@perplexdotgg/bounce 1.0.0 → 1.0.1

package/src/physics/manifold/Face.ts

@@ -1,119 +0,0 @@
-import { createClass, LazyReferenceListType, MonomorphInstance, NumberType, PropertyDefinitionMap, PropertyDefinitionReferenceList, ReferenceListType } from "monomorph";
-import { Vec3 } from "../../math/vec3";
-import { Mat4 } from "../../math/mat4";
-import { Triangle } from "../../shape/Triangle";
-
-const faceProps = {
-  numVertices: NumberType(0),
-  buffer: LazyReferenceListType(((() => Vec3) as () => never)) as PropertyDefinitionReferenceList<Vec3, Vec3 extends MonomorphInstance<infer P, infer I> ? P : never, Vec3 extends MonomorphInstance<infer P, infer I> ? I : never>,
-} as const satisfies PropertyDefinitionMap;
-
-const triangle = /*@__PURE__*/ Triangle.create();
-const tempVertex = /*@__PURE__*/ Vec3.create();
-
-export class Face extends createClass<Face, typeof faceProps>(faceProps) {
-  clear(): void {
-    this.numVertices = 0;
-  }
-
-  isEmpty(): boolean {
-    return this.numVertices === 0;
-  }
-
-  isFull(): boolean {
-    return this.numVertices === this.buffer!.maxLength;
-  }
-
-  getVertex(out: Vec3, index: number): void {
-    // #v-ifdef DEV
-    // assert that index is within bounds
-    if (index < 0 || index >= this.buffer!.maxLength) {
-      throw new Error("index out of bounds");
-    }
-    // #v-endif
-
-    out.copy(this.buffer!.getAtIndex(index)!);
-  }
-
-  pushVertex(value: Vec3): void {
-    if (this.numVertices >= this.buffer!.maxLength) {
-      throw new Error("Face is full");
-    }
-
-    this.buffer!.getAtIndex(this.numVertices)!.copy(value);
-    this.numVertices++;
-  }
-
-  pushVertexValues(x: number, y: number, z: number): void {
-    if (this.numVertices >= this.buffer!.maxLength) {
-      throw new Error("Face is full");
-    }
-
-    const vertex = this.buffer!.getAtIndex(this.numVertices)!;
-    vertex.x = x;
-    vertex.y = y;
-    vertex.z = z;
-    this.numVertices++;
-  }
-
-  transform(isometry: Mat4): void {
-    for (let i = 0; i < this.numVertices; i++) {
-      this.buffer!.getAtIndex(i)!.transformByMat4(isometry);
-    }
-  }
-
-  getCentroid(out: Vec3): void {
-    out.zero();
-    for (let i = 0; i < this.numVertices; i++) {
-      out.addVector(this.buffer!.getAtIndex(i)!);
-    }
-    out.scale(1 / this.numVertices);
-  }
-
-  getNormal(out: Vec3): void {
-    switch (this.numVertices) {
-      case 0:
-      case 1:
-      case 2: {
-        out.zero();
-        break;
-      }
-
-      default: {
-        triangle.a.copy(this.buffer!.getAtIndex(0)!);
-        triangle.b.copy(this.buffer!.getAtIndex(1)!);
-        triangle.c.copy(this.buffer!.getAtIndex(2)!);
-        triangle.computeNormal(out);
-      }
-    }
-  }
-
-  translate(translation: Vec3): void {
-    for (let i = 0; i < this.numVertices; i++) {
-      this.buffer!.getAtIndex(i)!.addVector(translation);
-    }
-  }
-
-  swap(other: Face): void {
-    if (this.numVertices !== other.numVertices) {
-      throw new Error("Cannot swap faces of different sizes");
-    }
-
-    for (let i = 0; i < this.numVertices; i++) {
-      tempVertex.copy(this.buffer!.getAtIndex(i)!);
-      this.buffer!.getAtIndex(i)!.copy(other.buffer!.getAtIndex(i)!);
-      other.buffer!.getAtIndex(i)!.copy(tempVertex);
-    }
-  }
-}
-
-const oldCreate = Face.create;
-Face.create = function () {
-  const face = oldCreate.apply(this, arguments as any);
-  if (isFinite(face.buffer.maxLength)) {
-    for (let i = 0; i < face.buffer.maxLength; i++) {
-      face.buffer.create();
-    }
-  }
-  return face;
-};

package/src/physics/manifold/ManifoldCache.ts

@@ -1,116 +0,0 @@
-import { PoolClass, type NumberArray } from "monomorph";
-import { ContactManifold, ContactManifoldPool } from "./ContactManifold";
-import { ContactPair } from "./ContactManifold";
-import { destroyAllInstancesInPool } from "../../helpers";
-import { Body } from "../Body";
-
-export interface ManifoldCacheOptions {
-  maxContactManifolds: number;
-  maxContactPairs: number;
-}
-
-export class ManifoldCache {
-  options: ManifoldCacheOptions;
-
-  /**
-   * the allocation of contact manifolds
-   */
-  manifolds: ContactManifoldPool;
-
-  /**
-   * the key is a string of the form (BodyIdA|SubShapeIdA,BodyIdB|SubShapeIdB), where BodyIdA < BodyIdB. if no SubShape is involved for a Body, the SubShapeId is 0
-   * the value is the structId of the ContactManifold
-   */
-  manifoldMap: Map<string, ContactManifold>;
-
-  /**
-   * the allocation of contact pairs
-   */
-  pairs: PoolClass<ContactPair>;
-
-  /**
-   * the key is a string of the form (BodyIdA,BodyIdB), where BodyIdA < BodyIdB.
-   * the value is the structId of the ContactPair, which points to the first contact manifold in the linked list of contact manifolds for that pair of bodies
-   */
-  pairMap: Map<string, ContactPair>;
-
-  constructor(options?: Partial<ManifoldCacheOptions>) {
-    this.options = {
-      maxContactManifolds: 1024,
-      maxContactPairs: 1024,
-      ...(options ?? {}),
-    };
-    this.manifolds = new ContactManifoldPool(this.options.maxContactManifolds, 4);
-    this.manifoldMap = new Map();
-
-    this.pairs = new ContactPair.Pool(this.options.maxContactPairs);
-    this.pairMap = new Map();
-  }
-
-  toArray(array: NumberArray, startOffset: number): number {
-    startOffset = this.manifolds.vec3Pool.toArray(array, startOffset);
-    startOffset = this.manifolds.contactManifoldPool.toArray(array, startOffset);
-    startOffset = this.pairs.toArray(array, startOffset);
-    return startOffset;
-  }
-
-  fromArray(
-    array: NumberArray,
-    references: {
-      body: PoolClass<Body>;
-    },
-    startOffset: number,
-  ): number {
-    startOffset = this.manifolds.vec3Pool.fromArray(array, startOffset);
-    // startOffset not advanced until following line, since there are circular references
-    this.manifolds.contactManifoldPool.fromArrayNoReferences(array, startOffset);
-    startOffset = this.manifolds.contactManifoldPool.fromArrayOnlyReferences(array, {
-      bodyA: references.body,
-      bodyB: references.body,
-      contactPointsA: this.manifolds.vec3Pool,
-      contactPointsB: this.manifolds.vec3Pool,
-      lambdas: this.manifolds.vec3Pool,
-      nextContactManifold: this.manifolds.contactManifoldPool,
-    }, startOffset);
-    startOffset = this.pairs.fromArray(array, {
-      bodyA: references.body,
-      bodyB: references.body,
-      firstContactManifold: this.manifolds.contactManifoldPool,
-    }, startOffset);
-    this.rebuildMaps();
-    return startOffset;
-  }
-
-  /**
-   * this method exists to support the History class
-   * see StructModule.rebuildMaps for reference on how to achieve this in general
-   * this should happen AFTER the world has rebuilt its base maps, to ensure that the manifold and pair struct data is accessible
-   */
-  rebuildMaps(): void {
-    // 1. rebuild the manifoldMap
-    this.manifoldMap.clear();
-    for (const manifold of this.manifolds.contactManifoldPool) {
-      if (manifold) {
-        this.manifoldMap.set(manifold.key, manifold);
-      }
-    }
-
-    // 2. rebuild the pairMap
-    this.pairMap.clear();
-    for (const pair of this.pairs) {
-      if (pair) {
-        this.pairMap.set(pair.key, pair);
-      }
-    }
-  }
-
-  clear(): void {
-    // 1. clear the manifolds
-    this.manifoldMap.clear();
-    destroyAllInstancesInPool(this.manifolds.contactManifoldPool);
-
-    // 2. clear the pairs
-    this.pairMap.clear();
-    destroyAllInstancesInPool(this.pairs);
-  }
-}

package/src/physics/manifold/clipping/clipPolyVsEdge.ts

@@ -1,131 +0,0 @@
-import { Vec3 } from "../../../math/vec3";
-import { Face } from "../../../physics/manifold/Face";
-
-const edge = /*@__PURE__*/ Vec3.create();
-const edgeNormal = /*@__PURE__*/ Vec3.create();
-const polygonNormal = /*@__PURE__*/ Vec3.create();
-const vertex0 = /*@__PURE__*/ Vec3.create();
-const vertex1 = /*@__PURE__*/ Vec3.create();
-const vertex2 = /*@__PURE__*/ Vec3.create();
-const vector01 = /*@__PURE__*/ Vec3.create();
-const vector02 = /*@__PURE__*/ Vec3.create();
-const edge10 = /*@__PURE__*/ Vec3.create();
-const edge20 = /*@__PURE__*/ Vec3.create();
-const v1 = /*@__PURE__*/ Vec3.create();
-const v2 = /*@__PURE__*/ Vec3.create();
-const v12 = /*@__PURE__*/ Vec3.create();
-const e1 = /*@__PURE__*/ Vec3.create();
-const vecE1ToEdgeVertex1 = /*@__PURE__*/ Vec3.create();
-const e2 = /*@__PURE__*/ Vec3.create();
-const vecE2ToEdgeVertex1 = /*@__PURE__*/ Vec3.create();
-const e12 = /*@__PURE__*/ Vec3.create();
-const clippedPoint = /*@__PURE__*/ Vec3.create();
-const v1ToClippedPoint = /*@__PURE__*/ Vec3.create();
-
-export function clipPolyVsEdge(
-  out: Face,
-  inPolygonToClip: Face,
-  inEdgeVertex1: Vec3,
-  inEdgeVertex2: Vec3,
-  inClippingEdgeNormal: Vec3
-): void {
-  // #v-ifdef DEV
-  // assert that face to clip is a polygon (3 or more vertices)
-  if (inPolygonToClip.numVertices < 3) {
-    throw new Error("ContactManifoldModule.clipFaceAgainstEdge: faceToClip must have 3 or more vertices");
-  }
-  // #v-endif
-
-  // #v-ifdef DEV
-  // assert that out face is empty
-  if (out.numVertices > 0) {
-    throw new Error("ContactManifoldModule.clipFaceAgainstEdge: out face must be empty");
-  }
-  // #v-endif
-
-  // Get normal that is perpendicular to the edge and the clipping edge normal
-
-  edge.subtractVectors(inEdgeVertex2, inEdgeVertex1);
-
-  edgeNormal.crossVectors(inClippingEdgeNormal, edge);
-
-  // Project vertices of edge on inPolygonToClip
-
-  // get polygon normal
-
-  inPolygonToClip.getVertex(vertex0, 0);
-
-  inPolygonToClip.getVertex(vertex1, 1);
-
-  inPolygonToClip.getVertex(vertex2, 2);
-
-  vector01.subtractVectors(vertex1, vertex0);
-
-  vector02.subtractVectors(vertex2, vertex0);
-
-  polygonNormal.crossVectors(vector01, vector02);
-
-  const polygonNormalLenSquared = polygonNormal.squaredLength();
-
-  edge10.subtractVectors(vertex0, inEdgeVertex1);
-
-  edge20.subtractVectors(vertex0, inEdgeVertex2);
-
-  v1.addScaledToVector(inEdgeVertex1, polygonNormal, polygonNormal.dot(edge10) / polygonNormalLenSquared);
-
-  v2.addScaledToVector(inEdgeVertex2, polygonNormal, polygonNormal.dot(edge20) / polygonNormalLenSquared);
-
-  v12.subtractVectors(v2, v1);
-
-  const v12LenSquared = v12.squaredLength();
-
-  // Determine state of last point
-
-  inPolygonToClip.getVertex(e1, inPolygonToClip.numVertices - 1);
-
-  vecE1ToEdgeVertex1.subtractVectors(inEdgeVertex1, e1);
-
-  let prevNum = vecE1ToEdgeVertex1.dot(edgeNormal);
-  let prevInside = prevNum < 0;
-
-  // Loop through all vertices
-
-  for (let j = 0; j < inPolygonToClip.numVertices; j++) {
-    // Check if second point is inside
-    inPolygonToClip.getVertex(e2, j);
-
-    vecE2ToEdgeVertex1.subtractVectors(inEdgeVertex1, e2);
-
-    const num = vecE2ToEdgeVertex1.dot(edgeNormal);
-    const curInside = num < 0;
-
-    // In -> Out or Out -> In: Add point on clipping plane
-    if (curInside !== prevInside) {
-      // Solve: (X - inPlaneOrigin) . inPlaneNormal = 0 and X = e1 + t * (e2 - e1) for X
-
-      e12.subtractVectors(e2, e1);
-
-      const denom = e12.dot(edgeNormal);
-
-      clippedPoint.addScaledToVector(e1, e12, prevNum / denom);
-
-      // Project point on line segment v1, v2 so see if it falls outside if the edge
-
-      v1ToClippedPoint.subtractVectors(clippedPoint, v1);
-
-      const projection = v1ToClippedPoint.dot(v12);
-      if (projection < 0) {
-        out.pushVertex(v1);
-      } else if (projection > v12LenSquared) {
-        out.pushVertex(v2);
-      } else {
-        out.pushVertex(clippedPoint);
-      }
-    }
-
-    // Update previous state
-    prevNum = num;
-    prevInside = curInside;
-    e1.copy(e2);
-  }
-}

package/src/physics/manifold/clipping/clipPolyVsPlane.ts

@@ -1,73 +0,0 @@
-import { Vec3 } from "../../../math/vec3";
-import { Face } from "../Face";
-
-const e1 = /*@__PURE__*/ Vec3.create();
-const e1ToPlaneOrigin = /*@__PURE__*/ Vec3.create();
-const e2 = /*@__PURE__*/ Vec3.create();
-const e2ToPlaneOrigin = /*@__PURE__*/ Vec3.create();
-const e12 = /*@__PURE__*/ Vec3.create();
-const clippedPoint = /*@__PURE__*/ Vec3.create();
-
-export function clipPolyVsPlane(out: Face, inPolygonToClip: Face, inPlaneOrigin: Vec3, inPlaneNormal: Vec3) {
-  // #v-ifdef DEV
-  // assert that face to clip is a polygon (3 or more vertices)
-  if (inPolygonToClip.numVertices < 3) {
-    throw new Error("ContactManifoldModule.clipPolyVsPlane: faceToClip must have 3 or more vertices");
-  }
-  // #v-endif
-
-  // #v-ifdef DEV
-  // assert that out face is empty
-  if (out.numVertices > 0) {
-    throw new Error("ContactManifoldModule.clipPolyVsPlane: out face must be empty");
-  }
-  // #v-endif
-
-  // determine state of last point
-
-  inPolygonToClip.getVertex(e1, inPolygonToClip.numVertices - 1);
-
-  e1ToPlaneOrigin.subtractVectors(inPlaneOrigin, e1);
-
-  let prevNum = e1ToPlaneOrigin.dot(inPlaneNormal);
-  let prevInside = prevNum < 0;
-
-  // loop through all vertices
-
-  for (let j = 0; j < inPolygonToClip.numVertices; j++) {
-    // check if second point is inside
-    inPolygonToClip.getVertex(e2, j);
-
-    e2ToPlaneOrigin.subtractVectors(inPlaneOrigin, e2);
-
-    const num = e2ToPlaneOrigin.dot(inPlaneNormal);
-    let curInside = num < 0;
-
-    // in -> out or out -> in: add point on clipping plane
-    if (curInside !== prevInside) {
-      // Solve: (X - inPlaneOrigin) . inPlaneNormal = 0 and X = e1 + t * (e2 - e1) for X
-
-      e12.subtractVectors(e2, e1);
-
-      const denom = e12.dot(inPlaneNormal);
-
-      if (denom !== 0) {
-        clippedPoint.addScaledToVector(e1, e12, prevNum / denom);
-        out.pushVertex(clippedPoint);
-      } else {
-        // Edge is parallel to plane, treat point as if it were on the same side as the last point
-        curInside = prevInside;
-      }
-    }
-
-    // Point is inside, so we keep it
-    if (curInside) {
-      out.pushVertex(e2);
-    }
-
-    // Update previous state
-    prevNum = num;
-    prevInside = curInside;
-    e1.copy(e2);
-  }
-}

package/src/physics/manifold/clipping/clipPolyVsPoly.ts

@@ -1,72 +0,0 @@
-import { Vec3 } from "../../../math/vec3";
-import { Face } from "../Face";
-import { clipPolyVsPlane } from "./clipPolyVsPlane";
-
-const clipE1 = /*@__PURE__*/ Vec3.create();
-const clipE2 = /*@__PURE__*/ Vec3.create();
-const clipE1ToE2 = /*@__PURE__*/ Vec3.create();
-const clipNormal = /*@__PURE__*/ Vec3.create();
-
-const tempFace0 = /*@__PURE__*/ Face.create({
-  numVertices: 0,
-  buffer: { pool: new Vec3.Pool(32), maxLength: 32 },
-});
-
-const tempFace1 = /*@__PURE__*/ Face.create({
-  numVertices: 0,
-  buffer: { pool: new Vec3.Pool(32), maxLength: 32 },
-});
-
-export function clipPolyVsPoly(
-  out: Face,
-  inPolygonToClip: Face,
-  inClippingPolygon: Face,
-  inClippingPolygonNormal: Vec3
-) {
-  // #v-ifdef DEV
-  // assert that face to clip is a polygon (3 or more vertices)
-  if (inPolygonToClip.numVertices < 3) {
-    throw new Error("ContactManifoldModule.clipPolyVsPoly: faceToClip must have 3 or more vertices");
-  }
-
-  // #v-endif
-  // #v-ifdef DEV
-  // assert that clipping polygon is a polygon (3 or more vertices)
-  if (inClippingPolygon.numVertices < 3) {
-    throw new Error("ContactManifoldModule.clipPolyVsPoly: clippingPolygon must have 3 or more vertices");
-  }
-  // #v-endif
-
-  tempFace0.clear();
-  tempFace1.clear();
-  const tmpVertices = [tempFace0, tempFace1];
-  let tmpVerticesIdx = 0;
-
-  for (let i = 0; i < inClippingPolygon.numVertices; i++) {
-    // get edge to clip against
-
-    inClippingPolygon.getVertex(clipE1, i);
-
-    inClippingPolygon.getVertex(clipE2, (i + 1) % inClippingPolygon.numVertices);
-
-    clipE1ToE2.subtractVectors(clipE2, clipE1);
-
-    clipNormal.crossVectors(inClippingPolygonNormal, clipE1ToE2); // pointing inward to the clipping polygon
-
-    // get source and target polygon
-    const sourcePolygon = i === 0 ? inPolygonToClip : tmpVertices[tmpVerticesIdx];
-    tmpVerticesIdx ^= 1;
-
-    const targetPolygon = i === inClippingPolygon.numVertices - 1 ? out : tmpVertices[tmpVerticesIdx];
-    targetPolygon.clear();
-
-    // clip against the edge
-    clipPolyVsPlane(targetPolygon, sourcePolygon, clipE1, clipNormal);
-
-    // break out if no polygon left
-    if (targetPolygon.numVertices < 3) {
-      out.clear();
-      break;
-    }
-  }
-}