@woosh/meep-engine 3.44.0 → 3.45.0

package/src/engine/physics/cloth/ecs/cloth_write_back.js

@@ -1,8 +1,5 @@
-import { quat3_multiply_array } from "../../../../core/geom/3d/quaternion/quat3_multiply.js";
-import { v3_quaternion_apply_array } from "../../../../core/geom/vec3/v3_quaternion_apply.js";
-import {
-    v3_quaternion_apply_inverse_array
-} from "../../../../core/geom/vec3/v3_quaternion_apply_inverse.js";
+import { pose3_compose_array } from "../../../../core/geom/3d/pose/pose3_compose_array.js";
+import { pose3_to_local_array } from "../../../../core/geom/3d/pose/pose3_to_local_array.js";
 import { t64_announce_change } from "../../../ecs/transform/t64_announce_change.js";
 import {
     TRANSFORM64_ROTATION_OFFSET,
@@ -86,12 +83,10 @@ export function cloth_write_back(instance, ecd) {
     // transforms either way (§4.1) — but a **nested** cloth reads this pose as
     // its own anchor, and then the two systems hand it different numbers.
     // `MEASUREMENTS.md` §56.
-    const ax = instance.frame_translation[0];
-    const ay = instance.frame_translation[1];
-    const az = instance.frame_translation[2];
-
-    // The rotations go in as arrays, read where they sit: handed over as seven and eight numbers,
-    // each was boxed into a heap object wherever the call was not inlined.
+    //
+    // The frame goes in as arrays, read where it sits: handed over as seven and eight numbers, each
+    // was boxed into a heap object wherever the call was not inlined.
+    const frame_translation = instance.frame_translation;
     const frame_rotation = instance.frame_rotation;
 
     const parent = instance.node_parent;
@@ -106,15 +101,14 @@ export function cloth_write_back(instance, ecd) {
 
         const transform = instance.node_transform[node];
 
-        const n = node * 3;
-
-        v3_quaternion_apply_array(transform, TRANSFORM64_TRANSLATION_OFFSET, blended, n, frame_rotation, 0);
-
-        transform[TRANSFORM64_TRANSLATION_OFFSET] += ax;
-        transform[TRANSFORM64_TRANSLATION_OFFSET + 1] += ay;
-        transform[TRANSFORM64_TRANSLATION_OFFSET + 2] += az;
-
-        quat3_multiply_array(transform, TRANSFORM64_ROTATION_OFFSET, frame_rotation, 0, reconstructed, node * 4);
+        pose3_compose_array(
+            transform, TRANSFORM64_TRANSLATION_OFFSET,
+            transform, TRANSFORM64_ROTATION_OFFSET,
+            frame_translation, 0,
+            frame_rotation, 0,
+            blended, node * 3,
+            reconstructed, node * 4
+        );
 
         transform.updateMatrix();
 
@@ -166,12 +160,6 @@ export function cloth_write_local_pose(local, instance, node, parent) {
     const blended = instance.blended_position;
     const rotation = instance.blended_rotation;
 
-    // Operands go in as arrays, the parent's rotation and the node's straight from the instance, the
-    // offset and the conjugate through scratch: handed over as seven and eight numbers, each was
-    // boxed into a heap object wherever the call was not inlined.
-    const offset = scratch_local_offset;
-    const conjugate = scratch_parent_conjugate;
-
     if (parent < 0) {
         // A joint hanging straight off the frame — every joint of a generated
         // skin — is written in the frame, which is the identity in itself.
@@ -190,34 +178,28 @@ export function cloth_write_local_pose(local, instance, node, parent) {
     }
 
     if (instance.node_output[parent] !== 0) {
-        offset[0] = blended[node * 3] - blended[parent * 3];
-        offset[1] = blended[node * 3 + 1] - blended[parent * 3 + 1];
-        offset[2] = blended[node * 3 + 2] - blended[parent * 3 + 2];
-
-        v3_quaternion_apply_inverse_array(local, TRANSFORM64_TRANSLATION_OFFSET, offset, 0, rotation, parent * 4);
-
-        conjugate[0] = -rotation[parent * 4];
-        conjugate[1] = -rotation[parent * 4 + 1];
-        conjugate[2] = -rotation[parent * 4 + 2];
-        conjugate[3] = rotation[parent * 4 + 3];
+        pose3_to_local_array(
+            local, TRANSFORM64_TRANSLATION_OFFSET,
+            local, TRANSFORM64_ROTATION_OFFSET,
+            blended, parent * 3,
+            rotation, parent * 4,
+            blended, node * 3,
+            rotation, node * 4
+        );
     } else {
         const boundary = instance.boundary_pose;
         const b = parent * 7;
 
-        offset[0] = blended[node * 3] - boundary[b];
-        offset[1] = blended[node * 3 + 1] - boundary[b + 1];
-        offset[2] = blended[node * 3 + 2] - boundary[b + 2];
-
-        v3_quaternion_apply_inverse_array(local, TRANSFORM64_TRANSLATION_OFFSET, offset, 0, boundary, b + 3);
-
-        conjugate[0] = -boundary[b + 3];
-        conjugate[1] = -boundary[b + 4];
-        conjugate[2] = -boundary[b + 5];
-        conjugate[3] = boundary[b + 6];
+        pose3_to_local_array(
+            local, TRANSFORM64_TRANSLATION_OFFSET,
+            local, TRANSFORM64_ROTATION_OFFSET,
+            boundary, b,
+            boundary, b + 3,
+            blended, node * 3,
+            rotation, node * 4
+        );
     }
 
-    quat3_multiply_array(local, TRANSFORM64_ROTATION_OFFSET, conjugate, 0, rotation, node * 4);
-
     // `multiplyTransforms` reads the matrix, not the components, so a local
     // transform that is not refreshed here composes the pose it had last time.
     local.updateMatrix();
@@ -253,17 +235,3 @@ function pose_pruned(instance, ecd) {
         t64_announce_change(ecd, instance.pruned_entity[i]);
     }
 }
-
-/**
- * {@link cloth_write_local_pose}'s node position less its parent's, in the cloth's frame.
- * @type {Float64Array}
- * @private
- */
-const scratch_local_offset = new Float64Array(3);
-
-/**
- * {@link cloth_write_local_pose}'s parent rotation, conjugated: `[-x, -y, -z, w]`.
- * @type {Float64Array}
- * @private
- */
-const scratch_parent_conjugate = new Float64Array(4);

package/src/engine/physics/cloth/playground/cloth_playground_build.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"cloth_playground_build.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/physics/cloth/playground/cloth_playground_build.js"],"names":[],"mappings":"AAGA;;;;;;;;;;;;;;;;GAgBG;AAEH;;;;;GAKG;AAEH;;;;;;;;;;;;;GAaG;AACH;IAZoC,KAAK,EAA9B,OAAO,GAAC,OAAO;IACC,KAAK,EAArB,MAAM;IACU,MAAM,EAAtB,MAAM;IACU,OAAO,EAAvB,MAAM;IACU,IAAI,EAApB,MAAM;IACU,iBAAiB,EAAjC,MAAM;IACU,YAAY,EAA5B,MAAM;IACkC,MAAM,EAA9C,KAAK,GAAC,SAAS,GAAC,OAAO,GAAC,MAAM;IACb,IAAI,EAArB,OAAO;IAEL,oBAAoB,CAgBhC;;WAjCa,UAAU;;;;;cACV,UAAU;;2BAxBG,yBAAyB"}
+{"version":3,"file":"cloth_playground_build.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/physics/cloth/playground/cloth_playground_build.js"],"names":[],"mappings":"AAIA;;;;;;;;;;;;;;;;GAgBG;AAEH;;;;;GAKG;AAEH;;;;;;;;;;;;;GAaG;AACH;IAZoC,KAAK,EAA9B,OAAO,GAAC,OAAO;IACC,KAAK,EAArB,MAAM;IACU,MAAM,EAAtB,MAAM;IACU,OAAO,EAAvB,MAAM;IACU,IAAI,EAApB,MAAM;IACU,iBAAiB,EAAjC,MAAM;IACU,YAAY,EAA5B,MAAM;IACkC,MAAM,EAA9C,KAAK,GAAC,SAAS,GAAC,OAAO,GAAC,MAAM;IACb,IAAI,EAArB,OAAO;IAEL,oBAAoB,CAgBhC;;WAjCa,UAAU;;;;;cACV,UAAU;;2BAzBG,yBAAyB"}

package/src/engine/physics/cloth/playground/cloth_playground_build.js

@@ -1,5 +1,6 @@
 import { ClothState } from "../solver/ClothState.js";
 import { cloth_bend_stencil_weights } from "../solver/constraint/cloth_bend_row.js";
+import { cloth_particle_of_source } from "../solver/cloth_particle_of_source.js";
 
 /**
  * # Building the playground's cloth
@@ -289,9 +290,7 @@ function extract_edges_and_hinges(triangle) {
 function permute_triangles(triangle, state) {
     const particle_of_source = new Int32Array(state.particle_count);
 
-    for (let i = 0; i < state.particle_count; i++) {
-        particle_of_source[state.source_of_particle[i]] = i;
-    }
+    cloth_particle_of_source(particle_of_source, state.source_of_particle, state.particle_count);
 
     const out = new Int32Array(triangle.length);
 

package/src/engine/physics/cloth/playground/collide_main.js

@@ -23,6 +23,7 @@ import { find_non_finite_cloth_state } from "../solver/find_non_finite_cloth_sta
 import { build_cloth_playground_scene } from "./cloth_playground_build.js";
 import { COLLIDER_SCENES, unsweep } from "./collide_build.js";
 import { draw_cloth, PlaygroundCamera, project } from "./cloth_playground_draw.js";
+import { cloth_kinetic_energy } from "../solver/cloth_kinetic_energy.js";
 
 /**
  * # Cloth collision playground — M2
@@ -227,33 +228,6 @@ function penetration() {
     return worst;
 }
 
-/**
- * @returns {number} kinetic energy, J
- */
-function kinetic() {
-    const state = cloth.state;
-
-    let total = 0;
-
-    for (let i = 0; i < state.particle_count; i++) {
-        const w = state.mass_inverse[i];
-
-        if (w === 0) {
-            continue;
-        }
-
-        const p = i * 3;
-
-        total += 0.5 * (
-            state.velocity[p] * state.velocity[p] +
-            state.velocity[p + 1] * state.velocity[p + 1] +
-            state.velocity[p + 2] * state.velocity[p + 2]
-        ) / w;
-    }
-
-    return total;
-}
-
 // ------------------------------------------------------------------- draw
 
 /**
@@ -464,7 +438,7 @@ function refresh_readout() {
     element('r_contacts').textContent = String(contact_rows);
     element('r_pen').textContent = `${(worst_penetration * 1000).toFixed(2)} mm`;
     element('r_rest').textContent = `${(penetration() * 1000).toFixed(2)} mm`;
-    element('r_energy').textContent = kinetic().toExponential(2);
+    element('r_energy').textContent = cloth_kinetic_energy(cloth.state).toExponential(2);
 
     const offender = find_non_finite_cloth_state(cloth.state);
 

package/src/engine/physics/cloth/playground/garment_main.js

@@ -5,6 +5,7 @@ import { GARMENT_PRESETS, build_garment, garment_sync_colliders } from "./garmen
 import { TRANSFORM_ATTACHMENT_EVENT_CHANGE } from "../../../ecs/transform-attachment/TRANSFORM_ATTACHMENT_EVENT_CHANGE.js";
 import { TransformAttachment } from "../../../ecs/transform-attachment/TransformAttachment.js";
 import { Transform64 } from "../../../ecs/transform/Transform64.js";
+import { cloth_worst_tether_ratio } from "../solver/cloth_worst_tether_ratio.js";
 
 /**
  * # Skinned garments playground — M3
@@ -417,25 +418,9 @@ function refresh_readout() {
     element('r_self').textContent = String(instance.self_pairs);
     element('r_step').textContent = `${step_ms.toFixed(3)} ms`;
 
-    let worst = 0;
-
-    const anchor = instance.particle_of_node[0] * 3;
-
-    for (let node = 1; node < instance.node_count; node++) {
-        const p = instance.particle_of_node[node] * 3;
-
-        const distance = Math.hypot(
-            state.position[p] - state.position[anchor],
-            state.position[p + 1] - state.position[anchor + 1],
-            state.position[p + 2] - state.position[anchor + 2]
-        );
-
-        const ratio = distance / instance.geodesic[node];
-
-        if (ratio > worst) {
-            worst = ratio;
-        }
-    }
+    const worst = cloth_worst_tether_ratio(
+        state.position, instance.particle_of_node, instance.geodesic, instance.node_count
+    );
 
     const reach = element('r_reach');
 

package/src/engine/physics/cloth/playground/main.js

@@ -10,6 +10,9 @@ import {
     project,
     unproject
 } from "./cloth_playground_draw.js";
+import { number_compare_ascending } from "../../../../core/primitives/numbers/number_compare_ascending.js";
+import { cloth_kinetic_energy } from "../solver/cloth_kinetic_energy.js";
+import { cloth_stretch_residual } from "../solver/cloth_stretch_residual.js";
 
 /**
  * # Cloth solver playground
@@ -239,7 +242,7 @@ function step_once() {
         timing.shift();
     }
 
-    energy_history.push(kinetic_energy(scene.state));
+    energy_history.push(cloth_kinetic_energy(scene.state));
 
     if (energy_history.length > ENERGY_WINDOW) {
         energy_history.shift();
@@ -272,58 +275,13 @@ function frame() {
 
 // ---------------------------------------------------------------- readouts
 
-function kinetic_energy(state) {
-    let energy = 0;
-
-    for (let i = 0; i < state.particle_count; i++) {
-        const inverse_mass = state.mass_inverse[i];
-
-        if (inverse_mass === 0) {
-            continue;
-        }
-
-        const p = i * 3;
-
-        energy += 0.5 / inverse_mass * (
-            state.velocity[p] * state.velocity[p] +
-            state.velocity[p + 1] * state.velocity[p + 1] +
-            state.velocity[p + 2] * state.velocity[p + 2]
-        );
-    }
-
-    return energy;
-}
-
-function stretch_residual(state) {
-    let worst = 0;
-
-    for (let row = 0; row < state.stretch_count; row++) {
-        const a = state.stretch_particle[row * 2] * 3;
-        const b = state.stretch_particle[row * 2 + 1] * 3;
-
-        const length = Math.hypot(
-            state.position[a] - state.position[b],
-            state.position[a + 1] - state.position[b + 1],
-            state.position[a + 2] - state.position[b + 2]
-        );
-
-        const rest = state.stretch_rest[row];
-
-        if (rest > 0) {
-            worst = Math.max(worst, Math.abs(length - rest) / rest);
-        }
-    }
-
-    return worst;
-}
-
 function refresh_readout() {
     const state = scene.state;
 
     element('ms').textContent = last_ms.toFixed(3);
 
     if (timing.length > 0) {
-        const sorted = timing.slice().sort((a, b) => a - b);
+        const sorted = timing.slice().sort(number_compare_ascending);
 
         element('ms_min').textContent = `(min ${sorted[0].toFixed(3)})`;
 
@@ -333,7 +291,7 @@ function refresh_readout() {
         bar.classList.toggle('over', sorted[0] > BUDGET_MS);
     }
 
-    element('residual').textContent = (stretch_residual(state) * 100).toFixed(2) + '%';
+    element('residual').textContent = (cloth_stretch_residual(state) * 100).toFixed(2) + '%';
 
     const energy = energy_history.length > 0 ? energy_history[energy_history.length - 1] : 0;