@perplexdotgg/bounce 1.0.0 → 1.0.1

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Files changed (134) hide show
  1. package/build/bounce.d.ts +39501 -0
  2. package/build/bounce.js +17166 -0
  3. package/package.json +1 -1
  4. package/src/builders/ConvexHullBuilder.ts +0 -437
  5. package/src/builders/ConvexHullBuilder2d.ts +0 -344
  6. package/src/builders/ConvexHullBuilder3d.ts +0 -1689
  7. package/src/builders/HeightMapBuilder.ts +0 -414
  8. package/src/builders/TriangleMeshBuilder.ts +0 -92
  9. package/src/collision/CastShapesModule.ts +0 -184
  10. package/src/collision/CollideShapesModule.ts +0 -152
  11. package/src/collision/HeightMapCaster.ts +0 -38
  12. package/src/collision/HeightMapCollider.ts +0 -33
  13. package/src/collision/TriangleCaster.ts +0 -249
  14. package/src/collision/TriangleCollider.ts +0 -308
  15. package/src/collision/TriangleCollider2.ts +0 -379
  16. package/src/collision/activeEdge.ts +0 -146
  17. package/src/collision/cast/cast.ts +0 -139
  18. package/src/collision/cast/castCompoundVsCompound.ts +0 -59
  19. package/src/collision/cast/castCompoundVsConvex.ts +0 -116
  20. package/src/collision/cast/castConvexVsCompound.ts +0 -123
  21. package/src/collision/cast/castConvexVsConvex.ts +0 -213
  22. package/src/collision/cast/castConvexVsHeightMap.ts +0 -73
  23. package/src/collision/cast/castConvexVsTriangleMesh.ts +0 -56
  24. package/src/collision/cast/castRayVsCompound.ts +0 -44
  25. package/src/collision/cast/castRayVsConvex.ts +0 -45
  26. package/src/collision/cast/castRayVsHeightMap.ts +0 -58
  27. package/src/collision/cast/castRayVsTriangleMesh.ts +0 -58
  28. package/src/collision/closestPoints/closestPoints.ts +0 -23
  29. package/src/collision/closestPoints/computeBarycentricCoordinates2d.ts +0 -32
  30. package/src/collision/closestPoints/computeBarycentricCoordinates3d.ts +0 -81
  31. package/src/collision/closestPoints/computeClosestPointOnLine.ts +0 -30
  32. package/src/collision/closestPoints/computeClosestPointOnTetrahedron.ts +0 -96
  33. package/src/collision/closestPoints/computeClosestPointOnTriangle.ts +0 -195
  34. package/src/collision/closestPoints/isOriginOutsideOfPlane.ts +0 -25
  35. package/src/collision/closestPoints/isOriginOutsideOfTrianglePlanes.ts +0 -72
  36. package/src/collision/collide/collide.ts +0 -146
  37. package/src/collision/collide/collideCompoundVsCompound.ts +0 -60
  38. package/src/collision/collide/collideCompoundVsConvex.ts +0 -59
  39. package/src/collision/collide/collideCompoundVsHeightMap.ts +0 -73
  40. package/src/collision/collide/collideCompoundVsTriangleMesh.ts +0 -56
  41. package/src/collision/collide/collideConvexVsCompound.ts +0 -57
  42. package/src/collision/collide/collideConvexVsConvex.ts +0 -225
  43. package/src/collision/collide/collideConvexVsConvexImp.ts +0 -236
  44. package/src/collision/collide/collideConvexVsHeightMap.ts +0 -53
  45. package/src/collision/collide/collideConvexVsTriangleMesh.ts +0 -58
  46. package/src/collision/collide/collideHeightMapVsCompound.ts +0 -69
  47. package/src/collision/collide/collideHeightMapVsConvex.ts +0 -53
  48. package/src/collision/collide/collideSphereVsSphere.ts +0 -81
  49. package/src/collision/collide/collideTriangleMeshVsCompound.ts +0 -58
  50. package/src/collision/collide/collideTriangleMeshVsConvex.ts +0 -58
  51. package/src/collision/epa/EpaConvexHullBuilder.ts +0 -397
  52. package/src/collision/epa/StaticArray.ts +0 -154
  53. package/src/collision/epa/TriangleFactory.ts +0 -32
  54. package/src/collision/epa/arrays.ts +0 -99
  55. package/src/collision/epa/binaryHeap.ts +0 -82
  56. package/src/collision/epa/structs.ts +0 -227
  57. package/src/collision/gjk/GjkModule.ts +0 -864
  58. package/src/collision/gjk/PenetrationDepthModule.ts +0 -493
  59. package/src/collision/gjk/SupportPoints.ts +0 -50
  60. package/src/collision/imp/MinkowskiDifference.ts +0 -36
  61. package/src/collision/imp/computeExploredDistanceLowerUpperBound.ts +0 -40
  62. package/src/collision/imp/finalizeImpResult.ts +0 -69
  63. package/src/collision/imp/findContactImp.ts +0 -196
  64. package/src/collision/imp/imp.ts +0 -28
  65. package/src/collision/imp/incrementalMinimumDistanceExploreDirection.ts +0 -207
  66. package/src/collision/mpr/findPortal.ts +0 -152
  67. package/src/collision/mpr/mpr.ts +0 -29
  68. package/src/collision/mpr/updatePortal.ts +0 -52
  69. package/src/constraints/BaseConstraint.ts +0 -50
  70. package/src/constraints/ConstraintOptions.ts +0 -22
  71. package/src/constraints/ConstraintSolver.ts +0 -119
  72. package/src/constraints/DistanceConstraint.ts +0 -229
  73. package/src/constraints/FixedConstraint.ts +0 -203
  74. package/src/constraints/HingeConstraint.ts +0 -460
  75. package/src/constraints/PointConstraint.ts +0 -108
  76. package/src/constraints/components/AngleComponent.ts +0 -226
  77. package/src/constraints/components/AxisComponent.ts +0 -263
  78. package/src/constraints/components/HingeComponent.ts +0 -215
  79. package/src/constraints/components/Motor.ts +0 -36
  80. package/src/constraints/components/PointConstraintComponent.ts +0 -179
  81. package/src/constraints/components/RotationEulerComponent.ts +0 -139
  82. package/src/constraints/components/Spring.ts +0 -30
  83. package/src/constraints/components/SpringComponent.ts +0 -71
  84. package/src/constraints/types.ts +0 -6
  85. package/src/helpers.ts +0 -147
  86. package/src/index.ts +0 -50
  87. package/src/math/BasicTransform.ts +0 -19
  88. package/src/math/NumberValue.ts +0 -13
  89. package/src/math/isometry.ts +0 -64
  90. package/src/math/mat3.ts +0 -529
  91. package/src/math/mat4.ts +0 -588
  92. package/src/math/quat.ts +0 -193
  93. package/src/math/scalar.ts +0 -81
  94. package/src/math/tensor.ts +0 -17
  95. package/src/math/vec3.ts +0 -589
  96. package/src/math/vec4.ts +0 -10
  97. package/src/physics/Body.ts +0 -581
  98. package/src/physics/CollisionFilter.ts +0 -52
  99. package/src/physics/SleepModule.ts +0 -163
  100. package/src/physics/broadphase/BodyPairsModule.ts +0 -363
  101. package/src/physics/broadphase/BvhModule.ts +0 -237
  102. package/src/physics/broadphase/BvhTree.ts +0 -803
  103. package/src/physics/broadphase/ConstraintPairsModule.ts +0 -385
  104. package/src/physics/broadphase/TriangleMeshBvhTree.ts +0 -379
  105. package/src/physics/manifold/ContactManifold.ts +0 -227
  106. package/src/physics/manifold/ContactManifoldModule.ts +0 -623
  107. package/src/physics/manifold/Face.ts +0 -119
  108. package/src/physics/manifold/ManifoldCache.ts +0 -116
  109. package/src/physics/manifold/clipping/clipPolyVsEdge.ts +0 -131
  110. package/src/physics/manifold/clipping/clipPolyVsPlane.ts +0 -73
  111. package/src/physics/manifold/clipping/clipPolyVsPoly.ts +0 -72
  112. package/src/physics/narrowphase/CollideBodiesModule.ts +0 -755
  113. package/src/physics/solver/ContactConstraintModule.ts +0 -659
  114. package/src/physics/solver/ManifoldConstraint.ts +0 -420
  115. package/src/physics/solver/estimateCollisionResponse.ts +0 -146
  116. package/src/shape/Aabb.ts +0 -400
  117. package/src/shape/Box.ts +0 -231
  118. package/src/shape/Capsule.ts +0 -332
  119. package/src/shape/CompoundShape.ts +0 -288
  120. package/src/shape/Convex.ts +0 -130
  121. package/src/shape/ConvexHull.ts +0 -423
  122. package/src/shape/Cylinder.ts +0 -313
  123. package/src/shape/HeightMap.ts +0 -511
  124. package/src/shape/Line.ts +0 -14
  125. package/src/shape/Plane.ts +0 -116
  126. package/src/shape/Ray.ts +0 -81
  127. package/src/shape/Segment.ts +0 -25
  128. package/src/shape/Shape.ts +0 -77
  129. package/src/shape/Sphere.ts +0 -181
  130. package/src/shape/TransformedShape.ts +0 -51
  131. package/src/shape/Triangle.ts +0 -122
  132. package/src/shape/TriangleMesh.ts +0 -186
  133. package/src/types.ts +0 -1
  134. package/src/world.ts +0 -1335
package/src/physics/broadphase/ConstraintPairsModule.ts DELETED
@@ -1,385 +0,0 @@
1
- import {
2
- createClass,
3
- LazyReferenceType,
4
- NumberType,
5
- PoolClass,
6
- PropertyDefinition,
7
- PropertyDefinitionMap,
8
- PropertyDefinitionReference,
9
- ReferenceType,
10
- } from "monomorph";
11
- import { Body, BodyType } from "../Body";
12
- import { type ConstraintInterface, baseConstraintProps, ConstraintType } from "../../constraints/BaseConstraint";
13
- import { PointConstraint } from "../../constraints/PointConstraint";
14
- import { FixedConstraint } from "../../constraints/FixedConstraint";
15
- import { DistanceConstraint } from "../../constraints/DistanceConstraint";
16
- import { HingeConstraint } from "../../constraints/HingeConstraint";
17
- import { Constraint } from "../../constraints/types";
18
-
19
- baseConstraintProps;
20
-
21
- const constraintPairNodeProps = {
22
- bodyA: LazyReferenceType((() => Body) as () => never) as PropertyDefinitionReference<Body | null, true>,
23
- bodyB: LazyReferenceType((() => Body) as () => never) as PropertyDefinitionReference<Body | null, true>,
24
- edgeA: LazyReferenceType((() => ConstraintPairEdge) as () => never) as PropertyDefinitionReference<
25
- ConstraintPairEdge | null,
26
- true
27
- >,
28
- edgeB: LazyReferenceType((() => ConstraintPairEdge) as () => never) as PropertyDefinitionReference<
29
- ConstraintPairEdge | null,
30
- true
31
- >,
32
- constraintType: NumberType(ConstraintType.pointConstraint) as PropertyDefinition<ConstraintType, true>,
33
- constraintPoint: LazyReferenceType((() => PointConstraint) as () => never) as PropertyDefinitionReference<PointConstraint | null, true>,
34
- constraintFixed: LazyReferenceType((() => FixedConstraint) as () => never) as PropertyDefinitionReference<FixedConstraint | null, true>,
35
- constraintDistance: LazyReferenceType((() => DistanceConstraint) as () => never) as PropertyDefinitionReference<DistanceConstraint | null, true>,
36
- constraintHinge: LazyReferenceType((() => HingeConstraint) as () => never) as PropertyDefinitionReference<HingeConstraint | null, true>,
37
- } as const satisfies PropertyDefinitionMap;
38
-
39
- const afterConstructorCode = `
40
- this.world = null;
41
- this.constraints = [null, null, null, null];
42
- `;
43
-
44
- export class ConstraintPairNode extends createClass<ConstraintPairNode, typeof constraintPairNodeProps>(
45
- constraintPairNodeProps,
46
- { afterConstructorCode }
47
- ) {
48
- declare constraints: [Constraint | null, Constraint | null, Constraint | null, Constraint | null];
49
-
50
- containsStaticBody() {
51
- return this.bodyA!.type === BodyType.static || this.bodyB!.type === BodyType.static;
52
- }
53
-
54
- get constraint(): Constraint | null {
55
- return this.constraints[this.constraintType];
56
- }
57
-
58
- set constraint(value: Constraint | null) {
59
- if (value === null) {
60
- this.constraints[this.constraintType] = null;
61
- return;
62
- }
63
- this.constraints[this.constraintType] = null;
64
- this.constraints[value.type] = value;
65
- this.constraintType = value.type;
66
- }
67
- }
68
-
69
- const constraintPairEdgeProps = {
70
- node: LazyReferenceType((() => ConstraintPairNode) as () => never) as PropertyDefinitionReference<
71
- ConstraintPairNode | null,
72
- true
73
- >,
74
- next: LazyReferenceType((() => ConstraintPairEdge) as () => never) as PropertyDefinitionReference<
75
- ConstraintPairEdge | null,
76
- true
77
- >,
78
- prev: LazyReferenceType((() => ConstraintPairEdge) as () => never) as PropertyDefinitionReference<
79
- ConstraintPairEdge | null,
80
- true
81
- >,
82
- } as const satisfies PropertyDefinitionMap;
83
-
84
- export class ConstraintPairEdge extends createClass<ConstraintPairEdge, typeof constraintPairEdgeProps>(
85
- constraintPairEdgeProps
86
- ) {}
87
-
88
- export class ConstraintPairsModule {
89
- nodes: PoolClass<ConstraintPairNode>;
90
- edges: PoolClass<ConstraintPairEdge>;
91
-
92
- walkStack: ConstraintPairNode[];
93
- walkVisited: Set<ConstraintPairNode>;
94
-
95
- bodiesToSleep: Set<Body>;
96
- _sleepTimeThreshold: number;
97
- _allReady: boolean;
98
-
99
- constructor(constraintPairNodePool: PoolClass<ConstraintPairNode>, constraintPairEdgePool: PoolClass<ConstraintPairEdge>) {
100
- this.nodes = constraintPairNodePool;
101
- this.edges = constraintPairEdgePool;
102
-
103
- this.walkStack = [];
104
- this.walkVisited = new Set();
105
-
106
- this.bodiesToSleep = new Set();
107
- this._sleepTimeThreshold = 0.5;
108
- this._allReady = true;
109
- }
110
-
111
- _checkReadyToSleep = (neighbor: ConstraintPairNode) => {
112
- this.walkVisited.add(neighbor);
113
- const bodyA = neighbor.bodyA!;
114
- const bodyB = neighbor.bodyB!;
115
-
116
- if (bodyA.type === BodyType.dynamic) {
117
- this.bodiesToSleep.add(bodyA);
118
- if (!bodyA.isReadyToSleep(this._sleepTimeThreshold)) {
119
- this._allReady = false;
120
- return true;
121
- }
122
- }
123
-
124
- if (bodyB.type === BodyType.dynamic) {
125
- this.bodiesToSleep.add(bodyB);
126
- if (!bodyB.isReadyToSleep(this._sleepTimeThreshold)) {
127
- this._allReady = false;
128
- return true;
129
- }
130
- }
131
-
132
- if (
133
- !neighbor.bodyA!.isReadyToSleep(this._sleepTimeThreshold) ||
134
- !neighbor.bodyB!.isReadyToSleep(this._sleepTimeThreshold)
135
- ) {
136
- this._allReady = false;
137
- return true;
138
- }
139
- return false;
140
- };
141
-
142
- /**
143
- * creates a body pair. O(1)
144
- * @param bodyA
145
- * @param bodyB
146
- * @returns
147
- */
148
- createPair(constraint: ConstraintInterface) {
149
- const bodyA = constraint.bodyA!;
150
- const bodyB = constraint.bodyB!;
151
-
152
- // // if like-type, ensure bodyA has the lower index
153
- // if (bodyA.type === bodyB.type && bodyA.index > bodyB.index) {
154
- // const temp = bodyA;
155
- // bodyA = bodyB;
156
- // bodyB = temp;
157
- // }
158
- // // if unlike-type, ensure bodyA is the dynamic
159
- // if (bodyA.type !== bodyB.type && bodyA.type !== BodyType.dynamic) {
160
- // const temp = bodyA;
161
- // bodyA = bodyB;
162
- // bodyB = temp;
163
- // }
164
-
165
- // allocations
166
- const node = ConstraintPairNode.create(undefined, this.nodes);
167
- node.bodyA = null;
168
- node.bodyB = null;
169
- node.edgeA = null;
170
- node.edgeB = null;
171
-
172
- const edgeA = ConstraintPairEdge.create(undefined, this.edges);
173
- edgeA.next = null;
174
- edgeA.prev = null;
175
- edgeA.node = null;
176
-
177
- const edgeB = ConstraintPairEdge.create(undefined, this.edges);
178
- edgeB.next = null;
179
- edgeB.prev = null;
180
- edgeB.node = null;
181
-
182
- // wire up node
183
- node.bodyA = bodyA;
184
- node.bodyB = bodyB;
185
- node.edgeA = edgeA;
186
- node.edgeB = edgeB;
187
-
188
- // wire up edgeA
189
- edgeA.node = node;
190
- edgeA.prev = null;
191
- edgeA.next = bodyA.firstPotentialConstraintPairEdge;
192
- if (bodyA.firstPotentialConstraintPairEdge) {
193
- bodyA.firstPotentialConstraintPairEdge.prev = edgeA;
194
- }
195
- bodyA.firstPotentialConstraintPairEdge = edgeA;
196
-
197
- // wire up edgeB
198
- edgeB.node = node;
199
- edgeB.prev = null;
200
- edgeB.next = bodyB.firstPotentialConstraintPairEdge;
201
- if (bodyB.firstPotentialConstraintPairEdge) {
202
- bodyB.firstPotentialConstraintPairEdge.prev = edgeB;
203
- }
204
- bodyB.firstPotentialConstraintPairEdge = edgeB;
205
-
206
- constraint.constraintPairNode = node;
207
- node.constraint = constraint as Constraint;
208
-
209
- return node;
210
- }
211
-
212
- /**
213
- * destroys a body pair. O(k) where k is the number of pairs involving bodyA
214
- */
215
- destroyPair(constraint: ConstraintInterface) {
216
- const bodyA = constraint.bodyA!;
217
- const bodyB = constraint.bodyB!;
218
-
219
- let edge = bodyA.firstPotentialConstraintPairEdge;
220
-
221
- // walk through the edges of bodyA
222
- while (edge) {
223
- // find the node
224
- const node = edge.node!;
225
- if (node.bodyB !== bodyB) {
226
- edge = edge.next;
227
- continue;
228
- }
229
-
230
- // unlink edgeA from bodyA
231
- const edgeA = node.edgeA!;
232
- if (edgeA.prev) {
233
- edgeA.prev.next = edgeA.next;
234
- } else {
235
- bodyA.firstPotentialConstraintPairEdge = edgeA.next;
236
- }
237
- if (edgeA.next) {
238
- edgeA.next.prev = edgeA.prev;
239
- }
240
-
241
- // unlink edgeB from bodyB
242
- const edgeB = node.edgeB!;
243
- if (edgeB.prev) {
244
- edgeB.prev.next = edgeB.next;
245
- } else {
246
- bodyB.firstPotentialConstraintPairEdge = edgeB.next;
247
- }
248
- if (edgeB.next) {
249
- edgeB.next.prev = edgeB.prev;
250
- }
251
-
252
- constraint.constraintPairNode = null;
253
- node.constraint = null;
254
-
255
- // destroy the objects
256
- edgeA.destroy();
257
- edgeB.destroy();
258
- node.destroy();
259
-
260
- return true;
261
- }
262
-
263
- return false;
264
- }
265
-
266
- /**
267
- * destroys all pairs of involving a single body. O(k) where k is the number of pairs involving body
268
- */
269
- destroyAllPairsOfOne(body: Body) {
270
- let destroyed = false;
271
-
272
- // walk through the edges of body
273
- let edge = body.firstPotentialConstraintPairEdge;
274
- while (edge) {
275
- const nextEdge = edge.next as ConstraintPairEdge | null;
276
-
277
- const node = edge.node!;
278
- const edgeA = node.edgeA!;
279
- const edgeB = node.edgeB!;
280
-
281
- const otherBody = node.bodyA === body ? node.bodyB! : node.bodyA!;
282
- const otherEdge = node.bodyA === body ? edgeB : edgeA;
283
-
284
- // unlink the other edge from the other body
285
- if (otherEdge.prev) {
286
- otherEdge.prev.next = otherEdge.next;
287
- } else {
288
- otherBody.firstPotentialConstraintPairEdge = otherEdge.next;
289
- }
290
- if (otherEdge.next) {
291
- otherEdge.next.prev = otherEdge.prev;
292
- }
293
-
294
- node.constraint!.constraintPairNode = null;
295
- node.constraint!.destroy();
296
- node.constraint = null;
297
-
298
- // destroy the objects
299
- edgeA.destroy();
300
- edgeB.destroy();
301
- node.destroy();
302
-
303
- edge = nextEdge;
304
- destroyed = true;
305
- }
306
-
307
- body.firstPotentialConstraintPairEdge = null;
308
-
309
- return destroyed;
310
- }
311
-
312
- *iteratePairsOfOne(body: Body): IterableIterator<ConstraintPairNode> {
313
- let edge = body.firstPotentialConstraintPairEdge;
314
- while (edge) {
315
- yield edge.node!;
316
- edge = edge.next;
317
- }
318
- }
319
-
320
- *iteratePairs(): IterableIterator<ConstraintPairNode> {
321
- for (const node of this.nodes) {
322
- yield node;
323
- }
324
- }
325
-
326
- walk(startNode: ConstraintPairNode, onNode: (node: ConstraintPairNode) => boolean) {
327
- const visited = this.walkVisited;
328
- visited.clear();
329
-
330
- const stack = this.walkStack;
331
- stack.length = 0;
332
- stack.push(startNode);
333
-
334
- while (stack.length > 0) {
335
- const node = stack.pop()!;
336
- if (visited.has(node)) {
337
- continue;
338
- }
339
- visited.add(node);
340
-
341
- if (onNode(node)) {
342
- return;
343
- }
344
-
345
- const bodyA = node.bodyA!;
346
- const bodyB = node.bodyB!;
347
-
348
- for (const neighbor of this.iteratePairsOfOne(bodyA)) {
349
- if (!visited.has(neighbor)) {
350
- stack.push(neighbor);
351
- }
352
- }
353
-
354
- for (const neighbor of this.iteratePairsOfOne(bodyB)) {
355
- if (!visited.has(neighbor)) {
356
- stack.push(neighbor);
357
- }
358
- }
359
- }
360
- }
361
-
362
- sleepAllReadyBodies(sleepTimeThreshold: number) {
363
- this.walkVisited.clear();
364
- this.bodiesToSleep.clear();
365
- this._sleepTimeThreshold = sleepTimeThreshold;
366
- this._allReady = true;
367
-
368
- for (const node of this.nodes) {
369
- if (this.walkVisited.has(node)) {
370
- continue;
371
- }
372
-
373
- this.bodiesToSleep.clear();
374
- this._allReady = true;
375
-
376
- this.walk(node, this._checkReadyToSleep);
377
-
378
- if (this._allReady) {
379
- for (const body of this.bodiesToSleep) {
380
- body.sleep();
381
- }
382
- }
383
- }
384
- }
385
- }