@woosh/meep-engine 2.169.1 → 2.169.3

package/src/engine/ecs/ik/OneBoneSurfaceAlignmentSolver.js

@@ -1,13 +1,10 @@
 import { SurfacePoint3 } from "../../../core/geom/3d/SurfacePoint3.js";
 import Quaternion from "../../../core/geom/Quaternion.js";
-import { v3_displace_in_direction } from "../../../core/geom/vec3/v3_displace_in_direction.js";
-import { v3_dot } from "../../../core/geom/vec3/v3_dot.js";
-import { v3_length } from "../../../core/geom/vec3/v3_length.js";
 import Vector3 from "../../../core/geom/Vector3.js";
 import { clamp } from "../../../core/math/clamp.js";
-import { clamp01 } from "../../../core/math/clamp01.js";
 import { inverseLerp } from "../../../core/math/inverseLerp.js";
 import { findSkeletonBoneByType } from "../../graphics/ecs/mesh/SkeletonUtils.js";
+import { ik_probe_terrain_contact } from "./ik_probe_terrain_contact.js";
 import { IKSolver } from "./IKSolver.js";
 
 const boneWorldPosition = new Vector3();
@@ -71,85 +68,26 @@ export class OneBoneSurfaceAlignmentSolver extends IKSolver {
         parentWorldPosition.y = parentBoneWM[13];
         parentWorldPosition.z = parentBoneWM[14];
 
-        //compute direction for ray casting
-        const directionX = boneWorldPosition.x - parentWorldPosition.x;
-        const directionY = boneWorldPosition.y - parentWorldPosition.y;
-        const directionZ = boneWorldPosition.z - parentWorldPosition.z;
-
-
-        let contactExists = terrain.raycastFirstSync(
-            contact,
-            parentWorldPosition.x,
-            parentWorldPosition.y,
-            parentWorldPosition.z,
-            directionX,
-            directionY,
-            directionZ
-        );
-
-        if (!contactExists) {
-            //no contact
-            return;
-        }
-
-        const contactPosition = contact.position;
-        const contactNormal = contact.normal;
-
-        //perform secondary cast from the bone, back along the surface normal
-        contactExists = terrain.raycastFirstSync(
-            contact,
-            boneWorldPosition.x + contactNormal.x,
-            boneWorldPosition.y + contactNormal.y,
-            boneWorldPosition.z + contactNormal.z,
-            -contactNormal.x,
-            -contactNormal.y,
-            -contactNormal.z
-        );
-
-        if (!contactExists) {
-            //no contact
-            return;
-        }
-
-
         const bone_scale = boneWorldScale.length() * ONE_OVER_SQRT_3;
 
-        const targetOffsetDistance = constraint.offset * bone_scale;
-
-        v3_displace_in_direction(
+        //cast from the parent towards the bone to find the surface underneath it
+        let influence = ik_probe_terrain_contact(
             targetPosition,
-            targetOffsetDistance,
-            contactPosition.x, contactPosition.y, contactPosition.z,
-            contactNormal.x, contactNormal.y, contactNormal.z
+            contact,
+            terrain,
+            parentWorldPosition,
+            boneWorldPosition,
+            constraint,
+            bone_scale
         );
 
-        const delta_contact_c_x = targetPosition.x - boneWorldPosition.x;
-        const delta_contact_c_y = targetPosition.y - boneWorldPosition.y;
-        const delta_contact_c_z = targetPosition.z - boneWorldPosition.z;
-
-        //check if current effector position is above the contact point
-        const dot_contact_side = v3_dot(directionX, directionY, directionZ, delta_contact_c_x, delta_contact_c_y, delta_contact_c_z);
-
-        const delta_contact_c_length = v3_length(delta_contact_c_x, delta_contact_c_y, delta_contact_c_z);
-
-        let influence;
-
-        if (dot_contact_side < 0) {
-            //penetration detected
-            influence = 1;
-
-        } else {
-            //no penetration, hovering case, use hover distance for influence
-            const normalized_effector_distance = inverseLerp(0, bone_scale, delta_contact_c_length);
-
-            influence = 1 - clamp01(constraint.distance.normalizeValue(normalized_effector_distance));
-        }
-
         if (influence <= 0) {
-            //no influence
+            //no contact, or no influence
             return;
         }
 
+        const contactNormal = contact.normal;
+
         r.copy(bone.quaternion);
 
         //we want to make bone align orthogonally to surface contact normal

package/src/engine/ecs/ik/TwoBoneInverseKinematicsSolver.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"TwoBoneInverseKinematicsSolver.d.ts","sourceRoot":"","sources":["../../../../../src/engine/ecs/ik/TwoBoneInverseKinematicsSolver.js"],"names":[],"mappings":"AA8CA;IAGI,0BAuIC;CACJ;yBA9KwB,eAAe"}
+{"version":3,"file":"TwoBoneInverseKinematicsSolver.d.ts","sourceRoot":"","sources":["../../../../../src/engine/ecs/ik/TwoBoneInverseKinematicsSolver.js"],"names":[],"mappings":"AA0CA;IAGI,0BA4EC;CACJ;yBAnHwB,eAAe"}

package/src/engine/ecs/ik/TwoBoneInverseKinematicsSolver.js

@@ -1,14 +1,10 @@
 import { assert } from "../../../core/assert.js";
 import { SurfacePoint3 } from "../../../core/geom/3d/SurfacePoint3.js";
 import Quaternion from "../../../core/geom/Quaternion.js";
-import { v3_displace_in_direction } from "../../../core/geom/vec3/v3_displace_in_direction.js";
-import { v3_dot } from "../../../core/geom/vec3/v3_dot.js";
-import { v3_length } from "../../../core/geom/vec3/v3_length.js";
 import Vector3 from "../../../core/geom/Vector3.js";
-import { clamp01 } from "../../../core/math/clamp01.js";
-import { inverseLerp } from "../../../core/math/inverseLerp.js";
 import { findSkeletonBoneByType } from "../../graphics/ecs/mesh/SkeletonUtils.js";
 import { two_joint_ik } from "../../physics/inverse_kinematics/two_joint_ik.js";
+import { ik_probe_terrain_contact } from "./ik_probe_terrain_contact.js";
 import { IKSolver } from "./IKSolver.js";
 
 const boneWorldPositionC = new Vector3();
@@ -72,81 +68,22 @@ export class TwoBoneInverseKinematicsSolver extends IKSolver {
         computeGlobalTransform(boneB, boneWorldPositionB, globalRotationB, v3);
         computeGlobalTransform(boneC, boneWorldPositionC, globalRotationC, v3);
 
-        //check if the there is a penetration with the terrain between the two bones
-        const directionX = boneWorldPositionC.x - boneWorldPositionA.x;
-        const directionY = boneWorldPositionC.y - boneWorldPositionA.y;
-        const directionZ = boneWorldPositionC.z - boneWorldPositionA.z;
-
-        let contactExists = terrain.raycastFirstSync(
-            contact,
-            boneWorldPositionA.x,
-            boneWorldPositionA.y,
-            boneWorldPositionA.z,
-            directionX,
-            directionY,
-            directionZ
-        );
-
-        if (!contactExists) {
-            //no contact
-            return;
-        }
-
-        const contactPosition = contact.position;
-        const contactNormal = contact.normal;
-
-        //perform secondary cast from the bone, back along the surface normal
-        contactExists = terrain.raycastFirstSync(
-            contact,
-            boneWorldPositionC.x + contactNormal.x,
-            boneWorldPositionC.y + contactNormal.y,
-            boneWorldPositionC.z + contactNormal.z,
-            -contactNormal.x,
-            -contactNormal.y,
-            -contactNormal.z
-        );
-
-        if (!contactExists) {
-            //no contact
-            return;
-        }
-
         //compute total length of the limb
         const limbLength = boneWorldPositionA.distanceTo(boneWorldPositionB) + boneWorldPositionB.distanceTo(boneWorldPositionC);
 
-        const targetOffsetDistance = constraint.offset * limbLength;
-
-        v3_displace_in_direction(
+        //check if there is a penetration with the terrain between the two bones
+        const influence = ik_probe_terrain_contact(
             targetPosition,
-            targetOffsetDistance,
-            contactPosition.x, contactPosition.y, contactPosition.z,
-            contact.normal.x, contact.normal.y, contact.normal.z
+            contact,
+            terrain,
+            boneWorldPositionA,
+            boneWorldPositionC,
+            constraint,
+            limbLength
         );
 
-        const delta_contact_c_x = targetPosition.x - boneWorldPositionC.x;
-        const delta_contact_c_y = targetPosition.y - boneWorldPositionC.y;
-        const delta_contact_c_z = targetPosition.z - boneWorldPositionC.z;
-
-        //check if current effector position is above the contact point
-        const dot_contact_side = v3_dot(directionX, directionY, directionZ, delta_contact_c_x, delta_contact_c_y, delta_contact_c_z);
-
-        const delta_contact_c_length = v3_length(delta_contact_c_x, delta_contact_c_y, delta_contact_c_z);
-
-        let influence;
-
-        if (dot_contact_side < 0) {
-            //penetration detected
-            influence = 1;
-
-        } else {
-            //no penetration, hovering case, use hover distance for influence
-            const normalized_effector_distance = inverseLerp(0, limbLength, delta_contact_c_length);
-
-            influence = 1 - clamp01(constraint.distance.normalizeValue(normalized_effector_distance));
-        }
-
         if (influence <= 0) {
-            //no influence
+            //no contact, or no influence
             return;
         }
 

package/src/engine/ecs/ik/ik_probe_terrain_contact.d.ts

@@ -0,0 +1,38 @@
+/**
+ * Find where an IK chain meets the terrain and how strongly the solver should pull towards it.
+ *
+ * Two casts are made. The first travels from `origin` towards `effector` and establishes which
+ * surface the limb is over at all. The second starts just outside that surface, directly above the
+ * effector along the surface normal, and comes back down — that is what actually locates the point
+ * under the effector rather than the point under the limb's root, and it is what `out_contact` and
+ * `out_target` describe on return.
+ *
+ * The returned influence answers "how much of this correction should apply":
+ * - the effector is BELOW the surface (penetrating) → `1`, correct it fully;
+ * - the effector HOVERS above the surface → falls off from `1` to `0` across
+ *   `constraint.distance`, measured as a fraction of `length_scale`, so the same constraint reads
+ *   the same way for a long limb and a short one;
+ * - no surface was found at all → `0`.
+ *
+ * This exists because {@link TwoBoneInverseKinematicsSolver} and
+ * {@link OneBoneSurfaceAlignmentSolver} carried the identical ~70-line probe, comments and variable
+ * names included, differing only in which lengths they scaled by. The solvers now hold nothing but
+ * their rotation math.
+ *
+ * @param {Vector3} out_target receives the world position the effector should be moved to; only
+ * written when a non-zero influence is returned
+ * @param {SurfacePoint3} out_contact receives the surface contact from the SECOND cast; only
+ * written when a non-zero influence is returned. Solvers that need the contact normal (surface
+ * alignment) read it from here
+ * @param {Terrain} terrain
+ * @param {Vector3} origin start of the limb, the root bone's world position
+ * @param {Vector3} effector world position of the bone being placed. The probe direction is
+ * `effector - origin`, so these must not coincide
+ * @param {IKConstraint} constraint supplies `offset` (how far off the surface the effector rests)
+ * and `distance` (the hover band over which influence falls off)
+ * @param {number} length_scale limb length in world units; `constraint.offset` and the hover
+ * distance are both expressed relative to it. Must be greater than 0
+ * @returns {number} influence in `[0,1]`; `0` means "do nothing"
+ */
+export function ik_probe_terrain_contact(out_target: Vector3, out_contact: SurfacePoint3, terrain: Terrain, origin: Vector3, effector: Vector3, constraint: IKConstraint, length_scale: number): number;
+//# sourceMappingURL=ik_probe_terrain_contact.d.ts.map

package/src/engine/ecs/ik/ik_probe_terrain_contact.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"ik_probe_terrain_contact.d.ts","sourceRoot":"","sources":["../../../../../src/engine/ecs/ik/ik_probe_terrain_contact.js"],"names":[],"mappings":"AAMA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAmCG;AACH,wLAJW,MAAM,GAEJ,MAAM,CA8ElB"}

package/src/engine/ecs/ik/ik_probe_terrain_contact.js

@@ -0,0 +1,119 @@
+import { v3_displace_in_direction } from "../../../core/geom/vec3/v3_displace_in_direction.js";
+import { v3_dot } from "../../../core/geom/vec3/v3_dot.js";
+import { v3_length } from "../../../core/geom/vec3/v3_length.js";
+import { clamp01 } from "../../../core/math/clamp01.js";
+import { inverseLerp } from "../../../core/math/inverseLerp.js";
+
+/**
+ * Find where an IK chain meets the terrain and how strongly the solver should pull towards it.
+ *
+ * Two casts are made. The first travels from `origin` towards `effector` and establishes which
+ * surface the limb is over at all. The second starts just outside that surface, directly above the
+ * effector along the surface normal, and comes back down — that is what actually locates the point
+ * under the effector rather than the point under the limb's root, and it is what `out_contact` and
+ * `out_target` describe on return.
+ *
+ * The returned influence answers "how much of this correction should apply":
+ * - the effector is BELOW the surface (penetrating) → `1`, correct it fully;
+ * - the effector HOVERS above the surface → falls off from `1` to `0` across
+ *   `constraint.distance`, measured as a fraction of `length_scale`, so the same constraint reads
+ *   the same way for a long limb and a short one;
+ * - no surface was found at all → `0`.
+ *
+ * This exists because {@link TwoBoneInverseKinematicsSolver} and
+ * {@link OneBoneSurfaceAlignmentSolver} carried the identical ~70-line probe, comments and variable
+ * names included, differing only in which lengths they scaled by. The solvers now hold nothing but
+ * their rotation math.
+ *
+ * @param {Vector3} out_target receives the world position the effector should be moved to; only
+ * written when a non-zero influence is returned
+ * @param {SurfacePoint3} out_contact receives the surface contact from the SECOND cast; only
+ * written when a non-zero influence is returned. Solvers that need the contact normal (surface
+ * alignment) read it from here
+ * @param {Terrain} terrain
+ * @param {Vector3} origin start of the limb, the root bone's world position
+ * @param {Vector3} effector world position of the bone being placed. The probe direction is
+ * `effector - origin`, so these must not coincide
+ * @param {IKConstraint} constraint supplies `offset` (how far off the surface the effector rests)
+ * and `distance` (the hover band over which influence falls off)
+ * @param {number} length_scale limb length in world units; `constraint.offset` and the hover
+ * distance are both expressed relative to it. Must be greater than 0
+ * @returns {number} influence in `[0,1]`; `0` means "do nothing"
+ */
+export function ik_probe_terrain_contact(
+    out_target,
+    out_contact,
+    terrain,
+    origin,
+    effector,
+    constraint,
+    length_scale
+) {
+
+    //check if the there is a penetration with the terrain between the two bones
+    const directionX = effector.x - origin.x;
+    const directionY = effector.y - origin.y;
+    const directionZ = effector.z - origin.z;
+
+    let contactExists = terrain.raycastFirstSync(
+        out_contact,
+        origin.x,
+        origin.y,
+        origin.z,
+        directionX,
+        directionY,
+        directionZ
+    );
+
+    if (!contactExists) {
+        //no contact
+        return 0;
+    }
+
+    const contactPosition = out_contact.position;
+    const contactNormal = out_contact.normal;
+
+    //perform secondary cast from the bone, back along the surface normal
+    contactExists = terrain.raycastFirstSync(
+        out_contact,
+        effector.x + contactNormal.x,
+        effector.y + contactNormal.y,
+        effector.z + contactNormal.z,
+        -contactNormal.x,
+        -contactNormal.y,
+        -contactNormal.z
+    );
+
+    if (!contactExists) {
+        //no contact
+        return 0;
+    }
+
+    const targetOffsetDistance = constraint.offset * length_scale;
+
+    v3_displace_in_direction(
+        out_target,
+        targetOffsetDistance,
+        contactPosition.x, contactPosition.y, contactPosition.z,
+        contactNormal.x, contactNormal.y, contactNormal.z
+    );
+
+    const delta_contact_c_x = out_target.x - effector.x;
+    const delta_contact_c_y = out_target.y - effector.y;
+    const delta_contact_c_z = out_target.z - effector.z;
+
+    //check if current effector position is above the contact point
+    const dot_contact_side = v3_dot(directionX, directionY, directionZ, delta_contact_c_x, delta_contact_c_y, delta_contact_c_z);
+
+    if (dot_contact_side < 0) {
+        //penetration detected
+        return 1;
+    }
+
+    //no penetration, hovering case, use hover distance for influence
+    const delta_contact_c_length = v3_length(delta_contact_c_x, delta_contact_c_y, delta_contact_c_z);
+
+    const normalized_effector_distance = inverseLerp(0, length_scale, delta_contact_c_length);
+
+    return 1 - clamp01(constraint.distance.normalizeValue(normalized_effector_distance));
+}

package/src/engine/ecs/terrain/util/paintTerrainOverlayViaLookupTable.d.ts

@@ -16,6 +16,5 @@ export function paintTerrainOverlayViaLookupTable({ overlay, sampler, lut, range
     channel?: number;
 }): void;
 import { Sampler2D } from "../../../graphics/texture/sampler/Sampler2D.js";
-import { ParameterLookupTable } from "../../../graphics/particles/particular/engine/parameter/ParameterLookupTable.js";
 import { NumericInterval } from "../../../../core/math/interval/NumericInterval.js";
 //# sourceMappingURL=paintTerrainOverlayViaLookupTable.d.ts.map

package/src/engine/ecs/terrain/util/paintTerrainOverlayViaLookupTable.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"paintTerrainOverlayViaLookupTable.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/ecs/terrain/util/paintTerrainOverlayViaLookupTable.js"],"names":[],"mappings":"AA2BA;;;;;;;;GAQG;AACH;IAPkC,OAAO;IACZ,OAAO,EAAzB,SAAS;IACqB,GAAG,GAAjC,oBAAoB;IACK,KAAK,GAA9B,eAAe;IACkB,mBAAmB,UAA3C,MAAM,KAAE,MAAM;IACP,OAAO,GAAvB,MAAM;SAiEhB;0BA7FyB,gDAAgD;qCAFrC,iFAAiF;gCADtF,mDAAmD"}
+{"version":3,"file":"paintTerrainOverlayViaLookupTable.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/ecs/terrain/util/paintTerrainOverlayViaLookupTable.js"],"names":[],"mappings":"AAeA;;;;;;;;GAQG;AACH;IAPkC,OAAO;IACZ,OAAO,EAAzB,SAAS;IACqB,GAAG;IACR,KAAK,GAA9B,eAAe;IACkB,mBAAmB,UAA3C,MAAM,KAAE,MAAM;IACP,OAAO,GAAvB,MAAM;SAiEhB;0BAjFyB,gDAAgD;gCAH1C,mDAAmD"}

package/src/engine/ecs/terrain/util/paintTerrainOverlayViaLookupTable.js

@@ -2,23 +2,11 @@ import { assert } from "../../../../core/assert.js";
 import { passThrough } from "../../../../core/function/passThrough.js";
 import { clamp01 } from "../../../../core/math/clamp01.js";
 import { NumericInterval } from "../../../../core/math/interval/NumericInterval.js";
-import { ParameterLookupTable } from "../../../graphics/particles/particular/engine/parameter/ParameterLookupTable.js";
+import { LUT_HEATMAP } from "../../../../core/math/lookup/LUT_HEATMAP.js";
 import { sampler2d_scale } from "../../../graphics/texture/sampler/resize/sampler2d_scale.js";
 import { Sampler2D } from "../../../graphics/texture/sampler/Sampler2D.js";
 import { logger } from "../../../logging/GlobalLogger.js";
 
-
-const heatmap_lut = new ParameterLookupTable(4);
-heatmap_lut.write([
-    0, 0, 0, 255,
-    0, 0, 255, 255,
-    0, 179, 179, 255,
-    0, 255, 0, 255,
-    255, 255, 0, 255,
-    255, 5, 5, 255
-]);
-heatmap_lut.computeUniformPositions();
-
 /**
  * Color to use when sampled value is NaN
  * @type {number[]}
@@ -37,7 +25,7 @@ const NAN_COLOR = [0, 0, 0, 0];
 export function paintTerrainOverlayViaLookupTable({
                                                       overlay,
                                                       sampler,
-                                                      lut = heatmap_lut,
+                                                      lut = LUT_HEATMAP,
                                                       range = new NumericInterval(0, 1),
                                                       lookupScaleFunction = passThrough,
                                                       channel = 0