@vworlds/vecs-physics 1.0.16

package/systems/debug.js.map

@@ -0,0 +1 @@
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package/systems/event_opt_in_sync.d.ts

@@ -0,0 +1,3 @@
+import { type IPhase, type System, type World } from "@vworlds/vecs";
+import { type PhysicsState } from "../adapter/state.js";
+export declare function installEventOptInSync(world: World, state: PhysicsState, phase: IPhase): System;

package/systems/event_opt_in_sync.js

@@ -0,0 +1,41 @@
+import { ContactEvents, HitEvents, SensorEvents } from "../components/events.js";
+export function installEventOptInSync(world, state, phase) {
+    world
+        .component(ContactEvents)
+        .onAdd((entity) => setEventFlag(state, entity.eid, "contact", true));
+    world
+        .component(ContactEvents)
+        .onRemove((entity) => setEventFlag(state, entity.eid, "contact", false));
+    world.component(HitEvents).onAdd((entity) => setEventFlag(state, entity.eid, "hit", true));
+    world.component(HitEvents).onRemove((entity) => setEventFlag(state, entity.eid, "hit", false));
+    world.component(SensorEvents).onAdd((entity) => setEventFlag(state, entity.eid, "sensor", true));
+    world
+        .component(SensorEvents)
+        .onRemove((entity) => setEventFlag(state, entity.eid, "sensor", false));
+    return world
+        .system("PhysicsEventOptInSync")
+        .phase(phase)
+        .run(() => {
+        // Hook-driven: onAdd/onRemove do the work synchronously during command drain.
+    });
+}
+function setEventFlag(state, entityId, flag, enabled) {
+    const shapeId = state.shapeByEntityWasm.get(entityId);
+    if (shapeId !== undefined) {
+        applyEventFlag(state, shapeId, flag, enabled);
+    }
+}
+function applyEventFlag(state, shapeId, flag, enabled) {
+    switch (flag) {
+        case "contact":
+            state.box2d.b2Shape_EnableContactEvents(shapeId, enabled);
+            break;
+        case "hit":
+            state.box2d.b2Shape_EnableHitEvents(shapeId, enabled);
+            break;
+        case "sensor":
+            state.box2d.b2Shape_EnableSensorEvents(shapeId, enabled);
+            break;
+    }
+}
+//# sourceMappingURL=event_opt_in_sync.js.map

package/systems/event_opt_in_sync.js.map

@@ -0,0 +1 @@
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package/systems/events.d.ts

@@ -0,0 +1,3 @@
+import { type IPhase, type System, type World } from "@vworlds/vecs";
+import { type PhysicsState } from "../adapter/state.js";
+export declare function installEvents(world: World, state: PhysicsState, phase: IPhase): System;

package/systems/events.js

@@ -0,0 +1,217 @@
+import { ContactEvents, HitEvents, SensorEvents } from "../components/events.js";
+export function installEvents(world, state, phase) {
+    return world
+        .system("PhysicsEvents")
+        .phase(phase)
+        .run(() => {
+        const touchedContact = new Set();
+        const touchedSensor = new Set();
+        const touchedHit = new Set();
+        publishContactEvents(world, state, touchedContact);
+        publishSensorEvents(world, state, touchedSensor);
+        publishHitEvents(world, state, touchedHit);
+        markModified(world, touchedContact, ContactEvents);
+        markModified(world, touchedSensor, SensorEvents);
+        markModified(world, touchedHit, HitEvents);
+        clearUntouchedContactEvents(world, state.prevTouchedContact, touchedContact);
+        clearUntouchedSensorEvents(world, state.prevTouchedSensor, touchedSensor);
+        clearUntouchedHitEvents(world, state.prevTouchedHit, touchedHit);
+        // Store touched sets on state for the next step's clear pass.
+        state.prevTouchedContact.clear();
+        for (const eid of touchedContact) {
+            state.prevTouchedContact.add(eid);
+        }
+        state.prevTouchedSensor.clear();
+        for (const eid of touchedSensor) {
+            state.prevTouchedSensor.add(eid);
+        }
+        state.prevTouchedHit.clear();
+        for (const eid of touchedHit) {
+            state.prevTouchedHit.add(eid);
+        }
+    });
+}
+function publishContactEvents(world, state, touched) {
+    const events = state.box2d.b2World_GetContactEvents(state.worldId);
+    try {
+        for (let i = 0; i < events.beginCount; i++) {
+            const event = events.GetBeginEvent(i);
+            try {
+                emitContactEvent(world, state, touched, event, "begin");
+            }
+            finally {
+                deleteIfPresent(event);
+            }
+        }
+        for (let i = 0; i < events.endCount; i++) {
+            const event = events.GetEndEvent(i);
+            emitContactEvent(world, state, touched, event, "end");
+        }
+    }
+    finally {
+        events.delete();
+    }
+}
+function publishSensorEvents(world, state, touched) {
+    const events = state.box2d.b2World_GetSensorEvents(state.worldId);
+    try {
+        for (let i = 0; i < events.beginCount; i++) {
+            emitSensorEvent(world, state, touched, events.GetBeginEvent(i), "begin");
+        }
+        for (let i = 0; i < events.endCount; i++) {
+            emitSensorEvent(world, state, touched, events.GetEndEvent(i), "end");
+        }
+    }
+    finally {
+        events.delete();
+    }
+}
+function publishHitEvents(world, state, touched) {
+    const events = state.box2d.b2World_GetContactEvents(state.worldId);
+    try {
+        for (let i = 0; i < events.hitCount; i++) {
+            const event = events.GetHitEvent(i);
+            try {
+                emitHitEvent(world, state, touched, event);
+            }
+            finally {
+                event.delete();
+            }
+        }
+    }
+    finally {
+        events.delete();
+    }
+}
+function emitContactEvent(world, state, touched, event, kind) {
+    const entityA = getLiveEntity(world, state.entityByShapeIndex.get(event.shapeIdA.index1));
+    const entityB = getLiveEntity(world, state.entityByShapeIndex.get(event.shapeIdB.index1));
+    if (entityA === undefined || entityB === undefined) {
+        return;
+    }
+    emitContactToEntity(touched, entityA, entityB, kind);
+    emitContactToEntity(touched, entityB, entityA, kind);
+}
+function emitSensorEvent(world, state, touched, event, kind) {
+    const sensor = getLiveEntity(world, state.entityByShapeIndex.get(event.sensorShapeId.index1));
+    const visitor = getLiveEntity(world, state.entityByShapeIndex.get(event.visitorShapeId.index1));
+    if (sensor === undefined || visitor === undefined) {
+        return;
+    }
+    const events = sensor.get(SensorEvents);
+    if (events === undefined) {
+        return;
+    }
+    if (!touched.has(sensor.eid)) {
+        events.begin.length = 0;
+        events.end.length = 0;
+        touched.add(sensor.eid);
+    }
+    if (kind === "begin") {
+        events.begin.push({ other: visitor });
+    }
+    else {
+        events.end.push({ other: visitor });
+    }
+}
+function emitHitEvent(world, state, touched, event) {
+    const entityA = getLiveEntity(world, state.entityByShapeIndex.get(event.shapeIdA.index1));
+    const entityB = getLiveEntity(world, state.entityByShapeIndex.get(event.shapeIdB.index1));
+    if (entityA === undefined || entityB === undefined) {
+        return;
+    }
+    emitHitToEntity(touched, entityA, entityB, event);
+    emitHitToEntity(touched, entityB, entityA, event);
+}
+function emitContactToEntity(touched, entity, other, kind) {
+    const events = entity.get(ContactEvents);
+    if (events === undefined) {
+        return;
+    }
+    if (!touched.has(entity.eid)) {
+        events.begin.length = 0;
+        events.end.length = 0;
+        touched.add(entity.eid);
+    }
+    if (kind === "begin") {
+        events.begin.push({ other });
+    }
+    else {
+        events.end.push({ other });
+    }
+}
+function emitHitToEntity(touched, entity, other, event) {
+    const events = entity.get(HitEvents);
+    if (events === undefined) {
+        return;
+    }
+    if (!touched.has(entity.eid)) {
+        events.hits.length = 0;
+        touched.add(entity.eid);
+    }
+    events.hits.push({
+        other,
+        x: event.point.x,
+        y: event.point.y,
+        normalX: event.normal.x,
+        normalY: event.normal.y,
+        speed: event.approachSpeed,
+    });
+}
+function getLiveEntity(world, entityId) {
+    if (entityId === undefined) {
+        return undefined;
+    }
+    const entity = world.getEntity(entityId);
+    if (entity === undefined || isDestroyed(entity)) {
+        return undefined;
+    }
+    return entity;
+}
+function markModified(world, touched, component) {
+    for (const entityId of touched) {
+        world.getEntity(entityId)?.modified(component);
+    }
+}
+function clearUntouchedContactEvents(world, previouslyTouched, touched) {
+    for (const entityId of previouslyTouched) {
+        if (touched.has(entityId)) {
+            continue;
+        }
+        const events = world.getEntity(entityId)?.get(ContactEvents);
+        if (events !== undefined) {
+            events.begin.length = 0;
+            events.end.length = 0;
+        }
+    }
+}
+function clearUntouchedSensorEvents(world, previouslyTouched, touched) {
+    for (const entityId of previouslyTouched) {
+        if (touched.has(entityId)) {
+            continue;
+        }
+        const events = world.getEntity(entityId)?.get(SensorEvents);
+        if (events !== undefined) {
+            events.begin.length = 0;
+            events.end.length = 0;
+        }
+    }
+}
+function clearUntouchedHitEvents(world, previouslyTouched, touched) {
+    for (const entityId of previouslyTouched) {
+        if (touched.has(entityId)) {
+            continue;
+        }
+        const events = world.getEntity(entityId)?.get(HitEvents);
+        if (events !== undefined) {
+            events.hits.length = 0;
+        }
+    }
+}
+function deleteIfPresent(value) {
+    value.delete?.();
+}
+function isDestroyed(entity) {
+    return entity._destroyed === true;
+}
+//# sourceMappingURL=events.js.map

package/systems/events.js.map

@@ -0,0 +1 @@
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package/systems/forces.d.ts

@@ -0,0 +1,3 @@
+import { type IPhase, type System, type World } from "@vworlds/vecs";
+import { type PhysicsState } from "../adapter/state.js";
+export declare function installForceGather(world: World, state: PhysicsState, phase: IPhase): System;

package/systems/forces.js

@@ -0,0 +1,26 @@
+import { Force, Torque } from "../components/force.js";
+import { resolveBodyId } from "../util/resolve_body.js";
+export function installForceGather(world, state, phase) {
+    const forceFilter = world.filter({ any: [Force, Torque] });
+    return world
+        .system("PhysicsForceGather")
+        .phase(phase)
+        .run(() => {
+        forceFilter.forEach((entity) => {
+            const bodyId = resolveBodyId(entity, state);
+            if (bodyId === undefined) {
+                return;
+            }
+            const force = entity.get(Force);
+            if (force !== undefined) {
+                state.scratchVec2.Set(force.x, force.y);
+                state.box2d.b2Body_ApplyForceToCenter(bodyId, state.scratchVec2, force.wake);
+            }
+            const torque = entity.get(Torque);
+            if (torque !== undefined) {
+                state.box2d.b2Body_ApplyTorque(bodyId, torque.value, torque.wake);
+            }
+        });
+    });
+}
+//# sourceMappingURL=forces.js.map

package/systems/forces.js.map

@@ -0,0 +1 @@
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package/systems/impulse_accumulate.d.ts

@@ -0,0 +1,4 @@
+import { type IPhase, type System, type World } from "@vworlds/vecs";
+import { type PhysicsState } from "../adapter/state.js";
+export declare function installImpulseAccumulate(world: World, state: PhysicsState, phase: IPhase): System;
+export declare function registerImpulseHooks(world: World, state: PhysicsState): void;

package/systems/impulse_accumulate.js

@@ -0,0 +1,70 @@
+import { AngularImpulse, Impulse } from "../components/force.js";
+import { resolveBodyId } from "../util/resolve_body.js";
+export function installImpulseAccumulate(world, state, phase) {
+    return world
+        .system("PhysicsImpulseAccumulate")
+        .phase(phase)
+        .run(() => {
+        drainLinearImpulses(state);
+        drainAngularImpulses(state);
+    });
+}
+export function registerImpulseHooks(world, state) {
+    world.component(Impulse).onSet((entity, impulse) => {
+        const bodyId = resolveBodyId(entity, state);
+        if (bodyId === undefined) {
+            return;
+        }
+        state.impulseEntitiesThisStep.add(entity.eid);
+        const accumulator = getLinearAccumulator(state, bodyId);
+        accumulator.x += impulse.x;
+        accumulator.y += impulse.y;
+        accumulator.wake || (accumulator.wake = impulse.wake);
+    });
+    world.component(AngularImpulse).onSet((entity, impulse) => {
+        const bodyId = resolveBodyId(entity, state);
+        if (bodyId === undefined) {
+            return;
+        }
+        state.impulseEntitiesThisStep.add(entity.eid);
+        const accumulator = getAngularAccumulator(state, bodyId);
+        accumulator.value += impulse.value;
+        accumulator.wake || (accumulator.wake = impulse.wake);
+    });
+}
+function drainLinearImpulses(state) {
+    for (const [bodyId, impulse] of state.pendingLinearImpulse) {
+        if (!state.entityByBodyIndex.has(bodyId.index1)) {
+            continue;
+        }
+        state.scratchVec2.Set(impulse.x, impulse.y);
+        state.box2d.b2Body_ApplyLinearImpulseToCenter(bodyId, state.scratchVec2, impulse.wake);
+    }
+    state.pendingLinearImpulse.clear();
+}
+function drainAngularImpulses(state) {
+    for (const [bodyId, impulse] of state.pendingAngularImpulse) {
+        if (!state.entityByBodyIndex.has(bodyId.index1)) {
+            continue;
+        }
+        state.box2d.b2Body_ApplyAngularImpulse(bodyId, impulse.value, impulse.wake);
+    }
+    state.pendingAngularImpulse.clear();
+}
+function getLinearAccumulator(state, bodyId) {
+    let accumulator = state.pendingLinearImpulse.get(bodyId);
+    if (accumulator === undefined) {
+        accumulator = { x: 0, y: 0, wake: false };
+        state.pendingLinearImpulse.set(bodyId, accumulator);
+    }
+    return accumulator;
+}
+function getAngularAccumulator(state, bodyId) {
+    let accumulator = state.pendingAngularImpulse.get(bodyId);
+    if (accumulator === undefined) {
+        accumulator = { value: 0, wake: false };
+        state.pendingAngularImpulse.set(bodyId, accumulator);
+    }
+    return accumulator;
+}
+//# sourceMappingURL=impulse_accumulate.js.map

package/systems/impulse_accumulate.js.map

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package/systems/impulse_zero.d.ts

@@ -0,0 +1,3 @@
+import { type IPhase, type System, type World } from "@vworlds/vecs";
+import { type PhysicsState } from "../adapter/state.js";
+export declare function installImpulseZero(world: World, state: PhysicsState, phase: IPhase): System;

package/systems/impulse_zero.js

@@ -0,0 +1,25 @@
+import { AngularImpulse, Impulse } from "../components/force.js";
+export function installImpulseZero(world, state, phase) {
+    return world
+        .system("PhysicsImpulseZero")
+        .phase(phase)
+        .run(() => {
+        for (const eid of state.impulseEntitiesThisStep) {
+            const entity = world.getEntity(eid);
+            if (entity === undefined) {
+                continue;
+            }
+            const imp = entity.get(Impulse);
+            if (imp !== undefined) {
+                imp.x = 0;
+                imp.y = 0;
+            }
+            const ai = entity.get(AngularImpulse);
+            if (ai !== undefined) {
+                ai.value = 0;
+            }
+        }
+        state.impulseEntitiesThisStep.clear();
+    });
+}
+//# sourceMappingURL=impulse_zero.js.map

package/systems/impulse_zero.js.map

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package/systems/index.d.ts

@@ -0,0 +1,16 @@
+import { type IPhase, type World } from "@vworlds/vecs";
+import { type PhysicsState } from "../adapter/state.js";
+/** The three phases the physics systems split across. */
+export interface PhysicsPhases {
+    preStep: IPhase;
+    step: IPhase;
+    postStep: IPhase;
+}
+/** Options forwarded to {@link installPhysicsSystems} from {@link installPhysics}. */
+export interface PhysicsSystemsOptions {
+    /** Install `PhysicsDebugValidation` when `true`. Default `false`. */
+    debug?: boolean;
+}
+/** Install every physics system into `world`, bound to `state`, and tag each
+ * system entity with {@link PhysicsSystemTag}. Must run before `world.start()`. */
+export declare function installPhysicsSystems(world: World, state: PhysicsState, phases: PhysicsPhases, opts?: PhysicsSystemsOptions): void;

package/systems/index.js

@@ -0,0 +1,81 @@
+// Physics system installation. Creates all physics systems in their canonical
+// run order and tags each one with `PhysicsSystemTag` so the pose-sync feedback
+// suppression (`PhysicsPoseSyncIn.ignoreSource([PhysicsSystemTag])`) can filter
+// the engine's own write-back. This is registration step 12 (PLAN.md →
+// _Component registration order_).
+//
+// Physics-pre phase order (creation order = run order within a phase):
+//   1. PhysicsBodyLifecycle      — body must exist before any shape is inserted
+//   2. PhysicsShapeLifecycle     — creates/destroys shape records + broad-phase proxies
+//   3. PhysicsMaterialFilterSync — propagates Material/Filter/Sensor updates
+//   4. PhysicsEventOptInSync     — runtime ContactEvents/HitEvents/SensorEvents add/remove (hooks)
+//   5. PhysicsShapePoseSync      — propagates ShapePosition/ShapeRotation updates
+//   6. PhysicsPoseSyncIn         — syncs Position/Rotation/Velocity into body sims
+//   7. PhysicsKinematicTargets   — sets target-convergence velocity on kinematic bodies (VP-20)
+//   8. PhysicsForceGather        — accumulates Force/Torque into BodySim each step (VP-19)
+//   9. PhysicsImpulseAccumulate  — drains Impulse/AngularImpulse into pendingImpulses (VP-19)
+//  10. PhysicsMassRecompute      — recomputes mass for dirty bodies (last pre-step)
+//  11. PhysicsDebugValidation    — structural validation (ONLY when debug: true, VP-25)
+//
+// Physics-post phase order:
+//   1. PhysicsPoseSyncOut  — write simulated pose back to ECS
+//   2. PhysicsEvents       — fan raw event arrays out to ContactEvents/SensorEvents/HitEvents (VP-21b)
+//   3. PhysicsImpulseZero  — silently zero consumed Impulse/AngularImpulse (VP-19)
+import { PhysicsSystemTag } from "../adapter/state.js";
+import { installDebugValidation } from "./debug.js";
+import { installEventOptInSync } from "./event_opt_in_sync.js";
+import { installEvents } from "./events.js";
+import { installForceGather } from "./forces.js";
+import { installImpulseAccumulate } from "./impulse_accumulate.js";
+import { installImpulseZero } from "./impulse_zero.js";
+import { installKinematicTargets } from "./kinematic.js";
+import { installBodyLifecycle } from "./lifecycle.js";
+import { installMassRecompute } from "./mass_recompute.js";
+import { installMaterialFilterSync } from "./material_filter_sync.js";
+import { installPoseSyncIn } from "./pose_sync_in.js";
+import { installPoseSyncOut } from "./pose_sync_out.js";
+import { installShapeLifecycle } from "./shape_lifecycle.js";
+import { installShapePoseSync } from "./shape_pose_sync.js";
+import { installStep } from "./step.js";
+/** Install every physics system into `world`, bound to `state`, and tag each
+ * system entity with {@link PhysicsSystemTag}. Must run before `world.start()`. */
+export function installPhysicsSystems(world, state, phases, opts = {}) {
+    const systems = [
+        // physics-pre: lifecycle + sync systems in dependency order.
+        installBodyLifecycle(world, state, phases.preStep),
+        installShapeLifecycle(world, state, phases.preStep),
+        installMaterialFilterSync(world, state, phases.preStep),
+        // physics-pre: keep event opt-in flags in sync when ContactEvents/HitEvents/
+        // SensorEvents are added/removed on a shape after creation (hook-based).
+        installEventOptInSync(world, state, phases.preStep),
+        installShapePoseSync(world, state, phases.preStep),
+        installPoseSyncIn(world, state, phases.preStep),
+        // physics-pre: kinematic target drive after PoseSyncIn, before ForceGather (VP-20).
+        installKinematicTargets(world, state, phases.preStep),
+        // physics-pre: force/impulse systems after KinematicTargets, before MassRecompute (VP-19).
+        installForceGather(world, state, phases.preStep),
+        installImpulseAccumulate(world, state, phases.preStep),
+        // physics-pre: mass recompute — last pre-step, after all lifecycle/sync/force.
+        installMassRecompute(world, state, phases.preStep),
+        // physics-step: integrator.
+        installStep(world, state, phases.step),
+        // physics-post: write simulated pose back to ECS.
+        installPoseSyncOut(world, state, phases.postStep),
+        // physics-post: fan raw event arrays out to ECS event components (VP-21b).
+        // Must run AFTER PoseSyncOut (so positions are up to date) and BEFORE ImpulseZero.
+        installEvents(world, state, phases.postStep),
+        // physics-post: silently zero consumed Impulse/AngularImpulse (last in post).
+        installImpulseZero(world, state, phases.postStep),
+    ];
+    // physics-pre: debug validation — LAST in physics-pre, ONLY when debug: true.
+    // Runs after all lifecycle/sync/mass so the world is fully wired for the step.
+    if (opts.debug === true) {
+        const debugSystem = installDebugValidation(world, state, phases.preStep);
+        systems.push(debugSystem);
+    }
+    // Tag every physics system entity for the `ignoreSource` silence domain.
+    for (const system of systems) {
+        system.entity.add(PhysicsSystemTag);
+    }
+}
+//# sourceMappingURL=index.js.map

package/systems/index.js.map

@@ -0,0 +1 @@
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package/systems/kinematic.d.ts

@@ -0,0 +1,3 @@
+import { type IPhase, type System, type World } from "@vworlds/vecs";
+import { type PhysicsState } from "../adapter/state.js";
+export declare function installKinematicTargets(world: World, state: PhysicsState, phase: IPhase): System;