@woosh/meep-engine 3.7.0 → 3.9.0

package/package.json

@@ -6,7 +6,7 @@
   "description": "Pure JavaScript game engine. Fully featured and production ready.",
   "type": "module",
   "author": "Alexander Goldring",
-  "version": "3.7.0",
+  "version": "3.9.0",
   "exports": {
     "./build/*": "./build/*",
     "./src/*": "./src/*",

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

@@ -31,6 +31,20 @@ export function ccd_sweep_segment(system: import("../ecs/PhysicsSystem.js").Phys
     z: number;
     w: number;
 }, fx: number, fy: number, fz: number, tx: number, ty: number, tz: number, exclude_entity: number, result: PhysicsSurfacePoint): number;
+/**
+ * Take back the contacts {@link record_ccd_contact} wrote this step.
+ *
+ * Call at the END of the step, after `diff_manifolds` has read them AND after
+ * `ManifoldStore#advance_frame` has rolled them into each pair's had-contacts
+ * bit — see {@link record_ccd_contact} for why they must not survive into the
+ * next step's wake pass.
+ *
+ * A slot is only cleared while it still holds the pair it was written for:
+ * `advance_frame` can grace-evict a slot, and the id it frees is reusable.
+ *
+ * @param {import("../ecs/PhysicsSystem.js").PhysicsSystem} system
+ */
+export function ccd_release_contacts(system: import("../ecs/PhysicsSystem.js").PhysicsSystem): void;
 /**
  * Post-solve continuous-collision pass over the awake set. For each awake
  * Dynamic body flagged {@link RigidBodyFlags.CCD} that moved more than
@@ -68,10 +82,11 @@ 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 and remove the
- * inbound normal component of its velocity (an inelastic stop) — 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, 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.
  *
  * Scope (v1, deliberate):
  *   - LINEAR sweep only: the orientation is held fixed through the sweep (the

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

@@ -1 +1 @@
-{"version":3,"file":"linear_sweep.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/ccd/linear_sweep.js"],"names":[],"mappings":"AA6HA;;;;;;;;;;;;;;;;;;;;;;;;;;GA0BG;AACH,0CAdW,OAAO,yBAAyB,EAAE,aAAa,SAC/C,OAAO,gDAAgD,EAAE,eAAe,YACxE;IAAC,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAA;CAAC,MACrC,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,kBACN,MAAM,UAEN,mBAAmB,GACjB,MAAM,CA2ClB;AAED;;;;;;;;;;;;;;;;;;;;GAoBG;AACH,oCAFW,OAAO,yBAAyB,EAAE,aAAa,QAwGzD;AAvTD;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAgCG;AAEH;;;;;;;;;;;;;;;GAeG;AACH,qCAFU,MAAM,CAE2B;oCArDP,mCAAmC"}
+{"version":3,"file":"linear_sweep.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/ccd/linear_sweep.js"],"names":[],"mappings":"AAgKA;;;;;;;;;;;;;;;;;;;;;;;;;;GA0BG;AACH,0CAdW,OAAO,yBAAyB,EAAE,aAAa,SAC/C,OAAO,gDAAgD,EAAE,eAAe,YACxE;IAAC,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAA;CAAC,MACrC,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,kBACN,MAAM,UAEN,mBAAmB,GACjB,MAAM,CA2ClB;AAuID;;;;;;;;;;;;GAYG;AACH,6CAFW,OAAO,yBAAyB,EAAE,aAAa,QAezD;AAED;;;;;;;;;;;;;;;;;;;;GAoBG;AACH,oCAFW,OAAO,yBAAyB,EAAE,aAAa,QAoHzD;AArgBD;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAiCG;AAEH;;;;;;;;;;;;;;;GAeG;AACH,qCAFU,MAAM,CAE2B;oCAtDP,mCAAmC"}

package/src/engine/physics/ccd/linear_sweep.js

@@ -1,4 +1,6 @@
+import { PosedShape3D } from "../../../core/geom/3d/shape/PosedShape3D.js";
 import { BODY_INDEX_ABSENT, body_id_index, pack_body_id } from "../body/BodyStorage.js";
+import { combine_friction, combine_restitution } from "../contact/combine_material.js";
 import { BodyKind } from "../ecs/BodyKind.js";
 import { is_sensor } from "../ecs/is_sensor.js";
 import { RigidBodyFlags } from "../ecs/RigidBodyFlags.js";
@@ -20,10 +22,11 @@ import { shape_cast } from "../queries/shape_cast.js";
  * 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 and remove the
- * inbound normal component of its velocity (an inelastic stop) — 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, 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.
  *
  * Scope (v1, deliberate):
  *   - LINEAR sweep only: the orientation is held fixed through the sweep (the
@@ -77,6 +80,27 @@ const _ray = {
 /** Sweep result reused across bodies inside {@link ccd_resolve}. */
 const _hit = new PhysicsSurfacePoint();
 
+/**
+ * The swept shape held at its CLAMPED pose, for the contact-witness support
+ * query in {@link record_ccd_contact}.
+ * @type {PosedShape3D}
+ */
+const _clamped = new PosedShape3D();
+
+/** Contact witness written by {@link _clamped}'s support query. */
+const _witness = new Float64Array(3);
+
+/**
+ * Slots {@link record_ccd_contact} wrote this step, as `(slot, idA, idB)`
+ * triples, for {@link ccd_release_contacts} to take back out again. Grows by
+ * doubling; module-scoped so the pass allocates nothing in steady state.
+ * @type {Uint32Array}
+ */
+let _written = new Uint32Array(3 * 16);
+
+/** Number of triples currently in {@link _written}. */
+let _written_count = 0;
+
 /**
  * CCD-eligible body indices of the current pass, ordered by ENTITY id.
  * Grows by doubling; module-scoped so the pass allocates nothing in steady
@@ -109,7 +133,13 @@ let _self_body_id = -1;
  *     volume (same rule and rationale as {@link raycast});
  *   - layer/mask + the user contact filter via `system.__pair_filter`, so CCD
  *     never clamps a body onto geometry the discrete solver would not
- *     collide it with.
+ *     collide it with. Asked in ENTITY-CANONICAL order, which is the order
+ *     `generate_pairs` asks in: layer/mask is symmetric, but the user callback
+ *     is handed `(entityA, entityB, colliderA, colliderB)` and need not be, so
+ *     asking in sweep order let a filter accept for CCD what the broadphase
+ *     had rejected. The sweep then clamped the body onto geometry the discrete
+ *     pipeline had no pair for — and, once the sweep began reporting its own
+ *     impacts ({@link record_ccd_contact}), raised contact events for it.
  *
  * @param {number} entity candidate body's entity
  * @param {Collider} collider candidate body's primary collider
@@ -119,7 +149,12 @@ let _self_body_id = -1;
 function _ccd_filter(entity, collider, body_id) {
     if (body_id === _self_body_id) return false;
     if (is_sensor(_system.__bodies[body_id_index(body_id)], collider)) return false;
-    if (_self_body_id !== -1 && !_system.__pair_filter(_self_body_id, body_id)) return false;
+    if (_self_body_id !== -1) {
+        const self_entity = _system.storage.entity_at(body_id_index(_self_body_id));
+        const a = self_entity < entity ? _self_body_id : body_id;
+        const b = self_entity < entity ? body_id : _self_body_id;
+        if (!_system.__pair_filter(a, b)) return false;
+    }
     return true;
 }
 
@@ -193,6 +228,167 @@ export function ccd_sweep_segment(
     return frac < 1 ? frac : 1;
 }
 
+/**
+ * Record the impact the sweep just resolved as a contact on the pair's
+ * manifold, so this step's event diff reports it.
+ *
+ * ## Why the sweep has to report its own impacts
+ *
+ * The clamp parks the body on the just-SEPARATING side of the TOI bisection —
+ * {@link shape_cast} reports `t_lo`, the last sample proven NOT to overlap, and
+ * that is exactly the property the clamp relies on. The discrete narrowphase
+ * emits a contact only for STRICTLY POSITIVE penetration. So the pose CCD
+ * produces is, by construction, the one pose the narrowphase calls "not
+ * touching": a body stopped dead by the sweep raised no ContactBegin, and kept
+ * raising none for as long as it sat there.
+ *
+ * That it ever appeared to work at all was luck about which side of tangency
+ * the bisection landed on. A sphere driven at a box's FACE came to rest ~1e-7 m
+ * INSIDE it — `gjk`'s own tolerance against a flat support — and the NEXT
+ * step's narrowphase found that sliver and fired a step late. The same sphere,
+ * same speed, driven at the same box's CORNER came to rest a few µm CLEAR of
+ * it, and nothing was ever reported: the body sat there blocked and silent for
+ * as long as it was stepped. Same sweep, same stopping step, same geometric
+ * distance, opposite answers — split by the rounding rather than by the
+ * feature, and reproducing identically through the closed-form sphere-box path,
+ * so it was never about simplex quality on hulls.
+ *
+ * The sweep is the only part of the pipeline that SAW the impact: it happened
+ * mid-step, between two poses the discrete narrowphase never samples. So it is
+ * the part that has to report it. It knows the blocker, the pose at first
+ * contact, and the surface normal there — that is a contact, and it is written
+ * as one. The pass runs before the event diff, so the Begin lands on the step
+ * the impact happened rather than the step after it.
+ *
+ * ## What is written
+ *
+ * A single contact at depth ZERO. The sweep stopped the body ON the surface, so
+ * the pair is touching and the penetration is nothing; that is the honest depth
+ * and the one the solver's `PENETRATION_SLOP`-gated position bias ignores.
+ * Both witness points are the same point — at a tangency the two surfaces meet
+ * there — and `feature_id` is 0, no stable cross-frame feature, same as the
+ * narrowphase's own GJK + EPA fallback.
+ *
+ * The contact is a REPORT, not state, and {@link ccd_release_contacts} takes it
+ * back out at the end of the step — after the diff has read it and after
+ * `advance_frame` has rolled it into the pair's had-contacts bit, so the next
+ * step still resolves to Stay rather than a second Begin. Leaving it in the
+ * slot overnight is not harmless: `PhysicsSystem.__wake_pairs` runs before the
+ * narrowphase and wakes a sleeper LEVEL-triggered on `contact_count > 0`, so a
+ * body ground against a sleeping one re-woke it every step for a contact the
+ * solver never acts on (this pass runs after the solver), leaving it flickering
+ * awake and asleep instead of sleeping through it.
+ *
+ * A pair the narrowphase already resolved this step is left alone — its
+ * manifold is the better one, and only an impact the discrete pass could not
+ * see is this pass's to report.
+ *
+ * @param {import("../ecs/PhysicsSystem.js").PhysicsSystem} system
+ * @param {number} body_idx swept body's storage index
+ * @param {Collider} collider the swept (primary) collider
+ * @param {Transform} tr the swept body's transform, already clamped to the
+ *   contact pose
+ * @param {PhysicsSurfacePoint} hit the sweep result that produced the clamp
+ */
+function record_ccd_contact(system, body_idx, collider, tr, hit) {
+    const blocker_id = hit.body_id;
+
+    const storage = system.storage;
+    if (blocker_id < 0 || !storage.is_valid(blocker_id)) return;
+
+    const blocker_idx = body_id_index(blocker_id);
+    const self_id = pack_body_id(body_idx, storage.generation_at(body_idx));
+
+    // Entity-canonical roles, matching `generate_pairs`. The A/B assignment has
+    // to be the one the broadphase makes, or this pair gets a SECOND slot under
+    // the mirrored key and the two disagree about everything after.
+    const self_is_a = storage.entity_at(body_idx) < storage.entity_at(blocker_idx);
+    const idA = self_is_a ? self_id : blocker_id;
+    const idB = self_is_a ? blocker_id : self_id;
+
+    const manifolds = system.manifolds;
+    const slot = manifolds.acquire(idA, idB);
+    if (manifolds.contact_count(slot) > 0) return;
+
+    // `hit.normal` is the blocker's outward surface normal, pointing back at the
+    // swept body.
+    const n = hit.normal;
+
+    // Contact witness: the swept shape's own surface point facing the blocker,
+    // which is its support along −n (a sphere's near pole, a box's leading
+    // corner). Taking it from the MOVER rather than the blocker is what keeps it
+    // near the actual contact patch — a large blocker's support along a face
+    // axis is a corner metres away, which is why the narrowphase's EPA fallback
+    // refuses support witnesses and falls back to body centres.
+    _clamped.setup(collider.shape, tr.position, tr.rotation);
+    _clamped.support(_witness, 0, -n[0], -n[1], -n[2]);
+
+    const wx = _witness[0], wy = _witness[1], wz = _witness[2];
+
+    // Per-contact materials, combined exactly as `dispatch_pair` does.
+    const blocker_collider = system.__primary_collider(blocker_idx);
+    let friction = 0;
+    let restitution = 0;
+    if (blocker_collider !== null
+        && collider.friction !== undefined
+        && blocker_collider.friction !== undefined
+    ) {
+        friction = combine_friction(collider.friction, blocker_collider.friction);
+        restitution = combine_restitution(collider.restitution, blocker_collider.restitution);
+    }
+
+    // The stored normal points from the slot's OWN body B toward its body A.
+    const s = self_is_a ? 1 : -1;
+
+    manifolds.set_contact(
+        slot, 0,
+        wx, wy, wz,
+        wx, wy, wz,
+        n[0] * s, n[1] * s, n[2] * s,
+        0, 0,
+        friction, restitution,
+    );
+
+    const w = _written_count * 3;
+    if (w === _written.length) {
+        const next = new Uint32Array(_written.length * 2);
+        next.set(_written);
+        _written = next;
+    }
+    _written[w] = slot;
+    _written[w + 1] = idA;
+    _written[w + 2] = idB;
+    _written_count++;
+}
+
+/**
+ * Take back the contacts {@link record_ccd_contact} wrote this step.
+ *
+ * Call at the END of the step, after `diff_manifolds` has read them AND after
+ * `ManifoldStore#advance_frame` has rolled them into each pair's had-contacts
+ * bit — see {@link record_ccd_contact} for why they must not survive into the
+ * next step's wake pass.
+ *
+ * A slot is only cleared while it still holds the pair it was written for:
+ * `advance_frame` can grace-evict a slot, and the id it frees is reusable.
+ *
+ * @param {import("../ecs/PhysicsSystem.js").PhysicsSystem} system
+ */
+export function ccd_release_contacts(system) {
+    if (_written_count === 0) return;
+
+    const manifolds = system.manifolds;
+
+    for (let i = 0; i < _written_count; i++) {
+        const w = i * 3;
+        const slot = _written[w];
+        if (manifolds.find(_written[w + 1], _written[w + 2]) !== slot) continue;
+        manifolds.clear_contacts(slot);
+    }
+
+    _written_count = 0;
+}
+
 /**
  * Post-solve continuous-collision pass over the awake set. For each awake
  * Dynamic body flagged {@link RigidBodyFlags.CCD} that moved more than
@@ -215,6 +411,12 @@ export function ccd_sweep_segment(
  * @param {import("../ecs/PhysicsSystem.js").PhysicsSystem} system
  */
 export function ccd_resolve(system) {
+    // Each pass owns its own report list. Dropped rather than carried if a
+    // caller never got round to releasing the previous one, so a slot id can
+    // never be cleared a step after it was written (or for a pair that has
+    // since been reallocated onto it).
+    _written_count = 0;
+
     const storage = system.storage;
     const count = storage.awake_count;
     const lists = system.__body_collider_lists;
@@ -315,5 +517,11 @@ export function ccd_resolve(system) {
             lv[1] -= vn * n[1];
             lv[2] -= vn * n[2];
         }
+
+        // Tell the world it happened. The clamp above is the whole of the
+        // collision — the discrete narrowphase samples step boundaries and this
+        // impact was between two of them — so without this the body is stopped
+        // dead and nothing is ever told. See {@link record_ccd_contact}.
+        record_ccd_contact(system, idx, primary.collider, tr, _hit);
     }
 }

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

@@ -1 +1 @@
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