@opsydyn/effect-three-rapier 0.4.0 → 0.6.4

package/dist/worker.js

@@ -0,0 +1,361 @@
+// 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/worker.ts
+var noLines = { vertices: new Float32Array, colors: new Float32Array };
+var remoteWorld = (id, port, forget) => {
+  let calls = [];
+  let flushing = false;
+  let disposed = false;
+  let sent = 1;
+  let answered = 0;
+  let collisions = [];
+  let forces = [];
+  let awake = false;
+  let lines = noLines;
+  let snapshot;
+  let asking = false;
+  const poses = new Map;
+  const placedIn = new Map;
+  const flush = () => {
+    flushing = false;
+    if (disposed || calls.length === 0)
+      return;
+    sent += 1;
+    const message = { _tag: "Batch", world: id, batch: sent, calls };
+    calls = [];
+    port.postMessage(message);
+  };
+  const call = (next) => {
+    calls.push(next);
+    if (flushing)
+      return;
+    flushing = true;
+    queueMicrotask(flush);
+  };
+  const place = (key, pose) => {
+    if (pose === undefined)
+      poses.delete(key);
+    else
+      poses.set(key, pose);
+    placedIn.set(key, sent + 1);
+  };
+  const heard = (message) => {
+    if (disposed)
+      return;
+    if (message._tag === "Failed") {
+      queueMicrotask(() => {
+        throw new Error(`Physics in the worker failed: ${message.reason}`);
+      });
+      return;
+    }
+    answered = message.batch;
+    collisions.push(...message.collisions);
+    forces.push(...message.contactForces);
+    awake = message.awake;
+    lines = message.debugLines ?? noLines;
+    if (message.snapshot !== undefined) {
+      snapshot = message.snapshot;
+      asking = false;
+    }
+    for (const [key, pose] of message.poses) {
+      if ((placedIn.get(key) ?? 0) <= message.batch)
+        poses.set(key, pose);
+    }
+  };
+  const world = {
+    configure: (physics) => call({ _tag: "Configure", physics }),
+    add: (key, body, colliders, pose) => {
+      call({ _tag: "Add", key, body, colliders, pose });
+      place(key, pose);
+    },
+    update: (key, body) => call({ _tag: "Update", key, body }),
+    teleport: (key, pose) => {
+      call({ _tag: "Teleport", key, pose });
+      place(key, pose);
+    },
+    moveKinematic: (key, pose) => call({ _tag: "MoveKinematic", key, pose }),
+    applyImpulse: (key, impulse) => call({ _tag: "ApplyImpulse", key, impulse }),
+    remove: (key) => {
+      call({ _tag: "Remove", key });
+      place(key, undefined);
+    },
+    addJoint: (jointId, joint, a, b) => call({ _tag: "AddJoint", id: jointId, joint, a, b }),
+    removeJoint: (jointId) => call({ _tag: "RemoveJoint", id: jointId }),
+    step: (seconds) => {
+      call({ _tag: "Step", seconds });
+      return [];
+    },
+    contactForces: () => {
+      const drained = forces;
+      forces = [];
+      return drained;
+    },
+    debugLines: () => lines,
+    pose: (key) => poses.get(key),
+    awake: () => awake || calls.length > 0 || answered < sent,
+    dispose: () => {
+      disposed = true;
+      calls = [];
+      forget();
+      const message = { _tag: "Dispose", world: id };
+      port.postMessage(message);
+    },
+    received: () => {
+      const drained = collisions;
+      collisions = [];
+      return { collisions: drained, pending: calls.length > 0 || answered < sent };
+    },
+    snapshot: () => {
+      const taken = snapshot;
+      snapshot = undefined;
+      if (taken === undefined && !asking) {
+        asking = true;
+        call({ _tag: "Snapshot" });
+      }
+      return taken;
+    }
+  };
+  return { world, heard };
+};
+var remotePhysics = (port) => {
+  const worlds = new Map;
+  let made = 0;
+  port.addEventListener("message", (event) => {
+    const message = event.data;
+    worlds.get(message.world)?.(message);
+  });
+  port.start?.();
+  const make = (physics, snapshot) => {
+    made += 1;
+    const id = made;
+    const create = snapshot === undefined ? { _tag: "Create", world: id, physics } : { _tag: "Create", world: id, physics, snapshot };
+    port.postMessage(create);
+    const { world, heard } = remoteWorld(id, port, () => worlds.delete(id));
+    worlds.set(id, heard);
+    return world;
+  };
+  return {
+    createWorld: (physics) => make(physics),
+    restoreWorld: (physics, snapshot) => {
+      const { index } = readSnapshot(snapshot);
+      return {
+        world: make(physics, snapshot),
+        bodies: index.bodies.map((body) => body.key),
+        joints: index.joints.map((joint) => joint.id)
+      };
+    }
+  };
+};
+var perform = (served, next, collisions) => {
+  const { world } = served;
+  switch (next._tag) {
+    case "Configure":
+      world.configure(next.physics);
+      served.debug = next.physics.debug;
+      return;
+    case "Add":
+      world.add(next.key, next.body, next.colliders, next.pose);
+      served.keys.add(next.key);
+      return;
+    case "Update":
+      world.update(next.key, next.body);
+      return;
+    case "Teleport":
+      world.teleport(next.key, next.pose);
+      return;
+    case "MoveKinematic":
+      world.moveKinematic(next.key, next.pose);
+      return;
+    case "ApplyImpulse":
+      world.applyImpulse(next.key, next.impulse);
+      return;
+    case "Remove":
+      world.remove(next.key);
+      served.keys.delete(next.key);
+      return;
+    case "AddJoint":
+      world.addJoint(next.id, next.joint, next.a, next.b);
+      return;
+    case "RemoveJoint":
+      world.removeJoint(next.id);
+      return;
+    case "Step":
+      collisions.push(...world.step(next.seconds));
+      return;
+    case "Snapshot":
+      if (world.snapshot === undefined)
+        throw new Error("This engine cannot take snapshots");
+      served.snapshot = world.snapshot();
+  }
+};
+var answer = (id, batch, served, calls) => {
+  const collisions = [];
+  served.snapshot = undefined;
+  for (const next of calls)
+    perform(served, next, collisions);
+  const poses = [];
+  for (const key of served.keys) {
+    const pose = served.world.pose(key);
+    if (pose !== undefined)
+      poses.push([key, pose]);
+  }
+  const done = {
+    _tag: "Done",
+    world: id,
+    batch,
+    collisions,
+    contactForces: served.world.contactForces(),
+    poses,
+    awake: served.world.awake(),
+    debugLines: served.debug ? served.world.debugLines() : null,
+    ...served.snapshot === undefined ? {} : { snapshot: served.snapshot }
+  };
+  return done;
+};
+var create = (engine, message) => {
+  const { physics, snapshot } = message;
+  if (snapshot === undefined) {
+    return {
+      world: engine.createWorld(physics),
+      keys: new Set,
+      debug: physics.debug,
+      snapshot: undefined
+    };
+  }
+  if (engine.restoreWorld === undefined)
+    throw new Error("This engine cannot restore snapshots");
+  const restored = engine.restoreWorld(physics, snapshot);
+  return {
+    world: restored.world,
+    keys: new Set(restored.bodies),
+    debug: physics.debug,
+    snapshot: undefined
+  };
+};
+var servePhysics = (port, engine) => {
+  const loaded = Promise.resolve(engine);
+  const worlds = new Map;
+  const handle = (ready, message) => {
+    if (message._tag === "Create") {
+      const made = create(ready, message);
+      worlds.set(message.world, made);
+      port.postMessage(answer(message.world, 1, made, []));
+      return;
+    }
+    const served = worlds.get(message.world);
+    if (served === undefined)
+      return;
+    if (message._tag === "Dispose") {
+      served.world.dispose();
+      worlds.delete(message.world);
+      return;
+    }
+    port.postMessage(answer(message.world, message.batch, served, message.calls));
+  };
+  let queue = Promise.resolve();
+  port.addEventListener("message", (event) => {
+    const message = event.data;
+    queue = queue.then(() => loaded).then((ready) => handle(ready, message)).catch((cause) => {
+      const failed = {
+        _tag: "Failed",
+        world: message.world,
+        reason: cause instanceof Error ? cause.message : String(cause)
+      };
+      port.postMessage(failed);
+    });
+  });
+  port.start?.();
+};
+export {
+  remotePhysics,
+  servePhysics
+};
+
+//# debugId=F54470BCE189C23464756E2164756E21
+//# sourceMappingURL=worker.js.map

package/dist/worker.js.map

@@ -0,0 +1,11 @@
+{
+  "version": 3,
+  "sources": ["../src/snapshot.ts", "../src/worker.ts"],
+  "sourcesContent": [
+    "/**\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",
+    "/**\n * Physics in a worker, behind the same engine contract (ADR-017). In the page,\n * `remotePhysics(worker)` is a `PhysicsEngine` whose worlds send what the scene graph asks\n * of them to the worker, a frame's worth in one message, and answer from what the worker\n * last sent back. In the worker, `servePhysics(self, loadRapier())` does what each world\n * is asked with a real engine and sends back the steps' collisions and forces and every\n * body's pose. Nothing here imports Rapier, so the page does not load its WebAssembly.\n *\n * ```ts\n * // physics.worker.ts\n * import { loadRapier } from '@opsydyn/effect-three-rapier/deterministic';\n * import { servePhysics } from '@opsydyn/effect-three-rapier/worker';\n * servePhysics(self, loadRapier());\n *\n * // the page\n * import { remotePhysics } from '@opsydyn/effect-three-rapier/worker';\n * const worker = new Worker(new URL('./physics.worker.ts', import.meta.url), { type: 'module' });\n * const environment = EffectThreeFoldkit.makeEnvironment(window, { physics: remotePhysics(worker) });\n * ```\n *\n * The stepping is pipelined: what a world shows and reports lags what it was asked by\n * the time the worker takes to answer, about a frame. A world on `physics({ until })` is\n * reported as there only once all it was asked has come back, so its checksum is the one\n * an engine in the page would give, a frame later.\n *\n * @module\n */\nimport type {\n  Body,\n  BodyPose,\n  Collider,\n  Collision,\n  ContactForce,\n  DebugLines,\n  Physics,\n  PhysicsEngine,\n  PhysicsJoint,\n  PhysicsWorld,\n  Vec3,\n} from '@opsydyn/effect-three';\n\nimport { readSnapshot } from './snapshot.ts';\n\n/** One thing a world is asked to do, as `PhysicsWorld`'s method of that name. */\nexport type Call =\n  | { readonly _tag: 'Configure'; readonly physics: Physics }\n  | {\n      readonly _tag: 'Add';\n      readonly key: string;\n      readonly body: Body;\n      readonly colliders: ReadonlyArray<Collider>;\n      readonly pose: BodyPose;\n    }\n  | { readonly _tag: 'Update'; readonly key: string; readonly body: Body }\n  | { readonly _tag: 'Teleport'; readonly key: string; readonly pose: BodyPose }\n  | { readonly _tag: 'MoveKinematic'; readonly key: string; readonly pose: BodyPose }\n  | { readonly _tag: 'ApplyImpulse'; readonly key: string; readonly impulse: Vec3 }\n  | { readonly _tag: 'Remove'; readonly key: string }\n  | {\n      readonly _tag: 'AddJoint';\n      readonly id: string;\n      readonly joint: PhysicsJoint;\n      readonly a: string;\n      readonly b: string;\n    }\n  | { readonly _tag: 'RemoveJoint'; readonly id: string }\n  | { readonly _tag: 'Step'; readonly seconds: number }\n  | { readonly _tag: 'Snapshot' };\n\n/**\n * What the page sends the worker. A world's creation is answered as its batch 1; the\n * batches after it are numbered on from 2.\n */\nexport type ToWorker =\n  | {\n      readonly _tag: 'Create';\n      readonly world: number;\n      readonly physics: Physics;\n      /** A snapshot to make the world from (`PhysicsEngine.restoreWorld`). */\n      readonly snapshot?: Uint8Array;\n    }\n  | {\n      readonly _tag: 'Batch';\n      readonly world: number;\n      readonly batch: number;\n      readonly calls: ReadonlyArray<Call>;\n    }\n  | { readonly _tag: 'Dispose'; readonly world: number };\n\n/** What the worker sends back after each batch, or why one could not be done. */\nexport type FromWorker =\n  | {\n      readonly _tag: 'Done';\n      readonly world: number;\n      readonly batch: number;\n      readonly collisions: ReadonlyArray<Collision>;\n      readonly contactForces: ReadonlyArray<ContactForce>;\n      readonly poses: ReadonlyArray<readonly [string, BodyPose]>;\n      readonly awake: boolean;\n      /** The world as lines, while it is configured to draw them. */\n      readonly debugLines: DebugLines | null;\n      /** The world's snapshot, when the batch asked for one. */\n      readonly snapshot?: Uint8Array;\n    }\n  | { readonly _tag: 'Failed'; readonly world: number; readonly reason: string };\n\n/**\n * Either end of the channel: a `Worker` in the page, the worker's own global scope (`self`)\n * inside it, or a `MessagePort`.\n */\nexport type PhysicsPort = {\n  readonly postMessage: (message: unknown) => void;\n  readonly addEventListener: (type: 'message', listener: (event: MessageEvent) => void) => void;\n  /** A `MessagePort`'s: it delivers nothing to its listeners until started. */\n  readonly start?: () => void;\n};\n\nconst noLines: DebugLines = { vertices: new Float32Array(), colors: new Float32Array() };\n\n/**\n * A world in the worker, as the page sees it: `heard` takes what the worker sends back,\n * and `forget` is called when it is disposed.\n */\nconst remoteWorld = (\n  id: number,\n  port: PhysicsPort,\n  forget: () => void,\n): { readonly world: PhysicsWorld; readonly heard: (message: FromWorker) => void } => {\n  let calls: Array<Call> = [];\n  let flushing = false;\n  let disposed = false;\n  /** Batches sent (its creation the first), and the last one the worker has answered. */\n  let sent = 1;\n  let answered = 0;\n  let collisions: Array<Collision> = [];\n  let forces: Array<ContactForce> = [];\n  let awake = false;\n  let lines = noLines;\n  /** A snapshot come back and not yet taken, and whether one has been asked for. */\n  let snapshot: Uint8Array | undefined;\n  let asking = false;\n  const poses = new Map<string, BodyPose>();\n  /** Bodies placed here: an answer to a batch sent before then would put them back. */\n  const placedIn = new Map<string, number>();\n\n  const flush = (): void => {\n    flushing = false;\n    if (disposed || calls.length === 0) return;\n    sent += 1;\n    const message: ToWorker = { _tag: 'Batch', world: id, batch: sent, calls };\n    calls = [];\n    port.postMessage(message);\n  };\n  /** Queues a call; the frame's calls go together, once what asked for them is done. */\n  const call = (next: Call): void => {\n    calls.push(next);\n    if (flushing) return;\n    flushing = true;\n    queueMicrotask(flush);\n  };\n  const place = (key: string, pose: BodyPose | undefined): void => {\n    if (pose === undefined) poses.delete(key);\n    else poses.set(key, pose);\n    placedIn.set(key, sent + 1);\n  };\n\n  const heard = (message: FromWorker): void => {\n    if (disposed) return;\n    if (message._tag === 'Failed') {\n      // Nothing in the page can do it instead: say so where the page's errors go.\n      queueMicrotask(() => {\n        throw new Error(`Physics in the worker failed: ${message.reason}`);\n      });\n      return;\n    }\n    answered = message.batch;\n    collisions.push(...message.collisions);\n    forces.push(...message.contactForces);\n    awake = message.awake;\n    lines = message.debugLines ?? noLines;\n    if (message.snapshot !== undefined) {\n      snapshot = message.snapshot;\n      asking = false;\n    }\n    for (const [key, pose] of message.poses) {\n      if ((placedIn.get(key) ?? 0) <= message.batch) poses.set(key, pose);\n    }\n  };\n\n  const world: PhysicsWorld = {\n    configure: (physics) => call({ _tag: 'Configure', physics }),\n    add: (key, body, colliders, pose) => {\n      call({ _tag: 'Add', key, body, colliders, pose });\n      place(key, pose);\n    },\n    update: (key, body) => call({ _tag: 'Update', key, body }),\n    teleport: (key, pose) => {\n      call({ _tag: 'Teleport', key, pose });\n      place(key, pose);\n    },\n    moveKinematic: (key, pose) => call({ _tag: 'MoveKinematic', key, pose }),\n    applyImpulse: (key, impulse) => call({ _tag: 'ApplyImpulse', key, impulse }),\n    remove: (key) => {\n      call({ _tag: 'Remove', key });\n      place(key, undefined);\n    },\n    addJoint: (jointId, joint, a, b) => call({ _tag: 'AddJoint', id: jointId, joint, a, b }),\n    removeJoint: (jointId) => call({ _tag: 'RemoveJoint', id: jointId }),\n    // Its collisions come back later, through `received`.\n    step: (seconds) => {\n      call({ _tag: 'Step', seconds });\n      return [];\n    },\n    contactForces: () => {\n      const drained = forces;\n      forces = [];\n      return drained;\n    },\n    debugLines: () => lines,\n    pose: (key) => poses.get(key),\n    // Moving, as far as the page knows, until the worker has answered everything.\n    awake: () => awake || calls.length > 0 || answered < sent,\n    dispose: () => {\n      disposed = true;\n      calls = [];\n      forget();\n      const message: ToWorker = { _tag: 'Dispose', world: id };\n      port.postMessage(message);\n    },\n    received: () => {\n      const drained = collisions;\n      collisions = [];\n      return { collisions: drained, pending: calls.length > 0 || answered < sent };\n    },\n    // Asked for, it comes back with the batch that asked; until then there is none.\n    snapshot: () => {\n      const taken = snapshot;\n      snapshot = undefined;\n      if (taken === undefined && !asking) {\n        asking = true;\n        call({ _tag: 'Snapshot' });\n      }\n      return taken;\n    },\n  };\n  return { world, heard };\n};\n\n/**\n * A physics engine in a worker, for the page: each world it makes is made in the worker\n * that `servePhysics` runs in, on the far end of `port`.\n */\nexport const remotePhysics = (port: PhysicsPort): PhysicsEngine => {\n  const worlds = new Map<number, (message: FromWorker) => void>();\n  let made = 0;\n  port.addEventListener('message', (event) => {\n    // SAFETY: only `servePhysics` posts on this channel, and only `FromWorker` messages.\n    const message = event.data as FromWorker;\n    worlds.get(message.world)?.(message);\n  });\n  port.start?.();\n  const make = (physics: Physics, snapshot?: Uint8Array): PhysicsWorld => {\n    made += 1;\n    const id = made;\n    const create: ToWorker =\n      snapshot === undefined\n        ? { _tag: 'Create', world: id, physics }\n        : { _tag: 'Create', world: id, physics, snapshot };\n    port.postMessage(create);\n    const { world, heard } = remoteWorld(id, port, () => worlds.delete(id));\n    worlds.set(id, heard);\n    return world;\n  };\n  return {\n    createWorld: (physics) => make(physics),\n    // What the world holds is in the snapshot's index, which the page can read itself.\n    restoreWorld: (physics, snapshot) => {\n      const { index } = readSnapshot(snapshot);\n      return {\n        world: make(physics, snapshot),\n        bodies: index.bodies.map((body) => body.key),\n        joints: index.joints.map((joint) => joint.id),\n      };\n    },\n  };\n};\n\ntype Served = {\n  readonly world: PhysicsWorld;\n  readonly keys: Set<string>;\n  debug: boolean;\n  /** The snapshot the batch being done asked for. */\n  snapshot: Uint8Array | undefined;\n};\n\n/** Does one call to a world; a step's collisions are added to `collisions`. */\nconst perform = (served: Served, next: Call, collisions: Array<Collision>): void => {\n  const { world } = served;\n  switch (next._tag) {\n    case 'Configure':\n      world.configure(next.physics);\n      served.debug = next.physics.debug;\n      return;\n    case 'Add':\n      world.add(next.key, next.body, next.colliders, next.pose);\n      served.keys.add(next.key);\n      return;\n    case 'Update':\n      world.update(next.key, next.body);\n      return;\n    case 'Teleport':\n      world.teleport(next.key, next.pose);\n      return;\n    case 'MoveKinematic':\n      world.moveKinematic(next.key, next.pose);\n      return;\n    case 'ApplyImpulse':\n      world.applyImpulse(next.key, next.impulse);\n      return;\n    case 'Remove':\n      world.remove(next.key);\n      served.keys.delete(next.key);\n      return;\n    case 'AddJoint':\n      world.addJoint(next.id, next.joint, next.a, next.b);\n      return;\n    case 'RemoveJoint':\n      world.removeJoint(next.id);\n      return;\n    case 'Step':\n      collisions.push(...world.step(next.seconds));\n      return;\n    case 'Snapshot':\n      if (world.snapshot === undefined) throw new Error('This engine cannot take snapshots');\n      served.snapshot = world.snapshot();\n  }\n};\n\n/** Does a batch to a world and says what came of it. */\nconst answer = (id: number, batch: number, served: Served, calls: ReadonlyArray<Call>) => {\n  const collisions: Array<Collision> = [];\n  served.snapshot = undefined;\n  for (const next of calls) perform(served, next, collisions);\n  const poses: Array<readonly [string, BodyPose]> = [];\n  for (const key of served.keys) {\n    const pose = served.world.pose(key);\n    if (pose !== undefined) poses.push([key, pose]);\n  }\n  const done: FromWorker = {\n    _tag: 'Done',\n    world: id,\n    batch,\n    collisions,\n    contactForces: served.world.contactForces(),\n    poses,\n    awake: served.world.awake(),\n    debugLines: served.debug ? served.world.debugLines() : null,\n    ...(served.snapshot === undefined ? {} : { snapshot: served.snapshot }),\n  };\n  return done;\n};\n\n/** A world as the page asked for it made: new, or from a snapshot. */\nconst create = (\n  engine: PhysicsEngine,\n  message: Extract<ToWorker, { readonly _tag: 'Create' }>,\n): Served => {\n  const { physics, snapshot } = message;\n  if (snapshot === undefined) {\n    return {\n      world: engine.createWorld(physics),\n      keys: new Set(),\n      debug: physics.debug,\n      snapshot: undefined,\n    };\n  }\n  if (engine.restoreWorld === undefined) throw new Error('This engine cannot restore snapshots');\n  const restored = engine.restoreWorld(physics, snapshot);\n  return {\n    world: restored.world,\n    keys: new Set(restored.bodies),\n    debug: physics.debug,\n    snapshot: undefined,\n  };\n};\n\n/**\n * Serves the worlds a page's `remotePhysics` makes, with `engine` (or the engine it is\n * loading): in the worker, `servePhysics(self, loadRapier())`. Messages are handled in\n * the order they came, once the engine has loaded.\n */\nexport const servePhysics = (\n  port: PhysicsPort,\n  engine: PhysicsEngine | Promise<PhysicsEngine>,\n): void => {\n  const loaded = Promise.resolve(engine);\n  const worlds = new Map<number, Served>();\n  const handle = (ready: PhysicsEngine, message: ToWorker): void => {\n    if (message._tag === 'Create') {\n      const made = create(ready, message);\n      worlds.set(message.world, made);\n      // Answered as batch 1: the page then knows where a restored world's bodies are.\n      port.postMessage(answer(message.world, 1, made, []));\n      return;\n    }\n    const served = worlds.get(message.world);\n    if (served === undefined) return;\n    if (message._tag === 'Dispose') {\n      served.world.dispose();\n      worlds.delete(message.world);\n      return;\n    }\n    port.postMessage(answer(message.world, message.batch, served, message.calls));\n  };\n  let queue: Promise<void> = Promise.resolve();\n  port.addEventListener('message', (event) => {\n    // SAFETY: only `remotePhysics` posts on this channel, and only `ToWorker` messages.\n    const message = event.data as ToWorker;\n    queue = queue\n      .then(() => loaded)\n      .then((ready) => handle(ready, message))\n      .catch((cause: unknown) => {\n        const failed: FromWorker = {\n          _tag: 'Failed',\n          world: message.world,\n          reason: cause instanceof Error ? cause.message : String(cause),\n        };\n        port.postMessage(failed);\n      });\n  });\n  port.start?.();\n};\n"
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+  "debugId": "F54470BCE189C23464756E2164756E21",
+  "names": []
+}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@opsydyn/effect-three-rapier",
-  "version": "0.4.0",
+  "version": "0.6.4",
   "description": "Rapier physics for @opsydyn/effect-three: rigid bodies described as data.",
   "license": "MIT",
   "repository": {
@@ -26,6 +26,16 @@
       "bun": "./src/index.ts",
       "default": "./dist/index.js"
     },
+    "./deterministic": {
+      "types": "./dist/deterministic.d.ts",
+      "bun": "./src/deterministic.ts",
+      "default": "./dist/deterministic.js"
+    },
+    "./worker": {
+      "types": "./dist/worker.d.ts",
+      "bun": "./src/worker.ts",
+      "default": "./dist/worker.js"
+    },
     "./package.json": "./package.json"
   },
   "publishConfig": {
@@ -36,7 +46,7 @@
     "lint": "bunx --bun oxlint --config oxlint.strict.ts",
     "check": "bun run lint",
     "test": "bun test --pass-with-no-tests ./src ./test",
-    "build": "tsc -b && bun build ./src/index.ts --root ./src --outdir ./dist --target browser --packages external --sourcemap=linked",
+    "build": "tsc -b && bun build ./src/index.ts ./src/deterministic.ts ./src/worker.ts --root ./src --outdir ./dist --target browser --packages external --sourcemap=linked",
     "api:report": "api-extractor run --local",
     "api:check": "api-extractor run",
     "pack:check": "bun run build && publint && rm -rf dist/pack && bun pm pack --destination dist/pack && attw dist/pack/*.tgz --profile esm-only"
@@ -46,8 +56,9 @@
   },
   "devDependencies": {
     "@arethetypeswrong/cli": "0.18.5",
+    "@dimforge/rapier3d-deterministic-compat": "0.21.0",
     "@microsoft/api-extractor": "7.59.4",
-    "@opsydyn/effect-three": "0.1.0",
+    "@opsydyn/effect-three": "0.6.3",
     "@opsydyn/oxlint-effect": "2.0.1",
     "@types/bun": "1.4.3",
     "@types/three": "0.186.0",
@@ -58,7 +69,13 @@
     "typescript": "7.0.2"
   },
   "peerDependencies": {
-    "@opsydyn/effect-three": "0.4.0",
+    "@dimforge/rapier3d-deterministic-compat": "0.21.0",
+    "@opsydyn/effect-three": "0.6.4",
     "three": ">=0.186.0 <0.187.0"
+  },
+  "peerDependenciesMeta": {
+    "@dimforge/rapier3d-deterministic-compat": {
+      "optional": true
+    }
   }
 }

package/src/deterministic.ts

@@ -0,0 +1,33 @@
+/**
+ * Rapier's deterministic build for `@opsydyn/effect-three`: the same engine as the main
+ * entry, over `@dimforge/rapier3d-deterministic-compat` (install it alongside), which
+ * gives bit-identical results on every platform for the same inputs at the same steps.
+ * Use it where peers must agree (ADR-014): a lockstep session between machines, or a
+ * replay shared as a link.
+ *
+ * ```ts
+ * import { loadRapier } from '@opsydyn/effect-three-rapier/deterministic';
+ * const physics = await loadRapier();
+ * ```
+ *
+ * Determinism covers the engine. What a scene feeds it must agree too: the same bodies,
+ * added in the same order, with the same colliders, at the same steps.
+ *
+ * @module
+ */
+import RAPIER from '@dimforge/rapier3d-deterministic-compat';
+import type { PhysicsEngine } from '@opsydyn/effect-three';
+
+import { engineOf, type Rapier } from './engine.ts';
+
+/**
+ * Loads the deterministic Rapier build's WebAssembly and returns the engine. Call once
+ * per page.
+ */
+export const loadRapier = async (): Promise<PhysicsEngine> => {
+  await RAPIER.init();
+  // SAFETY: the deterministic build is the same source as `rapier3d-compat` at the same
+  // version, built with another feature: the same API, typed by separate declarations
+  // that TypeScript keeps apart only by their private fields. The tests run it.
+  return engineOf(RAPIER as unknown as Rapier);
+};