@woosh/meep-engine 3.19.0 → 3.21.0

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

@@ -1,7 +1,7 @@
 /**
  * Rigid-body physics system.
  *
- * v1 scope: pool + active list + two BVHs (static / dynamic), Transform sync
+ * v1 scope: pool + active list + two BVHs (static / dynamic), Transform64 sync
  * contract, and the user-facing API surface (gravity, force / impulse, layer
  * filtering, wake / sleep, contact filter). The per-step simulation pipeline
  * (broadphase pair generation, narrowphase, solver, islands, sleep test,
@@ -70,7 +70,7 @@ export class PhysicsSystem extends System<any> {
      * Data-oriented mirror of the per-body solver hot state (velocity,
      * inverse mass / inertia, orientation), packed into one ArrayBuffer
      * and indexed by body slot. Gathered from the `RigidBody` /
-     * `Transform` components once per step (after islands are built),
+     * `Transform64` components once per step (after islands are built),
      * mutated in place by the TGS substep loop, and the persistent
      * velocity scattered back at the end. Keeps the solver's hottest inner
      * loop free of component-object dereferences.
@@ -127,17 +127,21 @@ export class PhysicsSystem extends System<any> {
      */
     contactDampingRatio: number;
     /**
-     * Reusable contact-event payload. Listeners must copy any fields they
+     * Reusable contact-event payload. `point` and `normal` are three-element
+     * `Float64Array`s indexed `[0] [1] [2]`. Listeners must copy any fields they
      * intend to retain past their own scope. Reset before each dispatch.
      * @private
      */
     private __contact_payload;
     /**
-     * World gravity, m/s². Applied each step scaled by per-body gravityScale.
+     * World gravity, m/s², indexed `[0] [1] [2]`. Applied each step scaled by the
+     * per-body gravityScale. Raw storage with no change signal — write it through
+     * {@link setGravity}, or with {@link v3_set} if the wake side-effect is not
+     * wanted; `gravity.set(x, y, z)` is `TypedArray.prototype.set` and writes nothing.
      * @readonly
-     * @type {Vector3}
+     * @type {Float64Array}
      */
-    readonly gravity: Vector3;
+    readonly gravity: Float64Array;
     /**
      * Optional global contact filter. Called for each surviving broadphase
      * pair; returning `false` discards the pair.
@@ -159,16 +163,16 @@ export class PhysicsSystem extends System<any> {
     readonly __transforms: Transform64[];
     /**
      * Per-body list of attached colliders. Each entry stores the
-     * Collider component, its world Transform, the entity that owns
+     * Collider component, its world Transform64, the entity that owns
      * it (the body entity for same-entity attachments, a child entity
      * for compound bodies), and the BVH leaf id assigned at attach
      * time. A body may have zero or more attached colliders.
      *
-     * @type {Array<Array<{collider: Collider, transform: Transform, entity: number, bvhNode: number}>>}
+     * @type {Array<Array<{collider: Collider, transform: Transform64, entity: number, bvhNode: number}>>}
      */
     __body_collider_lists: Array<Array<{
         collider: Collider;
-        transform: Transform;
+        transform: Transform64;
         entity: number;
         bvhNode: number;
     }>>;
@@ -315,22 +319,18 @@ export class PhysicsSystem extends System<any> {
     private __reset_pseudo_velocity;
     /**
      * Replace the world gravity vector. Effective on the next step.
-     * @param {Vector3|{x:number,y:number,z:number}} v
+     * @param {Vector3|ArrayLike<number>} v indexed as [x, y, z]
      */
-    setGravity(v: Vector3 | {
-        x: number;
-        y: number;
-        z: number;
-    }): void;
+    setGravity(v: Vector3 | ArrayLike<number>): void;
     /**
      * Install (or remove with `null`) the contact filter callback.
      * @param {((entityA:number, entityB:number, colliderA:Collider, colliderB:Collider) => boolean) | null} fn
      */
-    setContactFilter(fn: (entityA: number, entityB: number, colliderA: Collider, colliderB: Collider) => boolean): void;
+    setContactFilter(fn: ((entityA: number, entityB: number, colliderA: Collider, colliderB: Collider) => boolean) | null): void;
     /**
      * @returns {((entityA:number, entityB:number, colliderA:Collider, colliderB:Collider) => boolean) | null}
      */
-    getContactFilter(): (entityA: number, entityB: number, colliderA: Collider, colliderB: Collider) => boolean;
+    getContactFilter(): ((entityA: number, entityB: number, colliderA: Collider, colliderB: Collider) => boolean) | null;
     /**
      * @private
      * @param {RigidBody} rb
@@ -387,8 +387,8 @@ export class PhysicsSystem extends System<any> {
      * 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
      * (compound body). The world transform passed here is the collider's
-     * own — for a same-entity collider it is the body's Transform; for a
-     * child collider it is the child entity's Transform.
+     * own — for a same-entity collider it is the body's Transform64; for a
+     * child collider it is the child entity's Transform64.
      *
      * Idempotent — re-attaching the same collider is a no-op.
      *
@@ -451,13 +451,9 @@ export class PhysicsSystem extends System<any> {
      * Wakes the body if it is asleep.
      *
      * @param {RigidBody} rigidBody
-     * @param {Vector3|{x:number,y:number,z:number}} impulse
+     * @param {Vector3|ArrayLike<number>} impulse indexed as [x, y, z]
      */
-    applyImpulse(rigidBody: RigidBody, impulse: Vector3 | {
-        x: number;
-        y: number;
-        z: number;
-    }): void;
+    applyImpulse(rigidBody: RigidBody, impulse: Vector3 | ArrayLike<number>): void;
     /**
      * Apply an instantaneous change of momentum at a specific world-space point.
      * Off-centre impulses produce both linear (Δv = P/m) and angular
@@ -466,15 +462,11 @@ export class PhysicsSystem extends System<any> {
      * Wakes the body if it is asleep.
      *
      * @param {RigidBody} rigidBody
-     * @param {Transform64} transform body's current world Transform (used for r and I_w)
-     * @param {Vector3|{x:number,y:number,z:number}} impulse
+     * @param {Transform64} transform body's current world transform (used for r and I_w)
+     * @param {Vector3|ArrayLike<number>} impulse indexed as [x, y, z]
      * @param {Vector3|ArrayLike<number>} worldPoint world-space point indexed as [x, y, z]
      */
-    applyImpulseAt(rigidBody: RigidBody, transform: Transform64, impulse: Vector3 | {
-        x: number;
-        y: number;
-        z: number;
-    }, worldPoint: Vector3 | ArrayLike<number>): void;
+    applyImpulseAt(rigidBody: RigidBody, transform: Transform64, impulse: Vector3 | ArrayLike<number>, worldPoint: Vector3 | ArrayLike<number>): void;
     /**
      * Accumulate a continuous torque (world-space) for integration on the
      * next fixedUpdate. Pairs with {@link applyForce} for the rotational case.
@@ -482,13 +474,9 @@ export class PhysicsSystem extends System<any> {
      * Wakes the body if asleep.
      *
      * @param {RigidBody} rigidBody
-     * @param {Vector3|{x:number,y:number,z:number}} torque
+     * @param {Vector3|ArrayLike<number>} torque indexed as [x, y, z]
      */
-    applyTorque(rigidBody: RigidBody, torque: Vector3 | {
-        x: number;
-        y: number;
-        z: number;
-    }): void;
+    applyTorque(rigidBody: RigidBody, torque: Vector3 | ArrayLike<number>): void;
     /**
      * Apply a continuous force at a specific world-space point. The force
      * generates both a linear acceleration (F/m) and a torque (r × F) about
@@ -497,38 +485,26 @@ export class PhysicsSystem extends System<any> {
      * Wakes the body if asleep.
      *
      * @param {RigidBody} rigidBody
-     * @param {Transform64} transform body's current world Transform
-     * @param {Vector3|{x:number,y:number,z:number}} force
+     * @param {Transform64} transform body's current world transform
+     * @param {Vector3|ArrayLike<number>} force indexed as [x, y, z]
      * @param {Vector3|ArrayLike<number>} worldPoint world-space point indexed as [x, y, z]
      */
-    applyForceAt(rigidBody: RigidBody, transform: Transform64, force: Vector3 | {
-        x: number;
-        y: number;
-        z: number;
-    }, worldPoint: Vector3 | ArrayLike<number>): void;
+    applyForceAt(rigidBody: RigidBody, transform: Transform64, force: Vector3 | ArrayLike<number>, worldPoint: Vector3 | ArrayLike<number>): void;
     /**
      * Accumulate a continuous force to be integrated next fixedUpdate step.
      * Wakes the body if asleep.
      *
      * @param {RigidBody} rigidBody
-     * @param {Vector3|{x:number,y:number,z:number}} force
+     * @param {Vector3|ArrayLike<number>} force indexed as [x, y, z]
      */
-    applyForce(rigidBody: RigidBody, force: Vector3 | {
-        x: number;
-        y: number;
-        z: number;
-    }): void;
+    applyForce(rigidBody: RigidBody, force: Vector3 | ArrayLike<number>): void;
     /**
      * Replace the linear velocity. Wakes the body if asleep.
      *
      * @param {RigidBody} rigidBody
-     * @param {Vector3|{x:number,y:number,z:number}} v
+     * @param {Vector3|ArrayLike<number>} v indexed as [x, y, z]
      */
-    setLinearVelocity(rigidBody: RigidBody, v: Vector3 | {
-        x: number;
-        y: number;
-        z: number;
-    }): void;
+    setLinearVelocity(rigidBody: RigidBody, v: Vector3 | ArrayLike<number>): void;
     /**
      * Replace the angular velocity. Wakes the body if asleep.
      *
@@ -536,22 +512,18 @@ export class PhysicsSystem extends System<any> {
      * body, so the spin is silently discarded until something else wakes it.
      *
      * @param {RigidBody} rigidBody
-     * @param {Vector3|{x:number,y:number,z:number}} v
+     * @param {Vector3|ArrayLike<number>} v indexed as [x, y, z]
      */
-    setAngularVelocity(rigidBody: RigidBody, v: Vector3 | {
-        x: number;
-        y: number;
-        z: number;
-    }): void;
+    setAngularVelocity(rigidBody: RigidBody, v: Vector3 | ArrayLike<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
+     * Transform64 directly and wakes it. For an interpolated body this also flags a
      * render `snap` on its {@link Interpolated} component, so the producer keeps
      * this pose (rather than restoring the previous tick over it) and the
      * renderer shows the new pose without sliding across the jump.
      *
      * This is the authoritative way to reposition an interpolated body — a raw
-     * `Transform` write would be undone by the per-step restore. Velocity is left
+     * `Transform64` write would be undone by the per-step restore. Velocity is left
      * as-is; zero it via {@link setLinearVelocity} if the teleport should also
      * stop the body.
      *
@@ -561,19 +533,10 @@ export class PhysicsSystem extends System<any> {
      * into must react.
      *
      * @param {RigidBody} rigidBody
-     * @param {Vector3|{x:number,y:number,z:number}} position world position
-     * @param {Quaternion|{x:number,y:number,z:number,w:number}} rotation world unit-quaternion rotation
+     * @param {Vector3|ArrayLike<number>} position world position, indexed as [x, y, z]
+     * @param {Quaternion|ArrayLike<number>} rotation world unit-quaternion rotation, indexed as [x, y, z, w]
      */
-    setPose(rigidBody: RigidBody, position: Vector3 | {
-        x: number;
-        y: number;
-        z: number;
-    }, rotation: Quaternion | {
-        x: number;
-        y: number;
-        z: number;
-        w: number;
-    }): void;
+    setPose(rigidBody: RigidBody, position: Vector3 | ArrayLike<number>, rotation: Quaternion | ArrayLike<number>): void;
     /**
      * Force the body awake. Static bodies are ignored.
      * @param {RigidBody} rigidBody

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

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