@woosh/meep-engine 2.155.0 → 2.157.0

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

@@ -1 +1 @@
-{"version":3,"file":"capsule_triangle_contact.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/narrowphase/capsule_triangle_contact.js"],"names":[],"mappings":"AAgPA;;;;;;;;;;;;;;;;;;;;;;GAsBG;AACH,8CAtBW,MAAM,EAAE,GAAC,YAAY,QAErB,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,YACN,MAAM,YACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,GACJ,MAAM,CAqElB;AArUD;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAmCG;AAEH;;;GAGG;AACH,8CAFU,MAAM,CAEkC;AAElD;;;GAGG;AACH,4CAFU,MAAM,CAE+B"}
+{"version":3,"file":"capsule_triangle_contact.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/narrowphase/capsule_triangle_contact.js"],"names":[],"mappings":"AAoQA;;;;;;;;;;;;;;;;;;;;;;GAsBG;AACH,8CAtBW,MAAM,EAAE,GAAC,YAAY,QAErB,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,YACN,MAAM,YACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,GACJ,MAAM,CAqElB;AAzVD;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAmCG;AAEH;;;GAGG;AACH,8CAFU,MAAM,CAEkC;AAElD;;;GAGG;AACH,4CAFU,MAAM,CAE+B"}

package/src/engine/physics/narrowphase/capsule_triangle_contact.js

@@ -86,6 +86,44 @@ const scratch_pair_st = new Float64Array(2);
 const scratch_seg_tri = new Float64Array(6); // closest segment / triangle world points
 const scratch_sphere = new Float64Array(10);
 
+// --- hoisted segment-vs-edge test (D3) -----------------------------------------
+//
+// `test_edge` used to be a per-call closure inside segment_triangle_closest —
+// allocated for every capsule-triangle candidate because it captures and
+// MUTATES the running closest-pair accumulator. Hoisted to module scope; the
+// segment endpoints + accumulator live in the g_ct_* slots, staged once per
+// call. Same arithmetic, same order — bit-identical results.
+
+let g_ct_p1x = 0, g_ct_p1y = 0, g_ct_p1z = 0;
+let g_ct_p2x = 0, g_ct_p2y = 0, g_ct_p2z = 0;
+let g_ct_best_dist_sqr = Infinity;
+let g_ct_best_sx = 0, g_ct_best_sy = 0, g_ct_best_sz = 0;
+let g_ct_best_tx = 0, g_ct_best_ty = 0, g_ct_best_tz = 0;
+
+/** Segment-vs-triangle-edge closest pair; folds into the g_ct_best_* minimum. */
+function test_edge(e_p1x, e_p1y, e_p1z, e_p2x, e_p2y, e_p2z) {
+    line3_closest_points_segment_segment(
+        scratch_pair_st,
+        g_ct_p1x, g_ct_p1y, g_ct_p1z, g_ct_p2x, g_ct_p2y, g_ct_p2z,
+        e_p1x, e_p1y, e_p1z, e_p2x, e_p2y, e_p2z
+    );
+    const s = scratch_pair_st[0];
+    const t = scratch_pair_st[1];
+    const sx = g_ct_p1x + s * (g_ct_p2x - g_ct_p1x);
+    const sy = g_ct_p1y + s * (g_ct_p2y - g_ct_p1y);
+    const sz = g_ct_p1z + s * (g_ct_p2z - g_ct_p1z);
+    const tx = e_p1x + t * (e_p2x - e_p1x);
+    const ty = e_p1y + t * (e_p2y - e_p1y);
+    const tz = e_p1z + t * (e_p2z - e_p1z);
+    const dx = sx - tx, dy = sy - ty, dz = sz - tz;
+    const d_sqr = dx * dx + dy * dy + dz * dz;
+    if (d_sqr < g_ct_best_dist_sqr) {
+        g_ct_best_dist_sqr = d_sqr;
+        g_ct_best_sx = sx; g_ct_best_sy = sy; g_ct_best_sz = sz;
+        g_ct_best_tx = tx; g_ct_best_ty = ty; g_ct_best_tz = tz;
+    }
+}
+
 /**
  * Compute the closest pair of points between a 3D line segment
  * `(P1, P2)` and a triangle `(A, B, C)`. Writes the closest segment
@@ -110,9 +148,14 @@ function segment_triangle_closest(
     p1x, p1y, p1z, p2x, p2y, p2z,
     ax, ay, az, bx, by, bz, cx, cy, cz
 ) {
-    let best_dist_sqr = Infinity;
-    let best_sx = 0, best_sy = 0, best_sz = 0;
-    let best_tx = 0, best_ty = 0, best_tz = 0;
+    // Stage the segment + reset the closest-pair accumulator for the hoisted
+    // test_edge (see the D3 note above it). Cases 1/2 below fold into the
+    // same accumulator.
+    g_ct_p1x = p1x; g_ct_p1y = p1y; g_ct_p1z = p1z;
+    g_ct_p2x = p2x; g_ct_p2y = p2y; g_ct_p2z = p2z;
+    g_ct_best_dist_sqr = Infinity;
+    g_ct_best_sx = 0; g_ct_best_sy = 0; g_ct_best_sz = 0;
+    g_ct_best_tx = 0; g_ct_best_ty = 0; g_ct_best_tz = 0;
 
     // --- Case 0: segment intersects triangle plane INSIDE the face -----------
     const dx_seg = p2x - p1x, dy_seg = p2y - p1y, dz_seg = p2z - p1z;
@@ -172,10 +215,10 @@ function segment_triangle_closest(
         const qz = alpha * az + beta * bz + gamma * cz;
         const dx = p1x - qx, dy = p1y - qy, dz = p1z - qz;
         const d_sqr = dx * dx + dy * dy + dz * dz;
-        if (d_sqr < best_dist_sqr) {
-            best_dist_sqr = d_sqr;
-            best_sx = p1x; best_sy = p1y; best_sz = p1z;
-            best_tx = qx;  best_ty = qy;  best_tz = qz;
+        if (d_sqr < g_ct_best_dist_sqr) {
+            g_ct_best_dist_sqr = d_sqr;
+            g_ct_best_sx = p1x; g_ct_best_sy = p1y; g_ct_best_sz = p1z;
+            g_ct_best_tx = qx;  g_ct_best_ty = qy;  g_ct_best_tz = qz;
         }
     }
 
@@ -196,44 +239,21 @@ function segment_triangle_closest(
         const qz = alpha * az + beta * bz + gamma * cz;
         const dx = p2x - qx, dy = p2y - qy, dz = p2z - qz;
         const d_sqr = dx * dx + dy * dy + dz * dz;
-        if (d_sqr < best_dist_sqr) {
-            best_dist_sqr = d_sqr;
-            best_sx = p2x; best_sy = p2y; best_sz = p2z;
-            best_tx = qx;  best_ty = qy;  best_tz = qz;
+        if (d_sqr < g_ct_best_dist_sqr) {
+            g_ct_best_dist_sqr = d_sqr;
+            g_ct_best_sx = p2x; g_ct_best_sy = p2y; g_ct_best_sz = p2z;
+            g_ct_best_tx = qx;  g_ct_best_ty = qy;  g_ct_best_tz = qz;
         }
     }
 
-    // --- Cases 3..5: segment vs each triangle edge ---------------------------
-    // Helper inline to avoid array allocation.
-    function test_edge(e_p1x, e_p1y, e_p1z, e_p2x, e_p2y, e_p2z) {
-        line3_closest_points_segment_segment(
-            scratch_pair_st,
-            p1x, p1y, p1z, p2x, p2y, p2z,
-            e_p1x, e_p1y, e_p1z, e_p2x, e_p2y, e_p2z
-        );
-        const s = scratch_pair_st[0];
-        const t = scratch_pair_st[1];
-        const sx = p1x + s * (p2x - p1x);
-        const sy = p1y + s * (p2y - p1y);
-        const sz = p1z + s * (p2z - p1z);
-        const tx = e_p1x + t * (e_p2x - e_p1x);
-        const ty = e_p1y + t * (e_p2y - e_p1y);
-        const tz = e_p1z + t * (e_p2z - e_p1z);
-        const dx = sx - tx, dy = sy - ty, dz = sz - tz;
-        const d_sqr = dx * dx + dy * dy + dz * dz;
-        if (d_sqr < best_dist_sqr) {
-            best_dist_sqr = d_sqr;
-            best_sx = sx; best_sy = sy; best_sz = sz;
-            best_tx = tx; best_ty = ty; best_tz = tz;
-        }
-    }
+    // --- Cases 3..5: segment vs each triangle edge (hoisted helper) ----------
     test_edge(ax, ay, az, bx, by, bz);
     test_edge(bx, by, bz, cx, cy, cz);
     test_edge(cx, cy, cz, ax, ay, az);
 
-    out[0] = best_sx; out[1] = best_sy; out[2] = best_sz;
-    out[3] = best_tx; out[4] = best_ty; out[5] = best_tz;
-    return Math.sqrt(best_dist_sqr);
+    out[0] = g_ct_best_sx; out[1] = g_ct_best_sy; out[2] = g_ct_best_sz;
+    out[3] = g_ct_best_tx; out[4] = g_ct_best_ty; out[5] = g_ct_best_tz;
+    return Math.sqrt(g_ct_best_dist_sqr);
 }
 
 // --- main --------------------------------------------------------------------

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

@@ -1 +1 @@
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+{"version":3,"file":"compute_penetration.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/narrowphase/compute_penetration.js"],"names":[],"mappings":"AA+DA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAsEG;AACH,mDAXW,YAAY,GAAC,MAAM,EAAE,wCAGrB;IAAC,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAA;CAAC,cAC5B;IAAC,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAA;CAAC,wCAErC;IAAC,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAA;CAAC,cAC5B;IAAC,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAA;CAAC,GACnC,MAAM,CAwClB"}