@woosh/meep-engine 2.153.0 → 2.155.0

package/src/engine/physics/queries/raycast.d.ts

@@ -7,6 +7,11 @@
  * composite convex shapes (no exact ray test yet) fall back to the broadphase
  * AABB hit + AABB-face normal.
  *
+ * **Sensors are skipped.** A ray passes straight through any body or collider
+ * flagged {@link is_sensor} (a trigger is not a solid surface), landing on the
+ * nearest solid surface behind it. This is the only behaviour — a query that
+ * wants to find trigger volumes uses an overlap query, not a ray.
+ *
  * Multi-collider bodies resolve their primary (first-attached) collider — the
  * BVH leaf encodes only `body_id`; per-collider rays need the leaf user-data to
  * carry the collider index (future work).

package/src/engine/physics/queries/raycast.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"raycast.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/queries/raycast.js"],"names":[],"mappings":"AA8IA;;;;;;;;;;;;;;;;;;;GAmBG;AACH,yGAJmB,MAAM,yBAAsB,OAAO,GAEzC,OAAO,CAwCnB"}
+{"version":3,"file":"raycast.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/queries/raycast.js"],"names":[],"mappings":"AAiJA;;;;;;;;;;;;;;;;;;;;;;;;GAwBG;AACH,yGAJmB,MAAM,yBAAsB,OAAO,GAEzC,OAAO,CAwCnB"}

package/src/engine/physics/queries/raycast.js

@@ -11,6 +11,7 @@ import {
     aabb3_near_distance_to_intersection_ray_segment
 } from "../../../core/geom/3d/aabb/aabb3_near_distance_to_intersection_ray_segment.js";
 import { body_id_index } from "../body/BodyStorage.js";
+import { is_sensor } from "../ecs/is_sensor.js";
 import { RAY_REFINE_UNSUPPORTED, refine_ray_hit } from "../narrowphase/refine_ray_hit.js";
 
 const stack = SCRATCH_UINT32_TRAVERSAL_STACK;
@@ -110,6 +111,8 @@ function bvh_raycast_nearest(
         const idx = body_id_index(body_id);
         const collider = system.__primary_collider(idx);
         if (collider === null) continue;
+        // Sensors (triggers) are not solid surfaces — a ray passes through them.
+        if (is_sensor(system.__bodies[idx], collider)) continue;
         if (!filter(entity, collider)) continue;
 
         const tr = system.__transforms[idx];
@@ -120,14 +123,14 @@ function bvh_raycast_nearest(
 
         if (refined === RAY_REFINE_UNSUPPORTED) {
             // No exact ray test for this shape — keep the broadphase AABB hit.
-            if (t_near < acc.best_t) {
-                acc.best_t = t_near;
-                acc.best_body = body_id;
-                aabb_face_normal(best_normal,
-                    float32[address], float32[address + 1], float32[address + 2],
-                    float32[address + 3], float32[address + 4], float32[address + 5],
-                    ox + dx * t_near, oy + dy * t_near, oz + dz * t_near);
-            }
+            // The line-97 `if (t_near >= acc.best_t) continue;` already guarantees
+            // t_near < acc.best_t here, so no further guard is needed.
+            acc.best_t = t_near;
+            acc.best_body = body_id;
+            aabb_face_normal(best_normal,
+                float32[address], float32[address + 1], float32[address + 2],
+                float32[address + 3], float32[address + 4], float32[address + 5],
+                ox + dx * t_near, oy + dy * t_near, oz + dz * t_near);
         } else if (refined < acc.best_t) { // a refined miss is Infinity → never wins
             acc.best_t = refined;
             acc.best_body = body_id;
@@ -149,6 +152,11 @@ function bvh_raycast_nearest(
  * composite convex shapes (no exact ray test yet) fall back to the broadphase
  * AABB hit + AABB-face normal.
  *
+ * **Sensors are skipped.** A ray passes straight through any body or collider
+ * flagged {@link is_sensor} (a trigger is not a solid surface), landing on the
+ * nearest solid surface behind it. This is the only behaviour — a query that
+ * wants to find trigger volumes uses an overlap query, not a ray.
+ *
  * Multi-collider bodies resolve their primary (first-attached) collider — the
  * BVH leaf encodes only `body_id`; per-collider rays need the leaf user-data to
  * carry the collider index (future work).

package/src/engine/physics/queries/shape_cast.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"shape_cast.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/queries/shape_cast.js"],"names":[],"mappings":"AAwEA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAgDG;AACH,+FANW;IAAC,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAA;CAAC,iDAE7B,MAAM,yBAAsB,OAAO,GAEzC,OAAO,CA2QnB"}
+{"version":3,"file":"shape_cast.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/queries/shape_cast.js"],"names":[],"mappings":"AAwEA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAgDG;AACH,+FANW;IAAC,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAA;CAAC,iDAE7B,MAAM,yBAAsB,OAAO,GAEzC,OAAO,CAiRnB"}

package/src/engine/physics/queries/shape_cast.js

@@ -155,13 +155,19 @@ export function shape_cast(system, ray, shape, rotation, result, filter = return
     if (dz > 0) swept_aabb[5] += dz * tMax; else swept_aabb[2] += dz * tMax;
 
     // ── 2. Broadphase: gather candidates from both trees ───────────
-    const n_static = bvh_query_user_data_overlaps_aabb(
-        scratch_candidates, 0, system.staticBvh, swept_aabb
-    );
-    const n_dynamic = bvh_query_user_data_overlaps_aabb(
-        scratch_candidates, n_static, system.dynamicBvh, swept_aabb
-    );
-    const n_total = n_static + n_dynamic;
+    // The BVH query returns the TRUE overlap count and silently drops writes past
+    // the buffer end. An undersized buffer would make the narrowphase loop read
+    // `undefined` candidates and silently MISS the true nearest hit (tunnelling on
+    // a long sweep through a dense scene). Grow by doubling and re-query until
+    // both fit (deterministic queries → converges in one resize).
+    let n_static, n_dynamic, n_total;
+    for (;;) {
+        n_static = bvh_query_user_data_overlaps_aabb(scratch_candidates, 0, system.staticBvh, swept_aabb);
+        n_dynamic = bvh_query_user_data_overlaps_aabb(scratch_candidates, n_static, system.dynamicBvh, swept_aabb);
+        n_total = n_static + n_dynamic;
+        if (n_total <= scratch_candidates.length) break;
+        scratch_candidates = new Uint32Array(Math.max(n_total, scratch_candidates.length * 2));
+    }
     if (n_total === 0) return false;
 
     // ── 3. Narrowphase: per-candidate bisection ────────────────────

package/src/engine/physics/solver/solve_contacts.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"solve_contacts.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/solver/solve_contacts.js"],"names":[],"mappings":"AA8fA;;;;;;;;;;;;;GAaG;AACH,0FAHW,MAAM,GACJ,MAAM,CA8LlB;AAED;;;;;;;;;;;;;;;GAeG;AACH,2FA0CC;AAED;;;;;;;;;;;;;;;;;;;GAmBG;AACH,uEAFW,WAAW,QA4FrB;AAED;;;;;;;;;;;;;;;;;;;;;;;;;;GA0BG;AACH,iGAsGC;AAED;;;;;;;;GAQG;AACH,uFAFW,MAAM,QA8HhB;AAED;;;;;;;;;;;GAWG;AACH,yFAuDC;AAED;;;;;;;;;;;;;;GAcG;AACH,2FAFW,MAAM,QA2EhB;AAED;;;;;;;;;;;;;;;GAeG;AACH,oFAJW,MAAM,UACN,MAAM,cACN,MAAM,QAahB;AAnuCD;;;;;GAKG;AACH,0CAFU,MAAM,CAEuB;AAEvC;;;GAGG;AACH,0CAFU,MAAM,CAEsB"}
+{"version":3,"file":"solve_contacts.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/solver/solve_contacts.js"],"names":[],"mappings":"AAyfA;;;;;;;;;;;;;GAaG;AACH,0FAHW,MAAM,GACJ,MAAM,CAgMlB;AAED;;;;;;;;;;;;;;;GAeG;AACH,2FA0CC;AAED;;;;;;;;;;;;;;;;;;;GAmBG;AACH,uEAFW,WAAW,QA4FrB;AAED;;;;;;;;;;;;;;;;;;;;;;;;;;GA0BG;AACH,iGAsGC;AAED;;;;;;;;GAQG;AACH,uFAFW,MAAM,QA8HhB;AAED;;;;;;;;;;;GAWG;AACH,yFAuDC;AAED;;;;;;;;;;;;;;GAcG;AACH,2FAFW,MAAM,QA2EhB;AAED;;;;;;;;;;;;;;;GAeG;AACH,oFAJW,MAAM,UACN,MAAM,cACN,MAAM,QAahB;AAruCD;;;;;GAKG;AACH,0CAFU,MAAM,CAEuB;AAEvC;;;GAGG;AACH,0CAFU,MAAM,CAEsB"}

package/src/engine/physics/solver/solve_contacts.js

@@ -19,8 +19,7 @@ import {
     SBS_STRIDE,
 } from "../body/SolverBodyState.js";
 import { CONTACT_STRIDE } from "../contact/ManifoldStore.js";
-import { ColliderFlags } from "../ecs/ColliderFlags.js";
-import { RigidBodyFlags } from "../ecs/RigidBodyFlags.js";
+import { is_sensor } from "../ecs/is_sensor.js";
 import { world_inverse_inertia_apply_raw } from "../inertia/world_inverse_inertia.js";
 import { redetect_pair_geometry } from "../narrowphase/narrowphase_step.js";
 import { friction_cone_clamp } from "./friction_cone.js";
@@ -66,8 +65,8 @@ import { friction_cone_clamp } from "./friction_cone.js";
  */
 
 /**
- * A pair is "sensor-only" when either body OR either body's primary
- * collider carries the IsSensor flag. The manifold still exists (so
+ * A pair is "sensor-only" when either side {@link is_sensor} (the body OR its
+ * primary collider carries the IsSensor flag). The manifold still exists (so
  * Begin/Stay/End events fire from the manifold-diff pass) but no impulse
  * is applied.
  *
@@ -78,11 +77,7 @@ import { friction_cone_clamp } from "./friction_cone.js";
  * @returns {boolean}
  */
 function pair_is_sensor(rbA, colA, rbB, colB) {
-    const collider_flags_union = colA.flags | colB.flags;
-    const body_flags_union = rbA.flags | rbB.flags;
-
-    return (body_flags_union & RigidBodyFlags.IsSensor) !== 0
-        || (collider_flags_union & ColliderFlags.IsSensor) !== 0
+    return is_sensor(rbA, colA) || is_sensor(rbB, colB);
 }
 
 /**
@@ -524,6 +519,10 @@ function island_slot_range(system) {
  */
 export function prepare_contacts(manifolds, system, dt_sub) {
     g_contact_count = 0;
+    // Reset BEFORE the early returns below: on a step with awake bodies but zero
+    // contacts/islands, an early return must not leave a stale count from a prior
+    // step that redetect_concave_contacts would then act on against evicted slots.
+    g_concave_slot_count = 0;
 
     if (dt_sub <= 0) {
         return 0;
@@ -561,8 +560,6 @@ export function prepare_contacts(manifolds, system, dt_sub) {
     const pos_jn = scratch_pos_jn;
     const ss = system.__solver_state.data;
 
-    g_concave_slot_count = 0;
-
     let c = 0;
     for (let i = 0; i < total_slots; i++) {
         const slot = slot_list[i];

package/src/engine/physics/vehicle/RaycastVehicle.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"RaycastVehicle.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/vehicle/RaycastVehicle.js"],"names":[],"mappings":"AAyEA;;;;GAIG;AACH;IAGQ,8DAA8D;IAC9D,eAD8C,YAAY,CAClB;IACxC,8EAA8E;IAC9E,oBAD8D,YAAY,CACnB;IACvD,sEAAsE;IACtE,cADsD,YAAY,CAClB;IAChD,6BAA+B;IAC/B,4BAA8B;IAC9B,0BAA2B;IAC3B,2BAAkC;IAClC,eAAiB;IACjB,iBAAmB;IACnB,iBAAoB;IACpB,gBAAmB;IAGnB,mBAAsB;IACtB,yBAAiD;IACjD,oBAAoB;IACpB,gDAAgD;IAChD,cADgC,YAAY,CACL;IACvC,iDAAiD;IACjD,eADiC,YAAY,CACI;IACjD,qDAAqD;IACrD,sBAAuB;IACvB,gFAAgF;IAChF,iBAAiB;IACjB,kDAAkD;IAClD,iBAAiB;IACjB,iDAAiD;IACjD,qBAAqB;IACrB,yDAAyD;IACzD,wBAAwB;CAE/B;AAED;IACI;;;;OAIG;IACH,wFAoBC;IAnBG,sBAAoB;IACpB,uBAA8B;IAC9B,4BAAwC;IAExC,sBAAsB;IACtB,QADW,KAAK,EAAE,CACF;IAEhB,qBAAqB;IACrB,qBAAqB;IACrB,sBAAsB;IAEtB,YAAuB;IACvB,2BAAsC;IAEtC,kDAAmF;IAGnF;;;;MAAmC;IACnC;;;;MAAmC;IAGvC;;;;;;;;;;;;;;;;;OAiBG;IACH;QAb0B,aAAa,EAA5B,MAAM,EAAE;QACQ,kBAAkB,GAAlC,MAAM,EAAE;QACQ,YAAY,GAA5B,MAAM,EAAE;QACM,oBAAoB,GAAlC,MAAM;QACQ,mBAAmB,GAAjC,MAAM;QACQ,iBAAiB,GAA/B,MAAM;QACQ,kBAAkB,GAAhC,MAAM;QACQ,MAAM,GAApB,MAAM;QACQ,QAAQ,GAAtB,MAAM;QACS,OAAO,GAAtB,OAAO;QACQ,MAAM,GAArB,OAAO;QACL,KAAK,CA0BjB;IAED,2DAA2D;IAC3D,8BAIC;IAED,2EAA2E;IAC3E,gCAAmD;IAEnD,uEAAuE;IACvE,2BAA8C;IAE9C;;;;;OAKG;IACH,WAFW,MAAM,QA6HhB;CACJ;qBA5UoB,mCAAmC;oCACpB,mCAAmC"}
+{"version":3,"file":"RaycastVehicle.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/vehicle/RaycastVehicle.js"],"names":[],"mappings":"AAyEA;;;;GAIG;AACH;IAGQ,8DAA8D;IAC9D,eAD8C,YAAY,CAClB;IACxC,8EAA8E;IAC9E,oBAD8D,YAAY,CACnB;IACvD,sEAAsE;IACtE,cADsD,YAAY,CAClB;IAChD,6BAA+B;IAC/B,4BAA8B;IAC9B,0BAA2B;IAC3B,2BAAkC;IAClC,eAAiB;IACjB,iBAAmB;IACnB,iBAAoB;IACpB,gBAAmB;IAGnB,mBAAsB;IACtB,yBAAiD;IACjD,oBAAoB;IACpB,gDAAgD;IAChD,cADgC,YAAY,CACL;IACvC,iDAAiD;IACjD,eADiC,YAAY,CACI;IACjD,qDAAqD;IACrD,sBAAuB;IACvB,gFAAgF;IAChF,iBAAiB;IACjB,kDAAkD;IAClD,iBAAiB;IACjB,iDAAiD;IACjD,qBAAqB;IACrB,yDAAyD;IACzD,wBAAwB;CAE/B;AAED;IACI;;;;OAIG;IACH,wFAoBC;IAnBG,sBAAoB;IACpB,uBAA8B;IAC9B,4BAAwC;IAExC,sBAAsB;IACtB,QADW,KAAK,EAAE,CACF;IAEhB,qBAAqB;IACrB,qBAAqB;IACrB,sBAAsB;IAEtB,YAAuB;IACvB,2BAAsC;IAEtC,kDAAmF;IAGnF;;;;MAAmC;IACnC;;;;MAAmC;IAGvC;;;;;;;;;;;;;;;;;OAiBG;IACH;QAb0B,aAAa,EAA5B,MAAM,EAAE;QACQ,kBAAkB,GAAlC,MAAM,EAAE;QACQ,YAAY,GAA5B,MAAM,EAAE;QACM,oBAAoB,GAAlC,MAAM;QACQ,mBAAmB,GAAjC,MAAM;QACQ,iBAAiB,GAA/B,MAAM;QACQ,kBAAkB,GAAhC,MAAM;QACQ,MAAM,GAApB,MAAM;QACQ,QAAQ,GAAtB,MAAM;QACS,OAAO,GAAtB,OAAO;QACQ,MAAM,GAArB,OAAO;QACL,KAAK,CA0BjB;IAED,2DAA2D;IAC3D,8BAIC;IAED,2EAA2E;IAC3E,gCAAmD;IAEnD,uEAAuE;IACvE,2BAA8C;IAE9C;;;;;OAKG;IACH,WAFW,MAAM,QAmIhB;CACJ;qBAlVoB,mCAAmC;oCACpB,mCAAmC"}