@triforge/physics-core 0.1.0

package/dist/rigidbody/RigidBodyWorld.js

@@ -0,0 +1,319 @@
+import { Vector3, Quaternion } from 'three';
+/**
+ * RigidBody — a single rigid-body object managed by RigidBodyWorld.
+ *
+ * All scalar physics parameters live in `parameters` for GSAP/st-keyframe:
+ *   gsap.to(body.parameters, { restitution: 1, duration: 0.5 })
+ */
+export class RigidBody {
+    constructor(opts = {}) {
+        /** Accumulated force for this step. */
+        this._force = new Vector3();
+        /** Accumulated torque for this step. */
+        this._torque = new Vector3();
+        this.shape = opts.shape ?? 'sphere';
+        const mass = opts.mass ?? 1;
+        let sx, sy, sz;
+        if (Array.isArray(opts.size)) {
+            ;
+            [sx, sy, sz] = opts.size;
+        }
+        else {
+            sx = sy = sz = opts.size ?? 0.5;
+        }
+        this.parameters = {
+            mass: mass,
+            linearDamping: opts.linearDamping ?? 0.01,
+            angularDamping: opts.angularDamping ?? 0.05,
+            restitution: opts.restitution ?? 0.3,
+            sizeX: sx,
+            sizeY: sy,
+            sizeZ: sz,
+            halfHeight: opts.halfHeight ?? 1.0,
+        };
+        const p = opts.position ?? [0, 0, 0];
+        const v = opts.velocity ?? [0, 0, 0];
+        this.position = new Vector3(p[0], p[1], p[2]);
+        this.velocity = new Vector3(v[0], v[1], v[2]);
+        this.orientation = new Quaternion();
+        this.angularVel = new Vector3();
+        this.isStatic = mass === 0;
+    }
+    /** Apply a force (N) at the body's centre of mass. */
+    applyForce(fx, fy, fz) {
+        if (this.isStatic)
+            return;
+        this._force.x += fx;
+        this._force.y += fy;
+        this._force.z += fz;
+    }
+    /** Apply an instantaneous impulse (kg·m/s). */
+    applyImpulse(ix, iy, iz) {
+        if (this.isStatic)
+            return;
+        const invMass = 1 / Math.max(0.0001, this.parameters.mass);
+        this.velocity.x += ix * invMass;
+        this.velocity.y += iy * invMass;
+        this.velocity.z += iz * invMass;
+    }
+    /** Apply a torque impulse (kg·m²/s). */
+    applyTorqueImpulse(tx, ty, tz) {
+        if (this.isStatic)
+            return;
+        this.angularVel.x += tx;
+        this.angularVel.y += ty;
+        this.angularVel.z += tz;
+    }
+    /** Consume and reset accumulated forces. Returns force vector. */
+    _consumeForce() {
+        const f = this._force.clone();
+        this._force.set(0, 0, 0);
+        return f;
+    }
+    _consumeTorque() {
+        const t = this._torque.clone();
+        this._torque.set(0, 0, 0);
+        return t;
+    }
+    /**
+     * Approximate bounding radius (for broad-phase).
+     */
+    get boundingRadius() {
+        const { sizeX, sizeY, sizeZ, halfHeight } = this.parameters;
+        if (this.shape === 'sphere')
+            return sizeX;
+        if (this.shape === 'capsule')
+            return sizeX + halfHeight;
+        return Math.sqrt(sizeX * sizeX + sizeY * sizeY + sizeZ * sizeZ);
+    }
+}
+/**
+ * RigidBodyWorld — Blender-matched rigid body simulation.
+ * Blender: Rigid Body World (Scene Properties).
+ *
+ * Impulse-based solver with sphere/box/capsule collision shapes.
+ * Supports plane floor, body–body overlap resolution, gravity.
+ *
+ * Usage:
+ * ```typescript
+ * const world = new RigidBodyWorld({ gravity: [0,-9.8,0] })
+ * const ball  = world.createBody({ shape: 'sphere', mass: 1, position: [0,5,0] })
+ * const floor = world.createBody({ shape: 'box', mass: 0, size: [10,0.1,10] })
+ *
+ * // In animation loop:
+ * world.step(dt)
+ * mesh.position.copy(ball.position)
+ * mesh.quaternion.copy(ball.orientation)
+ * ```
+ */
+export class RigidBodyWorld {
+    constructor(opts = {}) {
+        this._bodies = [];
+        this._constraints = [];
+        /** Simulation clock. */
+        this.time = 0;
+        const g = opts.gravity ?? [0, -9.8, 0];
+        this.parameters = {
+            gravityX: g[0],
+            gravityY: g[1],
+            gravityZ: g[2],
+            substeps: opts.substeps ?? 4,
+        };
+    }
+    /**
+     * Create a new rigid body and add it to the world.
+     */
+    createBody(opts = {}) {
+        const body = new RigidBody(opts);
+        this._bodies.push(body);
+        return body;
+    }
+    /**
+     * Remove a body from the world.
+     */
+    removeBody(body) {
+        const i = this._bodies.indexOf(body);
+        if (i !== -1)
+            this._bodies.splice(i, 1);
+    }
+    /** All active bodies. */
+    get bodies() { return this._bodies; }
+    /** Add a constraint to the world. */
+    addConstraint(c) { this._constraints.push(c); }
+    /** Remove a constraint. */
+    removeConstraint(c) {
+        const i = this._constraints.indexOf(c);
+        if (i !== -1)
+            this._constraints.splice(i, 1);
+    }
+    /** All active constraints. */
+    get constraints() { return this._constraints; }
+    /**
+     * Advance the simulation by dt seconds.
+     * Call once per animation frame (dt ≈ 1/60).
+     */
+    step(dt) {
+        this.time += dt;
+        const sub = Math.max(1, Math.round(this.parameters.substeps));
+        const subDt = dt / sub;
+        for (let s = 0; s < sub; s++)
+            this._substep(subDt);
+    }
+    // ── Internal ──────────────────────────────────────────────────────────────
+    _substep(dt) {
+        const gx = this.parameters.gravityX;
+        const gy = this.parameters.gravityY;
+        const gz = this.parameters.gravityZ;
+        // Integrate velocities + positions
+        for (const b of this._bodies) {
+            if (b.isStatic)
+                continue;
+            const invMass = 1 / Math.max(0.0001, b.parameters.mass);
+            const ld = 1 - b.parameters.linearDamping;
+            const ad = 1 - b.parameters.angularDamping;
+            // Gravity + user forces
+            const f = b._consumeForce();
+            b.velocity.x = (b.velocity.x + (gx + f.x * invMass) * dt) * ld;
+            b.velocity.y = (b.velocity.y + (gy + f.y * invMass) * dt) * ld;
+            b.velocity.z = (b.velocity.z + (gz + f.z * invMass) * dt) * ld;
+            // Angular velocity
+            const tq = b._consumeTorque();
+            b.angularVel.x = (b.angularVel.x + tq.x * invMass * dt) * ad;
+            b.angularVel.y = (b.angularVel.y + tq.y * invMass * dt) * ad;
+            b.angularVel.z = (b.angularVel.z + tq.z * invMass * dt) * ad;
+            // Integrate position
+            b.position.x += b.velocity.x * dt;
+            b.position.y += b.velocity.y * dt;
+            b.position.z += b.velocity.z * dt;
+            // Integrate orientation using angular velocity
+            if (b.angularVel.lengthSq() > 1e-10) {
+                const angle = b.angularVel.length() * dt;
+                const axis = b.angularVel.clone().normalize();
+                const dq = new Quaternion().setFromAxisAngle(axis, angle);
+                b.orientation.premultiply(dq).normalize();
+            }
+        }
+        // Collision resolution (narrow phase)
+        this._resolveCollisions();
+        // Constraint solving
+        for (const c of this._constraints)
+            c.solve();
+    }
+    _resolveCollisions() {
+        // Body–body collisions (O(n²) broad+narrow phase)
+        for (let i = 0; i < this._bodies.length; i++) {
+            for (let j = i + 1; j < this._bodies.length; j++) {
+                this._resolveBodyPair(this._bodies[i], this._bodies[j]);
+            }
+        }
+    }
+    _resolveBodyPair(a, b) {
+        if (a.isStatic && b.isStatic)
+            return;
+        const dx = b.position.x - a.position.x;
+        const dy = b.position.y - a.position.y;
+        const dz = b.position.z - a.position.z;
+        const dist = Math.sqrt(dx * dx + dy * dy + dz * dz);
+        // Approximate collision using bounding spheres first
+        const sumR = a.boundingRadius + b.boundingRadius;
+        if (dist >= sumR)
+            return;
+        // Narrow phase by shape pair
+        const pen = this._penetrationDepth(a, b, dist);
+        if (pen <= 0)
+            return;
+        const nx = dist > 1e-8 ? dx / dist : 0;
+        const ny = dist > 1e-8 ? dy / dist : 1;
+        const nz = dist > 1e-8 ? dz / dist : 0;
+        // Positional correction
+        const totalMass = (a.isStatic ? 0 : a.parameters.mass) + (b.isStatic ? 0 : b.parameters.mass);
+        if (totalMass <= 0)
+            return;
+        const wa = a.isStatic ? 0 : b.parameters.mass / totalMass;
+        const wb = b.isStatic ? 0 : a.parameters.mass / totalMass;
+        const slop = 0.001; // penetration allowance
+        const corr = Math.max(pen - slop, 0) * 0.8;
+        if (!a.isStatic) {
+            a.position.x -= nx * corr * wa;
+            a.position.y -= ny * corr * wa;
+            a.position.z -= nz * corr * wa;
+        }
+        if (!b.isStatic) {
+            b.position.x += nx * corr * wb;
+            b.position.y += ny * corr * wb;
+            b.position.z += nz * corr * wb;
+        }
+        // Velocity resolution (impulse)
+        const relVx = b.velocity.x - a.velocity.x;
+        const relVy = b.velocity.y - a.velocity.y;
+        const relVz = b.velocity.z - a.velocity.z;
+        const relVn = relVx * nx + relVy * ny + relVz * nz;
+        if (relVn >= 0)
+            return; // already separating
+        const e = Math.min(a.parameters.restitution, b.parameters.restitution);
+        const mA = a.isStatic ? 0 : 1 / a.parameters.mass;
+        const mB = b.isStatic ? 0 : 1 / b.parameters.mass;
+        const j = -(1 + e) * relVn / (mA + mB);
+        if (!a.isStatic) {
+            a.velocity.x -= j * nx * mA;
+            a.velocity.y -= j * ny * mA;
+            a.velocity.z -= j * nz * mA;
+        }
+        if (!b.isStatic) {
+            b.velocity.x += j * nx * mB;
+            b.velocity.y += j * ny * mB;
+            b.velocity.z += j * nz * mB;
+        }
+    }
+    /** Returns penetration depth (> 0 means penetrating) for shape pair. */
+    _penetrationDepth(a, b, dist) {
+        // Sphere–sphere
+        if (a.shape === 'sphere' && b.shape === 'sphere') {
+            return a.parameters.sizeX + b.parameters.sizeX - dist;
+        }
+        // Sphere–box (AABB in world-space, unrotated approximation)
+        if (a.shape === 'sphere' && b.shape === 'box')
+            return this._sphereBoxPen(a, b);
+        if (a.shape === 'box' && b.shape === 'sphere')
+            return this._sphereBoxPen(b, a);
+        // Box–box (AABB)
+        if (a.shape === 'box' && b.shape === 'box')
+            return this._boxBoxPen(a, b);
+        // Capsule–sphere
+        if (a.shape === 'capsule' && b.shape === 'sphere')
+            return this._capsuleSpherePen(a, b);
+        if (a.shape === 'sphere' && b.shape === 'capsule')
+            return this._capsuleSpherePen(b, a);
+        // Fallback: bounding sphere
+        return a.boundingRadius + b.boundingRadius - dist;
+    }
+    _sphereBoxPen(sphere, box) {
+        const r = sphere.parameters.sizeX;
+        const hx = box.parameters.sizeX;
+        const hy = box.parameters.sizeY;
+        const hz = box.parameters.sizeZ;
+        const dx = Math.max(0, Math.abs(sphere.position.x - box.position.x) - hx);
+        const dy = Math.max(0, Math.abs(sphere.position.y - box.position.y) - hy);
+        const dz = Math.max(0, Math.abs(sphere.position.z - box.position.z) - hz);
+        const dist = Math.sqrt(dx * dx + dy * dy + dz * dz);
+        return r - dist;
+    }
+    _boxBoxPen(a, b) {
+        const ox = Math.abs(a.position.x - b.position.x) - (a.parameters.sizeX + b.parameters.sizeX);
+        const oy = Math.abs(a.position.y - b.position.y) - (a.parameters.sizeY + b.parameters.sizeY);
+        const oz = Math.abs(a.position.z - b.position.z) - (a.parameters.sizeZ + b.parameters.sizeZ);
+        return -Math.max(ox, oy, oz);
+    }
+    _capsuleSpherePen(capsule, sphere) {
+        const r = capsule.parameters.sizeX + sphere.parameters.sizeX;
+        const hh = capsule.parameters.halfHeight;
+        // Closest point on capsule segment (vertical, unrotated) to sphere centre
+        const localY = Math.max(-hh, Math.min(hh, sphere.position.y - capsule.position.y));
+        const dx = sphere.position.x - capsule.position.x;
+        const dy = sphere.position.y - (capsule.position.y + localY);
+        const dz = sphere.position.z - capsule.position.z;
+        const dist = Math.sqrt(dx * dx + dy * dy + dz * dz);
+        return r - dist;
+    }
+}
+//# sourceMappingURL=RigidBodyWorld.js.map

package/dist/rigidbody/RigidBodyWorld.js.map

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package/dist/softbody/SoftBodySimulator.d.ts

@@ -0,0 +1,103 @@
+import { BufferGeometry } from 'three';
+import type { BaseCollider } from '../collision/BaseCollider.js';
+import type { WindForce } from '../forces/WindForce.js';
+export interface SoftBodySimulatorOptions {
+    /** Spring stiffness [0–1]. Blender: Soft Body > Edges > Pull / Push. Default 0.9. */
+    stiffness?: number;
+    /** Pressure stiffness for closed-volume bodies [0–∞]. Blender: Soft Body > Self Collision. Default 0. */
+    pressure?: number;
+    /** Velocity damping [0–1]. Blender: Soft Body > Edges > Damp. Default 0.05. */
+    damping?: number;
+    /** Gravity acceleration (m/s²). Blender: Field Weights > Gravity. Default 9.8. */
+    gravity?: number;
+    /** Constraint solver iterations per step. Default 10. */
+    iterations?: number;
+    /** Simulation substeps per frame. Default 4. */
+    substeps?: number;
+    /** Particle mass. Blender: Soft Body > Object > Mass. Default 1.0. */
+    mass?: number;
+    /** Shape matching stiffness [0–1]. Blender: Soft Body > Self Collision > Ball Stiff. Default 0. */
+    shapeMatchStiffness?: number;
+}
+/**
+ * SoftBodySimulator — Blender-matched soft body physics.
+ * Blender: Soft Body modifier.
+ *
+ * A tetrahedral-spring soft body solver using Verlet integration.
+ * Suitable for jelly-like objects, blobs, squash-and-stretch deformation.
+ *
+ * Workflow:
+ *   1. Create SoftBodySimulator
+ *   2. Call setFromGeometry(geometry) — reads mesh vertices
+ *   3. Add colliders: addCollider(c)
+ *   4. Call step(dt) every frame
+ *   5. Call apply(geometry) to write positions back
+ *
+ * All parameters live on `parameters` for GSAP / st-keyframe:
+ *   gsap.to(softBody.parameters, { stiffness: 0.2, duration: 1 })
+ */
+export declare class SoftBodySimulator {
+    /** All scalar simulation parameters — GSAP/st-keyframe compatible. */
+    parameters: {
+        stiffness: number;
+        pressure: number;
+        damping: number;
+        gravity: number;
+        iterations: number;
+        substeps: number;
+        mass: number;
+        shapeMatchStiffness: number;
+    };
+    /** Number of vertices in the simulated mesh. */
+    vertexCount: number;
+    /** Current positions [x0,y0,z0, x1,y1,z1, ...] */
+    private _pos;
+    /** Previous positions (Verlet). */
+    private _prev;
+    /** Pinned vertex mask — pinned vertices never move. */
+    private _pinned;
+    /** Springs: packed triples [iBase, jBase, restLen, ...] */
+    private _springs;
+    /** Rest-pose positions for shape matching. */
+    private _rest;
+    /** Rest volume for pressure springs. */
+    private _restVolume;
+    private _wind;
+    private _colliders;
+    /** Simulation clock. */
+    time: number;
+    constructor(opts?: SoftBodySimulatorOptions);
+    /**
+     * Load mesh vertices from a BufferGeometry.
+     * Builds edge springs from the geometry's index buffer.
+     */
+    setFromGeometry(geometry: BufferGeometry): void;
+    /**
+     * Load from a flat [x,y,z,...] array with an index array.
+     */
+    setFromArray(positions: ArrayLike<number>, indices: ArrayLike<number>): void;
+    pin(index: number): void;
+    unpin(index: number): void;
+    addCollider(c: BaseCollider): void;
+    removeCollider(c: BaseCollider): void;
+    setWind(w: WindForce | null): void;
+    /**
+     * Advance the simulation by dt seconds.
+     * Call once per animation frame; dt ≈ 1/60.
+     */
+    step(dt: number): void;
+    /**
+     * Write simulated positions back to a BufferGeometry's 'position' attribute.
+     */
+    apply(geometry: BufferGeometry): void;
+    private _substep;
+    private _solveEdgeSprings;
+    private _solvePressure;
+    private _solveShapeMatch;
+    private _centroid;
+    private _restCentroid;
+    private _computeVolume;
+    private _buildEdgeSprings;
+    private _buildEdgeSpringsFromIndex;
+}
+//# sourceMappingURL=SoftBodySimulator.d.ts.map

package/dist/softbody/SoftBodySimulator.d.ts.map

@@ -0,0 +1 @@
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