@woosh/meep-engine 2.139.0 → 2.141.0

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

@@ -18,7 +18,7 @@
 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>)[];
+    components_used: (ResourceAccessSpecification<typeof RigidBody> | ResourceAccessSpecification<typeof Collider> | ResourceAccessSpecification<typeof Transform>)[];
     /**
      * @type {BodyStorage}
      */
@@ -66,34 +66,36 @@ export class PhysicsSystem extends System<any, any, any, any, any> {
      */
     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.
+     * Seconds of below-threshold motion before a body is moved to the
+     * sleeping set. Box2D default is 0.5 s.
+     * @type {number}
+     */
+    sleepTimeThreshold: number;
+    /**
+     * Number of TGS substeps per `fixedUpdate`. Each substep re-runs the
+     * velocity + position solve at `dt / substeps` against contacts whose
+     * penetration is re-derived analytically from the bodies' moved poses
+     * — narrowphase still runs once per outer step. Higher counts buy
+     * stack stability, high-mass-ratio robustness, and smoother
+     * trajectories at a near-linear solver cost (sleeping islands are
+     * unaffected — they never enter the loop).
      *
-     * Box2D's default is 4; we match. Set to 1 to fall back to
-     * classic PGS behaviour (one solve per tick at full `dt`).
+     * `1` reproduces the non-substepped (single-step) solve.
      * @type {number}
      */
-    solverSubsteps: number;
+    substeps: 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.
+     * Velocity iterations per substep. Lower than a single-step solver
+     * would need, because the substep loop revisits the contact set
+     * `substeps` times.
      * @type {number}
      */
-    solverItersPerSubstep: number;
+    velocityIterations: number;
     /**
-     * Seconds of below-threshold motion before a body is moved to the
-     * sleeping set. Box2D default is 0.5 s.
+     * Position (split-impulse) iterations per substep.
      * @type {number}
      */
-    sleepTimeThreshold: number;
+    positionIterations: number;
     /**
      * Reusable contact-event payload. Listeners must copy any fields they
      * intend to retain past their own scope. Reset before each dispatch.
@@ -155,6 +157,45 @@ export class PhysicsSystem extends System<any, any, any, any, any> {
         entity: number;
         bvhNode: number;
     }>>;
+    /**
+     * Live {@link Joint} (6-DOF constraint) instances, in a sparse array
+     * indexed by joint id. Solved alongside contacts inside the TGS
+     * substep loop. Holes (unlinked joints) are `undefined`.
+     * @type {Joint[]}
+     */
+    __joints: Joint[];
+    /**
+     * Lowest free index in {@link __joints} for slot reuse on link.
+     * @private
+     * @type {number}
+     */
+    private __joint_free;
+    /**
+     * Velocity iterations per substep for the joint solver. Joints (and
+     * especially joint chains) want a few more iterations than contacts to
+     * propagate impulses along the chain; cheap because joints are far
+     * fewer than contacts.
+     * @type {number}
+     */
+    jointIterations: number;
+    /**
+     * Per-body pseudo-velocity for the Catto split-impulse position
+     * pass (TGS Phase 1). Flat layout, 6 doubles per body slot index:
+     * `[lin.x, lin.y, lin.z, ang.x, ang.y, ang.z]`. Sized to
+     * `storage.high_water_mark * 6` at the top of each fixedUpdate
+     * and zeroed in place so unwritten slots contribute nothing to
+     * `integrate_position`.
+     *
+     * The solver writes during its position pass; `integrate_position`
+     * reads and folds into the pose update on the same tick, then
+     * the next tick's zero-pass wipes the state. It NEVER lands in
+     * `linearVelocity` / `angularVelocity` — that's the point of
+     * split impulse: depth correction does not contaminate persistent
+     * velocity (so a `restitution = 0` impact stops cleanly).
+     *
+     * @type {Float64Array}
+     */
+    __pseudo_velocity: Float64Array;
     /**
      * Bound reference to {@link __pair_filter} so we hand the same
      * callable to {@link generate_pairs} each step without per-step
@@ -188,6 +229,18 @@ export class PhysicsSystem extends System<any, any, any, any, any> {
      * @returns {Collider|null}
      */
     private __primary_collider;
+    /**
+     * Resize {@link __pseudo_velocity} to cover every live body slot and
+     * zero its contents. Called at the top of each fixedUpdate so the
+     * split-impulse position pass starts from a clean state — bodies the
+     * solver doesn't touch contribute zero pseudo-velocity to
+     * {@link integrate_position}.
+     *
+     * Doubles on growth like the other physics scratches; never shrinks.
+     *
+     * @private
+     */
+    private __reset_pseudo_velocity;
     /**
      * Replace the world gravity vector. Effective on the next step.
      * @param {Vector3|{x:number,y:number,z:number}} v
@@ -273,6 +326,23 @@ export class PhysicsSystem extends System<any, any, any, any, any> {
      * @returns {number} body index or -1
      */
     private __find_body_index_by_entity;
+    /**
+     * Register a {@link Joint} (6-DOF constraint). Resolves the joint's
+     * entities to packed body ids and adds it to the active set, where it is
+     * solved alongside contacts in the TGS substep loop. Body A must be a
+     * linked body; body B is either a linked body or {@link JOINT_WORLD}
+     * (anchoring A to a fixed world point — `localAnchorB` is then a world
+     * coordinate).
+     *
+     * @param {Joint} joint
+     */
+    link_joint(joint: Joint): void;
+    /**
+     * Remove a previously {@link link_joint}'d joint from the active set.
+     * Idempotent.
+     * @param {Joint} joint
+     */
+    unlink_joint(joint: Joint): void;
     /**
      * Resolve a packed body id to its entity, or `-1` if the id is stale.
      * @param {number} packed_body_id
@@ -444,6 +514,82 @@ export class PhysicsSystem extends System<any, any, any, any, any> {
      * @returns {boolean}
      */
     raycast(ray: Ray3, result: PhysicsSurfacePoint, filter?: (entity: number, collider: Collider) => boolean): boolean;
+    /**
+     * Sweep a convex shape along a ray and find the first body it
+     * would hit. The shape starts at `ray.origin` oriented by
+     * `rotation` and translates along `ray.direction` for up to
+     * `ray.tMax` units. Returns the nearest impact within that
+     * interval.
+     *
+     * The "swept AABB" broadphase finds candidate bodies whose BVH
+     * leaves overlap the shape's swept volume; the narrowphase then
+     * bisects [0, t] on GJK overlap to find the time-of-impact for
+     * each candidate. Best-t early termination skips candidates that
+     * can't tighten the answer.
+     *
+     * @param {Ray3} ray  origin + unit direction + `tMax`
+     * @param {AbstractShape3D} shape
+     * @param {{x:number,y:number,z:number,w:number}} rotation
+     * @param {PhysicsSurfacePoint} result populated on hit; untouched on miss
+     * @param {(entity:number, collider:Collider)=>boolean} [filter]
+     * @returns {boolean}
+     */
+    shapeCast(ray: Ray3, shape: AbstractShape3D, rotation: {
+        x: number;
+        y: number;
+        z: number;
+        w: number;
+    }, result: PhysicsSurfacePoint, filter?: (entity: number, collider: Collider) => boolean): boolean;
+    /**
+     * Speculative overlap query: find all bodies whose collider would
+     * overlap the given convex shape placed at the given world pose,
+     * without mutating the simulation. Intended for kinematic /
+     * character controllers that need to test "would I collide if I
+     * moved here?" before committing the move.
+     *
+     * Pipeline:
+     *   1. The shape's world AABB is computed from `position` + `rotation`.
+     *   2. Both broadphase trees (static + dynamic) are queried for
+     *      bodies whose leaf AABB overlaps that envelope.
+     *   3. Each candidate is GJK-tested in world frame. Convex
+     *      candidates run one GJK call; concave candidates (heightmap,
+     *      mesh) run per-triangle GJK via the decomposition path.
+     *   4. The optional `filter` is consulted before the GJK test —
+     *      useful for skipping the caller's own body, allies, sensors,
+     *      etc.
+     *
+     * The output buffer is filled with overlapping bodies' `body_id`
+     * values (uint32 with packed generation), starting at
+     * `output_offset`. The caller is responsible for sizing the buffer;
+     * IDs past its end are dropped silently and the count caps at the
+     * available space.
+     *
+     * The query shape must be convex. Concave query shapes throw —
+     * they're typically static terrain and not used as kinematic
+     * probes; the M×N triangle-pair cost wouldn't be worth the rare
+     * use case.
+     *
+     * @param {AbstractShape3D} shape convex query shape, in its local frame
+     * @param {{x:number,y:number,z:number}} position world position of
+     *   the query shape
+     * @param {{x:number,y:number,z:number,w:number}} rotation world
+     *   rotation (unit quaternion)
+     * @param {Uint32Array|number[]} output buffer to receive body_ids
+     * @param {number} output_offset starting index in output
+     * @param {(entity:number, collider:Collider)=>boolean} [filter]
+     *   defaults to {@link returnTrue}
+     * @returns {number} number of overlapping bodies written
+     */
+    overlap(shape: AbstractShape3D, position: {
+        x: number;
+        y: number;
+        z: number;
+    }, rotation: {
+        x: number;
+        y: number;
+        z: number;
+        w: number;
+    }, output: Uint32Array | number[], output_offset: number, filter?: (entity: number, collider: Collider) => boolean): number;
     /**
      * Run one simulation step. v1 pipeline: integrate velocity → integrate
      * position → refit broadphase AABBs. Narrowphase, solver, islands and
@@ -459,6 +605,20 @@ export class PhysicsSystem extends System<any, any, any, any, any> {
      * @private
      */
     private __wake_pairs;
+    /**
+     * Wake propagation across joints: if a joint connects an awake body to a
+     * sleeping one, wake the sleeper so the constraint stays coupled (a joint
+     * with one body asleep and one awake would otherwise be skipped by the
+     * solver, letting the awake side drift). A common trigger is a
+     * kinematic/motor-driven body pulling on a sleeping chain.
+     *
+     * Bodies that slept together as one island share a sleep group, so the
+     * usual atomic wake already revives the whole chain when any member is
+     * hit; this catches the cases that atomic wake doesn't (joint spanning
+     * separate groups, kinematic driver).
+     * @private
+     */
+    private __wake_joints;
     /**
      * Per-island atomic sleep test. Walks each island once and applies the
      * decision uniformly across all members:

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

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