@woosh/meep-engine 2.169.4 → 2.170.0

package/src/engine/physics/island/IslandBuilder.js

@@ -50,92 +50,90 @@ import { uf_find, uf_init, uf_union } from "../../../core/collection/union-find/
  */
 export class IslandBuilder {
 
-    constructor() {
-        /**
-         * Union-find parent table, indexed by body index (NOT packed id).
-         * Sized to `storage.high_water_mark` at `build` time; reallocated by
-         * doubling when the body pool grows past current capacity.
-         * @type {Uint32Array}
-         */
-        this.parent = new Uint32Array(16);
-
-        /**
-         * Per-body island id. `island_of_body[idx] === -1` means the body
-         * is not in any island this frame (static, kinematic, or unallocated).
-         * @type {Int32Array}
-         */
-        this.island_of_body = new Int32Array(16);
-
-        /**
-         * Number of islands this frame.
-         * @type {number}
-         */
-        this.island_count = 0;
-
-        /**
-         * CSR offsets into `body_data`. Length is `island_count + 1`. Bodies
-         * for island `i` live in `body_data[body_offsets[i]..body_offsets[i+1])`.
-         * @type {Uint32Array}
-         */
-        this.body_offsets = new Uint32Array(2);
-
-        /**
-         * Flattened body indices, grouped by island, sorted ascending within
-         * each island.
-         * @type {Uint32Array}
-         */
-        this.body_data = new Uint32Array(16);
-
-        /**
-         * Total number of body entries across all islands (= sum of island sizes).
-         * @type {number}
-         */
-        this.body_total = 0;
-
-        /**
-         * CSR offsets into `contact_data`. Length is `island_count + 1`.
-         * Manifold slot ids for island `i` live in
-         * `contact_data[contact_offsets[i]..contact_offsets[i+1])`.
-         * @type {Uint32Array}
-         */
-        this.contact_offsets = new Uint32Array(2);
-
-        /**
-         * Flattened manifold slot ids, grouped by island, sorted ascending
-         * within each island.
-         * @type {Uint32Array}
-         */
-        this.contact_data = new Uint32Array(16);
-
-        /**
-         * Total number of contact entries across all islands.
-         * @type {number}
-         */
-        this.contact_total = 0;
-
-        /**
-         * Scratch: root body index → island id, or -1 if unassigned.
-         * Sized in lockstep with `parent`.
-         * @private
-         * @type {Int32Array}
-         */
-        this.__root_to_island = new Int32Array(16);
-
-        /**
-         * Scratch: list of distinct root indices observed this frame, used
-         * to sort them ascending before assigning island ids.
-         * @private
-         * @type {Uint32Array}
-         */
-        this.__scratch_roots = new Uint32Array(16);
-
-        /**
-         * Scratch write-cursors, one per island.
-         * @private
-         * @type {Uint32Array}
-         */
-        this.__cursors = new Uint32Array(2);
-    }
+    /**
+     * Union-find parent table, indexed by body index (NOT packed id).
+     * Sized to `storage.high_water_mark` at `build` time; reallocated by
+     * doubling when the body pool grows past current capacity.
+     * @type {Uint32Array}
+     */
+    parent = new Uint32Array(16);
+
+    /**
+     * Per-body island id. `island_of_body[idx] === -1` means the body
+     * is not in any island this frame (static, kinematic, or unallocated).
+     * @type {Int32Array}
+     */
+    island_of_body = new Int32Array(16);
+
+    /**
+     * Number of islands this frame.
+     * @type {number}
+     */
+    island_count = 0;
+
+    /**
+     * CSR offsets into `body_data`. Length is `island_count + 1`. Bodies
+     * for island `i` live in `body_data[body_offsets[i]..body_offsets[i+1])`.
+     * @type {Uint32Array}
+     */
+    body_offsets = new Uint32Array(2);
+
+    /**
+     * Flattened body indices, grouped by island, sorted ascending within
+     * each island.
+     * @type {Uint32Array}
+     */
+    body_data = new Uint32Array(16);
+
+    /**
+     * Total number of body entries across all islands (= sum of island sizes).
+     * @type {number}
+     */
+    body_total = 0;
+
+    /**
+     * CSR offsets into `contact_data`. Length is `island_count + 1`.
+     * Manifold slot ids for island `i` live in
+     * `contact_data[contact_offsets[i]..contact_offsets[i+1])`.
+     * @type {Uint32Array}
+     */
+    contact_offsets = new Uint32Array(2);
+
+    /**
+     * Flattened manifold slot ids, grouped by island, sorted ascending
+     * within each island.
+     * @type {Uint32Array}
+     */
+    contact_data = new Uint32Array(16);
+
+    /**
+     * Total number of contact entries across all islands.
+     * @type {number}
+     */
+    contact_total = 0;
+
+    /**
+     * Scratch: root body index → island id, or -1 if unassigned.
+     * Sized in lockstep with `parent`.
+     * @private
+     * @type {Int32Array}
+     */
+    __root_to_island = new Int32Array(16);
+
+    /**
+     * Scratch: list of distinct root indices observed this frame, used
+     * to sort them ascending before assigning island ids.
+     * @private
+     * @type {Uint32Array}
+     */
+    __scratch_roots = new Uint32Array(16);
+
+    /**
+     * Scratch write-cursors, one per island.
+     * @private
+     * @type {Uint32Array}
+     */
+    __cursors = new Uint32Array(2);
 
     /**
      * @param {RigidBody} rb

package/src/engine/physics/mls-mpm/MLS_MPM.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"MLS_MPM.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/mls-mpm/MLS_MPM.js"],"names":[],"mappings":"AAcA;IAGQ,iBAAmB;IAGnB;;;;;OAKG;IACH,MAFU,YAAY,CAEiB;IAI3C;;;OAGG;IACH,YAFW,MAAM,QAyVhB;IAED;;;;;;;;;;;OAWG;IACH,uBALW,MAAM,EAAE,KACR,MAAM,gBACK,MAAM,UACjB,MAAM,QAgBhB;CACJ"}
+{"version":3,"file":"MLS_MPM.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/mls-mpm/MLS_MPM.js"],"names":[],"mappings":"AAcA;IACI,iBAAe;IAIX;;;;;OAKG;IACH,MAFU,YAAY,CAEiB;IAG3C;;;OAGG;IACH,YAFW,MAAM,QAyVhB;IAED;;;;;;;;;;;OAWG;IACH,uBALW,MAAM,EAAE,KACR,MAAM,gBACK,MAAM,UACjB,MAAM,QAgBhB;CACJ"}

package/src/engine/physics/mls-mpm/MLS_MPM.js

@@ -13,10 +13,9 @@ import { m2_svd } from "../../../core/math/linalg/m2/m2_svd.js";
 const dimensions = 2;
 
 export class MLS_MPMSolver {
-    constructor() {
-
-        this.particles = [];
+    particles = [];
 
+    constructor() {
         const d = n + 1;
         /**
          * velocity + mass, node_res = cell_res + 1
@@ -25,7 +24,6 @@ export class MLS_MPMSolver {
          * @type {Float32Array}
          */
         this.grid = new Float32Array(d * d * 3);
-
     }
 
     /**
@@ -422,34 +420,34 @@ const lambda_0 = E * nu / ((1 + nu) * (1 - 2 * nu)); // Lamé's 1st parameter \l
 const plastic = 1; // whether (1=true) or not (0=false) to simulate plasticity
 
 class Particle {
-    constructor(x, c) {
-        /**
-         * Position
-         */
-        this.x = x;
+    /**
+     * velocity
+     * @type {number[]}
+     */
+    v = [0, 0];
 
-        /**
-         * velocity
-         * @type {number[]}
-         */
-        this.v = [0, 0];
+    // Deformation tensor (gradient)
+    F = [1, 0, 0, 1];
 
-        // Deformation tensor (gradient)
-        this.F = [1, 0, 0, 1];
+    /**
+     * Affine momentum from APIC
+     * Cauchy tensor
+     * @type {number[]}
+     */
+    C = [0, 0, 0, 0];
 
-        /**
-         * Affine momentum from APIC
-         * Cauchy tensor
-         * @type {number[]}
-         */
-        this.C = [0, 0, 0, 0];
+    /**
+     * Determinant of the deformation gradient (i.e. volume)
+     * Jacobian determinant (scalar)
+     * @type {number}
+     */
+    Jp = 1;
 
+    constructor(x, c) {
         /**
-         * Determinant of the deformation gradient (i.e. volume)
-         * Jacobian determinant (scalar)
-         * @type {number}
+         * Position
          */
-        this.Jp = 1;
+        this.x = x;
 
         /**
          * color (int)

package/src/engine/physics/queries/PhysicsSurfacePoint.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"PhysicsSurfacePoint.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/queries/PhysicsSurfacePoint.js"],"names":[],"mappings":"AAEA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GA+BG;AACH;IAGQ;;;;OAIG;IACH,mBAFU,OAAO,CAEY;IAE7B;;;;;;OAMG;IACH,iBAFU,OAAO,CAEU;IAE3B;;;;;OAKG;IACH,GAFU,MAAM,CAEN;IAEV;;;OAGG;IACH,QAFU,MAAM,CAEA;IAEhB;;;;;OAKG;IACH,SAFU,MAAM,CAEC;IAGrB;;;;;;OAMG;IACH,cAQC;IAGL;;;;OAIG;IACH,gCAFU,OAAO,CAEkC;CAPlD;oBA5FmB,+BAA+B"}
+{"version":3,"file":"PhysicsSurfacePoint.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/queries/PhysicsSurfacePoint.js"],"names":[],"mappings":"AAEA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GA+BG;AACH;IAEI;;;;OAIG;IACH,mBAFU,OAAO,CAEQ;IAEzB;;;;;;OAMG;IACH,iBAFU,OAAO,CAEM;IAEvB;;;;;OAKG;IACH,GAFU,MAAM,CAEV;IAEN;;;OAGG;IACH,QAFU,MAAM,CAEJ;IAEZ;;;;;OAKG;IACH,SAFU,MAAM,CAEH;IAEb;;;;;;OAMG;IACH,cAQC;IAGL;;;;OAIG;IACH,gCAFU,OAAO,CAEkC;CAPlD;oBA1FmB,+BAA+B"}

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

@@ -1,100 +1,98 @@
-import Vector3 from "../../../core/geom/Vector3.js";
-
-/**
- * Result of a {@link PhysicsSystem} query that resolves to a single surface
- * contact — raycast hit, sphere overlap nearest-point, shape-cast first
- * blocker, etc.
- *
- * The class is an *output parameter*: callers pre-allocate one (or pull one
- * from a frame-pool) and pass it into the query. The query writes the fields
- * on hit and returns `true`; on miss it returns `false` and leaves the
- * fields untouched.
- *
- * Pre-allocation matters because a query that gets called every frame (a
- * ground sensor, a hover beam) would otherwise drop a small object on the
- * GC per call. Reusing the same `PhysicsSurfacePoint` keeps that allocation
- * out of the hot path.
- *
- * Field layout chosen to match what gameplay code typically needs:
- *   - `position` — world-space point on the surface
- *   - `normal` — surface normal at that point (broadphase queries return
- *     the AABB face normal as an approximation; narrowphase-refined queries
- *     would return the true shape normal at the same call site)
- *   - `t` — distance along the input ray, sphere-cast, etc. Useful when the
- *     caller wants to interpolate or step along the query primitive
- *     (`origin + t·direction` reconstructs the hit point exactly without
- *     reading `position`, which the deferred-execution physics events bus
- *     would otherwise need to copy).
- *   - `entity` — entity id that owns the hit body
- *   - `body_id` — packed body id (index << 8 | generation); stale after the
- *     body is unlinked, so prefer `entity` for any cross-frame retention.
- *
- * @author Alex Goldring
- * @copyright Company Named Limited (c) 2026
- */
-export class PhysicsSurfacePoint {
-
-    constructor() {
-        /**
-         * World-space point on the hit surface.
-         * @readonly
-         * @type {Vector3}
-         */
-        this.position = new Vector3();
-
-        /**
-         * Surface normal at {@link position}, unit length. For broadphase-only
-         * queries this is the AABB face normal (axis-aligned), which is exact
-         * for AABB-shaped colliders and a stable approximation otherwise.
-         * @readonly
-         * @type {Vector3}
-         */
-        this.normal = new Vector3();
-
-        /**
-         * Parametric distance from the query origin to {@link position}, in
-         * the same units as the input direction's magnitude (so for a unit-
-         * length ray direction this is metres).
-         * @type {number}
-         */
-        this.t = 0;
-
-        /**
-         * Entity that owns the hit body, or `-1` if no body owns it.
-         * @type {number}
-         */
-        this.entity = -1;
-
-        /**
-         * Packed body id (index << 8 | generation). Goes stale once the body
-         * is unlinked from the {@link PhysicsSystem}; prefer {@link entity}
-         * for any cross-frame use.
-         * @type {number}
-         */
-        this.body_id = -1;
-    }
-
-    /**
-     * Reset to a "no hit" state. Optional — the query convention is that the
-     * fields are only meaningful when the call returns `true`, so callers
-     * that always branch on the return value don't need to reset. Useful for
-     * debugger inspection and for tests that want to verify the query
-     * doesn't accidentally touch the result on miss.
-     */
-    reset() {
-        const p = this.position;
-        const n = this.normal;
-        p[0] = 0; p[1] = 0; p[2] = 0;
-        n[0] = 0; n[1] = 0; n[2] = 0;
-        this.t = 0;
-        this.entity = -1;
-        this.body_id = -1;
-    }
-}
-
-/**
- * Fast type-check marker.
- * @readonly
- * @type {boolean}
- */
-PhysicsSurfacePoint.prototype.isPhysicsSurfacePoint = true;
+import Vector3 from "../../../core/geom/Vector3.js";
+
+/**
+ * Result of a {@link PhysicsSystem} query that resolves to a single surface
+ * contact — raycast hit, sphere overlap nearest-point, shape-cast first
+ * blocker, etc.
+ *
+ * The class is an *output parameter*: callers pre-allocate one (or pull one
+ * from a frame-pool) and pass it into the query. The query writes the fields
+ * on hit and returns `true`; on miss it returns `false` and leaves the
+ * fields untouched.
+ *
+ * Pre-allocation matters because a query that gets called every frame (a
+ * ground sensor, a hover beam) would otherwise drop a small object on the
+ * GC per call. Reusing the same `PhysicsSurfacePoint` keeps that allocation
+ * out of the hot path.
+ *
+ * Field layout chosen to match what gameplay code typically needs:
+ *   - `position` — world-space point on the surface
+ *   - `normal` — surface normal at that point (broadphase queries return
+ *     the AABB face normal as an approximation; narrowphase-refined queries
+ *     would return the true shape normal at the same call site)
+ *   - `t` — distance along the input ray, sphere-cast, etc. Useful when the
+ *     caller wants to interpolate or step along the query primitive
+ *     (`origin + t·direction` reconstructs the hit point exactly without
+ *     reading `position`, which the deferred-execution physics events bus
+ *     would otherwise need to copy).
+ *   - `entity` — entity id that owns the hit body
+ *   - `body_id` — packed body id (index << 8 | generation); stale after the
+ *     body is unlinked, so prefer `entity` for any cross-frame retention.
+ *
+ * @author Alex Goldring
+ * @copyright Company Named Limited (c) 2026
+ */
+export class PhysicsSurfacePoint {
+
+    /**
+     * World-space point on the hit surface.
+     * @readonly
+     * @type {Vector3}
+     */
+    position = new Vector3();
+
+    /**
+     * Surface normal at {@link position}, unit length. For broadphase-only
+     * queries this is the AABB face normal (axis-aligned), which is exact
+     * for AABB-shaped colliders and a stable approximation otherwise.
+     * @readonly
+     * @type {Vector3}
+     */
+    normal = new Vector3();
+
+    /**
+     * Parametric distance from the query origin to {@link position}, in
+     * the same units as the input direction's magnitude (so for a unit-
+     * length ray direction this is metres).
+     * @type {number}
+     */
+    t = 0;
+
+    /**
+     * Entity that owns the hit body, or `-1` if no body owns it.
+     * @type {number}
+     */
+    entity = -1;
+
+    /**
+     * Packed body id (index << 8 | generation). Goes stale once the body
+     * is unlinked from the {@link PhysicsSystem}; prefer {@link entity}
+     * for any cross-frame use.
+     * @type {number}
+     */
+    body_id = -1;
+
+    /**
+     * Reset to a "no hit" state. Optional — the query convention is that the
+     * fields are only meaningful when the call returns `true`, so callers
+     * that always branch on the return value don't need to reset. Useful for
+     * debugger inspection and for tests that want to verify the query
+     * doesn't accidentally touch the result on miss.
+     */
+    reset() {
+        const p = this.position;
+        const n = this.normal;
+        p[0] = 0; p[1] = 0; p[2] = 0;
+        n[0] = 0; n[1] = 0; n[2] = 0;
+        this.t = 0;
+        this.entity = -1;
+        this.body_id = -1;
+    }
+}
+
+/**
+ * Fast type-check marker.
+ * @readonly
+ * @type {boolean}
+ */
+PhysicsSurfacePoint.prototype.isPhysicsSurfacePoint = true;

package/src/engine/physics/vehicle/RaycastVehicle.d.ts

@@ -10,7 +10,6 @@ export class Wheel {
     localSuspensionDir: Float64Array;
     /** Forward / rolling direction (local, unit). @type {Float64Array} */
     localForward: Float64Array;
-    suspensionRestLength: number;
     suspensionStiffness: number;
     suspensionDamping: number;
     suspensionMaxForce: number;
@@ -19,7 +18,6 @@ export class Wheel {
     steered: boolean;
     driven: boolean;
     inContact: boolean;
-    suspensionLength: number;
     compression: number;
     /** World contact point. @type {Float64Array} */
     contactPoint: Float64Array;
@@ -35,6 +33,8 @@ export class Wheel {
     forwardSpeed: number;
     /** Suspension force magnitude applied this frame (N). */
     suspensionForce: number;
+    suspensionRestLength: number;
+    suspensionLength: number;
 }
 export class RaycastVehicle {
     /**
@@ -43,9 +43,6 @@ export class RaycastVehicle {
      * @param {Transform} chassisTransform  its world transform
      */
     constructor(system: PhysicsSystem, chassisBody: RigidBody, chassisTransform: Transform);
-    system: PhysicsSystem;
-    chassisBody: RigidBody;
-    chassisTransform: Transform;
     /** @type {Wheel[]} */
     wheels: Wheel[];
     __driveForce: number;
@@ -53,7 +50,6 @@ export class RaycastVehicle {
     __drivenCount: number;
     __ray: Ray3;
     __hit: PhysicsSurfacePoint;
-    __filter: (entity: any, collider: any) => boolean;
     __force: {
         x: number;
         y: number;
@@ -64,6 +60,10 @@ export class RaycastVehicle {
         y: number;
         z: number;
     };
+    system: PhysicsSystem;
+    chassisBody: RigidBody;
+    chassisTransform: Transform;
+    __filter: (entity: any, collider: any) => boolean;
     /**
      * Add a wheel. Returns the created {@link Wheel} (also pushed to
      * {@link wheels}); set any further config fields on it before stepping.

package/src/engine/physics/vehicle/RaycastVehicle.d.ts.map

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