@vworlds/vecs-physics 1.0.16

package/systems/kinematic.js

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+import { Body } from "../components/body.js";
+import { KinematicTargetPosition, KinematicTargetRotation } from "../components/target.js";
+export function installKinematicTargets(world, state, phase) {
+    const targetFilter = world.filter({
+        all: [Body, { any: [KinematicTargetPosition, KinematicTargetRotation] }],
+    });
+    return world
+        .system("PhysicsKinematicTargets")
+        .phase(phase)
+        .run(() => {
+        const dt = state.fixedTimeStep;
+        if (dt <= 0) {
+            return;
+        }
+        targetFilter.forEach((entity) => {
+            const bodyId = state.bodyByEntityWasm.get(entity.eid);
+            if (bodyId === undefined || !isKinematicBody(state, bodyId)) {
+                return;
+            }
+            drivePositionTarget(state, bodyId, entity.get(KinematicTargetPosition), dt);
+            driveRotationTarget(state, bodyId, entity.get(KinematicTargetRotation), dt);
+        });
+    });
+}
+function drivePositionTarget(state, bodyId, target, dt) {
+    if (target === undefined) {
+        return;
+    }
+    const position = state.box2d.b2Body_GetPosition(bodyId);
+    try {
+        const dx = target.x - position.x;
+        const dy = target.y - position.y;
+        const dist = Math.hypot(dx, dy);
+        if (dist > target.tolerance) {
+            let vx = dx / dt;
+            let vy = dy / dt;
+            const speed = Math.hypot(vx, vy);
+            if (speed > state.maximumLinearSpeed) {
+                const scale = state.maximumLinearSpeed / speed;
+                vx *= scale;
+                vy *= scale;
+            }
+            setLinearVelocity(state, bodyId, vx, vy);
+            if (target.wake) {
+                state.box2d.b2Body_SetAwake(bodyId, true);
+            }
+        }
+        else {
+            setLinearVelocity(state, bodyId, 0, 0);
+        }
+    }
+    finally {
+        position.delete();
+    }
+}
+function driveRotationTarget(state, bodyId, target, dt) {
+    if (target === undefined) {
+        return;
+    }
+    const rotation = state.box2d.b2Body_GetRotation(bodyId);
+    try {
+        const da = wrap(target.angle - rotation.GetAngle(), -Math.PI, Math.PI);
+        if (Math.abs(da) > target.tolerance) {
+            state.box2d.b2Body_SetAngularVelocity(bodyId, da / dt);
+            if (target.wake) {
+                state.box2d.b2Body_SetAwake(bodyId, true);
+            }
+        }
+        else {
+            state.box2d.b2Body_SetAngularVelocity(bodyId, 0);
+        }
+    }
+    finally {
+        rotation.delete();
+    }
+}
+function isKinematicBody(state, bodyId) {
+    return state.box2d.b2Body_GetType(bodyId) === state.box2d.b2BodyType.b2_kinematicBody;
+}
+function setLinearVelocity(state, bodyId, x, y) {
+    state.scratchVec2.Set(x, y);
+    state.box2d.b2Body_SetLinearVelocity(bodyId, state.scratchVec2);
+}
+function wrap(value, min, max) {
+    const range = max - min;
+    return ((((value - min) % range) + range) % range) + min;
+}
+//# sourceMappingURL=kinematic.js.map

package/systems/kinematic.js.map

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package/systems/lifecycle.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 installBodyLifecycle(world: World, state: PhysicsState, phase: IPhase): System;

package/systems/lifecycle.js

@@ -0,0 +1,99 @@
+import { AngularVelocity, Body, BodyType, LinearVelocity, Position, Rotation, } from "../components/body.js";
+import { Damping, GravityScale, MotionLocks, Sleep } from "../components/body_tuning.js";
+import { withAllocated } from "../adapter/disposal.js";
+export function installBodyLifecycle(world, state, phase) {
+    const system = world.system("PhysicsBodyLifecycle").requires(Body).phase(phase);
+    system.enter((entity) => {
+        const body = entity.get(Body);
+        const bodyId = createWasmBodyId(state, entity, body);
+        state.bodyByEntityWasm.set(entity.eid, bodyId);
+        state.entityByBodyIndex.set(bodyId.index1, entity.eid);
+    });
+    system.exit((entity) => {
+        const bodyId = state.bodyByEntityWasm.get(entity.eid);
+        if (bodyId === undefined) {
+            return;
+        }
+        state.box2d.b2DestroyBody(bodyId);
+        state.bodyByEntityWasm.delete(entity.eid);
+        state.entityByBodyIndex.delete(bodyId.index1);
+    });
+    system.update(Body, (entity, body) => {
+        const bodyId = state.bodyByEntityWasm.get(entity.eid);
+        if (bodyId === undefined) {
+            return;
+        }
+        state.box2d.b2Body_SetType(bodyId, bodyTypeToBox2D(state.box2d, body.type));
+        if (body.enabled) {
+            state.box2d.b2Body_Enable(bodyId);
+        }
+        else {
+            state.box2d.b2Body_Disable(bodyId);
+        }
+        state.box2d.b2Body_SetBullet(bodyId, body.bullet);
+    });
+    system.update(MotionLocks, (entity, locks) => {
+        const bodyId = state.bodyByEntityWasm.get(entity.eid);
+        if (bodyId === undefined) {
+            return;
+        }
+        withAllocated(() => new state.box2d.b2MotionLocks(), (motionLocks) => {
+            motionLocks.linearX = locks.x;
+            motionLocks.linearY = locks.y;
+            motionLocks.angularZ = locks.rotation;
+            state.box2d.b2Body_SetMotionLocks(bodyId, motionLocks);
+        });
+    });
+    system.update(Sleep, (entity, sleep) => {
+        const bodyId = state.bodyByEntityWasm.get(entity.eid);
+        if (bodyId === undefined) {
+            return;
+        }
+        state.box2d.b2Body_EnableSleep(bodyId, sleep.enabled);
+        state.box2d.b2Body_SetAwake(bodyId, sleep.awake);
+        state.box2d.b2Body_SetSleepThreshold(bodyId, sleep.threshold);
+    });
+    return system;
+}
+function createWasmBodyId(state, entity, body) {
+    const box2d = state.box2d;
+    return withAllocated(box2d.b2DefaultBodyDef, (def) => {
+        const position = entity.get(Position);
+        const rotation = entity.get(Rotation);
+        const linearVelocity = entity.get(LinearVelocity);
+        const angularVelocity = entity.get(AngularVelocity);
+        const damping = entity.get(Damping);
+        const gravityScale = entity.get(GravityScale);
+        const motionLocks = entity.get(MotionLocks);
+        const sleep = entity.get(Sleep);
+        def.type = bodyTypeToBox2D(box2d, body.type);
+        def.position.Set(position?.x ?? 0, position?.y ?? 0);
+        def.rotation.SetAngle(rotation?.angle ?? 0);
+        def.linearVelocity.Set(linearVelocity?.x ?? 0, linearVelocity?.y ?? 0);
+        def.angularVelocity = angularVelocity?.value ?? 0;
+        def.linearDamping = damping?.linear ?? 0;
+        def.angularDamping = damping?.angular ?? 0;
+        def.gravityScale = gravityScale?.value ?? 1;
+        def.motionLocks.linearX = motionLocks?.x ?? false;
+        def.motionLocks.linearY = motionLocks?.y ?? false;
+        def.motionLocks.angularZ = motionLocks?.rotation ?? false;
+        def.enableSleep = sleep?.enabled ?? true;
+        def.isAwake = sleep?.awake ?? true;
+        def.sleepThreshold = sleep?.threshold ?? 0.05;
+        def.isEnabled = body.enabled;
+        def.isBullet = body.bullet;
+        def.allowFastRotation = body.allowFastRotation;
+        return box2d.b2CreateBody(state.worldId, def);
+    });
+}
+function bodyTypeToBox2D(box2d, type) {
+    switch (type) {
+        case BodyType.Static:
+            return box2d.b2BodyType.b2_staticBody;
+        case BodyType.Kinematic:
+            return box2d.b2BodyType.b2_kinematicBody;
+        case BodyType.Dynamic:
+            return box2d.b2BodyType.b2_dynamicBody;
+    }
+}
+//# sourceMappingURL=lifecycle.js.map

package/systems/lifecycle.js.map

@@ -0,0 +1 @@
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package/systems/mass_recompute.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 installMassRecompute(world: World, state: PhysicsState, phase: IPhase): System;

package/systems/mass_recompute.js

@@ -0,0 +1,36 @@
+import { Body, BodyType } from "../components/body.js";
+const CODE_DYNAMIC_BODY_WITHOUT_DENSITY = "dynamic-body-without-density";
+export function installMassRecompute(world, state, phase) {
+    return world
+        .system("PhysicsMassRecompute")
+        .phase(phase)
+        .run(() => {
+        for (const eid of state.dirtyMassBodies) {
+            const bodyId = state.bodyByEntityWasm.get(eid);
+            if (bodyId !== undefined) {
+                state.box2d.b2Body_ApplyMassFromShapes(bodyId);
+            }
+        }
+        state.dirtyMassBodies.clear();
+        if (state.debug) {
+            warnOnMasslessDynamicBodies(world, state);
+        }
+    });
+}
+function warnOnMasslessDynamicBodies(world, state) {
+    for (const [eid, bodyId] of state.bodyByEntityWasm) {
+        const entity = world.getEntity(eid);
+        const body = entity?.get(Body);
+        if (body?.type !== BodyType.Dynamic) {
+            state.warn.rearm(eid, CODE_DYNAMIC_BODY_WITHOUT_DENSITY);
+            continue;
+        }
+        if (state.box2d.b2Body_GetMass(bodyId) === 0) {
+            state.warn.warnOnce(eid, CODE_DYNAMIC_BODY_WITHOUT_DENSITY, `Entity${eid} is a dynamic body with zero mass after recompute; it will not fall.`);
+        }
+        else {
+            state.warn.rearm(eid, CODE_DYNAMIC_BODY_WITHOUT_DENSITY);
+        }
+    }
+}
+//# sourceMappingURL=mass_recompute.js.map

package/systems/mass_recompute.js.map

@@ -0,0 +1 @@
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package/systems/material_filter_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 installMaterialFilterSync(world: World, state: PhysicsState, phase: IPhase): System;

package/systems/material_filter_sync.js

@@ -0,0 +1,64 @@
+import { Body } from "../components/body.js";
+import { Box, Capsule, Chain, Circle, Polygon, Segment } from "../components/geometry.js";
+import { CollisionFilter, Material, Sensor } from "../components/material.js";
+import { withAllocated } from "../adapter/disposal.js";
+import { recreateShapeForEntity } from "./shape_lifecycle.js";
+export function installMaterialFilterSync(world, state, phase) {
+    const system = world
+        .system("PhysicsMaterialFilterSync")
+        .query({ all: [{ any: [Box, Circle, Capsule, Segment, Polygon, Chain] }, { parent: Body }] })
+        .phase(phase);
+    system.update(Material, (entity, material) => {
+        if (requiresMaterialRecreate(state, entity, material)) {
+            // box2d3-wasm@5.2.0 exposes no shape setters for rollingResistance,
+            // tangentSpeed, or userMaterialId, so those updates recreate the shape.
+            recreateShapeForEntity(state, entity);
+            return;
+        }
+        const shapeId = state.shapeByEntityWasm.get(entity.eid);
+        if (shapeId !== undefined) {
+            state.box2d.b2Shape_SetDensity(shapeId, material.density, true);
+            state.box2d.b2Shape_SetFriction(shapeId, material.friction);
+            state.box2d.b2Shape_SetRestitution(shapeId, material.restitution);
+        }
+        if (state.chainByEntity.has(entity.eid)) {
+            recreateShapeForEntity(state, entity);
+        }
+    });
+    system.update(CollisionFilter, (entity, filter) => {
+        const shapeId = state.shapeByEntityWasm.get(entity.eid);
+        if (shapeId !== undefined) {
+            withAllocated(() => new state.box2d.b2Filter(), (wasmFilter) => {
+                // Public filters are 32-bit numbers; Box2D stores 64-bit masks. The
+                // decimal string setters zero-pad the upper 32 bits explicitly.
+                wasmFilter.setCategoryBits64(String(filter.categoryBits >>> 0));
+                wasmFilter.setMaskBits64(String(filter.maskBits >>> 0));
+                wasmFilter.groupIndex = filter.groupIndex;
+                state.box2d.b2Shape_SetFilter(shapeId, wasmFilter);
+            });
+        }
+        if (state.chainByEntity.has(entity.eid)) {
+            recreateShapeForEntity(state, entity);
+        }
+    });
+    system.update(Sensor, (entity) => {
+        recreateShapeForEntity(state, entity);
+    });
+    return system;
+}
+function requiresMaterialRecreate(state, entity, next) {
+    const shapeId = state.shapeByEntityWasm.get(entity.eid);
+    if (shapeId === undefined || !state.box2d.b2Shape_IsValid(shapeId)) {
+        return false;
+    }
+    const materialData = state.box2d.b2Shape_GetSurfaceMaterial(shapeId);
+    try {
+        return (materialData.rollingResistance !== next.rollingResistance ||
+            materialData.tangentSpeed !== next.tangentSpeed ||
+            Number(materialData.userMaterialId) !== next.userMaterialId);
+    }
+    finally {
+        materialData.delete();
+    }
+}
+//# sourceMappingURL=material_filter_sync.js.map

package/systems/material_filter_sync.js.map

@@ -0,0 +1 @@
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package/systems/pose_sync_in.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 installPoseSyncIn(world: World, state: PhysicsState, phase: IPhase): System;

package/systems/pose_sync_in.js

@@ -0,0 +1,52 @@
+import { AngularVelocity, Body, LinearVelocity, Position, Rotation } from "../components/body.js";
+import { PhysicsSystemTag } from "../adapter/state.js";
+export function installPoseSyncIn(world, state, phase) {
+    const system = world.system("PhysicsPoseSyncIn").requires(Body).phase(phase);
+    system.ignoreSource([PhysicsSystemTag]);
+    system.update(Position, (entity, position) => {
+        const bodyId = state.bodyByEntityWasm.get(entity.eid);
+        if (bodyId === undefined) {
+            return;
+        }
+        const rotation = state.box2d.b2Body_GetRotation(bodyId);
+        try {
+            state.scratchVec2.Set(position.x, position.y);
+            state.box2d.b2Body_SetTransform(bodyId, state.scratchVec2, rotation);
+        }
+        finally {
+            rotation.delete();
+        }
+    });
+    system.update(Rotation, (entity, rotation) => {
+        const bodyId = state.bodyByEntityWasm.get(entity.eid);
+        if (bodyId === undefined) {
+            return;
+        }
+        const position = state.box2d.b2Body_GetPosition(bodyId);
+        const wasmRotation = state.box2d.b2MakeRot(rotation.angle);
+        try {
+            state.box2d.b2Body_SetTransform(bodyId, position, wasmRotation);
+        }
+        finally {
+            wasmRotation.delete();
+            position.delete();
+        }
+    });
+    system.update(LinearVelocity, (entity, velocity) => {
+        const bodyId = state.bodyByEntityWasm.get(entity.eid);
+        if (bodyId === undefined) {
+            return;
+        }
+        state.scratchVec2.Set(velocity.x, velocity.y);
+        state.box2d.b2Body_SetLinearVelocity(bodyId, state.scratchVec2);
+    });
+    system.update(AngularVelocity, (entity, velocity) => {
+        const bodyId = state.bodyByEntityWasm.get(entity.eid);
+        if (bodyId === undefined) {
+            return;
+        }
+        state.box2d.b2Body_SetAngularVelocity(bodyId, velocity.value);
+    });
+    return system;
+}
+//# sourceMappingURL=pose_sync_in.js.map

package/systems/pose_sync_in.js.map

@@ -0,0 +1 @@
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package/systems/pose_sync_out.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 installPoseSyncOut(world: World, state: PhysicsState, phase: IPhase): System;

package/systems/pose_sync_out.js

@@ -0,0 +1,50 @@
+import { AngularVelocity, Body, BodyType, LinearVelocity, Position, Rotation, } from "../components/body.js";
+export function installPoseSyncOut(world, state, phase) {
+    return world
+        .system("PhysicsPoseSyncOut")
+        .phase(phase)
+        .run(() => {
+        const bodyEvents = state.box2d.b2World_GetBodyEvents(state.worldId);
+        try {
+            for (let i = 0; i < bodyEvents.moveCount; i++) {
+                const move = bodyEvents.GetMoveEvent(i);
+                try {
+                    const entityId = state.entityByBodyIndex.get(move.bodyId.index1);
+                    if (entityId === undefined) {
+                        continue;
+                    }
+                    const entity = world.entity(entityId);
+                    const body = entity.get(Body);
+                    if (body?.type !== BodyType.Dynamic) {
+                        continue;
+                    }
+                    entity.set(Position, { x: move.transform.p.x, y: move.transform.p.y });
+                    if (entity.get(Rotation) !== undefined) {
+                        entity.set(Rotation, { angle: move.transform.q.GetAngle() });
+                    }
+                    if (entity.get(LinearVelocity) !== undefined) {
+                        const linear = state.box2d.b2Body_GetLinearVelocity(move.bodyId);
+                        try {
+                            entity.set(LinearVelocity, { x: linear.x, y: linear.y });
+                        }
+                        finally {
+                            linear.delete();
+                        }
+                    }
+                    if (entity.get(AngularVelocity) !== undefined) {
+                        entity.set(AngularVelocity, {
+                            value: state.box2d.b2Body_GetAngularVelocity(move.bodyId),
+                        });
+                    }
+                }
+                finally {
+                    move.delete();
+                }
+            }
+        }
+        finally {
+            bodyEvents.delete();
+        }
+    });
+}
+//# sourceMappingURL=pose_sync_out.js.map

package/systems/pose_sync_out.js.map

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

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