@woosh/meep-engine 2.143.0 → 2.145.0

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

@@ -1 +1 @@
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+{"version":3,"file":"Joint.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/ecs/Joint.js"],"names":[],"mappings":"AAKA;;;;GAIG;AACH,gCAFU,MAAM,CAEoB;AAEpC;;;;GAIG;AACH,0BAFU,MAAM,CAEc;AAE9B;;;;;;;;;;;;;;;;;;;;GAoBG;AACH;IAEI;;;OAGG;IACH,SAFU,MAAM,CAEH;IAEb;;;OAGG;IACH,SAFU,MAAM,CAEM;IAEtB;;;;OAIG;IACH,uBAFU,OAAO,CAEmB;IAEpC;;;;;OAKG;IACH,uBAFU,OAAO,CAEmB;IAEpC;;;;;;;;;OASG;IACH,sBAFU,UAAU,CAEW;IAE/B;;;;;;;OAOG;IACH,sBAFU,UAAU,CAEW;IAE/B;;;;;OAKG;IACH,kBAFU,UAAU,CAKjB;IAEH;;;;;;;;;;OAUG;IACH,YAFU,OAAO,CAEE;IAEnB;;;;;;OAMG;IACH,wBAFU,YAAY,CAEc;IACpC,qCAAqC;IACrC,wBADqB,YAAY,CACG;IAEpC;;;;;OAKG;IACH,uBAFU,YAAY,CAEa;IACnC,qCAAqC;IACrC,qBADqB,YAAY,CACA;IAEjC;;;;;OAKG;IACH,iCAFU,YAAY,CAEuB;IAC7C,qCAAqC;IACrC,2BADqB,YAAY,CACM;IAEvC;;;;;OAKG;IACH,qBAFU,YAAY,CAEW;IAEjC;;;OAGG;IACH,UAFU,MAAM,CAEF;IACd;;;OAGG;IACH,UAFU,MAAM,CAEO;IACvB;;;OAGG;IACH,UAFU,MAAM,CAEa;IAE7B;;;;;OAKG;IACH,gBAFa,KAAK,CAUjB;IAED;;;;OAIG;IACH,UAFa,KAAK,CAKjB;IAED;;;;;;;;OAQG;IACH,0BAJW,MAAM,GAEJ,KAAK,CAWjB;IAED;;;;;;;;OAQG;IACH,6BAJW,MAAM,GAEJ,KAAK,CAWjB;IAED;;;;;;;;;;;;;;;;OAgBG;IACH,wBANW,MAAM,cAAqB,MAAM,eACjC,MAAM,gBACN,MAAM,GAEJ,KAAK,CAiBjB;IAED;;;;;;;;;OASG;IACH,qBALW,MAAM,SACN,MAAM,SAAgB,MAAM,GAE1B,KAAK,CAOjB;IAED;;;;;;;;;;;;;;;OAeG;IACH,sBAJW,MAAM,SACN,MAAM,SAAgB,MAAM,GAC1B,KAAK,CAOjB;IAED;;;;;;;;;;;;OAYG;IACH,qBAPW,MAAM,kBACN,MAAM,YAEN,MAAM,GAEJ,KAAK,CAOjB;IAED;;;;;;;;;;;;;;OAcG;IACH,sBATW,MAAM,kBACN,MAAM,YAIN,MAAM,GAEJ,KAAK,CAOjB;IAED;;;;;;;;;;;OAWG;IACH,sBALW,MAAM,aACN,MAAM,WACN,MAAM,GACJ,KAAK,CAOjB;IAED;;;;;;;;;;;;OAYG;IACH,uBANW,MAAM,aACN,MAAM,WAEN,MAAM,GACJ,KAAK,CAOjB;IAED;;;;;;;;;;OAUG;IACH,cAHW,KAAK,GACH,OAAO,CA+BnB;IAED;;;;OAIG;IACH,QAFa,MAAM,CAsBlB;IASL;;;OAGG;IACH,kBAFU,OAAO,CAEM;CAZtB;;kBAIS,MAAM;;oBA9cI,+BAA+B;uBAC5B,kCAAkC"}

package/src/engine/physics/ecs/Joint.js

@@ -1,3 +1,4 @@
+import { computeHashFloat } from "../../../core/primitives/numbers/computeHashFloat.js";
 import Vector3 from "../../../core/geom/Vector3.js";
 import Quaternion from "../../../core/geom/Quaternion.js";
 import { DofMode } from "../constraint/DofMode.js";
@@ -387,6 +388,75 @@ export class Joint {
         this.dofDamping[3 + axis] = damping;
         return this;
     }
+
+    /**
+     * Value equality over the configurable / persistent state — the same field
+     * set that {@link JointSerializationAdapter} writes: the two anchor
+     * entities, the local anchor points and basis frames, the swing-twist flag,
+     * and the six per-DOF mode + limit / spring / motor arrays. Transient
+     * solver state (`dofImpulse`) and the system-resolved handles (`_bodyIdA`,
+     * `_bodyIdB`, `_jointId`) are excluded.
+     *
+     * @param {Joint} other
+     * @returns {boolean}
+     */
+    equals(other) {
+        if (other === this) return true;
+        if (other === null || other === undefined || other.isJoint !== true) return false;
+
+        if (this.entityA !== other.entityA
+            || this.entityB !== other.entityB
+            || this.swingTwist !== other.swingTwist
+            || !this.localAnchorA.equals(other.localAnchorA)
+            || !this.localAnchorB.equals(other.localAnchorB)
+            || !this.localBasisA.equals(other.localBasisA)
+            || !this.localBasisB.equals(other.localBasisB)
+        ) {
+            return false;
+        }
+
+        for (let i = 0; i < 6; i++) {
+            if (this.dofMode[i] !== other.dofMode[i]
+                || this.dofLowerLimit[i] !== other.dofLowerLimit[i]
+                || this.dofUpperLimit[i] !== other.dofUpperLimit[i]
+                || this.dofStiffness[i] !== other.dofStiffness[i]
+                || this.dofDamping[i] !== other.dofDamping[i]
+                || this.dofMotorTargetVelocity[i] !== other.dofMotorTargetVelocity[i]
+                || this.dofMotorMaxForce[i] !== other.dofMotorMaxForce[i]
+            ) {
+                return false;
+            }
+        }
+
+        return true;
+    }
+
+    /**
+     * Hash over the same persistent state as {@link equals}. Equal joints hash
+     * equal.
+     * @returns {number}
+     */
+    hash() {
+        let h = this.entityA | 0;
+        h = (h * 31 + (this.entityB | 0)) | 0;
+        h = (h * 31 + (this.swingTwist ? 1 : 0)) | 0;
+        h = (h * 31 + this.localAnchorA.hash()) | 0;
+        h = (h * 31 + this.localAnchorB.hash()) | 0;
+        h = (h * 31 + this.localBasisA.hash()) | 0;
+        h = (h * 31 + this.localBasisB.hash()) | 0;
+
+        for (let i = 0; i < 6; i++) {
+            h = (h * 31 + (this.dofMode[i] | 0)) | 0;
+            h = (h * 31 + computeHashFloat(this.dofLowerLimit[i])) | 0;
+            h = (h * 31 + computeHashFloat(this.dofUpperLimit[i])) | 0;
+            h = (h * 31 + computeHashFloat(this.dofStiffness[i])) | 0;
+            h = (h * 31 + computeHashFloat(this.dofDamping[i])) | 0;
+            h = (h * 31 + computeHashFloat(this.dofMotorTargetVelocity[i])) | 0;
+            h = (h * 31 + computeHashFloat(this.dofMotorMaxForce[i])) | 0;
+        }
+
+        return h;
+    }
 }
 
 /**

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

@@ -219,10 +219,15 @@ export class PhysicsSystem extends System<any, any, any, any, any> {
      */
     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).
+     * First attached collider of a body, or `null` if none. Used for
+     * body-level checks that aren't yet per-collider: the sensor flag, the
+     * concave-shape dispatch flag, and the contact-filter callback's
+     * `colliderA` / `colliderB` arguments. Contact **materials** (friction /
+     * restitution) are NOT read here — the narrowphase tracks the specific
+     * source collider on each side of every contact and stamps the combined
+     * coefficients into the manifold per contact, so mixed-material compound
+     * bodies are accurate. (Per-contact source colliders for the filter
+     * callback / sensor flag remain a follow-up.)
      *
      * @private
      * @param {number} body_idx

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

@@ -1 +1 @@
-{"version":3,"file":"PhysicsSystem.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/ecs/PhysicsSystem.js"],"names":[],"mappings":"AA+DA;;;;;;;;;;;;;;;;GAgBG;AACH;IAEI,cA6NC;IA1NG,sDAA0C;IAE1C,kKAIC;IAED;;OAEG;IACH,SAFU,WAAW,CAEW;IAEhC;;OAEG;IACH,WAFU,GAAG,CAEa;IAE1B;;OAEG;IACH,YAFU,GAAG,CAEc;IAE3B;;;OAGG;IACH,WAFU,aAAa,CAEa;IAEpC;;;;OAIG;IACH,OAFU,QAAQ,CAES;IAE3B;;;;OAIG;IACH,eAFU,kBAAkB,CAEiB;IAE7C;;;;;;;OAOG;IACH,SAFU,aAAa,CAEW;IAElC;;;;;;OAMG;IACH,2BAFU,MAAM,CAEqB;IAErC;;;;OAIG;IACH,oBAFU,MAAM,CAEa;IAE7B;;;;;;;;;;;OAWG;IACH,UAFU,MAAM,CAEC;IAEjB;;;;;OAKG;IACH,oBAFU,MAAM,CAEW;IAE3B;;;OAGG;IACH,oBAFU,MAAM,CAEW;IAE3B;;;;OAIG;IACH,0BAOC;IAED;;;;OAIG;IACH,kBAFU,OAAO,CAEsB;IAEvC;;;;OAIG;IACH,yBAFU,MAAM,CAEkB;IAElC;;;;OAIG;IACH,wBAFU,MAAM,CAEiB;IAEjC;;;;OAIG;IACH,uBAFU,MAAM,CAEgB;IAEhC;;;;;OAKG;IACH,yBAA4B;IAE5B;;;;;OAKG;IACH,UAFU,SAAS,EAAE,CAEH;IAClB,0BAA0B;IAC1B,cADW,SAAS,EAAE,CACA;IAEtB;;;;;;;;OAQG;IACH,uBAFU,MAAM,MAAM;QAAC,QAAQ,EAAE,QAAQ,CAAC;QAAC,SAAS,EAAE,SAAS,CAAC;QAAC,MAAM,EAAE,MAAM,CAAC;QAAC,OAAO,EAAE,MAAM,CAAA;KAAC,CAAC,CAAC,CAEpE;IAE/B;;;;;OAKG;IACH,UAFU,OAAO,CAEC;IAElB;;;;OAIG;IACH,qBAAsB;IAEtB;;;;;;OAMG;IACH,iBAFU,MAAM,CAEQ;IAExB;;;;;;;;;;;;;;;;OAgBG;IACH,mBAFU,YAAY,CAEsB;IAE5C;;;;;OAKG;IACH,4BAAqE;IAGzE;;;;;;;;;;;;;OAaG;IACH,sBAqBC;IAED;;;;;;;;;OASG;IACH,2BAGC;IAED;;;;;;;;;;OAUG;IACH,gCAOC;IAED;;;OAGG;IACH,cAFW,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAI9C;IAED;;;OAGG;IACH,+BAFqB,MAAM,WAAU,MAAM,aAAY,QAAQ,aAAY,QAAQ,KAAK,OAAO,QAI9F;IAED;;OAEG;IACH,8BAFuB,MAAM,WAAU,MAAM,aAAY,QAAQ,aAAY,QAAQ,KAAK,OAAO,CAIhG;IAED;;;;;;OAMG;IACH,iCA8BC;IAED;;;;OAIG;IACH,iCAIC;IAED;;;;;;;;;;OAUG;IACH,gBAJW,SAAS,aACT,SAAS,UACT,MAAM,QAmBhB;IAED;;;;;;;OAOG;IACH,kBAJW,SAAS,aACT,SAAS,UACT,MAAM,QAkChB;IAED;;;;;;;;;;;;;OAaG;IACH,6BALW,MAAM,YACN,QAAQ,aACR,SAAS,oBACT,MAAM,QAmBhB;IAED;;;;;OAKG;IACH,6BAHW,MAAM,YACN,QAAQ,QAqBlB;IAED;;;;;;;;OAQG;IACH,oCAMC;IAED;;;;;;;;;OASG;IACH,+BAsBC;IAED;;;;OAIG;IACH,iCAMC;IAED;;;;OAIG;IACH,yBAHW,MAAM,GACJ,MAAM,CAKlB;IAED;;;OAGG;IACH,wBAEC;IAED;;;;;;;;;OASG;IACH,wBAHW,SAAS,WACT,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAU9C;IAED;;;;;;;;;;;OAWG;IACH,0BALW,SAAS,aACT,SAAS,WACT,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,cACpC,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAgC9C;IAED;;;;;;;;OAQG;IACH,uBAHW,SAAS,UACT,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAY9C;IAED;;;;;;;;;;;OAWG;IACH,wBALW,SAAS,aACT,SAAS,SACT,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,cACpC,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAuB9C;IAED;;;;;;OAMG;IACH,sBAHW,SAAS,SACT,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAQ9C;IAED;;;;;OAKG;IACH,6BAHW,SAAS,KACT,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAO9C;IAED;;;OAGG;IACH,gBAFW,SAAS,QAInB;IAED;;;;OAIG;IACH,iBAFW,SAAS,QAYnB;IAED;;;;;;;;;;;;;;OAcG;IACH,oBAgCC;IAED;;;;;;;;;;;;;;OAcG;IACH,oCAgCC;IAED;;;;;OAKG;IACH,2BAHW,MAAM,GACJ,MAAM,CAIlB;IAED;;;;;;;;;;;;;;OAcG;IACH,kEAJmB,MAAM,YAAW,QAAQ,KAAG,OAAO,GAEzC,OAAO,CAInB;IAED;;;;;;;;;;;;;;;;;;;OAmBG;IACH,uDALW;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,iDAE7B,MAAM,YAAW,QAAQ,KAAG,OAAO,GACzC,OAAO,CAInB;IAED;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;OAuCG;IACH,0CAVW;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,YAE5B;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,UAErC,WAAW,GAAC,MAAM,EAAE,iBACpB,MAAM,oBACE,MAAM,YAAW,QAAQ,KAAG,OAAO,GAEzC,MAAM,CAIlB;IAED;;;;;;OAMG;IACH;;;;;;OAMG;IACH,qBAkBC;IAED;;;;;;;;;;;;OAYG;IACH,sBAmBC;IAED;;;;;;;;;;;;;;;;;;;;;;OAsBG;IACH,qBAgEC;IAED;;;;;;;;;OASG;IACH,kCAuDC;IAED,2BA4JC;IAGL;;;OAGG;IACH,0BAFU,OAAO,CAEsB;CANtC;uBA/3CsB,qBAAqB;0BAClB,kCAAkC;0BAsCV,gBAAgB;4CAxCtB,oDAAoD;yBAuCrD,eAAe;4BApCf,wBAAwB;oBAP/C,gCAAgC;8BAYN,6BAA6B;yBADlD,2BAA2B;mCAEC,iCAAiC;8BAIxD,4BAA4B;oBAftC,+BAA+B;mBADhC,uCAAuC;yBAyCjC,eAAe;+BAGT,qBAAqB"}
+{"version":3,"file":"PhysicsSystem.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/ecs/PhysicsSystem.js"],"names":[],"mappings":"AA+DA;;;;;;;;;;;;;;;;GAgBG;AACH;IAEI,cA6NC;IA1NG,sDAA0C;IAE1C,kKAIC;IAED;;OAEG;IACH,SAFU,WAAW,CAEW;IAEhC;;OAEG;IACH,WAFU,GAAG,CAEa;IAE1B;;OAEG;IACH,YAFU,GAAG,CAEc;IAE3B;;;OAGG;IACH,WAFU,aAAa,CAEa;IAEpC;;;;OAIG;IACH,OAFU,QAAQ,CAES;IAE3B;;;;OAIG;IACH,eAFU,kBAAkB,CAEiB;IAE7C;;;;;;;OAOG;IACH,SAFU,aAAa,CAEW;IAElC;;;;;;OAMG;IACH,2BAFU,MAAM,CAEqB;IAErC;;;;OAIG;IACH,oBAFU,MAAM,CAEa;IAE7B;;;;;;;;;;;OAWG;IACH,UAFU,MAAM,CAEC;IAEjB;;;;;OAKG;IACH,oBAFU,MAAM,CAEW;IAE3B;;;OAGG;IACH,oBAFU,MAAM,CAEW;IAE3B;;;;OAIG;IACH,0BAOC;IAED;;;;OAIG;IACH,kBAFU,OAAO,CAEsB;IAEvC;;;;OAIG;IACH,yBAFU,MAAM,CAEkB;IAElC;;;;OAIG;IACH,wBAFU,MAAM,CAEiB;IAEjC;;;;OAIG;IACH,uBAFU,MAAM,CAEgB;IAEhC;;;;;OAKG;IACH,yBAA4B;IAE5B;;;;;OAKG;IACH,UAFU,SAAS,EAAE,CAEH;IAClB,0BAA0B;IAC1B,cADW,SAAS,EAAE,CACA;IAEtB;;;;;;;;OAQG;IACH,uBAFU,MAAM,MAAM;QAAC,QAAQ,EAAE,QAAQ,CAAC;QAAC,SAAS,EAAE,SAAS,CAAC;QAAC,MAAM,EAAE,MAAM,CAAC;QAAC,OAAO,EAAE,MAAM,CAAA;KAAC,CAAC,CAAC,CAEpE;IAE/B;;;;;OAKG;IACH,UAFU,OAAO,CAEC;IAElB;;;;OAIG;IACH,qBAAsB;IAEtB;;;;;;OAMG;IACH,iBAFU,MAAM,CAEQ;IAExB;;;;;;;;;;;;;;;;OAgBG;IACH,mBAFU,YAAY,CAEsB;IAE5C;;;;;OAKG;IACH,4BAAqE;IAGzE;;;;;;;;;;;;;OAaG;IACH,sBAqBC;IAED;;;;;;;;;;;;;;OAcG;IACH,2BAGC;IAED;;;;;;;;;;OAUG;IACH,gCAOC;IAED;;;OAGG;IACH,cAFW,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAI9C;IAED;;;OAGG;IACH,+BAFqB,MAAM,WAAU,MAAM,aAAY,QAAQ,aAAY,QAAQ,KAAK,OAAO,QAI9F;IAED;;OAEG;IACH,8BAFuB,MAAM,WAAU,MAAM,aAAY,QAAQ,aAAY,QAAQ,KAAK,OAAO,CAIhG;IAED;;;;;;OAMG;IACH,iCA8BC;IAED;;;;OAIG;IACH,iCAIC;IAED;;;;;;;;;;OAUG;IACH,gBAJW,SAAS,aACT,SAAS,UACT,MAAM,QAmBhB;IAED;;;;;;;OAOG;IACH,kBAJW,SAAS,aACT,SAAS,UACT,MAAM,QAkChB;IAED;;;;;;;;;;;;;OAaG;IACH,6BALW,MAAM,YACN,QAAQ,aACR,SAAS,oBACT,MAAM,QAmBhB;IAED;;;;;OAKG;IACH,6BAHW,MAAM,YACN,QAAQ,QAqBlB;IAED;;;;;;;;OAQG;IACH,oCAMC;IAED;;;;;;;;;OASG;IACH,+BAsBC;IAED;;;;OAIG;IACH,iCAMC;IAED;;;;OAIG;IACH,yBAHW,MAAM,GACJ,MAAM,CAKlB;IAED;;;OAGG;IACH,wBAEC;IAED;;;;;;;;;OASG;IACH,wBAHW,SAAS,WACT,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAU9C;IAED;;;;;;;;;;;OAWG;IACH,0BALW,SAAS,aACT,SAAS,WACT,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,cACpC,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAgC9C;IAED;;;;;;;;OAQG;IACH,uBAHW,SAAS,UACT,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAY9C;IAED;;;;;;;;;;;OAWG;IACH,wBALW,SAAS,aACT,SAAS,SACT,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,cACpC,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAuB9C;IAED;;;;;;OAMG;IACH,sBAHW,SAAS,SACT,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAQ9C;IAED;;;;;OAKG;IACH,6BAHW,SAAS,KACT,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAO9C;IAED;;;OAGG;IACH,gBAFW,SAAS,QAInB;IAED;;;;OAIG;IACH,iBAFW,SAAS,QAYnB;IAED;;;;;;;;;;;;;;OAcG;IACH,oBAgCC;IAED;;;;;;;;;;;;;;OAcG;IACH,oCAgCC;IAED;;;;;OAKG;IACH,2BAHW,MAAM,GACJ,MAAM,CAIlB;IAED;;;;;;;;;;;;;;OAcG;IACH,kEAJmB,MAAM,YAAW,QAAQ,KAAG,OAAO,GAEzC,OAAO,CAInB;IAED;;;;;;;;;;;;;;;;;;;OAmBG;IACH,uDALW;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,iDAE7B,MAAM,YAAW,QAAQ,KAAG,OAAO,GACzC,OAAO,CAInB;IAED;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;OAuCG;IACH,0CAVW;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,YAE5B;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,UAErC,WAAW,GAAC,MAAM,EAAE,iBACpB,MAAM,oBACE,MAAM,YAAW,QAAQ,KAAG,OAAO,GAEzC,MAAM,CAIlB;IAED;;;;;;OAMG;IACH;;;;;;OAMG;IACH,qBAkBC;IAED;;;;;;;;;;;;OAYG;IACH,sBAmBC;IAED;;;;;;;;;;;;;;;;;;;;;;OAsBG;IACH,qBAgEC;IAED;;;;;;;;;OASG;IACH,kCAuDC;IAED,2BA4JC;IAGL;;;OAGG;IACH,0BAFU,OAAO,CAEsB;CANtC;uBAp4CsB,qBAAqB;0BAClB,kCAAkC;0BAsCV,gBAAgB;4CAxCtB,oDAAoD;yBAuCrD,eAAe;4BApCf,wBAAwB;oBAP/C,gCAAgC;8BAYN,6BAA6B;yBADlD,2BAA2B;mCAEC,iCAAiC;8BAIxD,4BAA4B;oBAftC,+BAA+B;mBADhC,uCAAuC;yBAyCjC,eAAe;+BAGT,qBAAqB"}

package/src/engine/physics/ecs/PhysicsSystem.js

@@ -341,10 +341,15 @@ export class PhysicsSystem extends System {
     }
 
     /**
-     * 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).
+     * First attached collider of a body, or `null` if none. Used for
+     * body-level checks that aren't yet per-collider: the sensor flag, the
+     * concave-shape dispatch flag, and the contact-filter callback's
+     * `colliderA` / `colliderB` arguments. Contact **materials** (friction /
+     * restitution) are NOT read here — the narrowphase tracks the specific
+     * source collider on each side of every contact and stamps the combined
+     * coefficients into the manifold per contact, so mixed-material compound
+     * bodies are accurate. (Per-contact source colliders for the filter
+     * callback / sensor flag remain a follow-up.)
      *
      * @private
      * @param {number} body_idx

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

@@ -181,6 +181,21 @@ export class RigidBody {
         flags: number;
     };
     fromJSON(json: any): void;
+    /**
+     * Value equality over the configurable / persistent state — the same field
+     * set that is serialized. Transient runtime state (`_bodyId`, `sleepState`,
+     * sleep timers, accumulated force/torque) is system-owned and excluded.
+     *
+     * @param {RigidBody} other
+     * @returns {boolean}
+     */
+    equals(other: RigidBody): boolean;
+    /**
+     * Hash over the same persistent state as {@link equals}. Equal bodies hash
+     * equal.
+     * @returns {number}
+     */
+    hash(): number;
     /**
      * @readonly
      * @type {boolean}

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

@@ -1 +1 @@
-{"version":3,"file":"RigidBody.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/ecs/RigidBody.js"],"names":[],"mappings":"AAKA;;;;;;GAMG;AACH,qCAFU,MAAM,CAEyB;AAEzC;;;;;;;;;;;;;GAaG;AACH;IAEI;;OAEG;IACH,MAFU,QAAQ,GAAC,MAAM,CAED;IAExB;;;;OAIG;IACH,yBAFU,OAAO,CAEqB;IAEtC;;;;OAIG;IACH,0BAFU,OAAO,CAEsB;IAEvC;;;;;;OAMG;IACH,2BAFU,OAAO,CAEuB;IAExC;;;;;OAKG;IACH,4BAFU,OAAO,CAEwB;IAEzC;;;;OAIG;IACH,MAFU,MAAM,CAEP;IAET;;;;;;OAMG;IACH,8BAFU,OAAO,CAE0B;IAE3C;;OAEG;IACH,eAFU,MAAM,CAEE;IAElB;;OAEG;IACH,gBAFU,MAAM,CAEG;IAEnB;;;;OAIG;IACH,cAFU,MAAM,CAEC;IAEjB;;;OAGG;IACH,OAFU,MAAM,CAEN;IAEV;;;OAGG;IACH,MAFU,MAAM,CAEM;IAEtB;;OAEG;IACH,OAFU,cAAc,GAAC,MAAM,CAEH;IAE5B;;;OAGG;IACH,YAFU,UAAU,GAAC,MAAM,CAEG;IAE9B;;;;;;;;OAQG;IACH,aAFU,MAAM,CAEA;IAEhB;;;;;;;;;;;OAWG;IACH,kBAFU,MAAM,CAEM;IAEtB;;;OAGG;IACH,kBAFU,MAAM,CAEM;IAEtB;;;;OAIG;IACH,SAFU,MAAM,CAEiB;IAEjC;;;OAGG;IACH,cAFW,MAAM,GAAC,cAAc,QAI/B;IAED;;;OAGG;IACH,gBAFW,MAAM,GAAC,cAAc,QAI/B;IAED;;;;OAIG;IACH,cAHW,MAAM,GAAC,cAAc,GACnB,OAAO,CAInB;IAED;;;;OAIG;IACH,gBAHW,MAAM,GAAC,cAAc,SACrB,OAAO,QAQjB;IAED;;;;;;;;;;;;;;;;;;;;;;;;MAcC;IAED,0BAYC;IASL;;;OAGG;IACH,sBAFU,OAAO,CAEc;CAZ9B;;kBAIS,MAAM;;yBAtOS,eAAe;oBADpB,+BAA+B;+BAEpB,qBAAqB;2BACzB,iBAAiB"}
+{"version":3,"file":"RigidBody.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/ecs/RigidBody.js"],"names":[],"mappings":"AAMA;;;;;;GAMG;AACH,qCAFU,MAAM,CAEyB;AAEzC;;;;;;;;;;;;;GAaG;AACH;IAEI;;OAEG;IACH,MAFU,QAAQ,GAAC,MAAM,CAED;IAExB;;;;OAIG;IACH,yBAFU,OAAO,CAEqB;IAEtC;;;;OAIG;IACH,0BAFU,OAAO,CAEsB;IAEvC;;;;;;OAMG;IACH,2BAFU,OAAO,CAEuB;IAExC;;;;;OAKG;IACH,4BAFU,OAAO,CAEwB;IAEzC;;;;OAIG;IACH,MAFU,MAAM,CAEP;IAET;;;;;;OAMG;IACH,8BAFU,OAAO,CAE0B;IAE3C;;OAEG;IACH,eAFU,MAAM,CAEE;IAElB;;OAEG;IACH,gBAFU,MAAM,CAEG;IAEnB;;;;OAIG;IACH,cAFU,MAAM,CAEC;IAEjB;;;OAGG;IACH,OAFU,MAAM,CAEN;IAEV;;;OAGG;IACH,MAFU,MAAM,CAEM;IAEtB;;OAEG;IACH,OAFU,cAAc,GAAC,MAAM,CAEH;IAE5B;;;OAGG;IACH,YAFU,UAAU,GAAC,MAAM,CAEG;IAE9B;;;;;;;;OAQG;IACH,aAFU,MAAM,CAEA;IAEhB;;;;;;;;;;;OAWG;IACH,kBAFU,MAAM,CAEM;IAEtB;;;OAGG;IACH,kBAFU,MAAM,CAEM;IAEtB;;;;OAIG;IACH,SAFU,MAAM,CAEiB;IAEjC;;;OAGG;IACH,cAFW,MAAM,GAAC,cAAc,QAI/B;IAED;;;OAGG;IACH,gBAFW,MAAM,GAAC,cAAc,QAI/B;IAED;;;;OAIG;IACH,cAHW,MAAM,GAAC,cAAc,GACnB,OAAO,CAInB;IAED;;;;OAIG;IACH,gBAHW,MAAM,GAAC,cAAc,SACrB,OAAO,QAQjB;IAED;;;;;;;;;;;;;;;;;;;;;;;;MAcC;IAED,0BAYC;IAED;;;;;;;OAOG;IACH,cAHW,SAAS,GACP,OAAO,CAiBnB;IAED;;;;OAIG;IACH,QAFa,MAAM,CAelB;IASL;;;OAGG;IACH,sBAFU,OAAO,CAEc;CAZ9B;;kBAIS,MAAM;;yBAnRS,eAAe;oBADpB,+BAA+B;+BAEpB,qBAAqB;2BACzB,iBAAiB"}

package/src/engine/physics/ecs/RigidBody.js

@@ -1,3 +1,4 @@
+import { computeHashFloat } from "../../../core/primitives/numbers/computeHashFloat.js";
 import Vector3 from "../../../core/geom/Vector3.js";
 import { BodyKind } from "./BodyKind.js";
 import { RigidBodyFlags } from "./RigidBodyFlags.js";
@@ -225,6 +226,51 @@ export class RigidBody {
         if (json.mask !== undefined) this.mask = json.mask;
         if (json.flags !== undefined) this.flags = json.flags;
     }
+
+    /**
+     * Value equality over the configurable / persistent state — the same field
+     * set that is serialized. Transient runtime state (`_bodyId`, `sleepState`,
+     * sleep timers, accumulated force/torque) is system-owned and excluded.
+     *
+     * @param {RigidBody} other
+     * @returns {boolean}
+     */
+    equals(other) {
+        if (other === this) return true;
+        if (other === null || other === undefined || other.isRigidBody !== true) return false;
+
+        return this.kind === other.kind
+            && this.mass === other.mass
+            && this.linearDamping === other.linearDamping
+            && this.angularDamping === other.angularDamping
+            && this.gravityScale === other.gravityScale
+            && this.layer === other.layer
+            && this.mask === other.mask
+            && this.flags === other.flags
+            && this.linearVelocity.equals(other.linearVelocity)
+            && this.angularVelocity.equals(other.angularVelocity)
+            && this.inverseInertiaLocal.equals(other.inverseInertiaLocal);
+    }
+
+    /**
+     * Hash over the same persistent state as {@link equals}. Equal bodies hash
+     * equal.
+     * @returns {number}
+     */
+    hash() {
+        let h = this.kind | 0;
+        h = (h * 31 + computeHashFloat(this.mass)) | 0;
+        h = (h * 31 + computeHashFloat(this.linearDamping)) | 0;
+        h = (h * 31 + computeHashFloat(this.angularDamping)) | 0;
+        h = (h * 31 + computeHashFloat(this.gravityScale)) | 0;
+        h = (h * 31 + (this.layer | 0)) | 0;
+        h = (h * 31 + (this.mask | 0)) | 0;
+        h = (h * 31 + (this.flags | 0)) | 0;
+        h = (h * 31 + this.linearVelocity.hash()) | 0;
+        h = (h * 31 + this.angularVelocity.hash()) | 0;
+        h = (h * 31 + this.inverseInertiaLocal.hash()) | 0;
+        return h;
+    }
 }
 
 /**

package/src/engine/physics/narrowphase/compute_penetration.d.ts

@@ -10,56 +10,56 @@
  * `-out_direction * return_value` to `position_b`) is the minimum
  * translation that produces separation.
  *
- * If the shapes do not overlap (or EPA degenerates on a tangent
- * contact), the return value is `0` and `out_direction` is left
- * untouched. Callers should treat 0 as "no penetration".
+ * If the shapes do not overlap, the return value is `0` and
+ * `out_direction` is left untouched. Callers should treat 0 as "no
+ * penetration".
  *
  * Sign convention matches the narrowphase's stored contact normal:
- *   - `out_direction` ≡ "B → A" direction
- *   - Negative of cast direction in shape_cast at the kiss point
- *   - The outward normal of B's surface at the contact, pointing
- *     toward A
+ * `out_direction` ≡ the "B → A" direction (B's outward surface normal at the
+ * contact, pointing toward A).
  *
- * Built on the existing GJK + EPA + PosedShape primitives — same
- * precision characteristics (essentially exact for sign-based supports
- * like cubes; asymptotic on curved supports like spheres near tangent,
- * where the polytope iteration cap leaves a small angular residual on
- * the direction).
+ * ## How it is computed (hardened)
  *
- * ## Non-convex support
+ * The query routes through the **same narrowphase contact dispatch the solver
+ * consumes** ({@link deepest_pair_penetration} → `dispatch_pair`) and reports
+ * the deepest contact. That makes it correct — not "correct sometimes" — for
+ * every shape pair the engine can build:
  *
- * Exactly **one** of the two shapes may be non-convex (heightmap,
- * mesh). The non-convex shape is decomposed into triangles overlapping
- * the convex shape's AABB (via the same machinery the narrowphase
- * uses), and per-triangle GJK + EPA is run; the deepest contact's
- * direction and depth are reported. Concave-vs-concave throws — the
- * M×N triangle-pair cost is out of scope for this primitive (and is
- * also refused by the narrowphase for dynamic pairs).
+ *   - **sphere / box / capsule pairs** → exact closed-form solvers
+ *     (`sphere_sphere`, `sphere_box`, `box_box` via SAT, `capsule_*`). Box-box
+ *     in particular uses the true minimum-translation axis, so a small body
+ *     resting on a large box reports the few-cm overlap through the near face
+ *     rather than the metres-deep "exit through the far side" a centroid-seeded
+ *     MPR portal used to return.
+ *   - **general convex pairs** (anything without a closed form) → GJK + EPA,
+ *     which is exact for polytopes and is only ever reached by polytope-like
+ *     shapes here, since every curved primitive (sphere, capsule) has a closed
+ *     form above.
+ *   - **convex vs concave** (one of heightmap / mesh) → triangle decomposition
+ *     over the convex AABB + the closed-form per-triangle solvers
+ *     (`sphere_triangle`, `box_triangle`, `capsule_triangle`), deepest wins.
+ *     These are bounded to each triangle's true 2-D extent, so the historical
+ *     over-report on closed-mesh side faces (infinite-plane extrapolation) is
+ *     gone.
  *
- * ## Non-convex precision limits
+ * ## Convex-vs-concave recovery (fully-tunnelled bodies)
  *
- * The concave path is a per-triangle half-space test (convex's deepest
- * point along −face_normal, compared to the triangle's plane). This
- * is exact for **heightmaps** — adjacent triangles cover the
- * boundary cases, and the face normal IS the contact direction.
+ * The per-triangle closed-form solvers are intentionally one-sided: a convex
+ * shape that has crossed to the *inner* side of a surface produces no
+ * from-outside contact (the narrowphase won't shove a body deeper into the
+ * solid mid-step). For a standalone penetration / depenetration query that is
+ * the wrong answer — the shape *is* overlapping the solid and must be pushed
+ * back out. When the primary dispatch finds no contact for a convex-vs-concave
+ * pair, this function falls back to a half-space test
+ * ({@link concave_recovery_penetration}) that reports the outward push-out
+ * vector. This is exact for heightmap terrain and a valid (if not strictly
+ * minimal) recovery direction for closed meshes.
  *
- * For **closed meshes** the half-space test extrapolates each triangle
- * as an infinite plane, which can over-report depth on side faces
- * when the convex shape extends past a face's 2D extent. The
- * deepest-wins aggregation then picks a "false-deepest" face whose
- * direction may not be the geometrically optimal one. A closed-form
- * triangle-vs-X solver per primitive shape would fix this; until
- * then, the function reports *some* outward direction with positive
- * depth, which still resolves penetration over multiple iterations.
+ * Concave-vs-concave throws — the M×N triangle-pair cost is out of scope (and
+ * is also refused by the narrowphase for dynamic pairs).
  *
- * Bodies fully inside the concave solid (or below a heightmap
- * surface) are correctly recovered: every face's deepest-inward
- * support point lands on the inward side, so the half-space test
- * fires, and the deepest face wins. The reported direction pushes
- * the body outward through that face.
- *
- * @param {Float64Array|number[]} out_direction length ≥ 3; receives
- *   the unit separation direction (B → A) on penetration
+ * @param {Float64Array|number[]} out_direction length ≥ 3; receives the unit
+ *   separation direction (B → A) on penetration
  * @param {AbstractShape3D} shape_a  in shape_a's local frame; may be concave
  * @param {{x:number,y:number,z:number}} position_a  world position of A
  * @param {{x:number,y:number,z:number,w:number}} rotation_a  world rotation of A

package/src/engine/physics/narrowphase/compute_penetration.d.ts.map

@@ -1 +1 @@
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