@jdultra/threedtiles 14.0.20 → 14.0.22

package/dist/assets/physicsHelper.worker-Cr8S3sZk.js

@@ -0,0 +1,37 @@
+function u(n, e = null, t = []) {
+  n != null && postMessage({ replyTo: n, result: e }, t);
+}
+function a(n, e) {
+  n != null && postMessage({ replyTo: n, error: e && (e.message || String(e)) || String(e) });
+}
+function f(n, e) {
+  if (!(n instanceof Float32Array))
+    throw new Error("positions must be a Float32Array");
+  const t = n.length;
+  if (t % 3 !== 0)
+    throw new Error("positions length must be a multiple of 3");
+  const s = e && +e[0] || 1, r = e && +e[1] || 1, o = e && +e[2] || 1;
+  if (s !== 1 || r !== 1 || o !== 1)
+    for (let l = 0; l < t; l += 3)
+      n[l + 0] *= s, n[l + 1] *= r, n[l + 2] *= o;
+  return { hullVertices: n, hullIndices: null };
+}
+self.addEventListener("message", (n) => {
+  const e = n.data || {}, t = typeof e._envId < "u" ? e._envId : typeof e.replyTo < "u" ? e.replyTo : e.id;
+  try {
+    switch (e.type) {
+      case "computeConvexHull": {
+        const s = e.positions instanceof Float32Array ? e.positions : new Float32Array(e.positions?.buffer || e.positions), r = e.localScale || e.scale || e.local?.s || [1, 1, 1], { hullVertices: o, hullIndices: i } = f(s, r), c = [];
+        o?.buffer && c.push(o.buffer), i?.buffer, u(t, { vertices: o, indices: i }, c);
+        break;
+      }
+      default: {
+        u(t, { ok: !1, reason: "unknown message type" });
+        break;
+      }
+    }
+  } catch (s) {
+    a(t, s);
+  }
+});
+//# sourceMappingURL=physicsHelper.worker-Cr8S3sZk.js.map

package/dist/assets/physicsHelper.worker-Cr8S3sZk.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"physicsHelper.worker-Cr8S3sZk.js","sources":["../src/simulation/physicsHelper.worker.js"],"sourcesContent":["// physicsHelper.worker.js\r\n// Helper worker that computes a convex hull from mesh geometry using three.js's ConvexHull.\r\n// - Receives Float32Array positions (and optional Uint32Array indices - not required for hull).\r\n// - Applies optional non-uniform localScale [sx,sy,sz] to vertex positions in-place.\r\n// - Computes convex hull and returns hull vertices (Float32Array) and indices (Uint32Array) to the main thread.\r\n// - Buffer ownership is transferred back to main to minimize memory usage.\r\n\r\n/* No external imports required */\r\n\r\n// Simple reply helpers for request/reply correlation with _envId\r\nfunction ack(id, result = null, transfer = []) {\r\n  if (id == null) return;\r\n  // Always include replyTo to match main thread envelope handling\r\n  postMessage({ replyTo: id, result }, transfer);\r\n}\r\nfunction nack(id, error) {\r\n  if (id == null) return;\r\n  postMessage({ replyTo: id, error: (error && (error.message || String(error))) || String(error) });\r\n}\r\n\r\n// Compute convex hull input for Rapier from points (Float32Array positions).\r\n// Rapier's ColliderDesc.convexHull computes the hull internally from an arbitrary point cloud,\r\n// so we only need to return a scaled vertex array. No triangle faces are required.\r\nfunction computeHullFromPositions(positions, scale) {\r\n  if (!(positions instanceof Float32Array)) {\r\n    throw new Error('positions must be a Float32Array');\r\n  }\r\n  const n = positions.length;\r\n  if (n % 3 !== 0) {\r\n    throw new Error('positions length must be a multiple of 3');\r\n  }\r\n\r\n  // Apply in-place scaling to avoid additional copies (positions buffer is owned by this worker).\r\n  const sx = (scale && +scale[0]) || 1.0;\r\n  const sy = (scale && +scale[1]) || 1.0;\r\n  const sz = (scale && +scale[2]) || 1.0;\r\n  if (sx !== 1 || sy !== 1 || sz !== 1) {\r\n    for (let i = 0; i < n; i += 3) {\r\n      positions[i + 0] *= sx;\r\n      positions[i + 1] *= sy;\r\n      positions[i + 2] *= sz;\r\n    }\r\n  }\r\n\r\n  // Return the scaled point cloud directly; indices are unnecessary for Rapier's convexHull.\r\n  const hullVertices = positions;\r\n  const hullIndices = null;\r\n  return { hullVertices, hullIndices };\r\n}\r\n\r\nself.addEventListener('message', (e) => {\r\n  const msg = e.data || {};\r\n  const replyId = (typeof msg._envId !== 'undefined') ? msg._envId : (typeof msg.replyTo !== 'undefined' ? msg.replyTo : msg.id);\r\n  try {\r\n    switch (msg.type) {\r\n      case 'computeConvexHull': {\r\n        const positions = msg.positions instanceof Float32Array ? msg.positions : new Float32Array(msg.positions?.buffer || msg.positions);\r\n        // indices are not strictly needed for hull generation with ConvexHull; accept but ignore for computation.\r\n        // If provided and transferred, they will be garbage collected afterward.\r\n        const scale = msg.localScale || msg.scale || msg.local?.s || [1, 1, 1];\r\n\r\n        const { hullVertices, hullIndices } = computeHullFromPositions(positions, scale);\r\n\r\n        // Transfer results back, release incoming buffers by letting them go out of scope.\r\n        const transfer = [];\r\n        if (hullVertices?.buffer) transfer.push(hullVertices.buffer);\r\n        if (hullIndices?.buffer) transfer.push(hullIndices.buffer);\r\n\r\n        ack(replyId, { vertices: hullVertices, indices: hullIndices }, transfer);\r\n        break;\r\n      }\r\n\r\n      default: {\r\n        ack(replyId, { ok: false, reason: 'unknown message type' });\r\n        break;\r\n      }\r\n    }\r\n  } catch (err) {\r\n    nack(replyId, err);\r\n  }\r\n});"],"names":["ack","id","result","transfer","nack","error","computeHullFromPositions","positions","scale","n","sx","sy","sz","i","e","msg","replyId","hullVertices","hullIndices","err"],"mappings":"AAUA,SAASA,EAAIC,GAAIC,IAAS,MAAMC,IAAW,CAAA,GAAI;AAC7C,EAAIF,KAAM,QAEV,YAAY,EAAE,SAASA,GAAI,QAAAC,EAAM,GAAIC,CAAQ;AAC/C;AACA,SAASC,EAAKH,GAAII,GAAO;AACvB,EAAIJ,KAAM,QACV,YAAY,EAAE,SAASA,GAAI,OAAQI,MAAUA,EAAM,WAAW,OAAOA,CAAK,MAAO,OAAOA,CAAK,EAAC,CAAE;AAClG;AAKA,SAASC,EAAyBC,GAAWC,GAAO;AAClD,MAAI,EAAED,aAAqB;AACzB,UAAM,IAAI,MAAM,kCAAkC;AAEpD,QAAME,IAAIF,EAAU;AACpB,MAAIE,IAAI,MAAM;AACZ,UAAM,IAAI,MAAM,0CAA0C;AAI5D,QAAMC,IAAMF,KAAS,CAACA,EAAM,CAAC,KAAM,GAC7BG,IAAMH,KAAS,CAACA,EAAM,CAAC,KAAM,GAC7BI,IAAMJ,KAAS,CAACA,EAAM,CAAC,KAAM;AACnC,MAAIE,MAAO,KAAKC,MAAO,KAAKC,MAAO;AACjC,aAASC,IAAI,GAAGA,IAAIJ,GAAGI,KAAK;AAC1B,MAAAN,EAAUM,IAAI,CAAC,KAAKH,GACpBH,EAAUM,IAAI,CAAC,KAAKF,GACpBJ,EAAUM,IAAI,CAAC,KAAKD;AAOxB,SAAO,EAAE,cAFYL,GAEE,aADH;AAEtB;AAEA,KAAK,iBAAiB,WAAW,CAACO,MAAM;AACtC,QAAMC,IAAMD,EAAE,QAAQ,IAChBE,IAAW,OAAOD,EAAI,SAAW,MAAeA,EAAI,SAAU,OAAOA,EAAI,UAAY,MAAcA,EAAI,UAAUA,EAAI;AAC3H,MAAI;AACF,YAAQA,EAAI,MAAI;AAAA,MACd,KAAK,qBAAqB;AACxB,cAAMR,IAAYQ,EAAI,qBAAqB,eAAeA,EAAI,YAAY,IAAI,aAAaA,EAAI,WAAW,UAAUA,EAAI,SAAS,GAG3HP,IAAQO,EAAI,cAAcA,EAAI,SAASA,EAAI,OAAO,KAAK,CAAC,GAAG,GAAG,CAAC,GAE/D,EAAE,cAAAE,GAAc,aAAAC,EAAW,IAAKZ,EAAyBC,GAAWC,CAAK,GAGzEL,IAAW,CAAA;AACjB,QAAIc,GAAc,UAAQd,EAAS,KAAKc,EAAa,MAAM,GACvDC,GAAa,QAEjBlB,EAAIgB,GAAS,EAAE,UAAUC,GAAc,SAASC,EAAW,GAAIf,CAAQ;AACvE;AAAA,MACF;AAAA,MAEA,SAAS;AACP,QAAAH,EAAIgB,GAAS,EAAE,IAAI,IAAO,QAAQ,uBAAsB,CAAE;AAC1D;AAAA,MACF;AAAA,IACN;AAAA,EACE,SAASG,GAAK;AACZ,IAAAf,EAAKY,GAASG,CAAG;AAAA,EACnB;AACF,CAAC;"}

package/dist/assets/physicsRapier.worker-jgQ9dgLt.js

@@ -0,0 +1,393 @@
+let l = null, p = null, A = null;
+const x = /* @__PURE__ */ new Map(), B = /* @__PURE__ */ new Map(), C = /* @__PURE__ */ new Map(), M = /* @__PURE__ */ new Map();
+let I = "vector", D = { x: 0, y: -9.81, z: 0 }, W = { x: 0, y: 0, z: 0 }, q = 9.81, E = 0, R = 1 / 60;
+function F(t, e = null) {
+  t != null && postMessage({ replyTo: t, result: e });
+}
+function U(t, e) {
+  t != null && postMessage({ replyTo: t, error: e && (e.message || e) || "error" });
+}
+function L(t, e, o) {
+  return Math.max(e, Math.min(o, t));
+}
+function w(t) {
+  return { x: +t[0], y: +t[1], z: +t[2] };
+}
+function z(t) {
+  return { x: +t[0], y: +t[1], z: +t[2], w: +t[3] };
+}
+function P(t, e) {
+  return { x: t.x - e.x, y: t.y - e.y, z: t.z - e.z };
+}
+function j(t, e) {
+  return { x: t.x * e, y: t.y * e, z: t.z * e };
+}
+function O(t) {
+  return Math.hypot(t.x, t.y, t.z);
+}
+function $(t) {
+  const e = O(t) || 1;
+  return { x: t.x / e, y: t.y / e, z: t.z / e };
+}
+async function v() {
+  if (A) {
+    await A;
+    return;
+  }
+  A = (async () => {
+    if (!l) {
+      postMessage({ type: "debug", msg: "importing rapier module" });
+      const t = await import("./rapier-CaKmQPsS.js"), o = { locateFile: (r) => {
+        try {
+          return new URL(r, import.meta.url).href;
+        } catch {
+          return r;
+        }
+      } }, n = t?.default ?? t;
+      postMessage({
+        type: "debug",
+        msg: "rapier module import result",
+        hasDefault: !!t?.default,
+        hasInitFunction: typeof n?.init == "function",
+        isFactoryFunction: typeof n == "function"
+      });
+      try {
+        if (typeof n == "function") {
+          postMessage({ type: "debug", msg: "rapier: calling module factory function" });
+          const r = n(o);
+          l = r && typeof r.then == "function" ? await r : r || n, postMessage({ type: "debug", msg: "rapier factory resolved", hasWorld: !!l?.World });
+        } else if (typeof n?.init == "function")
+          postMessage({ type: "debug", msg: "rapier: calling init()" }), await n.init(o), l = n, postMessage({ type: "debug", msg: "rapier.init completed", hasWorld: !!l?.World });
+        else if (n)
+          l = n, postMessage({ type: "debug", msg: "rapier: using imported module as-is", hasWorld: !!l?.World });
+        else
+          throw new Error("Imported Rapier module is empty/invalid");
+      } catch (r) {
+        throw postMessage({ type: "error", msg: "rapier init failed", error: r && (r.message || String(r)) || String(r) }), r;
+      }
+      if (!l) throw new Error("Failed to import Rapier module");
+    }
+    if (!p) {
+      const t = I === "vector" ? D : { x: 0, y: 0, z: 0 };
+      try {
+        typeof l.World == "function" ? p = new l.World(t) : typeof l.World?.new == "function" ? p = l.World.new(t) : typeof l?.World == "object" && typeof l.World.create == "function" ? p = l.World.create(t) : typeof l == "function" ? p = l(t) : p = l.World ? l.World(t) : null, postMessage({ type: "debug", msg: "rapier world created" });
+      } catch (e) {
+        throw postMessage({ type: "error", msg: "failed to construct rapier World", error: e && (e.message || String(e)) || String(e) }), new Error("Failed to construct Rapier World: " + (e && e.message ? e.message : String(e)));
+      }
+    }
+  })();
+  try {
+    await A;
+  } finally {
+  }
+}
+function S(t) {
+  I = "vector", D = { x: +t[0], y: +t[1], z: +t[2] }, p && (p.gravity = D);
+}
+function T(t, e) {
+  I = "geocentric", W = { x: +t[0], y: +t[1], z: +t[2] }, q = +e, p && (p.gravity = { x: 0, y: 0, z: 0 });
+}
+function H(t) {
+  const e = $(P(W, t));
+  return j(e, q);
+}
+function V(t, e, o) {
+  try {
+    if (typeof p.createRigidBody != "function")
+      throw postMessage({ type: "error", msg: "world.createRigidBody is not a function", value: typeof p.createRigidBody }), new Error("world.createRigidBody is not a function");
+    postMessage({ type: "debug", msg: "createBody: about to call world.createRigidBody", id: e, descType: typeof t, descCtor: t && t.constructor ? t.constructor.name : null });
+    const n = p.createRigidBody(t);
+    return o?.v && typeof n.setLinvel == "function" && n.setLinvel(w(o.v), !1), o?.w && typeof n.setAngvel == "function" && n.setAngvel(w(o.w), !1), x.set(e, n), B.set(e, { type: o.type, mass: o.mass }), n;
+  } catch (n) {
+    throw postMessage({ type: "error", msg: "createBody failed", error: n && (n.message || String(n)) || String(n), id: e, descType: typeof t }), n;
+  }
+}
+function G(t) {
+  const e = x.get(t);
+  if (e) {
+    for (const [o, n] of Array.from(M.entries()))
+      if (n === t) {
+        const r = C.get(o);
+        r && p.removeCollider(r, !0), C.delete(o), M.delete(o);
+      }
+    p.removeRigidBody(e);
+  }
+  x.delete(t), B.delete(t);
+}
+function N({ id: t, positions: e, indices: o, bodyId: n, local: r }) {
+  if (!(e instanceof Float32Array))
+    throw new Error("attachCollider: positions must be Float32Array");
+  if (e.length % 3 !== 0)
+    throw new Error("attachCollider: positions length must be a multiple of 3");
+  const d = new Float32Array(e), h = r && r.s && +r.s[0] || 1, m = r && r.s && +r.s[1] || 1, k = r && r.s && +r.s[2] || 1;
+  for (let i = 0, c = d.length; i < c; i += 3)
+    d[i + 0] *= h, d[i + 1] *= m, d[i + 2] *= k;
+  let s = null;
+  if (o) {
+    const i = o instanceof Uint32Array ? o : new Uint32Array(o.buffer || o);
+    s = new Uint32Array(i);
+    const c = d.length / 3;
+    for (let u = 0; u < s.length; ++u) {
+      const b = s[u];
+      if (!Number.isFinite(b) || b < 0 || b >= c)
+        throw new Error(`attachCollider: index out of range or invalid at ${u}: ${b} (vertCount=${c})`);
+    }
+  }
+  for (let i = 0; i < d.length; ++i) {
+    const c = d[i];
+    if (!Number.isFinite(c)) throw new Error(`attachCollider: invalid position value at ${i}: ${c}`);
+  }
+  const a = l.ColliderDesc.trimesh(d, s);
+  r?.p && a.setTranslation(+r.p[0], +r.p[1], +r.p[2]), r?.q && a.setRotation(z(r.q));
+  const y = x.get(n);
+  if (!y) throw new Error(`attachCollider: body not found: ${n}`);
+  const f = p.createCollider(a, y);
+  C.set(t, f), M.set(t, n);
+}
+function _(t) {
+  const e = C.get(t);
+  e && p.removeCollider(e, !0), C.delete(t), M.delete(t);
+}
+function K(t) {
+  if (!t || typeof t != "object") throw new Error("attachShapeCollider: missing shape");
+  const e = String(t.kind || "").toLowerCase(), o = t.params || {};
+  switch (e) {
+    case "ball": {
+      const n = +o.radius;
+      return l.ColliderDesc.ball(n);
+    }
+    case "cuboid":
+    case "box": {
+      const n = +o.hx, r = +o.hy, d = +o.hz;
+      return l.ColliderDesc.cuboid(n, r, d);
+    }
+    case "roundcuboid":
+    case "round_cuboid":
+    case "round-cuboid": {
+      const n = +o.hx, r = +o.hy, d = +o.hz, h = +o.radius || 0;
+      return l.ColliderDesc.roundCuboid(n, r, d, h);
+    }
+    case "capsule": {
+      const n = +o.halfHeight, r = +o.radius;
+      return l.ColliderDesc.capsule(n, r);
+    }
+    case "cone": {
+      const n = +o.halfHeight, r = +o.radius;
+      return l.ColliderDesc.cone(n, r);
+    }
+    case "cylinder": {
+      const n = +o.halfHeight, r = +o.radius;
+      return l.ColliderDesc.cylinder(n, r);
+    }
+    case "segment": {
+      const n = o.a || o.p1, r = o.b || o.p2;
+      if (!n || !r) throw new Error("segment requires a and b (or p1,p2)");
+      return l.ColliderDesc.segment(w(n), w(r));
+    }
+    case "triangle": {
+      const n = o.a, r = o.b, d = o.c;
+      if (!n || !r || !d) throw new Error("triangle requires a, b, c");
+      return l.ColliderDesc.triangle(w(n), w(r), w(d));
+    }
+    case "polyline": {
+      const n = o.vertices instanceof Float32Array ? o.vertices : new Float32Array(o.vertices);
+      let r = null;
+      return o.indices && (r = o.indices instanceof Uint32Array ? o.indices : new Uint32Array(o.indices)), l.ColliderDesc.polyline(n, r);
+    }
+    case "convexhull":
+    case "convex_hull":
+    case "convex-hull": {
+      const n = o.vertices instanceof Float32Array ? o.vertices : new Float32Array(o.vertices), r = l.ColliderDesc.convexHull(n);
+      if (!r) throw new Error("convexHull: invalid or insufficient points");
+      return r;
+    }
+    case "heightfield": {
+      const n = +o.rows, r = +o.cols, d = o.heights instanceof Float32Array ? o.heights : new Float32Array(o.heights), h = o.scale || { x: 1, y: 1, z: 1 };
+      return l.ColliderDesc.heightfield(n, r, d, h);
+    }
+    default:
+      throw new Error(`Unknown primitive collider kind: ${t.kind}`);
+  }
+}
+function J(t) {
+  if (I === "geocentric")
+    for (const [e, o] of x.entries()) {
+      if (!o || o.isFixed()) continue;
+      const n = Math.max(1e-6, B.get(e)?.mass ?? 1), r = o.translation(), d = H(r), h = { x: d.x * n, y: d.y * n, z: d.z * n };
+      o.applyForce(h, !0);
+    }
+}
+function Q(t) {
+  p.timestep = t, J(), p.step(), E += t * 1e3;
+  const e = {};
+  for (const [o, n] of x.entries()) {
+    const r = n.translation(), d = n.rotation();
+    e[o] = { p: [r.x, r.y, r.z], q: [d.x, d.y, d.z, d.w] };
+  }
+  postMessage({ type: "state", state: { timeMs: E, bodies: e } });
+}
+function X(t, e, o = 1e6) {
+  const n = w(t), r = w(e), d = new l.Ray(n, r), h = p.castRay(d, o, !0);
+  if (!h) return { hits: [] };
+  const m = h.toi, k = d.pointAt(m), s = h.normal;
+  let a = null;
+  for (const [i, c] of C.entries())
+    if (c.handle === h.collider.handle) {
+      a = i;
+      break;
+    }
+  let y = null;
+  const f = h.collider.parent()?.handle;
+  if (f != null) {
+    for (const [i, c] of x.entries())
+      if (c.handle === f) {
+        y = i;
+        break;
+      }
+  }
+  return {
+    hits: [{
+      toi: m,
+      point: [k.x, k.y, k.z],
+      normal: [s.x, s.y, s.z],
+      colliderId: a,
+      bodyId: y
+    }]
+  };
+}
+async function Y(t) {
+  const e = t.data || {}, { id: o, type: n, _envId: r, replyTo: d } = e, h = typeof r < "u" ? r : typeof d < "u" ? d : o, m = (s) => F(h, s), k = (s) => U(h, s);
+  try {
+    switch (n) {
+      case "init": {
+        R = typeof e.fixedDt == "number" ? e.fixedDt : R;
+        const s = e.gravity || {};
+        (s.mode || "vector").toLowerCase() === "geocentric" ? T(s.planetCenter || [0, 0, 0], typeof s.intensity == "number" ? s.intensity : 9.81) : S(s.vector || [0, -9.81, 0]), await v(), m({ ok: !0 });
+        break;
+      }
+      case "addObject": {
+        let u = function(g) {
+          return typeof g == "number" && isFinite(g);
+        };
+        await v();
+        const s = e.id, a = e.body || {}, y = (a.type || "dynamic").toLowerCase(), f = typeof a.mass == "number" ? a.mass : 1, i = w(a.p || [0, 0, 0]), c = z(a.q || [0, 0, 0, 1]);
+        if ((!u(i.x) || !u(i.y) || !u(i.z)) && (postMessage({ type: "debug", msg: "addObject: invalid translation detected, resetting to 0", bodyId: s, p: i }), i.x = u(i.x) ? i.x : 0, i.y = u(i.y) ? i.y : 0, i.z = u(i.z) ? i.z : 0), ![c.x, c.y, c.z, c.w].every(u))
+          postMessage({ type: "debug", msg: "addObject: invalid rotation detected, using identity quat", bodyId: s, q: c }), c.x = 0, c.y = 0, c.z = 0, c.w = 1;
+        else {
+          const g = Math.hypot(c.x, c.y, c.z, c.w) || 1;
+          c.x /= g, c.y /= g, c.z /= g, c.w /= g;
+        }
+        let b;
+        y === "fixed" ? b = l.RigidBodyDesc.fixed() : y === "kinematic" ? b = l.RigidBodyDesc.kinematicPositionBased() : b = l.RigidBodyDesc.dynamic().setAdditionalMass(f);
+        try {
+          b.setTranslation(i.x, i.y, i.z);
+        } catch (g) {
+          throw postMessage({ type: "error", msg: "desc.setTranslation failed", error: g && (g.message || String(g)) || String(g), bodyId: s, p: i }), g;
+        }
+        try {
+          b.setRotation(c);
+        } catch (g) {
+          throw postMessage({ type: "error", msg: "desc.setRotation failed", error: g && (g.message || String(g)) || String(g), bodyId: s, q: c }), g;
+        }
+        postMessage({ type: "debug", msg: "addObject: creating body", bodyId: s, typeStr: y, mass: f, p: i, q: c }), V(b, s, { type: y, mass: f, v: a.v, w: a.w }), m({ ok: !0 });
+        break;
+      }
+      case "removeObject": {
+        await v(), G(e.id), m({ ok: !0 });
+        break;
+      }
+      // addCollider removed: colliders are created during attachCollider
+      // disposeCollider removed
+      case "attachCollider":
+      case "attachTrimeshCollider": {
+        await v();
+        const s = e.bodyId, a = e.id || e.colliderId, y = e.positions, f = e.indices || null, i = e.local || {};
+        if (!y) {
+          F(o, { ok: !1, reason: "missing positions" });
+          break;
+        }
+        const c = y instanceof Float32Array ? y : new Float32Array(y.buffer || y);
+        let u = f;
+        u && !(u instanceof Uint32Array) && (u = new Uint32Array(u.buffer || u)), N({
+          id: a,
+          positions: c,
+          indices: u || null,
+          bodyId: s,
+          local: i
+        }), m({ ok: !0, colliderId: a });
+        break;
+      }
+      case "attachShapeCollider": {
+        await v();
+        const s = e.bodyId, a = e.id || e.colliderId, y = e.shape, f = e.local || {}, i = K(y);
+        f?.p && i.setTranslation(+f.p[0], +f.p[1], +f.p[2]), f?.q && i.setRotation(z(f.q));
+        const c = x.get(s);
+        if (!c) {
+          F(o, { ok: !1, reason: "unknown body" });
+          break;
+        }
+        const u = p.createCollider(i, c);
+        C.set(a, u), M.set(a, s), m({ ok: !0, colliderId: a });
+        break;
+      }
+      case "detachCollider": {
+        await v();
+        const s = e.colliderId || e.id;
+        _(s), m({ ok: !0 });
+        break;
+      }
+      case "applyForce": {
+        await v();
+        const s = e.id, a = x.get(s);
+        if (!a) {
+          F(o, { ok: !1, reason: "unknown body" });
+          break;
+        }
+        const y = !!e.impulse, f = w(e.force || [0, 0, 0]), i = e.wake !== !1;
+        y ? e.point && typeof a.applyImpulseAtPoint == "function" ? a.applyImpulseAtPoint(f, w(e.point), i) : a.applyImpulse(f, i) : e.point && typeof a.applyForceAtPoint == "function" ? a.applyForceAtPoint(f, w(e.point), i) : a.applyForce(f, i), m({ ok: !0 });
+        break;
+      }
+      case "setPose": {
+        await v();
+        const s = e.id, a = x.get(s);
+        if (!a) {
+          m({ ok: !1, reason: "unknown body" });
+          break;
+        }
+        const y = e.p, f = e.q, i = e.wake !== !1;
+        try {
+          typeof a.isKinematic == "function" && a.isKinematic() ? (y && a.setNextKinematicTranslation(w(y)), f && a.setNextKinematicRotation(z(f))) : (y && typeof a.setTranslation == "function" && a.setTranslation(w(y), !0), f && typeof a.setRotation == "function" && a.setRotation(z(f), !0)), i && typeof a.wakeUp == "function" && a.wakeUp(), m({ ok: !0 });
+        } catch (c) {
+          k(c);
+        }
+        break;
+      }
+      case "setGravity": {
+        await v();
+        const s = e.gravity || {};
+        (s.mode || "vector").toLowerCase() === "geocentric" ? T(s.planetCenter || [0, 0, 0], typeof s.intensity == "number" ? s.intensity : 9.81) : S(s.vector || [0, -9.81, 0]), m({ ok: !0 });
+        break;
+      }
+      case "step": {
+        await v();
+        const s = typeof e.dt == "number" ? L(e.dt, 1 / 600, 1 / 10) : R;
+        Q(s), m({ ok: !0, dtUsed: s });
+        break;
+      }
+      case "raycast": {
+        await v();
+        const s = X(e.origin || [0, 0, 0], e.direction || [0, -1, 0], typeof e.maxToi == "number" ? e.maxToi : 1e6);
+        m(s);
+        break;
+      }
+      default: {
+        m({ ok: !1, reason: "unknown message type" });
+        break;
+      }
+    }
+  } catch (s) {
+    k(s);
+  }
+}
+self.addEventListener("message", Y);
+//# sourceMappingURL=physicsRapier.worker-jgQ9dgLt.js.map

package/dist/assets/physicsRapier.worker-jgQ9dgLt.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"physicsRapier.worker-jgQ9dgLt.js","sources":["../src/simulation/physicsRapier.worker.js"],"sourcesContent":["// physicsRapier.worker.js\r\n// Fully implemented physics worker using @dimforge/rapier3d-compat.\r\n// Handles rigid bodies, primitive and trimesh colliders, gravity (vector/geocentric), forces, stepping, and raycasts.\r\n// Message contract mirrors the placeholder worker but executes with Rapier under the hood.\r\n\r\nlet RAPIER = null;\r\nlet world = null;\r\n// Single-flight init to avoid concurrent wasm initialization races\r\nlet initPromise = null;\r\n\r\n// State maps\r\nconst bodies = new Map();                 // id -> RigidBody\r\nconst bodyInfo = new Map();               // id -> { type, mass }\r\nconst colliders = new Map();              // id -> Collider\r\nconst colliderOwners = new Map();         // id -> bodyId\r\n\r\n// Gravity configuration\r\nlet gravityMode = 'vector';               // 'vector' | 'geocentric'\r\nlet gravityVec = { x: 0, y: -9.81, z: 0 };\r\nlet planetCenter = { x: 0, y: 0, z: 0 };\r\nlet gravityIntensity = 9.81;\r\n\r\n// Timing\r\nlet simTimeMs = 0;\r\nlet fixedDt = 1 / 60;\r\n\r\n// Utilities\r\nfunction ack(id, result = null) {\r\n  if (id == null) return;\r\n  postMessage({ replyTo: id, result });\r\n}\r\nfunction nack(id, error) {\r\n  if (id == null) return;\r\n  postMessage({ replyTo: id, error: (error && (error.message || error)) || 'error' });\r\n}\r\nfunction clamp(v, a, b) { return Math.max(a, Math.min(b, v)); }\r\nfunction v3(a) { return { x: +a[0], y: +a[1], z: +a[2] }; }\r\nfunction q4(a) { return { x: +a[0], y: +a[1], z: +a[2], w: +a[3] }; }\r\nfunction toArrV3(v) { return [v.x, v.y, v.z]; }\r\nfunction toArrQ4(q) { return [q.x, q.y, q.z, q.w]; }\r\nfunction addV(a, b) { return { x: a.x + b.x, y: a.y + b.y, z: a.z + b.z }; }\r\nfunction subV(a, b) { return { x: a.x - b.x, y: a.y - b.y, z: a.z - b.z }; }\r\nfunction scaleV(a, s) { return { x: a.x * s, y: a.y * s, z: a.z * s }; }\r\nfunction lenV(a) { return Math.hypot(a.x, a.y, a.z); }\r\nfunction normV(a) { const L = lenV(a) || 1; return { x: a.x / L, y: a.y / L, z: a.z / L }; }\r\n\r\nasync function ensureRapier() {\r\n  // De-duplicate concurrent initialization to avoid WASM re-entrancy (\"unreachable\"/OOB) races.\r\n  if (initPromise) {\r\n    await initPromise;\r\n    return;\r\n  }\r\n  initPromise = (async () => {\r\n    if (!RAPIER) {\r\n      postMessage({ type: 'debug', msg: 'importing rapier module' });\r\n      // Import may provide the module as the default export or as the module namespace.\r\n      const mod = await import('@dimforge/rapier3d-compat');\r\n\r\n      // Provide locateFile so the worker can resolve the .wasm file relative to this worker module.\r\n      const locateFile = (file) => {\r\n        try {\r\n          return new URL(file, import.meta.url).href;\r\n        } catch (e) {\r\n          // Fallback: return filename (bundlers may replace with emitted asset paths)\r\n          return file;\r\n        }\r\n      };\r\n      const initOptions = { locateFile };\r\n\r\n      // Normalize common export patterns:\r\n      // - Factory function: default or module export is a function that initializes/returns the module.\r\n      // - Object with init(options) function: call init and then use the object.\r\n      // - Already-initialized object/module returned directly.\r\n      const maybe = mod?.default ?? mod;\r\n      postMessage({\r\n        type: 'debug',\r\n        msg: 'rapier module import result',\r\n        hasDefault: !!mod?.default,\r\n        hasInitFunction: typeof (maybe?.init) === 'function',\r\n        isFactoryFunction: typeof maybe === 'function'\r\n      });\r\n\r\n      try {\r\n        if (typeof maybe === 'function') {\r\n          // Factory function case: call it with initOptions. It may return a Promise or the module synchronously.\r\n          postMessage({ type: 'debug', msg: 'rapier: calling module factory function' });\r\n          const res = maybe(initOptions);\r\n          RAPIER = (res && typeof res.then === 'function') ? await res : (res || maybe);\r\n          postMessage({ type: 'debug', msg: 'rapier factory resolved', hasWorld: !!RAPIER?.World });\r\n        } else if (typeof maybe?.init === 'function') {\r\n          // Object with init() API\r\n          postMessage({ type: 'debug', msg: 'rapier: calling init()' });\r\n          await maybe.init(initOptions);\r\n          RAPIER = maybe;\r\n          postMessage({ type: 'debug', msg: 'rapier.init completed', hasWorld: !!RAPIER?.World });\r\n        } else if (maybe) {\r\n          // Already-initialized module/object\r\n          RAPIER = maybe;\r\n          postMessage({ type: 'debug', msg: 'rapier: using imported module as-is', hasWorld: !!RAPIER?.World });\r\n        } else {\r\n          throw new Error('Imported Rapier module is empty/invalid');\r\n        }\r\n      } catch (err) {\r\n        // Emit a helpful debug/error message back to the main thread so the app can surface it.\r\n        postMessage({ type: 'error', msg: 'rapier init failed', error: (err && (err.message || String(err))) || String(err) });\r\n        throw err;\r\n      }\r\n\r\n      if (!RAPIER) throw new Error('Failed to import Rapier module');\r\n    }\r\n\r\n    if (!world) {\r\n      // Initialize world with vector gravity; if geocentric, we keep world gravity = 0 and apply per-body forces each step\r\n      const g = (gravityMode === 'vector') ? gravityVec : { x: 0, y: 0, z: 0 };\r\n\r\n      // Different Rapier builds expose constructors differently; try common variants.\r\n      try {\r\n        if (typeof RAPIER.World === 'function') {\r\n          world = new RAPIER.World(g);\r\n        } else if (typeof RAPIER.World?.new === 'function') {\r\n          world = RAPIER.World.new(g);\r\n        } else if (typeof RAPIER?.World === 'object' && typeof RAPIER.World.create === 'function') {\r\n          world = RAPIER.World.create(g);\r\n        } else if (typeof RAPIER === 'function') {\r\n          // In case RAPIER itself is callable and returns a World\r\n          world = RAPIER(g);\r\n        } else {\r\n          // Last resort: attempt to call World as a function if present\r\n          world = RAPIER.World ? RAPIER.World(g) : null;\r\n        }\r\n        postMessage({ type: 'debug', msg: 'rapier world created' });\r\n      } catch (err) {\r\n        // Surface a clearer error for debugging\r\n        postMessage({ type: 'error', msg: 'failed to construct rapier World', error: (err && (err.message || String(err))) || String(err) });\r\n        throw new Error('Failed to construct Rapier World: ' + (err && err.message ? err.message : String(err)));\r\n      }\r\n    }\r\n  })();\r\n\r\n  try {\r\n    await initPromise;\r\n  } finally {\r\n    // Keep the resolved promise for future awaiters; do not clear to prevent re-init.\r\n  }\r\n}\r\n\r\nfunction setVectorGravity(vec3) {\r\n  gravityMode = 'vector';\r\n  gravityVec = { x: +vec3[0], y: +vec3[1], z: +vec3[2] };\r\n  if (world) world.gravity = gravityVec;\r\n}\r\n\r\nfunction setGeocentricGravity(center, intensity) {\r\n  gravityMode = 'geocentric';\r\n  planetCenter = { x: +center[0], y: +center[1], z: +center[2] };\r\n  gravityIntensity = +intensity;\r\n  if (world) world.gravity = { x: 0, y: 0, z: 0 };\r\n}\r\n\r\nfunction computeGeocentricAt(p) {\r\n  const dir = normV(subV(planetCenter, p));\r\n  return scaleV(dir, gravityIntensity);\r\n}\r\n\r\n// Bodies\r\nfunction createBody(desc, id, init) {\r\n  try {\r\n    if (typeof world.createRigidBody !== 'function') {\r\n      postMessage({ type: 'error', msg: 'world.createRigidBody is not a function', value: typeof world.createRigidBody });\r\n      throw new Error('world.createRigidBody is not a function');\r\n    }\r\n    postMessage({ type: 'debug', msg: 'createBody: about to call world.createRigidBody', id, descType: typeof desc, descCtor: (desc && desc.constructor) ? desc.constructor.name : null });\r\n    const rb = world.createRigidBody(desc);\r\n    if (init?.v && typeof rb.setLinvel === 'function') rb.setLinvel(v3(init.v), false);\r\n    if (init?.w && typeof rb.setAngvel === 'function') rb.setAngvel(v3(init.w), false);\r\n    bodies.set(id, rb);\r\n    bodyInfo.set(id, { type: init.type, mass: init.mass });\r\n    return rb;\r\n  } catch (err) {\r\n    postMessage({ type: 'error', msg: 'createBody failed', error: (err && (err.message || String(err))) || String(err), id, descType: typeof desc });\r\n    throw err;\r\n  }\r\n}\r\n\r\nfunction removeBodyById(id) {\r\n  const rb = bodies.get(id);\r\n  if (rb) {\r\n    // Remove attached colliders\r\n    for (const [cid, owner] of Array.from(colliderOwners.entries())) {\r\n      if (owner === id) {\r\n        const col = colliders.get(cid);\r\n        if (col) world.removeCollider(col, true);\r\n        colliders.delete(cid);\r\n        colliderOwners.delete(cid);\r\n      }\r\n    }\r\n    world.removeRigidBody(rb);\r\n  }\r\n  bodies.delete(id);\r\n  bodyInfo.delete(id);\r\n}\r\n\r\n// Colliders - create from trimesh with baked scale\r\nfunction createTrimeshColliderScaled({ id, positions, indices, bodyId, local }) {\r\n  // Validate incoming positions buffer\r\n  if (!(positions instanceof Float32Array)) {\r\n    throw new Error('attachCollider: positions must be Float32Array');\r\n  }\r\n  if (positions.length % 3 !== 0) {\r\n    throw new Error('attachCollider: positions length must be a multiple of 3');\r\n  }\r\n\r\n  // Copy positions to avoid unsafe aliasing with other views that may share the same ArrayBuffer.\r\n  // This also protects Rapier's wasm from receiving JS-owned buffers that might be reused elsewhere.\r\n  const posCopy = new Float32Array(positions);\r\n\r\n  // Bake non-uniform scale into the copied vertex positions\r\n  const sx = (local && local.s && +local.s[0]) || 1;\r\n  const sy = (local && local.s && +local.s[1]) || 1;\r\n  const sz = (local && local.s && +local.s[2]) || 1;\r\n  for (let i = 0, n = posCopy.length; i < n; i += 3) {\r\n    posCopy[i + 0] *= sx;\r\n    posCopy[i + 1] *= sy;\r\n    posCopy[i + 2] *= sz;\r\n  }\r\n\r\n  // Prepare a safe copy of indices (if provided) and validate index ranges\r\n  let idxCopy = null;\r\n  if (indices) {\r\n    const srcIdx = indices instanceof Uint32Array ? indices : new Uint32Array(indices.buffer || indices);\r\n    idxCopy = new Uint32Array(srcIdx); // make a copy to avoid aliasing\r\n    const vertCount = posCopy.length / 3;\r\n    for (let i = 0; i < idxCopy.length; ++i) {\r\n      const v = idxCopy[i];\r\n      if (!Number.isFinite(v) || v < 0 || v >= vertCount) {\r\n        throw new Error(`attachCollider: index out of range or invalid at ${i}: ${v} (vertCount=${vertCount})`);\r\n      }\r\n    }\r\n  }\r\n\r\n  // Validate numeric contents to prevent wasm OOB or NaN propagation\r\n  for (let i = 0; i < posCopy.length; ++i) {\r\n    const v = posCopy[i];\r\n    if (!Number.isFinite(v)) throw new Error(`attachCollider: invalid position value at ${i}: ${v}`);\r\n  }\r\n\r\n  // Construct the Rapier collider descriptor with the copied, validated buffers\r\n  const desc = RAPIER.ColliderDesc.trimesh(posCopy, idxCopy);\r\n  if (local?.p) desc.setTranslation(+local.p[0], +local.p[1], +local.p[2]);\r\n  if (local?.q) desc.setRotation(q4(local.q));\r\n\r\n  const rb = bodies.get(bodyId);\r\n  if (!rb) throw new Error(`attachCollider: body not found: ${bodyId}`);\r\n  const col = world.createCollider(desc, rb);\r\n\r\n  colliders.set(id, col);\r\n  colliderOwners.set(id, bodyId);\r\n}\r\n\r\nfunction removeColliderById(id) {\r\n  const col = colliders.get(id);\r\n  if (col) world.removeCollider(col, true);\r\n  colliders.delete(id);\r\n  colliderOwners.delete(id);\r\n}\r\n\r\n// Engine-agnostic primitive shape adapter\r\nfunction colliderDescFromShape(shape) {\r\n  if (!shape || typeof shape !== 'object') throw new Error('attachShapeCollider: missing shape');\r\n  const kind = String(shape.kind || '').toLowerCase();\r\n  const p = shape.params || {};\r\n  switch (kind) {\r\n    case 'ball': {\r\n      const r = +p.radius;\r\n      return RAPIER.ColliderDesc.ball(r);\r\n    }\r\n    case 'cuboid':\r\n    case 'box': {\r\n      const hx = +p.hx, hy = +p.hy, hz = +p.hz;\r\n      return RAPIER.ColliderDesc.cuboid(hx, hy, hz);\r\n    }\r\n    case 'roundcuboid':\r\n    case 'round_cuboid':\r\n    case 'round-cuboid': {\r\n      const hx = +p.hx, hy = +p.hy, hz = +p.hz, radius = +p.radius || 0;\r\n      return RAPIER.ColliderDesc.roundCuboid(hx, hy, hz, radius);\r\n    }\r\n    case 'capsule': {\r\n      const hh = +p.halfHeight;\r\n      const r = +p.radius;\r\n      return RAPIER.ColliderDesc.capsule(hh, r);\r\n    }\r\n    case 'cone': {\r\n      const hh = +p.halfHeight;\r\n      const r = +p.radius;\r\n      return RAPIER.ColliderDesc.cone(hh, r);\r\n    }\r\n    case 'cylinder': {\r\n      const hh = +p.halfHeight;\r\n      const r = +p.radius;\r\n      return RAPIER.ColliderDesc.cylinder(hh, r);\r\n    }\r\n    case 'segment': {\r\n      const a = p.a || p.p1;\r\n      const b = p.b || p.p2;\r\n      if (!a || !b) throw new Error('segment requires a and b (or p1,p2)');\r\n      return RAPIER.ColliderDesc.segment(v3(a), v3(b));\r\n    }\r\n    case 'triangle': {\r\n      const a = p.a, b = p.b, c = p.c;\r\n      if (!a || !b || !c) throw new Error('triangle requires a, b, c');\r\n      return RAPIER.ColliderDesc.triangle(v3(a), v3(b), v3(c));\r\n    }\r\n    case 'polyline': {\r\n      const verts = p.vertices instanceof Float32Array ? p.vertices : new Float32Array(p.vertices);\r\n      let idx = null;\r\n      if (p.indices) idx = p.indices instanceof Uint32Array ? p.indices : new Uint32Array(p.indices);\r\n      return RAPIER.ColliderDesc.polyline(verts, idx);\r\n    }\r\n    case 'convexhull':\r\n    case 'convex_hull':\r\n    case 'convex-hull': {\r\n      const verts = p.vertices instanceof Float32Array ? p.vertices : new Float32Array(p.vertices);\r\n      const desc = RAPIER.ColliderDesc.convexHull(verts);\r\n      if (!desc) throw new Error('convexHull: invalid or insufficient points');\r\n      return desc;\r\n    }\r\n    case 'heightfield': {\r\n      const rows = +p.rows, cols = +p.cols;\r\n      const heights = p.heights instanceof Float32Array ? p.heights : new Float32Array(p.heights);\r\n      const scale = p.scale || { x: 1, y: 1, z: 1 };\r\n      return RAPIER.ColliderDesc.heightfield(rows, cols, heights, scale);\r\n    }\r\n    default:\r\n      throw new Error(`Unknown primitive collider kind: ${shape.kind}`);\r\n  }\r\n}\r\n\r\n// Step and state\r\nfunction applyExternalForces(dt) {\r\n  if (gravityMode !== 'geocentric') return;\r\n  for (const [id, rb] of bodies.entries()) {\r\n    if (!rb || rb.isFixed()) continue;\r\n    const mass = Math.max(1e-6, bodyInfo.get(id)?.mass ?? 1);\r\n    const p = rb.translation();\r\n    const g = computeGeocentricAt(p);\r\n    const f = { x: g.x * mass, y: g.y * mass, z: g.z * mass };\r\n    rb.applyForce(f, true);\r\n  }\r\n}\r\n\r\nfunction step(dt) {\r\n  world.timestep = dt;\r\n  applyExternalForces(dt);\r\n  world.step();\r\n  simTimeMs += dt * 1000.0;\r\n\r\n  const stateBodies = {};\r\n  for (const [id, rb] of bodies.entries()) {\r\n    const t = rb.translation();\r\n    const r = rb.rotation();\r\n    stateBodies[id] = { p: [t.x, t.y, t.z], q: [r.x, r.y, r.z, r.w] };\r\n  }\r\n  postMessage({ type: 'state', state: { timeMs: simTimeMs, bodies: stateBodies } });\r\n}\r\n\r\n// Raycast (first hit)\r\nfunction raycast(origin, dir, maxToi = 1e6) {\r\n  const o = v3(origin);\r\n  const d = v3(dir);\r\n  const ray = new RAPIER.Ray(o, d);\r\n  // solid=true returns time-of-impact including if ray starts inside collider\r\n  const hit = world.castRay(ray, maxToi, true);\r\n  if (!hit) return { hits: [] };\r\n\r\n  const toi = hit.toi;\r\n  const point = ray.pointAt(toi);\r\n  const normal = hit.normal;\r\n  // Find collider id\r\n  let colliderId = null;\r\n  for (const [cid, col] of colliders.entries()) {\r\n    if (col.handle === hit.collider.handle) {\r\n      colliderId = cid;\r\n      break;\r\n    }\r\n  }\r\n  let bodyId = null;\r\n  const rbHandle = hit.collider.parent()?.handle;\r\n  if (rbHandle != null) {\r\n    for (const [bid, rb] of bodies.entries()) {\r\n      if (rb.handle === rbHandle) { bodyId = bid; break; }\r\n    }\r\n  }\r\n  return {\r\n    hits: [{\r\n      toi,\r\n      point: [point.x, point.y, point.z],\r\n      normal: [normal.x, normal.y, normal.z],\r\n      colliderId,\r\n      bodyId\r\n    }]\r\n  };\r\n}\r\n\r\n// Message handling\r\nasync function onMessage(e) {\r\n  const msg = e.data || {};\r\n  const { id, type, _envId, replyTo } = msg;\r\n  const replyId = (typeof _envId !== 'undefined') ? _envId : (typeof replyTo !== 'undefined' ? replyTo : id);\r\n  const _ack = (res) => ack(replyId, res);\r\n  const _nack = (err) => nack(replyId, err);\r\n  try {\r\n    switch (type) {\r\n      case 'init': {\r\n        fixedDt = typeof msg.fixedDt === 'number' ? msg.fixedDt : fixedDt;\r\n        const g = msg.gravity || {};\r\n        const mode = (g.mode || 'vector').toLowerCase();\r\n        if (mode === 'geocentric') {\r\n          setGeocentricGravity(g.planetCenter || [0, 0, 0], typeof g.intensity === 'number' ? g.intensity : 9.81);\r\n        } else {\r\n          setVectorGravity(g.vector || [0, -9.81, 0]);\r\n        }\r\n        await ensureRapier();\r\n        _ack({ ok: true });\r\n        break;\r\n      }\r\n\r\n      case 'addObject': {\r\n        await ensureRapier();\r\n        const bodyId = msg.id;\r\n        const b = msg.body || {};\r\n        const typeStr = (b.type || 'dynamic').toLowerCase();\r\n        const mass = typeof b.mass === 'number' ? b.mass : 1.0;\r\n        const p = v3(b.p || [0, 0, 0]);\r\n        const q = q4(b.q || [0, 0, 0, 1]);\r\n  \r\n        // Validate numeric values to avoid creating a RigidBodyDesc with NaN/Infinity\r\n        function isNum(n) { return typeof n === 'number' && isFinite(n); }\r\n        if (!isNum(p.x) || !isNum(p.y) || !isNum(p.z)) {\r\n          postMessage({ type: 'debug', msg: 'addObject: invalid translation detected, resetting to 0', bodyId, p });\r\n          p.x = isNum(p.x) ? p.x : 0;\r\n          p.y = isNum(p.y) ? p.y : 0;\r\n          p.z = isNum(p.z) ? p.z : 0;\r\n        }\r\n        if (![q.x, q.y, q.z, q.w].every(isNum)) {\r\n          postMessage({ type: 'debug', msg: 'addObject: invalid rotation detected, using identity quat', bodyId, q });\r\n          q.x = 0; q.y = 0; q.z = 0; q.w = 1;\r\n        } else {\r\n          // Normalize quaternion to be safe\r\n          const L = Math.hypot(q.x, q.y, q.z, q.w) || 1;\r\n          q.x /= L; q.y /= L; q.z /= L; q.w /= L;\r\n        }\r\n  \r\n        let desc;\r\n        if (typeStr === 'fixed') desc = RAPIER.RigidBodyDesc.fixed();\r\n        else if (typeStr === 'kinematic') desc = RAPIER.RigidBodyDesc.kinematicPositionBased();\r\n        else desc = RAPIER.RigidBodyDesc.dynamic().setAdditionalMass(mass);\r\n  \r\n        // Defensive setters to capture errors before calling into wasm\r\n        try {\r\n          desc.setTranslation(p.x, p.y, p.z);\r\n        } catch (err) {\r\n          postMessage({ type: 'error', msg: 'desc.setTranslation failed', error: (err && (err.message || String(err))) || String(err), bodyId, p });\r\n          throw err;\r\n        }\r\n        try {\r\n          desc.setRotation(q);\r\n        } catch (err) {\r\n          postMessage({ type: 'error', msg: 'desc.setRotation failed', error: (err && (err.message || String(err))) || String(err), bodyId, q });\r\n          throw err;\r\n        }\r\n  \r\n        postMessage({ type: 'debug', msg: 'addObject: creating body', bodyId, typeStr, mass, p, q });\r\n        createBody(desc, bodyId, { type: typeStr, mass, v: b.v, w: b.w });\r\n        _ack({ ok: true });\r\n        break;\r\n      }\r\n\r\n      case 'removeObject': {\r\n        await ensureRapier();\r\n        removeBodyById(msg.id);\r\n        _ack({ ok: true });\r\n        break;\r\n      }\r\n\r\n      // addCollider removed: colliders are created during attachCollider\r\n\r\n      // disposeCollider removed\r\n\r\n      case 'attachCollider':\r\n      case 'attachTrimeshCollider': {\r\n        await ensureRapier();\r\n        const bodyId = msg.bodyId;\r\n        const colId = msg.id || msg.colliderId;\r\n        const positions = msg.positions;\r\n        const indices = msg.indices || null;\r\n        const local = msg.local || {};\r\n        if (!positions) { ack(id, { ok: false, reason: 'missing positions' }); break; }\r\n        const verts = positions instanceof Float32Array ? positions : new Float32Array(positions.buffer || positions);\r\n        let idx = indices;\r\n        if (idx && !(idx instanceof Uint32Array)) idx = new Uint32Array(idx.buffer || idx);\r\n        createTrimeshColliderScaled({\r\n          id: colId,\r\n          positions: verts,\r\n          indices: idx || null,\r\n          bodyId,\r\n          local\r\n        });\r\n        _ack({ ok: true, colliderId: colId });\r\n        break;\r\n      }\r\n \r\n      case 'attachShapeCollider': {\r\n        await ensureRapier();\r\n        const bodyId = msg.bodyId;\r\n        const colId = msg.id || msg.colliderId;\r\n        const shape = msg.shape;\r\n        const local = msg.local || {};\r\n        const desc = colliderDescFromShape(shape);\r\n        if (local?.p) desc.setTranslation(+local.p[0], +local.p[1], +local.p[2]);\r\n        if (local?.q) desc.setRotation(q4(local.q));\r\n        const rb = bodies.get(bodyId);\r\n        if (!rb) { ack(id, { ok: false, reason: 'unknown body' }); break; }\r\n        const col = world.createCollider(desc, rb);\r\n        colliders.set(colId, col);\r\n        colliderOwners.set(colId, bodyId);\r\n        _ack({ ok: true, colliderId: colId });\r\n        break;\r\n      }\r\n \r\n       case 'detachCollider': {\r\n        await ensureRapier();\r\n        const colId = msg.colliderId || msg.id;\r\n        removeColliderById(colId);\r\n        _ack({ ok: true });\r\n        break;\r\n      }\r\n\r\n      case 'applyForce': {\r\n        await ensureRapier();\r\n        const bodyId = msg.id;\r\n        const rb = bodies.get(bodyId);\r\n        if (!rb) { ack(id, { ok: false, reason: 'unknown body' }); break; }\r\n\r\n        const impulse = !!msg.impulse;\r\n        const force = v3(msg.force || [0, 0, 0]);\r\n        const wake = msg.wake !== false;\r\n\r\n        if (impulse) {\r\n          if (msg.point && typeof rb.applyImpulseAtPoint === 'function') {\r\n            rb.applyImpulseAtPoint(force, v3(msg.point), wake);\r\n          } else {\r\n            rb.applyImpulse(force, wake);\r\n          }\r\n        } else {\r\n          if (msg.point && typeof rb.applyForceAtPoint === 'function') {\r\n            rb.applyForceAtPoint(force, v3(msg.point), wake);\r\n          } else {\r\n            rb.applyForce(force, wake);\r\n          }\r\n        }\r\n        _ack({ ok: true });\r\n        break;\r\n      }\r\n\r\n      case 'setPose': {\r\n        await ensureRapier();\r\n        const bodyId = msg.id;\r\n        const rb = bodies.get(bodyId);\r\n        if (!rb) { _ack({ ok: false, reason: 'unknown body' }); break; }\r\n\r\n        const p = msg.p; // [x,y,z] or null\r\n        const q = msg.q; // [x,y,z,w] or null\r\n        const wake = msg.wake !== false;\r\n\r\n        try {\r\n          if (typeof rb.isKinematic === 'function' && rb.isKinematic()) {\r\n            // Kinematic bodies use \"next\" pose setters\r\n            if (p) rb.setNextKinematicTranslation(v3(p));\r\n            if (q) rb.setNextKinematicRotation(q4(q));\r\n          } else {\r\n            // Dynamic/fixed bodies: set pose directly\r\n            if (p && typeof rb.setTranslation === 'function') rb.setTranslation(v3(p), true);\r\n            if (q && typeof rb.setRotation === 'function') rb.setRotation(q4(q), true);\r\n          }\r\n          if (wake && typeof rb.wakeUp === 'function') rb.wakeUp();\r\n          _ack({ ok: true });\r\n        } catch (err) {\r\n          _nack(err);\r\n        }\r\n        break;\r\n      }\r\n\r\n      case 'setGravity': {\r\n        await ensureRapier();\r\n        const g = msg.gravity || {};\r\n        const mode = (g.mode || 'vector').toLowerCase();\r\n        if (mode === 'geocentric') {\r\n          setGeocentricGravity(g.planetCenter || [0, 0, 0], typeof g.intensity === 'number' ? g.intensity : 9.81);\r\n        } else {\r\n          setVectorGravity(g.vector || [0, -9.81, 0]);\r\n        }\r\n        _ack({ ok: true });\r\n        break;\r\n      }\r\n\r\n      case 'step': {\r\n        await ensureRapier();\r\n        const dt = typeof msg.dt === 'number' ? clamp(msg.dt, 1 / 600, 1 / 10) : fixedDt;\r\n        step(dt);\r\n        _ack({ ok: true, dtUsed: dt });\r\n        break;\r\n      }\r\n\r\n      case 'raycast': {\r\n        await ensureRapier();\r\n        const result = raycast(msg.origin || [0, 0, 0], msg.direction || [0, -1, 0], typeof msg.maxToi === 'number' ? msg.maxToi : 1e6);\r\n        _ack(result);\r\n        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