@woosh/meep-engine 2.165.6 → 2.165.7

package/src/engine/physics/ecs/RigidBodySerializationAdapter.d.ts

@@ -17,7 +17,6 @@
 export class RigidBodySerializationAdapter extends BinaryClassSerializationAdapter<any> {
     constructor();
     klass: typeof RigidBody;
-    version: number;
     /**
      *
      * @param {BinaryBuffer} buffer

package/src/engine/physics/ecs/RigidBodySerializationAdapter.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"RigidBodySerializationAdapter.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/ecs/RigidBodySerializationAdapter.js"],"names":[],"mappings":"AAGA;;;;;;;;;;;;;;;GAeG;AACH;;IAEI,wBAAkB;IAClB,gBAAY;IAEZ;;;;OAIG;IACH,uCAFW,SAAS,QA6BnB;IAED;;;;OAIG;IACH,yCAFW,SAAS,QAoCnB;CACJ;gDAlG+C,6DAA6D;0BACnF,gBAAgB"}
+{"version":3,"file":"RigidBodySerializationAdapter.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/ecs/RigidBodySerializationAdapter.js"],"names":[],"mappings":"AAGA;;;;;;;;;;;;;;;GAeG;AACH;;IAEI,wBAAkB;IAGlB;;;;OAIG;IACH,uCAFW,SAAS,QA6BnB;IAED;;;;OAIG;IACH,yCAFW,SAAS,QAoCnB;CACJ;gDAlG+C,6DAA6D;0BACnF,gBAAgB"}

package/src/engine/physics/fluid/ecs/FluidObstacleSystem.d.ts

@@ -60,15 +60,15 @@
  * Static scenes pay the same as moving ones — change detection is a
  * follow-up (REVIEW_02_PLAN.md) if profiling ever points here.
  */
-export class FluidObstacleSystem extends System<any, any, any, any, any> {
+export class FluidObstacleSystem extends System<any> {
     /**
      * @param {FluidComponent} fluid
      */
-    static "__#154@#refresh_masks"(fluid: FluidComponent): void;
+    static "__#165@#refresh_masks"(fluid: FluidComponent): void;
     /**
      * @param {FluidComponent} fluid
      */
-    static "__#154@#clear_field"(fluid: FluidComponent): void;
+    static "__#165@#clear_field"(fluid: FluidComponent): void;
     /**
      * Mark every cell of `fluid` whose centre lies within `inflation` of the
      * posed shape as solid. Iteration is clipped to the shape's world AABB
@@ -80,7 +80,7 @@ export class FluidObstacleSystem extends System<any, any, any, any, any> {
      * @param {number} inflation       world-units SDF threshold
      * @param {Float64Array} point     length-3 scratch
      */
-    static "__#154@#voxelize"(fluid: FluidComponent, posed: PosedShape3D, aabb: Float64Array, inflation: number, point: Float64Array): void;
+    static "__#165@#voxelize"(fluid: FluidComponent, posed: PosedShape3D, aabb: Float64Array, inflation: number, point: Float64Array): void;
     /**
      * Write the obstacle's translation velocity onto every face of every cell
      * it voxelized — the moving-wall boundary condition. Runs AFTER the mask
@@ -100,18 +100,22 @@ export class FluidObstacleSystem extends System<any, any, any, any, any> {
      * @param {number} wvy
      * @param {number} wvz
      */
-    static "__#154@#stamp_wall_velocity"(fluid: FluidComponent, posed: PosedShape3D, aabb: Float64Array, inflation: number, point: Float64Array, wvx: number, wvy: number, wvz: number): void;
+    static "__#165@#stamp_wall_velocity"(fluid: FluidComponent, posed: PosedShape3D, aabb: Float64Array, inflation: number, point: Float64Array, wvx: number, wvy: number, wvz: number): void;
     constructor();
     dependencies: (typeof FluidObstacle)[];
-    components_used: (ResourceAccessSpecification<typeof RigidBody> | ResourceAccessSpecification<typeof Collider> | ResourceAccessSpecification<typeof Transform> | ResourceAccessSpecification<typeof FluidComponent> | ResourceAccessSpecification<typeof FluidObstacle>)[];
+    components_used: (ResourceAccessSpecification<typeof Transform> | ResourceAccessSpecification<typeof RigidBody> | ResourceAccessSpecification<typeof Collider> | ResourceAccessSpecification<typeof FluidComponent> | ResourceAccessSpecification<typeof FluidObstacle>)[];
+    /**
+     * @param {number} time_delta_seconds
+     */
+    fixedUpdate(time_delta_seconds: number): void;
     #private;
 }
 import { System } from "../../../ecs/System.js";
 import { FluidObstacle } from "./FluidObstacle.js";
-import { RigidBody } from "../../ecs/RigidBody.js";
+import { Transform } from "../../../ecs/transform/Transform.js";
 import { ResourceAccessSpecification } from "../../../../core/model/ResourceAccessSpecification.js";
+import { RigidBody } from "../../ecs/RigidBody.js";
 import { Collider } from "../../ecs/Collider.js";
-import { Transform } from "../../../ecs/transform/Transform.js";
 import { FluidComponent } from "./FluidComponent.js";
 import { PosedShape3D } from "../../../../core/geom/3d/shape/PosedShape3D.js";
 //# sourceMappingURL=FluidObstacleSystem.d.ts.map

package/src/engine/physics/fluid/ecs/FluidObstacleSystem.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"FluidObstacleSystem.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/physics/fluid/ecs/FluidObstacleSystem.js"],"names":[],"mappings":"AAUA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GA6DG;AACH;IA+GI;;OAEG;IACH,sCAFW,cAAc,QAIxB;IAED;;OAEG;IACH,oCAFW,cAAc,QAOxB;IAED;;;;;;;;;;OAUG;IACH,iCANW,cAAc,SACd,YAAY,QACZ,YAAY,aACZ,MAAM,SACN,YAAY,QAiDtB;IAED;;;;;;;;;;;;;;;;;;OAkBG;IACH,4CATW,cAAc,SACd,YAAY,QACZ,YAAY,aACZ,MAAM,SACN,YAAY,OACZ,MAAM,OACN,MAAM,OACN,MAAM,QAqEhB;IAxVe,cAAmB;IAwEnC,uCAA+B;IAE/B,2QAOE;;CAwQL;uBAxVsB,wBAAwB;8BAKjB,oBAAoB;0BAFxB,wBAAwB;4CAJN,uDAAuD;yBAG1E,uBAAuB;0BADtB,qCAAqC;+BAGhC,qBAAqB;6BAPvB,gDAAgD"}
+{"version":3,"file":"FluidObstacleSystem.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/physics/fluid/ecs/FluidObstacleSystem.js"],"names":[],"mappings":"AAUA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GA6DG;AACH;IA+GI;;OAEG;IACH,sCAFW,cAAc,QAIxB;IAED;;OAEG;IACH,oCAFW,cAAc,QAOxB;IAED;;;;;;;;;;OAUG;IACH,iCANW,cAAc,SACd,YAAY,QACZ,YAAY,aACZ,MAAM,SACN,YAAY,QAiDtB;IAED;;;;;;;;;;;;;;;;;;OAkBG;IACH,4CATW,cAAc,SACd,YAAY,QACZ,YAAY,aACZ,MAAM,SACN,YAAY,OACZ,MAAM,OACN,MAAM,OACN,MAAM,QAqEhB;;IAhRD,uCAA+B;IAE/B,2QAOE;IAoBF;;OAEG;IACH,gCAFW,MAAM,QA6EhB;;CAsKJ;uBAxVsB,wBAAwB;8BAKjB,oBAAoB;0BAJxB,qCAAqC;4CAFnB,uDAAuD;0BAIzE,wBAAwB;yBADzB,uBAAuB;+BAEjB,qBAAqB;6BAPvB,gDAAgD"}

package/src/engine/physics/fluid/ecs/FluidSystem.d.ts

@@ -31,14 +31,14 @@
  * pressure solve both depend on consistent dt. Variable timesteps cause visible
  * pulsing as projection convergence varies.
  */
-export class FluidSystem extends System<any, any, any, any, any> {
+export class FluidSystem extends System<any> {
     /**
      * Visitor for the (effectors, transform) traversal — calls syncFromTransform on
      * every effector in the component.
      * @param {FluidEffectorsComponent} effectors_component
      * @param {Transform} transform
      */
-    static "__#153@#sync_effectors_from_transform"(effectors_component: FluidEffectorsComponent, transform: Transform): void;
+    static "__#164@#sync_effectors_from_transform"(effectors_component: FluidEffectorsComponent, transform: Transform): void;
     /**
      * Visitor for the (FluidComponent, Transform) traversal — keeps the field's
      * grid origin locked to a cell-aligned position near the transform.
@@ -61,7 +61,7 @@ export class FluidSystem extends System<any, any, any, any, any> {
      * @param {FluidComponent} component
      * @param {Transform} transform
      */
-    static "__#153@#reanchor_field"(component: FluidComponent, transform: Transform): void;
+    static "__#164@#reanchor_field"(component: FluidComponent, transform: Transform): void;
     /**
      * Write the world-to-grid affine for a FluidComponent into `out`. Axis-aligned,
      * uniform-scale, so the matrix is sparse:
@@ -76,7 +76,7 @@ export class FluidSystem extends System<any, any, any, any, any> {
      * @param {Float32Array} out  length-16
      * @param {FluidComponent} component
      */
-    static "__#153@#build_world_to_grid"(out: Float32Array, component: FluidComponent): void;
+    static "__#164@#build_world_to_grid"(out: Float32Array, component: FluidComponent): void;
     constructor();
     dependencies: (typeof FluidComponent)[];
     /**
@@ -96,6 +96,10 @@ export class FluidSystem extends System<any, any, any, any, any> {
      * @type {FluidSimulator}
      */
     simulator: FluidSimulator;
+    /**
+     * @param {number} time_delta_seconds
+     */
+    fixedUpdate(time_delta_seconds: number): void;
     #private;
 }
 import { System } from "../../../ecs/System.js";

package/src/engine/physics/fluid/ecs/FluidSystem.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"FluidSystem.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/physics/fluid/ecs/FluidSystem.js"],"names":[],"mappings":"AAUA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAgCG;AACH;IA+GI;;;;;OAKG;IACH,oEAHW,uBAAuB,aACvB,SAAS,QAOnB;IAED;;;;;;;;;;;;;;;;;;;;;OAqBG;IACH,2CAHW,cAAc,aACd,SAAS,QA4DnB;IAED;;;;;;;;;;;;;OAaG;IACH,0CAHW,YAAY,aACZ,cAAc,QAexB;IAlRe,cAAmB;IA2CnC,wCAAgC;IAEhC;;;;;;;;OAQG;IACH,sLAME;IAEF;;;;;OAKG;IACH,WAFU,cAAc,CAES;;CA+MpC;uBAjRsB,wBAAwB;+BAEhB,qBAAqB;0BAD1B,qCAAqC;4CAFnB,uDAAuD;wCAI3D,8BAA8B;+BACvC,sBAAsB"}
+{"version":3,"file":"FluidSystem.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/physics/fluid/ecs/FluidSystem.js"],"names":[],"mappings":"AAUA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAgCG;AACH;IA+GI;;;;;OAKG;IACH,oEAHW,uBAAuB,aACvB,SAAS,QAOnB;IAED;;;;;;;;;;;;;;;;;;;;;OAqBG;IACH,2CAHW,cAAc,aACd,SAAS,QA4DnB;IAED;;;;;;;;;;;;;OAaG;IACH,0CAHW,YAAY,aACZ,cAAc,QAexB;;IAvOD,wCAAgC;IAEhC;;;;;;;;OAQG;IACH,sLAME;IAEF;;;;;OAKG;IACH,WAFU,cAAc,CAES;IA4BjC;;OAEG;IACH,gCAFW,MAAM,QAqDhB;;CA6HJ;uBAjRsB,wBAAwB;+BAEhB,qBAAqB;0BAD1B,qCAAqC;4CAFnB,uDAAuD;wCAI3D,8BAA8B;+BACvC,sBAAsB"}

package/src/engine/physics/integration/integrate_velocity.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"integrate_velocity.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/integration/integrate_velocity.js"],"names":[],"mappings":"AAMA;;;;;;;;;;;;;;;;;;;;;;GAsBG;AACH,4EALW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,QAoDhB;AAED;;;;;;;;;;;;GAYG;AACH,mFAFW,MAAM,QAkDhB;AAED;;;;;;;;;;;;;;;;;;;;;;;GAuBG;AACH,+CARW,YAAY,QACZ,MAAM,qBAEN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,QAkChB"}
+{"version":3,"file":"integrate_velocity.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/integration/integrate_velocity.js"],"names":[],"mappings":"AA6BA;;;;;;;;;;;;;;;;;;;;;;GAsBG;AACH,4EALW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,QAoDhB;AAED;;;;;;;;;;;;GAYG;AACH,mFAFW,MAAM,QAkDhB;AAED;;;;;;;;;;;;;;;;;;;;;;;GAuBG;AACH,+CARW,YAAY,QACZ,MAAM,qBAEN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,QAkChB"}

package/src/engine/physics/integration/integrate_velocity.js

@@ -1,9 +1,32 @@
 import { SBS_AV_X, SBS_AV_Y, SBS_AV_Z, SBS_LV_X, SBS_LV_Y, SBS_LV_Z, } from "../body/SolverBodyState.js";
 import { BodyKind } from "../ecs/BodyKind.js";
+import { RigidBodyFlags } from "../ecs/RigidBodyFlags.js";
 import { world_inverse_inertia_apply } from "../inertia/world_inverse_inertia.js";
 
 const scratch_angular = new Float64Array(3);
 
+// Body-local inverse-inertia diagonal with the LockRot* DOFs zeroed. A locked
+// axis has infinite effective inertia, so a torque produces no angular
+// acceleration about it — the same masking the solver gather and applyImpulseAt
+// apply, applied here so the torque/force accumulator path can't spin a locked DOF.
+const scratch_locked_inertia = { x: 0, y: 0, z: 0 };
+
+/**
+ * @param {RigidBody} rb
+ * @returns {{x:number,y:number,z:number}} the shared {@link scratch_locked_inertia}, filled with
+ *   `rb.inverseInertiaLocal` masked by the body's LockRot* flags.
+ */
+function locked_inverse_inertia(rb) {
+    const flags = rb.flags;
+    const ii = rb.inverseInertiaLocal;
+
+    scratch_locked_inertia.x = (flags & RigidBodyFlags.LockRotX) !== 0 ? 0 : ii.x;
+    scratch_locked_inertia.y = (flags & RigidBodyFlags.LockRotY) !== 0 ? 0 : ii.y;
+    scratch_locked_inertia.z = (flags & RigidBodyFlags.LockRotZ) !== 0 ? 0 : ii.z;
+
+    return scratch_locked_inertia;
+}
+
 /**
  * Semi-implicit Euler velocity integration for a single rigid body.
  *
@@ -61,7 +84,7 @@ export function integrate_velocity(rb, transform, gx, gy, gz, dt) {
     let avy = av[1];
     let avz = av[2];
     if (at[0] !== 0 || at[1] !== 0 || at[2] !== 0) {
-        world_inverse_inertia_apply(scratch_angular, 0, rb.inverseInertiaLocal, transform.rotation, at[0], at[1], at[2]);
+        world_inverse_inertia_apply(scratch_angular, 0, locked_inverse_inertia(rb), transform.rotation, at[0], at[1], at[2]);
         avx += scratch_angular[0] * dt;
         avy += scratch_angular[1] * dt;
         avz += scratch_angular[2] * dt;
@@ -120,7 +143,7 @@ export function integrate_velocity_forces(rb, transform, dt) {
 
         world_inverse_inertia_apply(
             scratch_angular, 0,
-            rb.inverseInertiaLocal, transform.rotation,
+            locked_inverse_inertia(rb), transform.rotation,
             at[0],
             at[1],
             at[2]

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":"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"}
+{"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,CAyHlB;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;AAtaD;;;;;;;;GAQG;AACH,6CAFU,MAAM,CAEiC;AAEjD;;;;GAIG;AACH,2CAFU,MAAM,CAE8B;AAmQ9C;;;;;;;;;;GAUG;AACH,yCAFU,MAAM,CAE6B;AAE7C;;;;;GAKG;AACH,uCAFU,MAAM,CAE0B"}