@woosh/meep-engine 2.168.1 → 2.169.1

package/src/engine/physics/constraint/solve_constraints.d.ts

@@ -16,7 +16,10 @@
  * class has an object-based `computeSwingAndTwist`; this is the inlined,
  * allocation-free form — see the bench that justifies it.)
  *
- * @param {number} dx @param {number} dy @param {number} dz @param {number} dw  qD
+ * @param {number} dx  qD x
+ * @param {number} dy  qD y
+ * @param {number} dz  qD z
+ * @param {number} dw  qD w
  * @param {Float64Array} out  length-3 destination (frame-axis positions)
  */
 export function swing_twist_error(dx: number, dy: number, dz: number, dw: number, out: Float64Array): void;

package/src/engine/physics/constraint/solve_constraints.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"solve_constraints.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/constraint/solve_constraints.js"],"names":[],"mappings":"AA0TA;;;;;;;;;;;;;;;;;;;;GAoBG;AACH,sCAHW,MAAM,MAAa,MAAM,MAAa,MAAM,MAAa,MAAM,OAC/D,YAAY,QAkCtB;AAoKD;;;;;;;;;;;;;;;;GAgBG;AACH,qCATW,OAAO,iCAEP,MAAM,SAEN,MAAM,YACN,OAAO,QAuSjB"}
+{"version":3,"file":"solve_constraints.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/constraint/solve_constraints.js"],"names":[],"mappings":"AA6UA;;;;;;;;;;;;;;;;;;;;;;;GAuBG;AACH,sCANW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,OACN,YAAY,QAkCtB;AAuKD;;;;;;;;;;;;;;;;GAgBG;AACH,qCATW,OAAO,iCAEP,MAAM,SAEN,MAAM,YACN,OAAO,QAuSjB"}

package/src/engine/physics/constraint/solve_constraints.js

@@ -138,6 +138,9 @@ const block_w = new Float64Array(9);
  * {@link SolverBodyState} inverse-inertia diagonal is zero).
  * @param {Float64Array} ss solver-body-state data array
  * @param {number} base `body_index * SBS_STRIDE`
+ * @param {number} ax  unit world axis x
+ * @param {number} ay  unit world axis y
+ * @param {number} az  unit world axis z
  * @returns {number}
  */
 function angular_axis_effective_mass(ss, base, ax, ay, az) {
@@ -152,8 +155,11 @@ function angular_axis_effective_mass(ss, base, ax, ay, az) {
  * Apply a pure angular impulse `sign·λ·axis`: Δω = Iw⁻¹·(sign·λ·axis).
  * @param {Float64Array} ss solver-body-state data array
  * @param {number} base `body_index * SBS_STRIDE`
- * @param {number} ax @param {number} ay @param {number} az
- * @param {number} lambda @param {number} sign
+ * @param {number} ax
+ * @param {number} ay
+ * @param {number} az
+ * @param {number} lambda
+ * @param {number} sign
  */
 function apply_angular_impulse(ss, base, ax, ay, az, lambda, sign) {
     const iix = ss[base + SBS_INV_I_X], iiy = ss[base + SBS_INV_I_Y], iiz = ss[base + SBS_INV_I_Z];
@@ -174,8 +180,12 @@ function apply_angular_impulse(ss, base, ax, ay, az, lambda, sign) {
  * @param {Float64Array} ss solver-body-state data array
  * @param {number} base `body_index * SBS_STRIDE`
  * @param {number} invM
- * @param {number} rx @param {number} ry @param {number} rz
- * @param {number} dx @param {number} dy @param {number} dz
+ * @param {number} rx
+ * @param {number} ry
+ * @param {number} rz
+ * @param {number} dx
+ * @param {number} dy
+ * @param {number} dz
  * @returns {number}
  */
 function axis_effective_mass(ss, base, invM, rx, ry, rz, dx, dy, dz) {
@@ -229,8 +239,12 @@ const scratch_rv = new Float64Array(3);
  * @param {Float64Array} ss solver-body-state data array
  * @param {number} base `body_index * SBS_STRIDE`
  * @param {number} invM
- * @param {number} rx @param {number} ry @param {number} rz
- * @param {number} Px @param {number} Py @param {number} Pz
+ * @param {number} rx
+ * @param {number} ry
+ * @param {number} rz
+ * @param {number} Px
+ * @param {number} Py
+ * @param {number} Pz
  * @param {number} sign +1 / −1
  */
 function apply_impulse(ss, base, invM, rx, ry, rz, Px, Py, Pz, sign) {
@@ -253,7 +267,8 @@ function apply_impulse(ss, base, invM, rx, ry, rz, Px, Py, Pz, sign) {
 
 /**
  * Clamp the SPOOK position bias to ±{@link MAX_JOINT_BIAS}.
- * @param {number} b @returns {number}
+ * @param {number} b
+ * @returns {number}
  */
 function clamp_bias(b) {
     if (b > MAX_JOINT_BIAS) return MAX_JOINT_BIAS;
@@ -268,8 +283,11 @@ function clamp_bias(b) {
  * upper triangle is written. Rotation-locked / non-dynamic bodies (zero inverse
  * inertia) add nothing. The mass term `(invMA+invMB)·I` is seeded by the caller.
  *
- * @param {Float64Array} ss @param {number} base
- * @param {number} rx @param {number} ry @param {number} rz  lever arm
+ * @param {Float64Array} ss
+ * @param {number} base
+ * @param {number} rx  lever arm x
+ * @param {number} ry  lever arm y
+ * @param {number} rz  lever arm z
  * @param {Float64Array} fa  frame-A world basis (rows = axes)
  * @param {Float64Array} K   length-6 symmetric accumulator [00,01,02,11,12,22]
  */
@@ -297,7 +315,8 @@ function accumulate_point_block(ss, base, rx, ry, rz, fa, K) {
  * near-singular block (|det| < 1e-12) returns 0 and leaves `out` untouched so
  * the caller falls back to the per-axis solve.
  *
- * @param {Float64Array} K  [00,01,02,11,12,22] @param {Float64Array} out
+ * @param {Float64Array} K  [00,01,02,11,12,22]
+ * @param {Float64Array} out
  * @returns {number} determinant
  */
 function invert_sym3(K, out) {
@@ -330,7 +349,10 @@ function invert_sym3(K, out) {
  * class has an object-based `computeSwingAndTwist`; this is the inlined,
  * allocation-free form — see the bench that justifies it.)
  *
- * @param {number} dx @param {number} dy @param {number} dz @param {number} dw  qD
+ * @param {number} dx  qD x
+ * @param {number} dy  qD y
+ * @param {number} dz  qD z
+ * @param {number} dw  qD w
  * @param {Float64Array} out  length-3 destination (frame-axis positions)
  */
 export function swing_twist_error(dx, dy, dz, dw, out) {
@@ -447,8 +469,11 @@ export function swing_twist_error(dx, dy, dz, dw, out) {
  * @param {number} spook_spec    speculative gain `1 / dt_sub` (LIMITED)
  * @param {number} dt_sub  substep size (MOTOR impulse cap = `maxForce·dt_sub`;
  *   SPRING compliance derives from it)
- * @param {Uint8Array} active @param {Float64Array} effOut
- * @param {Float64Array} biasOut @param {Float64Array} cloOut @param {Float64Array} chiOut
+ * @param {Uint8Array} active
+ * @param {Float64Array} effOut
+ * @param {Float64Array} biasOut
+ * @param {Float64Array} cloOut
+ * @param {Float64Array} chiOut
  * @param {Float64Array} gammaOut  per-row regularisation (0 for non-spring rows)
  */
 function fill_row(joint, dofIndex, k, keff, pos, vel, spook_locked, spook_spec, dt_sub,

package/src/engine/physics/contact/ManifoldStore.d.ts

@@ -308,11 +308,23 @@ export class ManifoldStore {
      * @returns {number}
      */
     contact_normal_x(slot: number, idx: number): number;
-    /** @param {number} slot @param {number} idx @returns {number} */
+    /**
+     * @param {number} slot
+     * @param {number} idx
+     * @returns {number}
+     */
     contact_normal_y(slot: number, idx: number): number;
-    /** @param {number} slot @param {number} idx @returns {number} */
+    /**
+     * @param {number} slot
+     * @param {number} idx
+     * @returns {number}
+     */
     contact_normal_z(slot: number, idx: number): number;
-    /** @param {number} slot @param {number} idx @returns {number} */
+    /**
+     * @param {number} slot
+     * @param {number} idx
+     * @returns {number}
+     */
     contact_depth(slot: number, idx: number): number;
     /**
      * Raw contact-point buffer. Hot-path solver code dereferences this

package/src/engine/physics/contact/ManifoldStore.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"ManifoldStore.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/contact/ManifoldStore.js"],"names":[],"mappings":"AAKA;;;;;GAKG;AACH,wCAFU,MAAM,CAE2B;AAE3C;;;;;;;;;;;;;;;;;;;;;;;;;;;;GA4BG;AACH,6BAFU,MAAM,CAEiB;AAEjC;;;;GAIG;AACH,wCAFU,MAAM,CAE4B;AAE5C;;;GAGG;AACH,+BAFU,MAAM,CAE2D;AAmE3E;;;GAGG;AACH,mCAFU,MAAM,CAEuB;AAIvC;;;;;;;;;;;;;;;;;;;;;;;;;GAyBG;AACH;IAEI;;OAEG;IACH,+BAFW,MAAM,EAqBhB;IAjBG,mBAA+C;IAC/C,qBAAqB;IAErB,qBAAkE;IAClE,oBAAiE;IAEjE,4BAA0D;IAG1D,0BAAoD;IACpD,uBAAiD;IAEjD,qBAAqB;IAIrB,sBAAgD;IAGpD;;OAEG;IACH,oBAEC;IAED;;;;;;;;OAQG;IACH,cAMC;IAED;;OAEG;IACH,uBAEC;IAED;;;;;;;OAOG;IACH,UAJW,MAAM,OACN,MAAM,GACJ,MAAM,CAKlB;IAED;;;;;;;;OAQG;IACH,aAJW,MAAM,OACN,MAAM,GACJ,MAAM,CA6BlB;IAED;;;OAGG;IACH,YAHW,MAAM,GACJ,MAAM,CAIlB;IAED;;;OAGG;IACH,YAHW,MAAM,GACJ,MAAM,CAIlB;IAED;;;OAGG;IACH,oBAHW,MAAM,GACJ,MAAM,CAIlB;IAED;;;OAGG;IACH,iBAHW,MAAM,GACJ,OAAO,CAInB;IAED;;;OAGG;IACH,uBAHW,MAAM,GACJ,OAAO,CAInB;IAED;;;;;OAKG;IACH,wBAHW,MAAM,GACJ,OAAO,CAInB;IAED;;;;;OAKG;IACH,eAHW,MAAM,GACJ,OAAO,CAInB;IAED;;;;;OAKG;IACH,cAHW,MAAM,GACJ,OAAO,CAInB;IAED;;;;;OAKG;IACH,eAHW,MAAM,SACN,OAAO,QASjB;IAED;;;;;;;;;;;OAWG;IACH,iBAJW,MAAM,yBAEJ,OAAO,CAUnB;IAED;;;;;OAKG;IACH,WAHW,MAAM,GACJ,MAAM,CAIlB;IAED;;;;;OAKG;IACH,qBAFW,MAAM,QAQhB;IAED;;;;;;;;;;;;;OAaG;IACH,mBAFW,MAAM,QAKhB;IAED;;;;;;;;;;;;;;;;;;;;;;;;;;;;;OA6BG;IACH,kBAnBW,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,SACN,MAAM,eACN,MAAM,aAGN,MAAM,gBAEN,MAAM,QAwBhB;IAED;;;;;OAKG;IACH,kBAJW,MAAM,OACN,MAAM,GACJ,MAAM,CAIlB;IAED;;;;;OAKG;IACH,qBAJW,MAAM,OACN,MAAM,GACJ,MAAM,CAIlB;IAED;;;;;;;;;;;;;;;OAeG;IACH,qBAHW,MAAM,OACN,MAAM,QAOhB;IAED;;;;;OAKG;IACH,oBAJW,MAAM,OACN,MAAM,GACJ,MAAM,CAIlB;IAED;;;;;;OAMG;IACH,kBALW,MAAM,OACN,MAAM,OACN,MAAM,EAAE,GAAC,YAAY,cACrB,MAAM,QAOhB;IAED;;;;;;OAMG;IACH,uBAJW,MAAM,OACN,MAAM,GACJ,MAAM,CAIlB;IAED,iEAAiE;IACjE,uBADY,MAAM,OAAe,MAAM,GAAgB,MAAM,CAG5D;IAED,iEAAiE;IACjE,uBADY,MAAM,OAAe,MAAM,GAAgB,MAAM,CAG5D;IAED,iEAAiE;IACjE,oBADY,MAAM,OAAe,MAAM,GAAgB,MAAM,CAG5D;IAED;;;;;OAKG;IACH,gCAEC;IAED;;;;;;;;OAQG;IACH,gBAHW,MAAM,GACJ,MAAM,CAIlB;IAED;;;;;;;;OAQG;IACH,wBAHW,MAAM,QACN,MAAM,QAIhB;IAED;;;;;;OAMG;IACH,uBAHW,MAAM,GACJ,MAAM,CAIlB;IAED;;;;;;;;;;;;;OAaG;IACH,2CAgDC;IAED;;;OAGG;IACH,wBAcC;IAED;;;OAGG;IACH,uBAkBC;IAED;;OAEG;IACH,eA2BC;CAEJ;8BA3uBqD,2CAA2C;8BACnE,2CAA2C"}
+{"version":3,"file":"ManifoldStore.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/contact/ManifoldStore.js"],"names":[],"mappings":"AAKA;;;;;GAKG;AACH,wCAFU,MAAM,CAE2B;AAE3C;;;;;;;;;;;;;;;;;;;;;;;;;;;;GA4BG;AACH,6BAFU,MAAM,CAEiB;AAEjC;;;;GAIG;AACH,wCAFU,MAAM,CAE4B;AAE5C;;;GAGG;AACH,+BAFU,MAAM,CAE2D;AAmE3E;;;GAGG;AACH,mCAFU,MAAM,CAEuB;AAIvC;;;;;;;;;;;;;;;;;;;;;;;;;GAyBG;AACH;IAEI;;OAEG;IACH,+BAFW,MAAM,EAqBhB;IAjBG,mBAA+C;IAC/C,qBAAqB;IAErB,qBAAkE;IAClE,oBAAiE;IAEjE,4BAA0D;IAG1D,0BAAoD;IACpD,uBAAiD;IAEjD,qBAAqB;IAIrB,sBAAgD;IAGpD;;OAEG;IACH,oBAEC;IAED;;;;;;;;OAQG;IACH,cAMC;IAED;;OAEG;IACH,uBAEC;IAED;;;;;;;OAOG;IACH,UAJW,MAAM,OACN,MAAM,GACJ,MAAM,CAKlB;IAED;;;;;;;;OAQG;IACH,aAJW,MAAM,OACN,MAAM,GACJ,MAAM,CA6BlB;IAED;;;OAGG;IACH,YAHW,MAAM,GACJ,MAAM,CAIlB;IAED;;;OAGG;IACH,YAHW,MAAM,GACJ,MAAM,CAIlB;IAED;;;OAGG;IACH,oBAHW,MAAM,GACJ,MAAM,CAIlB;IAED;;;OAGG;IACH,iBAHW,MAAM,GACJ,OAAO,CAInB;IAED;;;OAGG;IACH,uBAHW,MAAM,GACJ,OAAO,CAInB;IAED;;;;;OAKG;IACH,wBAHW,MAAM,GACJ,OAAO,CAInB;IAED;;;;;OAKG;IACH,eAHW,MAAM,GACJ,OAAO,CAInB;IAED;;;;;OAKG;IACH,cAHW,MAAM,GACJ,OAAO,CAInB;IAED;;;;;OAKG;IACH,eAHW,MAAM,SACN,OAAO,QASjB;IAED;;;;;;;;;;;OAWG;IACH,iBAJW,MAAM,yBAEJ,OAAO,CAUnB;IAED;;;;;OAKG;IACH,WAHW,MAAM,GACJ,MAAM,CAIlB;IAED;;;;;OAKG;IACH,qBAFW,MAAM,QAQhB;IAED;;;;;;;;;;;;;OAaG;IACH,mBAFW,MAAM,QAKhB;IAED;;;;;;;;;;;;;;;;;;;;;;;;;;;;;OA6BG;IACH,kBAnBW,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,SACN,MAAM,eACN,MAAM,aAGN,MAAM,gBAEN,MAAM,QAwBhB;IAED;;;;;OAKG;IACH,kBAJW,MAAM,OACN,MAAM,GACJ,MAAM,CAIlB;IAED;;;;;OAKG;IACH,qBAJW,MAAM,OACN,MAAM,GACJ,MAAM,CAIlB;IAED;;;;;;;;;;;;;;;OAeG;IACH,qBAHW,MAAM,OACN,MAAM,QAOhB;IAED;;;;;OAKG;IACH,oBAJW,MAAM,OACN,MAAM,GACJ,MAAM,CAIlB;IAED;;;;;;OAMG;IACH,kBALW,MAAM,OACN,MAAM,OACN,MAAM,EAAE,GAAC,YAAY,cACrB,MAAM,QAOhB;IAED;;;;;;OAMG;IACH,uBAJW,MAAM,OACN,MAAM,GACJ,MAAM,CAIlB;IAED;;;;OAIG;IACH,uBAJW,MAAM,OACN,MAAM,GACJ,MAAM,CAIlB;IAED;;;;OAIG;IACH,uBAJW,MAAM,OACN,MAAM,GACJ,MAAM,CAIlB;IAED;;;;OAIG;IACH,oBAJW,MAAM,OACN,MAAM,GACJ,MAAM,CAIlB;IAED;;;;;OAKG;IACH,gCAEC;IAED;;;;;;;;OAQG;IACH,gBAHW,MAAM,GACJ,MAAM,CAIlB;IAED;;;;;;;;OAQG;IACH,wBAHW,MAAM,QACN,MAAM,QAIhB;IAED;;;;;;OAMG;IACH,uBAHW,MAAM,GACJ,MAAM,CAIlB;IAED;;;;;;;;;;;;;OAaG;IACH,2CAgDC;IAED;;;OAGG;IACH,wBAcC;IAED;;;OAGG;IACH,uBAkBC;IAED;;OAEG;IACH,eA2BC;CAEJ;8BAvvBqD,2CAA2C;8BACnE,2CAA2C"}

package/src/engine/physics/contact/ManifoldStore.js

@@ -544,17 +544,29 @@ export class ManifoldStore {
         return this.__data[slot * SLOT_DATA_STRIDE + idx * CONTACT_STRIDE + 6];
     }
 
-    /** @param {number} slot @param {number} idx @returns {number} */
+    /**
+     * @param {number} slot
+     * @param {number} idx
+     * @returns {number}
+     */
     contact_normal_y(slot, idx) {
         return this.__data[slot * SLOT_DATA_STRIDE + idx * CONTACT_STRIDE + 7];
     }
 
-    /** @param {number} slot @param {number} idx @returns {number} */
+    /**
+     * @param {number} slot
+     * @param {number} idx
+     * @returns {number}
+     */
     contact_normal_z(slot, idx) {
         return this.__data[slot * SLOT_DATA_STRIDE + idx * CONTACT_STRIDE + 8];
     }
 
-    /** @param {number} slot @param {number} idx @returns {number} */
+    /**
+     * @param {number} slot
+     * @param {number} idx
+     * @returns {number}
+     */
     contact_depth(slot, idx) {
         return this.__data[slot * SLOT_DATA_STRIDE + idx * CONTACT_STRIDE + 9];
     }

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

@@ -188,7 +188,8 @@ export class Joint {
      * bone. The swing cone is box-shaped: independent Y and Z half-angles
      * (`swingLimitZ` defaults to `swingLimitY` for a circular cone).
      *
-     * @param {number} twistLower @param {number} twistUpper  twist bounds, rad.
+     * @param {number} twistLower  lower twist bound, rad.
+     * @param {number} twistUpper  upper twist bound, rad.
      * @param {number} swingLimitY  swing half-angle about frame Y, rad.
      * @param {number} [swingLimitZ]  swing half-angle about frame Z, rad
      *   (defaults to `swingLimitY`).
@@ -201,8 +202,9 @@ export class Joint {
      * resisted at the stops. Sets {@link DofMode.LIMITED} on that axis.
      *
      * @param {number} axis  frame axis: 0 = x, 1 = y, 2 = z.
-     * @param {number} lower @param {number} upper  travel bounds in metres
-     *   (signed anchor-A offset from anchor-B along the frame axis).
+     * @param {number} lower  lower travel bound in metres (signed anchor-A
+     *   offset from anchor-B along the frame axis).
+     * @param {number} upper  upper travel bound, same convention.
      * @returns {Joint} this
      */
     setLinearLimit(axis: number, lower: number, upper: number): Joint;
@@ -219,7 +221,8 @@ export class Joint {
      * module docs.
      *
      * @param {number} axis  frame axis: 0 = x, 1 = y, 2 = z.
-     * @param {number} lower @param {number} upper  rotation bounds in radians.
+     * @param {number} lower  lower rotation bound in radians.
+     * @param {number} upper  upper rotation bound in radians.
      * @returns {Joint} this
      */
     setAngularLimit(axis: number, lower: number, upper: number): Joint;

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

@@ -1 +1 @@
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package/src/engine/physics/ecs/Joint.js

@@ -245,7 +245,8 @@ export class Joint {
      * bone. The swing cone is box-shaped: independent Y and Z half-angles
      * (`swingLimitZ` defaults to `swingLimitY` for a circular cone).
      *
-     * @param {number} twistLower @param {number} twistUpper  twist bounds, rad.
+     * @param {number} twistLower  lower twist bound, rad.
+     * @param {number} twistUpper  upper twist bound, rad.
      * @param {number} swingLimitY  swing half-angle about frame Y, rad.
      * @param {number} [swingLimitZ]  swing half-angle about frame Z, rad
      *   (defaults to `swingLimitY`).
@@ -274,8 +275,9 @@ export class Joint {
      * resisted at the stops. Sets {@link DofMode.LIMITED} on that axis.
      *
      * @param {number} axis  frame axis: 0 = x, 1 = y, 2 = z.
-     * @param {number} lower @param {number} upper  travel bounds in metres
-     *   (signed anchor-A offset from anchor-B along the frame axis).
+     * @param {number} lower  lower travel bound in metres (signed anchor-A
+     *   offset from anchor-B along the frame axis).
+     * @param {number} upper  upper travel bound, same convention.
      * @returns {Joint} this
      */
     setLinearLimit(axis, lower, upper) {
@@ -298,7 +300,8 @@ export class Joint {
      * module docs.
      *
      * @param {number} axis  frame axis: 0 = x, 1 = y, 2 = z.
-     * @param {number} lower @param {number} upper  rotation bounds in radians.
+     * @param {number} lower  lower rotation bound in radians.
+     * @param {number} upper  upper rotation bound in radians.
      * @returns {Joint} this
      */
     setAngularLimit(axis, lower, upper) {

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

@@ -540,6 +540,20 @@ export class PhysicsSystem extends System<any> {
         y: number;
         z: number;
     }): void;
+    /**
+     * Replace the angular velocity. Wakes the body if asleep.
+     *
+     * Writing `rigidBody.angularVelocity` directly does not wake a sleeping
+     * body, so the spin is silently discarded until something else wakes it.
+     *
+     * @param {RigidBody} rigidBody
+     * @param {Vector3|{x:number,y:number,z:number}} v
+     */
+    setAngularVelocity(rigidBody: RigidBody, v: Vector3 | {
+        x: number;
+        y: number;
+        z: number;
+    }): void;
     /**
      * Teleport a body to a new pose, bypassing integration: writes the body's
      * Transform directly and wakes it. For an interpolated body this also flags a

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

@@ -1 +1 @@
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+{"version":3,"file":"PhysicsSystem.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/ecs/PhysicsSystem.js"],"names":[],"mappings":"AAmGA;;;;;;;;;;;;;;;;GAgBG;AACH;IAEI,cA2SC;IAxSG,sDAA0C;IAE1C,kKAIC;IAED;;;OAGG;IACH,kBAHU,WAAW,CAGW;IAEhC;;OAEG;IACH,WAFU,GAAG,CAEa;IAE1B;;OAEG;IACH,YAFU,GAAG,CAEc;IAE3B;;;;OAIG;IACH,oBAHU,aAAa,CAGa;IAEpC;;;;;;OAMG;IACH,OAFU,QAAQ,CAES;IAE3B;;;;OAIG;IACH,eAFU,kBAAkB,CAEiB;IAE7C;;;;;;;OAOG;IACH,SAFU,aAAa,CAEW;IAElC;;;;;;;;;OASG;IACH,gBAFU,eAAe,CAEkB;IAE3C;;;;;;OAMG;IACH,2BAFU,MAAM,CAEqB;IAErC;;;;OAIG;IACH,oBAFU,MAAM,CAEa;IAE7B;;;;;;;;;;;OAWG;IACH,UAFU,MAAM,CAEC;IAEjB;;;;;OAKG;IACH,oBAFU,MAAM,CAEW;IAE3B;;;OAGG;IACH,oBAFU,MAAM,CAEW;IAE3B;;;;;;;;;;OAUG;IACH,cAF4C,MAAM,CAE5B;IAEtB;;;;OAIG;IACH,qBAFU,MAAM,CAEa;IAE7B;;;;OAIG;IACH,0BAOC;IAED;;;;OAIG;IACH,kBAFU,OAAO,CAEsB;IAEvC;;;;;OAKG;IACH,yBAA4B;IAE5B;;;;;OAKG;IACH,UAFU,SAAS,EAAE,CAEH;IAElB;;;OAGG;IACH,uBAHU,SAAS,EAAE,CAGC;IAEtB;;;;;;;;OAQG;IACH,uBAFU,MAAM,MAAM;QAAC,QAAQ,EAAE,QAAQ,CAAC;QAAC,SAAS,EAAE,SAAS,CAAC;QAAC,MAAM,EAAE,MAAM,CAAC;QAAC,OAAO,EAAE,MAAM,CAAA;KAAC,CAAC,CAAC,CAEpE;IAE/B;;;;;OAKG;IACH,UAFU,OAAO,CAEC;IAElB;;;;OAIG;IACH,qBAAsB;IAEtB;;;;;;;;;;;;;OAaG;IACH,wBAAyB;IAEzB;;;;;;OAMG;IACH,iBAFU,MAAM,CAEQ;IAExB;;;;;;;;;;;;;;;;OAgBG;IACH,mBAFU,YAAY,CAEsB;IAE5C;;;;OAIG;IACH,YAFU,OAAO,CAEK;IAEtB;;;;;;;OAOG;IACH,iBAFU,YAAY,CAEoB;IAG1C;;;;;;;;;OASG;IACH,kBAFU,mBAAiB,IAAI,CAEH;IAE5B;;;;OAIG;IACH,yBAA0C;IAG1C;;;;;;;;OAQG;IACH,0BAA4C;IAC5C,yEAAyE;IACzE,gCAAgC;IAGpC;;;;;;;;;;;;;OAaG;IACH,sBA6BC;IAED;;;;;;;;;;;;;;OAcG;IACH,2BAGC;IAED;;;;;;;;;;OAUG;IACH,gCAOC;IAED;;;OAGG;IACH,cAFW,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAI9C;IAED;;;OAGG;IACH,+BAFqB,MAAM,WAAU,MAAM,aAAY,QAAQ,aAAY,QAAQ,KAAK,OAAO,QAI9F;IAED;;OAEG;IACH,8BAFuB,MAAM,WAAU,MAAM,aAAY,QAAQ,aAAY,QAAQ,KAAK,OAAO,CAIhG;IAED;;;;;;OAMG;IACH,iCA8BC;IAED;;;;OAIG;IACH,iCAIC;IAED;;;;;;;;;;;;;;;OAeG;IACH,yCAmBC;IAED;;;;;;;;;;OAUG;IACH,gBAJW,SAAS,aACT,SAAS,UACT,MAAM,QAkChB;IAED;;;;;;;OAOG;IACH,kBAJW,SAAS,aACT,SAAS,UACT,MAAM,QAyDhB;IAED;;;;;;;;;;;;;OAaG;IACH,6BALW,MAAM,YACN,QAAQ,aACR,SAAS,oBACT,MAAM,QAmBhB;IAED;;;;;OAKG;IACH,6BAHW,MAAM,YACN,QAAQ,QAiClB;IAED;;;;;;;;OAQG;IACH,oCAEC;IAED;;;;;;;;;OASG;IACH,+BAyCC;IAED;;;;OAIG;IACH,iCAUC;IAED;;;;OAIG;IACH,yBAHW,MAAM,GACJ,MAAM,CAKlB;IAED;;;OAGG;IACH,wBAEC;IAED;;;;;;;;;OASG;IACH,wBAHW,SAAS,WACT,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAU9C;IAED;;;;;;;;;;;OAWG;IACH,0BALW,SAAS,aACT,SAAS,WACT,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,cACpC,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAwC9C;IAED;;;;;;;;OAQG;IACH,uBAHW,SAAS,UACT,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAY9C;IAED;;;;;;;;;;;OAWG;IACH,wBALW,SAAS,aACT,SAAS,SACT,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,cACpC,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAuB9C;IAED;;;;;;OAMG;IACH,sBAHW,SAAS,SACT,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAQ9C;IAED;;;;;OAKG;IACH,6BAHW,SAAS,KACT,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAO9C;IAED;;;;;;;;OAQG;IACH,8BAHW,SAAS,KACT,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAO9C;IAED;;;;;;;;;;;;;;;;;;;;OAoBG;IACH,mBAJW,SAAS,YACT,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,YACpC,aAAW;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,QAgE1D;IAED;;;OAGG;IACH,gBAFW,SAAS,QAInB;IAED;;;;OAIG;IACH,iBAFW,SAAS,QAkBnB;IAED;;;;;;;;;;;;;;OAcG;IACH,oBAmCC;IAED;;;;;;;;;;;;;;OAcG;IACH,oCAwCC;IAED;;;;;;;;;;;;;;OAcG;IACH,kEAJmB,MAAM,YAAW,QAAQ,KAAG,OAAO,GAEzC,OAAO,CAInB;IAED;;;;;;;;;;;;;;;;;;;OAmBG;IACH,uDALW;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,iDAE7B,MAAM,YAAW,QAAQ,KAAG,OAAO,GACzC,OAAO,CAInB;IAED;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;OAuCG;IACH,0CAVW;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,YAE5B;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,UAErC,WAAW,GAAC,MAAM,EAAE,iBACpB,MAAM,oBACE,MAAM,YAAW,QAAQ,KAAG,OAAO,GAEzC,MAAM,CAIlB;IAED;;;;;;;;;;;;;;;;;;;;;;;;;;;;;OA6BG;IACH,qBA8DC;IAED;;;;;;;;;;;;;;;;;;;;;;OAsBG;IACH,0BAiCC;IAED;;;;;;;;;;;;OAYG;IACH,sBAoCC;IAED;;;;;;;;;;;;;;;;;;;;;;OAsBG;IACH,qBAgEC;IAED;;;;;;;;;;OAUG;IACH,kCA0FC;IAED;;;;;;;;;OASG;IACH,yBA+CC;IAED;;;;;;;;OAQG;IACH,wBA6CC;IAED,2BAwWC;IAGL;;;OAGG;IACH,0BAFU,OAAO,CAEsB;CANtC;uBAnsEsB,qBAAqB;0BAClB,kCAAkC;0BAkCV,gBAAgB;4CApCtB,oDAAoD;yBAgCrD,eAAe;4BA5Bf,wBAAwB;oBAV/C,gCAAgC;8BAiBtB,6BAA6B;yBAHlC,2BAA2B;mCAIC,iCAAiC;8BAKxD,4BAA4B;gCAZd,4BAA4B;oBAPpD,+BAA+B;yBAiC1B,eAAe;+BAMT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package/src/engine/physics/ecs/PhysicsSystem.js

@@ -1051,6 +1051,22 @@ export class PhysicsSystem extends System {
         }
     }
 
+    /**
+     * Replace the angular velocity. Wakes the body if asleep.
+     *
+     * Writing `rigidBody.angularVelocity` directly does not wake a sleeping
+     * body, so the spin is silently discarded until something else wakes it.
+     *
+     * @param {RigidBody} rigidBody
+     * @param {Vector3|{x:number,y:number,z:number}} v
+     */
+    setAngularVelocity(rigidBody, v) {
+        rigidBody.angularVelocity.copy(v);
+        if (rigidBody.kind === BodyKind.Dynamic) {
+            this.__wake_body(rigidBody);
+        }
+    }
+
     /**
      * Teleport a body to a new pose, bypassing integration: writes the body's
      * Transform directly and wakes it. For an interpolated body this also flags a

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

@@ -64,11 +64,11 @@ export class FluidObstacleSystem extends System<any> {
     /**
      * @param {FluidComponent} fluid
      */
-    static "__#168@#refresh_masks"(fluid: FluidComponent): void;
+    static "__#169@#refresh_masks"(fluid: FluidComponent): void;
     /**
      * @param {FluidComponent} fluid
      */
-    static "__#168@#clear_field"(fluid: FluidComponent): void;
+    static "__#169@#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> {
      * @param {number} inflation       world-units SDF threshold
      * @param {Float64Array} point     length-3 scratch
      */
-    static "__#168@#voxelize"(fluid: FluidComponent, posed: PosedShape3D, aabb: Float64Array, inflation: number, point: Float64Array): void;
+    static "__#169@#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
@@ -100,14 +100,10 @@ export class FluidObstacleSystem extends System<any> {
      * @param {number} wvy
      * @param {number} wvz
      */
-    static "__#168@#stamp_wall_velocity"(fluid: FluidComponent, posed: PosedShape3D, aabb: Float64Array, inflation: number, point: Float64Array, wvx: number, wvy: number, wvz: number): void;
+    static "__#169@#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 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";

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

@@ -1 +1 @@
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+{"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;;CAwQL;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

@@ -38,7 +38,7 @@ export class FluidSystem extends System<any> {
      * @param {FluidEffectorsComponent} effectors_component
      * @param {Transform} transform
      */
-    static "__#167@#sync_effectors_from_transform"(effectors_component: FluidEffectorsComponent, transform: Transform): void;
+    static "__#168@#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> {
      * @param {FluidComponent} component
      * @param {Transform} transform
      */
-    static "__#167@#reanchor_field"(component: FluidComponent, transform: Transform): void;
+    static "__#168@#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> {
      * @param {Float32Array} out  length-16
      * @param {FluidComponent} component
      */
-    static "__#167@#build_world_to_grid"(out: Float32Array, component: FluidComponent): void;
+    static "__#168@#build_world_to_grid"(out: Float32Array, component: FluidComponent): void;
     constructor();
     dependencies: (typeof FluidComponent)[];
     /**
@@ -96,10 +96,6 @@ export class FluidSystem extends System<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 @@
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+{"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;;CA+MpC;uBAjRsB,wBAAwB;+BAEhB,qBAAqB;0BAD1B,qCAAqC;4CAFnB,uDAAuD;wCAI3D,8BAA8B;+BACvC,sBAAsB"}

package/src/engine/physics/narrowphase/convex_convex_manifold.d.ts

@@ -4,9 +4,11 @@
  *
  * @param {Float64Array|number[]} out length ≥ CONVEX_CONVEX_OUT_LENGTH
  * @param {{vertices:Float32Array, face_offsets:Uint32Array, face_loops:Uint32Array}} A
- * @param {{x,y,z}} posA @param {{x,y,z,w}} rotA
+ * @param {{x,y,z}} posA
+ * @param {{x,y,z,w}} rotA
  * @param {{vertices:Float32Array, face_offsets:Uint32Array, face_loops:Uint32Array}} B
- * @param {{x,y,z}} posB @param {{x,y,z,w}} rotB
+ * @param {{x,y,z}} posB
+ * @param {{x,y,z,w}} rotB
  * @returns {boolean}
  */
 export function convex_convex_manifold(out: Float64Array | number[], A: {
@@ -47,11 +49,17 @@ export function convex_convex_manifold(out: Float64Array | number[], A: {
  * clip empties (a vertex/edge feature) it falls back to the deepest support-pair.
  *
  * @param {Float64Array|number[]} out length ≥ CONVEX_CONVEX_OUT_LENGTH
- * @param {{vertices,face_offsets,face_loops}} A @param {{x,y,z}} posA @param {{x,y,z,w}} rotA
- * @param {{vertices,face_offsets,face_loops}} B @param {{x,y,z}} posB @param {{x,y,z,w}} rotB
- * @param {number} nx @param {number} ny @param {number} nz  unit axis as
- *   returned by {@link gjk_epa_penetration} (A→B); this function re-orients it
- *   against the geometric centres before use, so either sign convention works
+ * @param {{vertices,face_offsets,face_loops}} A
+ * @param {{x,y,z}} posA
+ * @param {{x,y,z,w}} rotA
+ * @param {{vertices,face_offsets,face_loops}} B
+ * @param {{x,y,z}} posB
+ * @param {{x,y,z,w}} rotB
+ * @param {number} nx  unit axis x as returned by {@link gjk_epa_penetration}
+ *   (A→B); this function re-orients it against the geometric centres before
+ *   use, so either sign convention works
+ * @param {number} ny  unit axis y, same convention
+ * @param {number} nz  unit axis z, same convention
  * @returns {boolean} always true
  */
 export function convex_hull_clip(out: Float64Array | number[], A: {

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

@@ -1 +1 @@
-{"version":3,"file":"convex_convex_manifold.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/narrowphase/convex_convex_manifold.js"],"names":[],"mappings":"AAqQA;;;;;;;;;;GAUG;AACH,4CAPW,YAAY,GAAC,MAAM,EAAE,KACrB;IAAC,QAAQ,EAAC,YAAY,CAAC;IAAC,YAAY,EAAC,WAAW,CAAC;IAAC,UAAU,EAAC,WAAW,CAAA;CAAC,QACzE;IAAC,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAA;CAAC,QAAe;IAAC,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAA;CAAC,KAC/B;IAAC,QAAQ,EAAC,YAAY,CAAC;IAAC,YAAY,EAAC,WAAW,CAAC;IAAC,UAAU,EAAC,WAAW,CAAA;CAAC,QACzE;IAAC,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAA;CAAC,QAAe;IAAC,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAA;CAAC,GAC7B,OAAO,CAiEnB;AAED;;;;;;;;;;;;;;;;;GAiBG;AACH,sCARW,YAAY,GAAC,MAAM,EAAE,KACrB;IAAC,QAAQ,CAAC;IAAA,YAAY,CAAC;IAAA,UAAU,CAAA;CAAC,QAAY;IAAC,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAA;CAAC,QAAe;IAAC,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAA;CAAC,KAC7E;IAAC,QAAQ,CAAC;IAAA,YAAY,CAAC;IAAA,UAAU,CAAA;CAAC,QAAY;IAAC,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAA;CAAC,QAAe;IAAC,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAA;CAAC,MAC7E,MAAM,MAAa,MAAM,MAAa,MAAM,GAG1C,OAAO,CAuCnB;AAhVD,8CAA0E"}
+{"version":3,"file":"convex_convex_manifold.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/narrowphase/convex_convex_manifold.js"],"names":[],"mappings":"AA+QA;;;;;;;;;;;;GAYG;AACH,4CATW,YAAY,GAAC,MAAM,EAAE,KACrB;IAAC,QAAQ,EAAC,YAAY,CAAC;IAAC,YAAY,EAAC,WAAW,CAAC;IAAC,UAAU,EAAC,WAAW,CAAA;CAAC,QACzE;IAAC,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAA;CAAC,QACP;IAAC,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAA;CAAC,KACT;IAAC,QAAQ,EAAC,YAAY,CAAC;IAAC,YAAY,EAAC,WAAW,CAAC;IAAC,UAAU,EAAC,WAAW,CAAA;CAAC,QACzE;IAAC,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAA;CAAC,QACP;IAAC,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAA;CAAC,GACP,OAAO,CAiEnB;AAED;;;;;;;;;;;;;;;;;;;;;;;GAuBG;AACH,sCAdW,YAAY,GAAC,MAAM,EAAE,KACrB;IAAC,QAAQ,CAAC;IAAA,YAAY,CAAC;IAAA,UAAU,CAAA;CAAC,QAClC;IAAC,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAA;CAAC,QACP;IAAC,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAA;CAAC,KACT;IAAC,QAAQ,CAAC;IAAA,YAAY,CAAC;IAAA,UAAU,CAAA;CAAC,QAClC;IAAC,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAA;CAAC,QACP;IAAC,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAC;IAAA,CAAC,CAAA;CAAC,MACT,MAAM,MAGN,MAAM,MACN,MAAM,GACJ,OAAO,CAuCnB;AAlWD,8CAA0E"}

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

@@ -197,7 +197,9 @@ function get_sat_edges(shape) {
  * taken from the SAT scan. Mirrors Bullet's "face most opposing the normal", made symmetric across A and B.
  *
  * @param {boolean} is_A select within piece A, otherwise piece B
- * @param {number} mx @param {number} my @param {number} mz  axis toward the other body
+ * @param {number} mx  axis toward the other body, x
+ * @param {number} my  axis toward the other body, y
+ * @param {number} mz  axis toward the other body, z
  */
 function select_reference_face(is_A, mx, my, mz) {
     const nf = is_A ? g_fA : g_fB;
@@ -226,9 +228,17 @@ function select_reference_face(is_A, mx, my, mz) {
 
 /**
  * SAT axis test; true if the axis SEPARATES the pieces.
+ * @param {number} ux candidate axis x; need not be unit (normalised here)
+ * @param {number} uy candidate axis y
+ * @param {number} uz candidate axis z
+ * @param {number} nA vertex count of piece A in {@link wvA}
+ * @param {number} nB vertex count of piece B in {@link wvB}
+ * @param {number} kind axis provenance recorded on a new minimum: 0 = A face normal,
+ *   1 = B face normal, 2 = edge × edge cross
  * @param {number} ref2 square of the axis's characteristic magnitude (Σ|edge|² for a face,
  *   |ea|²·|eb|² for an edge cross); the axis is rejected as degenerate when `len2 / ref2` — a
  *   scale-invariant fatness / sin²θ — falls below {@link PARALLEL_EPS_REL}. See PARALLEL_EPS_REL.
+ * @returns {boolean} true if this axis separates the pieces
  */
 function test_axis(ux, uy, uz, nA, nB, kind, ref2) {
     const len2 = ux * ux + uy * uy + uz * uz;
@@ -265,9 +275,11 @@ function test_axis(ux, uy, uz, nA, nB, kind, ref2) {
  *
  * @param {Float64Array|number[]} out length ≥ CONVEX_CONVEX_OUT_LENGTH
  * @param {{vertices:Float32Array, face_offsets:Uint32Array, face_loops:Uint32Array}} A
- * @param {{x,y,z}} posA @param {{x,y,z,w}} rotA
+ * @param {{x,y,z}} posA
+ * @param {{x,y,z,w}} rotA
  * @param {{vertices:Float32Array, face_offsets:Uint32Array, face_loops:Uint32Array}} B
- * @param {{x,y,z}} posB @param {{x,y,z,w}} rotB
+ * @param {{x,y,z}} posB
+ * @param {{x,y,z,w}} rotB
  * @returns {boolean}
  */
 export function convex_convex_manifold(out, A, posA, rotA, B, posB, rotB) {
@@ -346,11 +358,17 @@ export function convex_convex_manifold(out, A, posA, rotA, B, posB, rotB) {
  * clip empties (a vertex/edge feature) it falls back to the deepest support-pair.
  *
  * @param {Float64Array|number[]} out length ≥ CONVEX_CONVEX_OUT_LENGTH
- * @param {{vertices,face_offsets,face_loops}} A @param {{x,y,z}} posA @param {{x,y,z,w}} rotA
- * @param {{vertices,face_offsets,face_loops}} B @param {{x,y,z}} posB @param {{x,y,z,w}} rotB
- * @param {number} nx @param {number} ny @param {number} nz  unit axis as
- *   returned by {@link gjk_epa_penetration} (A→B); this function re-orients it
- *   against the geometric centres before use, so either sign convention works
+ * @param {{vertices,face_offsets,face_loops}} A
+ * @param {{x,y,z}} posA
+ * @param {{x,y,z,w}} rotA
+ * @param {{vertices,face_offsets,face_loops}} B
+ * @param {{x,y,z}} posB
+ * @param {{x,y,z,w}} rotB
+ * @param {number} nx  unit axis x as returned by {@link gjk_epa_penetration}
+ *   (A→B); this function re-orients it against the geometric centres before
+ *   use, so either sign convention works
+ * @param {number} ny  unit axis y, same convention
+ * @param {number} nz  unit axis z, same convention
  * @returns {boolean} always true
  */
 export function convex_hull_clip(out, A, posA, rotA, B, posB, rotB, nx, ny, nz) {
@@ -440,7 +458,9 @@ const scratch_edge = new Int32Array(4); // [a0, a1] then [b0, b1] vertex indices
  * @param {Uint32Array} fo face offsets
  * @param {Uint32Array} fl face loops
  * @param {number} fcount face count
- * @param {number} dx @param {number} dy @param {number} dz
+ * @param {number} dx
+ * @param {number} dy
+ * @param {number} dz
  * @param {Int32Array} out_pair 2 slots written at `pair_off`
  * @param {number} pair_off
  */
@@ -502,9 +522,12 @@ function emit_edge_pair_contact(out, nx, ny, nz, depth) {
  * manifold (count + contacts) into `out`; leaves out[0..2] (the normal) as set
  * by the caller. Shared by both the SAT and GJK+EPA entry points.
  *
+ * @param {Float64Array|number[]} out length ≥ CONVEX_CONVEX_OUT_LENGTH
  * @param {boolean} ref_is_A  reference face belongs to A (else B)
  * @param {number} ref_face   reference face index within its piece
- * @param {number} nx @param {number} ny @param {number} nz  axis (B→A), unit
+ * @param {number} nx  axis (B→A) x, unit
+ * @param {number} ny  axis (B→A) y, unit
+ * @param {number} nz  axis (B→A) z, unit
  */
 function emit_face_manifold(out, ref_is_A, ref_face, nx, ny, nz) {
     const ref_wv = ref_is_A ? wvA : wvB;

package/src/engine/physics/narrowphase/refine_ray_concave.d.ts

@@ -2,8 +2,12 @@
  * @param {AbstractShape3D} shape  a concave shape (`is_convex === false`)
  * @param {{x:number,y:number,z:number}} position
  * @param {ArrayLike<number>} rotation  body rotation quaternion (x,y,z,w)
- * @param {number} ox @param {number} oy @param {number} oz  ray origin (world)
- * @param {number} dx @param {number} dy @param {number} dz  ray dir (world, unit)
+ * @param {number} ox  ray origin x (world)
+ * @param {number} oy  ray origin y (world)
+ * @param {number} oz  ray origin z (world)
+ * @param {number} dx  ray dir x (world, unit)
+ * @param {number} dy  ray dir y (world, unit)
+ * @param {number} dz  ray dir z (world, unit)
  * @param {number} tMax
  * @param {Float64Array|Vector3} outNormal  world surface normal, written on hit
  * @returns {number} hit distance, or `Infinity` on miss

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

@@ -1 +1 @@
-{"version":3,"file":"refine_ray_concave.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/narrowphase/refine_ray_concave.js"],"names":[],"mappings":"AAwCA;;;;;;;;;GASG;AACH,qEARW;IAAC,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAA;CAAC,YAC5B,UAAU,MAAM,CAAC,MACjB,MAAM,MAAa,MAAM,MAAa,MAAM,MAC5C,MAAM,MAAa,MAAM,MAAa,MAAM,QAC5C,MAAM,aACN,YAAY,UAAQ,GAClB,MAAM,CAyGlB"}
+{"version":3,"file":"refine_ray_concave.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/narrowphase/refine_ray_concave.js"],"names":[],"mappings":"AAwCA;;;;;;;;;;;;;GAaG;AACH,qEAZW;IAAC,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAA;CAAC,YAC5B,UAAU,MAAM,CAAC,MACjB,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,QACN,MAAM,aACN,YAAY,UAAQ,GAClB,MAAM,CAyGlB"}

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

@@ -42,8 +42,12 @@ const AABB_FATTEN = 1e-5; // guards triangles whose AABB just abuts the segment
  * @param {AbstractShape3D} shape  a concave shape (`is_convex === false`)
  * @param {{x:number,y:number,z:number}} position
  * @param {ArrayLike<number>} rotation  body rotation quaternion (x,y,z,w)
- * @param {number} ox @param {number} oy @param {number} oz  ray origin (world)
- * @param {number} dx @param {number} dy @param {number} dz  ray dir (world, unit)
+ * @param {number} ox  ray origin x (world)
+ * @param {number} oy  ray origin y (world)
+ * @param {number} oz  ray origin z (world)
+ * @param {number} dx  ray dir x (world, unit)
+ * @param {number} dy  ray dir y (world, unit)
+ * @param {number} dz  ray dir z (world, unit)
  * @param {number} tMax
  * @param {Float64Array|Vector3} outNormal  world surface normal, written on hit
  * @returns {number} hit distance, or `Infinity` on miss

package/src/engine/physics/narrowphase/refine_ray_hit.d.ts

@@ -15,8 +15,12 @@
  * @param {AbstractShape3D} shape
  * @param {{x:number,y:number,z:number}} position  body world position
  * @param {ArrayLike<number>} rotation  body world rotation quaternion (x,y,z,w)
- * @param {number} ox @param {number} oy @param {number} oz  ray origin (world)
- * @param {number} dx @param {number} dy @param {number} dz  ray dir (world, unit)
+ * @param {number} ox  ray origin x (world)
+ * @param {number} oy  ray origin y (world)
+ * @param {number} oz  ray origin z (world)
+ * @param {number} dx  ray dir x (world, unit)
+ * @param {number} dy  ray dir y (world, unit)
+ * @param {number} dz  ray dir z (world, unit)
  * @param {number} tMax
  * @param {Float64Array|Vector3} outNormal  world surface normal, written on a
  *   finite hit