@woosh/meep-engine 3.37.0 → 3.39.0

package/src/engine/physics/broadphase/compute_fat_world_aabb.js

@@ -33,9 +33,6 @@ const FAT_VELOCITY_MULTIPLIER = 2;
 export function compute_world_aabb(result, result_offset, shape, transform) {
     shape.compute_bounding_box(scratch_local);
 
-    const p = transform.translation;
-    const q = transform.rotation;
-
     aabb3_transform_oriented(
         result, result_offset,
         scratch_local[0], scratch_local[1], scratch_local[2],
@@ -60,6 +57,34 @@ export function compute_world_aabb(result, result_offset, shape, transform) {
  * @param {number} dt step size
  */
 export function fatten_world_aabb(aabb, offset, vx, vy, vz, dt) {
+    const velocity = scratch_velocity;
+
+    velocity[0] = vx;
+    velocity[1] = vy;
+    velocity[2] = vz;
+
+    fatten_world_aabb_array(aabb, offset, velocity, 0, dt);
+}
+
+/** Where {@link fatten_world_aabb} packs its velocity. */
+const scratch_velocity = new Float64Array(3);
+
+/**
+ * {@link fatten_world_aabb} with the velocity read from `velocity[velocity_offset ..+2]`: the one place
+ * the arithmetic lives. For the per-collider refit, which cannot have the call inlined, and where the
+ * three numbers would each be boxed into a new heap object.
+ *
+ * @param {number[]|Float32Array|Float64Array} aabb inflated in place
+ * @param {number} offset
+ * @param {number[]|Float32Array|Float64Array} velocity world linear velocity
+ * @param {number} velocity_offset
+ * @param {number} dt step size
+ */
+export function fatten_world_aabb_array(aabb, offset, velocity, velocity_offset, dt) {
+    const vx = velocity[velocity_offset];
+    const vy = velocity[velocity_offset + 1];
+    const vz = velocity[velocity_offset + 2];
+
     const k = FAT_VELOCITY_MULTIPLIER * dt;
     const px = vx * k;
     const py = vy * k;

package/src/engine/physics/ccd/linear_sweep.d.ts

@@ -46,12 +46,13 @@ export function ccd_release_contacts(system: import("../ecs/PhysicsSystem.js").P
  * Post-solve continuous-collision pass over the awake set. For each awake
  * Dynamic body flagged {@link RigidBodyFlags.CCD} that moved more than
  * {@link CCD_MIN_SWEEP_DISTANCE} this step, sweep its primary collider along the
- * step's net translation and stop it at the first blocker (clamp pose + remove
- * inbound normal velocity).
+ * step's net translation and stop it at the first blocker (clamp pose + the
+ * impact's response, {@link ccd_respond}).
  *
  * Start-of-step positions are captured into `system.__ccd_start_pos` (3 doubles
- * per body index) before the substep loop; this pass reads the final pose from
- * the live Transform64.
+ * per body index) before the substep loop, and the start-of-step velocities of
+ * the awake dynamic bodies into `system.__ccd_start_vel`; this pass reads the
+ * final pose from the live Transform64.
  *
  * Bodies are processed in ENTITY order, not awake-list order. CCD order is
  * outcome-coupled: an earlier body's clamp moves the pose a later body's
@@ -61,9 +62,27 @@ export function ccd_release_contacts(system: import("../ecs/PhysicsSystem.js").P
  * state need not share; entity order is derivable from state alone — the
  * determinism contract.
  *
+ * Returns how many bodies the pass CLAMPED — moved back from the pose the step
+ * integrated them to — with their storage indices in {@link ccd_clamped_bodies}.
+ * Whatever the step already published from those poses is stale.
+ *
  * @param {import("../ecs/PhysicsSystem.js").PhysicsSystem} system
+ * @param {number} dt the step's length, seconds
+ * @param {number} h the integrator's substep length, seconds
+ * @param {number} captured how many of the awake set's first positions the
+ *   step captured start-of-step state for — the bodies awake when it began
+ * @returns {number} clamped body count
  */
-export function ccd_resolve(system: import("../ecs/PhysicsSystem.js").PhysicsSystem): void;
+export function ccd_resolve(system: import("../ecs/PhysicsSystem.js").PhysicsSystem, dt: number, h: number, captured: number): number;
+/**
+ * Storage indices of the bodies the last {@link ccd_resolve} clamped; the
+ * first `n` entries are live, `n` being what that call returned. The array is
+ * the pass's own scratch: read it before the next pass, and do not keep it
+ * (it is replaced when it grows).
+ *
+ * @returns {Uint32Array}
+ */
+export function ccd_clamped_bodies(): Uint32Array;
 /**
  * Continuous collision detection — linear shape-cast.
  *
@@ -78,11 +97,19 @@ export function ccd_resolve(system: import("../ecs/PhysicsSystem.js").PhysicsSys
  * the substep solver has produced each body's final pose, sweep a CCD-flagged
  * fast mover's primary collider along its NET step translation
  * (start-of-step → final pose) using the existing {@link shape_cast} TOI engine.
- * On the first blocker, clamp the body to the contact pose, remove the inbound
- * normal component of its velocity (an inelastic stop), and RECORD the impact
- * on the pair's manifold ({@link record_ccd_contact}) so this step's event diff
- * reports it — the next discrete step then resolves the now-touching contact
- * with the real material / restitution.
+ * On the first blocker, clamp the body to the contact pose, RESPOND to the
+ * impact there and then ({@link ccd_respond}: the pair's restitution, and an
+ * impulse shared with a dynamic blocker), and RECORD the impact on the pair's
+ * manifold ({@link record_ccd_contact}) so this step's event diff reports it.
+ *
+ * The response cannot be left to the next discrete step. The clamp leaves the
+ * body clear of what it struck — {@link shape_cast} parks it 1e-5 to 1.25e-5 m
+ * short of a convex blocker, and on a triangle's face to within 5e-16 m either
+ * side — and the narrowphase reports only strictly positive penetration, so
+ * the next step sees no contact to respond with — and restitution arms only on
+ * an approach faster than `PhysicsSystem.restitutionThreshold`, which a stopped
+ * body no longer has. The sweep is the only part of the pipeline that saw the
+ * impact, so it is the part that answers it.
  *
  * Scope (v1, deliberate):
  *   - LINEAR sweep only: the orientation is held fixed through the sweep (the
@@ -94,8 +121,11 @@ export function ccd_resolve(system: import("../ecs/PhysicsSystem.js").PhysicsSys
  *     leaves); APPROXIMATE against other dynamic bodies (they have moved this
  *     step too, but the sweep sees their start-of-step broadphase AABBs) — the
  *     speculative-margin floor for the dynamic-vs-dynamic case.
- *   - The CCD stop itself is inelastic; the impact does not bounce. Restitution
- *     applies on the next discrete contact.
+ *   - One impact per body per step, answered by one normal impulse and one
+ *     Coulomb friction impulse ({@link ccd_friction}) at the contact point. The
+ *     normal impulse against an immovable blocker is linear only (see
+ *     {@link ccd_respond}); friction turns the body as well, which is how a
+ *     ball spinning into a wall comes off it rolling.
  */
 /**
  * Minimum per-step displacement (metres) before a CCD sweep is worth running.

package/src/engine/physics/ccd/linear_sweep.d.ts.map

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