@vworlds/vecs-physics 1.0.16

package/systems/shape_lifecycle.js

@@ -0,0 +1,281 @@
+import { ChildOf } from "@vworlds/vecs";
+import { Body } from "../components/body.js";
+import { Box, Capsule, Chain, Circle, Polygon, Segment } from "../components/geometry.js";
+import { ContactEvents, HitEvents, SensorEvents } from "../components/events.js";
+import { CollisionFilter, Material, Sensor } from "../components/material.js";
+import { ShapePosition, ShapeRotation } from "../components/shape_pose.js";
+import { withAllocated } from "../adapter/disposal.js";
+const MAX_POLYGON_VERTICES = 8;
+export function installShapeLifecycle(world, state, phase) {
+    const system = world
+        .system("PhysicsShapeLifecycle")
+        .query({ all: [{ any: [Box, Circle, Capsule, Segment, Polygon, Chain] }, { parent: Body }] })
+        .phase(phase);
+    system.enter((entity) => {
+        createShapeForEntity(state, entity);
+    });
+    system.exit((entity) => {
+        destroyShapeForEntity(state, entity, true);
+    });
+    system.update(Box, (entity) => {
+        recreateShapeForEntity(state, entity);
+    });
+    system.update(Circle, (entity) => {
+        recreateShapeForEntity(state, entity);
+    });
+    system.update(Capsule, (entity) => {
+        const capsule = entity.get(Capsule);
+        if (capsule !== undefined &&
+            !hasValidEndpoints(capsule.x1, capsule.y1, capsule.x2, capsule.y2)) {
+            return;
+        }
+        recreateShapeForEntity(state, entity);
+    });
+    system.update(Segment, (entity) => {
+        const segment = entity.get(Segment);
+        if (segment !== undefined &&
+            !hasValidEndpoints(segment.x1, segment.y1, segment.x2, segment.y2)) {
+            return;
+        }
+        recreateShapeForEntity(state, entity);
+    });
+    system.update(Polygon, (entity) => {
+        recreateShapeForEntity(state, entity);
+    });
+    system.update(Chain, (entity) => {
+        recreateShapeForEntity(state, entity);
+    });
+    system.update(ChildOf, (entity) => {
+        recreateShapeForEntity(state, entity);
+    });
+    return system;
+}
+export function recreateShapeForEntity(state, entity) {
+    destroyShapeForEntity(state, entity, false);
+    createShapeForEntity(state, entity);
+}
+function createShapeForEntity(state, entity) {
+    const parentEntity = entity.parent(ChildOf);
+    if (parentEntity === undefined) {
+        return;
+    }
+    const bodyId = state.bodyByEntityWasm.get(parentEntity.eid);
+    if (bodyId === undefined) {
+        return;
+    }
+    const options = readShapeOptions(entity);
+    const pose = readLocalPose(entity);
+    const chain = entity.get(Chain);
+    if (chain !== undefined) {
+        createChain(state, entity, bodyId, chain, options, pose);
+        return;
+    }
+    const shapeId = createSingleShape(state, entity, bodyId, options, pose);
+    if (shapeId !== undefined) {
+        state.shapeByEntityWasm.set(entity.eid, shapeId);
+        state.entityByShapeIndex.set(shapeId.index1, entity.eid);
+        state.shapeEntityByEid.set(entity.eid, entity);
+        state.dirtyMassBodies.add(parentEntity.eid);
+    }
+}
+function destroyShapeForEntity(state, entity, allowCascadeSkip) {
+    const chainId = state.chainByEntity.get(entity.eid);
+    if (chainId !== undefined) {
+        const parentBodyExists = parentBodyStillExists(state, entity);
+        if (!allowCascadeSkip || parentBodyExists || state.box2d.b2Chain_IsValid(chainId)) {
+            if (state.box2d.b2Chain_IsValid(chainId)) {
+                state.box2d.b2DestroyChain(chainId);
+            }
+        }
+        state.chainByEntity.delete(entity.eid);
+        markParentBodyMassDirty(state, entity);
+    }
+    const shapeId = state.shapeByEntityWasm.get(entity.eid);
+    if (shapeId !== undefined) {
+        const parentBodyExists = parentBodyStillExists(state, entity);
+        if ((!allowCascadeSkip || parentBodyExists) && state.box2d.b2Shape_IsValid(shapeId)) {
+            state.box2d.b2DestroyShape(shapeId, true);
+        }
+        state.shapeByEntityWasm.delete(entity.eid);
+        state.entityByShapeIndex.delete(shapeId.index1);
+        markParentBodyMassDirty(state, entity);
+    }
+}
+function createSingleShape(state, entity, bodyId, options, pose) {
+    const box2d = state.box2d;
+    return withAllocated(box2d.b2DefaultShapeDef, (def) => {
+        applyShapeDef(def, options);
+        const box = entity.get(Box);
+        if (box !== undefined) {
+            return withAllocated(() => new box2d.b2Vec2(pose.x, pose.y), (center) => withAllocated(() => new box2d.b2Rot(), (rot) => {
+                rot.SetAngle(pose.angle);
+                const polygon = box2d.b2MakeOffsetBox(box.hx, box.hy, center, rot);
+                try {
+                    return box2d.b2CreatePolygonShape(bodyId, def, polygon);
+                }
+                finally {
+                    polygon.delete();
+                }
+            }));
+        }
+        const circle = entity.get(Circle);
+        if (circle !== undefined) {
+            return withAllocated(() => new box2d.b2Circle(), (shape) => {
+                shape.center.Set(pose.x, pose.y);
+                shape.radius = circle.radius;
+                return box2d.b2CreateCircleShape(bodyId, def, shape);
+            });
+        }
+        const capsule = entity.get(Capsule);
+        if (capsule !== undefined) {
+            if (!hasValidEndpoints(capsule.x1, capsule.y1, capsule.x2, capsule.y2)) {
+                return undefined;
+            }
+            return withAllocated(() => new box2d.b2Capsule(), (shape) => {
+                shape.center1.Set(capsule.x1 + pose.x, capsule.y1 + pose.y);
+                shape.center2.Set(capsule.x2 + pose.x, capsule.y2 + pose.y);
+                shape.radius = capsule.radius;
+                return box2d.b2CreateCapsuleShape(bodyId, def, shape);
+            });
+        }
+        const segment = entity.get(Segment);
+        if (segment !== undefined) {
+            if (!hasValidEndpoints(segment.x1, segment.y1, segment.x2, segment.y2)) {
+                return undefined;
+            }
+            return withAllocated(() => new box2d.b2Segment(), (shape) => {
+                shape.point1.Set(segment.x1 + pose.x, segment.y1 + pose.y);
+                shape.point2.Set(segment.x2 + pose.x, segment.y2 + pose.y);
+                return box2d.b2CreateSegmentShape(bodyId, def, shape);
+            });
+        }
+        const polygon = entity.get(Polygon);
+        if (polygon !== undefined) {
+            return createPolygonShape(state, bodyId, def, polygon, pose);
+        }
+        return undefined;
+    });
+}
+function createPolygonShape(state, bodyId, def, polygon, pose) {
+    if (polygon.vertices.length > MAX_POLYGON_VERTICES || polygon.vertices.length < 3) {
+        return undefined;
+    }
+    const box2d = state.box2d;
+    const points = polygon.vertices.map((point) => new box2d.b2Vec2(point.x, point.y));
+    try {
+        const hull = box2d.b2ComputeHull(points);
+        try {
+            if (hull.count < 3) {
+                return undefined;
+            }
+            const wasmPolygon = box2d.b2MakePolygon(hull, polygon.radius);
+            try {
+                return box2d.b2CreatePolygonShape(bodyId, def, wasmPolygon);
+            }
+            finally {
+                wasmPolygon.delete();
+            }
+        }
+        finally {
+            hull.delete();
+        }
+    }
+    finally {
+        for (const point of points) {
+            point.delete();
+        }
+    }
+}
+function createChain(state, entity, bodyId, chain, options, pose) {
+    if (chain.points.length < 4) {
+        return;
+    }
+    const box2d = state.box2d;
+    const points = chain.points.map((point) => new box2d.b2Vec2(point.x, point.y));
+    try {
+        const chainId = withAllocated(box2d.b2DefaultChainDef, (def) => {
+            applyChainDef(def, options);
+            def.isLoop = chain.loop;
+            def.count = points.length;
+            def.SetPoints(points);
+            return box2d.b2CreateChain(bodyId, def);
+        });
+        state.chainByEntity.set(entity.eid, chainId);
+        state.shapeEntityByEid.set(entity.eid, entity);
+        markParentBodyMassDirty(state, entity);
+    }
+    finally {
+        for (const point of points) {
+            point.delete();
+        }
+    }
+}
+function applyShapeDef(def, options) {
+    def.density = options.density;
+    def.isSensor = options.sensor;
+    def.enableSensorEvents = options.enableSensorEvents;
+    def.enableContactEvents = options.enableContactEvents;
+    def.enableHitEvents = options.enableHitEvents;
+    def.filter.categoryBits = options.categoryBits;
+    def.filter.maskBits = options.maskBits;
+    def.filter.groupIndex = options.groupIndex;
+    def.material.friction = options.friction;
+    def.material.restitution = options.restitution;
+    def.material.rollingResistance = options.rollingResistance;
+    def.material.tangentSpeed = options.tangentSpeed;
+    def.material.userMaterialId = BigInt(options.userMaterialId);
+}
+function applyChainDef(def, options) {
+    def.filter.categoryBits = options.categoryBits;
+    def.filter.maskBits = options.maskBits;
+    def.filter.groupIndex = options.groupIndex;
+    const material = def.GetMaterials()[0];
+    material.friction = options.friction;
+    material.restitution = options.restitution;
+    material.rollingResistance = options.rollingResistance;
+    material.tangentSpeed = options.tangentSpeed;
+    material.userMaterialId = BigInt(options.userMaterialId);
+    def.materialCount = 1;
+    def.enableSensorEvents = options.enableSensorEvents;
+}
+function readShapeOptions(entity) {
+    const material = entity.get(Material);
+    const filter = entity.get(CollisionFilter);
+    return {
+        density: material?.density ?? 1,
+        friction: material?.friction ?? 0.6,
+        restitution: material?.restitution ?? 0,
+        rollingResistance: material?.rollingResistance ?? 0,
+        tangentSpeed: material?.tangentSpeed ?? 0,
+        userMaterialId: material?.userMaterialId ?? 0,
+        categoryBits: filter?.categoryBits ?? 1,
+        maskBits: filter?.maskBits ?? 0xffffffff,
+        groupIndex: filter?.groupIndex ?? 0,
+        sensor: entity.get(Sensor) !== undefined,
+        enableContactEvents: entity.get(ContactEvents) !== undefined,
+        enableHitEvents: entity.get(HitEvents) !== undefined,
+        enableSensorEvents: entity.get(SensorEvents) !== undefined,
+    };
+}
+function readLocalPose(entity) {
+    return {
+        x: entity.get(ShapePosition)?.x ?? 0,
+        y: entity.get(ShapePosition)?.y ?? 0,
+        angle: entity.get(ShapeRotation)?.angle ?? 0,
+    };
+}
+function parentBodyStillExists(state, entity) {
+    const parent = entity.parent(ChildOf);
+    return parent !== undefined && state.bodyByEntityWasm.has(parent.eid);
+}
+function markParentBodyMassDirty(state, entity) {
+    const parent = entity.parent(ChildOf);
+    if (parent !== undefined && state.bodyByEntityWasm.has(parent.eid)) {
+        state.dirtyMassBodies.add(parent.eid);
+    }
+}
+function hasValidEndpoints(ax, ay, bx, by) {
+    const LINEAR_SLOP = 0.005;
+    return (bx - ax) ** 2 + (by - ay) ** 2 > LINEAR_SLOP * LINEAR_SLOP;
+}
+//# sourceMappingURL=shape_lifecycle.js.map

package/systems/shape_lifecycle.js.map

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package/systems/shape_pose_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 installShapePoseSync(world: World, state: PhysicsState, phase: IPhase): System;

package/systems/shape_pose_sync.js

@@ -0,0 +1,18 @@
+import { Body } from "../components/body.js";
+import { Box, Capsule, Chain, Circle, Polygon, Segment } from "../components/geometry.js";
+import { ShapePosition, ShapeRotation } from "../components/shape_pose.js";
+import { recreateShapeForEntity } from "./shape_lifecycle.js";
+export function installShapePoseSync(world, state, phase) {
+    const system = world
+        .system("PhysicsShapePoseSync")
+        .query({ all: [{ any: [Box, Circle, Capsule, Segment, Polygon, Chain] }, { parent: Body }] })
+        .phase(phase);
+    system.update(ShapePosition, (entity) => {
+        recreateShapeForEntity(state, entity);
+    });
+    system.update(ShapeRotation, (entity) => {
+        recreateShapeForEntity(state, entity);
+    });
+    return system;
+}
+//# sourceMappingURL=shape_pose_sync.js.map

package/systems/shape_pose_sync.js.map

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

package/systems/step.js

@@ -0,0 +1,13 @@
+export function installStep(world, state, phase) {
+    return world
+        .system("PhysicsStep")
+        .phase(phase)
+        .run((_now, delta) => {
+        if (state.debug && Math.abs(delta / 1000 - state.fixedTimeStep) > 1e-4) {
+            state.warn.warnOnce(0, "delta-mismatch", `frame delta ${delta}ms does not match fixedTimeStep ${state.fixedTimeStep * 1000}ms; ` +
+                `physics expects a fixed delta.`);
+        }
+        state.box2d.b2World_Step(state.worldId, state.fixedTimeStep, state.subSteps);
+    });
+}
+//# sourceMappingURL=step.js.map

package/systems/step.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"step.js","sourceRoot":"","sources":["../../../../src/systems/step.ts"],"names":[],"mappings":"AAIA,MAAM,UAAU,WAAW,CAAC,KAAY,EAAE,KAAmB,EAAE,KAAa;IAC1E,OAAO,KAAK;SACT,MAAM,CAAC,aAAa,CAAC;SACrB,KAAK,CAAC,KAAK,CAAC;SACZ,GAAG,CAAC,CAAC,IAAI,EAAE,KAAK,EAAE,EAAE;QACnB,IAAI,KAAK,CAAC,KAAK,IAAI,IAAI,CAAC,GAAG,CAAC,KAAK,GAAG,IAAI,GAAG,KAAK,CAAC,aAAa,CAAC,GAAG,IAAI,EAAE,CAAC;YACvE,KAAK,CAAC,IAAI,CAAC,QAAQ,CACjB,CAAC,EACD,gBAAgB,EAChB,eAAe,KAAK,mCAAmC,KAAK,CAAC,aAAa,GAAG,IAAI,MAAM;gBACrF,gCAAgC,CACnC,CAAC;QACJ,CAAC;QACD,KAAK,CAAC,KAAK,CAAC,YAAY,CAAC,KAAK,CAAC,OAAO,EAAE,KAAK,CAAC,aAAa,EAAE,KAAK,CAAC,QAAQ,CAAC,CAAC;IAC/E,CAAC,CAAC,CAAC;AACP,CAAC"}

package/util/resolve_body.d.ts

@@ -0,0 +1,6 @@
+import { type Entity } from "@vworlds/vecs";
+import { type b2BodyId, type PhysicsState } from "../adapter/state.js";
+/** Resolve the WASM body id for a force/impulse target entity.
+ * Accepts entities that directly carry `Body` OR have a `Body`-carrying
+ * immediate parent via `ChildOf`. Returns `undefined` when neither applies. */
+export declare function resolveBodyId(entity: Entity, state: PhysicsState): b2BodyId | undefined;

package/util/resolve_body.js

@@ -0,0 +1,16 @@
+import { ChildOf } from "@vworlds/vecs";
+import { Body } from "../components/body.js";
+/** Resolve the WASM body id for a force/impulse target entity.
+ * Accepts entities that directly carry `Body` OR have a `Body`-carrying
+ * immediate parent via `ChildOf`. Returns `undefined` when neither applies. */
+export function resolveBodyId(entity, state) {
+    if (entity.get(Body) !== undefined) {
+        return state.bodyByEntityWasm.get(entity.eid);
+    }
+    const parent = entity.parent(ChildOf);
+    if (parent === undefined || parent.get(Body) === undefined) {
+        return undefined;
+    }
+    return state.bodyByEntityWasm.get(parent.eid);
+}
+//# sourceMappingURL=resolve_body.js.map

package/util/resolve_body.js.map

@@ -0,0 +1 @@
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package/util/warn.d.ts

@@ -0,0 +1,21 @@
+/** Receives a fully formatted warning line. Defaults to `console.warn`. */
+export type WarnSink = (message: string) => void;
+export declare class WarnDedupe {
+    /** entity eid -> set of issue codes already warned for that entity. */
+    private readonly _warned;
+    private readonly _sink;
+    constructor(sink?: WarnSink);
+    /**
+     * Emit a warning for `(eid, code)` unless it has already been warned.
+     *
+     * @returns `true` if the warning was emitted (first occurrence), `false` if
+     *   it was suppressed as a duplicate.
+     */
+    warnOnce(eid: number, code: string, message: string): boolean;
+    /** Re-arm a `(eid, code)` pair so its next {@link warnOnce} emits again. */
+    rearm(eid: number, code: string): void;
+    /** True when `(eid, code)` has been warned and not since re-armed. */
+    has(eid: number, code: string): boolean;
+    /** Forget all warnings. */
+    clear(): void;
+}

package/util/warn.js

@@ -0,0 +1,42 @@
+// Debug-warning de-duplication. Each (entity, code) pair warns at most once
+// until it is re-armed, so a persistent structural problem logs once rather
+// than every step. Re-arming lets a fixed-then-rebroken structure warn again.
+export class WarnDedupe {
+    constructor(sink = (message) => console.warn(message)) {
+        /** entity eid -> set of issue codes already warned for that entity. */
+        this._warned = new Map();
+        this._sink = sink;
+    }
+    /**
+     * Emit a warning for `(eid, code)` unless it has already been warned.
+     *
+     * @returns `true` if the warning was emitted (first occurrence), `false` if
+     *   it was suppressed as a duplicate.
+     */
+    warnOnce(eid, code, message) {
+        let codes = this._warned.get(eid);
+        if (codes === undefined) {
+            codes = new Set();
+            this._warned.set(eid, codes);
+        }
+        if (codes.has(code)) {
+            return false;
+        }
+        codes.add(code);
+        this._sink(`[vecs-physics] ${code}: ${message}`);
+        return true;
+    }
+    /** Re-arm a `(eid, code)` pair so its next {@link warnOnce} emits again. */
+    rearm(eid, code) {
+        this._warned.get(eid)?.delete(code);
+    }
+    /** True when `(eid, code)` has been warned and not since re-armed. */
+    has(eid, code) {
+        return this._warned.get(eid)?.has(code) ?? false;
+    }
+    /** Forget all warnings. */
+    clear() {
+        this._warned.clear();
+    }
+}
+//# sourceMappingURL=warn.js.map

package/util/warn.js.map

@@ -0,0 +1 @@
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