@woosh/meep-engine 2.163.9 → 2.163.11

package/src/engine/navigation/mesh/build/navmesh_build_topology.js

@@ -41,8 +41,17 @@ import {
 import {
     bt_mesh_fill_small_holes
 } from "../../../../core/geom/3d/topology/struct/binary/io/bt_mesh_fill_small_holes.js";
+import {
+    bt_mesh_simplify_by_error
+} from "../../../../core/geom/3d/topology/struct/binary/io/bt_mesh_simplify_by_error.js";
 import { clip_soup_against_overhangs } from "./clip_soup_against_overhangs.js";
 
+// Fraction of the agent radius used as the navmesh cleanup error budget (see the cleanup pass in
+// navmesh_build_topology). A larger agent cannot resolve fine surface detail and the walkable
+// surface was already inset by agent_radius during erosion, so a small fraction of it is a safe,
+// navigation-imperceptible bound on how far cleanup may move the surface or the walkable outline.
+const NAVMESH_SIMPLIFY_ERROR_FRACTION = 0.05;
+
 
 /**
  * Build from given scene geometry
@@ -98,6 +107,11 @@ export function navmesh_build_topology({
     let raw_triangles = [];
     let triangle_count = 0;
 
+    // NOTE: the inherited source tessellation is cleaned up at the end of this function by
+    // bt_mesh_simplify_by_error (interior coplanar fans + collinear boundary runs collapsed). A
+    // further win -- re-triangulating large flat regions to a minimal polygon set -- is left as a
+    // possible follow-up.
+
     for (let face_id = 0; face_id < source_face_count; face_id++) {
 
         source.face_read_normal(scratch_normal, 0, face_id);
@@ -234,6 +248,17 @@ export function navmesh_build_topology({
             }
         }
 
+        // --- Clean up the dense triangulation inherited from the source render geometry ---
+        // The navmesh arrives with far more triangles than navigation needs (a flat floor comes in
+        // as many coplanar triangles). Collapse only the geometrically redundant ones -- interior
+        // near-coplanar fans and collinear runs of boundary vertices -- without moving the surface
+        // or the walkable outline (and obstacle holes) by more than a small fraction of the agent
+        // radius. With agent_radius 0 the tolerance is 0 and this is a no-op.
+        if (agent_radius > 0) {
+            bt_mesh_simplify_by_error(mesh, agent_radius * NAVMESH_SIMPLIFY_ERROR_FRACTION);
+            bt_mesh_compact(mesh);
+        }
+
         // face normals are consumed by navigation queries (string-pulling portal normals), populate them now
         bt_mesh_compute_face_normals(mesh);
 

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

@@ -1 +1 @@
-{"version":3,"file":"capsule_contacts.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/narrowphase/capsule_contacts.js"],"names":[],"mappings":"AA4BA;;;;;;;;;;;;;;;GAeG;AACH,2CAVW,MAAM,EAAE,GAAC,YAAY,MACrB,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,eACN,MAAM,QAOhB;AAID;;;;;;;;;;;;;;;;;;GAkBG;AACH,4CAhBW,MAAM,EAAE,GAAC,YAAY,QACrB,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,YACN,MAAM,YACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,YACN,MAAM,GACJ,OAAO,CA6CnB;AAMD;;;;;GAKG;AACH,6CAHW,MAAM,EAAE,GAAC,YAAY,yNACnB,OAAO,CAuEnB;AA8BD;;;;;;;;;GASG;AACH,oDAHW,MAAM,EAAE,GAAC,YAAY,yNACnB,MAAM,CAoHlB;AASD;;;;;;;;;;;;;GAaG;AACH,yCAHW,MAAM,EAAE,GAAC,YAAY,4NACnB,OAAO,CAqGnB;AAyCD;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAyCG;AACH,gDAtBW,YAAY,QACZ,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,YACN,MAAM,YACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,GACJ,MAAM,CAsElB;AAzaD;;;;;;;;GAQG;AACH,6CAFU,MAAM,CAEiC;AAEjD;;;;GAIG;AACH,2CAFU,MAAM,CAE8B;AAsQ9C;;;;;;;;;;GAUG;AACH,yCAFU,MAAM,CAE6B;AAE7C;;;;;GAKG;AACH,uCAFU,MAAM,CAE0B"}
+{"version":3,"file":"capsule_contacts.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/narrowphase/capsule_contacts.js"],"names":[],"mappings":"AA6BA;;;;;;;;;;;;;;;GAeG;AACH,2CAVW,MAAM,EAAE,GAAC,YAAY,MACrB,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,eACN,MAAM,QAOhB;AAID;;;;;;;;;;;;;;;;;;GAkBG;AACH,4CAhBW,MAAM,EAAE,GAAC,YAAY,QACrB,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,YACN,MAAM,YACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,YACN,MAAM,GACJ,OAAO,CA6CnB;AAMD;;;;;GAKG;AACH,6CAHW,MAAM,EAAE,GAAC,YAAY,yNACnB,OAAO,CAuEnB;AA8BD;;;;;;;;;GASG;AACH,oDAHW,MAAM,EAAE,GAAC,YAAY,yNACnB,MAAM,CAoHlB;AASD;;;;;;;;;;;;;GAaG;AACH,yCAHW,MAAM,EAAE,GAAC,YAAY,4NACnB,OAAO,CA6FnB;AAyCD;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAyCG;AACH,gDAtBW,YAAY,QACZ,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,YACN,MAAM,YACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,QACN,MAAM,GACJ,MAAM,CAsElB;AAjaD;;;;;;;;GAQG;AACH,6CAFU,MAAM,CAEiC;AAEjD;;;;GAIG;AACH,2CAFU,MAAM,CAE8B;AA8P9C;;;;;;;;;;GAUG;AACH,yCAFU,MAAM,CAE6B;AAE7C;;;;;GAKG;AACH,uCAFU,MAAM,CAE0B"}

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

@@ -1,5 +1,6 @@
 import { line3_closest_points_segment_segment } from "../../../core/geom/3d/line/line3_closest_points_segment_segment.js";
 import { line3_compute_segment_nearest_point_to_point_t } from "../../../core/geom/3d/line/line3_compute_segment_nearest_point_to_point_t.js";
+import { line3_compute_segment_nearest_point_to_aabb3_t } from "../../../core/geom/3d/line/line3_compute_segment_nearest_point_to_aabb3_t.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 { sphere_box_contact } from "./sphere_box_contact.js";
@@ -389,27 +390,19 @@ export function capsule_box_contact(
     const a0lx = scratch_a0_local[0], a0ly = scratch_a0_local[1], a0lz = scratch_a0_local[2];
     const a1lx = scratch_a1_local[0], a1ly = scratch_a1_local[1], a1lz = scratch_a1_local[2];
 
-    // Fixed-point iteration: start with t at the closest point to the box centre.
-    let t = line3_compute_segment_nearest_point_to_point_t(a0lx, a0ly, a0lz, a1lx, a1ly, a1lz, 0, 0, 0);
-    let plx = a0lx + (a1lx - a0lx) * t;
-    let ply = a0ly + (a1ly - a0ly) * t;
-    let plz = a0lz + (a1lz - a0lz) * t;
-
-    for (let iter = 0; iter < 2; iter++) {
-        // Clamp current segment point to the box → closest box-surface point.
-        const qlx = plx < -b_hx ? -b_hx : (plx > b_hx ? b_hx : plx);
-        const qly = ply < -b_hy ? -b_hy : (ply > b_hy ? b_hy : ply);
-        const qlz = plz < -b_hz ? -b_hz : (plz > b_hz ? b_hz : plz);
-
-        // Re-find closest segment point to that box point.
-        t = line3_compute_segment_nearest_point_to_point_t(
-            a0lx, a0ly, a0lz, a1lx, a1ly, a1lz,
-            qlx, qly, qlz
-        );
-        plx = a0lx + (a1lx - a0lx) * t;
-        ply = a0ly + (a1ly - a0ly) * t;
-        plz = a0lz + (a1lz - a0lz) * t;
-    }
+    // Exact closest point on the capsule segment to the box-local AABB [−h, h].
+    // Replaces a 2-iteration alternating projection (project onto segment, clamp
+    // into box, repeat) that converged too slowly for capsules near-parallel to
+    // a box face/edge — overestimating the segment-vs-box distance, which
+    // under-detected contacts (~0.85% of random configs missed) and mis-placed
+    // depth/normal on many more. See core/geom/3d/gjk/GJK_REVIEW_NOTES.md.
+    const t = line3_compute_segment_nearest_point_to_aabb3_t(
+        a0lx, a0ly, a0lz, a1lx, a1ly, a1lz,
+        -b_hx, -b_hy, -b_hz, b_hx, b_hy, b_hz
+    );
+    const plx = a0lx + (a1lx - a0lx) * t;
+    const ply = a0ly + (a1ly - a0ly) * t;
+    const plz = a0lz + (a1lz - a0lz) * t;
 
     // Final box-side point. `let` because the interior branch snaps it onto
     // the chosen face — for an inside segment point the clamp is an identity.

package/src/core/graph/metis/native/refine/IndexedFloatMaxHeap.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"IndexedFloatMaxHeap.d.ts","sourceRoot":"","sources":["../../../../../../../src/core/graph/metis/native/refine/IndexedFloatMaxHeap.js"],"names":[],"mappings":"AA6BA;IACI;;;OAGG;IACH,yBAHW,MAAM,0BACN,MAAM,EAsBhB;IAbG,wBAA4C;IAC5C,eAAe;IAEf,2BAA4E;IAC5E,2BAAwD;IACxD,6BAA0D;IAE1D;;;OAGG;IACH,cAFU,WAAW,CAE2B;IAIpD,mBAEC;IAED;;;OAGG;IACH,cAQC;IAED,2BAEC;IAED;;;OAGG;IACH,qBAkBC;IAED;;;;OAIG;IACH,oBAsBC;IAED;;;;OAIG;IACH,kBAYC;IAED,wBAUC;IAED;;;OAGG;IACH,WAHW,MAAM,SACN,MAAM,QAehB;IAED;;OAEG;IACH,WAFa,MAAM,CAuBlB;IAED;;;OAGG;IACH,WAHW,MAAM,aACN,MAAM,QAehB;IAED;;;OAGG;IACH,WAHW,MAAM,GACJ,OAAO,CA+BnB;CACJ"}