@opsydyn/effect-three-rapier 0.3.0 → 0.6.4

package/dist/index.js

@@ -1,13 +1,105 @@
 // src/index.ts
 import RAPIER from "@dimforge/rapier3d-compat";
+
+// src/engine.ts
 import { interactionBits } from "@opsydyn/effect-three";
+
+// src/snapshot.ts
+var format = 1;
+var encoder = new TextEncoder;
+var decoder = new TextDecoder;
+var writeSnapshot = (index, world) => {
+  const parts = [Uint8Array.of(format)];
+  const count = (value) => {
+    const bytes = new Uint8Array(4);
+    new DataView(bytes.buffer).setUint32(0, value, true);
+    parts.push(bytes);
+  };
+  const handle = (value) => {
+    const bytes = new Uint8Array(8);
+    new DataView(bytes.buffer).setFloat64(0, value, true);
+    parts.push(bytes);
+  };
+  const text = (value) => {
+    const bytes = encoder.encode(value);
+    count(bytes.length);
+    parts.push(bytes);
+  };
+  count(index.bodies.length);
+  for (const body of index.bodies) {
+    text(body.key);
+    handle(body.handle);
+    count(body.colliders.length);
+    for (const collider of body.colliders) {
+      handle(collider.handle);
+      text(collider.part === undefined ? "" : `:${collider.part}`);
+    }
+  }
+  count(index.joints.length);
+  for (const joint of index.joints) {
+    text(joint.id);
+    handle(joint.handle);
+    text(joint.a);
+    text(joint.b);
+  }
+  parts.push(world);
+  const out = new Uint8Array(parts.reduce((length, part) => length + part.length, 0));
+  let at = 0;
+  for (const part of parts) {
+    out.set(part, at);
+    at += part.length;
+  }
+  return out;
+};
+var readSnapshot = (snapshot) => {
+  if (snapshot[0] !== format)
+    throw new Error("Not a snapshot of an effect-three Rapier world");
+  const view = new DataView(snapshot.buffer, snapshot.byteOffset, snapshot.byteLength);
+  let at = 1;
+  const count = () => {
+    const value = view.getUint32(at, true);
+    at += 4;
+    return value;
+  };
+  const handle = () => {
+    const value = view.getFloat64(at, true);
+    at += 8;
+    return value;
+  };
+  const text = () => {
+    const length = count();
+    const value = decoder.decode(snapshot.subarray(at, at + length));
+    at += length;
+    return value;
+  };
+  function collider() {
+    const colliderHandle = handle();
+    const part = text();
+    return part === "" ? { handle: colliderHandle } : { handle: colliderHandle, part: part.slice(1) };
+  }
+  function body() {
+    const key = text();
+    const bodyHandle = handle();
+    return { key, handle: bodyHandle, colliders: Array.from({ length: count() }, collider) };
+  }
+  const bodies = Array.from({ length: count() }, body);
+  const joints = Array.from({ length: count() }, () => ({
+    id: text(),
+    handle: handle(),
+    a: text(),
+    b: text()
+  }));
+  return { index: { bodies, joints }, world: snapshot.subarray(at) };
+};
+
+// src/engine.ts
 var vector = ([x, y, z]) => ({ x, y, z });
 var rotation = ([x, y, z, w]) => ({ x, y, z, w });
-var bodyTypes = {
-  dynamic: RAPIER.RigidBodyType.Dynamic,
-  fixed: RAPIER.RigidBodyType.Fixed,
-  kinematic: RAPIER.RigidBodyType.KinematicPositionBased
-};
+var bodyType = (rapier, type) => ({
+  dynamic: rapier.RigidBodyType.Dynamic,
+  fixed: rapier.RigidBodyType.Fixed,
+  kinematic: rapier.RigidBodyType.KinematicPositionBased
+})[type];
 var shapeDesc = (rapier, shape) => {
   switch (shape._tag) {
     case "Cuboid":
@@ -27,13 +119,13 @@ var shapeDesc = (rapier, shape) => {
   }
 };
 var colliderDesc = (rapier, collider) => shapeDesc(rapier, collider.shape).setTranslation(...collider.translation).setRotation(rotation(collider.rotation));
-var reporting = (colliders, body) => {
+var reporting = (rapier, colliders, body) => {
   for (const collider of colliders) {
     if (body.contactForces === null) {
-      collider.setActiveEvents(RAPIER.ActiveEvents.COLLISION_EVENTS);
+      collider.setActiveEvents(rapier.ActiveEvents.COLLISION_EVENTS);
       continue;
     }
-    collider.setActiveEvents(RAPIER.ActiveEvents.COLLISION_EVENTS | RAPIER.ActiveEvents.CONTACT_FORCE_EVENTS);
+    collider.setActiveEvents(rapier.ActiveEvents.COLLISION_EVENTS | rapier.ActiveEvents.CONTACT_FORCE_EVENTS);
     collider.setContactForceEventThreshold(body.contactForces);
   }
 };
@@ -50,8 +142,8 @@ var surface = (colliders, body) => {
     collider.setSolverGroups(interactionBits(body.solverGroups));
   }
 };
-var motion = (rigidBody, body) => {
-  rigidBody.setBodyType(bodyTypes[body.type], true);
+var motion = (rapier, rigidBody, body) => {
+  rigidBody.setBodyType(bodyType(rapier, body.type), true);
   rigidBody.setLinearDamping(body.linearDamping);
   rigidBody.setAngularDamping(body.angularDamping);
   rigidBody.setGravityScale(body.gravityScale, true);
@@ -59,13 +151,13 @@ var motion = (rigidBody, body) => {
 };
 var limitsOf = (joint) => joint.kind._tag === "Revolute" || joint.kind._tag === "Prismatic" ? joint.kind.limits : null;
 var motorOf = (joint) => joint.kind._tag === "Revolute" || joint.kind._tag === "Prismatic" ? joint.kind.motor : null;
-var drive = (made, motor) => {
-  if (motor !== null && made instanceof RAPIER.UnitImpulseJoint) {
+var drive = (rapier, made, motor) => {
+  if (motor !== null && made instanceof rapier.UnitImpulseJoint) {
     made.configureMotor(motor.position, motor.velocity, motor.stiffness, motor.damping);
   }
 };
-var limit = (made, limits) => {
-  if (limits !== null && made instanceof RAPIER.UnitImpulseJoint)
+var limit = (rapier, made, limits) => {
+  if (limits !== null && made instanceof rapier.UnitImpulseJoint)
     made.setLimits(...limits);
 };
 var jointData = (rapier, joint) => {
@@ -93,18 +185,26 @@ var pair = (a, b) => ({
   ...a.part === undefined ? {} : { aPart: a.part },
   ...b.part === undefined ? {} : { bPart: b.part }
 });
-var createWorld = (rapier) => (initial) => {
-  const world = new rapier.World(vector(initial.gravity));
+var hostWorld = (rapier) => (world, index = { bodies: [], joints: [] }) => {
   const events = new rapier.EventQueue(true);
-  const bodies = new Map;
-  const keysByCollider = new Map;
-  const joints = new Map;
+  const bodies = new Map(index.bodies.map((body) => [
+    body.key,
+    {
+      rigidBody: world.getRigidBody(body.handle),
+      colliders: body.colliders.map((collider) => world.getCollider(collider.handle))
+    }
+  ]));
+  const keysByCollider = new Map(index.bodies.flatMap(({ key, colliders }) => colliders.map(({ handle, part }) => [handle, part === undefined ? { key } : { key, part }])));
+  const joints = new Map(index.joints.map(({ id, handle, a, b }) => [
+    id,
+    { joint: world.getImpulseJoint(handle), a, b }
+  ]));
   const add = (key, body, colliders, pose) => {
-    const desc = new rapier.RigidBodyDesc(bodyTypes[body.type]).setTranslation(...pose.position).setRotation(rotation(pose.quaternion)).setLinvel(...body.linearVelocity).setAngvel(vector(body.angularVelocity)).setLinearDamping(body.linearDamping).setAngularDamping(body.angularDamping).setGravityScale(body.gravityScale).setCcdEnabled(body.ccd);
+    const desc = new rapier.RigidBodyDesc(bodyType(rapier, body.type)).setTranslation(...pose.position).setRotation(rotation(pose.quaternion)).setLinvel(...body.linearVelocity).setAngvel(vector(body.angularVelocity)).setLinearDamping(body.linearDamping).setAngularDamping(body.angularDamping).setGravityScale(body.gravityScale).setCcdEnabled(body.ccd);
     const rigidBody = world.createRigidBody(desc);
     const made = colliders.map((collider) => world.createCollider(colliderDesc(rapier, collider), rigidBody));
     surface(made, body);
-    reporting(made, body);
+    reporting(rapier, made, body);
     bodies.set(key, { rigidBody, colliders: made });
     made.forEach((collider, i) => {
       const part = colliders[i]?.part;
@@ -129,8 +229,8 @@ var createWorld = (rapier) => (initial) => {
     if (first === undefined || second === undefined)
       return;
     const made = world.createImpulseJoint(jointData(rapier, joint), first.rigidBody, second.rigidBody, true);
-    limit(made, limitsOf(joint));
-    drive(made, motorOf(joint));
+    limit(rapier, made, limitsOf(joint));
+    drive(rapier, made, motorOf(joint));
     made.setContactsEnabled(joint.contacts);
     joints.set(id, { joint: made, a, b });
   };
@@ -168,6 +268,10 @@ var createWorld = (rapier) => (initial) => {
     });
   }
   const drainForces = () => events.drainContactForceEvents(recordForce);
+  function indexed(collider) {
+    const part = keysByCollider.get(collider.handle)?.part;
+    return part === undefined ? { handle: collider.handle } : { handle: collider.handle, part };
+  }
   return {
     configure: (physics) => {
       world.gravity = vector(physics.gravity);
@@ -177,9 +281,9 @@ var createWorld = (rapier) => (initial) => {
       const held = bodies.get(key);
       if (held === undefined)
         return;
-      motion(held.rigidBody, body);
+      motion(rapier, held.rigidBody, body);
       surface(held.colliders, body);
-      reporting(held.colliders, body);
+      reporting(rapier, held.colliders, body);
     },
     teleport: (key, pose) => {
       const held = bodies.get(key);
@@ -233,6 +337,19 @@ var createWorld = (rapier) => (initial) => {
       }
       return false;
     },
+    snapshot: () => writeSnapshot({
+      bodies: [...bodies].map(([key, held]) => ({
+        key,
+        handle: held.rigidBody.handle,
+        colliders: held.colliders.map(indexed)
+      })),
+      joints: [...joints].map(([id, { joint, a, b }]) => ({
+        id,
+        handle: joint.handle,
+        a,
+        b
+      }))
+    }, world.takeSnapshot()),
     dispose: () => {
       bodies.clear();
       keysByCollider.clear();
@@ -242,13 +359,29 @@ var createWorld = (rapier) => (initial) => {
     }
   };
 };
+var engineOf = (rapier) => {
+  const host = hostWorld(rapier);
+  return {
+    createWorld: (initial) => host(new rapier.World(vector(initial.gravity))),
+    restoreWorld: (_physics, snapshot) => {
+      const { index, world } = readSnapshot(snapshot);
+      return {
+        world: host(rapier.World.restoreSnapshot(world), index),
+        bodies: index.bodies.map((body) => body.key),
+        joints: index.joints.map((joint) => joint.id)
+      };
+    }
+  };
+};
+
+// src/index.ts
 var loadRapier = async () => {
   await RAPIER.init();
-  return { createWorld: createWorld(RAPIER) };
+  return engineOf(RAPIER);
 };
 export {
   loadRapier
 };
 
-//# debugId=1F8003691871788E64756E2164756E21
+//# debugId=BF71FE688A93448964756E2164756E21
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -1,10 +1,12 @@
 {
   "version": 3,
-  "sources": ["../src/index.ts"],
+  "sources": ["../src/index.ts", "../src/engine.ts", "../src/snapshot.ts"],
   "sourcesContent": [
-    "/**\n * Rapier physics for `@opsydyn/effect-three`: a `PhysicsEngine` that the scene graph\n * steps. Load it once, before making the environment, and pass it on:\n *\n * ```ts\n * const physics = await loadRapier();\n * const environment = EffectThreeFoldkit.makeEnvironment(window, { physics });\n * ```\n *\n * Bodies are described on meshes (`body()`) under a scene's `physics()`; this package\n * only turns those descriptions into Rapier bodies and colliders, as react-three-rapier's\n * `RigidBody` does (`ae5c3fe`, `src/utils/utils-rigidbody.ts` and `utils-collider.ts`),\n * and joints into impulse joints, as its joint hooks do (`src/hooks/joints.ts`).\n *\n * Rapier (`@dimforge/rapier3d-compat`) is Apache-2.0; its WebAssembly is embedded, so\n * nothing extra is fetched.\n *\n * @module\n */\nimport RAPIER from '@dimforge/rapier3d-compat';\nimport { interactionBits } from '@opsydyn/effect-three';\nimport type {\n  Body,\n  BodyPose,\n  Collider,\n  ColliderShape,\n  Collision,\n  Physics,\n  ContactForce,\n  JointLimits,\n  JointMotor,\n  PhysicsEngine,\n  PhysicsJoint,\n  PhysicsWorld,\n  Vec3,\n} from '@opsydyn/effect-three';\n\ntype Rapier = typeof RAPIER;\n\nconst vector = ([x, y, z]: Vec3) => ({ x, y, z });\n\nconst rotation = ([x, y, z, w]: BodyPose['quaternion']) => ({ x, y, z, w });\n\n/** Body types by our names. Kinematic bodies are position based, as react-three-rapier's default. */\nconst bodyTypes = {\n  dynamic: RAPIER.RigidBodyType.Dynamic,\n  fixed: RAPIER.RigidBodyType.Fixed,\n  kinematic: RAPIER.RigidBodyType.KinematicPositionBased,\n} satisfies Record<Body['type'], RAPIER.RigidBodyType>;\n\n/** The collider description for a shape; a hull Rapier cannot build becomes a small ball. */\nconst shapeDesc = (rapier: Rapier, shape: ColliderShape): RAPIER.ColliderDesc => {\n  switch (shape._tag) {\n    case 'Cuboid':\n      return rapier.ColliderDesc.cuboid(...shape.halfExtents);\n    case 'Ball':\n      return rapier.ColliderDesc.ball(shape.radius);\n    case 'Hull':\n      return rapier.ColliderDesc.convexHull(shape.points) ?? rapier.ColliderDesc.ball(1e-3);\n    case 'Capsule':\n      return rapier.ColliderDesc.capsule(shape.halfHeight, shape.radius);\n    case 'Cylinder':\n      return rapier.ColliderDesc.cylinder(shape.halfHeight, shape.radius);\n    case 'Cone':\n      return rapier.ColliderDesc.cone(shape.halfHeight, shape.radius);\n    case 'Trimesh':\n      return rapier.ColliderDesc.trimesh(shape.vertices, shape.indices);\n  }\n};\n\n/** A collider placed in its body. */\nconst colliderDesc = (rapier: Rapier, collider: Collider): RAPIER.ColliderDesc =>\n  shapeDesc(rapier, collider.shape)\n    .setTranslation(...collider.translation)\n    .setRotation(rotation(collider.rotation));\n\n/**\n * The events a body's colliders report: collisions always, contact forces over its\n * threshold when it has one (react-three-rapier's `onContactForce` turns on\n * `CONTACT_FORCE_EVENTS`).\n */\nconst reporting = (colliders: ReadonlyArray<RAPIER.Collider>, body: Body): void => {\n  for (const collider of colliders) {\n    if (body.contactForces === null) {\n      collider.setActiveEvents(RAPIER.ActiveEvents.COLLISION_EVENTS);\n      continue;\n    }\n    collider.setActiveEvents(\n      RAPIER.ActiveEvents.COLLISION_EVENTS | RAPIER.ActiveEvents.CONTACT_FORCE_EVENTS,\n    );\n    collider.setContactForceEventThreshold(body.contactForces);\n  }\n};\n\n/**\n * Applies a body's surface and mass settings to its colliders. A given mass is shared\n * among them; otherwise each has density 1.\n */\nconst surface = (colliders: ReadonlyArray<RAPIER.Collider>, body: Body): void => {\n  for (const collider of colliders) {\n    collider.setFriction(body.friction);\n    collider.setRestitution(body.restitution);\n    collider.setSensor(body.sensor);\n    if (body.mass === null) collider.setDensity(1);\n    else collider.setMass(body.mass / colliders.length);\n    collider.setCollisionGroups(interactionBits(body.collisionGroups));\n    collider.setSolverGroups(interactionBits(body.solverGroups));\n  }\n};\n\n/** Applies a body's motion settings. */\nconst motion = (rigidBody: RAPIER.RigidBody, body: Body): void => {\n  rigidBody.setBodyType(bodyTypes[body.type], true);\n  rigidBody.setLinearDamping(body.linearDamping);\n  rigidBody.setAngularDamping(body.angularDamping);\n  rigidBody.setGravityScale(body.gravityScale, true);\n  rigidBody.enableCcd(body.ccd);\n};\n\n/** The limits a joint has, if it is a hinge or slider with limits. */\nconst limitsOf = (joint: PhysicsJoint): JointLimits | null =>\n  joint.kind._tag === 'Revolute' || joint.kind._tag === 'Prismatic' ? joint.kind.limits : null;\n\n/** The motor a joint has, if it is a hinge or slider with one. */\nconst motorOf = (joint: PhysicsJoint): JointMotor | null =>\n  joint.kind._tag === 'Revolute' || joint.kind._tag === 'Prismatic' ? joint.kind.motor : null;\n\n/** Drives a hinge or slider once made: Rapier's `configureMotor`, set on the joint. */\nconst drive = (made: RAPIER.ImpulseJoint, motor: JointMotor | null): void => {\n  if (motor !== null && made instanceof RAPIER.UnitImpulseJoint) {\n    made.configureMotor(motor.position, motor.velocity, motor.stiffness, motor.damping);\n  }\n};\n\n/**\n * Limits a hinge or slider once made. React-three-rapier sets them on the joint data, but\n * Rapier's `JointData.intoRaw` (0.21) passes them on for prismatic joints only, so a\n * hinge's would be lost: they are set on the joint instead.\n */\nconst limit = (made: RAPIER.ImpulseJoint, limits: JointLimits | null): void => {\n  if (limits !== null && made instanceof RAPIER.UnitImpulseJoint) made.setLimits(...limits);\n};\n\n/** Rapier's joint data for a joint, anchors in each body's space. */\nconst jointData = (rapier: Rapier, joint: PhysicsJoint): RAPIER.JointData => {\n  const a = vector(joint.anchorA);\n  const b = vector(joint.anchorB);\n  const { kind } = joint;\n  switch (kind._tag) {\n    case 'Fixed':\n      return rapier.JointData.fixed(a, rotation(kind.frameA), b, rotation(kind.frameB));\n    case 'Spherical':\n      return rapier.JointData.spherical(a, b);\n    case 'Revolute':\n      return rapier.JointData.revolute(a, b, vector(kind.axis));\n    case 'Prismatic':\n      return rapier.JointData.prismatic(a, b, vector(kind.axis));\n    case 'Rope':\n      return rapier.JointData.rope(kind.length, a, b);\n    case 'Spring':\n      return rapier.JointData.spring(kind.restLength, kind.stiffness, kind.damping, a, b);\n  }\n};\n\n/** Which body a collider belongs to, and which part of it, by name. */\ntype Owner = { readonly key: string; readonly part?: string };\n\n/** Two colliders' owners as an event's `a` and `b`, with their parts. */\nconst pair = (a: Owner, b: Owner) => ({\n  a: a.key,\n  b: b.key,\n  ...(a.part === undefined ? {} : { aPart: a.part }),\n  ...(b.part === undefined ? {} : { bPart: b.part }),\n});\n\ntype Held = {\n  readonly rigidBody: RAPIER.RigidBody;\n  readonly colliders: ReadonlyArray<RAPIER.Collider>;\n};\n\nconst createWorld =\n  (rapier: Rapier) =>\n  (initial: Physics): PhysicsWorld => {\n    const world = new rapier.World(vector(initial.gravity));\n    const events = new rapier.EventQueue(true);\n    const bodies = new Map<string, Held>();\n    /** Each collider's body, and the part of it the collider is (when named). */\n    const keysByCollider = new Map<number, Owner>();\n    const joints = new Map<\n      string,\n      { readonly joint: RAPIER.ImpulseJoint; readonly a: string; readonly b: string }\n    >();\n\n    const add: PhysicsWorld['add'] = (key, body, colliders, pose) => {\n      const desc = new rapier.RigidBodyDesc(bodyTypes[body.type])\n        .setTranslation(...pose.position)\n        .setRotation(rotation(pose.quaternion))\n        .setLinvel(...body.linearVelocity)\n        .setAngvel(vector(body.angularVelocity))\n        .setLinearDamping(body.linearDamping)\n        .setAngularDamping(body.angularDamping)\n        .setGravityScale(body.gravityScale)\n        .setCcdEnabled(body.ccd);\n      const rigidBody = world.createRigidBody(desc);\n      const made = colliders.map((collider) =>\n        world.createCollider(colliderDesc(rapier, collider), rigidBody),\n      );\n      surface(made, body);\n      reporting(made, body);\n      bodies.set(key, { rigidBody, colliders: made });\n      made.forEach((collider, i) => {\n        const part = colliders[i]?.part;\n        keysByCollider.set(collider.handle, { key, ...(part === undefined ? {} : { part }) });\n      });\n    };\n\n    const remove: PhysicsWorld['remove'] = (key) => {\n      const held = bodies.get(key);\n      if (held === undefined) return;\n      for (const collider of held.colliders) keysByCollider.delete(collider.handle);\n      // Rapier removes the body's joints with it; forget them, as their handles are reused.\n      for (const [id, joined] of joints)\n        if (joined.a === key || joined.b === key) joints.delete(id);\n      world.removeRigidBody(held.rigidBody);\n      bodies.delete(key);\n    };\n\n    const addJoint: PhysicsWorld['addJoint'] = (id, joint, a, b) => {\n      const first = bodies.get(a);\n      const second = bodies.get(b);\n      if (first === undefined || second === undefined) return;\n      const made = world.createImpulseJoint(\n        jointData(rapier, joint),\n        first.rigidBody,\n        second.rigidBody,\n        true,\n      );\n      limit(made, limitsOf(joint));\n      drive(made, motorOf(joint));\n      made.setContactsEnabled(joint.contacts);\n      joints.set(id, { joint: made, a, b });\n    };\n\n    const removeJoint: PhysicsWorld['removeJoint'] = (id) => {\n      const joined = joints.get(id);\n      if (joined === undefined) return;\n      world.removeImpulseJoint(joined.joint, true);\n      joints.delete(id);\n    };\n\n    const collisionsOf = (): ReadonlyArray<Collision> => {\n      const collisions: Array<Collision> = [];\n      events.drainCollisionEvents((first, second, started) => {\n        const a = keysByCollider.get(first);\n        const b = keysByCollider.get(second);\n        if (a !== undefined && b !== undefined) collisions.push({ ...pair(a, b), started });\n      });\n      return collisions;\n    };\n\n    /** Contact force events since the last call, kept across steps until asked for. */\n    let forces: Array<ContactForce> = [];\n    function recordForce(event: RAPIER.TempContactForceEvent): void {\n      const a = keysByCollider.get(event.collider1());\n      const b = keysByCollider.get(event.collider2());\n      if (a === undefined || b === undefined) return;\n      const total = event.totalForce();\n      const direction = event.maxForceDirection();\n      forces.push({\n        ...pair(a, b),\n        totalForce: [total.x, total.y, total.z],\n        totalForceMagnitude: event.totalForceMagnitude(),\n        maxForceDirection: [direction.x, direction.y, direction.z],\n        maxForceMagnitude: event.maxForceMagnitude(),\n      });\n    }\n    const drainForces = (): void => events.drainContactForceEvents(recordForce);\n\n    return {\n      configure: (physics) => {\n        world.gravity = vector(physics.gravity);\n      },\n      add,\n      update: (key, body) => {\n        const held = bodies.get(key);\n        if (held === undefined) return;\n        motion(held.rigidBody, body);\n        surface(held.colliders, body);\n        reporting(held.colliders, body);\n      },\n      teleport: (key, pose) => {\n        const held = bodies.get(key);\n        if (held === undefined) return;\n        held.rigidBody.setTranslation(vector(pose.position), true);\n        held.rigidBody.setRotation(rotation(pose.quaternion), true);\n        held.rigidBody.setLinvel({ x: 0, y: 0, z: 0 }, true);\n        held.rigidBody.setAngvel({ x: 0, y: 0, z: 0 }, true);\n      },\n      moveKinematic: (key, pose) => {\n        const held = bodies.get(key);\n        if (held === undefined) return;\n        held.rigidBody.setNextKinematicTranslation(vector(pose.position));\n        held.rigidBody.setNextKinematicRotation(rotation(pose.quaternion));\n      },\n      applyImpulse: (key, impulse) => {\n        bodies.get(key)?.rigidBody.applyImpulse(vector(impulse), true);\n      },\n      remove,\n      addJoint,\n      removeJoint,\n      step: (seconds) => {\n        world.timestep = seconds;\n        world.step(events);\n        drainForces();\n        return collisionsOf();\n      },\n      contactForces: () => {\n        const drained = forces;\n        forces = [];\n        return drained;\n      },\n      // react-three-rapier's Debug: Rapier's own line rendering of colliders and joints.\n      debugLines: () => {\n        const { vertices, colors } = world.debugRender();\n        return { vertices, colors };\n      },\n      pose: (key) => {\n        const held = bodies.get(key);\n        if (held === undefined) return undefined;\n        const { x, y, z } = held.rigidBody.translation();\n        const turn = held.rigidBody.rotation();\n        return { position: [x, y, z], quaternion: [turn.x, turn.y, turn.z, turn.w] };\n      },\n      awake: () => {\n        for (const { rigidBody } of bodies.values()) {\n          if (rigidBody.isDynamic() && !rigidBody.isSleeping()) return true;\n        }\n        return false;\n      },\n      dispose: () => {\n        bodies.clear();\n        keysByCollider.clear();\n        joints.clear();\n        events.free();\n        world.free();\n      },\n    };\n  };\n\n/**\n * Loads Rapier's WebAssembly and returns the engine. Call once per page; the engine makes\n * a world for each scene with physics.\n */\nexport const loadRapier = async (): Promise<PhysicsEngine> => {\n  await RAPIER.init();\n  return { createWorld: createWorld(RAPIER) };\n};\n"
+    "/**\n * Rapier physics for `@opsydyn/effect-three`: a `PhysicsEngine` that the scene graph\n * steps. Load it once, before making the environment, and pass it on:\n *\n * ```ts\n * const physics = await loadRapier();\n * const environment = EffectThreeFoldkit.makeEnvironment(window, { physics });\n * ```\n *\n * Bodies are described on meshes (`body()`) under a scene's `physics()`; this package\n * only turns those descriptions into Rapier bodies and colliders, as react-three-rapier's\n * `RigidBody` does (`ae5c3fe`, `src/utils/utils-rigidbody.ts` and `utils-collider.ts`),\n * and joints into impulse joints, as its joint hooks do (`src/hooks/joints.ts`).\n *\n * Rapier (`@dimforge/rapier3d-compat`) is Apache-2.0; its WebAssembly is embedded, so\n * nothing extra is fetched. For a simulation that must come out the same on every\n * machine (lockstep, replays shared as links), load Rapier's deterministic build from\n * `@opsydyn/effect-three-rapier/deterministic` instead.\n *\n * @module\n */\nimport RAPIER from '@dimforge/rapier3d-compat';\nimport type { PhysicsEngine } from '@opsydyn/effect-three';\n\nimport { engineOf } from './engine.ts';\n\n/**\n * Loads Rapier's WebAssembly and returns the engine. Call once per page; the engine makes\n * a world for each scene with physics.\n */\nexport const loadRapier = async (): Promise<PhysicsEngine> => {\n  await RAPIER.init();\n  return engineOf(RAPIER);\n};\n",
+    "/**\n * The engine itself, for whichever Rapier build is loaded: the standard one\n * (`@dimforge/rapier3d-compat`, from the package's main entry) or the deterministic one\n * (`/deterministic`). Both have the same API.\n *\n * @module\n */\nimport type RAPIER from '@dimforge/rapier3d-compat';\nimport { interactionBits } from '@opsydyn/effect-three';\nimport type {\n  Body,\n  BodyPose,\n  Collider,\n  ColliderShape,\n  Collision,\n  Physics,\n  ContactForce,\n  JointLimits,\n  JointMotor,\n  PhysicsEngine,\n  PhysicsJoint,\n  PhysicsWorld,\n  Vec3,\n} from '@opsydyn/effect-three';\n\nimport { type IndexedBody, readSnapshot, type SnapshotIndex, writeSnapshot } from './snapshot.ts';\n\n/** A loaded Rapier module: either build. */\nexport type Rapier = typeof RAPIER;\n\nconst vector = ([x, y, z]: Vec3) => ({ x, y, z });\n\nconst rotation = ([x, y, z, w]: BodyPose['quaternion']) => ({ x, y, z, w });\n\n/** Body types by our names. Kinematic bodies are position based, as react-three-rapier's default. */\nconst bodyType = (rapier: Rapier, type: Body['type']): RAPIER.RigidBodyType =>\n  ({\n    dynamic: rapier.RigidBodyType.Dynamic,\n    fixed: rapier.RigidBodyType.Fixed,\n    kinematic: rapier.RigidBodyType.KinematicPositionBased,\n  })[type];\n\n/** The collider description for a shape; a hull Rapier cannot build becomes a small ball. */\nconst shapeDesc = (rapier: Rapier, shape: ColliderShape): RAPIER.ColliderDesc => {\n  switch (shape._tag) {\n    case 'Cuboid':\n      return rapier.ColliderDesc.cuboid(...shape.halfExtents);\n    case 'Ball':\n      return rapier.ColliderDesc.ball(shape.radius);\n    case 'Hull':\n      return rapier.ColliderDesc.convexHull(shape.points) ?? rapier.ColliderDesc.ball(1e-3);\n    case 'Capsule':\n      return rapier.ColliderDesc.capsule(shape.halfHeight, shape.radius);\n    case 'Cylinder':\n      return rapier.ColliderDesc.cylinder(shape.halfHeight, shape.radius);\n    case 'Cone':\n      return rapier.ColliderDesc.cone(shape.halfHeight, shape.radius);\n    case 'Trimesh':\n      return rapier.ColliderDesc.trimesh(shape.vertices, shape.indices);\n  }\n};\n\n/** A collider placed in its body. */\nconst colliderDesc = (rapier: Rapier, collider: Collider): RAPIER.ColliderDesc =>\n  shapeDesc(rapier, collider.shape)\n    .setTranslation(...collider.translation)\n    .setRotation(rotation(collider.rotation));\n\n/**\n * The events a body's colliders report: collisions always, contact forces over its\n * threshold when it has one (react-three-rapier's `onContactForce` turns on\n * `CONTACT_FORCE_EVENTS`).\n */\nconst reporting = (rapier: Rapier, colliders: ReadonlyArray<RAPIER.Collider>, body: Body): void => {\n  for (const collider of colliders) {\n    if (body.contactForces === null) {\n      collider.setActiveEvents(rapier.ActiveEvents.COLLISION_EVENTS);\n      continue;\n    }\n    collider.setActiveEvents(\n      rapier.ActiveEvents.COLLISION_EVENTS | rapier.ActiveEvents.CONTACT_FORCE_EVENTS,\n    );\n    collider.setContactForceEventThreshold(body.contactForces);\n  }\n};\n\n/**\n * Applies a body's surface and mass settings to its colliders. A given mass is shared\n * among them; otherwise each has density 1.\n */\nconst surface = (colliders: ReadonlyArray<RAPIER.Collider>, body: Body): void => {\n  for (const collider of colliders) {\n    collider.setFriction(body.friction);\n    collider.setRestitution(body.restitution);\n    collider.setSensor(body.sensor);\n    if (body.mass === null) collider.setDensity(1);\n    else collider.setMass(body.mass / colliders.length);\n    collider.setCollisionGroups(interactionBits(body.collisionGroups));\n    collider.setSolverGroups(interactionBits(body.solverGroups));\n  }\n};\n\n/** Applies a body's motion settings. */\nconst motion = (rapier: Rapier, rigidBody: RAPIER.RigidBody, body: Body): void => {\n  rigidBody.setBodyType(bodyType(rapier, body.type), true);\n  rigidBody.setLinearDamping(body.linearDamping);\n  rigidBody.setAngularDamping(body.angularDamping);\n  rigidBody.setGravityScale(body.gravityScale, true);\n  rigidBody.enableCcd(body.ccd);\n};\n\n/** The limits a joint has, if it is a hinge or slider with limits. */\nconst limitsOf = (joint: PhysicsJoint): JointLimits | null =>\n  joint.kind._tag === 'Revolute' || joint.kind._tag === 'Prismatic' ? joint.kind.limits : null;\n\n/** The motor a joint has, if it is a hinge or slider with one. */\nconst motorOf = (joint: PhysicsJoint): JointMotor | null =>\n  joint.kind._tag === 'Revolute' || joint.kind._tag === 'Prismatic' ? joint.kind.motor : null;\n\n/** Drives a hinge or slider once made: Rapier's `configureMotor`, set on the joint. */\nconst drive = (rapier: Rapier, made: RAPIER.ImpulseJoint, motor: JointMotor | null): void => {\n  if (motor !== null && made instanceof rapier.UnitImpulseJoint) {\n    made.configureMotor(motor.position, motor.velocity, motor.stiffness, motor.damping);\n  }\n};\n\n/**\n * Limits a hinge or slider once made. React-three-rapier sets them on the joint data, but\n * Rapier's `JointData.intoRaw` (0.21) passes them on for prismatic joints only, so a\n * hinge's would be lost: they are set on the joint instead.\n */\nconst limit = (rapier: Rapier, made: RAPIER.ImpulseJoint, limits: JointLimits | null): void => {\n  if (limits !== null && made instanceof rapier.UnitImpulseJoint) made.setLimits(...limits);\n};\n\n/** Rapier's joint data for a joint, anchors in each body's space. */\nconst jointData = (rapier: Rapier, joint: PhysicsJoint): RAPIER.JointData => {\n  const a = vector(joint.anchorA);\n  const b = vector(joint.anchorB);\n  const { kind } = joint;\n  switch (kind._tag) {\n    case 'Fixed':\n      return rapier.JointData.fixed(a, rotation(kind.frameA), b, rotation(kind.frameB));\n    case 'Spherical':\n      return rapier.JointData.spherical(a, b);\n    case 'Revolute':\n      return rapier.JointData.revolute(a, b, vector(kind.axis));\n    case 'Prismatic':\n      return rapier.JointData.prismatic(a, b, vector(kind.axis));\n    case 'Rope':\n      return rapier.JointData.rope(kind.length, a, b);\n    case 'Spring':\n      return rapier.JointData.spring(kind.restLength, kind.stiffness, kind.damping, a, b);\n  }\n};\n\n/** Which body a collider belongs to, and which part of it, by name. */\ntype Owner = { readonly key: string; readonly part?: string };\n\n/** Two colliders' owners as an event's `a` and `b`, with their parts. */\nconst pair = (a: Owner, b: Owner) => ({\n  a: a.key,\n  b: b.key,\n  ...(a.part === undefined ? {} : { aPart: a.part }),\n  ...(b.part === undefined ? {} : { bPart: b.part }),\n});\n\ntype Held = {\n  readonly rigidBody: RAPIER.RigidBody;\n  readonly colliders: ReadonlyArray<RAPIER.Collider>;\n};\n\ntype Joined = { readonly joint: RAPIER.ImpulseJoint; readonly a: string; readonly b: string };\n\n/**\n * A Rapier world as a `PhysicsWorld`: a new one, or one restored from a snapshot with the\n * index of what it holds.\n */\nconst hostWorld =\n  (rapier: Rapier) =>\n  (world: RAPIER.World, index: SnapshotIndex = { bodies: [], joints: [] }): PhysicsWorld => {\n    const events = new rapier.EventQueue(true);\n    const bodies = new Map<string, Held>(\n      index.bodies.map((body) => [\n        body.key,\n        {\n          rigidBody: world.getRigidBody(body.handle),\n          colliders: body.colliders.map((collider) => world.getCollider(collider.handle)),\n        },\n      ]),\n    );\n    /** Each collider's body, and the part of it the collider is (when named). */\n    const keysByCollider = new Map<number, Owner>(\n      index.bodies.flatMap(({ key, colliders }) =>\n        colliders.map(({ handle, part }) => [handle, part === undefined ? { key } : { key, part }]),\n      ),\n    );\n    const joints = new Map<string, Joined>(\n      index.joints.map(({ id, handle, a, b }) => [\n        id,\n        { joint: world.getImpulseJoint(handle), a, b },\n      ]),\n    );\n\n    const add: PhysicsWorld['add'] = (key, body, colliders, pose) => {\n      const desc = new rapier.RigidBodyDesc(bodyType(rapier, body.type))\n        .setTranslation(...pose.position)\n        .setRotation(rotation(pose.quaternion))\n        .setLinvel(...body.linearVelocity)\n        .setAngvel(vector(body.angularVelocity))\n        .setLinearDamping(body.linearDamping)\n        .setAngularDamping(body.angularDamping)\n        .setGravityScale(body.gravityScale)\n        .setCcdEnabled(body.ccd);\n      const rigidBody = world.createRigidBody(desc);\n      const made = colliders.map((collider) =>\n        world.createCollider(colliderDesc(rapier, collider), rigidBody),\n      );\n      surface(made, body);\n      reporting(rapier, made, body);\n      bodies.set(key, { rigidBody, colliders: made });\n      made.forEach((collider, i) => {\n        const part = colliders[i]?.part;\n        keysByCollider.set(collider.handle, { key, ...(part === undefined ? {} : { part }) });\n      });\n    };\n\n    const remove: PhysicsWorld['remove'] = (key) => {\n      const held = bodies.get(key);\n      if (held === undefined) return;\n      for (const collider of held.colliders) keysByCollider.delete(collider.handle);\n      // Rapier removes the body's joints with it; forget them, as their handles are reused.\n      for (const [id, joined] of joints)\n        if (joined.a === key || joined.b === key) joints.delete(id);\n      world.removeRigidBody(held.rigidBody);\n      bodies.delete(key);\n    };\n\n    const addJoint: PhysicsWorld['addJoint'] = (id, joint, a, b) => {\n      const first = bodies.get(a);\n      const second = bodies.get(b);\n      if (first === undefined || second === undefined) return;\n      const made = world.createImpulseJoint(\n        jointData(rapier, joint),\n        first.rigidBody,\n        second.rigidBody,\n        true,\n      );\n      limit(rapier, made, limitsOf(joint));\n      drive(rapier, made, motorOf(joint));\n      made.setContactsEnabled(joint.contacts);\n      joints.set(id, { joint: made, a, b });\n    };\n\n    const removeJoint: PhysicsWorld['removeJoint'] = (id) => {\n      const joined = joints.get(id);\n      if (joined === undefined) return;\n      world.removeImpulseJoint(joined.joint, true);\n      joints.delete(id);\n    };\n\n    const collisionsOf = (): ReadonlyArray<Collision> => {\n      const collisions: Array<Collision> = [];\n      events.drainCollisionEvents((first, second, started) => {\n        const a = keysByCollider.get(first);\n        const b = keysByCollider.get(second);\n        if (a !== undefined && b !== undefined) collisions.push({ ...pair(a, b), started });\n      });\n      return collisions;\n    };\n\n    /** Contact force events since the last call, kept across steps until asked for. */\n    let forces: Array<ContactForce> = [];\n    function recordForce(event: RAPIER.TempContactForceEvent): void {\n      const a = keysByCollider.get(event.collider1());\n      const b = keysByCollider.get(event.collider2());\n      if (a === undefined || b === undefined) return;\n      const total = event.totalForce();\n      const direction = event.maxForceDirection();\n      forces.push({\n        ...pair(a, b),\n        totalForce: [total.x, total.y, total.z],\n        totalForceMagnitude: event.totalForceMagnitude(),\n        maxForceDirection: [direction.x, direction.y, direction.z],\n        maxForceMagnitude: event.maxForceMagnitude(),\n      });\n    }\n    const drainForces = (): void => events.drainContactForceEvents(recordForce);\n\n    /** A collider as a snapshot indexes it: its handle, and its part when named. */\n    function indexed(collider: RAPIER.Collider): IndexedBody['colliders'][number] {\n      const part = keysByCollider.get(collider.handle)?.part;\n      return part === undefined ? { handle: collider.handle } : { handle: collider.handle, part };\n    }\n\n    return {\n      configure: (physics) => {\n        world.gravity = vector(physics.gravity);\n      },\n      add,\n      update: (key, body) => {\n        const held = bodies.get(key);\n        if (held === undefined) return;\n        motion(rapier, held.rigidBody, body);\n        surface(held.colliders, body);\n        reporting(rapier, held.colliders, body);\n      },\n      teleport: (key, pose) => {\n        const held = bodies.get(key);\n        if (held === undefined) return;\n        held.rigidBody.setTranslation(vector(pose.position), true);\n        held.rigidBody.setRotation(rotation(pose.quaternion), true);\n        held.rigidBody.setLinvel({ x: 0, y: 0, z: 0 }, true);\n        held.rigidBody.setAngvel({ x: 0, y: 0, z: 0 }, true);\n      },\n      moveKinematic: (key, pose) => {\n        const held = bodies.get(key);\n        if (held === undefined) return;\n        held.rigidBody.setNextKinematicTranslation(vector(pose.position));\n        held.rigidBody.setNextKinematicRotation(rotation(pose.quaternion));\n      },\n      applyImpulse: (key, impulse) => {\n        bodies.get(key)?.rigidBody.applyImpulse(vector(impulse), true);\n      },\n      remove,\n      addJoint,\n      removeJoint,\n      step: (seconds) => {\n        world.timestep = seconds;\n        world.step(events);\n        drainForces();\n        return collisionsOf();\n      },\n      contactForces: () => {\n        const drained = forces;\n        forces = [];\n        return drained;\n      },\n      // react-three-rapier's Debug: Rapier's own line rendering of colliders and joints.\n      debugLines: () => {\n        const { vertices, colors } = world.debugRender();\n        return { vertices, colors };\n      },\n      pose: (key) => {\n        const held = bodies.get(key);\n        if (held === undefined) return undefined;\n        const { x, y, z } = held.rigidBody.translation();\n        const turn = held.rigidBody.rotation();\n        return { position: [x, y, z], quaternion: [turn.x, turn.y, turn.z, turn.w] };\n      },\n      awake: () => {\n        for (const { rigidBody } of bodies.values()) {\n          if (rigidBody.isDynamic() && !rigidBody.isSleeping()) return true;\n        }\n        return false;\n      },\n      // Rapier's world, and which of its bodies, colliders and joints are which.\n      snapshot: () =>\n        writeSnapshot(\n          {\n            bodies: [...bodies].map(([key, held]) => ({\n              key,\n              handle: held.rigidBody.handle,\n              colliders: held.colliders.map(indexed),\n            })),\n            joints: [...joints].map(([id, { joint, a, b }]) => ({\n              id,\n              handle: joint.handle,\n              a,\n              b,\n            })),\n          },\n          world.takeSnapshot(),\n        ),\n      dispose: () => {\n        bodies.clear();\n        keysByCollider.clear();\n        joints.clear();\n        events.free();\n        world.free();\n      },\n    };\n  };\n\n/** The engine over a loaded Rapier module. */\nexport const engineOf = (rapier: Rapier): PhysicsEngine => {\n  const host = hostWorld(rapier);\n  return {\n    createWorld: (initial: Physics) => host(new rapier.World(vector(initial.gravity))),\n    // A snapshot carries its gravity and everything else in Rapier's world.\n    restoreWorld: (_physics, snapshot) => {\n      const { index, world } = readSnapshot(snapshot);\n      return {\n        world: host(rapier.World.restoreSnapshot(world), index),\n        bodies: index.bodies.map((body) => body.key),\n        joints: index.joints.map((joint) => joint.id),\n      };\n    },\n  };\n};\n",
+    "/**\n * A snapshot of one of this package's worlds: Rapier's own (`World.takeSnapshot`), and an\n * index of which of its bodies, colliders and joints are which, by the keys the scene\n * graph knows them by. Nothing here needs Rapier, so the page side of a worker\n * (`remotePhysics`) can read the index of a snapshot the worker took.\n *\n * The layout: a format byte; the bodies (each its key, handle, and colliders with their\n * handles and parts); the joints (each its id, handle and bodies); then Rapier's bytes.\n * Counts and string lengths are 32-bit, handles 64-bit floats (Rapier's own numbers),\n * all little-endian.\n *\n * @module\n */\n\n/** A body in a snapshot: its key, Rapier handle, and its colliders'. */\nexport type IndexedBody = {\n  readonly key: string;\n  readonly handle: number;\n  readonly colliders: ReadonlyArray<{ readonly handle: number; readonly part?: string }>;\n};\n\n/** A joint in a snapshot: its id, Rapier handle, and the keys of its bodies. */\nexport type IndexedJoint = {\n  readonly id: string;\n  readonly handle: number;\n  readonly a: string;\n  readonly b: string;\n};\n\nexport type SnapshotIndex = {\n  readonly bodies: ReadonlyArray<IndexedBody>;\n  readonly joints: ReadonlyArray<IndexedJoint>;\n};\n\n/** The format byte this version writes and reads. */\nconst format = 1;\n\nconst encoder = new TextEncoder();\nconst decoder = new TextDecoder();\n\n/** Writes `index` and Rapier's `world` bytes as one snapshot. */\nexport const writeSnapshot = (index: SnapshotIndex, world: Uint8Array): Uint8Array => {\n  const parts: Array<Uint8Array> = [Uint8Array.of(format)];\n  const count = (value: number): void => {\n    const bytes = new Uint8Array(4);\n    new DataView(bytes.buffer).setUint32(0, value, true);\n    parts.push(bytes);\n  };\n  const handle = (value: number): void => {\n    const bytes = new Uint8Array(8);\n    new DataView(bytes.buffer).setFloat64(0, value, true);\n    parts.push(bytes);\n  };\n  const text = (value: string): void => {\n    const bytes = encoder.encode(value);\n    count(bytes.length);\n    parts.push(bytes);\n  };\n  count(index.bodies.length);\n  for (const body of index.bodies) {\n    text(body.key);\n    handle(body.handle);\n    count(body.colliders.length);\n    for (const collider of body.colliders) {\n      handle(collider.handle);\n      // A part is written with a leading mark, so that no part and an empty one differ.\n      text(collider.part === undefined ? '' : `:${collider.part}`);\n    }\n  }\n  count(index.joints.length);\n  for (const joint of index.joints) {\n    text(joint.id);\n    handle(joint.handle);\n    text(joint.a);\n    text(joint.b);\n  }\n  parts.push(world);\n  const out = new Uint8Array(parts.reduce((length, part) => length + part.length, 0));\n  let at = 0;\n  for (const part of parts) {\n    out.set(part, at);\n    at += part.length;\n  }\n  return out;\n};\n\n/** Reads a snapshot written by `writeSnapshot`: its index, and Rapier's bytes. */\nexport const readSnapshot = (\n  snapshot: Uint8Array,\n): { readonly index: SnapshotIndex; readonly world: Uint8Array } => {\n  if (snapshot[0] !== format) throw new Error('Not a snapshot of an effect-three Rapier world');\n  const view = new DataView(snapshot.buffer, snapshot.byteOffset, snapshot.byteLength);\n  let at = 1;\n  const count = (): number => {\n    const value = view.getUint32(at, true);\n    at += 4;\n    return value;\n  };\n  const handle = (): number => {\n    const value = view.getFloat64(at, true);\n    at += 8;\n    return value;\n  };\n  const text = (): string => {\n    const length = count();\n    const value = decoder.decode(snapshot.subarray(at, at + length));\n    at += length;\n    return value;\n  };\n  function collider(): IndexedBody['colliders'][number] {\n    const colliderHandle = handle();\n    const part = text();\n    return part === ''\n      ? { handle: colliderHandle }\n      : { handle: colliderHandle, part: part.slice(1) };\n  }\n  function body(): IndexedBody {\n    const key = text();\n    const bodyHandle = handle();\n    return { key, handle: bodyHandle, colliders: Array.from({ length: count() }, collider) };\n  }\n  const bodies: Array<IndexedBody> = Array.from({ length: count() }, body);\n  const joints: Array<IndexedJoint> = Array.from({ length: count() }, () => ({\n    id: text(),\n    handle: handle(),\n    a: text(),\n    b: text(),\n  }));\n  return { index: { bodies, joints }, world: snapshot.subarray(at) };\n};\n"
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+  "debugId": "BF71FE688A93448964756E2164756E21",
   "names": []
 }

package/dist/snapshot.d.ts

@@ -0,0 +1,41 @@
+/**
+ * A snapshot of one of this package's worlds: Rapier's own (`World.takeSnapshot`), and an
+ * index of which of its bodies, colliders and joints are which, by the keys the scene
+ * graph knows them by. Nothing here needs Rapier, so the page side of a worker
+ * (`remotePhysics`) can read the index of a snapshot the worker took.
+ *
+ * The layout: a format byte; the bodies (each its key, handle, and colliders with their
+ * handles and parts); the joints (each its id, handle and bodies); then Rapier's bytes.
+ * Counts and string lengths are 32-bit, handles 64-bit floats (Rapier's own numbers),
+ * all little-endian.
+ *
+ * @module
+ */
+/** A body in a snapshot: its key, Rapier handle, and its colliders'. */
+export type IndexedBody = {
+    readonly key: string;
+    readonly handle: number;
+    readonly colliders: ReadonlyArray<{
+        readonly handle: number;
+        readonly part?: string;
+    }>;
+};
+/** A joint in a snapshot: its id, Rapier handle, and the keys of its bodies. */
+export type IndexedJoint = {
+    readonly id: string;
+    readonly handle: number;
+    readonly a: string;
+    readonly b: string;
+};
+export type SnapshotIndex = {
+    readonly bodies: ReadonlyArray<IndexedBody>;
+    readonly joints: ReadonlyArray<IndexedJoint>;
+};
+/** Writes `index` and Rapier's `world` bytes as one snapshot. */
+export declare const writeSnapshot: (index: SnapshotIndex, world: Uint8Array) => Uint8Array;
+/** Reads a snapshot written by `writeSnapshot`: its index, and Rapier's bytes. */
+export declare const readSnapshot: (snapshot: Uint8Array) => {
+    readonly index: SnapshotIndex;
+    readonly world: Uint8Array;
+};
+//# sourceMappingURL=snapshot.d.ts.map

package/dist/snapshot.d.ts.map

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package/dist/worker.d.ts

@@ -0,0 +1,131 @@
+/**
+ * Physics in a worker, behind the same engine contract (ADR-017). In the page,
+ * `remotePhysics(worker)` is a `PhysicsEngine` whose worlds send what the scene graph asks
+ * of them to the worker, a frame's worth in one message, and answer from what the worker
+ * last sent back. In the worker, `servePhysics(self, loadRapier())` does what each world
+ * is asked with a real engine and sends back the steps' collisions and forces and every
+ * body's pose. Nothing here imports Rapier, so the page does not load its WebAssembly.
+ *
+ * ```ts
+ * // physics.worker.ts
+ * import { loadRapier } from '@opsydyn/effect-three-rapier/deterministic';
+ * import { servePhysics } from '@opsydyn/effect-three-rapier/worker';
+ * servePhysics(self, loadRapier());
+ *
+ * // the page
+ * import { remotePhysics } from '@opsydyn/effect-three-rapier/worker';
+ * const worker = new Worker(new URL('./physics.worker.ts', import.meta.url), { type: 'module' });
+ * const environment = EffectThreeFoldkit.makeEnvironment(window, { physics: remotePhysics(worker) });
+ * ```
+ *
+ * The stepping is pipelined: what a world shows and reports lags what it was asked by
+ * the time the worker takes to answer, about a frame. A world on `physics({ until })` is
+ * reported as there only once all it was asked has come back, so its checksum is the one
+ * an engine in the page would give, a frame later.
+ *
+ * @module
+ */
+import type { Body, BodyPose, Collider, Collision, ContactForce, DebugLines, Physics, PhysicsEngine, PhysicsJoint, Vec3 } from '@opsydyn/effect-three';
+/** One thing a world is asked to do, as `PhysicsWorld`'s method of that name. */
+export type Call = {
+    readonly _tag: 'Configure';
+    readonly physics: Physics;
+} | {
+    readonly _tag: 'Add';
+    readonly key: string;
+    readonly body: Body;
+    readonly colliders: ReadonlyArray<Collider>;
+    readonly pose: BodyPose;
+} | {
+    readonly _tag: 'Update';
+    readonly key: string;
+    readonly body: Body;
+} | {
+    readonly _tag: 'Teleport';
+    readonly key: string;
+    readonly pose: BodyPose;
+} | {
+    readonly _tag: 'MoveKinematic';
+    readonly key: string;
+    readonly pose: BodyPose;
+} | {
+    readonly _tag: 'ApplyImpulse';
+    readonly key: string;
+    readonly impulse: Vec3;
+} | {
+    readonly _tag: 'Remove';
+    readonly key: string;
+} | {
+    readonly _tag: 'AddJoint';
+    readonly id: string;
+    readonly joint: PhysicsJoint;
+    readonly a: string;
+    readonly b: string;
+} | {
+    readonly _tag: 'RemoveJoint';
+    readonly id: string;
+} | {
+    readonly _tag: 'Step';
+    readonly seconds: number;
+} | {
+    readonly _tag: 'Snapshot';
+};
+/**
+ * What the page sends the worker. A world's creation is answered as its batch 1; the
+ * batches after it are numbered on from 2.
+ */
+export type ToWorker = {
+    readonly _tag: 'Create';
+    readonly world: number;
+    readonly physics: Physics;
+    /** A snapshot to make the world from (`PhysicsEngine.restoreWorld`). */
+    readonly snapshot?: Uint8Array;
+} | {
+    readonly _tag: 'Batch';
+    readonly world: number;
+    readonly batch: number;
+    readonly calls: ReadonlyArray<Call>;
+} | {
+    readonly _tag: 'Dispose';
+    readonly world: number;
+};
+/** What the worker sends back after each batch, or why one could not be done. */
+export type FromWorker = {
+    readonly _tag: 'Done';
+    readonly world: number;
+    readonly batch: number;
+    readonly collisions: ReadonlyArray<Collision>;
+    readonly contactForces: ReadonlyArray<ContactForce>;
+    readonly poses: ReadonlyArray<readonly [string, BodyPose]>;
+    readonly awake: boolean;
+    /** The world as lines, while it is configured to draw them. */
+    readonly debugLines: DebugLines | null;
+    /** The world's snapshot, when the batch asked for one. */
+    readonly snapshot?: Uint8Array;
+} | {
+    readonly _tag: 'Failed';
+    readonly world: number;
+    readonly reason: string;
+};
+/**
+ * Either end of the channel: a `Worker` in the page, the worker's own global scope (`self`)
+ * inside it, or a `MessagePort`.
+ */
+export type PhysicsPort = {
+    readonly postMessage: (message: unknown) => void;
+    readonly addEventListener: (type: 'message', listener: (event: MessageEvent) => void) => void;
+    /** A `MessagePort`'s: it delivers nothing to its listeners until started. */
+    readonly start?: () => void;
+};
+/**
+ * A physics engine in a worker, for the page: each world it makes is made in the worker
+ * that `servePhysics` runs in, on the far end of `port`.
+ */
+export declare const remotePhysics: (port: PhysicsPort) => PhysicsEngine;
+/**
+ * Serves the worlds a page's `remotePhysics` makes, with `engine` (or the engine it is
+ * loading): in the worker, `servePhysics(self, loadRapier())`. Messages are handled in
+ * the order they came, once the engine has loaded.
+ */
+export declare const servePhysics: (port: PhysicsPort, engine: PhysicsEngine | Promise<PhysicsEngine>) => void;
+//# sourceMappingURL=worker.d.ts.map

package/dist/worker.d.ts.map

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