@woosh/meep-engine 2.138.20 → 2.139.0

package/src/engine/physics/ecs/PhysicsSystem.d.ts

@@ -0,0 +1,520 @@
+/**
+ * Rigid-body physics system.
+ *
+ * v1 scope: pool + active list + two BVHs (static / dynamic), Transform sync
+ * contract, and the user-facing API surface (gravity, force / impulse, layer
+ * filtering, wake / sleep, contact filter). The per-step simulation pipeline
+ * (broadphase pair generation, narrowphase, solver, islands, sleep test,
+ * contact-event emission) is built on top of this skeleton in subsequent
+ * iterations.
+ *
+ * Dependency tuple is `(RigidBody, Collider, Transform)` — every body has
+ * exactly one collider on the same entity. Compound bodies via child collider
+ * entities are an extension point handled by a follow-up sub-observer.
+ *
+ * @author Alex Goldring
+ * @copyright Company Named Limited (c) 2026
+ */
+export class PhysicsSystem extends System<any, any, any, any, any> {
+    constructor();
+    dependencies: (typeof Transform | typeof RigidBody)[];
+    components_used: (ResourceAccessSpecification<typeof Transform> | ResourceAccessSpecification<typeof RigidBody> | ResourceAccessSpecification<typeof Collider>)[];
+    /**
+     * @type {BodyStorage}
+     */
+    storage: BodyStorage;
+    /**
+     * @type {BVH}
+     */
+    staticBvh: BVH;
+    /**
+     * @type {BVH}
+     */
+    dynamicBvh: BVH;
+    /**
+     * Persistent contact-manifold cache. One slot per active pair.
+     * @type {ManifoldStore}
+     */
+    manifolds: ManifoldStore;
+    /**
+     * Per-frame list of broadphase-overlapping pairs (canonical
+     * `(min, max)`). Cleared at the top of each step.
+     * @type {PairList}
+     */
+    pairs: PairList;
+    /**
+     * Per-frame contact-event buffer. Populated by the manifold diff
+     * pass at end-of-step and consumed by the dispatch pass.
+     * @type {ContactEventBuffer}
+     */
+    contactEvents: ContactEventBuffer;
+    /**
+     * Per-frame island partitioning of the awake-body + contact graph.
+     * Rebuilt after narrowphase, consumed by the solver (and, in the
+     * follow-up slice, by the per-island atomic sleep test). Bodies
+     * static and kinematic act as constraint anchors and do not enlarge
+     * islands.
+     * @type {IslandBuilder}
+     */
+    islands: IslandBuilder;
+    /**
+     * Velocity-squared threshold below which a body is eligible to start
+     * accumulating sleep time. Combined linear + angular kinetic-ish
+     * metric: `vx²+vy²+vz² + ωx²+ωy²+ωz²`. Default 0.01 corresponds to
+     * ~0.1 m/s linear or ~0.1 rad/s angular.
+     * @type {number}
+     */
+    sleepVelocitySqrThreshold: number;
+    /**
+     * Number of TGS substeps per fixed tick. Each substep does
+     * `integrate_velocity → solve_contacts → integrate_position` with
+     * `dt / substeps` as its time step; narrowphase + island building
+     * run once per tick before the substep loop. Higher values give
+     * better convergence on tall stacks (impulses propagate through
+     * deeper contact chains thanks to per-substep position
+     * integration) at proportionally higher solver cost.
+     *
+     * Box2D's default is 4; we match. Set to 1 to fall back to
+     * classic PGS behaviour (one solve per tick at full `dt`).
+     * @type {number}
+     */
+    solverSubsteps: number;
+    /**
+     * Velocity iterations within each TGS substep. With 4 substeps,
+     * the total iterations per tick is `solverSubsteps × this` = 8 —
+     * comparable to the classic PGS default of 10, but distributed
+     * across substeps with position integration between them, which
+     * is dramatically more stable on stacks.
+     * @type {number}
+     */
+    solverItersPerSubstep: number;
+    /**
+     * Seconds of below-threshold motion before a body is moved to the
+     * sleeping set. Box2D default is 0.5 s.
+     * @type {number}
+     */
+    sleepTimeThreshold: number;
+    /**
+     * Reusable contact-event payload. Listeners must copy any fields they
+     * intend to retain past their own scope. Reset before each dispatch.
+     * @private
+     */
+    private __contact_payload;
+    /**
+     * World gravity, m/s². Applied each step scaled by per-body gravityScale.
+     * @readonly
+     * @type {Vector3}
+     */
+    readonly gravity: Vector3;
+    /**
+     * Emitted at end-of-step for newly established contact pairs.
+     * @readonly
+     * @type {Signal}
+     */
+    readonly onContactBegin: Signal;
+    /**
+     * Emitted at end-of-step for contact pairs that persisted from the previous step.
+     * @readonly
+     * @type {Signal}
+     */
+    readonly onContactStay: Signal;
+    /**
+     * Emitted at end-of-step for contact pairs that disappeared.
+     * @readonly
+     * @type {Signal}
+     */
+    readonly onContactEnd: Signal;
+    /**
+     * Optional global contact filter. Called for each surviving broadphase
+     * pair; returning `false` discards the pair.
+     * @type {((entityA: number, entityB: number, colliderA: Collider, colliderB: Collider) => boolean) | null}
+     * @private
+     */
+    private __contact_filter;
+    /**
+     * Per-body component side-tables indexed by body index (NOT packed id).
+     * Sparse arrays — populated at link, cleared at unlink. The hot loop
+     * iterates `storage.awake_at(i)` and dereferences these.
+     * @type {RigidBody[]}
+     */
+    __bodies: RigidBody[];
+    /** @type {Transform[]} */
+    __transforms: Transform[];
+    /**
+     * Per-body list of attached colliders. Each entry stores the
+     * Collider component, its world Transform, the entity that owns
+     * it (the body entity for same-entity attachments, a child entity
+     * for compound bodies), and the BVH leaf id assigned at attach
+     * time. A body may have zero or more attached colliders.
+     *
+     * @type {Array<Array<{collider: Collider, transform: Transform, entity: number, bvhNode: number}>>}
+     */
+    __body_collider_lists: Array<Array<{
+        collider: Collider;
+        transform: Transform;
+        entity: number;
+        bvhNode: number;
+    }>>;
+    /**
+     * Bound reference to {@link __pair_filter} so we hand the same
+     * callable to {@link generate_pairs} each step without per-step
+     * allocation.
+     * @private
+     */
+    private __pair_filter_bound;
+    /**
+     * Symmetric layer/mask check + optional user callback. Called per
+     * candidate pair during broadphase. Returns `true` to accept the pair.
+     *
+     * Layer/mask rule: pair (A, B) collides iff
+     *   `(A.layer & B.mask) !== 0 && (B.layer & A.mask) !== 0`.
+     * The user's contact-filter callback is consulted only for pairs that
+     * pass the bitmask test (cheap gate first).
+     *
+     * @private
+     * @param {number} idA packed body id
+     * @param {number} idB packed body id
+     * @returns {boolean}
+     */
+    private __pair_filter;
+    /**
+     * First attached collider of a body, or `null` if none. Used by the
+     * solver to read material parameters (friction / restitution) when the
+     * per-contact source-collider identity isn't tracked yet (v1 limitation
+     * — multi-collider bodies with mixed materials lose precision here).
+     *
+     * @private
+     * @param {number} body_idx
+     * @returns {Collider|null}
+     */
+    private __primary_collider;
+    /**
+     * Replace the world gravity vector. Effective on the next step.
+     * @param {Vector3|{x:number,y:number,z:number}} v
+     */
+    setGravity(v: Vector3 | {
+        x: number;
+        y: number;
+        z: number;
+    }): void;
+    /**
+     * Install (or remove with `null`) the contact filter callback.
+     * @param {((entityA:number, entityB:number, colliderA:Collider, colliderB:Collider) => boolean) | null} fn
+     */
+    setContactFilter(fn: (entityA: number, entityB: number, colliderA: Collider, colliderB: Collider) => boolean): void;
+    /**
+     * @returns {((entityA:number, entityB:number, colliderA:Collider, colliderB:Collider) => boolean) | null}
+     */
+    getContactFilter(): (entityA: number, entityB: number, colliderA: Collider, colliderB: Collider) => boolean;
+    /**
+     * @private
+     * @param {RigidBody} rb
+     * @param {Collider} collider
+     * @param {Transform} transform
+     * @returns {number} BVH node id
+     */
+    private __insert_into_broadphase;
+    /**
+     * @private
+     * @param {RigidBody} rb
+     * @param {number} node
+     */
+    private __remove_from_broadphase;
+    /**
+     * Lifecycle entry: invoked when an entity gains the (RigidBody, Transform)
+     * tuple. Allocates the body's slot in storage and seeds an empty collider
+     * list. Colliders are attached separately via {@link attach_collider} (the
+     * paired {@link ColliderObserverSystem} drives this from the dataset; in
+     * tests, call manually).
+     *
+     * @param {RigidBody} rigidBody
+     * @param {Transform} transform
+     * @param {number} entity
+     */
+    link(rigidBody: RigidBody, transform: Transform, entity: number): void;
+    /**
+     * Detach every collider attached to this body, free its slot, and clear
+     * the side-tables.
+     *
+     * @param {RigidBody} rigidBody
+     * @param {Transform} transform
+     * @param {number} entity
+     */
+    unlink(rigidBody: RigidBody, transform: Transform, entity: number): void;
+    /**
+     * Attach a collider to an existing body. The collider can live on the
+     * same entity as the body (single-collider body) or on a child entity
+     * (compound body). The world transform passed here is the collider's
+     * own — for a same-entity collider it is the body's Transform; for a
+     * child collider it is the child entity's Transform.
+     *
+     * Idempotent — re-attaching the same collider is a no-op.
+     *
+     * @param {number} body_entity entity that owns the body
+     * @param {Collider} collider
+     * @param {Transform} transform world transform of the collider
+     * @param {number} [collider_entity] entity owning the collider (defaults to body_entity)
+     */
+    attach_collider(body_entity: number, collider: Collider, transform: Transform, collider_entity?: number): void;
+    /**
+     * Reverse of {@link attach_collider}. Idempotent.
+     *
+     * @param {number} body_entity
+     * @param {Collider} collider
+     */
+    detach_collider(body_entity: number, collider: Collider): void;
+    /**
+     * Linear scan over body slots looking for the one whose entity matches.
+     * O(N) where N is the live body count — only called on the link/unlink
+     * paths, not during simulation, so the scan cost is bounded.
+     *
+     * @private
+     * @param {number} entity
+     * @returns {number} body index or -1
+     */
+    private __find_body_index_by_entity;
+    /**
+     * Resolve a packed body id to its entity, or `-1` if the id is stale.
+     * @param {number} packed_body_id
+     * @returns {number}
+     */
+    entityOf(packed_body_id: number): number;
+    /**
+     * Number of live bodies (regardless of awake/sleeping state).
+     * @returns {number}
+     */
+    get bodyCount(): number;
+    /**
+     * Apply an instantaneous change of momentum at the body's centre of mass.
+     * Linear-only — see {@link applyImpulseAt} for an off-centre impulse that
+     * also produces angular response.
+     *
+     * Wakes the body if it is asleep.
+     *
+     * @param {RigidBody} rigidBody
+     * @param {Vector3|{x:number,y:number,z:number}} impulse
+     */
+    applyImpulse(rigidBody: RigidBody, impulse: Vector3 | {
+        x: number;
+        y: number;
+        z: number;
+    }): void;
+    /**
+     * Apply an instantaneous change of momentum at a specific world-space point.
+     * Off-centre impulses produce both linear (Δv = P/m) and angular
+     * (Δω = I_w⁻¹·(r × P)) response.
+     *
+     * Wakes the body if it is asleep.
+     *
+     * @param {RigidBody} rigidBody
+     * @param {Transform} transform body's current world Transform (used for r and I_w)
+     * @param {Vector3|{x:number,y:number,z:number}} impulse
+     * @param {Vector3|{x:number,y:number,z:number}} worldPoint
+     */
+    applyImpulseAt(rigidBody: RigidBody, transform: Transform, impulse: Vector3 | {
+        x: number;
+        y: number;
+        z: number;
+    }, worldPoint: Vector3 | {
+        x: number;
+        y: number;
+        z: number;
+    }): void;
+    /**
+     * Accumulate a continuous torque (world-space) for integration on the
+     * next fixedUpdate. Pairs with {@link applyForce} for the rotational case.
+     *
+     * Wakes the body if asleep.
+     *
+     * @param {RigidBody} rigidBody
+     * @param {Vector3|{x:number,y:number,z:number}} torque
+     */
+    applyTorque(rigidBody: RigidBody, torque: Vector3 | {
+        x: number;
+        y: number;
+        z: number;
+    }): void;
+    /**
+     * Apply a continuous force at a specific world-space point. The force
+     * generates both a linear acceleration (F/m) and a torque (r × F) about
+     * the body's centre of mass.
+     *
+     * Wakes the body if asleep.
+     *
+     * @param {RigidBody} rigidBody
+     * @param {Transform} transform body's current world Transform
+     * @param {Vector3|{x:number,y:number,z:number}} force
+     * @param {Vector3|{x:number,y:number,z:number}} worldPoint
+     */
+    applyForceAt(rigidBody: RigidBody, transform: Transform, force: Vector3 | {
+        x: number;
+        y: number;
+        z: number;
+    }, worldPoint: Vector3 | {
+        x: number;
+        y: number;
+        z: number;
+    }): void;
+    /**
+     * Accumulate a continuous force to be integrated next fixedUpdate step.
+     * Wakes the body if asleep.
+     *
+     * @param {RigidBody} rigidBody
+     * @param {Vector3|{x:number,y:number,z:number}} force
+     */
+    applyForce(rigidBody: RigidBody, force: Vector3 | {
+        x: number;
+        y: number;
+        z: number;
+    }): void;
+    /**
+     * Replace the linear velocity. Wakes the body if asleep.
+     *
+     * @param {RigidBody} rigidBody
+     * @param {Vector3|{x:number,y:number,z:number}} v
+     */
+    setLinearVelocity(rigidBody: RigidBody, v: Vector3 | {
+        x: number;
+        y: number;
+        z: number;
+    }): void;
+    /**
+     * Force the body awake. Static bodies are ignored.
+     * @param {RigidBody} rigidBody
+     */
+    wake(rigidBody: RigidBody): void;
+    /**
+     * Force the body asleep. Dynamic bodies will not re-enter the active list
+     * until a wake event occurs.
+     * @param {RigidBody} rigidBody
+     */
+    sleep(rigidBody: RigidBody): void;
+    /**
+     * Wake a body and atomically wake every other body it was last sleeping
+     * with (its "sleep group"). Sleep groups are circular doubly-linked lists
+     * threaded through every member of an island when it sleeps atomically;
+     * waking any one member walks the chain and wakes the rest in the same
+     * call.
+     *
+     * Without this, a 100-block stack hit at the base would wake one block
+     * per frame as the broadphase propagated awareness up the stack — a
+     * visible ~1.6 s wave at 60 fps. Atomic wake eliminates the wave.
+     *
+     * No-op for non-dynamic bodies. Idempotent for already-awake bodies.
+     * @private
+     * @param {RigidBody} rb
+     */
+    private __wake_body;
+    /**
+     * Atomically put every body in a contiguous range of island members to
+     * sleep. Members are threaded into a circular doubly-linked list so any
+     * future `wake` on any member walks the chain and revives them all.
+     *
+     * Velocities are zeroed because the body is by definition at rest at
+     * this point — the alternative (storing residual velocities for "softer"
+     * wake) is what Bullet does, but for a deterministic game-physics target
+     * fully resetting is simpler and avoids drift while sleeping.
+     *
+     * @private
+     * @param {Uint32Array} member_array view (or full array) of body indices
+     * @param {number} start
+     * @param {number} end
+     */
+    private __atomic_sleep_island_range;
+    /**
+     * Get the body index for a packed body id without revalidation. Used by
+     * query traversals that already trust the id came from a live BVH leaf.
+     * @param {number} packed_body_id
+     * @returns {number}
+     */
+    __index_of(packed_body_id: number): number;
+    /**
+     * Broadphase raycast against both BVHs. Fills `result` with the nearest
+     * hit and returns `true` on hit, `false` on miss.
+     *
+     * Narrowphase refinement against the actual shape geometry is a
+     * follow-up — for now `result.t` is the distance to the leaf's
+     * inflated AABB and `result.normal` is the AABB face normal. Both are
+     * exact for AABB-shaped colliders.
+     *
+     * @param {Ray3} ray  origin + unit direction + `tMax`
+     * @param {PhysicsSurfacePoint} result populated on hit; untouched on miss
+     * @param {(entity:number, collider:Collider)=>boolean} [filter] defaults
+     *   to {@link returnTrue} (accept every candidate)
+     * @returns {boolean}
+     */
+    raycast(ray: Ray3, result: PhysicsSurfacePoint, filter?: (entity: number, collider: Collider) => boolean): boolean;
+    /**
+     * Run one simulation step. v1 pipeline: integrate velocity → integrate
+     * position → refit broadphase AABBs. Narrowphase, solver, islands and
+     * contact-event emission land in subsequent slices.
+     *
+     * @param {number} dt
+     */
+    /**
+     * Wake any sleeping body that appears in this step's broadphase pair list.
+     * A pair means the BVH AABBs overlap — even if the sleeper hasn't moved,
+     * an awake neighbour has come into contact range and the sleeper must
+     * participate in narrowphase / solve.
+     * @private
+     */
+    private __wake_pairs;
+    /**
+     * Per-island atomic sleep test. Walks each island once and applies the
+     * decision uniformly across all members:
+     *
+     *  - If any member carries {@link RigidBodyFlags.DisableSleep}, the
+     *    entire island is exempt; every member's sleep_timer is reset.
+     *  - If `max(|v|² + |ω|²)` across all members is below
+     *    {@link sleepVelocitySqrThreshold}, every member's sleep_timer is
+     *    incremented by `dt`. When the smallest member's timer crosses
+     *    {@link sleepTimeThreshold}, the whole island sleeps atomically in
+     *    the same step (members get threaded into a sleep-group chain so
+     *    {@link __wake_body} can wake them all in one call).
+     *  - Otherwise the island has at least one active member, so every
+     *    member's timer is reset.
+     *
+     * This is the design-plan atomic-island sleep — replaces the per-body
+     * approximation that lived in this slot during the previous slice.
+     * Weakly-connected piles no longer chatter awake when a single member
+     * blips above threshold; piles fall asleep and wake up as one.
+     *
+     * @private
+     * @param {number} dt
+     */
+    private __sleep_test;
+    /**
+     * Dispatch every buffered contact event through:
+     *  - the system-level Signals ({@link onContactBegin}/Stay/End), always; and
+     *  - the entity-level event channel via `dataset.sendEvent(entity, name, payload)`,
+     *    when a dataset is attached.
+     *
+     * Payload is a reused scratch object; listeners must copy anything they
+     * intend to retain past the listener body.
+     * @private
+     */
+    private __dispatch_contact_events;
+    fixedUpdate(dt: any): void;
+    /**
+     * @readonly
+     * @type {boolean}
+     */
+    readonly isPhysicsSystem: boolean;
+}
+import { System } from "../../ecs/System.js";
+import { Transform } from "../../ecs/transform/Transform.js";
+import { RigidBody } from "./RigidBody.js";
+import { ResourceAccessSpecification } from "../../../core/model/ResourceAccessSpecification.js";
+import { Collider } from "./Collider.js";
+import { BodyStorage } from "../body/BodyStorage.js";
+import { BVH } from "../../../core/bvh2/bvh3/BVH.js";
+import { ManifoldStore } from "../contact/ManifoldStore.js";
+import { PairList } from "../broadphase/PairList.js";
+import { ContactEventBuffer } from "../events/ContactEventBuffer.js";
+import { IslandBuilder } from "../island/IslandBuilder.js";
+import Vector3 from "../../../core/geom/Vector3.js";
+import Signal from "../../../core/events/signal/Signal.js";
+import { BodyKind } from "./BodyKind.js";
+import { RigidBodyFlags } from "./RigidBodyFlags.js";
+export { BodyKind, RigidBodyFlags };
+//# sourceMappingURL=PhysicsSystem.d.ts.map

package/src/engine/physics/ecs/PhysicsSystem.d.ts.map

@@ -0,0 +1 @@
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