@woosh/meep-engine 2.163.11 → 2.164.0

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

@@ -1,8 +1,8 @@
-import { line3_closest_points_segment_segment } from "../../../core/geom/3d/line/line3_closest_points_segment_segment.js";
-import { v3_array_centroid } from "../../../core/geom/vec3/v3_array_centroid.js";
+import { line3_compute_segment_segment_closest_points } from "../../../core/geom/3d/line/line3_compute_segment_segment_closest_points.js";
+import { v3_centroid_v3_buffer } from "../../../core/geom/vec3/v3_centroid_v3_buffer.js";
 import { v3_dot } from "../../../core/geom/vec3/v3_dot.js";
 import { v3_length } from "../../../core/geom/vec3/v3_length.js";
-import { v3_quat3_apply } from "../../../core/geom/vec3/v3_quat3_apply.js";
+import { v3_quaternion_apply } from "../../../core/geom/vec3/v3_quaternion_apply.js";
 import { reduce_manifold_contacts } from "./reduce_manifold_contacts.js";
 
 /**
@@ -98,7 +98,7 @@ function set_geom(A, B) {
 
 function load_world(out, verts, n, p, q) {
     for (let i = 0; i < n; i++) {
-        v3_quat3_apply(out, i * 3, verts[i * 3], verts[i * 3 + 1], verts[i * 3 + 2], q.x, q.y, q.z, q.w);
+        v3_quaternion_apply(out, i * 3, verts[i * 3], verts[i * 3 + 1], verts[i * 3 + 2], q.x, q.y, q.z, q.w);
         out[i * 3] += p.x; out[i * 3 + 1] += p.y; out[i * 3 + 2] += p.z;
     }
 }
@@ -214,8 +214,8 @@ export function convex_convex_manifold(out, A, posA, rotA, B, posB, rotB) {
 
     load_world(wvA, A.vertices, g_nA, posA, rotA);
     load_world(wvB, B.vertices, g_nB, posB, rotB);
-    v3_array_centroid(cenA, 0, wvA, 0, g_nA);
-    v3_array_centroid(cenB, 0, wvB, 0, g_nB);
+    v3_centroid_v3_buffer(cenA, 0, wvA, 0, g_nA);
+    v3_centroid_v3_buffer(cenB, 0, wvB, 0, g_nB);
 
     sat.kind = -1; sat.overlap = Infinity;
 
@@ -291,8 +291,8 @@ export function convex_hull_clip(out, A, posA, rotA, B, posB, rotB, nx, ny, nz)
     // guard (transform positions) degenerates when the two origins nearly
     // coincide — e.g. a tet resting base-to-base on another, both transforms at
     // the contact plane — leaving the normal mis-oriented and the stack tunnels.
-    v3_array_centroid(cenA, 0, wvA, 0, g_nA);
-    v3_array_centroid(cenB, 0, wvB, 0, g_nB);
+    v3_centroid_v3_buffer(cenA, 0, wvA, 0, g_nA);
+    v3_centroid_v3_buffer(cenB, 0, wvB, 0, g_nB);
     if (nx * (cenA[0] - cenB[0]) + ny * (cenA[1] - cenB[1]) + nz * (cenA[2] - cenB[2]) < 0) {
         nx = -nx; ny = -ny; nz = -nz;
     }
@@ -414,7 +414,7 @@ function emit_edge_pair_contact(out, nx, ny, nz, depth) {
     const a0 = scratch_edge[0], a1 = scratch_edge[1];
     const b0 = scratch_edge[2], b1 = scratch_edge[3];
 
-    line3_closest_points_segment_segment(
+    line3_compute_segment_segment_closest_points(
         scratch_st,
         wvA[a0], wvA[a0 + 1], wvA[a0 + 2],
         wvA[a1], wvA[a1 + 1], wvA[a1 + 2],

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

@@ -1,6 +1,6 @@
 import { BVH } from "../../../core/bvh2/bvh3/BVH.js";
-import { v3_compute_triangle_normal } from "../../../core/geom/3d/triangle/v3_compute_triangle_normal.js";
-import { tetrahedral_mesh_tet_get_neighbours } from "../../../core/geom/3d/tetrahedra/tetrahedral_mesh_tet_get_neighbours.js";
+import { tri3_compute_normal } from "../../../core/geom/3d/triangle/tri3_compute_normal.js";
+import { tetrahedral_mesh_get_neighbours } from "../../../core/geom/3d/tetrahedra/tetrahedral_mesh_get_neighbours.js";
 import { v3_dot } from "../../../core/geom/vec3/v3_dot.js";
 
 /**
@@ -39,7 +39,7 @@ const PLANE_OFFSET_TOL = 1e-4;
 // tet-face convention rather than keeping a parallel copy.
 export const FACE_OPP = [[1, 2, 3, 0], [0, 2, 3, 1], [0, 1, 3, 2], [0, 1, 2, 3]];
 
-// Reusable scratch for v3_compute_triangle_normal (writes a unit normal as 3 floats).
+// Reusable scratch for tri3_compute_normal (writes a unit normal as 3 floats).
 const _face_normal = new Float64Array(3);
 
 /**
@@ -79,7 +79,7 @@ export function build_convex_decomposition(meshShape) {
     const pieces = [];
 
     // Per-tet face neighbours are read straight from the mesh's stored adjacency
-    // via tetrahedral_mesh_tet_get_neighbours; this is its reusable output scratch
+    // via tetrahedral_mesh_get_neighbours; this is its reusable output scratch
     // (a tet has at most 4 face neighbours).
     const tet_neighbours = new Int32Array(4);
 
@@ -110,7 +110,7 @@ export function build_convex_decomposition(meshShape) {
         const convex_with = (candVerts) => {
             for (const [, fc] of boundary) {
                 const ax = tp[fc.a * 3], ay = tp[fc.a * 3 + 1], az = tp[fc.a * 3 + 2];
-                v3_compute_triangle_normal(_face_normal, 0,
+                tri3_compute_normal(_face_normal, 0,
                     ax, ay, az,
                     tp[fc.b * 3], tp[fc.b * 3 + 1], tp[fc.b * 3 + 2],
                     tp[fc.c * 3], tp[fc.c * 3 + 1], tp[fc.c * 3 + 2]);
@@ -137,7 +137,7 @@ export function build_convex_decomposition(meshShape) {
 
         const tried = new Set([seed]);
         const frontier = [];
-        const seed_nbr_count = tetrahedral_mesh_tet_get_neighbours(tm, tet_neighbours, 0, seed);
+        const seed_nbr_count = tetrahedral_mesh_get_neighbours(tm, tet_neighbours, 0, seed);
         for (let i = 0; i < seed_nbr_count; i++) { frontier.push(tet_neighbours[i]); tried.add(tet_neighbours[i]); }
 
         while (frontier.length > 0) {
@@ -151,7 +151,7 @@ export function build_convex_decomposition(meshShape) {
             if (convex_with(cand)) {
                 visited[t] = 1;
                 add_verts(t);
-                const nbr_count = tetrahedral_mesh_tet_get_neighbours(tm, tet_neighbours, 0, t);
+                const nbr_count = tetrahedral_mesh_get_neighbours(tm, tet_neighbours, 0, t);
                 for (let i = 0; i < nbr_count; i++) {
                     const n = tet_neighbours[i];
                     if (!visited[n] && !tried.has(n)) { tried.add(n); frontier.push(n); }
@@ -206,7 +206,7 @@ export function build_piece(tp, boundary) {
     const groups = []; // { nx,ny,nz, off, tris: [[a,b,c], ...] }
     for (const [, fc] of boundary) {
         const ax = tp[fc.a * 3], ay = tp[fc.a * 3 + 1], az = tp[fc.a * 3 + 2];
-        v3_compute_triangle_normal(_face_normal, 0,
+        tri3_compute_normal(_face_normal, 0,
             ax, ay, az,
             tp[fc.b * 3], tp[fc.b * 3 + 1], tp[fc.b * 3 + 2],
             tp[fc.c * 3], tp[fc.c * 3 + 1], tp[fc.c * 3 + 2]);

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

@@ -1,8 +1,8 @@
-import { v3_compute_triangle_normal } from "../../../core/geom/3d/triangle/v3_compute_triangle_normal.js";
+import { tri3_compute_normal } from "../../../core/geom/3d/triangle/tri3_compute_normal.js";
 import { v3_dot } from "../../../core/geom/vec3/v3_dot.js";
 import { build_piece, face_key, FACE_OPP } from "./convex_decomposition.js";
 
-// Reusable scratch for v3_compute_triangle_normal (writes a unit normal as 3 floats).
+// Reusable scratch for tri3_compute_normal (writes a unit normal as 3 floats).
 const _face_normal = new Float64Array(3);
 
 /**
@@ -78,7 +78,7 @@ function build_if_convex(meshShape) {
         if (fc.count !== 1) continue;
         boundaryCount++;
         const ax = tp[fc.a * 3], ay = tp[fc.a * 3 + 1], az = tp[fc.a * 3 + 2];
-        v3_compute_triangle_normal(_face_normal, 0,
+        tri3_compute_normal(_face_normal, 0,
             ax, ay, az,
             tp[fc.b * 3], tp[fc.b * 3 + 1], tp[fc.b * 3 + 2],
             tp[fc.c * 3], tp[fc.c * 3 + 1], tp[fc.c * 3 + 2]);

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

@@ -1,4 +1,4 @@
-import { bvh_query_user_data_overlaps_aabb } from "../../../core/bvh2/bvh3/query/bvh_query_user_data_overlaps_aabb.js";
+import { bvh_query_user_data_intersects_aabb } from "../../../core/bvh2/bvh3/query/bvh_query_user_data_intersects_aabb.js";
 import { aabb3_transform_oriented } from "../../../core/geom/3d/aabb/aabb3_transform_oriented.js";
 import { aabb3_transform_oriented_inverse } from "../../../core/geom/3d/aabb/aabb3_transform_oriented_inverse.js";
 import { build_convex_decomposition } from "./convex_decomposition.js";
@@ -75,7 +75,7 @@ export function mesh_mesh_tet_contacts(count, shapeA, trA, shapeB, trB, append)
     );
 
     cand_a = ensure(cand_a, piecesA.length);
-    const nA = bvh_query_user_data_overlaps_aabb(cand_a, 0, decompA.bvh, query_aabb);
+    const nA = bvh_query_user_data_intersects_aabb(cand_a, 0, decompA.bvh, query_aabb);
 
     for (let i = 0; i < nA; i++) {
         const pieceA = piecesA[cand_a[i]];
@@ -94,7 +94,7 @@ export function mesh_mesh_tet_contacts(count, shapeA, trA, shapeB, trB, append)
             trB.rotation.x, trB.rotation.y, trB.rotation.z, trB.rotation.w
         );
         cand_b = ensure(cand_b, piecesB.length);
-        const nB = bvh_query_user_data_overlaps_aabb(cand_b, 0, decompB.bvh, query_aabb);
+        const nB = bvh_query_user_data_intersects_aabb(cand_b, 0, decompB.bvh, query_aabb);
 
         for (let j = 0; j < nB; j++) {
             const pieceB = piecesB[cand_b[j]];

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

@@ -1,6 +1,6 @@
 import { v3_length } from "../../../core/geom/vec3/v3_length.js";
-import { v3_quat3_apply } from "../../../core/geom/vec3/v3_quat3_apply.js";
-import { v3_quat3_apply_inverse } from "../../../core/geom/vec3/v3_quat3_apply_inverse.js";
+import { v3_quaternion_apply } from "../../../core/geom/vec3/v3_quaternion_apply.js";
+import { v3_quaternion_apply_inverse } from "../../../core/geom/vec3/v3_quaternion_apply_inverse.js";
 import { TRIANGLE_FLOAT_STRIDE } from "./decomposition/triangle_buffer_layout.js";
 import { mesh_enumerate_triangles } from "./decomposition/mesh_enumerate_triangles.js";
 import { heightmap_enumerate_triangles } from "./decomposition/heightmap_enumerate_triangles.js";
@@ -51,8 +51,8 @@ const AABB_FATTEN = 1e-5; // guards triangles whose AABB just abuts the segment
 export function refine_ray_concave(shape, position, rotation, ox, oy, oz, dx, dy, dz, tMax, outNormal) {
     const qx = rotation[0], qy = rotation[1], qz = rotation[2], qw = rotation[3];
     // World → local (inverse body rotation; unit dir stays unit → t preserved).
-    v3_quat3_apply_inverse(lo, 0, ox - position.x, oy - position.y, oz - position.z, qx, qy, qz, qw);
-    v3_quat3_apply_inverse(ld, 0, dx, dy, dz, qx, qy, qz, qw);
+    v3_quaternion_apply_inverse(lo, 0, ox - position.x, oy - position.y, oz - position.z, qx, qy, qz, qw);
+    v3_quaternion_apply_inverse(ld, 0, dx, dy, dz, qx, qy, qz, qw);
     const lox = lo[0], loy = lo[1], loz = lo[2];
     const ldx = ld[0], ldy = ld[1], ldz = ld[2];
 
@@ -149,6 +149,6 @@ export function refine_ray_concave(shape, position, rotation, ox, oy, oz, dx, dy
     if (nl === 0) nl = 1;
     nx /= nl; ny /= nl; nz /= nl;
     if (nx * ldx + ny * ldy + nz * ldz > 0) { nx = -nx; ny = -ny; nz = -nz; }
-    v3_quat3_apply(outNormal, 0, nx, ny, nz, qx, qy, qz, qw);
+    v3_quaternion_apply(outNormal, 0, nx, ny, nz, qx, qy, qz, qw);
     return best;
 }

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

@@ -1,8 +1,8 @@
 import { box3_raycast } from "../../../core/geom/3d/box/box3_raycast.js";
 import { capsule_raycast } from "../../../core/geom/3d/capsule/capsule_raycast.js";
 import { sphere_raycast } from "../../../core/geom/3d/sphere/sphere_raycast.js";
-import { v3_quat3_apply } from "../../../core/geom/vec3/v3_quat3_apply.js";
-import { v3_quat3_apply_inverse } from "../../../core/geom/vec3/v3_quat3_apply_inverse.js";
+import { v3_quaternion_apply } from "../../../core/geom/vec3/v3_quaternion_apply.js";
+import { v3_quaternion_apply_inverse } from "../../../core/geom/vec3/v3_quaternion_apply_inverse.js";
 import { refine_ray_concave } from "./refine_ray_concave.js";
 
 /**
@@ -53,8 +53,8 @@ export function refine_ray_hit(shape, position, rotation, ox, oy, oz, dx, dy, dz
     if (shape.isBoxShape3D === true || shape.isCapsuleShape3D === true) {
         const qx = rotation[0], qy = rotation[1], qz = rotation[2], qw = rotation[3];
         // World → local: rotate by the inverse (conjugate) body rotation.
-        v3_quat3_apply_inverse(lo, 0, ox - position.x, oy - position.y, oz - position.z, qx, qy, qz, qw);
-        v3_quat3_apply_inverse(ld, 0, dx, dy, dz, qx, qy, qz, qw);
+        v3_quaternion_apply_inverse(lo, 0, ox - position.x, oy - position.y, oz - position.z, qx, qy, qz, qw);
+        v3_quaternion_apply_inverse(ld, 0, dx, dy, dz, qx, qy, qz, qw);
 
         let t;
         if (shape.isBoxShape3D === true) {
@@ -66,7 +66,7 @@ export function refine_ray_hit(shape, position, rotation, ox, oy, oz, dx, dy, dz
         if (t === Infinity) return Infinity;
 
         // Local normal → world: rotate by the body rotation.
-        v3_quat3_apply(outNormal, 0, ln[0], ln[1], ln[2], qx, qy, qz, qw);
+        v3_quaternion_apply(outNormal, 0, ln[0], ln[1], ln[2], qx, qy, qz, qw);
         return t;
     }
 

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

@@ -1,5 +1,5 @@
-import { v3_quat3_apply } from "../../../core/geom/vec3/v3_quat3_apply.js";
-import { v3_quat3_apply_inverse } from "../../../core/geom/vec3/v3_quat3_apply_inverse.js";
+import { v3_quaternion_apply } from "../../../core/geom/vec3/v3_quaternion_apply.js";
+import { v3_quaternion_apply_inverse } from "../../../core/geom/vec3/v3_quaternion_apply_inverse.js";
 
 /**
  * Scratch for the world→box-local rotation of the sphere centre at the
@@ -53,7 +53,7 @@ export function sphere_box_contact(
 ) {
     // Step 1: bring the sphere centre into box-local space via the conjugate
     // quaternion. v_local = q* · (s - b) · q
-    v3_quat3_apply_inverse(scratch_local, 0, sx - bx, sy - by, sz - bz, bqx, bqy, bqz, bqw);
+    v3_quaternion_apply_inverse(scratch_local, 0, sx - bx, sy - by, sz - bz, bqx, bqy, bqz, bqw);
     const lx = scratch_local[0];
     const ly = scratch_local[1];
     const lz = scratch_local[2];
@@ -113,7 +113,7 @@ export function sphere_box_contact(
     // Step 3: rotate normal and surface point back to world. v_world = q · v · q*
 
     // World normal (box → sphere).
-    v3_quat3_apply(out, 0, nlx, nly, nlz, bqx, bqy, bqz, bqw);
+    v3_quaternion_apply(out, 0, nlx, nly, nlz, bqx, bqy, bqz, bqw);
     const nx = out[0], ny = out[1], nz = out[2];
     out[3] = radius - dist;
 
@@ -123,7 +123,7 @@ export function sphere_box_contact(
     out[6] = sz - nz * radius;
 
     // World contact on box: rotate the local-space clamped point to world, plus box centre.
-    v3_quat3_apply(out, 7, clx, cly, clz, bqx, bqy, bqz, bqw);
+    v3_quaternion_apply(out, 7, clx, cly, clz, bqx, bqy, bqz, bqw);
     out[7] += bx;
     out[8] += by;
     out[9] += bz;

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

@@ -1,4 +1,4 @@
-import { computeTriangleClosestPointToPointBarycentric } from "../../../core/geom/3d/triangle/computeTriangleClosestPointToPointBarycentric.js";
+import { tri3_closest_point_barycentric } from "../../../core/geom/3d/triangle/tri3_closest_point_barycentric.js";
 
 /**
  * Closest-point on triangle, written into the first two floats of `out`
@@ -79,7 +79,7 @@ export function sphere_triangle_contact(
     if (fn_mag_sqr === 0) return false;
 
     // Closest-point on triangle to sphere centre — barycentric output.
-    computeTriangleClosestPointToPointBarycentric(
+    tri3_closest_point_barycentric(
         scratch_bary, 0,
         sx, sy, sz,
         ax, ay, az,

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

@@ -1,4 +1,4 @@
-import { bvh_query_user_data_overlaps_aabb } from "../../../core/bvh2/bvh3/query/bvh_query_user_data_overlaps_aabb.js";
+import { bvh_query_user_data_intersects_aabb } from "../../../core/bvh2/bvh3/query/bvh_query_user_data_intersects_aabb.js";
 import { returnTrue } from "../../../core/function/returnTrue.js";
 import { aabb3_transform_oriented } from "../../../core/geom/3d/aabb/aabb3_transform_oriented.js";
 import { Triangle3D } from "../../../core/geom/3d/shape/Triangle3D.js";
@@ -107,8 +107,8 @@ export function overlap_shape(system, shape, position, rotation, output, output_
     // deterministic, so this 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, world_aabb);
-        n_dynamic = bvh_query_user_data_overlaps_aabb(scratch_candidates, n_static, system.dynamicBvh, world_aabb);
+        n_static = bvh_query_user_data_intersects_aabb(scratch_candidates, 0, system.staticBvh, world_aabb);
+        n_dynamic = bvh_query_user_data_intersects_aabb(scratch_candidates, n_static, system.dynamicBvh, world_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));

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":"AA0KA;;;;;;;;;;;;;;;;;;;;;;;;;GAyBG;AACH,yGAJmB,MAAM,yBAAsB,OAAO,GAEzC,OAAO,CAwCnB"}
+{"version":3,"file":"raycast.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/queries/raycast.js"],"names":[],"mappings":"AAwKA;;;;;;;;;;;;;;;;;;;;;;;;;GAyBG;AACH,yGAJmB,MAAM,yBAAsB,OAAO,GAEzC,OAAO,CAwCnB"}

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

@@ -7,9 +7,7 @@ import {
 } from "../../../core/bvh2/bvh3/BVH.js";
 import { SCRATCH_UINT32_TRAVERSAL_STACK } from "../../../core/collection/SCRATCH_UINT32_TRAVERSAL_STACK.js";
 import { returnTrue } from "../../../core/function/returnTrue.js";
-import {
-    aabb3_near_distance_to_intersection_ray_segment
-} from "../../../core/geom/3d/aabb/aabb3_near_distance_to_intersection_ray_segment.js";
+import { aabb3_ray_segment_entry_distance } from "../../../core/geom/3d/aabb/aabb3_ray_segment_entry_distance.js";
 import { body_id_index } from "../body/BodyStorage.js";
 import { is_sensor } from "../ecs/is_sensor.js";
 import { aabb3_transform_oriented } from "../../../core/geom/3d/aabb/aabb3_transform_oriented.js";
@@ -91,7 +89,7 @@ function bvh_raycast_nearest(
         const node = stack[pointer];
         const address = node * ELEMENT_WORD_COUNT;
 
-        const t_near = aabb3_near_distance_to_intersection_ray_segment(
+        const t_near = aabb3_ray_segment_entry_distance(
             float32[address], float32[address + 1], float32[address + 2],
             float32[address + 3], float32[address + 4], float32[address + 5],
             ox, oy, oz,
@@ -141,7 +139,7 @@ function bvh_raycast_nearest(
                 tr.position.x, tr.position.y, tr.position.z,
                 tr.rotation.x, tr.rotation.y, tr.rotation.z, tr.rotation.w
             );
-            const tight_t = aabb3_near_distance_to_intersection_ray_segment(
+            const tight_t = aabb3_ray_segment_entry_distance(
                 scratch_tight_world[0], scratch_tight_world[1], scratch_tight_world[2],
                 scratch_tight_world[3], scratch_tight_world[4], scratch_tight_world[5],
                 ox, oy, oz,

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

@@ -1,5 +1,5 @@
 import { assert } from "../../../core/assert.js";
-import { bvh_query_user_data_overlaps_aabb } from "../../../core/bvh2/bvh3/query/bvh_query_user_data_overlaps_aabb.js";
+import { bvh_query_user_data_intersects_aabb } from "../../../core/bvh2/bvh3/query/bvh_query_user_data_intersects_aabb.js";
 import { returnTrue } from "../../../core/function/returnTrue.js";
 import { aabb3_transform_oriented } from "../../../core/geom/3d/aabb/aabb3_transform_oriented.js";
 import { body_id_index } from "../body/BodyStorage.js";
@@ -182,8 +182,8 @@ export function shape_cast(system, ray, shape, rotation, result, filter = return
     // 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_static = bvh_query_user_data_intersects_aabb(scratch_candidates, 0, system.staticBvh, swept_aabb);
+        n_dynamic = bvh_query_user_data_intersects_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));

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

@@ -1,5 +1,5 @@
-import { v3_quat3_apply } from "../../../core/geom/vec3/v3_quat3_apply.js";
-import { v3_quat3_apply_inverse } from "../../../core/geom/vec3/v3_quat3_apply_inverse.js";
+import { v3_quaternion_apply } from "../../../core/geom/vec3/v3_quaternion_apply.js";
+import { v3_quaternion_apply_inverse } from "../../../core/geom/vec3/v3_quaternion_apply_inverse.js";
 import { body_id_index } from "../body/BodyStorage.js";
 import {
     SBS_AV_X,
@@ -692,8 +692,8 @@ export function prepare_contacts(manifolds, system, dt_sub) {
 
             // Per-body witness anchors in LOCAL frame (constant across the
             // outer step). localW = R⁻¹ · (witness − COM).
-            v3_quat3_apply_inverse(pre, pre_off, wax - pAx, way - pAy, waz - pAz, qA[0], qA[1], qA[2], qA[3]);
-            v3_quat3_apply_inverse(pre, pre_off + 3, wbx - pBx, wby - pBy, wbz - pBz, qB[0], qB[1], qB[2], qB[3]);
+            v3_quaternion_apply_inverse(pre, pre_off, wax - pAx, way - pAy, waz - pAz, qA[0], qA[1], qA[2], qA[3]);
+            v3_quaternion_apply_inverse(pre, pre_off + 3, wbx - pBx, wby - pBy, wbz - pBz, qB[0], qB[1], qB[2], qB[3]);
 
             // Lever arms from COM to the contact midpoint (refreshed each
             // substep; seeded here from prepare-time pose).
@@ -908,8 +908,8 @@ export function refresh_contacts(manifolds, transforms) {
         const qB = trB.rotation;
 
         // Current world contact points: COM + R · localWitness.
-        v3_quat3_apply(cp, 0, pre[pre_off], pre[pre_off + 1], pre[pre_off + 2], qA[0], qA[1], qA[2], qA[3]);
-        v3_quat3_apply(cp, 3, pre[pre_off + 3], pre[pre_off + 4], pre[pre_off + 5], qB[0], qB[1], qB[2], qB[3]);
+        v3_quaternion_apply(cp, 0, pre[pre_off], pre[pre_off + 1], pre[pre_off + 2], qA[0], qA[1], qA[2], qA[3]);
+        v3_quaternion_apply(cp, 3, pre[pre_off + 3], pre[pre_off + 4], pre[pre_off + 5], qB[0], qB[1], qB[2], qB[3]);
 
         const cpAx = pAx + cp[0], cpAy = pAy + cp[1], cpAz = pAz + cp[2];
         const cpBx = pBx + cp[3], cpBy = pBy + cp[4], cpBz = pBz + cp[5];

package/src/engine/physics/vehicle/RaycastVehicle.js

@@ -1,6 +1,6 @@
 import { Ray3 } from "../../../core/geom/3d/ray/Ray3.js";
 import { PhysicsSurfacePoint } from "../queries/PhysicsSurfacePoint.js";
-import { v3_quat3_apply } from "../../../core/geom/vec3/v3_quat3_apply.js";
+import { v3_quaternion_apply } from "../../../core/geom/vec3/v3_quaternion_apply.js";
 import { v3_length } from "../../../core/geom/vec3/v3_length.js";
 import { angular_effective_mass_raw } from "../inertia/world_inverse_inertia.js";
 import { BodyKind } from "../ecs/BodyKind.js";
@@ -225,9 +225,9 @@ export class RaycastVehicle {
             const w = this.wheels[wi];
 
             // World mount point and suspension axis.
-            v3_quat3_apply(scratch_v, 0, w.localPosition[0], w.localPosition[1], w.localPosition[2], q[0], q[1], q[2], q[3]);
+            v3_quaternion_apply(scratch_v, 0, w.localPosition[0], w.localPosition[1], w.localPosition[2], q[0], q[1], q[2], q[3]);
             const mx = px + scratch_v[0], my = py + scratch_v[1], mz = pz + scratch_v[2];
-            v3_quat3_apply(scratch_v, 0, w.localSuspensionDir[0], w.localSuspensionDir[1], w.localSuspensionDir[2], q[0], q[1], q[2], q[3]);
+            v3_quaternion_apply(scratch_v, 0, w.localSuspensionDir[0], w.localSuspensionDir[1], w.localSuspensionDir[2], q[0], q[1], q[2], q[3]);
             const sdx = scratch_v[0], sdy = scratch_v[1], sdz = scratch_v[2]; // suspension down (unit)
 
             const maxLen = w.suspensionRestLength + w.radius;
@@ -286,7 +286,7 @@ export class RaycastVehicle {
             }
 
             // --- Tyre friction: forward / side basis in the contact plane ---
-            v3_quat3_apply(scratch_v, 0, w.localForward[0], w.localForward[1], w.localForward[2], q[0], q[1], q[2], q[3]);
+            v3_quaternion_apply(scratch_v, 0, w.localForward[0], w.localForward[1], w.localForward[2], q[0], q[1], q[2], q[3]);
             let fwx = scratch_v[0], fwy = scratch_v[1], fwz = scratch_v[2];
             if (w.steering !== 0) {
                 // Steer about the suspension-up axis (−suspension dir).

package/src/engine/sound/SoundEngine.js

@@ -50,7 +50,7 @@ class SoundEngine {
 
         /**
          * The sopra (FMOD/Wwise-style) engine, created and owned here once the AssetManager-backed
-         * buffer provider is available (see {@link createSopra}, called from SoundEmitterSystem).
+         * buffer provider is available (see {@link obtainSopra}, called from SoundEmitterSystem).
          * @type {SopraEngine|null}
          */
         this.sopra = null;
@@ -79,7 +79,7 @@ class SoundEngine {
      * @param {BufferProvider} bufferProvider
      * @returns {SopraEngine}
      */
-    createSopra(bufferProvider) {
+    obtainSopra(bufferProvider) {
         if (this.sopra === null) {
             this.sopra = new SopraEngine(this.context, this.destination, bufferProvider);
         }

package/src/engine/sound/ecs/audio/AudioEmitter.d.ts

@@ -29,6 +29,27 @@ export class AudioEmitter {
      * @type {boolean}
      */
     autoplay: boolean;
+    /**
+     * Opt this emitter into the acoustic simulation (occlusion / transmission / medium). Default off — an
+     * acoustic emitter inserts the extra render nodes and is driven by the `AcousticSimulator`; a
+     * non-acoustic one renders exactly as before. Only meaningful for 3D events.
+     * @type {boolean}
+     */
+    acoustic: boolean;
+    /**
+     * Apparent acoustic radius of this source, for volumetric (fractional) occlusion (0 = point source).
+     * A larger source is occluded gradually as cover moves across it; a point source pops on/off. Only
+     * meaningful when {@link acoustic}. Carried onto the played {@link EventInstance}.
+     * @type {number}
+     */
+    sourceRadius: number;
+    /**
+     * Radiation directivity of this source (which way it "points" its sound). Default omni (monopole) — no
+     * effect. Only meaningful when {@link acoustic}; the source's {@link Transform} rotation supplies the
+     * forward axis the pattern is measured against. Carried onto the played {@link EventInstance}.
+     * @type {AcousticDirectivity}
+     */
+    directivity: AcousticDirectivity;
     /**
      * @param {AudioEmitter} other
      * @returns {boolean}
@@ -40,7 +61,10 @@ export class AudioEmitter {
             label: string;
             rootClip: {
                 type: string;
-                data: any;
+                data: any; /**
+                 * Live volume multiplier applied on top of the event's own gain (carried by the instance gain).
+                 * @type {Vector1}
+                 */
             };
             busId: string;
             gainDb: number;
@@ -58,6 +82,12 @@ export class AudioEmitter {
         };
         volume: number;
         autoplay: boolean;
+        acoustic: boolean;
+        sourceRadius: number;
+        directivity: {
+            dipoleWeight: number;
+            dipolePower: number;
+        };
     };
     fromJSON(json: any): void;
 }
@@ -66,4 +96,5 @@ export namespace AudioEmitter {
 }
 import { EventDescription } from "../../sopra/definition/EventDescription.js";
 import Vector1 from "../../../../core/geom/Vector1.js";
+import { AcousticDirectivity } from "../../simulation/definition/AcousticDirectivity.js";
 //# sourceMappingURL=AudioEmitter.d.ts.map

package/src/engine/sound/ecs/audio/AudioEmitter.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"AudioEmitter.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/sound/ecs/audio/AudioEmitter.js"],"names":[],"mappings":"AAKA;;;;;;;;GAQG;AACH;IAyDI;;;OAGG;IACH,4BAFa,YAAY,CAMxB;IA/DD;;;OAGG;IACH,OAFU,gBAAgB,CAEK;IAE/B;;;OAGG;IACH,QAFU,OAAO,CAEO;IAExB;;;;OAIG;IACH,UAFU,OAAO,CAED;IAEhB;;;OAGG;IACH,cAHW,YAAY,GACV,OAAO,CAMnB;IAED,eAMC;IAED;;;;;;;;;;;;;;;;;;;;;;;MAMC;IAED,0BAQC;CAWJ;;;;iCA7EgC,4CAA4C;oBAFzD,kCAAkC"}
+{"version":3,"file":"AudioEmitter.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/sound/ecs/audio/AudioEmitter.js"],"names":[],"mappings":"AAMA;;;;;;;;GAQG;AACH;IA+FI;;;OAGG;IACH,4BAFa,YAAY,CAMxB;IArGD;;;OAGG;IACH,OAFU,gBAAgB,CAEK;IAE/B;;;OAGG;IACH,QAFU,OAAO,CAEO;IAExB;;;;OAIG;IACH,UAFU,OAAO,CAED;IAEhB;;;;;OAKG;IACH,UAFU,OAAO,CAEA;IAEjB;;;;;OAKG;IACH,cAFU,MAAM,CAEI;IAEpB;;;;;OAKG;IACH,aAFU,mBAAmB,CAEW;IAExC;;;OAGG;IACH,cAHW,YAAY,GACV,OAAO,CASnB;IAED,eASC;IAED;;;;;2BA7DA;;;mBAGG;;;;;;;;;;;;;;;;;;;;;;;;MAmEF;IAED,0BAaC;CAWJ;;;;iCAnHgC,4CAA4C;oBAHzD,kCAAkC;oCAElB,oDAAoD"}

package/src/engine/sound/ecs/audio/AudioEmitter.js

@@ -1,6 +1,7 @@
 import { combine_hash } from "../../../../core/collection/array/combine_hash.js";
 import Vector1 from "../../../../core/geom/Vector1.js";
 import { computeHashFloat } from "../../../../core/primitives/numbers/computeHashFloat.js";
+import { AcousticDirectivity } from "../../simulation/definition/AcousticDirectivity.js";
 import { EventDescription } from "../../sopra/definition/EventDescription.js";
 
 /**
@@ -33,12 +34,39 @@ export class AudioEmitter {
      */
     autoplay = true;
 
+    /**
+     * Opt this emitter into the acoustic simulation (occlusion / transmission / medium). Default off — an
+     * acoustic emitter inserts the extra render nodes and is driven by the `AcousticSimulator`; a
+     * non-acoustic one renders exactly as before. Only meaningful for 3D events.
+     * @type {boolean}
+     */
+    acoustic = false;
+
+    /**
+     * Apparent acoustic radius of this source, for volumetric (fractional) occlusion (0 = point source).
+     * A larger source is occluded gradually as cover moves across it; a point source pops on/off. Only
+     * meaningful when {@link acoustic}. Carried onto the played {@link EventInstance}.
+     * @type {number}
+     */
+    sourceRadius = 0.05;
+
+    /**
+     * Radiation directivity of this source (which way it "points" its sound). Default omni (monopole) — no
+     * effect. Only meaningful when {@link acoustic}; the source's {@link Transform} rotation supplies the
+     * forward axis the pattern is measured against. Carried onto the played {@link EventInstance}.
+     * @type {AcousticDirectivity}
+     */
+    directivity = new AcousticDirectivity();
+
     /**
      * @param {AudioEmitter} other
      * @returns {boolean}
      */
     equals(other) {
         return this.autoplay === other.autoplay
+            && this.acoustic === other.acoustic
+            && this.sourceRadius === other.sourceRadius
+            && this.directivity.equals(other.directivity)
             && this.volume.getValue() === other.volume.getValue()
             && this.event.equals(other.event);
     }
@@ -47,6 +75,9 @@ export class AudioEmitter {
         return combine_hash(
             this.event.hash(),
             this.autoplay ? 1 : 0,
+            this.acoustic ? 1 : 0,
+            computeHashFloat(this.sourceRadius),
+            this.directivity.hash(),
             computeHashFloat(this.volume.getValue())
         );
     }
@@ -55,7 +86,10 @@ export class AudioEmitter {
         return {
             event: this.event.toJSON(),
             volume: this.volume.toJSON(),
-            autoplay: this.autoplay
+            autoplay: this.autoplay,
+            acoustic: this.acoustic,
+            sourceRadius: this.sourceRadius,
+            directivity: this.directivity.toJSON()
         };
     }
 
@@ -67,6 +101,11 @@ export class AudioEmitter {
             this.volume.fromJSON(json.volume);
         }
         this.autoplay = json.autoplay !== undefined ? json.autoplay : true;
+        this.acoustic = json.acoustic !== undefined ? json.acoustic : false;
+        this.sourceRadius = json.sourceRadius !== undefined ? json.sourceRadius : 0.5;
+        if (json.directivity !== undefined) {
+            this.directivity.fromJSON(json.directivity);
+        }
     }
 
     /**

package/src/engine/sound/ecs/audio/AudioEmitterSystem.d.ts

@@ -35,8 +35,40 @@ export class AudioEmitterSystem extends System<any, any, any, any, any> {
         budget?: number;
         liveStickiness?: number;
         fadeOutSeconds?: number;
-    });
+    }, acousticSim?: any);
     dependencies: (typeof Transform | typeof AudioEmitter)[];
+    /**
+     * Live direct-path instances (2D + finite 3D one-shots). Tracked separately so the per-frame
+     * acoustic pass enumerates only the few direct instances + the managed live set — never all
+     * registered emitters.
+     * @type {Set<EventInstance>}
+     */
+    directInstances: Set<EventInstance>;
+    /**
+     * Reused scratch array of live acoustic instances fed to {@link acousticSim} each frame.
+     * @type {EventInstance[]}
+     */
+    acousticLive: EventInstance[];
+    /**
+     * Per-entity records: { emitter, transform, managed, instance, onVolume }. For a managed (3D)
+     * emitter the playing instance lives in {@link liveSet} (record.instance stays null); for a
+     * direct (2D) emitter it is held here.
+     * @type {object[]}
+     */
+    data: object[];
+    /**
+     * Optional acoustic simulation engine. When set, the system drives `acousticSim.apply(...)` over
+     * its bounded live-voice set each frame (between the live-set refresh and the sopra tick), so
+     * acoustic emitters get occlusion / transmission / medium. Null = no acoustic simulation (default).
+     * @type {AcousticSimulator|null}
+     */
+    acousticSim: AcousticSimulator | null;
+    /**
+     * Optional probe-baked reverb renderer (acoustic-owned, separate from sopra's static reverb).
+     * When set, it is driven once per frame from the listener position. Null = no probe reverb.
+     * @type {ProbeReverbRenderer|null}
+     */
+    probeReverb: ProbeReverbRenderer | null;
     /**
      * @type {SoundEngine}
      */
@@ -60,13 +92,6 @@ export class AudioEmitterSystem extends System<any, any, any, any, any> {
      * @type {LiveEmitterSet}
      */
     liveSet: LiveEmitterSet;
-    /**
-     * Per-entity records: { emitter, transform, managed, instance, onVolume }. For a managed (3D)
-     * emitter the playing instance lives in {@link liveSet} (record.instance stays null); for a
-     * direct (2D) emitter it is held here.
-     * @type {object[]}
-     */
-    data: object[];
     /**
      * @param {AudioEmitter} emitter
      * @param {Transform} transform

package/src/engine/sound/ecs/audio/AudioEmitterSystem.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"AudioEmitterSystem.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/sound/ecs/audio/AudioEmitterSystem.js"],"names":[],"mappings":"AAWA;;;;;;;;;;;;;;;;;;;;;;;;;GAyBG;AACH;IACI;;;;;OAKG;IACH,0FAHW;QAAC,MAAM,CAAC,EAAC,MAAM,CAAC;QAAC,cAAc,CAAC,EAAC,MAAM,CAAC;QAAC,cAAc,CAAC,EAAC,MAAM,CAAA;KAAC,EAiD1E;IA3CG,yDAA6C;IAE7C;;OAEG;IACH,yBAA8B;IAE9B;;OAEG;IACH,iBAFU,YAAY,CAEoB;IAE1C;;OAEG;IACH,2BAAgC;IAQhC;;;OAGG;IACH,mBAAkF;IAElF;;;;OAIG;IACH,SAFU,cAAc,CAE4C;IAEpE;;;;;OAKG;IACH,MAFU,MAAM,EAAE,CAEJ;IAGlB;;;;OAIG;IACH,cAJW,YAAY,aACZ,SAAS,UACT,MAAM,QAuBhB;IAED;;;;OAIG;IACH,gBAJW,YAAY,aACZ,SAAS,UACT,MAAM,QAmBhB;IAED;;;;;;OAMG;IACH,oBAHW,MAAM,GACJ,gBAAc,IAAI,CAe9B;IAuCD,6BAiCC;;CACJ;uBA3OsB,wBAAwB;0BACrB,qCAAqC;6BAKlC,mBAAmB;+BACjB,qBAAqB"}
+{"version":3,"file":"AudioEmitterSystem.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/sound/ecs/audio/AudioEmitterSystem.js"],"names":[],"mappings":"AAWA;;;;;;;;;;;;;;;;;;;;;;;;;GAyBG;AACH;IAyBI;;;;;OAKG;IACH,0FAHW;QAAC,MAAM,CAAC,EAAC,MAAM,CAAC;QAAC,cAAc,CAAC,EAAC,MAAM,CAAC;QAAC,cAAc,CAAC,EAAC,MAAM,CAAA;KAAC,qBAwD1E;IAnFD,yDAAyC;IAEzC;;;;;OAKG;IACH,iBAFU,kBAAkB,CAEA;IAE5B;;;OAGG;IACH,cAFU,eAAe,CAEP;IAElB;;;;;OAKG;IACH,MAFU,MAAM,EAAE,CAER;IAWN;;;;;OAKG;IACH,aAFU,oBAAkB,IAAI,CAEF;IAE9B;;;;OAIG;IACH,aAFU,sBAAoB,IAAI,CAEX;IAGvB;;OAEG;IACH,yBAA8B;IAE9B;;OAEG;IACH,iBAFU,YAAY,CAEoB;IAE1C;;OAEG;IACH,2BAAgC;IAQhC;;;OAGG;IACH,mBAAkF;IAElF;;;;OAIG;IACH,SAFU,cAAc,CAE4C;IAIxE;;;;OAIG;IACH,cAJW,YAAY,aACZ,SAAS,UACT,MAAM,QA4BhB;IAED;;;;OAIG;IACH,gBAJW,YAAY,aACZ,SAAS,UACT,MAAM,QAoBhB;IAED;;;;;;OAMG;IACH,oBAHW,MAAM,GACJ,gBAAc,IAAI,CAe9B;IA4CD,6BAqEC;;CACJ;uBAzTsB,wBAAwB;0BACrB,qCAAqC;6BAKlC,mBAAmB;+BACjB,qBAAqB"}