@woosh/meep-engine 2.147.0 → 2.149.0

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

@@ -21,8 +21,9 @@ export class PhysicsSystem extends System<any, any, any, any, any> {
     components_used: (ResourceAccessSpecification<typeof RigidBody> | ResourceAccessSpecification<typeof Collider> | ResourceAccessSpecification<typeof Transform>)[];
     /**
      * @type {BodyStorage}
+     * @readonly
      */
-    storage: BodyStorage;
+    readonly storage: BodyStorage;
     /**
      * @type {BVH}
      */
@@ -34,8 +35,9 @@ export class PhysicsSystem extends System<any, any, any, any, any> {
     /**
      * Persistent contact-manifold cache. One slot per active pair.
      * @type {ManifoldStore}
+     * @readonly
      */
-    manifolds: ManifoldStore;
+    readonly manifolds: ManifoldStore;
     /**
      * Per-frame list of broadphase-overlapping pairs (canonical
      * `(min, max)`). Cleared at the top of each step.
@@ -57,6 +59,17 @@ export class PhysicsSystem extends System<any, any, any, any, any> {
      * @type {IslandBuilder}
      */
     islands: IslandBuilder;
+    /**
+     * Data-oriented mirror of the per-body solver hot state (velocity,
+     * inverse mass / inertia, orientation), packed into one ArrayBuffer
+     * and indexed by body slot. Gathered from the `RigidBody` /
+     * `Transform` components once per step (after islands are built),
+     * mutated in place by the TGS substep loop, and the persistent
+     * velocity scattered back at the end. Keeps the solver's hottest inner
+     * loop free of component-object dereferences.
+     * @type {SolverBodyState}
+     */
+    __solver_state: SolverBodyState;
     /**
      * Velocity-squared threshold below which a body is eligible to start
      * accumulating sleep time. Combined linear + angular kinetic-ish
@@ -140,8 +153,11 @@ export class PhysicsSystem extends System<any, any, any, any, any> {
      * @type {RigidBody[]}
      */
     __bodies: RigidBody[];
-    /** @type {Transform[]} */
-    __transforms: Transform[];
+    /**
+     * @type {Transform[]}
+     * @readonly
+     */
+    readonly __transforms: Transform[];
     /**
      * Per-body list of attached colliders. Each entry stores the
      * Collider component, its world Transform, the entity that owns
@@ -211,13 +227,6 @@ export class PhysicsSystem extends System<any, any, any, any, any> {
      * @type {Float64Array}
      */
     __ccd_start_pos: Float64Array;
-    /**
-     * 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;
     /**
      * Optional shared interpolation log to produce per-step pose snapshots
      * into (the {@link InterpolationSystem}'s log). When set — and only then —
@@ -554,13 +563,6 @@ export class PhysicsSystem extends System<any, any, any, any, any> {
      * @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.
@@ -756,6 +758,7 @@ 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 { SolverBodyState } from "../body/SolverBodyState.js";
 import Vector3 from "../../../core/geom/Vector3.js";
 import Signal from "../../../core/events/signal/Signal.js";
 import { BodyKind } from "./BodyKind.js";

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

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