@woosh/meep-engine 3.15.0 → 3.16.0

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

@@ -596,11 +596,11 @@ export function solve_joints(joints, system, dt_sub, iters, reverse) {
         // World anchor A and its lever arm rA = R_A · localAnchorA.
         const la = joint.localAnchorA;
         v3_quaternion_apply(scratch_anchor, 0, la.x, la.y, la.z,
-            trA.rotation[0], trA.rotation[1], trA.rotation[2], trA.rotation[3]);
+            trA.rotation_x, trA.rotation_y, trA.rotation_z, trA.rotation_w);
         const rAx = scratch_anchor[0], rAy = scratch_anchor[1], rAz = scratch_anchor[2];
-        const anchorAx = trA.position.x + rAx;
-        const anchorAy = trA.position.y + rAy;
-        const anchorAz = trA.position.z + rAz;
+        const anchorAx = trA.translation_x + rAx;
+        const anchorAy = trA.translation_y + rAy;
+        const anchorAz = trA.translation_z + rAz;
 
         // World anchor B + lever arm rB. For a world anchor, localAnchorB is a
         // fixed world point and there is no body B lever.
@@ -611,11 +611,11 @@ export function solve_joints(joints, system, dt_sub, iters, reverse) {
             anchorBx = lb.x; anchorBy = lb.y; anchorBz = lb.z;
         } else {
             v3_quaternion_apply(scratch_anchor, 0, lb.x, lb.y, lb.z,
-                trB.rotation[0], trB.rotation[1], trB.rotation[2], trB.rotation[3]);
+                trB.rotation_x, trB.rotation_y, trB.rotation_z, trB.rotation_w);
             rBx = scratch_anchor[0]; rBy = scratch_anchor[1]; rBz = scratch_anchor[2];
-            anchorBx = trB.position.x + rBx;
-            anchorBy = trB.position.y + rBy;
-            anchorBz = trB.position.z + rBz;
+            anchorBx = trB.translation_x + rBx;
+            anchorBy = trB.translation_y + rBy;
+            anchorBz = trB.translation_z + rBz;
         }
 
         // Position error C = anchorA − anchorB (its projection on a frame axis
@@ -632,7 +632,7 @@ export function solve_joints(joints, system, dt_sub, iters, reverse) {
         // body-A rotation ⊗ localBasisA; the rows of its matrix are the frame
         // axes in world (see quat3_to_matrix3).
         const lba = joint.localBasisA;
-        quat3_multiply(scratch_q, 0, trA.rotation[0], trA.rotation[1], trA.rotation[2], trA.rotation[3], lba[0], lba[1], lba[2], lba[3]);
+        quat3_multiply(scratch_q, 0, trA.rotation_x, trA.rotation_y, trA.rotation_z, trA.rotation_w, lba[0], lba[1], lba[2], lba[3]);
         const qAx = scratch_q[0], qAy = scratch_q[1], qAz = scratch_q[2], qAw = scratch_q[3];
         quat3_to_matrix3(scratch_frame_a, 0, qAx, qAy, qAz, qAw);
         const fa = scratch_frame_a;
@@ -693,7 +693,7 @@ export function solve_joints(joints, system, dt_sub, iters, reverse) {
             let qBx = 0, qBy = 0, qBz = 0, qBw = 1;
             if (!to_world) {
                 const lbb = joint.localBasisB;
-                quat3_multiply(scratch_q, 0, trB.rotation[0], trB.rotation[1], trB.rotation[2], trB.rotation[3], lbb[0], lbb[1], lbb[2], lbb[3]);
+                quat3_multiply(scratch_q, 0, trB.rotation_x, trB.rotation_y, trB.rotation_z, trB.rotation_w, lbb[0], lbb[1], lbb[2], lbb[3]);
                 qBx = scratch_q[0]; qBy = scratch_q[1]; qBz = scratch_q[2]; qBw = scratch_q[3];
             }
             // qD = conj(qA) ⊗ qB → the per-axis angular position in frame-A

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

@@ -1,5 +1,5 @@
 /**
- * Observes every entity that gains a `(Collider, Transform)` tuple and
+ * Observes every entity that gains a `(Collider, Transform64)` tuple and
  * attaches the collider to the appropriate {@link PhysicsSystem} body:
  *
  *  - If the same entity also carries a {@link RigidBody}, the collider is
@@ -22,22 +22,22 @@ export class ColliderObserverSystem extends System<any> {
      * @param {PhysicsSystem} physicsSystem
      */
     constructor(physicsSystem: PhysicsSystem);
-    dependencies: (typeof Transform | typeof Collider)[];
-    components_used: (ResourceAccessSpecification<typeof Transform> | ResourceAccessSpecification<typeof RigidBody> | ResourceAccessSpecification<typeof Collider> | ResourceAccessSpecification<typeof ParentEntity>)[];
+    dependencies: (typeof Transform64 | typeof Collider)[];
+    components_used: (ResourceAccessSpecification<typeof Transform64> | ResourceAccessSpecification<typeof RigidBody> | ResourceAccessSpecification<typeof Collider> | ResourceAccessSpecification<typeof ParentEntity>)[];
     /** @type {PhysicsSystem} */
     __physics: PhysicsSystem;
     /**
      * @param {Collider} collider
-     * @param {Transform} transform
+     * @param {Transform64} transform
      * @param {number} entity
      */
-    link(collider: Collider, transform: Transform, entity: number): void;
+    link(collider: Collider, transform: Transform64, entity: number): void;
     /**
      * @param {Collider} collider
-     * @param {Transform} transform
+     * @param {Transform64} transform
      * @param {number} entity
      */
-    unlink(collider: Collider, transform: Transform, entity: number): void;
+    unlink(collider: Collider, transform: Transform64, entity: number): void;
     /**
      * Walk RigidBody-on-self → ParentEntity → orphan, returning the entity
      * that owns the body this collider belongs to.
@@ -50,7 +50,7 @@ export class ColliderObserverSystem extends System<any> {
     private __resolve_body_entity;
 }
 import { System } from "../../ecs/System.js";
-import { Transform } from "../../ecs/transform/Transform.js";
+import { Transform64 } from "../../ecs/transform/Transform64.js";
 import { Collider } from "./Collider.js";
 import { ResourceAccessSpecification } from "../../../core/model/ResourceAccessSpecification.js";
 import { RigidBody } from "./RigidBody.js";

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

@@ -1 +1 @@
-{"version":3,"file":"ColliderObserverSystem.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/ecs/ColliderObserverSystem.js"],"names":[],"mappings":"AAQA;;;;;;;;;;;;;;;;;;GAkBG;AACH;IAUI;;OAEG;IACH,0CAKC;IAhBD,qDAAqC;IACrC,qNAKE;IAQE,4BAA4B;IAC5B,yBAA8B;IAGlC;;;;OAIG;IACH,eAJW,QAAQ,aACR,SAAS,UACT,MAAM,QAYhB;IAED;;;;OAIG;IACH,iBAJW,QAAQ,aACR,SAAS,UACT,MAAM,QAYhB;IAED;;;;;;;;OAQG;IACH,8BAUC;CACJ;uBAlGsB,qBAAqB;0BAClB,kCAAkC;yBACnC,eAAe;4CAHI,oDAAoD;0BAItE,gBAAgB;6BANb,kCAAkC"}
+{"version":3,"file":"ColliderObserverSystem.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/ecs/ColliderObserverSystem.js"],"names":[],"mappings":"AAQA;;;;;;;;;;;;;;;;;;GAkBG;AACH;IAUI;;OAEG;IACH,0CAKC;IAhBD,uDAAuC;IACvC,uNAKE;IAQE,4BAA4B;IAC5B,yBAA8B;IAGlC;;;;OAIG;IACH,eAJW,QAAQ,aACR,WAAW,UACX,MAAM,QAYhB;IAED;;;;OAIG;IACH,iBAJW,QAAQ,aACR,WAAW,UACX,MAAM,QAYhB;IAED;;;;;;;;OAQG;IACH,8BAUC;CACJ;uBAlGsB,qBAAqB;4BAChB,oCAAoC;yBACvC,eAAe;4CAHI,oDAAoD;0BAItE,gBAAgB;6BANb,kCAAkC"}

package/src/engine/physics/ecs/ColliderObserverSystem.js

@@ -2,12 +2,12 @@ import { ParentEntity } from "../../ecs/parent/ParentEntity.js";
 import { ResourceAccessKind } from "../../../core/model/ResourceAccessKind.js";
 import { ResourceAccessSpecification } from "../../../core/model/ResourceAccessSpecification.js";
 import { System } from "../../ecs/System.js";
-import { Transform } from "../../ecs/transform/Transform.js";
+import { Transform64 } from "../../ecs/transform/Transform64.js";
 import { Collider } from "./Collider.js";
 import { RigidBody } from "./RigidBody.js";
 
 /**
- * Observes every entity that gains a `(Collider, Transform)` tuple and
+ * Observes every entity that gains a `(Collider, Transform64)` tuple and
  * attaches the collider to the appropriate {@link PhysicsSystem} body:
  *
  *  - If the same entity also carries a {@link RigidBody}, the collider is
@@ -27,10 +27,10 @@ import { RigidBody } from "./RigidBody.js";
  */
 export class ColliderObserverSystem extends System {
 
-    dependencies = [Collider, Transform];
+    dependencies = [Collider, Transform64];
     components_used = [
         ResourceAccessSpecification.from(Collider, ResourceAccessKind.Read | ResourceAccessKind.Write),
-        ResourceAccessSpecification.from(Transform, ResourceAccessKind.Read),
+        ResourceAccessSpecification.from(Transform64, ResourceAccessKind.Read),
         ResourceAccessSpecification.from(RigidBody, ResourceAccessKind.Read),
         ResourceAccessSpecification.from(ParentEntity, ResourceAccessKind.Read),
     ];
@@ -47,7 +47,7 @@ export class ColliderObserverSystem extends System {
 
     /**
      * @param {Collider} collider
-     * @param {Transform} transform
+     * @param {Transform64} transform
      * @param {number} entity
      */
     link(collider, transform, entity) {
@@ -64,7 +64,7 @@ export class ColliderObserverSystem extends System {
 
     /**
      * @param {Collider} collider
-     * @param {Transform} transform
+     * @param {Transform64} transform
      * @param {number} entity
      */
     unlink(collider, transform, entity) {

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

@@ -8,7 +8,7 @@
  * contact-event emission) is built on top of this skeleton in subsequent
  * iterations.
  *
- * Dependency tuple is `(RigidBody, Collider, Transform)` — every body has
+ * Dependency tuple is `(RigidBody, Collider, Transform64)` — every body has
  * exactly one collider on the same entity. Compound bodies via child collider
  * entities are an extension point handled by a follow-up sub-observer.
  *
@@ -20,8 +20,8 @@
  */
 export class PhysicsSystem extends System<any> {
     constructor();
-    dependencies: (typeof Transform | typeof RigidBody)[];
-    components_used: (ResourceAccessSpecification<typeof Transform> | ResourceAccessSpecification<typeof RigidBody> | ResourceAccessSpecification<typeof Collider>)[];
+    dependencies: (typeof Transform64 | typeof RigidBody)[];
+    components_used: (ResourceAccessSpecification<typeof Transform64> | ResourceAccessSpecification<typeof RigidBody> | ResourceAccessSpecification<typeof Collider>)[];
     /**
      * Body slots, the awake / sleeping sets, and generation counters.
      * @type {BodyStorage}
@@ -153,10 +153,10 @@ export class PhysicsSystem extends System<any> {
      */
     __bodies: RigidBody[];
     /**
-     * @type {Transform[]}
+     * @type {Transform64[]}
      * @readonly
      */
-    readonly __transforms: Transform[];
+    readonly __transforms: Transform64[];
     /**
      * Per-body list of attached colliders. Each entry stores the
      * Collider component, its world Transform, the entity that owns
@@ -335,7 +335,7 @@ export class PhysicsSystem extends System<any> {
      * @private
      * @param {RigidBody} rb
      * @param {Collider} collider
-     * @param {Transform} transform
+     * @param {Transform64} transform
      * @returns {number} BVH node id
      */
     private __insert_into_broadphase;
@@ -363,26 +363,26 @@ export class PhysicsSystem extends System<any> {
      */
     private __wake_sleepers_overlapping_leaf;
     /**
-     * Lifecycle entry: invoked when an entity gains the (RigidBody, Transform)
+     * Lifecycle entry: invoked when an entity gains the (RigidBody, Transform64)
      * tuple. Allocates the body's slot in storage and seeds an empty collider
      * list. Colliders are attached separately via {@link attach_collider} (the
      * paired {@link ColliderObserverSystem} drives this from the dataset; in
      * tests, call manually).
      *
      * @param {RigidBody} rigidBody
-     * @param {Transform} transform
+     * @param {Transform64} transform
      * @param {number} entity
      */
-    link(rigidBody: RigidBody, transform: Transform, entity: number): void;
+    link(rigidBody: RigidBody, transform: Transform64, entity: number): void;
     /**
      * Detach every collider attached to this body, free its slot, and clear
      * the side-tables.
      *
      * @param {RigidBody} rigidBody
-     * @param {Transform} transform
+     * @param {Transform64} transform
      * @param {number} entity
      */
-    unlink(rigidBody: RigidBody, transform: Transform, entity: number): void;
+    unlink(rigidBody: RigidBody, transform: Transform64, entity: number): void;
     /**
      * Attach a collider to an existing body. The collider can live on the
      * same entity as the body (single-collider body) or on a child entity
@@ -394,10 +394,10 @@ export class PhysicsSystem extends System<any> {
      *
      * @param {number} body_entity entity that owns the body
      * @param {Collider} collider
-     * @param {Transform} transform world transform of the collider
+     * @param {Transform64} transform world transform of the collider
      * @param {number} [collider_entity] entity owning the collider (defaults to body_entity)
      */
-    attach_collider(body_entity: number, collider: Collider, transform: Transform, collider_entity?: number): void;
+    attach_collider(body_entity: number, collider: Collider, transform: Transform64, collider_entity?: number): void;
     /**
      * Reverse of {@link attach_collider}. Idempotent.
      *
@@ -466,11 +466,11 @@ export class PhysicsSystem extends System<any> {
      * Wakes the body if it is asleep.
      *
      * @param {RigidBody} rigidBody
-     * @param {Transform} transform body's current world Transform (used for r and I_w)
+     * @param {Transform64} transform body's current world Transform (used for r and I_w)
      * @param {Vector3|{x:number,y:number,z:number}} impulse
      * @param {Vector3|{x:number,y:number,z:number}} worldPoint
      */
-    applyImpulseAt(rigidBody: RigidBody, transform: Transform, impulse: Vector3 | {
+    applyImpulseAt(rigidBody: RigidBody, transform: Transform64, impulse: Vector3 | {
         x: number;
         y: number;
         z: number;
@@ -501,11 +501,11 @@ export class PhysicsSystem extends System<any> {
      * Wakes the body if asleep.
      *
      * @param {RigidBody} rigidBody
-     * @param {Transform} transform body's current world Transform
+     * @param {Transform64} transform body's current world Transform
      * @param {Vector3|{x:number,y:number,z:number}} force
      * @param {Vector3|{x:number,y:number,z:number}} worldPoint
      */
-    applyForceAt(rigidBody: RigidBody, transform: Transform, force: Vector3 | {
+    applyForceAt(rigidBody: RigidBody, transform: Transform64, force: Vector3 | {
         x: number;
         y: number;
         z: number;
@@ -679,26 +679,16 @@ export class PhysicsSystem extends System<any> {
      * The query shape must be convex; a concave one throws.
      *
      * @param {AbstractShape3D} shape convex query shape, in its local frame
-     * @param {{x:number,y:number,z:number}} position world position of
-     *   the query shape
-     * @param {{x:number,y:number,z:number,w:number}} rotation world
-     *   rotation (unit quaternion)
+     * @param {ArrayLike<number>} position world position of the query shape, as `[x, y, z]` -
+     *   which a Transform64's translation already is
+     * @param {ArrayLike<number>} rotation world rotation as `[x, y, z, w]`, a unit quaternion
      * @param {Uint32Array|number[]} output buffer to receive body_ids
      * @param {number} output_offset starting index in output
      * @param {(entity:number, collider:Collider)=>boolean} [filter]
      *   defaults to {@link returnTrue}
      * @returns {number} number of overlapping bodies written
      */
-    overlap(shape: AbstractShape3D, position: {
-        x: number;
-        y: number;
-        z: number;
-    }, rotation: {
-        x: number;
-        y: number;
-        z: number;
-        w: number;
-    }, output: Uint32Array | number[], output_offset: number, filter?: (entity: number, collider: Collider) => boolean): number;
+    overlap(shape: AbstractShape3D, position: ArrayLike<number>, rotation: ArrayLike<number>, output: Uint32Array | number[], output_offset: number, filter?: (entity: number, collider: Collider) => boolean): number;
     /**
      * Re-shape both broadphase trees so subsequent queries — {@link raycast},
      * {@link shapeCast}, {@link overlap}, and the per-step broadphase — walk
@@ -872,7 +862,7 @@ export class PhysicsSystem extends System<any> {
     readonly isPhysicsSystem: boolean;
 }
 import { System } from "../../ecs/System.js";
-import { Transform } from "../../ecs/transform/Transform.js";
+import { Transform64 } from "../../ecs/transform/Transform64.js";
 import { RigidBody } from "./RigidBody.js";
 import { ResourceAccessSpecification } from "../../../core/model/ResourceAccessSpecification.js";
 import { Collider } from "./Collider.js";

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

@@ -1 +1 @@
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