@thi.ng/timestep 0.1.0

package/CHANGELOG.md

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+# Change Log
+
+- **Last updated**: 2023-04-19T09:28:07Z
+- **Generator**: [thi.ng/monopub](https://thi.ng/monopub)
+
+All notable changes to this project will be documented in this file.
+See [Conventional Commits](https://conventionalcommits.org/) for commit guidelines.
+
+**Note:** Unlisted _patch_ versions only involve non-code or otherwise excluded changes
+and/or version bumps of transitive dependencies.
+
+## [0.1.0](https://github.com/thi-ng/umbrella/tree/@thi.ng/timestep@0.1.0) (2023-04-19)
+
+#### 🚀 Features
+
+- import as new package ([1398282](https://github.com/thi-ng/umbrella/commit/1398282))
+- add start time and time scale opts ([1cdc3d3](https://github.com/thi-ng/umbrella/commit/1cdc3d3))
+- update IUpdatable/AState to receive context arg ([1249283](https://github.com/thi-ng/umbrella/commit/1249283))

package/LICENSE

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package/README.md

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+<!-- This file is generated - DO NOT EDIT! -->
+
+# ![@thi.ng/timestep](https://media.thi.ng/umbrella/banners-20220914/thing-timestep.svg?6570552f)
+
+[![npm version](https://img.shields.io/npm/v/@thi.ng/timestep.svg)](https://www.npmjs.com/package/@thi.ng/timestep)
+![npm downloads](https://img.shields.io/npm/dm/@thi.ng/timestep.svg)
+[![Mastodon Follow](https://img.shields.io/mastodon/follow/109331703950160316?domain=https%3A%2F%2Fmastodon.thi.ng&style=social)](https://mastodon.thi.ng/@toxi)
+
+This project is part of the
+[@thi.ng/umbrella](https://github.com/thi-ng/umbrella/) monorepo.
+
+- [About](#about)
+  - [Managing fixed timestep updates](#managing-fixed-timestep-updates)
+- [Status](#status)
+- [Installation](#installation)
+- [Dependencies](#dependencies)
+- [API](#api)
+- [Authors](#authors)
+- [License](#license)
+
+## About
+
+Deterministic fixed timestep simulation updates with state interpolation.
+
+For a more thorough description of both the problem and solution(s), please see
+[Glenn Fiedler's article](https://www.gafferongames.com/post/fix_your_timestep/)
+upon which this implementation is principally based on.
+
+### Managing fixed timestep updates
+
+The package provides a configurable [`TimeStep`
+class](https://docs.thi.ng/umbrella/timestep/classes/TimeStep.html) to manage
+the update logic. To participate in these managed updates, the user must provide
+state values/wrappers implementing the [`IUpdatable`
+interface](https://docs.thi.ng/umbrella/timestep/interfaces/IUpdatable.html) for
+the two main phases of the frame update:
+
+- `integrate(dt: number, ctx: ReadonlyTimeStep): void`: Depending on actual
+    elapsed time and the configured timestep, this function might be called
+    several times per update cycle to update the sim to its next desired state
+    to:
+    1. Backup the current state of the sim (at the beginning of that function
+    call). This backup is required for the second phase of the update.
+    2. Update the state to the desired next state using the provided timestep
+    `dt` (`ctx` is only given for information).
+- `interpolate(alpha: number, ctx: ReadonlyTimeStep): void`: In this phase a
+  previously backed up state should be linearly interpolated to the current
+  state using the provided `alpha` tween factor and the result stored separately
+  such that it can be used for subsequent rendering/display purposes.
+
+In other words, this means any updatable state value will require 3 versions:
+previous, current (next), interpolated. **Only the interpolated version is to be
+used for rendering (or other outside purposes).** For that reason, the package
+also provides wrappers for
+[numeric](https://docs.thi.ng/umbrella/timestep/functions/defNumeric.html) and
+[vector-based](https://docs.thi.ng/umbrella/timestep/functions/defVector.html)
+state variables, illustrated in the following short example:
+
+```ts tangle:export/readme.ts
+import { defTimeStep, defNumeric, defVector } from "@thi.ng/timestep";
+
+// initialize with default options (i.e. dt = 1/60 = 60 fps)
+// start time is given in milliseconds but will be converted to seconds
+// see: https://docs.thi.ng/umbrella/timestep/interfaces/TimestepOpts.html
+const sim = defTimeStep({ dt: 1 / 60, startTime: Date.now() });
+
+// define numeric state variable, increase using @ 10 units per second
+const a = defNumeric(0, (x, dt) => x + dt * 10);
+
+// define vector state variable, update using velocity of [-10, 20] (per second)
+// also see thi.ng/vectors for hundreds of useful vector operations to simplify...
+const b = defVector([0, 0], (x, dt) => [x[0] - 10 * dt, x[1] + 20 * dt]);
+
+// even though the sim will update at a fixed (theoretical) 60 fps,
+// the simulated render frame rate here is only 25 fps...
+setInterval(() => {
+    // provide current time and an array of state values to update
+    // (any IUpdatable impl can be given here, incl. custom types)
+    sim.update(Date.now(), [a, b]);
+    // show current frame, num updates, time (relative to start) and interpolated state values
+    console.log(sim.frame, sim.updates, sim.current, a.value, b.value);
+}, 1000 / 25);
+
+// 1   2   0.042 0.253  [ -0.253, 0.506 ]
+// 2   4   0.082 0.663  [ -0.663, 1.326 ]
+// 3   7   0.124 1.073  [ -1.073, 2.146 ]
+// 4   9   0.164 1.483  [ -1.483, 2.966 ]
+// 5   12  0.206 1.893  [ -1.893, 3.786 ]
+// 6   14  0.246 2.293  [ -2.293, 4.586 ]
+// 7   17  0.288 2.713  [ -2.713, 5.426 ]
+// 8   19  0.328 3.123  [ -3.123, 6.246 ]
+// 9   22  0.371 3.543  [ -3.543, 7.086 ]
+// 10  24  0.411 3.953  [ -3.953, 7.906 ]
+// 11  27  0.452 4.353  [ -4.353, 8.706 ]
+// 12  29  0.493 4.773  [ -4.773, 9.546 ]
+// 13  32  0.534 5.173  [ -5.173, 10.346 ]
+// 14  34  0.575 5.593  [ -5.593, 11.186 ]
+// 15  37  0.617 6.003  [ -6.003, 12.006 ]
+// 16  39  0.659 6.423  [ -6.423, 12.846 ]
+// 17  42  0.700 6.833  [ -6.833, 13.666 ]
+// 18  44  0.740 7.233  [ -7.233, 14.466 ]
+// 19  46  0.781 7.643  [ -7.643, 15.286 ]
+// 20  49  0.822 8.053  [ -8.053, 16.106 ]
+// 21  51  0.861 8.453  [ -8.453, 16.906 ]
+// 22  54  0.904 8.873  [ -8.873, 17.746 ]
+// 23  56  0.944 9.283  [ -9.283, 18.566 ]
+// 24  59  0.986 9.703  [ -9.703, 19.406 ]
+// 25  61  1.028 10.113 [ -10.113, 20.226 ]
+// ...
+```
+
+Since the 25 fps render framerate is not a multiple of the 60 fps used by the
+sim, the output shows that for each render frame (1st column), there're either 2
+or 3 sim updates performed (2nd column) to accommodate the 60 fps.
+
+This should then also clarify _why_ state interpolation is the final step of
+each update cycle: When multiple updates are performed in a single frame, the
+sim's state is technically _ahead_ of the render time line and therefore we need
+to compute (interpolate) the correct state between previous and current, then
+use these interpolated values for rendering (in the abstract sense)...
+
+The last row also shows that both `a` and `b` arrive at their expected values
+after 1 second (25 frames)...
+
+## Status
+
+**ALPHA** - bleeding edge / work-in-progress
+
+[Search or submit any issues for this package](https://github.com/thi-ng/umbrella/issues?q=%5Btimestep%5D+in%3Atitle)
+
+## Installation
+
+```bash
+yarn add @thi.ng/timestep
+```
+
+ES module import:
+
+```html
+<script type="module" src="https://cdn.skypack.dev/@thi.ng/timestep"></script>
+```
+
+[Skypack documentation](https://docs.skypack.dev/)
+
+For Node.js REPL:
+
+```js
+const timestep = await import("@thi.ng/timestep");
+```
+
+Package sizes (brotli'd, pre-treeshake): ESM: 518 bytes
+
+## Dependencies
+
+- [@thi.ng/api](https://github.com/thi-ng/umbrella/tree/develop/packages/api)
+- [@thi.ng/math](https://github.com/thi-ng/umbrella/tree/develop/packages/math)
+- [@thi.ng/vectors](https://github.com/thi-ng/umbrella/tree/develop/packages/vectors)
+
+## API
+
+[Generated API docs](https://docs.thi.ng/umbrella/timestep/)
+
+TODO
+
+## Authors
+
+- [Karsten Schmidt](https://thi.ng)
+
+If this project contributes to an academic publication, please cite it as:
+
+```bibtex
+@misc{thing-timestep,
+  title = "@thi.ng/timestep",
+  author = "Karsten Schmidt",
+  note = "https://thi.ng/timestep",
+  year = 2023
+}
+```
+
+## License
+
+&copy; 2023 Karsten Schmidt // Apache License 2.0

package/api.d.ts

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+/**
+ * Interface for participating in the {@link TimeStep.update} logic.
+ */
+export interface IUpdatable {
+    /**
+     * 1st phase of the update cycle and main update function for this
+     * simulation state. Receives timestep (in seconds) and a `ctx` object.
+     *
+     * @remarks
+     * Implementations must perform the following tasks:
+     *
+     * - backup current state (e.g copy to a `previous` field/var)
+     * - compute new state based on current state (using `dt`)
+     * - set current state to newly computed state
+     *
+     * The `ctx` object is only provided for information. Most update logic will
+     * (and should) only require the timestep arg `dt`.
+     *
+     * @param dt
+     * @param ctx
+     */
+    integrate(dt: number, ctx: ReadonlyTimeStep): void;
+    /**
+     * Final stage of the update cycle. The `alpha` arg is the tween factor to
+     * use for interpolating between the backed up `previous` state and the
+     * current state.
+     *
+     * @remarks
+     * The aforementioned `previous` / `current` state values are never to be
+     * used directly. Only the interpolated value(s) computed by this function
+     * should be used for rendering (or other external) purposes.
+     *
+     * @param alpha
+     * @param ctx
+     */
+    interpolate(alpha: number, ctx: ReadonlyTimeStep): void;
+}
+export interface ReadonlyTimeStep {
+    /**
+     * Configured timestep (in seconds)
+     */
+    readonly dt: number;
+    /**
+     * Current time relative to configured start time (in seconds)
+     */
+    readonly current: number;
+    /**
+     * Start time (in seconds)
+     */
+    readonly start: number;
+    /**
+     * Current render frame
+     */
+    readonly frame: number;
+    /**
+     * Number of sim updates performed in total so far
+     */
+    readonly updates: number;
+}
+export interface TimeStepOpts {
+    /**
+     * Timestep (in seconds)
+     *
+     * @defaultValue 1/60
+     */
+    dt: number;
+    /**
+     * Start time (see {@link TimeStepOpts.scale}).
+     *
+     * @defaultValue 0
+     */
+    startTime: number;
+    /**
+     * Max. frame duration (in seconds)
+     *
+     * @defaultValue 1/4
+     */
+    maxFrameTime: number;
+    /**
+     * Scale factor used to convert timestamp values to seconds, i.e. those
+     * timestamps passed via {@link TimeStepOpts.startTime} and those as
+     * argument given to {@link TimeStep.update}. The default assumes these
+     * value are in milliseconds.
+     *
+     * @defaultValue 0.001
+     */
+    scale: number;
+}
+export type StateUpdate<T> = (curr: T, dt: number, ctx: ReadonlyTimeStep) => T;
+export type StateInterpolation<T> = (prev: T, curr: T, alpha: number, ctx: ReadonlyTimeStep) => T;
+//# sourceMappingURL=api.d.ts.map

package/api.js

@@ -0,0 +1 @@
+export {};

package/index.d.ts

@@ -0,0 +1,4 @@
+export * from "./api.js";
+export * from "./state.js";
+export * from "./timestep.js";
+//# sourceMappingURL=index.d.ts.map

package/index.js

@@ -0,0 +1,3 @@
+export * from "./api.js";
+export * from "./state.js";
+export * from "./timestep.js";

package/package.json

@@ -0,0 +1,92 @@
+{
+  "name": "@thi.ng/timestep",
+  "version": "0.1.0",
+  "description": "Deterministic fixed timestep simulation updates with state interpolation",
+  "type": "module",
+  "module": "./index.js",
+  "typings": "./index.d.ts",
+  "sideEffects": false,
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/thi-ng/umbrella.git"
+  },
+  "homepage": "https://github.com/thi-ng/umbrella/tree/develop/packages/timestep#readme",
+  "funding": [
+    {
+      "type": "github",
+      "url": "https://github.com/sponsors/postspectacular"
+    },
+    {
+      "type": "patreon",
+      "url": "https://patreon.com/thing_umbrella"
+    }
+  ],
+  "author": "Karsten Schmidt (https://thi.ng)",
+  "license": "Apache-2.0",
+  "scripts": {
+    "build": "yarn clean && tsc --declaration",
+    "clean": "rimraf --glob '*.js' '*.d.ts' '*.map' doc",
+    "doc": "typedoc --excludePrivate --excludeInternal --out doc src/index.ts",
+    "doc:ae": "mkdir -p .ae/doc .ae/temp && api-extractor run --local --verbose",
+    "doc:readme": "yarn doc:stats && tools:readme",
+    "doc:stats": "tools:module-stats",
+    "pub": "yarn npm publish --access public",
+    "test": "testament test"
+  },
+  "dependencies": {
+    "@thi.ng/api": "^8.8.0",
+    "@thi.ng/math": "^5.4.8",
+    "@thi.ng/vectors": "^7.6.12"
+  },
+  "devDependencies": {
+    "@microsoft/api-extractor": "^7.34.4",
+    "@thi.ng/testament": "^0.3.15",
+    "rimraf": "^4.4.1",
+    "tools": "^0.0.1",
+    "typedoc": "^0.23.28",
+    "typescript": "^5.0.4"
+  },
+  "keywords": [
+    "deterministic",
+    "fractional",
+    "interpolation",
+    "physics",
+    "simulation",
+    "time",
+    "typescript",
+    "vector"
+  ],
+  "publishConfig": {
+    "access": "public"
+  },
+  "browser": {
+    "process": false,
+    "setTimeout": false
+  },
+  "engines": {
+    "node": ">=14"
+  },
+  "files": [
+    "./*.js",
+    "./*.d.ts"
+  ],
+  "exports": {
+    ".": {
+      "default": "./index.js"
+    },
+    "./api": {
+      "default": "./api.js"
+    },
+    "./state": {
+      "default": "./state.js"
+    },
+    "./timestep": {
+      "default": "./timestep.js"
+    }
+  },
+  "thi.ng": {
+    "status": "alpha",
+    "year": 2023
+  },
+  "gitHead": "3a56bc490f1e68754762a503d06327b5b34ff7eb\n"
+}

package/state.d.ts

@@ -0,0 +1,43 @@
+import type { IDeref } from "@thi.ng/api";
+import type { ReadonlyVec } from "@thi.ng/vectors";
+import type { IUpdatable, ReadonlyTimeStep, StateInterpolation, StateUpdate } from "./api.js";
+/**
+ * Abstract base class for simulation state wrappers.
+ *
+ * @remarks
+ * See {@link defNumeric} and {@link defVector}.
+ */
+export declare abstract class AState<T> implements IDeref<T>, IUpdatable {
+    value: T;
+    update: StateUpdate<T>;
+    mix: StateInterpolation<T>;
+    protected prev: T;
+    protected curr: T;
+    constructor(value: T, update: StateUpdate<T>, mix: StateInterpolation<T>);
+    deref(): T;
+    integrate(dt: number, ctx: ReadonlyTimeStep): void;
+    interpolate(alpha: number, ctx: ReadonlyTimeStep): void;
+}
+export declare class NumericState extends AState<number> {
+    constructor(x: number, update: StateUpdate<number>);
+}
+export declare class VectorState extends AState<ReadonlyVec> {
+    constructor(x: ReadonlyVec, update: StateUpdate<ReadonlyVec>);
+}
+/**
+ * Returns a new {@link NumericState} wrapper for given value `x` and its update
+ * function for use with {@link TimeStep.update}.
+ *
+ * @param x
+ * @param update
+ */
+export declare const defNumeric: (x: number, update: StateUpdate<number>) => NumericState;
+/**
+ * Returns a new {@link VectorState} wrapper for given vector `v` and its update
+ * function for use with {@link TimeStep.update}.
+ *
+ * @param x
+ * @param update
+ */
+export declare const defVector: (v: ReadonlyVec, update: StateUpdate<ReadonlyVec>) => VectorState;
+//# sourceMappingURL=state.d.ts.map

package/state.js

@@ -0,0 +1,52 @@
+import { mix } from "@thi.ng/math/mix";
+import { mixN } from "@thi.ng/vectors/mixn";
+/**
+ * Abstract base class for simulation state wrappers.
+ *
+ * @remarks
+ * See {@link defNumeric} and {@link defVector}.
+ */
+export class AState {
+    constructor(value, update, mix) {
+        this.value = value;
+        this.update = update;
+        this.mix = mix;
+        this.prev = this.curr = value;
+    }
+    deref() {
+        return this.value;
+    }
+    integrate(dt, ctx) {
+        this.prev = this.curr;
+        this.curr = this.update(this.curr, dt, ctx);
+    }
+    interpolate(alpha, ctx) {
+        this.value = this.mix(this.prev, this.curr, alpha, ctx);
+    }
+}
+export class NumericState extends AState {
+    constructor(x, update) {
+        super(x, update, mix);
+    }
+}
+export class VectorState extends AState {
+    constructor(x, update) {
+        super(x, update, (a, b, t) => mixN([], a, b, t));
+    }
+}
+/**
+ * Returns a new {@link NumericState} wrapper for given value `x` and its update
+ * function for use with {@link TimeStep.update}.
+ *
+ * @param x
+ * @param update
+ */
+export const defNumeric = (x, update) => new NumericState(x, update);
+/**
+ * Returns a new {@link VectorState} wrapper for given vector `v` and its update
+ * function for use with {@link TimeStep.update}.
+ *
+ * @param x
+ * @param update
+ */
+export const defVector = (v, update) => new VectorState(v, update);

package/timestep.d.ts

@@ -0,0 +1,30 @@
+import type { IUpdatable, TimeStepOpts } from "./api.js";
+export declare class TimeStep {
+    current: number;
+    start: number;
+    dt: number;
+    maxFrameTime: number;
+    scale: number;
+    accumulator: number;
+    frame: number;
+    updates: number;
+    constructor(opts?: Partial<TimeStepOpts>);
+    /**
+     * Updates internal time to given new time `now` (in seconds) and performs
+     * the required number of fixed timesteps to integrate and interpolate the
+     * given `state` values.
+     *
+     * @remarks
+     * If `interpolate` is false, the {@link IUpdatable.interpolate} phase of
+     * the update cycle is skipped. This is useful when using this setup to
+     * simulate sub-steps (e.g. in XPBD) and only requiring the interpolation
+     * stage for the last step.
+     *
+     * @param now
+     * @param items
+     * @param interpolate
+     */
+    update(now: number, items: IUpdatable[], interpolate?: boolean): void;
+}
+export declare const defTimeStep: (opts?: Partial<TimeStepOpts>) => TimeStep;
+//# sourceMappingURL=timestep.d.ts.map

package/timestep.js

@@ -0,0 +1,56 @@
+export class TimeStep {
+    constructor(opts) {
+        this.current = 0;
+        this.accumulator = 0;
+        this.frame = 0;
+        this.updates = 0;
+        const $opts = {
+            dt: 1 / 60,
+            maxFrameTime: 1 / 4,
+            startTime: 0,
+            scale: 1e-3,
+            ...opts,
+        };
+        this.dt = $opts.dt;
+        this.maxFrameTime = $opts.maxFrameTime;
+        this.scale = $opts.scale;
+        this.start = $opts.startTime * this.scale;
+    }
+    /**
+     * Updates internal time to given new time `now` (in seconds) and performs
+     * the required number of fixed timesteps to integrate and interpolate the
+     * given `state` values.
+     *
+     * @remarks
+     * If `interpolate` is false, the {@link IUpdatable.interpolate} phase of
+     * the update cycle is skipped. This is useful when using this setup to
+     * simulate sub-steps (e.g. in XPBD) and only requiring the interpolation
+     * stage for the last step.
+     *
+     * @param now
+     * @param items
+     * @param interpolate
+     */
+    update(now, items, interpolate = true) {
+        now = now * this.scale - this.start;
+        if (this.current < 0)
+            this.current = now;
+        this.accumulator += Math.min(now - this.current, this.maxFrameTime);
+        this.current = now;
+        const n = items.length;
+        const dt = this.dt;
+        while (this.accumulator >= dt) {
+            for (let i = 0; i < n; i++)
+                items[i].integrate(dt, this);
+            this.accumulator -= dt;
+            this.updates++;
+        }
+        if (interpolate) {
+            const alpha = this.accumulator / dt;
+            for (let i = 0; i < n; i++)
+                items[i].interpolate(alpha, this);
+        }
+        this.frame++;
+    }
+}
+export const defTimeStep = (opts) => new TimeStep(opts);