@perplexdotgg/bounce 1.0.0

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Files changed (140) hide show
  1. package/LICENSE +21 -0
  2. package/README.md +30 -0
  3. package/package.json +32 -0
  4. package/src/builders/ConvexHullBuilder.ts +437 -0
  5. package/src/builders/ConvexHullBuilder2d.ts +344 -0
  6. package/src/builders/ConvexHullBuilder3d.ts +1689 -0
  7. package/src/builders/HeightMapBuilder.ts +414 -0
  8. package/src/builders/TriangleMeshBuilder.ts +92 -0
  9. package/src/collision/CastShapesModule.ts +184 -0
  10. package/src/collision/CollideShapesModule.ts +152 -0
  11. package/src/collision/HeightMapCaster.ts +38 -0
  12. package/src/collision/HeightMapCollider.ts +33 -0
  13. package/src/collision/TriangleCaster.ts +249 -0
  14. package/src/collision/TriangleCollider.ts +308 -0
  15. package/src/collision/TriangleCollider2.ts +379 -0
  16. package/src/collision/activeEdge.ts +146 -0
  17. package/src/collision/cast/cast.ts +139 -0
  18. package/src/collision/cast/castCompoundVsCompound.ts +59 -0
  19. package/src/collision/cast/castCompoundVsConvex.ts +116 -0
  20. package/src/collision/cast/castConvexVsCompound.ts +123 -0
  21. package/src/collision/cast/castConvexVsConvex.ts +213 -0
  22. package/src/collision/cast/castConvexVsHeightMap.ts +73 -0
  23. package/src/collision/cast/castConvexVsTriangleMesh.ts +56 -0
  24. package/src/collision/cast/castRayVsCompound.ts +44 -0
  25. package/src/collision/cast/castRayVsConvex.ts +45 -0
  26. package/src/collision/cast/castRayVsHeightMap.ts +58 -0
  27. package/src/collision/cast/castRayVsTriangleMesh.ts +58 -0
  28. package/src/collision/closestPoints/closestPoints.ts +23 -0
  29. package/src/collision/closestPoints/computeBarycentricCoordinates2d.ts +32 -0
  30. package/src/collision/closestPoints/computeBarycentricCoordinates3d.ts +81 -0
  31. package/src/collision/closestPoints/computeClosestPointOnLine.ts +30 -0
  32. package/src/collision/closestPoints/computeClosestPointOnTetrahedron.ts +96 -0
  33. package/src/collision/closestPoints/computeClosestPointOnTriangle.ts +195 -0
  34. package/src/collision/closestPoints/isOriginOutsideOfPlane.ts +25 -0
  35. package/src/collision/closestPoints/isOriginOutsideOfTrianglePlanes.ts +72 -0
  36. package/src/collision/collide/collide.ts +146 -0
  37. package/src/collision/collide/collideCompoundVsCompound.ts +60 -0
  38. package/src/collision/collide/collideCompoundVsConvex.ts +59 -0
  39. package/src/collision/collide/collideCompoundVsHeightMap.ts +73 -0
  40. package/src/collision/collide/collideCompoundVsTriangleMesh.ts +56 -0
  41. package/src/collision/collide/collideConvexVsCompound.ts +57 -0
  42. package/src/collision/collide/collideConvexVsConvex.ts +225 -0
  43. package/src/collision/collide/collideConvexVsConvexImp.ts +236 -0
  44. package/src/collision/collide/collideConvexVsHeightMap.ts +53 -0
  45. package/src/collision/collide/collideConvexVsTriangleMesh.ts +58 -0
  46. package/src/collision/collide/collideHeightMapVsCompound.ts +69 -0
  47. package/src/collision/collide/collideHeightMapVsConvex.ts +53 -0
  48. package/src/collision/collide/collideSphereVsSphere.ts +81 -0
  49. package/src/collision/collide/collideTriangleMeshVsCompound.ts +58 -0
  50. package/src/collision/collide/collideTriangleMeshVsConvex.ts +58 -0
  51. package/src/collision/epa/EpaConvexHullBuilder.ts +397 -0
  52. package/src/collision/epa/StaticArray.ts +154 -0
  53. package/src/collision/epa/TriangleFactory.ts +32 -0
  54. package/src/collision/epa/arrays.ts +99 -0
  55. package/src/collision/epa/binaryHeap.ts +82 -0
  56. package/src/collision/epa/structs.ts +227 -0
  57. package/src/collision/gjk/GjkModule.ts +864 -0
  58. package/src/collision/gjk/PenetrationDepthModule.ts +493 -0
  59. package/src/collision/gjk/SupportPoints.ts +50 -0
  60. package/src/collision/imp/MinkowskiDifference.ts +36 -0
  61. package/src/collision/imp/computeExploredDistanceLowerUpperBound.ts +40 -0
  62. package/src/collision/imp/finalizeImpResult.ts +69 -0
  63. package/src/collision/imp/findContactImp.ts +196 -0
  64. package/src/collision/imp/imp.ts +28 -0
  65. package/src/collision/imp/incrementalMinimumDistanceExploreDirection.ts +207 -0
  66. package/src/collision/mpr/findPortal.ts +152 -0
  67. package/src/collision/mpr/mpr.ts +29 -0
  68. package/src/collision/mpr/updatePortal.ts +52 -0
  69. package/src/constraints/BaseConstraint.ts +50 -0
  70. package/src/constraints/ConstraintOptions.ts +22 -0
  71. package/src/constraints/ConstraintSolver.ts +119 -0
  72. package/src/constraints/DistanceConstraint.ts +229 -0
  73. package/src/constraints/FixedConstraint.ts +203 -0
  74. package/src/constraints/HingeConstraint.ts +460 -0
  75. package/src/constraints/PointConstraint.ts +108 -0
  76. package/src/constraints/components/AngleComponent.ts +226 -0
  77. package/src/constraints/components/AxisComponent.ts +263 -0
  78. package/src/constraints/components/HingeComponent.ts +215 -0
  79. package/src/constraints/components/Motor.ts +36 -0
  80. package/src/constraints/components/PointConstraintComponent.ts +179 -0
  81. package/src/constraints/components/RotationEulerComponent.ts +139 -0
  82. package/src/constraints/components/Spring.ts +30 -0
  83. package/src/constraints/components/SpringComponent.ts +71 -0
  84. package/src/constraints/types.ts +6 -0
  85. package/src/helpers.ts +147 -0
  86. package/src/index.ts +50 -0
  87. package/src/math/BasicTransform.ts +19 -0
  88. package/src/math/NumberValue.ts +13 -0
  89. package/src/math/isometry.ts +64 -0
  90. package/src/math/mat3.ts +529 -0
  91. package/src/math/mat4.ts +588 -0
  92. package/src/math/quat.ts +193 -0
  93. package/src/math/scalar.ts +81 -0
  94. package/src/math/tensor.ts +17 -0
  95. package/src/math/vec3.ts +589 -0
  96. package/src/math/vec4.ts +10 -0
  97. package/src/physics/Body.ts +581 -0
  98. package/src/physics/CollisionFilter.ts +52 -0
  99. package/src/physics/SleepModule.ts +163 -0
  100. package/src/physics/broadphase/BodyPairsModule.ts +363 -0
  101. package/src/physics/broadphase/BvhModule.ts +237 -0
  102. package/src/physics/broadphase/BvhTree.ts +803 -0
  103. package/src/physics/broadphase/ConstraintPairsModule.ts +385 -0
  104. package/src/physics/broadphase/TriangleMeshBvhTree.ts +379 -0
  105. package/src/physics/manifold/ContactManifold.ts +227 -0
  106. package/src/physics/manifold/ContactManifoldModule.ts +623 -0
  107. package/src/physics/manifold/Face.ts +119 -0
  108. package/src/physics/manifold/ManifoldCache.ts +116 -0
  109. package/src/physics/manifold/clipping/clipPolyVsEdge.ts +131 -0
  110. package/src/physics/manifold/clipping/clipPolyVsPlane.ts +73 -0
  111. package/src/physics/manifold/clipping/clipPolyVsPoly.ts +72 -0
  112. package/src/physics/narrowphase/CollideBodiesModule.ts +755 -0
  113. package/src/physics/solver/ContactConstraintModule.ts +659 -0
  114. package/src/physics/solver/ManifoldConstraint.ts +420 -0
  115. package/src/physics/solver/estimateCollisionResponse.ts +146 -0
  116. package/src/shape/Aabb.ts +400 -0
  117. package/src/shape/Box.ts +231 -0
  118. package/src/shape/Capsule.ts +332 -0
  119. package/src/shape/CompoundShape.ts +288 -0
  120. package/src/shape/Convex.ts +130 -0
  121. package/src/shape/ConvexHull.ts +423 -0
  122. package/src/shape/Cylinder.ts +313 -0
  123. package/src/shape/HeightMap.ts +511 -0
  124. package/src/shape/Line.ts +14 -0
  125. package/src/shape/Plane.ts +116 -0
  126. package/src/shape/Ray.ts +81 -0
  127. package/src/shape/Segment.ts +25 -0
  128. package/src/shape/Shape.ts +77 -0
  129. package/src/shape/Sphere.ts +181 -0
  130. package/src/shape/TransformedShape.ts +51 -0
  131. package/src/shape/Triangle.ts +122 -0
  132. package/src/shape/TriangleMesh.ts +186 -0
  133. package/src/types.ts +1 -0
  134. package/src/world.ts +1335 -0
  135. package/tests/BodyPairsModule.test.ts +71 -0
  136. package/tests/BvhTree.test.ts +406 -0
  137. package/tests/test.md +642 -0
  138. package/tests/vec3.test.ts +12 -0
  139. package/tsconfig.json +20 -0
  140. package/vite.config.js +40 -0
package/src/physics/broadphase/ConstraintPairsModule.ts ADDED
@@ -0,0 +1,385 @@
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
+ }