@triforge/physics-core 0.1.0

package/dist/softbody/SoftBodySimulator.js

@@ -0,0 +1,311 @@
+/**
+ * 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 class SoftBodySimulator {
+    constructor(opts = {}) {
+        /** Number of vertices in the simulated mesh. */
+        this.vertexCount = 0;
+        /** Springs: packed triples [iBase, jBase, restLen, ...] */
+        this._springs = new Float64Array(0);
+        /** Rest volume for pressure springs. */
+        this._restVolume = 0;
+        this._wind = null;
+        this._colliders = [];
+        /** Simulation clock. */
+        this.time = 0;
+        this.parameters = {
+            stiffness: opts.stiffness ?? 0.9,
+            pressure: opts.pressure ?? 0.0,
+            damping: opts.damping ?? 0.05,
+            gravity: opts.gravity ?? 9.8,
+            iterations: opts.iterations ?? 10,
+            substeps: opts.substeps ?? 4,
+            mass: opts.mass ?? 1.0,
+            shapeMatchStiffness: opts.shapeMatchStiffness ?? 0.0,
+        };
+    }
+    // ── Initialisation ────────────────────────────────────────────────────────
+    /**
+     * Load mesh vertices from a BufferGeometry.
+     * Builds edge springs from the geometry's index buffer.
+     */
+    setFromGeometry(geometry) {
+        const posAttr = geometry.getAttribute('position');
+        const n = posAttr.count;
+        this.vertexCount = n;
+        this._pos = new Float64Array(n * 3);
+        this._prev = new Float64Array(n * 3);
+        this._rest = new Float64Array(n * 3);
+        this._pinned = new Uint8Array(n);
+        for (let i = 0; i < n; i++) {
+            this._pos[i * 3] = posAttr.getX(i);
+            this._pos[i * 3 + 1] = posAttr.getY(i);
+            this._pos[i * 3 + 2] = posAttr.getZ(i);
+        }
+        this._prev.set(this._pos);
+        this._rest.set(this._pos);
+        this._buildEdgeSprings(geometry);
+        this._restVolume = this._computeVolume();
+    }
+    /**
+     * Load from a flat [x,y,z,...] array with an index array.
+     */
+    setFromArray(positions, indices) {
+        const n = Math.floor(positions.length / 3);
+        this.vertexCount = n;
+        this._pos = new Float64Array(n * 3);
+        this._prev = new Float64Array(n * 3);
+        this._rest = new Float64Array(n * 3);
+        this._pinned = new Uint8Array(n);
+        for (let i = 0; i < positions.length; i++)
+            this._pos[i] = positions[i];
+        this._prev.set(this._pos);
+        this._rest.set(this._pos);
+        this._buildEdgeSpringsFromIndex(indices);
+        this._restVolume = this._computeVolume();
+    }
+    // ── Pinning ───────────────────────────────────────────────────────────────
+    pin(index) {
+        if (index >= 0 && index < this.vertexCount)
+            this._pinned[index] = 1;
+    }
+    unpin(index) {
+        if (index >= 0 && index < this.vertexCount)
+            this._pinned[index] = 0;
+    }
+    // ── Colliders / Wind ─────────────────────────────────────────────────────
+    addCollider(c) { this._colliders.push(c); }
+    removeCollider(c) {
+        const i = this._colliders.indexOf(c);
+        if (i !== -1)
+            this._colliders.splice(i, 1);
+    }
+    setWind(w) { this._wind = w; }
+    // ── Stepping ──────────────────────────────────────────────────────────────
+    /**
+     * 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);
+    }
+    /**
+     * Write simulated positions back to a BufferGeometry's 'position' attribute.
+     */
+    apply(geometry) {
+        const posAttr = geometry.getAttribute('position');
+        const n = Math.min(posAttr.count, this.vertexCount);
+        for (let i = 0; i < n; i++) {
+            posAttr.setXYZ(i, this._pos[i * 3], this._pos[i * 3 + 1], this._pos[i * 3 + 2]);
+        }
+        posAttr.needsUpdate = true;
+        geometry.computeVertexNormals();
+        geometry.computeBoundingSphere();
+    }
+    // ── Internal ──────────────────────────────────────────────────────────────
+    _substep(dt) {
+        this._wind?.advance(dt);
+        const { gravity, damping, iterations, mass, stiffness, pressure, shapeMatchStiffness } = this.parameters;
+        const g = gravity;
+        const d = 1 - damping;
+        // Verlet integrate
+        for (let i = 0; i < this.vertexCount; i++) {
+            if (this._pinned[i])
+                continue;
+            const b = i * 3;
+            const ax = 0, ay = -g / mass, az = 0;
+            const vx = (this._pos[b] - this._prev[b]) * d;
+            const vy = (this._pos[b + 1] - this._prev[b + 1]) * d;
+            const vz = (this._pos[b + 2] - this._prev[b + 2]) * d;
+            // Wind
+            let wx = 0, wy = 0, wz = 0;
+            if (this._wind) {
+                ;
+                [wx, wy, wz] = this._wind.getAcceleration(this._pos[b], this._pos[b + 1], this._pos[b + 2], this.time);
+            }
+            this._prev[b] = this._pos[b];
+            this._prev[b + 1] = this._pos[b + 1];
+            this._prev[b + 2] = this._pos[b + 2];
+            this._pos[b] += vx + (ax + wx) * dt * dt;
+            this._pos[b + 1] += vy + (ay + wy) * dt * dt;
+            this._pos[b + 2] += vz + (az + wz) * dt * dt;
+        }
+        // Constraint solving
+        const iter = Math.max(1, Math.round(iterations));
+        for (let it = 0; it < iter; it++) {
+            this._solveEdgeSprings(stiffness);
+            if (pressure > 0)
+                this._solvePressure(pressure);
+            if (shapeMatchStiffness > 0)
+                this._solveShapeMatch(shapeMatchStiffness);
+        }
+        // Colliders
+        for (const col of this._colliders) {
+            if (!col.enabled)
+                continue;
+            for (let i = 0; i < this.vertexCount; i++) {
+                if (this._pinned[i])
+                    continue;
+                const b = i * 3;
+                const r = col.resolve(this._pos[b], this._pos[b + 1], this._pos[b + 2]);
+                if (r !== null) {
+                    this._pos[b] = r[0];
+                    this._pos[b + 1] = r[1];
+                    this._pos[b + 2] = r[2];
+                }
+            }
+        }
+    }
+    _solveEdgeSprings(stiffness) {
+        const sp = this._springs;
+        const nSp = sp.length / 3;
+        for (let k = 0; k < nSp; k++) {
+            const ib = sp[k * 3]; // i * 3 base
+            const jb = sp[k * 3 + 1]; // j * 3 base
+            const rL = sp[k * 3 + 2];
+            const ip = ib | 0;
+            const jp = jb | 0;
+            const dx = this._pos[jp] - this._pos[ip];
+            const dy = this._pos[jp + 1] - this._pos[ip + 1];
+            const dz = this._pos[jp + 2] - this._pos[ip + 2];
+            const len = Math.sqrt(dx * dx + dy * dy + dz * dz);
+            if (len === 0)
+                continue;
+            const corr = (len - rL) / len * 0.5 * stiffness;
+            const cx = dx * corr, cy = dy * corr, cz = dz * corr;
+            const ii = ip / 3 | 0;
+            const ji = jp / 3 | 0;
+            if (!this._pinned[ii]) {
+                this._pos[ip] += cx;
+                this._pos[ip + 1] += cy;
+                this._pos[ip + 2] += cz;
+            }
+            if (!this._pinned[ji]) {
+                this._pos[jp] -= cx;
+                this._pos[jp + 1] -= cy;
+                this._pos[jp + 2] -= cz;
+            }
+        }
+    }
+    _solvePressure(pressure) {
+        const vol = this._computeVolume();
+        if (vol <= 0 || this._restVolume <= 0)
+            return;
+        const ratio = this._restVolume / vol - 1;
+        if (Math.abs(ratio) < 1e-6)
+            return;
+        // Push/pull vertices outward/inward proportional to the pressure ratio
+        const cx = this._centroid(0);
+        const cy = this._centroid(1);
+        const cz = this._centroid(2);
+        const k = pressure * ratio * 0.01;
+        for (let i = 0; i < this.vertexCount; i++) {
+            if (this._pinned[i])
+                continue;
+            const b = i * 3;
+            const nx = this._pos[b] - cx;
+            const ny = this._pos[b + 1] - cy;
+            const nz = this._pos[b + 2] - cz;
+            this._pos[b] += nx * k;
+            this._pos[b + 1] += ny * k;
+            this._pos[b + 2] += nz * k;
+        }
+    }
+    _solveShapeMatch(k) {
+        // Translate each vertex toward its rest-pose position relative to current centroid
+        const cx = this._centroid(0), cy = this._centroid(1), cz = this._centroid(2);
+        const rx = this._restCentroid(0), ry = this._restCentroid(1), rz = this._restCentroid(2);
+        for (let i = 0; i < this.vertexCount; i++) {
+            if (this._pinned[i])
+                continue;
+            const b = i * 3;
+            const targetX = this._rest[b] - rx + cx;
+            const targetY = this._rest[b + 1] - ry + cy;
+            const targetZ = this._rest[b + 2] - rz + cz;
+            this._pos[b] += (targetX - this._pos[b]) * k;
+            this._pos[b + 1] += (targetY - this._pos[b + 1]) * k;
+            this._pos[b + 2] += (targetZ - this._pos[b + 2]) * k;
+        }
+    }
+    _centroid(axis) {
+        let s = 0;
+        for (let i = 0; i < this.vertexCount; i++)
+            s += this._pos[i * 3 + axis];
+        return s / Math.max(1, this.vertexCount);
+    }
+    _restCentroid(axis) {
+        let s = 0;
+        for (let i = 0; i < this.vertexCount; i++)
+            s += this._rest[i * 3 + axis];
+        return s / Math.max(1, this.vertexCount);
+    }
+    _computeVolume() {
+        // Divergence theorem approximation: sum of (v · normal * area) / 3
+        // For an open mesh this is approximate; fine for pressure heuristic
+        const sp = this._springs;
+        const nSp = sp.length / 3;
+        let vol = 0;
+        for (let k = 0; k < nSp; k++) {
+            const ib = sp[k * 3] | 0, jb = sp[k * 3 + 1] | 0;
+            const x1 = this._pos[ib], y1 = this._pos[ib + 1], z1 = this._pos[ib + 2];
+            const x2 = this._pos[jb], y2 = this._pos[jb + 1], z2 = this._pos[jb + 2];
+            vol += x1 * (y2 - 0) - x2 * (y1 - 0); // 2D proxy (xy plane)
+            void z1;
+            void z2;
+        }
+        return Math.abs(vol) * 0.5;
+    }
+    _buildEdgeSprings(geometry) {
+        const idx = geometry.index;
+        if (!idx) {
+            this._springs = new Float64Array(0);
+            return;
+        }
+        this._buildEdgeSpringsFromIndex(idx.array);
+    }
+    _buildEdgeSpringsFromIndex(indices) {
+        const edgeSet = new Set();
+        const pairs = [];
+        for (let i = 0; i < indices.length - 2; i += 3) {
+            const a = indices[i], b = indices[i + 1], c = indices[i + 2];
+            const edges = [[a, b], [b, c], [a, c]];
+            for (const [p, q] of edges) {
+                const key = p < q ? `${p}_${q}` : `${q}_${p}`;
+                if (!edgeSet.has(key)) {
+                    edgeSet.add(key);
+                    pairs.push([p, q]);
+                }
+            }
+        }
+        this._springs = new Float64Array(pairs.length * 3);
+        for (let k = 0; k < pairs.length; k++) {
+            const [a, b] = pairs[k];
+            const ab = a * 3, bb = b * 3;
+            const dx = this._pos[ab] - this._pos[bb];
+            const dy = this._pos[ab + 1] - this._pos[bb + 1];
+            const dz = this._pos[ab + 2] - this._pos[bb + 2];
+            this._springs[k * 3] = ab;
+            this._springs[k * 3 + 1] = bb;
+            this._springs[k * 3 + 2] = Math.sqrt(dx * dx + dy * dy + dz * dz);
+        }
+    }
+}
+//# sourceMappingURL=SoftBodySimulator.js.map

package/dist/softbody/SoftBodySimulator.js.map

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package/dist/utils/noise.d.ts

@@ -0,0 +1,3 @@
+/** Cheap 3D value noise using integer hashing. Returns value in [-1, 1]. */
+export declare function noise3(x: number, y: number, z: number): number;
+//# sourceMappingURL=noise.d.ts.map

package/dist/utils/noise.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"noise.d.ts","sourceRoot":"","sources":["../../src/utils/noise.ts"],"names":[],"mappings":"AAAA,4EAA4E;AAC5E,wBAAgB,MAAM,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,CAmB9D"}

package/dist/utils/noise.js

@@ -0,0 +1,20 @@
+/** Cheap 3D value noise using integer hashing. Returns value in [-1, 1]. */
+export function noise3(x, y, z) {
+    const ix = Math.floor(x), iy = Math.floor(y), iz = Math.floor(z);
+    const fx = x - ix, fy = y - iy, fz = z - iz;
+    const ux = fx * fx * (3 - 2 * fx), uy = fy * fy * (3 - 2 * fy), uz = fz * fz * (3 - 2 * fz);
+    const h = (n) => {
+        let v = n ^ (n >> 16);
+        v = Math.imul(v, 0x45d9f3b);
+        v ^= v >> 16;
+        return (v & 0xffff) / 0xffff * 2 - 1;
+    };
+    const hash = (a, b, c) => h(a * 1619 + b * 31337 + c * 6971);
+    const v000 = hash(ix, iy, iz), v100 = hash(ix + 1, iy, iz);
+    const v010 = hash(ix, iy + 1, iz), v110 = hash(ix + 1, iy + 1, iz);
+    const v001 = hash(ix, iy, iz + 1), v101 = hash(ix + 1, iy, iz + 1);
+    const v011 = hash(ix, iy + 1, iz + 1), v111 = hash(ix + 1, iy + 1, iz + 1);
+    const lerp = (a, b, t) => a + (b - a) * t;
+    return lerp(lerp(lerp(v000, v100, ux), lerp(v010, v110, ux), uy), lerp(lerp(v001, v101, ux), lerp(v011, v111, ux), uy), uz);
+}
+//# sourceMappingURL=noise.js.map

package/dist/utils/noise.js.map

@@ -0,0 +1 @@
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package/package.json

@@ -0,0 +1,45 @@
+{
+  "name": "@triforge/physics-core",
+  "version": "0.1.0",
+  "description": "Blender-matched cloth simulation with Verlet integration, spring constraints, and colliders for Three.js",
+  "type": "module",
+  "main": "./dist/index.js",
+  "types": "./dist/index.d.ts",
+  "files": [
+    "dist",
+    "package.json"
+  ],
+  "scripts": {
+    "build": "tsc",
+    "dev": "tsc --watch",
+    "test": "node test/run-tests.js",
+    "bench": "node bench/run-bench.js"
+  },
+  "keywords": [
+    "cloth",
+    "physics",
+    "simulation",
+    "verlet",
+    "three.js",
+    "blender"
+  ],
+  "license": "MIT",
+  "peerDependencies": {
+    "three": ">=0.128.0"
+  },
+  "devDependencies": {
+    "@types/three": "^0.156.0",
+    "three": "^0.156.0",
+    "typescript": "^5.3.0"
+  },
+  "author": "Aftab Ibrahim Kazi",
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/AftabIbrahimKazi/triforge.git",
+    "directory": "st-physics-core"
+  },
+  "homepage": "https://github.com/AftabIbrahimKazi/triforge#readme",
+  "publishConfig": {
+    "access": "public"
+  }
+}