@woosh/meep-engine 2.153.0 → 2.155.0

package/src/engine/physics/gjk/expanding_polytope_algorithm.d.ts

@@ -1,13 +0,0 @@
-/**
- * TODO: needs to be tested thoroughly, intended to be working with GJK
- * @param {number[]|Float64Array} result
- * @param {number} result_offset
- * @param {number[]|Float64Array} a
- * @param {number[]|Float64Array} b
- * @param {number[]|Float64Array} c
- * @param {number[]|Float64Array} d
- * @param {AbstractShape3D} coll1
- * @param {AbstractShape3D} coll2
- */
-export function expanding_polytope_algorithm(result: number[] | Float64Array, result_offset: number, a: number[] | Float64Array, b: number[] | Float64Array, c: number[] | Float64Array, d: number[] | Float64Array, coll1: AbstractShape3D, coll2: AbstractShape3D): void;
-//# sourceMappingURL=expanding_polytope_algorithm.d.ts.map

package/src/engine/physics/gjk/expanding_polytope_algorithm.d.ts.map

@@ -1 +0,0 @@
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package/src/engine/physics/gjk/expanding_polytope_algorithm.js

@@ -1,399 +0,0 @@
-import { array_copy } from "../../../core/collection/array/array_copy.js";
-import { array_swap } from "../../../core/collection/array/array_swap.js";
-import { v3_compute_triangle_normal } from "../../../core/geom/3d/triangle/v3_compute_triangle_normal.js";
-import { v3_dot } from "../../../core/geom/vec3/v3_dot.js";
-import { v3_dot_array_array } from "../../../core/geom/vec3/v3_dot_array_array.js";
-
-import { v3_negate_array } from "../../../core/geom/vec3/v3_negate_array.js";
-
-/**
- * Convergence tolerance — relative to the current closest-face distance,
- * floored at an absolute epsilon to prevent zero-distance loops.
- *
- * Why relative, not absolute (P2.2). An absolute `EPA_TOLERANCE = 1e-4`
- * works for mid-scale contacts (a few millimetres deep on metre-sized
- * bodies) but degrades for shallow contacts: when the closest-face
- * distance is ~1e-5 m (sub-mm overlaps that the speculative-margin path
- * handles), `1e-4` is *larger than the depth itself*, so EPA terminates
- * with whatever intermediate face it happens to have, producing a noisy
- * normal direction. Jolt's `EPSILON_REL_DIST_SQ` and similar
- * formulations scale tolerance with the current distance.
- *
- * Note: only the TOLERANCE was made relative as part of P2.2. The
- * convergence-path RESULT magnitude is intentionally left as
- * `dot_p_search_dir` (the new support point's projection) — switching
- * to `min_dist` was tried and caused energy injection in the closed-
- * form-dispatch paths that share the EPA depth metric (e.g.
- * sphere-vs-sphere stack regressions). See REVIEW_001_ACTION_PLAN.md.
- *
- * @type {number}
- */
-const EPA_TOLERANCE_REL = 1e-4;
-const EPA_TOLERANCE_ABS = 1e-6;
-const EPA_MAX_NUM_FACES = 64;
-const EPA_MAX_NUM_LOOSE_EDGES = 32;
-const EPA_MAX_NUM_ITERATIONS = 64;
-
-const FACE_ELEMENT_COUNT = 3 * 4;
-
-const EDGE_ELEMENT_COUNT = 2 * 3;
-
-/**
- * Polytope face buffer. Float64 throughout — EPA's expand-and-recompute
- * step iterates up to {@link EPA_MAX_NUM_ITERATIONS} times, each
- * iteration rebuilds face normals via cross products, and tests them
- * against accumulated support points; the per-iteration error in
- * Float32 compounds and noticeably slows convergence on shapes with
- * many similar-magnitude faces (anything with subtle curvature). The
- * memory footprint of the upgrade is the buffer's size doubling — a
- * few KB at most.
- *
- * Layout per face: 3 vec3 vertices + 1 vec3 normal = 12 floats.
- * @type {Float64Array}
- */
-const faces = new Float64Array(EPA_MAX_NUM_FACES * FACE_ELEMENT_COUNT);
-
-/**
- * Edges we need to fix after removing faces. Same Float64 motivation
- * as {@link faces} — endpoints are vertex coords pulled out of `faces`,
- * and any precision loss here propagates back into the next face when
- * the polytope is rebuilt.
- * @type {Float64Array}
- */
-const loose_edges = new Float64Array(EPA_MAX_NUM_LOOSE_EDGES * EDGE_ELEMENT_COUNT);
-
-const scratch_v3 = new Float64Array(3);
-
-/**
- *
- * @param {number[]} target
- * @param {number} target_index
- * @param {number[]} v
- */
-function write_v3(target, target_index, v) {
-    array_copy(v, 0, faces, target_index * 3, 3);
-}
-
-/**
- *
- * @param {number[]|Float64Array} faces
- * @param {number} index
- * @param {number[]} a
- * @param {number[]} b
- * @param {number[]} c
- */
-function write_face(faces, index, a, b, c) {
-    const index4 = index * 4;
-
-    write_v3(faces, index4 + 0, a);
-    write_v3(faces, index4 + 1, b);
-    write_v3(faces, index4 + 2, c);
-
-    const normal_offset = (index4 + 3) * 3;
-
-    v3_compute_triangle_normal(
-        faces, normal_offset,
-        a[0], a[1], a[2],
-        b[0], b[1], b[2],
-        c[0], c[1], c[2]
-    );
-}
-
-/**
- * TODO: needs to be tested thoroughly, intended to be working with GJK
- * @param {number[]|Float64Array} result
- * @param {number} result_offset
- * @param {number[]|Float64Array} a
- * @param {number[]|Float64Array} b
- * @param {number[]|Float64Array} c
- * @param {number[]|Float64Array} d
- * @param {AbstractShape3D} coll1
- * @param {AbstractShape3D} coll2
- */
-export function expanding_polytope_algorithm(
-    result, result_offset,
-    a, b, c, d,
-    coll1, coll2
-) {
-    /*
-     Adapted from https://github.com/kevinmoran/GJK/blob/master/GJK.h
-
-     "GJK + Expanding Polytope Algorithm - Implementation and Visualization"  https://www.youtube.com/watch?v=6rgiPrzqt9w
-     */
-
-    //Init with final simplex from GJK
-    write_face(faces, 0, a, b, c);
-    write_face(faces, 1, a, c, d);
-    write_face(faces, 2, a, d, b);
-    write_face(faces, 3, b, d, c);
-
-    let num_faces = 4;
-    let closest_face;
-
-    for (let iterations = 0; iterations < EPA_MAX_NUM_ITERATIONS; iterations++) {
-
-        //Find face that's closest to origin
-
-        let min_dist = v3_dot_array_array(faces, 0, faces, 3 * 3);
-        closest_face = 0;
-
-        for (let i = 1; i < num_faces; i++) {
-            const dist = v3_dot_array_array(faces, i * FACE_ELEMENT_COUNT, faces, i * FACE_ELEMENT_COUNT + 3 * 3);
-
-            if (dist < min_dist) {
-                min_dist = dist;
-                closest_face = i;
-            }
-
-        }
-
-        //search normal to face that's closest to origin
-        const closest_face_normal_offset = closest_face * FACE_ELEMENT_COUNT + 3 * 3;
-
-        const search_dir_x = faces[closest_face_normal_offset];
-        const search_dir_y = faces[closest_face_normal_offset + 1];
-        const search_dir_z = faces[closest_face_normal_offset + 2];
-
-        // build new support point to expand polytope
-
-        coll2.support(scratch_v3, 0, search_dir_x, search_dir_y, search_dir_z);
-
-        const support2_x = scratch_v3[0];
-        const support2_y = scratch_v3[1];
-        const support2_z = scratch_v3[2];
-
-        coll1.support(scratch_v3, 0, -search_dir_x, -search_dir_y, -search_dir_z);
-
-        const support1_x = scratch_v3[0];
-        const support1_y = scratch_v3[1];
-        const support1_z = scratch_v3[2];
-
-        const p_x = support2_x - support1_x;
-        const p_y = support2_y - support1_y;
-        const p_z = support2_z - support1_z;
-
-        const dot_p_search_dir = v3_dot(p_x, p_y, p_z, search_dir_x, search_dir_y, search_dir_z);
-
-        // Adaptive convergence (P2.2). Terminate when the new support
-        // point's projection onto the current search direction is
-        // within a RELATIVE tolerance of the current closest-face
-        // distance — scales with depth instead of the fixed absolute
-        // EPA_TOLERANCE = 1e-4 that was too coarse for sub-mm contacts.
-        const min_dist_abs = min_dist < 0 ? -min_dist : min_dist;
-        const tol_floor = min_dist_abs > EPA_TOLERANCE_ABS ? min_dist_abs : EPA_TOLERANCE_ABS;
-        if (dot_p_search_dir - min_dist < EPA_TOLERANCE_REL * tol_floor) {
-            //Convergence (new point is not significantly further from origin)
-
-            result[result_offset] = search_dir_x * dot_p_search_dir;
-            result[result_offset + 1] = search_dir_y * dot_p_search_dir;
-            result[result_offset + 2] = search_dir_z * dot_p_search_dir;
-
-            return;
-        }
-
-        let num_loose_edges = 0;
-
-        //Find all triangles that are facing p
-        for (let i = 0; i < num_faces; i++) {
-            const face_offset = i * FACE_ELEMENT_COUNT;
-
-            const face_normal_address = face_offset + 3 * 3;
-            const face_a_address = face_offset;
-
-            const face_normal_x = faces[face_normal_address];
-            const face_normal_y = faces[face_normal_address + 1];
-            const face_normal_z = faces[face_normal_address + 2];
-
-            const face_a_x = faces[face_a_address];
-            const face_a_y = faces[face_a_address + 1];
-            const face_a_z = faces[face_a_address + 2];
-
-            const pa_x = p_x - face_a_x;
-            const pa_y = p_y - face_a_y;
-            const pa_z = p_z - face_a_z;
-
-            if (v3_dot(face_normal_x, face_normal_y, face_normal_z, pa_x, pa_y, pa_z) <= 0) {
-                continue;
-            }
-
-            // triangle i faces p, remove it
-            for (let j = 0; j < 3; j++) //Three edges per face
-            {
-                const a_offset = j * 3;
-
-                const current_edge_ax = faces[face_offset + a_offset];
-                const current_edge_ay = faces[face_offset + a_offset + 1];
-                const current_edge_az = faces[face_offset + a_offset + 2];
-
-                const b_offset = ((j + 1) % 3) * 3;
-
-                const current_edge_bx = faces[face_offset + b_offset];
-                const current_edge_by = faces[face_offset + b_offset + 1];
-                const current_edge_bz = faces[face_offset + b_offset + 2];
-
-                // vec3 current_edge[2] = { faces[i][j], faces[i][(j + 1) % 3] };
-
-                let found_edge = false;
-
-                //Check if current edge is already in list
-                for (let k = 0; k < num_loose_edges; k++) {
-                    const loose_edge_offset = k * EDGE_ELEMENT_COUNT;
-
-                    const loose_edge_ax = loose_edges[loose_edge_offset];
-                    const loose_edge_ay = loose_edges[loose_edge_offset + 1];
-                    const loose_edge_az = loose_edges[loose_edge_offset + 2];
-
-                    const loose_edge_bx = loose_edges[loose_edge_offset + 3];
-                    const loose_edge_by = loose_edges[loose_edge_offset + 4];
-                    const loose_edge_bz = loose_edges[loose_edge_offset + 5];
-
-
-                    // if (loose_edges[k][1] === current_edge[0] && loose_edges[k][0] === current_edge[1]) {
-                    if (
-                        (
-                            loose_edge_ax === current_edge_bx
-                            && loose_edge_ay === current_edge_by
-                            && loose_edge_az === current_edge_bz
-                        )
-                        && (
-                            loose_edge_bx === current_edge_ax
-                            && loose_edge_by === current_edge_ay
-                            && loose_edge_bz === current_edge_az
-                        )
-                    ) {
-                        //Edge is already in the list, remove it
-                        //THIS ASSUMES EDGE CAN ONLY BE SHARED BY 2 TRIANGLES (which should be true)
-                        //THIS ALSO ASSUMES SHARED EDGE WILL BE REVERSED IN THE TRIANGLES (which
-                        //should be true provided every triangle is wound CCW)
-
-                        // Overwrite current edge with last edge in list
-                        loose_edges.copyWithin(loose_edge_offset, (num_loose_edges - 1) * EDGE_ELEMENT_COUNT, (num_loose_edges) * EDGE_ELEMENT_COUNT);
-
-                        num_loose_edges--;
-                        found_edge = true;
-
-                        //exit loop because edge can only be shared once
-                        break;
-                    }
-                }
-
-                if (!found_edge) { //add current edge to list
-                    if (num_loose_edges >= EPA_MAX_NUM_LOOSE_EDGES) {
-                        // Polytope degenerated (typically smooth-surface
-                        // pairs the dispatch should be special-casing — this
-                        // is the safety net). Bail out and return the
-                        // closest-face result accumulated so far instead of
-                        // crashing the simulation step.
-                        break;
-                    }
-
-                    const last_edge_offset = num_loose_edges * EDGE_ELEMENT_COUNT;
-
-                    loose_edges[last_edge_offset] = current_edge_ax;
-                    loose_edges[last_edge_offset + 1] = current_edge_ay;
-                    loose_edges[last_edge_offset + 2] = current_edge_az;
-
-                    loose_edges[last_edge_offset + 3] = current_edge_bx;
-                    loose_edges[last_edge_offset + 4] = current_edge_by;
-                    loose_edges[last_edge_offset + 5] = current_edge_bz;
-
-                    num_loose_edges++;
-                }
-            }
-
-            // move last face to fill the removed element
-            faces.copyWithin(i * FACE_ELEMENT_COUNT, (num_faces - 1) * FACE_ELEMENT_COUNT, num_faces * FACE_ELEMENT_COUNT);
-
-            num_faces--;
-            i--;
-
-        }
-
-        //Reconstruct polytope with p added
-        for (let i = 0; i < num_loose_edges; i++) {
-            if (num_faces >= EPA_MAX_NUM_FACES) {
-                // Polytope hit the face cap before converging. Same
-                // degenerate-surface story as the loose-edge overflow above.
-                // Bail out and let the caller use the best face found so far.
-                break;
-            }
-
-            const face_offset = num_faces * FACE_ELEMENT_COUNT;
-
-            const loose_edge_offset = i * EDGE_ELEMENT_COUNT;
-
-            array_copy(
-                loose_edges, loose_edge_offset,
-                faces, face_offset,
-                EDGE_ELEMENT_COUNT
-            );
-
-            faces[face_offset + 3 * 2] = p_x;
-            faces[face_offset + 3 * 2 + 1] = p_y;
-            faces[face_offset + 3 * 2 + 2] = p_z;
-
-            // construct normal
-            const face_normal_offset = face_offset + 3 * 3;
-            construct_normal(face_normal_offset, i, p_x, p_y, p_z);
-
-            //Check for wrong normal to maintain CCW winding
-            const bias = 0.000001; //in case dot result is only slightly < 0 (because origin is on face)
-
-            const dot = v3_dot_array_array(faces, face_offset, faces, face_normal_offset)
-
-            if (dot + bias < 0) {
-                array_swap(faces, face_offset, faces, face_offset + 3, 3);
-                // invert normal
-                v3_negate_array(faces, face_normal_offset, faces, face_normal_offset);
-            }
-
-            num_faces++;
-        }
-    }
-
-    // Iteration cap reached without convergence. Return the
-    // closest-face approximation rather than warning — this is the
-    // expected outcome on smooth / high-complexity shapes (a torus knot
-    // collider produces it dozens of times per frame while the player
-    // is in contact). The narrowphase consumer treats any depth that
-    // isn't strictly positive + finite as a miss, so a degenerate
-    // closest-face result is filtered upstream. PLAN.md already lists
-    // EPA-on-smooth-shapes as a known limitation; the actionable fix
-    // is MPR / hierarchical support, not console spam.
-    const closest_face_offset = closest_face * FACE_ELEMENT_COUNT;
-    const closest_face_normal_offset = closest_face_offset + 3 * 3;
-
-    const dot = v3_dot_array_array(faces, closest_face_offset, faces, closest_face_normal_offset);
-
-    result[result_offset] = faces[closest_face_normal_offset + 0] * dot;
-    result[result_offset + 1] = faces[closest_face_normal_offset + 1] * dot;
-    result[result_offset + 2] = faces[closest_face_normal_offset + 2] * dot;
-
-}
-
-/**
- *
- * @param {number} result_offset
- * @param {number} edge_index
- * @param {number} p_x
- * @param {number} p_y
- * @param {number} p_z
- */
-function construct_normal(result_offset, edge_index, p_x, p_y, p_z) {
-    const edge_offset = edge_index * EDGE_ELEMENT_COUNT;
-
-    const edge_ax = loose_edges[edge_offset];
-    const edge_ay = loose_edges[edge_offset + 1];
-    const edge_az = loose_edges[edge_offset + 2];
-
-    const edge_bx = loose_edges[edge_offset + 3];
-    const edge_by = loose_edges[edge_offset + 4];
-    const edge_bz = loose_edges[edge_offset + 5];
-
-    v3_compute_triangle_normal(
-        faces, result_offset,
-        edge_ax, edge_ay, edge_az,
-        edge_bx, edge_by, edge_bz,
-        p_x, p_y, p_z
-    );
-}