@spatial-engine/core 0.0.1

package/dist/lidar-worker.d.cts

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+/**
+ * LiDAR Web Worker
+ *
+ * Handles heavy raycasting (LiDAR sweep logic) off the main thread.
+ *
+ * Protocol
+ * --------
+ * 1. Main thread sends one `LidarInitMessage` to set up shared buffers and
+ *    world bounds.  The worker replies with `{ type: 'ready' }`.
+ *
+ * 2. For each sweep the main thread:
+ *      a. Writes up-to-date object AABB data into `aabbsSab`
+ *         (6 floats per object: minX, minY, minZ, maxX, maxY, maxZ).
+ *      b. Sends a `LidarSweepMessage` with the current `objectCount`.
+ *
+ * 3. The worker reads the transforms, inserts/updates objects in its local
+ *    Octree, casts every ray from `raysSab`, and writes results to
+ *    `resultsSab` (2 floats per ray: objectIndex, t; –1/–1 for a miss).
+ *    It then replies with `{ type: 'done', rayCount }`.
+ *
+ * SharedArrayBuffer layout
+ * ------------------------
+ * aabbsSab  : Float32Array – objectCapacity × AABB_STRIDE (6) floats
+ * nodesSab  : Float32Array – nodeCapacity   × NODE_STRIDE      floats
+ * raysSab   : Float32Array – rayCount       × RAY_STRIDE (6)   floats
+ * resultsSab: Float32Array – rayCount       × 2                floats
+ *               [objectIndex (float), t (float)] per ray
+ */
+/** Sent once from the main thread to initialise the shared buffers. */
+interface LidarInitMessage {
+    type: 'init';
+    /** SharedArrayBuffer for AABB data (objectCapacity × 6 floats). Written by the main thread. */
+    aabbsSab: SharedArrayBuffer;
+    /** SharedArrayBuffer for Octree node data (nodeCapacity × NODE_STRIDE floats). Managed by the worker. */
+    nodesSab: SharedArrayBuffer;
+    /** SharedArrayBuffer for ray data (rayCount × 6 floats). Written by the main thread (or set once). */
+    raysSab: SharedArrayBuffer;
+    /** SharedArrayBuffer for raycast results (rayCount × 2 floats). Written by the worker. */
+    resultsSab: SharedArrayBuffer;
+    /** Maximum number of objects the AABBPool can hold. */
+    objectCapacity: number;
+    /** Maximum number of Octree nodes the NodePool can hold. */
+    nodeCapacity: number;
+    /** Number of rays in the LiDAR sweep. */
+    rayCount: number;
+    /** World-space bounds for the root octree node. */
+    worldMinX: number;
+    worldMinY: number;
+    worldMinZ: number;
+    worldMaxX: number;
+    worldMaxY: number;
+    worldMaxZ: number;
+}
+/** Sent each frame to trigger a LiDAR sweep. */
+interface LidarSweepMessage {
+    type: 'sweep';
+    /** Number of active objects whose AABB data has been written to `aabbsSab`. */
+    objectCount: number;
+}
+type LidarWorkerInMessage = LidarInitMessage | LidarSweepMessage;
+/** Posted by the worker after initialisation succeeds. */
+interface LidarReadyMessage {
+    type: 'ready';
+}
+/** Posted by the worker after a sweep finishes. */
+interface LidarDoneMessage {
+    type: 'done';
+    /** Number of rays that were cast (equals the `rayCount` given in `init`). */
+    rayCount: number;
+}
+type LidarWorkerOutMessage = LidarReadyMessage | LidarDoneMessage;
+/**
+ * Stateful LiDAR sweep processor.
+ *
+ * Exported for direct use in tests and advanced integrations.  The bottom of
+ * this module wires it to the Web Worker global scope automatically when the
+ * script runs inside a worker.
+ */
+declare function createLidarProcessor(): {
+    init(msg: LidarInitMessage): LidarReadyMessage;
+    sweep(msg: LidarSweepMessage): LidarDoneMessage;
+};
+
+export { type LidarDoneMessage, type LidarInitMessage, type LidarReadyMessage, type LidarSweepMessage, type LidarWorkerInMessage, type LidarWorkerOutMessage, createLidarProcessor };

package/dist/lidar-worker.d.ts

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+/**
+ * LiDAR Web Worker
+ *
+ * Handles heavy raycasting (LiDAR sweep logic) off the main thread.
+ *
+ * Protocol
+ * --------
+ * 1. Main thread sends one `LidarInitMessage` to set up shared buffers and
+ *    world bounds.  The worker replies with `{ type: 'ready' }`.
+ *
+ * 2. For each sweep the main thread:
+ *      a. Writes up-to-date object AABB data into `aabbsSab`
+ *         (6 floats per object: minX, minY, minZ, maxX, maxY, maxZ).
+ *      b. Sends a `LidarSweepMessage` with the current `objectCount`.
+ *
+ * 3. The worker reads the transforms, inserts/updates objects in its local
+ *    Octree, casts every ray from `raysSab`, and writes results to
+ *    `resultsSab` (2 floats per ray: objectIndex, t; –1/–1 for a miss).
+ *    It then replies with `{ type: 'done', rayCount }`.
+ *
+ * SharedArrayBuffer layout
+ * ------------------------
+ * aabbsSab  : Float32Array – objectCapacity × AABB_STRIDE (6) floats
+ * nodesSab  : Float32Array – nodeCapacity   × NODE_STRIDE      floats
+ * raysSab   : Float32Array – rayCount       × RAY_STRIDE (6)   floats
+ * resultsSab: Float32Array – rayCount       × 2                floats
+ *               [objectIndex (float), t (float)] per ray
+ */
+/** Sent once from the main thread to initialise the shared buffers. */
+interface LidarInitMessage {
+    type: 'init';
+    /** SharedArrayBuffer for AABB data (objectCapacity × 6 floats). Written by the main thread. */
+    aabbsSab: SharedArrayBuffer;
+    /** SharedArrayBuffer for Octree node data (nodeCapacity × NODE_STRIDE floats). Managed by the worker. */
+    nodesSab: SharedArrayBuffer;
+    /** SharedArrayBuffer for ray data (rayCount × 6 floats). Written by the main thread (or set once). */
+    raysSab: SharedArrayBuffer;
+    /** SharedArrayBuffer for raycast results (rayCount × 2 floats). Written by the worker. */
+    resultsSab: SharedArrayBuffer;
+    /** Maximum number of objects the AABBPool can hold. */
+    objectCapacity: number;
+    /** Maximum number of Octree nodes the NodePool can hold. */
+    nodeCapacity: number;
+    /** Number of rays in the LiDAR sweep. */
+    rayCount: number;
+    /** World-space bounds for the root octree node. */
+    worldMinX: number;
+    worldMinY: number;
+    worldMinZ: number;
+    worldMaxX: number;
+    worldMaxY: number;
+    worldMaxZ: number;
+}
+/** Sent each frame to trigger a LiDAR sweep. */
+interface LidarSweepMessage {
+    type: 'sweep';
+    /** Number of active objects whose AABB data has been written to `aabbsSab`. */
+    objectCount: number;
+}
+type LidarWorkerInMessage = LidarInitMessage | LidarSweepMessage;
+/** Posted by the worker after initialisation succeeds. */
+interface LidarReadyMessage {
+    type: 'ready';
+}
+/** Posted by the worker after a sweep finishes. */
+interface LidarDoneMessage {
+    type: 'done';
+    /** Number of rays that were cast (equals the `rayCount` given in `init`). */
+    rayCount: number;
+}
+type LidarWorkerOutMessage = LidarReadyMessage | LidarDoneMessage;
+/**
+ * Stateful LiDAR sweep processor.
+ *
+ * Exported for direct use in tests and advanced integrations.  The bottom of
+ * this module wires it to the Web Worker global scope automatically when the
+ * script runs inside a worker.
+ */
+declare function createLidarProcessor(): {
+    init(msg: LidarInitMessage): LidarReadyMessage;
+    sweep(msg: LidarSweepMessage): LidarDoneMessage;
+};
+
+export { type LidarDoneMessage, type LidarInitMessage, type LidarReadyMessage, type LidarSweepMessage, type LidarWorkerInMessage, type LidarWorkerOutMessage, createLidarProcessor };

package/dist/lidar-worker.js

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+import {
+  createLidarProcessor
+} from "./chunk-JF4RVZK3.js";
+export {
+  createLidarProcessor
+};
+//# sourceMappingURL=lidar-worker.js.map

package/dist/lidar-worker.js.map

@@ -0,0 +1 @@
+{"version":3,"sources":[],"sourcesContent":[],"mappings":"","names":[]}

package/package.json

@@ -0,0 +1,49 @@
+{
+  "name": "@spatial-engine/core",
+  "version": "0.0.1",
+  "description": "High-performance spatial partitioning and query library using Data-Oriented Design",
+  "author": "Francisco Rueda Esquivel",
+  "license": "MIT",
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/franruedaesq/spatial-engine.git",
+    "directory": "packages/core"
+  },
+  "keywords": [
+    "octree",
+    "spatial",
+    "aabb",
+    "raycast",
+    "lidar",
+    "data-oriented-design",
+    "float32array",
+    "3d",
+    "webworker",
+    "sharedarraybuffer",
+    "zero-gc"
+  ],
+  "type": "module",
+  "main": "./dist/index.cjs",
+  "module": "./dist/index.js",
+  "types": "./dist/index.d.ts",
+  "exports": {
+    ".": {
+      "types": "./dist/index.d.ts",
+      "import": "./dist/index.js",
+      "require": "./dist/index.cjs"
+    },
+    "./lidar-worker": {
+      "types": "./dist/lidar-worker.d.ts",
+      "import": "./dist/lidar-worker.js",
+      "require": "./dist/lidar-worker.cjs"
+    }
+  },
+  "files": [
+    "dist"
+  ],
+  "devDependencies": {},
+  "scripts": {
+    "build": "tsup",
+    "typecheck": "tsc --noEmit"
+  }
+}