@perplexdotgg/bounce 1.0.0 → 1.0.2

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Files changed (138) 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
  135. package/tests/BodyPairsModule.test.ts +0 -71
  136. package/tests/BvhTree.test.ts +0 -406
  137. package/tests/test.md +0 -642
  138. package/tests/vec3.test.ts +0 -12
package/src/constraints/components/Motor.ts DELETED
@@ -1,36 +0,0 @@
1
- import { createClass, MonomorphType, NumberType, PropertyDefinitionMap } from "monomorph";
2
- import { Spring, SpringMode } from "./Spring";
3
-
4
- export const enum MotorMode {
5
- Off,
6
- Position,
7
- Velocity,
8
- }
9
-
10
- const motorProps = {
11
- spring: MonomorphType(Spring, { mode: SpringMode.UseFrequency, damping: 1.0, frequency: 2.0, stiffness: 2.0 }),
12
- minForce: NumberType(-Infinity),
13
- maxForce: NumberType(+Infinity),
14
- minTorque: NumberType(-Infinity),
15
- maxTorque: NumberType(+Infinity),
16
- mode: NumberType(MotorMode.Off),
17
- } as const satisfies PropertyDefinitionMap;
18
-
19
- export class Motor extends createClass<Motor, typeof motorProps>(motorProps) {
20
- reset(): void {
21
- this.spring.reset();
22
- this.spring.mode = SpringMode.UseFrequency;
23
- this.spring.damping = 1.0;
24
- this.spring.frequency = 2.0;
25
- this.spring.stiffness = 2.0;
26
- this.minForce = -Infinity;
27
- this.maxForce = +Infinity;
28
- this.minTorque = -Infinity;
29
- this.maxTorque = +Infinity;
30
- this.mode = MotorMode.Off;
31
- }
32
-
33
- isValid(): boolean {
34
- return this.spring.isValid() && this.minForce <= this.maxForce && this.minTorque <= this.maxTorque;
35
- }
36
- }
package/src/constraints/components/PointConstraintComponent.ts DELETED
@@ -1,179 +0,0 @@
1
- import {
2
- createClass,
3
- LazyReferenceType,
4
- MonomorphType,
5
- PropertyDefinitionMap,
6
- PropertyDefinitionReference,
7
- } from "monomorph";
8
- import { ConstraintOptions } from "../ConstraintOptions";
9
- import { Vec3 } from "../../math/vec3";
10
- import { Mat3 } from "../../math/mat3";
11
- import type { World } from "../../world";
12
- import { Body, BodyType } from "../../physics/Body";
13
-
14
- const pointConstraintComponentProps = {
15
- bodyA: LazyReferenceType((() => Body) as () => never) as PropertyDefinitionReference<Body | null, true>,
16
- bodyB: LazyReferenceType((() => Body) as () => never) as PropertyDefinitionReference<Body | null, true>,
17
- options: MonomorphType(ConstraintOptions, {
18
- positionBaumgarte: 0.8,
19
- velocityBaumgarte: 1.0,
20
- strength: 1.0,
21
- }),
22
- momentArmA: MonomorphType(Vec3, undefined, true),
23
- momentArmB: MonomorphType(Vec3, undefined, true),
24
- effectiveMass: MonomorphType(Mat3, undefined, true),
25
- effectiveInverseInertiaA: MonomorphType(Mat3, undefined, true),
26
- effectiveInverseInertiaB: MonomorphType(Mat3, undefined, true),
27
- totalLambda: MonomorphType(Vec3, undefined, true),
28
- } as const satisfies PropertyDefinitionMap;
29
-
30
- export class PointConstraintComponent extends createClass<
31
- PointConstraintComponent,
32
- typeof pointConstraintComponentProps
33
- >(pointConstraintComponentProps) {
34
- declare world: World;
35
-
36
- deactivate(): void {
37
- this.effectiveMass.zero();
38
- this.totalLambda.zero();
39
- }
40
-
41
- isActive(): boolean {
42
- // TODO: should probably just track using an isActive flag
43
- return !this.effectiveMass.isExactlyZero();
44
- }
45
-
46
- applyDirectImpulse(impulse: Vec3): void {
47
- if (impulse.isExactlyZero()) {
48
- return;
49
- }
50
-
51
- const bodyA = this.bodyA!;
52
- const bodyB = this.bodyB!;
53
-
54
- if (bodyA.type === BodyType.dynamic) {
55
- bodyA.linearVelocity.subScaledVector(impulse, bodyA.inverseMass);
56
- bodyA.angularVelocity.subRotatedVector(impulse, this.effectiveInverseInertiaA);
57
- }
58
-
59
- if (bodyB.type === BodyType.dynamic) {
60
- bodyB.linearVelocity.addScaledVector(impulse, bodyB.inverseMass);
61
- bodyB.angularVelocity.addRotatedVector(impulse, this.effectiveInverseInertiaB);
62
- }
63
- }
64
-
65
- setup(localMomentArmA: Vec3, localMomentArmB: Vec3): void {
66
- const bodyA = this.bodyA!;
67
- const bodyB = this.bodyB!;
68
-
69
- rotateLocalToWorldA.fromQuat(bodyA!.orientation);
70
- rotateLocalToWorldB.fromQuat(bodyB!.orientation);
71
-
72
- // calculate the moment arms in world space
73
- this.momentArmA.transformVectorFromMat3(localMomentArmA, rotateLocalToWorldA);
74
- this.momentArmB.transformVectorFromMat3(localMomentArmB, rotateLocalToWorldB);
75
-
76
- // calculate the effective mass
77
- let totalInverseMass = 0;
78
-
79
- inverseEffectiveMass.zero();
80
-
81
- if (bodyA.type === BodyType.dynamic) {
82
- totalInverseMass += bodyA.inverseMass;
83
-
84
- bodyA.computeInverseInertiaTensor(inverseInertia);
85
- crossMatrix.asSkewSymmetricMatrix(this.momentArmA);
86
- this.effectiveInverseInertiaA.multiplyMatrices(inverseInertia, crossMatrix);
87
- tempMatrix.multiplyMatrices(crossMatrix, inverseInertia);
88
- tempMatrix.multiplyMat3RightTransposed(crossMatrix);
89
- inverseEffectiveMass.addMatrices(inverseEffectiveMass, tempMatrix);
90
- }
91
-
92
- if (bodyB.type === BodyType.dynamic) {
93
- totalInverseMass += bodyB.inverseMass;
94
-
95
- bodyB.computeInverseInertiaTensor(inverseInertia);
96
- crossMatrix.asSkewSymmetricMatrix(this.momentArmB);
97
- this.effectiveInverseInertiaB.multiplyMatrices(inverseInertia, crossMatrix);
98
- tempMatrix.multiplyMatrices(crossMatrix, inverseInertia);
99
- tempMatrix.multiplyMat3RightTransposed(crossMatrix);
100
- inverseEffectiveMass.addMatrices(inverseEffectiveMass, tempMatrix);
101
- }
102
-
103
- // add the inverse mass
104
-
105
- totalInverseMassMatrix.identity();
106
- totalInverseMassMatrix.multiplyMatrixByScalar(totalInverseMassMatrix, totalInverseMass);
107
- inverseEffectiveMass.addMatrices(inverseEffectiveMass, totalInverseMassMatrix);
108
-
109
- const isValid = this.effectiveMass.invertMat3(inverseEffectiveMass);
110
- if (isValid === null) {
111
- this.deactivate();
112
- }
113
- this.effectiveMass.multiplyByScalar(this.options.strength);
114
- }
115
-
116
- warmStart(warmStartImpulseRatio: number): void {
117
- this.totalLambda.scale(warmStartImpulseRatio);
118
- this.applyDirectImpulse(this.totalLambda);
119
- }
120
-
121
- solveVelocity(): void {
122
- const bodyA = this.bodyA!;
123
- const bodyB = this.bodyB!;
124
-
125
- // compute the partial lambda for current velocity
126
- bodyA.computePointVelocity(pointVelocityA, this.momentArmA);
127
- bodyB.computePointVelocity(pointVelocityB, this.momentArmB);
128
- lambda.subtractVectors(pointVelocityA, pointVelocityB);
129
- lambda.scale(this.options.velocityBaumgarte);
130
- lambda.transformVectorFromMat3(lambda, this.effectiveMass);
131
-
132
- // accumulate the lambda
133
- this.totalLambda.addVector(lambda);
134
-
135
- // apply the lambda
136
- this.applyDirectImpulse(lambda);
137
- }
138
-
139
- solvePosition(): void {
140
- const bodyA = this.bodyA!;
141
- const bodyB = this.bodyB!;
142
-
143
- separation.subtractVectors(bodyB.computedCenterOfMassPosition, bodyA.computedCenterOfMassPosition);
144
- separation.addVector(this.momentArmB);
145
- separation.subtractVector(this.momentArmA);
146
-
147
- // case: no separation
148
- if (separation.isNearZero(1e-18)) {
149
- return;
150
- }
151
-
152
- // case: separation
153
-
154
- lambda.scaleVector(separation, -this.options.positionBaumgarte);
155
- lambda.transformVectorFromMat3(lambda, this.effectiveMass);
156
-
157
- if (bodyA.type === BodyType.dynamic) {
158
- bodyA.computedCenterOfMassPosition.subScaledVector(lambda, bodyA.inverseMass);
159
- bodyA.subRotationPositionImpulse(lambda, this.effectiveInverseInertiaA);
160
- }
161
-
162
- if (bodyB.type === BodyType.dynamic) {
163
- bodyB.computedCenterOfMassPosition.addScaledVector(lambda, bodyB.inverseMass);
164
- bodyB.addRotationPositionImpulse(lambda, this.effectiveInverseInertiaB);
165
- }
166
- }
167
- }
168
-
169
- const rotateLocalToWorldA = /*@__PURE__*/ Mat3.create();
170
- const rotateLocalToWorldB = /*@__PURE__*/ Mat3.create();
171
- const inverseEffectiveMass = /*@__PURE__*/ Mat3.create();
172
- const inverseInertia = /*@__PURE__*/ Mat3.create();
173
- const crossMatrix = /*@__PURE__*/ Mat3.create();
174
- const tempMatrix = /*@__PURE__*/ Mat3.create();
175
- const totalInverseMassMatrix = /*@__PURE__*/ Mat3.create();
176
- const pointVelocityA = /*@__PURE__*/ Vec3.create();
177
- const pointVelocityB = /*@__PURE__*/ Vec3.create();
178
- const separation = /*@__PURE__*/ Vec3.create();
179
- const lambda = /*@__PURE__*/ Vec3.create();
package/src/constraints/components/RotationEulerComponent.ts DELETED
@@ -1,139 +0,0 @@
1
- import {
2
- createClass,
3
- LazyReferenceType,
4
- MonomorphType,
5
- PropertyDefinitionMap,
6
- PropertyDefinitionReference,
7
- } from "monomorph";
8
- import { ConstraintOptions } from "../ConstraintOptions";
9
- import { Mat3 } from "../../math/mat3";
10
- import { Vec3 } from "../../math/vec3";
11
- import { Body, BodyType } from "../../physics/Body";
12
- import type { World } from "../../world";
13
- import { Quat } from "../../math/quat";
14
-
15
- const rotationEulerComponentProps = {
16
- bodyA: LazyReferenceType((() => Body) as () => never) as PropertyDefinitionReference<Body | null, true>,
17
- bodyB: LazyReferenceType((() => Body) as () => never) as PropertyDefinitionReference<Body | null, true>,
18
- options: MonomorphType(ConstraintOptions, {
19
- positionBaumgarte: 0.8,
20
- velocityBaumgarte: 1.0,
21
- strength: 1.0,
22
- }),
23
- mInvI1: MonomorphType(Mat3, undefined, true),
24
- mInvI2: MonomorphType(Mat3, undefined, true),
25
- effectiveMassRotationComponent: MonomorphType(Mat3, undefined, true),
26
- totalLambdaRotationComponent: MonomorphType(Vec3, undefined, true),
27
- } as const satisfies PropertyDefinitionMap;
28
-
29
- export class RotationEulerComponent extends createClass<RotationEulerComponent, typeof rotationEulerComponentProps>(
30
- rotationEulerComponentProps
31
- ) {
32
- declare world: World;
33
-
34
- deactivate(): void {
35
- this.effectiveMassRotationComponent.zero();
36
- this.totalLambdaRotationComponent.zero();
37
- }
38
-
39
- isActive(): boolean {
40
- return !this.effectiveMassRotationComponent.isExactlyZero();
41
- }
42
-
43
- applyDirectImpulse(impulse: Vec3): void {
44
- if (impulse.isExactlyZero()) {
45
- return;
46
- }
47
-
48
- const bodyA = this.bodyA!;
49
- const bodyB = this.bodyB!;
50
-
51
- if (bodyA.type === BodyType.dynamic) {
52
- bodyA.angularVelocity.subRotatedVector(impulse, this.mInvI1);
53
- }
54
-
55
- if (bodyB.type === BodyType.dynamic) {
56
- bodyB.angularVelocity.addRotatedVector(impulse, this.mInvI2);
57
- }
58
- }
59
-
60
- setup(): void {
61
- const bodyA = this.bodyA!;
62
- const bodyB = this.bodyB!;
63
-
64
- if (bodyA.type === BodyType.dynamic) {
65
- bodyA.computeInverseInertiaTensor(this.mInvI1);
66
- } else {
67
- this.mInvI1.zero();
68
- }
69
-
70
- if (bodyB.type === BodyType.dynamic) {
71
- bodyB.computeInverseInertiaTensor(this.mInvI2);
72
- } else {
73
- this.mInvI2.zero();
74
- }
75
-
76
- this.effectiveMassRotationComponent.addMatrices(this.mInvI1, this.mInvI2);
77
- const isValid = this.effectiveMassRotationComponent.invertMat3(this.effectiveMassRotationComponent);
78
- if (isValid === null) {
79
- this.deactivate();
80
- }
81
- this.effectiveMassRotationComponent.multiplyByScalar(this.options.strength);
82
- }
83
-
84
- warmStart(warmStartImpulseRatio: number): void {
85
- this.totalLambdaRotationComponent.scale(warmStartImpulseRatio);
86
- this.applyDirectImpulse(this.totalLambdaRotationComponent);
87
- }
88
-
89
- solveVelocity(): void {
90
- const bodyA = this.bodyA!;
91
- const bodyB = this.bodyB!;
92
-
93
- // compute the partial lambda for current velocity
94
- lambda.subtractVectors(bodyA!.angularVelocity, bodyB!.angularVelocity);
95
- lambda.scale(this.options.velocityBaumgarte);
96
- lambda.transformVectorFromMat3(lambda, this.effectiveMassRotationComponent);
97
-
98
- this.totalLambdaRotationComponent.addVector(lambda);
99
- this.applyDirectImpulse(lambda);
100
- }
101
-
102
- solvePosition(inverseInitialRotationAToB: Quat): void {
103
- const bodyA = this.bodyA!;
104
- const bodyB = this.bodyB!;
105
-
106
- inverseRotationA.conjugateQuat(bodyA.orientation);
107
-
108
- quaternionError.multiplyQuats(bodyB.orientation, inverseInitialRotationAToB);
109
- quaternionError.multiplyQuats(quaternionError, inverseRotationA);
110
-
111
- // TODO: this only works if error is small, handle large errors
112
- quaternionError.intoEuler(eulerError);
113
-
114
- if (eulerError.isNearZero(1e-18)) {
115
- return;
116
- }
117
-
118
- lambda.scaleVector(eulerError, -this.options.positionBaumgarte);
119
- lambda.transformVectorFromMat3(lambda, this.effectiveMassRotationComponent);
120
-
121
- if (bodyA.type === BodyType.dynamic) {
122
- angularImpulse.transformVectorFromMat3(lambda, this.mInvI1);
123
- angularImpulse.scaleVector(angularImpulse, 1);
124
- bodyA.subRotationDelta(angularImpulse);
125
- }
126
-
127
- if (bodyB.type === BodyType.dynamic) {
128
- angularImpulse.transformVectorFromMat3(lambda, this.mInvI2);
129
- angularImpulse.scaleVector(angularImpulse, 1);
130
- bodyB.addRotationDelta(angularImpulse);
131
- }
132
- }
133
- }
134
-
135
- const lambda = /*@__PURE__*/ Vec3.create();
136
- const quaternionError = /*@__PURE__*/ Quat.create();
137
- const inverseRotationA = /*@__PURE__*/ Quat.create();
138
- const eulerError = /*@__PURE__*/ Vec3.create();
139
- const angularImpulse = /*@__PURE__*/ Vec3.create();
package/src/constraints/components/Spring.ts DELETED
@@ -1,30 +0,0 @@
1
- import { createClass, NumberType, PropertyDefinitionMap } from "monomorph";
2
-
3
- export const enum SpringMode {
4
- UseFrequency,
5
- UseStiffness,
6
- }
7
-
8
- const springProps = {
9
- mode: NumberType(SpringMode.UseFrequency),
10
- damping: NumberType(0),
11
- frequency: NumberType(0),
12
- stiffness: NumberType(0),
13
- } as const satisfies PropertyDefinitionMap;
14
-
15
- export class Spring extends createClass<Spring, typeof springProps>(springProps) {
16
- reset(): void {
17
- this.mode = SpringMode.UseFrequency;
18
- this.frequency = 0;
19
- this.damping = 0;
20
- this.stiffness = 0;
21
- }
22
-
23
- hasStiffness(): boolean {
24
- return this.frequency > 0;
25
- }
26
-
27
- isValid(): boolean {
28
- return this.frequency >= 0 && this.damping >= 0 && this.stiffness >= 0;
29
- }
30
- }
package/src/constraints/components/SpringComponent.ts DELETED
@@ -1,71 +0,0 @@
1
- import { createClass, NumberType, PropertyDefinitionMap } from "monomorph";
2
- import { squared } from "../../math/scalar";
3
-
4
- const springComponentProps = {
5
- bias: NumberType(0),
6
- softness: NumberType(0),
7
- } as const satisfies PropertyDefinitionMap;
8
-
9
- export class SpringComponent extends createClass<SpringComponent, typeof springComponentProps>(springComponentProps) {
10
- getBias(lambda: number): number {
11
- return this.softness * lambda + this.bias;
12
- }
13
-
14
- isActive(): boolean {
15
- return this.softness !== 0;
16
- }
17
-
18
- setupSpringProperties(
19
- deltaTime: number,
20
- inverseEffectiveMass: number,
21
- bias: number,
22
- constraint: number,
23
- stiffness: number,
24
- damping: number
25
- ): number {
26
- this.softness = 1 / (deltaTime * (damping * deltaTime * stiffness));
27
- this.bias = bias + deltaTime * stiffness * this.softness * constraint;
28
- return 1 / (inverseEffectiveMass + this.softness);
29
- }
30
-
31
- setupSpringPropertiesWithBias(bias: number): void {
32
- this.bias = bias;
33
- this.softness = 0;
34
- }
35
-
36
- setupWithFrequency(
37
- deltaTime: number,
38
- inverseEffectiveMass: number,
39
- bias: number,
40
- constraint: number,
41
- frequency: number,
42
- damping: number
43
- ): number {
44
- const effectiveMass = 1 / inverseEffectiveMass;
45
- if (frequency > 0) {
46
- const omega = 2 * Math.PI * frequency;
47
- const k = effectiveMass * squared(omega);
48
- const c = 2 * effectiveMass * damping * omega;
49
- return this.setupSpringProperties(deltaTime, inverseEffectiveMass, bias, constraint, k, c);
50
- } else {
51
- this.setupSpringPropertiesWithBias(bias);
52
- return effectiveMass;
53
- }
54
- }
55
-
56
- setupWithStiffness(
57
- deltaTime: number,
58
- inverseEffectiveMass: number,
59
- bias: number,
60
- constraint: number,
61
- stiffness: number,
62
- damping: number
63
- ): number {
64
- if (stiffness > 0) {
65
- return this.setupSpringProperties(deltaTime, inverseEffectiveMass, bias, constraint, stiffness, damping);
66
- } else {
67
- this.setupSpringPropertiesWithBias(bias);
68
- return 1 / inverseEffectiveMass;
69
- }
70
- }
71
- }
package/src/constraints/types.ts DELETED
@@ -1,6 +0,0 @@
1
- import { DistanceConstraint } from "./DistanceConstraint";
2
- import { FixedConstraint } from "./FixedConstraint";
3
- import { HingeConstraint } from "./HingeConstraint";
4
- import { PointConstraint } from "./PointConstraint";
5
-
6
- export type Constraint = PointConstraint | DistanceConstraint | FixedConstraint | HingeConstraint;
package/src/helpers.ts DELETED
@@ -1,147 +0,0 @@
1
- import { Monomorph, MonomorphInstance, PoolClass, PropertyDefinitionMap } from "monomorph";
2
-
3
- export function assert(condition: boolean, message: string) {
4
- if (!condition) {
5
- throw new Error(message);
6
- }
7
- }
8
-
9
- export function destroyAllInstancesInPool<T extends PoolClass<MonomorphInstance<P, I>>, P extends PropertyDefinitionMap = T extends PoolClass<MonomorphInstance<infer iP, infer iI>> ? iP : never, I extends any = T extends PoolClass<MonomorphInstance<infer iP, infer iI>> ? iI : never>(pool: T) {
10
- for (let i = 0; i < pool.array.length; i++) {
11
- const instance = pool.array[i];
12
-
13
- if (!instance) {
14
- continue;
15
- }
16
-
17
- if (instance.isDestroyed()) {
18
- continue;
19
- }
20
-
21
- instance.destroy();
22
- }
23
- }
24
-
25
- export class ArrayPool<T extends { index: number }> {
26
- pool: PoolClass<T>;
27
- array: T[];
28
- _count: number;
29
- _capacity: number;
30
-
31
- constructor(theClass: any, capacity: number) {
32
- this._count = 0;
33
- this._capacity = capacity;
34
- this.pool = new theClass.Pool(capacity);
35
-
36
- // preallocate the pool with instances
37
- for (let i = 0; i < capacity; i++) {
38
- theClass.create(undefined, this.pool);
39
- }
40
- this.array = this.pool.array;
41
- }
42
-
43
- get count() {
44
- return this._count;
45
- }
46
-
47
- get capacity() {
48
- return this._capacity;
49
- }
50
-
51
- create() {
52
- if (this._count >= this.capacity) {
53
- return null;
54
- }
55
- const instance = this.array[this._count];
56
- instance.index = this._count;
57
- this._count++;
58
- return instance;
59
- }
60
-
61
- remove(instance: T) {
62
- // get indices of instances to swap
63
- const index = instance.index;
64
- const lastIndex = this._count - 1;
65
-
66
- if (index === lastIndex) {
67
- // if the instance is the last one, just decrement the count
68
- this._count--;
69
- return;
70
- }
71
-
72
- // swap instances
73
- this.array[index] = this.array[lastIndex];
74
- this.array[lastIndex] = instance;
75
-
76
- // swap their indices
77
- this.array[index].index = index;
78
- this.array[lastIndex].index = lastIndex;
79
-
80
- // decrement the count
81
- this._count--;
82
- }
83
-
84
- clear() {
85
- this._count = 0;
86
- }
87
- }
88
-
89
- export function coerceVec3Argument<S extends any>(obj: S, key: keyof S) {
90
- let value = obj[key] as any;
91
- if (!value) {
92
- return;
93
- }
94
- if (Array.isArray(value)) {
95
- value = { x: value[0], y: value[1], z: value[2] };
96
- }
97
- obj[key] = value;
98
- }
99
-
100
- export function coerceQuatArgument<S extends any>(obj: S, key: keyof S) {
101
- let value = obj[key] as any;
102
- if (!value) {
103
- return;
104
- }
105
- if (Array.isArray(value)) {
106
- if (Array.length === 3) {
107
- let x = value[0] * (180 / Math.PI);
108
- let y = value[1] * (180 / Math.PI);
109
- let z = value[2] * (180 / Math.PI);
110
- let halfToRad = Math.PI / 360;
111
- x *= halfToRad;
112
- z *= halfToRad;
113
- y *= halfToRad;
114
- let sx = Math.sin(x);
115
- let cx = Math.cos(x);
116
- let sy = Math.sin(y);
117
- let cy = Math.cos(y);
118
- let sz = Math.sin(z);
119
- let cz = Math.cos(z);
120
- value = { x: 0, y: 0, z: 0, w: 0 };
121
- value.x = sx * cy * cz + cx * sy * sz;
122
- value.y = cx * sy * cz - sx * cy * sz;
123
- value.z = cx * cy * sz + sx * sy * cz;
124
- value.w = cx * cy * cz - sx * sy * sz;
125
- }
126
- } else if (!("w" in value)) {
127
- let x = value.x * (180 / Math.PI);
128
- let y = value.y * (180 / Math.PI);
129
- let z = value.z * (180 / Math.PI);
130
- let halfToRad = Math.PI / 360;
131
- x *= halfToRad;
132
- z *= halfToRad;
133
- y *= halfToRad;
134
- let sx = Math.sin(x);
135
- let cx = Math.cos(x);
136
- let sy = Math.sin(y);
137
- let cy = Math.cos(y);
138
- let sz = Math.sin(z);
139
- let cz = Math.cos(z);
140
- value = { x: 0, y: 0, z: 0, w: 0 };
141
- value.x = sx * cy * cz + cx * sy * sz;
142
- value.y = cx * sy * cz - sx * cy * sz;
143
- value.z = cx * cy * sz + sx * sy * cz;
144
- value.w = cx * cy * cz - sx * sy * sz;
145
- }
146
- obj[key] = value;
147
- }
package/src/index.ts DELETED
@@ -1,50 +0,0 @@
1
- export { Mat3 } from "./math/mat3";
2
- export { Line } from "./shape/Line";
3
- export { Mat4 } from "./math/mat4";
4
- export { Plane } from "./shape/Plane";
5
- export { type CastRayResult } from "./physics/narrowphase/CollideBodiesModule" ;
6
- export { QueryPrecision } from "./collision/cast/cast";
7
- export { Ray } from "./shape/Ray";
8
- export { baseConstraintProps, ReferenceFrame } from "./constraints/BaseConstraint";
9
- export { type Constraint } from "./constraints/types";
10
- export { ContactManifold } from "./physics/manifold/ContactManifold";
11
- export { FixedConstraint } from "./constraints/FixedConstraint";
12
- export { PointConstraint } from "./constraints/PointConstraint";
13
- export { DistanceConstraint } from "./constraints/DistanceConstraint";
14
- export { HingeConstraint } from "./constraints/HingeConstraint";
15
- export * as CollisionFilter from "./physics/CollisionFilter";
16
- export { AllFlag, NoneFlag } from "./physics/CollisionFilter";
17
- export { Isometry } from "./math/isometry";
18
- export { clamp, squared, degreesToRadians } from "./math/scalar";
19
- export { PolygonConvexSupport, SupportMode, ConvexRadiusObject } from "./shape/Convex";
20
- export { destroyAllInstancesInPool } from "./helpers";
21
- export { NumberValue } from "./math/NumberValue";
22
- export { GjkCastShapeResult, GjkModule } from "./collision/gjk/GjkModule";
23
- export { ColliderType, Body, BodyType } from "./physics/Body";
24
- export { Face } from "./physics/manifold/Face";
25
- export { Capsule } from "./shape/Capsule";
26
- export { default as ConvexHull } from "./shape/ConvexHull";
27
- export { CastCollector, type CastSettings, CastResult } from "./collision/cast/cast";
28
- export { Aabb } from "./shape/Aabb";
29
- export { BvhTree, type BvhTreeOptions, BvhNode } from "./physics/broadphase/BvhTree";
30
- export { BodyPairsModule, BodyPairNode } from "./physics/broadphase/BodyPairsModule";
31
- export { CoefficientFunctionType } from "./physics/solver/ContactConstraintModule";
32
- export {
33
- ActiveEdgeMode,
34
- CollectFacesMode,
35
- BackFaceMode,
36
- type CollisionSettings,
37
- CollisionCollector,
38
- CollisionResult,
39
- } from "./collision/collide/collide";
40
- export { Box } from "./shape/Box";
41
- export { PenetrationDepthModule } from "./collision/gjk/PenetrationDepthModule";
42
- export { CollideShapesModule } from "./collision/CollideShapesModule";
43
- export { ShapeType, type Shape, type ConvexShape } from "./shape/Shape";
44
- export { Quat } from "./math/quat";
45
- export { Vec3 } from "./math/vec3";
46
- export { Sphere } from "./shape/Sphere";
47
- export { World } from "./world";
48
- export { CompoundShape } from "./shape/CompoundShape";
49
- export { BasicTransform } from "./math/BasicTransform";
50
- export { TransformedShape } from "./shape/TransformedShape";
package/src/math/BasicTransform.ts DELETED
@@ -1,19 +0,0 @@
1
- import { createClass, MonomorphType, NumberType, PropertyDefinitionMap } from "monomorph";
2
- import { Quat } from "./quat";
3
- import { Vec3 } from "./vec3";
4
-
5
- const basicTransformProps = {
6
- position: MonomorphType(Vec3),
7
- rotation: MonomorphType(Quat),
8
- scale: NumberType(1.0),
9
- } as const satisfies PropertyDefinitionMap;
10
-
11
- export class BasicTransform extends createClass<BasicTransform, typeof basicTransformProps>(basicTransformProps) {
12
- equals(other: BasicTransform, tolerance: number = 1e-6) {
13
- return (
14
- this.position.equals(other.position, tolerance) &&
15
- this.rotation.equals(other.rotation, tolerance) &&
16
- Math.abs(this.scale - other.scale) < tolerance
17
- );
18
- }
19
- }
package/src/math/NumberValue.ts DELETED
@@ -1,13 +0,0 @@
1
- import { createClass, NumberType, PropertyDefinitionMap } from "monomorph";
2
-
3
- const numberValueProps = {
4
- value: NumberType(0.0),
5
- } as const satisfies PropertyDefinitionMap;
6
-
7
- export class NumberValue extends createClass<NumberValue, typeof numberValueProps>(numberValueProps) {
8
- toObject() {
9
- return {
10
- value: this.value,
11
- };
12
- }
13
- }