@yali-engine/physics 0.0.0-stage → 0.4.0

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (32) hide show
  1. package/dist/character.d.ts +129 -0
  2. package/dist/character.js +96 -0
  3. package/dist/character.js.map +1 -0
  4. package/dist/cloth-asset.d.ts +296 -0
  5. package/dist/cloth-asset.js +706 -0
  6. package/dist/cloth-asset.js.map +1 -0
  7. package/dist/cloth.d.ts +261 -0
  8. package/dist/cloth.js +1578 -0
  9. package/dist/cloth.js.map +1 -0
  10. package/dist/collision-asset.d.ts +51 -0
  11. package/dist/collision-asset.js +157 -0
  12. package/dist/collision-asset.js.map +1 -0
  13. package/dist/components.d.ts +152 -0
  14. package/dist/components.js +193 -0
  15. package/dist/components.js.map +1 -0
  16. package/dist/gpu-shaders.gen.d.ts +5 -0
  17. package/dist/gpu-shaders.gen.js +8 -0
  18. package/dist/gpu-shaders.gen.js.map +1 -0
  19. package/dist/gpu.d.ts +2 -0
  20. package/dist/gpu.js +5 -0
  21. package/dist/gpu.js.map +1 -0
  22. package/dist/index.d.ts +19 -0
  23. package/dist/index.js +20 -0
  24. package/dist/index.js.map +1 -0
  25. package/dist/physics.d.ts +94 -0
  26. package/dist/physics.js +132 -0
  27. package/dist/physics.js.map +1 -0
  28. package/dist/plugin.d.ts +22 -0
  29. package/dist/plugin.js +102 -0
  30. package/dist/plugin.js.map +1 -0
  31. package/package.json +29 -3
  32. package/README.md +0 -3
package/dist/cloth.js.map ADDED
@@ -0,0 +1 @@
1
+ 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package/dist/collision-asset.d.ts ADDED
@@ -0,0 +1,51 @@
1
+ import { type Entity, type World } from '@yali-engine/core';
2
+ import { type PhysicsComponents } from './components.ts';
3
+ import type { Physics } from './physics.ts';
4
+ /**
5
+ * A level's collision (ADR-0090): what `yali convert --collision` writes beside a GLB as
6
+ * `<name>.collision.bin`, every piece baked into the level's frame (its root node's space).
7
+ * Hulls come from a convex decomposition, meshes are static triangle meshes, heightfields are
8
+ * centred on `center` (columns along X, rows along Z, kanduka's layout).
9
+ */
10
+ export interface CollisionAsset {
11
+ readonly pieces: readonly CollisionPiece[];
12
+ }
13
+ /** One collider of a level. `node` is the glTF node it came from (-1: none). */
14
+ export type CollisionPiece = {
15
+ readonly kind: 'hull';
16
+ readonly node: number;
17
+ readonly points: Float32Array;
18
+ } | {
19
+ readonly kind: 'mesh';
20
+ readonly node: number;
21
+ readonly vertices: Float32Array;
22
+ readonly indices: Uint32Array;
23
+ readonly doubleSided: boolean;
24
+ } | {
25
+ readonly kind: 'heightfield';
26
+ readonly node: number;
27
+ readonly rows: number;
28
+ readonly cols: number;
29
+ /** Metres between columns (X) and rows (Z). */
30
+ readonly cell: readonly [number, number];
31
+ /** The grid's centre, level frame. */
32
+ readonly center: readonly [number, number, number];
33
+ readonly heights: Float32Array;
34
+ };
35
+ /** The asset as bytes (little-endian; f32 data 4-byte aligned). */
36
+ export declare function writeCollision(asset: CollisionAsset): Uint8Array;
37
+ /** Parses `<name>.collision.bin`; errors name the byte offset. */
38
+ export declare function readCollision(bytes: Uint8Array): CollisionAsset;
39
+ /**
40
+ * Adds a level's collision to the physics world as static collider entities, the level placed
41
+ * at `at` (its root's pose: translation and rotation; collision is baked at the level's scale).
42
+ * Returns the entities, in piece order.
43
+ *
44
+ * @example
45
+ * const level = readCollision(new Uint8Array(await (await fetch('level.collision.bin')).arrayBuffer()));
46
+ * spawnCollision(world, physics, components, level, { t: [0, 0, 0] });
47
+ */
48
+ export declare function spawnCollision(world: World, physics: Physics, components: PhysicsComponents, asset: CollisionAsset, at?: {
49
+ t?: readonly number[];
50
+ r?: readonly number[];
51
+ }): Entity[];
package/dist/collision-asset.js ADDED
@@ -0,0 +1,157 @@
1
+ import { registerTransforms, YaliError } from '@yali-engine/core';
2
+ import { collider } from "./components.js";
3
+ const MAGIC = 0x4c4f4359; // 'YCOL'
4
+ const VERSION = 1;
5
+ const KIND = { hull: 0, mesh: 1, heightfield: 2 };
6
+ /** The asset as bytes (little-endian; f32 data 4-byte aligned). */
7
+ export function writeCollision(asset) {
8
+ let words = 3;
9
+ for (const p of asset.pieces) {
10
+ words += 2;
11
+ if (p.kind === 'hull')
12
+ words += 1 + p.points.length;
13
+ else if (p.kind === 'mesh')
14
+ words += 3 + p.vertices.length + p.indices.length;
15
+ else
16
+ words += 7 + p.heights.length;
17
+ }
18
+ return pack(asset, words);
19
+ }
20
+ function pack(asset, words) {
21
+ const u = new Uint32Array(words);
22
+ const f = new Float32Array(u.buffer);
23
+ let o = 0;
24
+ u[o++] = MAGIC;
25
+ u[o++] = VERSION;
26
+ u[o++] = asset.pieces.length;
27
+ for (const p of asset.pieces) {
28
+ u[o++] = KIND[p.kind];
29
+ u[o++] = p.node < 0 ? 0xffffffff : p.node;
30
+ if (p.kind === 'hull') {
31
+ u[o++] = p.points.length / 3;
32
+ f.set(p.points, o);
33
+ o += p.points.length;
34
+ }
35
+ else if (p.kind === 'mesh') {
36
+ u[o++] = p.vertices.length / 3;
37
+ u[o++] = p.indices.length;
38
+ u[o++] = p.doubleSided ? 1 : 0;
39
+ f.set(p.vertices, o);
40
+ o += p.vertices.length;
41
+ u.set(p.indices, o);
42
+ o += p.indices.length;
43
+ }
44
+ else {
45
+ u[o++] = p.rows;
46
+ u[o++] = p.cols;
47
+ f.set([p.cell[0], p.cell[1], p.center[0], p.center[1], p.center[2]], o);
48
+ o += 5;
49
+ f.set(p.heights, o);
50
+ o += p.heights.length;
51
+ }
52
+ }
53
+ return new Uint8Array(u.buffer);
54
+ }
55
+ /** Parses `<name>.collision.bin`; errors name the byte offset. */
56
+ export function readCollision(bytes) {
57
+ if (bytes.byteLength % 4 !== 0 || bytes.byteLength < 12)
58
+ throw bad(0, 'not a collision file');
59
+ const copy = bytes.byteOffset % 4 === 0 ? bytes : bytes.slice();
60
+ const u = new Uint32Array(copy.buffer, copy.byteOffset, copy.byteLength / 4);
61
+ const f = new Float32Array(copy.buffer, copy.byteOffset, copy.byteLength / 4);
62
+ if (u[0] !== MAGIC)
63
+ throw bad(0, 'not a collision file (no YCOL magic)');
64
+ if (u[1] !== VERSION)
65
+ throw bad(4, `collision file version ${u[1]}; this reader knows ${VERSION}`);
66
+ const n = u[2];
67
+ let o = 3;
68
+ const need = (k) => {
69
+ if (o + k > u.length)
70
+ throw bad(o * 4, 'the file ends early');
71
+ };
72
+ const pieces = [];
73
+ for (let i = 0; i < n; i++) {
74
+ need(2);
75
+ const kind = u[o++];
76
+ const node = u[o] === 0xffffffff ? -1 : u[o];
77
+ o++;
78
+ if (kind === KIND.hull) {
79
+ need(1);
80
+ const c = u[o++] * 3;
81
+ need(c);
82
+ pieces.push({ kind: 'hull', node, points: f.slice(o, o + c) });
83
+ o += c;
84
+ }
85
+ else if (kind === KIND.mesh) {
86
+ need(3);
87
+ const nv = u[o++] * 3;
88
+ const ni = u[o++];
89
+ const doubleSided = u[o++] !== 0;
90
+ need(nv + ni);
91
+ const vertices = f.slice(o, o + nv);
92
+ o += nv;
93
+ const indices = u.slice(o, o + ni);
94
+ o += ni;
95
+ pieces.push({ kind: 'mesh', node, vertices, indices, doubleSided });
96
+ }
97
+ else if (kind === KIND.heightfield) {
98
+ need(7);
99
+ const rows = u[o++];
100
+ const cols = u[o++];
101
+ const [cx, cz, x, y, z] = [f[o], f[o + 1], f[o + 2], f[o + 3], f[o + 4]];
102
+ o += 5;
103
+ need(rows * cols);
104
+ pieces.push({ kind: 'heightfield', node, rows, cols, cell: [cx, cz], center: [x, y, z], heights: f.slice(o, o + rows * cols) });
105
+ o += rows * cols;
106
+ }
107
+ else {
108
+ throw bad(o * 4 - 8, `unknown piece kind ${kind}`);
109
+ }
110
+ }
111
+ return { pieces };
112
+ }
113
+ function bad(at, what) {
114
+ return Object.assign(new YaliError('PHYSICS_INVALID', `Collision file, byte ${at}: ${what}.`, 'Write it with `yali convert --collision` (or writeCollision).'), { path: `byte ${at}` });
115
+ }
116
+ /**
117
+ * Adds a level's collision to the physics world as static collider entities, the level placed
118
+ * at `at` (its root's pose: translation and rotation; collision is baked at the level's scale).
119
+ * Returns the entities, in piece order.
120
+ *
121
+ * @example
122
+ * const level = readCollision(new Uint8Array(await (await fetch('level.collision.bin')).arrayBuffer()));
123
+ * spawnCollision(world, physics, components, level, { t: [0, 0, 0] });
124
+ */
125
+ export function spawnCollision(world, physics, components, asset, at = {}) {
126
+ const { Transform, GlobalTransform } = registerTransforms(world);
127
+ const t = at.t ?? [0, 0, 0];
128
+ const r = at.r ?? [0, 0, 0, 1];
129
+ // v' = v + 2w (q × v) + 2 q × (q × v): the heightfield's centre turned with the level.
130
+ const rotate = (v) => {
131
+ const [x, y, z, w] = r;
132
+ const tx = 2 * (y * v[2] - z * v[1]);
133
+ const ty = 2 * (z * v[0] - x * v[2]);
134
+ const tz = 2 * (x * v[1] - y * v[0]);
135
+ return [v[0] + w * tx + (y * tz - z * ty), v[1] + w * ty + (z * tx - x * tz), v[2] + w * tz + (x * ty - y * tx)];
136
+ };
137
+ const out = [];
138
+ for (const p of asset.pieces) {
139
+ let values;
140
+ let pos = t;
141
+ if (p.kind === 'hull')
142
+ values = collider({ hull: physics.addHull(p.points) });
143
+ else if (p.kind === 'mesh')
144
+ values = collider({ mesh: physics.addMesh(p.vertices, p.indices, p.doubleSided) });
145
+ else {
146
+ values = collider({ heightfield: physics.addHeightfield(p.rows, p.cols, p.heights, p.cell) });
147
+ const c = rotate(p.center);
148
+ pos = [t[0] + c[0], t[1] + c[1], t[2] + c[2]];
149
+ }
150
+ const e = world.spawn([Transform, GlobalTransform, components.Collider]);
151
+ world.insert(e, Transform, { t: [pos[0], pos[1], pos[2]], r: [r[0], r[1], r[2], r[3]], s: 1 });
152
+ world.insert(e, components.Collider, values);
153
+ out.push(e);
154
+ }
155
+ return out;
156
+ }
157
+ //# sourceMappingURL=collision-asset.js.map
package/dist/collision-asset.js.map ADDED
@@ -0,0 +1 @@
1
+ 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package/dist/components.d.ts ADDED
@@ -0,0 +1,152 @@
1
+ import { type Component, type ComponentValues, type Entity, type World } from '@yali-engine/core';
2
+ /** `physics.RigidBody.kind`. */
3
+ export declare const BodyKind: {
4
+ readonly Dynamic: 0;
5
+ readonly Kinematic: 1;
6
+ readonly Fixed: 2;
7
+ };
8
+ /** `physics.Collider.shape` (`dims` and `asset` per shape in `collider`'s docs). */
9
+ export declare const ShapeKind: {
10
+ readonly Sphere: 0;
11
+ readonly Capsule: 1;
12
+ readonly Box: 2;
13
+ readonly Hull: 3;
14
+ readonly Mesh: 4;
15
+ readonly Heightfield: 5;
16
+ };
17
+ /** The physics components, declared as the core declares them (one schema: the same ids). */
18
+ export interface PhysicsComponents {
19
+ /** A body: kind, velocities (in and out), damping, gravity scale, sleep (out), handle (out). */
20
+ readonly RigidBody: Component;
21
+ /** A collider: shape, dimensions or asset, offset, material, filtering, events, handle (out). */
22
+ readonly Collider: Component;
23
+ /** A joint to another body entity (or the world), on the second body's entity (ADR-0090). */
24
+ readonly Joint: Component;
25
+ /** A character controller: a kinematic capsule moved by sweeps (ADR-0091). */
26
+ readonly CharacterController: Component;
27
+ /** A force field acting on the bodies in its region (ADR-0091). */
28
+ readonly ForceField: Component;
29
+ }
30
+ /** `physics.Joint.kind`. */
31
+ export declare const JointType: {
32
+ readonly Fixed: 0;
33
+ readonly Revolute: 1;
34
+ readonly Prismatic: 2;
35
+ readonly Spherical: 3;
36
+ readonly Distance: 4;
37
+ readonly SixDof: 5;
38
+ };
39
+ /** Registers `physics.RigidBody` and `physics.Collider` on `world` (idempotent). */
40
+ export declare function registerPhysics(world: World): PhysicsComponents;
41
+ /** One axis of a 6-DoF joint: free, locked, or limited to `[lower, upper]`. */
42
+ export type JointAxis = 'free' | 'locked' | readonly [number, number];
43
+ /** What `joint` takes (ADR-0090). */
44
+ export interface JointOptions {
45
+ /** The first body's entity; omitted: the world. */
46
+ readonly other?: Entity;
47
+ /** The anchor in `other`'s body frame, or in world coordinates without `other`. */
48
+ readonly anchorA?: readonly [number, number, number];
49
+ /** The anchor in this entity's body frame (default its origin). */
50
+ readonly anchorB?: readonly [number, number, number];
51
+ /** The hinge or slide axis (and the cone's axis), in frame A (default X). */
52
+ readonly axis?: readonly [number, number, number];
53
+ /** The free axis' range: radians (revolute), metres (prismatic, distance). */
54
+ readonly limits?: readonly [number, number];
55
+ /** A velocity motor on the free axis: speed and the most force or torque it applies. */
56
+ readonly motor?: {
57
+ readonly speed: number;
58
+ readonly maxForce: number;
59
+ };
60
+ /** A spring on the free axis towards `target`. */
61
+ readonly spring?: {
62
+ readonly target: number;
63
+ readonly hertz: number;
64
+ readonly damping?: number;
65
+ readonly maxForce?: number;
66
+ };
67
+ /** A spherical joint's swing cone half-angle (radians). */
68
+ readonly cone?: number;
69
+ /** A 6-DoF joint's axes: translation X, Y, Z, then rotation X, Y, Z (frame A's). */
70
+ readonly axes?: readonly [JointAxis, JointAxis, JointAxis, JointAxis, JointAxis, JointAxis];
71
+ /** It breaks above this force (N); 0 or omitted: never. */
72
+ readonly breakForce?: number;
73
+ /** The two bodies still collide (default false). */
74
+ readonly collide?: boolean;
75
+ }
76
+ /**
77
+ * `physics.Joint` values (ADR-0090). Insert on the second body's entity, beside its `RigidBody`;
78
+ * the joint starts at its spawn pose (angle 0, offset 0) and acts once both bodies exist.
79
+ * `broken`, `force` (N) and `handle` are written back; `physics.JointBroken` fires on a break.
80
+ *
81
+ * @example
82
+ * // A door hinged to a wall post about Y, opening to 100°, sprung shut.
83
+ * world.insert(door, Joint, joint('revolute', { other: post, anchorA: [0.5, 0, 0], anchorB: [-0.5, 0, 0], axis: [0, 1, 0], limits: [0, 1.75], spring: { target: 0, hertz: 1 } }));
84
+ */
85
+ export declare function joint(type: keyof typeof JointType | Lowercase<keyof typeof JointType>, o?: JointOptions): ComponentValues;
86
+ /** What `rigidBody` takes; every field optional. */
87
+ export interface RigidBodyOptions {
88
+ readonly kind?: (typeof BodyKind)[keyof typeof BodyKind];
89
+ readonly linearVelocity?: readonly [number, number, number];
90
+ readonly angularVelocity?: readonly [number, number, number];
91
+ readonly linearDamping?: number;
92
+ readonly angularDamping?: number;
93
+ readonly gravityScale?: number;
94
+ readonly canSleep?: boolean;
95
+ /** A bullet: swept against static geometry so it cannot pass through thin walls (ADR-0090). */
96
+ readonly ccd?: boolean;
97
+ }
98
+ /**
99
+ * `physics.RigidBody` values with defaults (dynamic, at rest, angular damping 0.05, gravity
100
+ * scale 1, may sleep). Insert them with the entity's `core.Transform`; the body's pose is the
101
+ * Transform's.
102
+ *
103
+ * @example
104
+ * world.insert(e, RigidBody, rigidBody({ linearVelocity: [0, 5, 0] }));
105
+ */
106
+ export declare function rigidBody(o?: RigidBodyOptions): ComponentValues;
107
+ /** A collider's shape. */
108
+ export type ColliderShape = {
109
+ readonly sphere: number;
110
+ } | {
111
+ readonly capsule: {
112
+ readonly halfHeight: number;
113
+ readonly radius: number;
114
+ };
115
+ } | {
116
+ readonly box: readonly [number, number, number];
117
+ } | {
118
+ readonly hull: number;
119
+ } | {
120
+ readonly mesh: number;
121
+ } | {
122
+ readonly heightfield: number;
123
+ };
124
+ /** What `collider` takes besides the shape. */
125
+ export interface ColliderOptions {
126
+ readonly offset?: readonly [number, number, number];
127
+ readonly rotation?: readonly [number, number, number, number];
128
+ /** kg/m³ (default 1000). */
129
+ readonly density?: number;
130
+ /** Default 0.6. */
131
+ readonly friction?: number;
132
+ /** Default 0. */
133
+ readonly restitution?: number;
134
+ /** Overlaps only (events), never pushes. */
135
+ readonly sensor?: boolean;
136
+ /** Layer bits (default 1). */
137
+ readonly layer?: number;
138
+ /** Layers it collides with (default all). */
139
+ readonly mask?: number;
140
+ /** Report `physics.ContactStarted` / `ContactEnded`. */
141
+ readonly events?: boolean;
142
+ }
143
+ /**
144
+ * `physics.Collider` values. Box half extents; a capsule along local Y; hulls, meshes and
145
+ * heightfields name an asset from `Physics.addHull` / `addMesh` / `addHeightfield`. A collider
146
+ * without a `RigidBody` on its entity is static (meshes and heightfields only can be).
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+ *
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+ * @example
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+ * world.insert(ground, Collider, collider({ box: [50, 0.5, 50] }));
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+ * world.insert(ball, Collider, collider({ sphere: 0.5 }, { restitution: 0.6 }));
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+ */
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+ export declare function collider(shape: ColliderShape, o?: ColliderOptions): ComponentValues;