput {
+    readonly shapeA: string;
+    readonly shapeB: string;
+    /** Grid-space origin of B relative to A; all components must be integers. */
+    readonly offset: PhysicsVector;
+}
+/** Candidate lifecycle visible to a consumer. */
+export type DerivedPhysicsCandidateState = 'ready' | 'queued' | 'published' | 'cancelled' | 'invalidated' | 'failed';
+/** Opaque-enough prepared candidate. Native handles never cross this type. */
+export interface DerivedPhysicsCandidate {
+    readonly candidateId: string;
+    readonly generation: number;
+    /** Per-PhysicsWorld owner identity; candidate IDs are not global. */
+    readonly owner: object;
+    readonly input: Readonly<DerivedPhysicsCandidateInput>;
+    readonly state: DerivedPhysicsCandidateState;
+}
+/** Stable receipt emitted when a candidate becomes the committed shape set. */
+export interface DerivedPhysicsPublication {
+    readonly candidateId: string;
+    readonly entity: number;
+    readonly revision: number;
+    readonly fixedStep: number;
+    readonly shapeIds: readonly string[];
+    readonly generation: number;
+}
+/** Structured admission failure that leaves the prior publication queryable. */
+export interface DerivedPhysicsFailure {
+    readonly candidateId: string;
+    readonly entity: number;
+    readonly revision: number;
+    readonly fixedStep: number;
+    readonly error: DerivedPhysicsError;
+    readonly recovery: 'old-state-retained' | 'rebuild-required';
+}
+/** Public projection of an active local shape. */
+export interface DerivedShapeState {
+    readonly id: string;
+    readonly revision: number;
+    readonly entity: number;
+    readonly voxelSize: PhysicsVector;
+    readonly origin: PhysicsVector;
+    readonly rotation: PhysicsQuaternion;
+    readonly generation: number;
+}
+/** Real backend contact observation, including stable shape identity when known. */
+export interface PhysicsContactObservation {
+    readonly phase: 'started' | 'stopped';
+    readonly fixedStep: number;
+    readonly entityA: number;
+    readonly entityB: number;
+    readonly shapeA?: string;
+    readonly shapeB?: string;
+    readonly point?: PhysicsVector;
+    readonly normal?: PhysicsVector;
+}
+/** Portable recovery input produced from a committed derived state. */
+export interface DerivedPhysicsSnapshot {
+    readonly generation: number;
+    readonly fixedStep: number;
+    readonly bodies: readonly {
+        readonly entity: number;
+        readonly revision: number;
+        readonly sourceKey: string;
+        readonly shapes: readonly VoxelShapeInput[];
+        readonly seams?: readonly DerivedShapeSeamInput[];
+        readonly bodyType?: 'static' | 'dynamic' | 'kinematic';
+        readonly massProperties?: PhysicsMassProperties;
+        readonly velocityPolicy?: PhysicsVelocityPolicy;
+        /** Committed world-space COM and velocities at capture time. */
+        readonly motion?: DerivedPhysicsMotion;
+        readonly constraints: readonly PhysicsConstraintInput[];
+    }[];
+}
+export type DerivedPhysicsErrorCode = 'derived-physics-disposed' | 'derived-body-not-found' | 'derived-world-mismatch' | 'derived-candidate-not-found' | 'derived-candidate-stale' | 'derived-candidate-pending' | 'derived-candidate-cancelled' | 'derived-candidate-invalid' | 'derived-candidate-budget-exceeded' | 'derived-shape-invalid' | 'derived-shape-duplicate' | 'derived-seam-invalid' | 'derived-mass-invalid' | 'derived-constraint-invalid' | 'derived-constraint-not-found' | 'derived-constraint-stale' | 'derived-backend-failed' | 'derived-recovery-invalid';
+/** Bounded derived-physics preparation envelope. */
+export declare const DERIVED_PHYSICS_LIMITS: Readonly<{
+    maxCandidates: 32;
+    maxShapesPerCandidate: 64;
+    maxConstraintsPerCandidate: 64;
+    maxCellsPerCandidate: 262144;
+    maxCandidateBytes: number;
+}>;
+export interface DerivedPhysicsErrorDetail {
+    readonly code: DerivedPhysicsErrorCode;
+    readonly entity?: number;
+    readonly candidateId?: string;
+    readonly shapeId?: string;
+    readonly constraintId?: string;
+    readonly expected?: string;
+    readonly actual?: unknown;
+    readonly reason?: string;
+}
+/** Closed, structured failure for the public derived-physics surface. */
+export declare class DerivedPhysicsError extends Error {
+    readonly code: DerivedPhysicsErrorCode;
+    readonly expected: string;
+    readonly hint: string;
+    readonly detail: DerivedPhysicsErrorDetail;
+    constructor(code: DerivedPhysicsErrorCode, expected: string, hint: string, detail?: Omit<DerivedPhysicsErrorDetail, 'code'>);
+}
+/** Validate and snapshot one voxel input before native resources are created. */
+export declare function normalizeVoxelShapeInput(input: VoxelShapeInput): Result<VoxelShapeInput & {
+    readonly cells: Int32Array;
+    readonly origin: PhysicsVector;
+    readonly rotation: PhysicsQuaternion;
+}, DerivedPhysicsError>;
+/** Validate explicit mass/inertia values before touching the backend. */
+export declare function validateMassProperties(properties: PhysicsMassProperties | undefined): Result<PhysicsMassProperties | undefined, DerivedPhysicsError>;
+/** The required linear velocity correction for a committed COM change. */
+export declare function preserveCenterOfMassVelocity(linearVelocity: PhysicsVector, angularVelocity: PhysicsVector, previousWorldCom: PhysicsVector, nextWorldCom: PhysicsVector): PhysicsVector;
+/** Snapshot an input without retaining caller-owned typed-array references. */
+export declare function cloneDerivedPhysicsInput(input: DerivedPhysicsCandidateInput): Result<DerivedPhysicsCandidateInput, DerivedPhysicsError>;
+/** Estimate staged CPU/native input bytes for the bounded admission budget. */
+export declare function estimateDerivedPhysicsInputBytes(input: DerivedPhysicsCandidateInput): number;
+//# sourceMappingURL=derived-physics.d.ts.map

package/dist/derived-physics.d.ts.map

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

@@ -2,6 +2,8 @@ export type { CollisionEventPayload } from './collision-event';
 export { CollisionEvent } from './collision-event';
 export type { ColliderShape, RigidBodyType } from './components';
 export { CharacterController, COLLIDER_SHAPE_CAPSULE, COLLIDER_SHAPE_CUBOID, COLLIDER_SHAPE_SPHERE, Collider, ColliderShapeValue, CollidingEntities, colliderShapeFromF32, RIGID_BODY_TYPE_DYNAMIC, RIGID_BODY_TYPE_KINEMATIC, RIGID_BODY_TYPE_STATIC, RigidBody, RigidBodyTypeValue, registerPhysicsComponents, rigidBodyTypeFromF32, } from './components';
+export type { DerivedPhysicsCandidate, DerivedPhysicsCandidateInput, DerivedPhysicsCandidateState, DerivedPhysicsErrorCode, DerivedPhysicsErrorDetail, DerivedPhysicsFailure, DerivedPhysicsMotion, DerivedPhysicsPublication, DerivedPhysicsSnapshot, DerivedShapeSeamInput, DerivedShapeState, PhysicsConstraintBodyDependency, PhysicsConstraintInput, PhysicsContactObservation, PhysicsMassProperties, PhysicsQuaternion, PhysicsVector, PhysicsVelocityPolicy, VoxelCell, VoxelShapeInput, } from './derived-physics';
+export { cloneDerivedPhysicsInput, DERIVED_PHYSICS_LIMITS, DerivedPhysicsError, estimateDerivedPhysicsInputBytes, normalizeVoxelShapeInput, preserveCenterOfMassVelocity, validateMassProperties, } from './derived-physics';
 export type { PhysicsErrorCode, PhysicsErrorDetail } from './errors';
 export { PHYSICS_ERROR_HINTS, PhysicsError } from './errors';
 export type { PhysicsWorld, PhysicsWorld2D, RaycastHit, RaycastHit2D } from './physics-world';

package/dist/index.d.ts.map

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