@woosh/meep-engine 3.44.0 → 3.46.0

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

@@ -1,6 +1,7 @@
 import { EntityComponentDataset } from "../../../ecs/EntityComponentDataset.js";
 import { FluidComponent } from "../../fluid/ecs/FluidComponent.js";
 import { fluid_build_world_to_grid } from "../../fluid/ecs/fluid_build_world_to_grid.js";
+import { fluid_sample_velocity_world_mps } from "../../fluid/ecs/fluid_sample_velocity_world_mps.js";
 import { CLOTH_DYNAMICS_BY_NAME } from "../ecs/cloth_dynamics_library.js";
 import { cloth_bend_ratio, cloth_drag_response } from "../ecs/cloth_dynamics_map.js";
 import { cloth_step } from "../solver/cloth_step.js";
@@ -389,14 +390,14 @@ function draw_field() {
                 continue;
             }
 
-            component.sampleVelocityAtWorld(sample, x, y, z);
+            // In metres a second, as `ClothFluidWind` reads it.
+            fluid_sample_velocity_world_mps(sample, 0, component, x, y, z);
 
-            // Cells a second to metres a second, the same conversion
-            // `ClothFluidWind` makes and for the same reason.
-            const vx = sample[0] * cell_size;
-            const vz = sample[2] * cell_size;
+            const vx = sample[0];
+            const vy = sample[1];
+            const vz = sample[2];
 
-            const speed = Math.hypot(vx, sample[1] * cell_size, vz);
+            const speed = Math.hypot(vx, vy, vz);
 
             if (speed < 1e-3) {
                 continue;
@@ -406,7 +407,7 @@ function draw_field() {
 
             const depth = project(from, camera, x, y, z, width, height);
 
-            project(to, camera, x + vx * scale, y + sample[1] * cell_size * scale, z + vz * scale, width, height);
+            project(to, camera, x + vx * scale, y + vy * scale, z + vz * scale, width, height);
 
             if (depth <= 0) {
                 continue;

package/src/engine/physics/cloth/solver/ClothState.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"ClothState.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/physics/cloth/solver/ClothState.js"],"names":[],"mappings":";;;8BAkHU,MAAM;;;;;;AAkBhB;;;GAGG;AACH,sCAFU,MAAM,CAEyB;AAEzC;IAyjBI;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;OAqCG;IACH;QAzB8C,QAAQ,EAA3C,YAAY,GAAC,MAAM,EAAE;QACc,YAAY,EAA/C,YAAY,GAAC,MAAM,EAAE;QACa,gBAAgB,GAAlD,UAAU,GAAC,MAAM,EAAE;QACiB,YAAY,GAAhD,YAAY,GAAC,MAAM,EAAE;QACe,iBAAiB,GAArD,YAAY,GAAC,MAAM,EAAE;QACe,iBAAiB,GAArD,YAAY,GAAC,MAAM,EAAE;QACe,iBAAiB,GAArD,YAAY,GAAC,MAAM,EAAE;QACa,aAAa,GAA/C,UAAU,GAAC,MAAM,EAAE;QACiB,WAAW,GAA/C,YAAY,GAAC,MAAM,EAAE;QACe,cAAc,GAAlD,YAAY,GAAC,MAAM,EAAE;QACa,cAAc,GAAhD,UAAU,GAAC,MAAM,EAAE;QACiB,YAAY,GAAhD,YAAY,GAAC,MAAM,EAAE;QAEa,YAAY,GAA9C,UAAU,GAAC,MAAM,EAAE;QAEe,iBAAiB,GAAnD,UAAU,GAAC,MAAM,EAAE;QACiB,eAAe,GAAnD,YAAY,GAAC,MAAM,EAAE;QAEC,MAAM,GAA5B,OAAO;QAKL,UAAU,CA4KtB;IAkCD;;;;;;;;;;;;OAYG;IACH,wCAJW;QAAC,MAAM,EAAE,iBAAiB,CAAC;QAAC,cAAc,EAAE,MAAM,CAAC;QAAC,aAAa,EAAE,MAAM,CAAC;QACpF,UAAc,EAAE,MAAM,CAAC;QAAC,WAAW,EAAE,MAAM,CAAC;QAAC,cAAc,EAAE,MAAM,CAAC;QAAC,YAAY,EAAE,MAAM,CAAA;KAAC,GAC9E,UAAU,CAiBtB;IAr0BD;;;;;;OAMG;IACH,QAFU,WAAW,GAAC,iBAAiB,CAEzB;IAEd;;;OAGG;IACH,QAFU,YAAY,CAER;IAEd;;OAEG;IACH,gBAFU,MAAM,CAEG;IAEnB;;OAEG;IACH,eAFU,MAAM,CAEE;IAElB;;OAEG;IACH,YAFU,MAAM,CAED;IAEf;;OAEG;IACH,aAFU,MAAM,CAEA;IAEhB;;OAEG;IACH,cAFU,MAAM,CAEC;IAEjB;;;;OAIG;IACH,UAFU,YAAY,CAEN;IAEhB;;;;;OAKG;IACH,mBAFU,YAAY,CAEG;IAEzB;;OAEG;IACH,UAFU,YAAY,CAEN;IAEhB;;;;;OAKG;IACH,UAFU,YAAY,CAEN;IAEhB;;;;;OAKG;IACH,cAFU,YAAY,CAEF;IAEpB;;;;;;;;OAQG;IACH,eAFU,YAAY,CAED;IAErB;;;;OAIG;IACH,eAFU,UAAU,CAEC;IAErB;;;;OAIG;IACH,oBAFU,UAAU,CAEM;IAE1B;;;OAGG;IACH,kBAFU,UAAU,CAEI;IAExB;;;OAGG;IACH,cAFU,YAAY,CAEF;IAEpB;;;;OAIG;IACH,mBAFU,YAAY,CAEG;IAEzB;;;;OAIG;IACH,mBAFU,YAAY,CAEG;IAEzB;;;;;OAKG;IACH,mBAFU,YAAY,CAEG;IAEzB;;;;OAIG;IACH,gBAFU,YAAY,CAEA;IAEtB;;;;OAIG;IACH,iBAFU,YAAY,CAEC;IAEvB;;;OAGG;IACH,0BAFU,UAAU,CAEY;IAEhC;;;;OAIG;IACH,mBAFU,UAAU,CAEK;IAEzB;;;;OAIG;IACH,eAFU,UAAU,CAEC;IAErB;;;;;OAKG;IACH,aAFU,YAAY,CAEH;IAEnB;;;OAGG;IACH,gBAFU,YAAY,CAEA;IAEtB;;;;;;OAMG;IACH,aAFU,YAAY,CAEH;IAEnB;;;;OAIG;IACH,cAFU,YAAY,CAEF;IAEpB;;;OAGG;IACH,uBAFU,UAAU,CAES;IAE7B;;;;OAIG;IACH,gBAFU,UAAU,CAEE;IAEtB;;;OAGG;IACH,gBAFU,UAAU,CAEE;IAEtB;;;;;;;;;;;;OAYG;IACH,cAFU,YAAY,CAEF;IAEpB;;;;;;;;;;;OAWG;IACH,cAFU,UAAU,CAEA;IAEpB;;;;;OAKG;IACH,cAFU,YAAY,CAEF;IAEpB;;;;;OAKG;IACH,cAFU,YAAY,CAEF;IAEpB;;;;;;OAMG;IACH,cAFU,YAAY,CAEF;IAEpB;;;OAGG;IACH,eAFU,YAAY,CAED;IAErB;;;OAGG;IACH,wBAFU,UAAU,CAEU;IAE9B;;;OAGG;IACH,iBAFU,UAAU,CAEG;IAEvB;;OAEG;IACH,gBAFU,MAAM,CAEG;IAEnB;;;OAGG;IACH,mBAFU,UAAU,CAEK;IAEzB;;;;;;;;;;;;;OAaG;IACH,gBAFU,YAAY,CAEA;IAEtB;;;OAGG;IACH,iBAFU,YAAY,CAEC;IAEvB;;;OAGG;IACH,iBAFU,YAAY,CAEC;IAEvB;;;OAGG;IACH,kBAFU,YAAY,CAEE;IAExB;;;OAGG;IACH,2BAFU,UAAU,CAEa;IAEjC;;;OAGG;IACH,oBAFU,UAAU,CAEM;IAE1B;;;;;;;;;;;;;;;OAeG;IACH,gBAFU,MAAM,CAEG;IAEnB;;;;;;;;;;;;OAYG;IACH,gBAFU,YAAY,CAEA;IAEtB;;;;;OAKG;IACH,cAFU,UAAU,CAEA;IAEpB;;;;OAIG;IACH,gBAFU,MAAM,CAEG;IAEnB;;;;;OAKG;IACH,kBAFU,UAAU,CAEI;IAExB;;;;;;;OAOG;IACH,aAFU,UAAU,CAED;IAEnB;;;OAGG;IACH,gBAFU,YAAY,CAEA;IAEtB;;;OAGG;IACH,iBAFU,YAAY,CAEC;IAEvB;;;;;OAKG;IACH,yBAFU,YAAY,CAES;IAE/B;;;OAGG;IACH,0BAFU,YAAY,CAEU;IAEhC;;;;;;;;;;;;;;;;;;;;;OAqBG;IACH,aAFU,MAAM,CAEA;IAEhB;;;;;;;;;;;;;;OAcG;IACH,WAFU,UAAU,CAEH;IAEjB;;;OAGG;IACH,YAFU,MAAM,CAED;IAEf;;;;;;;;;;OAUG;IACH,YAFU,YAAY,CAEJ;IAElB;;;;OAIG;IACH,cAFU,YAAY,CAEF;IAEpB;;;;;;;;;;OAUG;IACH,gBAFU,YAAY,CAEA;IAEtB;;;;;;;;;;;;;;;;;OAiBG;IACH,cAFU,YAAY,CAEF;IAEpB;;;;;;;;;;;;OAYG;IACH,kBAFU,YAAY,CAEE;IAExB;;;;;;;;;;OAUG;IACH,uBAFU,YAAY,CAEO;IAoN7B;;OAEG;IACH,kBAFa,OAAO,CAInB;IAED;;;;;;;;;;OAUG;IACH,uBAHa;QAAC,MAAM,EAAE,iBAAiB,CAAC;QAAC,cAAc,EAAE,MAAM,CAAC;QAAC,aAAa,EAAE,MAAM,CAAC;QACtF,UAAc,EAAE,MAAM,CAAC;QAAC,WAAW,EAAE,MAAM,CAAC;QAAC,cAAc,EAAE,MAAM,CAAC;QAAC,YAAY,EAAE,MAAM,CAAA;KAAC,CAc1F;CA+BJ"}
+{"version":3,"file":"ClothState.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/physics/cloth/solver/ClothState.js"],"names":[],"mappings":";;;8BAoHU,MAAM;;;;;;AAkBhB;;;GAGG;AACH,sCAFU,MAAM,CAEyB;AAEzC;IAyjBI;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;OAqCG;IACH;QAzB8C,QAAQ,EAA3C,YAAY,GAAC,MAAM,EAAE;QACc,YAAY,EAA/C,YAAY,GAAC,MAAM,EAAE;QACa,gBAAgB,GAAlD,UAAU,GAAC,MAAM,EAAE;QACiB,YAAY,GAAhD,YAAY,GAAC,MAAM,EAAE;QACe,iBAAiB,GAArD,YAAY,GAAC,MAAM,EAAE;QACe,iBAAiB,GAArD,YAAY,GAAC,MAAM,EAAE;QACe,iBAAiB,GAArD,YAAY,GAAC,MAAM,EAAE;QACa,aAAa,GAA/C,UAAU,GAAC,MAAM,EAAE;QACiB,WAAW,GAA/C,YAAY,GAAC,MAAM,EAAE;QACe,cAAc,GAAlD,YAAY,GAAC,MAAM,EAAE;QACa,cAAc,GAAhD,UAAU,GAAC,MAAM,EAAE;QACiB,YAAY,GAAhD,YAAY,GAAC,MAAM,EAAE;QAEa,YAAY,GAA9C,UAAU,GAAC,MAAM,EAAE;QAEe,iBAAiB,GAAnD,UAAU,GAAC,MAAM,EAAE;QACiB,eAAe,GAAnD,YAAY,GAAC,MAAM,EAAE;QAEC,MAAM,GAA5B,OAAO;QAKL,UAAU,CAiLtB;IAkCD;;;;;;;;;;;;OAYG;IACH,wCAJW;QAAC,MAAM,EAAE,iBAAiB,CAAC;QAAC,cAAc,EAAE,MAAM,CAAC;QAAC,aAAa,EAAE,MAAM,CAAC;QACpF,UAAc,EAAE,MAAM,CAAC;QAAC,WAAW,EAAE,MAAM,CAAC;QAAC,cAAc,EAAE,MAAM,CAAC;QAAC,YAAY,EAAE,MAAM,CAAA;KAAC,GAC9E,UAAU,CAiBtB;IA10BD;;;;;;OAMG;IACH,QAFU,WAAW,GAAC,iBAAiB,CAEzB;IAEd;;;OAGG;IACH,QAFU,YAAY,CAER;IAEd;;OAEG;IACH,gBAFU,MAAM,CAEG;IAEnB;;OAEG;IACH,eAFU,MAAM,CAEE;IAElB;;OAEG;IACH,YAFU,MAAM,CAED;IAEf;;OAEG;IACH,aAFU,MAAM,CAEA;IAEhB;;OAEG;IACH,cAFU,MAAM,CAEC;IAEjB;;;;OAIG;IACH,UAFU,YAAY,CAEN;IAEhB;;;;;OAKG;IACH,mBAFU,YAAY,CAEG;IAEzB;;OAEG;IACH,UAFU,YAAY,CAEN;IAEhB;;;;;OAKG;IACH,UAFU,YAAY,CAEN;IAEhB;;;;;OAKG;IACH,cAFU,YAAY,CAEF;IAEpB;;;;;;;;OAQG;IACH,eAFU,YAAY,CAED;IAErB;;;;OAIG;IACH,eAFU,UAAU,CAEC;IAErB;;;;OAIG;IACH,oBAFU,UAAU,CAEM;IAE1B;;;OAGG;IACH,kBAFU,UAAU,CAEI;IAExB;;;OAGG;IACH,cAFU,YAAY,CAEF;IAEpB;;;;OAIG;IACH,mBAFU,YAAY,CAEG;IAEzB;;;;OAIG;IACH,mBAFU,YAAY,CAEG;IAEzB;;;;;OAKG;IACH,mBAFU,YAAY,CAEG;IAEzB;;;;OAIG;IACH,gBAFU,YAAY,CAEA;IAEtB;;;;OAIG;IACH,iBAFU,YAAY,CAEC;IAEvB;;;OAGG;IACH,0BAFU,UAAU,CAEY;IAEhC;;;;OAIG;IACH,mBAFU,UAAU,CAEK;IAEzB;;;;OAIG;IACH,eAFU,UAAU,CAEC;IAErB;;;;;OAKG;IACH,aAFU,YAAY,CAEH;IAEnB;;;OAGG;IACH,gBAFU,YAAY,CAEA;IAEtB;;;;;;OAMG;IACH,aAFU,YAAY,CAEH;IAEnB;;;;OAIG;IACH,cAFU,YAAY,CAEF;IAEpB;;;OAGG;IACH,uBAFU,UAAU,CAES;IAE7B;;;;OAIG;IACH,gBAFU,UAAU,CAEE;IAEtB;;;OAGG;IACH,gBAFU,UAAU,CAEE;IAEtB;;;;;;;;;;;;OAYG;IACH,cAFU,YAAY,CAEF;IAEpB;;;;;;;;;;;OAWG;IACH,cAFU,UAAU,CAEA;IAEpB;;;;;OAKG;IACH,cAFU,YAAY,CAEF;IAEpB;;;;;OAKG;IACH,cAFU,YAAY,CAEF;IAEpB;;;;;;OAMG;IACH,cAFU,YAAY,CAEF;IAEpB;;;OAGG;IACH,eAFU,YAAY,CAED;IAErB;;;OAGG;IACH,wBAFU,UAAU,CAEU;IAE9B;;;OAGG;IACH,iBAFU,UAAU,CAEG;IAEvB;;OAEG;IACH,gBAFU,MAAM,CAEG;IAEnB;;;OAGG;IACH,mBAFU,UAAU,CAEK;IAEzB;;;;;;;;;;;;;OAaG;IACH,gBAFU,YAAY,CAEA;IAEtB;;;OAGG;IACH,iBAFU,YAAY,CAEC;IAEvB;;;OAGG;IACH,iBAFU,YAAY,CAEC;IAEvB;;;OAGG;IACH,kBAFU,YAAY,CAEE;IAExB;;;OAGG;IACH,2BAFU,UAAU,CAEa;IAEjC;;;OAGG;IACH,oBAFU,UAAU,CAEM;IAE1B;;;;;;;;;;;;;;;OAeG;IACH,gBAFU,MAAM,CAEG;IAEnB;;;;;;;;;;;;OAYG;IACH,gBAFU,YAAY,CAEA;IAEtB;;;;;OAKG;IACH,cAFU,UAAU,CAEA;IAEpB;;;;OAIG;IACH,gBAFU,MAAM,CAEG;IAEnB;;;;;OAKG;IACH,kBAFU,UAAU,CAEI;IAExB;;;;;;;OAOG;IACH,aAFU,UAAU,CAED;IAEnB;;;OAGG;IACH,gBAFU,YAAY,CAEA;IAEtB;;;OAGG;IACH,iBAFU,YAAY,CAEC;IAEvB;;;;;OAKG;IACH,yBAFU,YAAY,CAES;IAE/B;;;OAGG;IACH,0BAFU,YAAY,CAEU;IAEhC;;;;;;;;;;;;;;;;;;;;;OAqBG;IACH,aAFU,MAAM,CAEA;IAEhB;;;;;;;;;;;;;;OAcG;IACH,WAFU,UAAU,CAEH;IAEjB;;;OAGG;IACH,YAFU,MAAM,CAED;IAEf;;;;;;;;;;OAUG;IACH,YAFU,YAAY,CAEJ;IAElB;;;;OAIG;IACH,cAFU,YAAY,CAEF;IAEpB;;;;;;;;;;OAUG;IACH,gBAFU,YAAY,CAEA;IAEtB;;;;;;;;;;;;;;;;;OAiBG;IACH,cAFU,YAAY,CAEF;IAEpB;;;;;;;;;;;;OAYG;IACH,kBAFU,YAAY,CAEE;IAExB;;;;;;;;;;OAUG;IACH,uBAFU,YAAY,CAEO;IAyN7B;;OAEG;IACH,kBAFa,OAAO,CAInB;IAED;;;;;;;;;;OAUG;IACH,uBAHa;QAAC,MAAM,EAAE,iBAAiB,CAAC;QAAC,cAAc,EAAE,MAAM,CAAC;QAAC,aAAa,EAAE,MAAM,CAAC;QACtF,UAAc,EAAE,MAAM,CAAC;QAAC,WAAW,EAAE,MAAM,CAAC;QAAC,cAAc,EAAE,MAAM,CAAC;QAAC,YAAY,EAAE,MAAM,CAAA;KAAC,CAc1F;CA+BJ"}

package/src/engine/physics/cloth/solver/ClothState.js

@@ -1,6 +1,8 @@
 import { assert } from "../../../../core/assert.js";
+import { csr_build_incidence } from "../../../../core/graph/csr/csr_build_incidence.js";
 import { CCR_STRIDE } from "../collider/ClothColliderRecord.js";
 import { cloth_color_order, cloth_color_particles } from "./cloth_color_particles.js";
+import { cloth_particle_of_source } from "./cloth_particle_of_source.js";
 import { CLOTH_COLLIDER_SLOTS } from "./cloth_solver_constants.js";
 import { CLOTH_SELF_PAIRS_PER_PARTICLE } from "./cloth_self_find.js";
 import { CLOTH_CONTACT_SLOTS } from "./constraint/cloth_contact_row.js";
@@ -787,9 +789,7 @@ export class ClothState {
         // `order` maps permuted → source; the rows need source → permuted.
         const particle_of_source = new Int32Array(particle_count);
 
-        for (let i = 0; i < particle_count; i++) {
-            particle_of_source[order[i]] = i;
-        }
+        cloth_particle_of_source(particle_of_source, order, particle_count);
 
         const state = new ClothState();
 
@@ -852,9 +852,15 @@ export class ClothState {
             state.bend_penalty[row] = stiffness < Infinity ? stiffness : 0;
         }
 
-        build_adjacency(
+        // Grouping the flat particle table gives the flat index `row·2 + slot`,
+        // which is the packed `(row << 1) | slot` the stretch accumulation
+        // decodes, already in ascending row order within each particle — so the
+        // row tables are walked forwards during a sweep even though the
+        // particles are in colour order. The bend table below is the same with
+        // `(row << 2) | slot`.
+        csr_build_incidence(
             state.stretch_adjacency_offset, state.stretch_adjacency,
-            state.stretch_particle, stretch_count, 2, particle_count
+            state.stretch_particle, stretch_count * 2, particle_count
         );
 
         for (let row = 0; row < leash_count; row++) {
@@ -877,12 +883,13 @@ export class ClothState {
                 : particle_of_source[leash_source[row]];
         }
 
-        build_adjacency(
+        csr_build_incidence(
             state.bend_adjacency_offset, state.bend_adjacency,
-            state.bend_particle, bend_count, 4, particle_count
+            state.bend_particle, bend_count * 4, particle_count
         );
 
-        build_unary_adjacency(
+        // A unary row kind's flat index is its row index: nothing to unpack.
+        csr_build_incidence(
             state.leash_adjacency_offset, state.leash_adjacency,
             state.leash_particle, leash_count, particle_count
         );
@@ -904,7 +911,7 @@ export class ClothState {
             state.backstop_plane[row * 6 + 4] = 1;
         }
 
-        build_unary_adjacency(
+        csr_build_incidence(
             state.backstop_adjacency_offset, state.backstop_adjacency,
             state.backstop_particle, backstop_count, particle_count
         );
@@ -1215,70 +1222,3 @@ function allocate(
 
     assert.equal(cursor, total, 'buffer cursor at end of allocation');
 }
-
-/**
- * The {@link build_adjacency} of a **unary** row kind: one particle per row, so
- * an entry is a bare row index rather than a packed `(row, slot)` pair and
- * there is nothing to shift.
- *
- * @param {Int32Array} offset out, `particle_count + 1`
- * @param {Int32Array} adjacency out, `row_count`
- * @param {Int32Array} row_particle particle index per row
- * @param {number} row_count
- * @param {number} particle_count
- * @private
- */
-function build_unary_adjacency(offset, adjacency, row_particle, row_count, particle_count) {
-    for (let row = 0; row < row_count; row++) {
-        offset[row_particle[row] + 1]++;
-    }
-
-    for (let i = 0; i < particle_count; i++) {
-        offset[i + 1] += offset[i];
-    }
-
-    const cursor = offset.slice(0, particle_count);
-
-    for (let row = 0; row < row_count; row++) {
-        adjacency[cursor[row_particle[row]]++] = row;
-    }
-}
-
-/**
- * Counting sort of `(particle, row, slot)` incidences into CSR, with the slot
- * folded into the low bits of each entry so the accumulation loop reads one
- * word per row it touches.
- *
- * Entries within a particle come out in ascending row order, which keeps the
- * row tables walked forwards during a sweep even though the particles are in
- * colour order.
- *
- * @param {Int32Array} offset out, `particle_count + 1`
- * @param {Int32Array} adjacency out, `row_count * arity`
- * @param {Int32Array} row_particle particle indices, `arity` per row
- * @param {number} row_count
- * @param {number} arity 2 for stretch, 4 for bend
- * @param {number} particle_count
- * @private
- */
-function build_adjacency(offset, adjacency, row_particle, row_count, arity, particle_count) {
-    const shift = arity === 2 ? 1 : 2;
-
-    for (let i = 0; i < row_count * arity; i++) {
-        offset[row_particle[i] + 1]++;
-    }
-
-    for (let i = 0; i < particle_count; i++) {
-        offset[i + 1] += offset[i];
-    }
-
-    const cursor = offset.slice(0, particle_count);
-
-    for (let row = 0; row < row_count; row++) {
-        for (let slot = 0; slot < arity; slot++) {
-            const particle = row_particle[row * arity + slot];
-
-            adjacency[cursor[particle]++] = (row << shift) | slot;
-        }
-    }
-}

package/src/engine/physics/cloth/solver/cloth_color_particles.d.ts

@@ -19,17 +19,19 @@
  * against 76 for its 14,802 tetrahedra — the same asymmetry, and the reason
  * this design colours vertices rather than constraints.
  *
- * This runs **once**, at build time, on a `Graph` object. The runtime never
- * sees a graph: {@link ClothState} bakes the result into a permuted particle
- * order plus a range per colour, so the sweep is a pair of nested counted
- * loops over contiguous indices.
+ * This runs **once**, at build time, on the sorted CSR adjacency
+ * {@link cloth_particle_coupling} builds — the same edge set the
+ * self-collision exclusions are. The runtime never sees a graph:
+ * {@link ClothState} bakes the result into a permuted particle order plus a
+ * range per colour, so the sweep is a pair of nested counted loops over
+ * contiguous indices.
  *
  * The greedy colouriser is fed a largest-degree-first order (Welsh–Powell),
  * which is the cheap heuristic that gets a regular triangulated sheet down to
- * the 8–10 colours §5.4 predicts. The result is checked with the engine's own
- * {@link validateGraphColoring} behind `assert.*`, so a colouring that would
- * let two coupled particles race is caught in a dev build and compiles out of
- * a shipped one.
+ * the 8–10 colours §5.4 predicts. The result is checked with
+ * {@link csr_graph_validate_coloring} behind `assert.*`, so a colouring that
+ * would let two coupled particles race is caught in a dev build and compiles
+ * out of a shipped one.
  *
  * @author Alex Goldring
  * @copyright Company Named Limited (c) 2026

package/src/engine/physics/cloth/solver/cloth_color_particles.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"cloth_color_particles.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/physics/cloth/solver/cloth_color_particles.js"],"names":[],"mappings":"AAKA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAmCG;AAEH;;;;;;;;;GASG;AACH,sDAPW,MAAM,oBACN,UAAU,GAAC,MAAM,EAAE,iBACnB,MAAM,iBACN,UAAU,GAAC,MAAM,EAAE,cACnB,MAAM,GACJ,WAAW,CAyFvB;AAmCD;;;;;;;;;;;;;GAaG;AACH,0CANW,WAAW,kBACX,MAAM,GACJ;IAAC,YAAY,EAAE,MAAM,CAAC;IAAC,aAAa,EAAE,UAAU,CAAC;IAAC,KAAK,EAAE,UAAU,CAAA;CAAC,CAmChF"}
+{"version":3,"file":"cloth_color_particles.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/physics/cloth/solver/cloth_color_particles.js"],"names":[],"mappings":"AAMA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAqCG;AAEH;;;;;;;;;GASG;AACH,sDAPW,MAAM,oBACN,UAAU,GAAC,MAAM,EAAE,iBACnB,MAAM,iBACN,UAAU,GAAC,MAAM,EAAE,cACnB,MAAM,GACJ,WAAW,CA+BvB;AA8BD;;;;;;;;;;;;;GAaG;AACH,0CANW,WAAW,kBACX,MAAM,GACJ;IAAC,YAAY,EAAE,MAAM,CAAC;IAAC,aAAa,EAAE,UAAU,CAAC;IAAC,KAAK,EAAE,UAAU,CAAA;CAAC,CAuBhF"}

package/src/engine/physics/cloth/solver/cloth_color_particles.js

@@ -1,7 +1,8 @@
 import { assert } from "../../../../core/assert.js";
-import { colorizeGraphGreedy } from "../../../../core/graph/coloring/colorizeGraphGreedy.js";
-import { validateGraphColoring } from "../../../../core/graph/coloring/validateGraphColoring.js";
-import { Graph } from "../../../../core/graph/v2/Graph.js";
+import { csr_build_incidence } from "../../../../core/graph/csr/csr_build_incidence.js";
+import { csr_graph_color_greedy } from "../../../../core/graph/csr/csr_graph_color_greedy.js";
+import { csr_graph_validate_coloring } from "../../../../core/graph/csr/csr_graph_validate_coloring.js";
+import { cloth_particle_coupling } from "./cloth_particle_coupling.js";
 
 /**
  * # Particle-graph colouring for the cloth solver
@@ -24,17 +25,19 @@ import { Graph } from "../../../../core/graph/v2/Graph.js";
  * against 76 for its 14,802 tetrahedra — the same asymmetry, and the reason
  * this design colours vertices rather than constraints.
  *
- * This runs **once**, at build time, on a `Graph` object. The runtime never
- * sees a graph: {@link ClothState} bakes the result into a permuted particle
- * order plus a range per colour, so the sweep is a pair of nested counted
- * loops over contiguous indices.
+ * This runs **once**, at build time, on the sorted CSR adjacency
+ * {@link cloth_particle_coupling} builds — the same edge set the
+ * self-collision exclusions are. The runtime never sees a graph:
+ * {@link ClothState} bakes the result into a permuted particle order plus a
+ * range per colour, so the sweep is a pair of nested counted loops over
+ * contiguous indices.
  *
  * The greedy colouriser is fed a largest-degree-first order (Welsh–Powell),
  * which is the cheap heuristic that gets a regular triangulated sheet down to
- * the 8–10 colours §5.4 predicts. The result is checked with the engine's own
- * {@link validateGraphColoring} behind `assert.*`, so a colouring that would
- * let two coupled particles race is caught in a dev build and compiles out of
- * a shipped one.
+ * the 8–10 colours §5.4 predicts. The result is checked with
+ * {@link csr_graph_validate_coloring} behind `assert.*`, so a colouring that
+ * would let two coupled particles race is caught in a dev build and compiles
+ * out of a shipped one.
  *
  * @author Alex Goldring
  * @copyright Company Named Limited (c) 2026
@@ -56,83 +59,25 @@ export function cloth_color_particles(
     bend_particle, bend_count
 ) {
     assert.isNonNegativeInteger(particle_count, 'particle_count');
-    assert.isNonNegativeInteger(stretch_count, 'stretch_count');
-    assert.isNonNegativeInteger(bend_count, 'bend_count');
 
-    if (particle_count === 0) {
-        return new Uint32Array(0);
-    }
-
-    const graph = new Graph();
-
-    // Nodes are the particle indices themselves, inserted in order, so the
-    // colouriser's node array is the identity permutation and `colors[i]` is
-    // the colour of particle `i` without a second lookup.
-    for (let i = 0; i < particle_count; i++) {
-        graph.addNode(i);
-    }
-
-    // `Graph#hasEdge` is identity-based, so the same pair added twice becomes
-    // two edges and shows up twice in a neighbour list. A garment adds every
-    // hinge's shared edge once as a stretch row and again as a bend pair, so
-    // the duplicates are the common case rather than the exception; they cost
-    // the colouriser a linear `indexOf` each. Fold them here instead.
-    const seen = new Set();
-
-    /**
-     * @param {number} a
-     * @param {number} b
-     */
-    const couple = (a, b) => {
-        if (a === b) {
-            return;
-        }
-
-        const key = a < b ? a * particle_count + b : b * particle_count + a;
+    const colors = new Uint32Array(particle_count);
 
-        if (seen.has(key)) {
-            return;
-        }
-
-        seen.add(key);
-
-        graph.createEdge(a, b);
-    };
-
-    // A stretch row couples its two endpoints.
-    for (let row = 0; row < stretch_count; row++) {
-        const a = stretch_particle[row * 2];
-        const b = stretch_particle[row * 2 + 1];
-
-        assert.ok(a >= 0 && a < particle_count, `stretch row ${row} particle 0 (=${a}) out of range`);
-        assert.ok(b >= 0 && b < particle_count, `stretch row ${row} particle 1 (=${b}) out of range`);
-
-        couple(a, b);
+    if (particle_count === 0) {
+        return colors;
     }
 
-    // A bend stencil couples all six pairs of its four particles — every one
-    // of them appears in the same row, so any two of them writing at once is
-    // the race the colouring exists to prevent.
-    for (let row = 0; row < bend_count; row++) {
-        const base = row * 4;
-
-        for (let i = 0; i < 4; i++) {
-            const a = bend_particle[base + i];
-
-            assert.ok(a >= 0 && a < particle_count, `bend row ${row} particle ${i} (=${a}) out of range`);
-
-            for (let j = i + 1; j < 4; j++) {
-                couple(a, bend_particle[base + j]);
-            }
-        }
-    }
+    const { offset, partner } = cloth_particle_coupling(
+        particle_count,
+        stretch_particle, stretch_count,
+        bend_particle, bend_count
+    );
 
-    const order = order_by_descending_degree(graph, particle_count);
+    const order = order_by_descending_degree(offset, particle_count);
 
-    const colors = colorizeGraphGreedy(graph, order);
+    csr_graph_color_greedy(colors, offset, partner, order, particle_count);
 
     assert.ok(
-        validateGraphColoring(colors, graph),
+        csr_graph_validate_coloring(colors, offset, partner, particle_count),
         'cloth particle colouring is invalid — two coupled particles share a colour'
     );
 
@@ -147,18 +92,13 @@ export function cloth_color_particles(
  * Ties are broken by particle index so the ordering — and therefore the whole
  * baked layout — is a deterministic function of the topology alone.
  *
- * @param {Graph<number>} graph
+ * @param {Int32Array} offset CSR offsets of the deduplicated particle graph, so
+ *   a row's length is the particle's degree
  * @param {number} particle_count
  * @returns {Uint32Array}
  * @private
  */
-function order_by_descending_degree(graph, particle_count) {
-    const degree = new Int32Array(particle_count);
-
-    for (let i = 0; i < particle_count; i++) {
-        degree[i] = graph.getNeighbours(i).length;
-    }
-
+function order_by_descending_degree(offset, particle_count) {
     const order = new Uint32Array(particle_count);
 
     for (let i = 0; i < particle_count; i++) {
@@ -167,7 +107,7 @@ function order_by_descending_degree(graph, particle_count) {
 
     // `Array#sort` over a typed array is a numeric sort already; the comparator
     // is here for the tie-break, not for the ordering of the degrees.
-    order.sort((a, b) => (degree[b] - degree[a]) || (a - b));
+    order.sort((a, b) => ((offset[b + 1] - offset[b]) - (offset[a + 1] - offset[a])) || (a - b));
 
     return order;
 }
@@ -200,21 +140,9 @@ export function cloth_color_order(colors, particle_count) {
     }
 
     const colour_offset = new Int32Array(colour_count + 1);
-
-    for (let i = 0; i < particle_count; i++) {
-        colour_offset[colors[i] + 1]++;
-    }
-
-    for (let c = 0; c < colour_count; c++) {
-        colour_offset[c + 1] += colour_offset[c];
-    }
-
-    const cursor = colour_offset.slice(0, colour_count);
     const order = new Int32Array(particle_count);
 
-    for (let i = 0; i < particle_count; i++) {
-        order[cursor[colors[i]]++] = i;
-    }
+    csr_build_incidence(colour_offset, order, colors, particle_count, colour_count);
 
     return { colour_count, colour_offset, order };
 }

package/src/engine/physics/cloth/solver/cloth_contact_find.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"cloth_contact_find.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/physics/cloth/solver/cloth_contact_find.js"],"names":[],"mappings":"AAgHA;;;;;;;;;;;;;;;;;;;;;;;GAuBG;AACH,6DAbW,YAAY,GAAC,YAAY,QACzB,UAAU,SACV,MAAM,MACN,MAAM,oBAGN,MAAM,GAKJ,MAAM,CAwLlB;AAvSD;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GA2EG;AAEH;;;;;;;;;GASG;AACH,mCAFU,MAAM,CAEsB"}
+{"version":3,"file":"cloth_contact_find.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/physics/cloth/solver/cloth_contact_find.js"],"names":[],"mappings":"AAiHA;;;;;;;;;;;;;;;;;;;;;;;GAuBG;AACH,6DAbW,YAAY,GAAC,YAAY,QACzB,UAAU,SACV,MAAM,MACN,MAAM,oBAGN,MAAM,GAKJ,MAAM,CAwLlB;AAvSD;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GA2EG;AAEH;;;;;;;;;GASG;AACH,mCAFU,MAAM,CAEsB"}

package/src/engine/physics/cloth/solver/cloth_contact_find.js

@@ -1,3 +1,4 @@
+import { v3_length } from "../../../../core/geom/vec3/v3_length.js";
 import {
     CCR_AABB_MAX_X,
     CCR_AABB_MAX_Y,
@@ -172,7 +173,7 @@ export function cloth_contact_find(state, table, keys, count, dt, kinematic_trav
     for (let record = 0; record < count; record++) {
         const r = record * CCR_STRIDE;
 
-        TRAVEL[record] = Math.hypot(
+        TRAVEL[record] = v3_length(
             table[r + CCR_TX] - table[r + CCR_PREV_TX],
             table[r + CCR_TY] - table[r + CCR_PREV_TY],
             table[r + CCR_TZ] - table[r + CCR_PREV_TZ]
@@ -218,7 +219,7 @@ export function cloth_contact_find(state, table, keys, count, dt, kinematic_trav
         // How far this particle carries its current velocity across the step.
         // Hoisted out of the record loop: it is a property of the particle, and
         // the loop below is the hot one.
-        const travel = dt * Math.hypot(velocity[p], velocity[p + 1], velocity[p + 2]) + kinematic_travel;
+        const travel = dt * v3_length(velocity[p], velocity[p + 1], velocity[p + 2]) + kinematic_travel;
 
         let found = 0;
 

package/src/engine/physics/cloth/solver/cloth_hold_line.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"cloth_hold_line.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/physics/cloth/solver/cloth_hold_line.js"],"names":[],"mappings":"AAyGA;;;;;;;;;;;;;;GAcG;AACH,0CAPW,YAAY,YACZ,YAAY,QACZ,UAAU,cACV,MAAM,GACJ,OAAO,CAiGnB;AAED;;;;;;;;;;GAUG;AACH,8DANW,YAAY,qBACZ,MAAM,kBACN,YAAY,GAAC,YAAY,GAAC,IAAI,GAE5B,MAAM,CAiIlB;AAjVD;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAgEG;AAEH;;;;;;;;;;;;;GAaG;AACH,wCAFU,MAAM,CAEkC;AAElD;;;GAGG;AACH,oCAFU,MAAM,CAEuB"}
+{"version":3,"file":"cloth_hold_line.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/physics/cloth/solver/cloth_hold_line.js"],"names":[],"mappings":"AAyGA;;;;;;;;;;;;;;GAcG;AACH,0CAPW,YAAY,YACZ,YAAY,QACZ,UAAU,cACV,MAAM,GACJ,OAAO,CAiGnB;AAED;;;;;;;;;;GAUG;AACH,8DANW,YAAY,qBACZ,MAAM,kBACN,YAAY,GAAC,YAAY,GAAC,IAAI,GAE5B,MAAM,CAqHlB;AArUD;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAgEG;AAEH;;;;;;;;;;;;;GAaG;AACH,wCAFU,MAAM,CAEkC;AAElD;;;GAGG;AACH,oCAFU,MAAM,CAEuB"}

package/src/engine/physics/cloth/solver/cloth_hold_line.js

@@ -12,7 +12,7 @@ import {
     CVA_H_YZ,
     CVA_H_ZZ,
     CVA_STRIDE,
-    CVA_TRUST
+    cloth_vertex_accumulator_seed
 } from "./cloth_vertex_accumulator.js";
 
 /**
@@ -268,19 +268,7 @@ export function cloth_hold_line_turn(state, line, inverse_h_squared, collider_ta
 
         // The vertex update's assembly, seeded the same way, with only the rows
         // the turn can see.
-        const mass_over_h_squared = inverse_h_squared / inverse_mass;
-
-        accumulator[CVA_F_X] = -mass_over_h_squared * (x - inertial[p]);
-        accumulator[CVA_F_Y] = -mass_over_h_squared * (y - inertial[p + 1]);
-        accumulator[CVA_F_Z] = -mass_over_h_squared * (z - inertial[p + 2]);
-
-        accumulator[CVA_H_XX] = mass_over_h_squared;
-        accumulator[CVA_H_YY] = mass_over_h_squared;
-        accumulator[CVA_H_ZZ] = mass_over_h_squared;
-        accumulator[CVA_H_XY] = 0;
-        accumulator[CVA_H_XZ] = 0;
-        accumulator[CVA_H_YZ] = 0;
-        accumulator[CVA_TRUST] = Infinity;
+        cloth_vertex_accumulator_seed(accumulator, position, inertial, p, inverse_h_squared / inverse_mass);
 
         cloth_leash_accumulate(accumulator, state, i);
         cloth_backstop_accumulate(accumulator, state, i);

package/src/engine/physics/cloth/solver/cloth_kinetic_energy.d.ts

@@ -0,0 +1,21 @@
+/**
+ * Total kinetic energy of a cloth's free particles, `Σ ½·|v|²/w` over every
+ * particle with a non-zero inverse mass `w`, in joules.
+ *
+ * A held particle (`w = 0`) is skipped rather than treated as infinitely heavy:
+ * its velocity is whatever its holder gave it, and a cloth hanging still from a
+ * moving hand has come to rest in every sense §7 P5 means. A cloth that has
+ * settled reads zero and a cloth that is ringing does not, which is why the
+ * measurements read this rather than a displacement threshold.
+ *
+ * A diagnostic for specs, measurements and the playgrounds; nothing in the
+ * step reads it.
+ *
+ * @param {ClothState} state
+ * @returns {number} joules
+ *
+ * @author Alex Goldring
+ * @copyright Company Named Limited (c) 2026
+ */
+export function cloth_kinetic_energy(state: ClothState): number;
+//# sourceMappingURL=cloth_kinetic_energy.d.ts.map

package/src/engine/physics/cloth/solver/cloth_kinetic_energy.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"cloth_kinetic_energy.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/physics/cloth/solver/cloth_kinetic_energy.js"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;GAkBG;AACH,yDALa,MAAM,CA8BlB"}

package/src/engine/physics/cloth/solver/cloth_kinetic_energy.js

@@ -0,0 +1,45 @@
+/**
+ * Total kinetic energy of a cloth's free particles, `Σ ½·|v|²/w` over every
+ * particle with a non-zero inverse mass `w`, in joules.
+ *
+ * A held particle (`w = 0`) is skipped rather than treated as infinitely heavy:
+ * its velocity is whatever its holder gave it, and a cloth hanging still from a
+ * moving hand has come to rest in every sense §7 P5 means. A cloth that has
+ * settled reads zero and a cloth that is ringing does not, which is why the
+ * measurements read this rather than a displacement threshold.
+ *
+ * A diagnostic for specs, measurements and the playgrounds; nothing in the
+ * step reads it.
+ *
+ * @param {ClothState} state
+ * @returns {number} joules
+ *
+ * @author Alex Goldring
+ * @copyright Company Named Limited (c) 2026
+ */
+export function cloth_kinetic_energy(state) {
+    const particle_count = state.particle_count;
+
+    const mass_inverse = state.mass_inverse;
+    const velocity = state.velocity;
+
+    let energy = 0;
+
+    for (let i = 0; i < particle_count; i++) {
+        const w = mass_inverse[i];
+
+        if (w === 0) {
+            continue;
+        }
+
+        const p = i * 3;
+
+        const vx = velocity[p];
+        const vy = velocity[p + 1];
+        const vz = velocity[p + 2];
+
+        energy += 0.5 * (vx * vx + vy * vy + vz * vz) / w;
+    }
+
+    return energy;
+}

package/src/engine/physics/cloth/solver/cloth_particle_coupling.d.ts

@@ -0,0 +1,32 @@
+/**
+ * The particle graph a cloth's rows imply: an edge between every two particles
+ * that share a row, as a sorted CSR adjacency.
+ *
+ * A stretch row couples its two endpoints; a bend stencil couples all six pairs
+ * of its four particles, since every one of them appears in the same row. Two
+ * build-time consumers want exactly this set — the colouring, where an edge is
+ * a pair that must not be updated at once (`cloth_color_particles.js`), and the
+ * self-collision exclusions, where it is a pair a row already governs
+ * (`cloth_self_find.js`) — and this is the one place it is built.
+ *
+ * The set is deduplicated, because a garment adds every hinge's shared edge
+ * once as a stretch row and again as a bend pair, so duplicates are the common
+ * case; and a row that names one particle twice couples nothing. Each particle's
+ * partners come out ascending, which is the contract the exclusion scans read.
+ *
+ * Build-time only: it allocates its result and a scratch the size of the
+ * half-edge list.
+ *
+ * @param {number} particle_count
+ * @param {Int32Array|number[]} stretch_particle particle index pairs, 2 per row
+ * @param {number} stretch_count
+ * @param {Int32Array|number[]} bend_particle particle index quads, 4 per row
+ * @param {number} bend_count
+ * @returns {{offset: Int32Array, partner: Int32Array}} `partner[offset[i] .. offset[i + 1])` are the
+ *   particles sharing a row with `i`, ascending, without `i` itself
+ */
+export function cloth_particle_coupling(particle_count: number, stretch_particle: Int32Array | number[], stretch_count: number, bend_particle: Int32Array | number[], bend_count: number): {
+    offset: Int32Array;
+    partner: Int32Array;
+};
+//# sourceMappingURL=cloth_particle_coupling.d.ts.map

package/src/engine/physics/cloth/solver/cloth_particle_coupling.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"cloth_particle_coupling.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/physics/cloth/solver/cloth_particle_coupling.js"],"names":[],"mappings":"AAGA;;;;;;;;;;;;;;;;;;;;;;;;;;GA0BG;AACH,wDARW,MAAM,oBACN,UAAU,GAAC,MAAM,EAAE,iBACnB,MAAM,iBACN,UAAU,GAAC,MAAM,EAAE,cACnB,MAAM,GACJ;IAAC,MAAM,EAAE,UAAU,CAAC;IAAC,OAAO,EAAE,UAAU,CAAA;CAAC,CAyGrD"}