@yali-engine/physics 0.0.0-stage → 0.4.0

package/dist/components.js

@@ -0,0 +1,193 @@
+import { YaliError } from '@yali-engine/core';
+import { CHARACTER_FIELDS, FIELD_FIELDS } from "./character.js";
+/** `physics.RigidBody.kind`. */
+export const BodyKind = { Dynamic: 0, Kinematic: 1, Fixed: 2 };
+/** `physics.Collider.shape` (`dims` and `asset` per shape in `collider`'s docs). */
+export const ShapeKind = { Sphere: 0, Capsule: 1, Box: 2, Hull: 3, Mesh: 4, Heightfield: 5 };
+/** `physics.Joint.kind`. */
+export const JointType = { Fixed: 0, Revolute: 1, Prismatic: 2, Spherical: 3, Distance: 4, SixDof: 5 };
+const BODY_FIELDS = {
+    kind: 'u8',
+    linVel: 'vec3<f32>',
+    angVel: 'vec3<f32>',
+    linDamping: 'f32',
+    angDamping: 'f32',
+    gravityScale: 'f32',
+    canSleep: 'u8',
+    sleeping: 'u8',
+    handle: 'u32',
+    ccd: 'u8',
+};
+const JOINT_FIELDS = {
+    kind: 'u8',
+    other: 'entity',
+    anchorA: 'vec3<f64>',
+    anchorB: 'vec3<f32>',
+    axis: 'vec3<f32>',
+    limited: 'u8',
+    limits: 'vec2<f32>',
+    drive: 'vec4<f32>',
+    maxForce: 'f32',
+    cone: 'f32',
+    lockMask: 'u8',
+    limitMask: 'u8',
+    sixLower: { scalar: 'f32', lanes: 6 },
+    sixUpper: { scalar: 'f32', lanes: 6 },
+    breakForce: 'f32',
+    collide: 'u8',
+    broken: 'u8',
+    force: 'f32',
+    handle: 'u32',
+};
+const COLLIDER_FIELDS = {
+    shape: 'u8',
+    dims: 'vec3<f32>',
+    asset: 'u32',
+    offsetT: 'vec3<f32>',
+    offsetR: 'quat',
+    density: 'f32',
+    friction: 'f32',
+    restitution: 'f32',
+    sensor: 'u8',
+    layer: 'u32',
+    mask: 'u32',
+    events: 'u8',
+    handle: 'u32',
+};
+/** Registers `physics.RigidBody` and `physics.Collider` on `world` (idempotent). */
+export function registerPhysics(world) {
+    return {
+        RigidBody: world.registerComponent({ name: 'physics.RigidBody', fields: BODY_FIELDS }),
+        Collider: world.registerComponent({ name: 'physics.Collider', fields: COLLIDER_FIELDS }),
+        Joint: world.registerComponent({ name: 'physics.Joint', fields: JOINT_FIELDS }),
+        CharacterController: world.registerComponent({ name: 'physics.CharacterController', fields: CHARACTER_FIELDS }),
+        ForceField: world.registerComponent({ name: 'physics.ForceField', fields: FIELD_FIELDS }),
+    };
+}
+/**
+ * `physics.Joint` values (ADR-0090). Insert on the second body's entity, beside its `RigidBody`;
+ * the joint starts at its spawn pose (angle 0, offset 0) and acts once both bodies exist.
+ * `broken`, `force` (N) and `handle` are written back; `physics.JointBroken` fires on a break.
+ *
+ * @example
+ * // A door hinged to a wall post about Y, opening to 100°, sprung shut.
+ * 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 } }));
+ */
+export function joint(type, o = {}) {
+    const key = Object.keys(JointType).find((k) => k.toLowerCase() === type.toLowerCase());
+    if (!key)
+        throw Object.assign(new YaliError('PHYSICS_INVALID', `No joint type ${JSON.stringify(type)}.`, `Use one of ${Object.keys(JointType).join(', ')}.`), { path: 'type' });
+    if (o.limits && !(o.limits[0] <= o.limits[1])) {
+        throw Object.assign(new YaliError('PHYSICS_INVALID', `Joint limits [${o.limits}] are not lower ≤ upper.`, 'Give [lower, upper] with lower ≤ upper.'), { path: 'limits' });
+    }
+    if (o.motor && o.spring)
+        throw Object.assign(new YaliError('PHYSICS_INVALID', 'A joint has a motor or a spring, not both.', 'Drop one.'), { path: 'motor' });
+    const lower = [0, 0, 0, 0, 0, 0];
+    const upper = [0, 0, 0, 0, 0, 0];
+    let lockMask = 0;
+    let limitMask = 0;
+    (o.axes ?? []).forEach((a, k) => {
+        if (a === 'locked')
+            lockMask |= 1 << k;
+        else if (a !== 'free') {
+            limitMask |= 1 << k;
+            [lower[k], upper[k]] = a;
+        }
+    });
+    if (key === 'SixDof' && !o.axes)
+        lockMask = 0x3f;
+    const s = o.spring;
+    return {
+        kind: JointType[key],
+        other: o.other ?? NULL_ENTITY,
+        anchorA: o.anchorA ?? [0, 0, 0],
+        anchorB: o.anchorB ?? [0, 0, 0],
+        axis: o.axis ?? [1, 0, 0],
+        limited: o.limits ? 1 : 0,
+        limits: o.limits ?? [0, 0],
+        drive: s ? [s.target, 0, s.hertz, s.damping ?? 1] : [0, o.motor?.speed ?? 0, 0, 0],
+        maxForce: s ? (s.maxForce ?? 0) : (o.motor?.maxForce ?? 0),
+        cone: o.cone ?? 0,
+        lockMask,
+        limitMask,
+        sixLower: lower,
+        sixUpper: upper,
+        breakForce: o.breakForce ?? 0,
+        collide: o.collide ? 1 : 0,
+    };
+}
+/** No entity (`Entity::NULL`: index u32::MAX, generation 0): the world, for a joint's `other`. */
+const NULL_ENTITY = 0xffffffff;
+/**
+ * `physics.RigidBody` values with defaults (dynamic, at rest, angular damping 0.05, gravity
+ * scale 1, may sleep). Insert them with the entity's `core.Transform`; the body's pose is the
+ * Transform's.
+ *
+ * @example
+ * world.insert(e, RigidBody, rigidBody({ linearVelocity: [0, 5, 0] }));
+ */
+export function rigidBody(o = {}) {
+    return {
+        kind: o.kind ?? BodyKind.Dynamic,
+        linVel: o.linearVelocity ?? [0, 0, 0],
+        angVel: o.angularVelocity ?? [0, 0, 0],
+        linDamping: o.linearDamping ?? 0,
+        angDamping: o.angularDamping ?? 0.05,
+        gravityScale: o.gravityScale ?? 1,
+        canSleep: (o.canSleep ?? true) ? 1 : 0,
+        ccd: o.ccd ? 1 : 0,
+    };
+}
+/**
+ * `physics.Collider` values. Box half extents; a capsule along local Y; hulls, meshes and
+ * heightfields name an asset from `Physics.addHull` / `addMesh` / `addHeightfield`. A collider
+ * without a `RigidBody` on its entity is static (meshes and heightfields only can be).
+ *
+ * @example
+ * world.insert(ground, Collider, collider({ box: [50, 0.5, 50] }));
+ * world.insert(ball, Collider, collider({ sphere: 0.5 }, { restitution: 0.6 }));
+ */
+export function collider(shape, o = {}) {
+    let kind;
+    let dims = [0, 0, 0];
+    let asset = 0;
+    if ('sphere' in shape) {
+        kind = ShapeKind.Sphere;
+        dims = [shape.sphere, 0, 0];
+    }
+    else if ('capsule' in shape) {
+        kind = ShapeKind.Capsule;
+        dims = [shape.capsule.halfHeight, shape.capsule.radius, 0];
+    }
+    else if ('box' in shape) {
+        kind = ShapeKind.Box;
+        dims = [shape.box[0], shape.box[1], shape.box[2]];
+    }
+    else if ('hull' in shape) {
+        kind = ShapeKind.Hull;
+        asset = shape.hull;
+    }
+    else if ('mesh' in shape) {
+        kind = ShapeKind.Mesh;
+        asset = shape.mesh;
+    }
+    else {
+        kind = ShapeKind.Heightfield;
+        asset = shape.heightfield;
+    }
+    return {
+        shape: kind,
+        dims,
+        asset,
+        offsetT: o.offset ?? [0, 0, 0],
+        offsetR: o.rotation ?? [0, 0, 0, 1],
+        density: o.density ?? 1000,
+        friction: o.friction ?? 0.6,
+        restitution: o.restitution ?? 0,
+        sensor: o.sensor ? 1 : 0,
+        layer: o.layer ?? 1,
+        mask: o.mask ?? 0xffffffff,
+        events: o.events ? 1 : 0,
+    };
+}
+//# sourceMappingURL=components.js.map

package/dist/components.js.map

@@ -0,0 +1 @@
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package/dist/gpu-shaders.gen.d.ts

@@ -0,0 +1,5 @@
+/** Linked from shaders/kanduka/cloth.wesl. */
+export declare const kandukaCloth: {
+    readonly hash: "0473fc3b76a0ea73";
+    readonly wgsl: "struct Params {\ngravity: vec3f,\nh: f32,\nwind: vec3f,\ntime: f32,\ngust: vec4f,\nsubsteps: u32,\ncolliders: u32,\nt0: f32,\nt1: f32,\nalpha: f32,\nspan: f32,\nmax_speed: f32,\niterations: u32,\nbend_iters: u32,\npad0: u32,\npad1: u32,\npad2: u32,\n}\nstruct Cloth {\nfirst: u32,\ncount: u32,\nbase: u32,\npool: u32,\ntris: u32,\nadj: u32,\ncolours: u32,\nncolours: u32,\ncons: u32,\nlive: u32,\nhash: u32,\ntable: u32,\norigin0: vec4f,\nrot0: vec4f,\norigin1: vec4f,\nrot1: vec4f,\nfabric: vec4f,\nfabric2: vec4f,\nextra: vec4u,\n}\nstruct Collider {\np0: vec4f,\nq0: vec4f,\np1: vec4f,\nq1: vec4f,\ndims: vec4f,\n}\nconst NONE: u32 = 0xffffffffu;\noverride WG: u32 = 256u;\nconst SPHERE: f32 = 0.0;\nconst CAPSULE: f32 = 1.0;\nconst BOX: f32 = 2.0;\n@group(0) @binding(0) var<uniform> params: Params;\n@group(0) @binding(1) var<storage, read> cloths: array<Cloth>;\n@group(0) @binding(2) var<storage, read> st: array<u32>;\n@group(0) @binding(3) var<storage, read_write> pos: array<vec4f>;\n@group(0) @binding(4) var<storage, read_write> prev: array<vec4f>;\n@group(0) @binding(5) var<storage, read_write> vel: array<vec4f>;\n@group(0) @binding(6) var<storage, read_write> last: array<vec4f>;\n@group(0) @binding(7) var<storage, read> colliders: array<Collider>;\n@group(0) @binding(11) var<storage, read_write> torn: array<u32>;\nfn tri_torn(c: Cloth, tri: u32) -> bool {\nif (c.fabric2.w <= 0.0) {\nreturn false;\n}\nlet te = c.base + c.cons + st[c.base + c.colours + c.ncolours] * 12u + tri * 3u;\nreturn torn[c.base + st[te]] != 0u || torn[c.base + st[te + 1u]] != 0u || torn[c.base + st[te + 2u]] != 0u;\n}\nfn stf(i: u32) -> f32 {\nreturn bitcast<f32>(st[i]);\n}\nfn quat_conj(q: vec4f) -> vec4f {\nreturn vec4f(-q.xyz, q.w);\n}\nfn nlerp(a: vec4f, b: vec4f, t: f32) -> vec4f {\nlet s = select(1.0, -1.0, dot(a, b) < 0.0);\nreturn normalize(mix(a, b * s, t));\n}\nfn wind_at(p: vec3f, t: f32) -> vec3f {\nlet w = params.wind;\nlet speed = length(w);\nif (speed <= 0.0) {\nreturn vec3f(0.0);\n}\nlet g = params.gust;\nlet gust = 1.0 + g.y * (0.6 * sin(6.2831853 * g.z * t) + 0.4 * sin(6.2831853 * g.z * 2.3 * t + 1.7));\nlet q = p - w * t * 0.35;\nlet n = vec3f(sin(q.y * 1.7 + q.z * 0.9 + t * 1.3) + 0.5 * sin(q.x * 2.9 - q.y * 2.1 + t * 2.7), sin(q.z * 1.3 - q.x * 1.1 + t * 1.9) + 0.5 * sin(q.y * 3.1 + q.z * 2.3 - t * 2.3), sin(q.x * 1.5 + q.y * 0.7 - t * 1.6) + 0.5 * sin(q.z * 2.7 - q.x * 1.9 + t * 3.1));\nreturn w * gust + n * (g.x * speed * 0.5);\n}\nfn aero(c: Cloth, v: u32, t: f32) -> vec3f {\nlet rho = params.gust.w;\nif (rho <= 0.0 || pos[c.first + v].w <= 0.0) {\nreturn vec3f(0.0);\n}\nlet a0 = c.base + c.adj;\nlet lo = st[a0 + v];\nlet hi = st[a0 + v + 1u];\nlet air = wind_at(pos[c.first + v].xyz, t) * c.fabric2.y;\nvar f = vec3f(0.0);\nfor (var k = lo; k < hi; k++) {\nlet tri = st[a0 + k];\nif (tri_torn(c, tri)) {\ncontinue;\n}\nlet o = c.base + c.tris + tri * 3u;\nlet i0 = c.first + st[o];\nlet i1 = c.first + st[o + 1u];\nlet i2 = c.first + st[o + 2u];\nlet p0 = pos[i0].xyz;\nlet cr = cross(pos[i1].xyz - p0, pos[i2].xyz - p0);\nlet len = length(cr);\nif (len < 1e-12) {\ncontinue;\n}\nlet n = cr / len;\nlet area = 0.5 * len;\nlet rel = air - (vel[i0].xyz + vel[i1].xyz + vel[i2].xyz) / 3.0;\nlet vn = dot(rel, n);\nlet vt = rel - vn * n;\nf += 0.5 * rho * area * (c.fabric.w * abs(vn) * vn * n + c.fabric2.x * length(vt) * vt) / 3.0;\n}\nlet acc = f * pos[c.first + v].w;\nlet room = length(air - vel[c.first + v].xyz) / params.h;\nlet al = length(acc);\nreturn select(acc, acc * (room / al), al > room);\n}\nfn pin_target(c: Cloth, v: u32, t: f32) -> vec3f {\nlet r = c.base + v * 4u;\nlet local = vec3f(stf(r), stf(r + 1u), stf(r + 2u));\nlet o = mix(c.origin0, c.origin1, t);\nreturn o.xyz + quat_rotate(nlerp(c.rot0, c.rot1, t), local * o.w);\n}\nfn solve(c: Cloth, j: u32, h2: f32) {\nlet o = c.base + c.cons + j * 12u;\nlet i0 = c.first + st[o];\nlet i1 = c.first + st[o + 1u];\nlet e2 = st[o + 2u];\nif (e2 == NONE) {\nlet a = pos[i0];\nlet b = pos[i1];\nlet w = a.w + b.w;\nlet d = b.xyz - a.xyz;\nlet len = length(d);\nif (w <= 0.0 || len < 1e-9) {\nreturn;\n}\nlet cv = len - stf(o + 4u);\nif (c.fabric2.w > 0.0) {\nif (torn[o] != 0u) {\nreturn;\n}\nif (cv > stf(o + 4u) * c.fabric2.w) {\ntorn[o] = 1u;\ntorn[c.base + st[c.base + c.extra.y + 12u] + j] = 1u;\nreturn;\n}\n}\nlet alpha = select(stf(o + 5u), stf(o + 6u), cv < 0.0) / h2;\nlet dl = -cv / (w + alpha);\nlet n = d / len;\npos[i0] = vec4f(a.xyz - a.w * dl * n, a.w);\npos[i1] = vec4f(b.xyz + b.w * dl * n, b.w);\nreturn;\n}\nif (c.fabric2.w > 0.0 && torn[c.base + st[o + 9u]] != 0u) {\nreturn;\n}\nlet i2 = c.first + e2;\nlet i3 = c.first + st[o + 3u];\nlet x0 = pos[i0];\nlet x1 = pos[i1];\nlet x2 = pos[i2];\nlet x3 = pos[i3];\nlet k = vec4f(stf(o + 4u), stf(o + 5u), stf(o + 6u), stf(o + 7u));\nlet b = k.x * x0.xyz + k.y * x1.xyz + k.z * x2.xyz + k.w * x3.xyz;\nlet wk = x0.w * k.x * k.x + x1.w * k.y * k.y + x2.w * k.z * k.z + x3.w * k.w * k.w;\nlet denom = wk + stf(o + 8u) / h2;\nif (wk <= 0.0) {\nreturn;\n}\nlet s = -1.0 / denom;\npos[i0] = vec4f(x0.xyz + x0.w * k.x * s * b, x0.w);\npos[i1] = vec4f(x1.xyz + x1.w * k.y * s * b, x1.w);\npos[i2] = vec4f(x2.xyz + x2.w * k.z * s * b, x2.w);\npos[i3] = vec4f(x3.xyz + x3.w * k.w * s * b, x3.w);\n}\nfn anchor_of(c: Cloth, v: u32) -> u32 {\nlet at = st[c.base + c.extra.y + 11u];\nif (at == 0u) {\nreturn NONE;\n}\nlet k = st[c.base + at + v];\nreturn select(params.colliders + c.extra.w + k, NONE, k == NONE);\n}\nfn pin_pos(c: Cloth, v: u32, t: f32) -> vec3f {\nlet k = anchor_of(c, v);\nif (k == NONE) {\nreturn pin_target(c, v, t);\n}\nreturn mix(colliders[k].p0.xyz, colliders[k].p1.xyz, t);\n}\nfn backstop(c: Cloth, v: u32, t: f32) {\nlet i = c.first + v;\nlet k = anchor_of(c, v);\nif (k == NONE || pos[i].w <= 0.0) {\nreturn;\n}\nlet a = colliders[k];\nlet n = normalize(mix(a.q0.xyz, a.q1.xyz, t));\nlet d = dot(pos[i].xyz - mix(a.p0.xyz, a.p1.xyz, t), n) + a.p1.w;\nif (d < 0.0) {\npos[i] = vec4f(pos[i].xyz - d * n, pos[i].w);\n}\n}\nconst FIXED: f32 = 1e9;\n@group(0) @binding(10) var<storage, read_write> dbend: array<atomic<i32>>;\nfn bend_scatter(c: Cloth, j: u32, h2: f32, first: bool) {\nlet o = c.base + c.cons + j * 12u;\nif (c.fabric2.w > 0.0 && torn[c.base + st[o + 9u]] != 0u) {\nreturn;\n}\nlet ids = vec4u(c.first + st[o], c.first + st[o + 1u], c.first + st[o + 2u], c.first + st[o + 3u]);\nlet x0 = pos[ids.x];\nlet x1 = pos[ids.y];\nlet x2 = pos[ids.z];\nlet x3 = pos[ids.w];\nlet w = vec4f(stf(o + 4u), stf(o + 5u), stf(o + 6u), stf(o + 7u));\nlet inv = vec4f(x0.w, x1.w, x2.w, x3.w);\nlet bc = c.base + st[c.base + c.extra.y + 3u];\nvar split = vec4f(1.0);\nfor (var q = 0u; q < 4u; q++) {\nlet v = st[o + q];\nsplit[q] = f32(max(1u, st[bc + v + 1u] - st[bc + v]));\n}\nlet wk = dot(split * inv, w * w);\nif (wk <= 0.0) {\nreturn;\n}\nlet b = w.x * x0.xyz + w.y * x1.xyz + w.z * x2.xyz + w.w * x3.xyz;\nlet at = stf(o + 8u) / h2;\nvar lam = vec3f(0.0);\nif (!first) {\nlam = vec3f(bitcast<f32>(torn[o + 3u]), bitcast<f32>(torn[o + 4u]), bitcast<f32>(torn[o + 5u]));\n}\nlet r = b + at * lam;\nlet s = -FIXED / (wk + at);\nif (params.bend_iters > 1u) {\nlet nl = lam + r * (s / FIXED);\ntorn[o + 3u] = bitcast<u32>(nl.x);\ntorn[o + 4u] = bitcast<u32>(nl.y);\ntorn[o + 5u] = bitcast<u32>(nl.z);\n}\nfor (var q = 0u; q < 4u; q++) {\nif (inv[q] <= 0.0) {\ncontinue;\n}\nlet d = vec3i(round(r * (inv[q] * w[q] * s)));\nlet at = ids[q] * 4u;\natomicAdd(&dbend[at], d.x);\natomicAdd(&dbend[at + 1u], d.y);\natomicAdd(&dbend[at + 2u], d.z);\n}\n}\nfn shape_sdf(kind: f32, dims: vec3f, p: vec3f) -> vec4f {\nif (kind == SPHERE) {\nlet l = length(p);\nreturn vec4f(select(vec3f(0.0, 1.0, 0.0), p / l, l > 1e-9), l - dims.x);\n}\nif (kind == CAPSULE) {\nlet q = vec3f(p.x, p.y - clamp(p.y, -dims.x, dims.x), p.z);\nlet l = length(q);\nreturn vec4f(select(vec3f(0.0, 1.0, 0.0), q / l, l > 1e-9), l - dims.y);\n}\nlet q = abs(p) - dims;\nlet outside = max(q, vec3f(0.0));\nlet lo = length(outside);\nif (lo > 0.0) {\nreturn vec4f(outside * sign(p) / lo, lo);\n}\nif (q.x >= q.y && q.x >= q.z) {\nreturn vec4f(sign(p.x), 0.0, 0.0, q.x);\n}\nif (q.y >= q.z) {\nreturn vec4f(0.0, sign(p.y), 0.0, q.y);\n}\nreturn vec4f(0.0, 0.0, sign(p.z), q.z);\n}\nfn collide(c: Cloth, i: u32, t: f32, h: f32) {\nvar x = pos[i].xyz;\nlet start = prev[i].xyz;\nlet thick = c.fabric.z;\nfor (var k = 0u; k < params.colliders; k++) {\nlet cl = colliders[k];\nlet cp = mix(cl.p0.xyz, cl.p1.xyz, t);\nlet cq = nlerp(cl.q0, cl.q1, t);\nlet local = quat_rotate(quat_conj(cq), x - cp);\nlet sd = shape_sdf(cl.p0.w, cl.dims.xyz, local);\nlet depth = thick - sd.w;\nif (depth <= 0.0) {\ncontinue;\n}\nlet n = quat_rotate(cq, sd.xyz);\nx += n * depth;\nlet lc = local - sd.xyz * sd.w;\nlet w0 = cl.p0.xyz + quat_rotate(cl.q0, lc);\nlet w1 = cl.p1.xyz + quat_rotate(cl.q1, lc);\nlet vc = select(vec3f(0.0), (w1 - w0) / params.span, params.span > 0.0);\nlet rel = (x - start) - vc * h;\nlet tang = rel - dot(rel, n) * n;\nlet tl = length(tang);\nlet mu = sqrt(c.fabric.y * cl.p1.w);\nif (tl > 0.0) {\nx -= tang * min(1.0, mu * depth / tl);\n}\n}\npos[i] = vec4f(x, pos[i].w);\n}\nfn ph_air(c: Cloth, v: u32, time: f32, first: bool) {\nlet i = c.first + v;\nprev[i] = vec4f(aero(c, v, time), 0.0);\nif (first) {\nfor (var q = 0u; q < 4u; q++) {\natomicStore(&dbend[i * 4u + q], 0);\n}\n}\n}\nfn ph_predict(c: Cloth, v: u32, t: f32, h: f32) {\nlet i = c.first + v;\nlet p = pos[i];\nif (p.w <= 0.0) {\nprev[i] = p;\npos[i] = vec4f(pin_pos(c, v, t), 0.0);\nreturn;\n}\nlet vv = vel[i].xyz + h * (params.gravity + prev[i].xyz);\nprev[i] = p;\nvel[i] = vec4f(vv, 0.0);\npos[i] = vec4f(p.xyz + h * vv, p.w);\n}\nfn ph_bend_apply(c: Cloth, v: u32) {\nlet i = c.first + v;\nlet d = vec3f(f32(atomicLoad(&dbend[i * 4u])), f32(atomicLoad(&dbend[i * 4u + 1u])), f32(atomicLoad(&dbend[i * 4u + 2u])));\npos[i] = vec4f(pos[i].xyz + d / FIXED, pos[i].w);\nfor (var q = 0u; q < 4u; q++) {\natomicStore(&dbend[i * 4u + q], 0);\n}\n}\nfn ph_tether(c: Cloth, v: u32, teth: u32) {\nlet i = c.first + v;\nlet anchor = st[c.base + teth + v * 2u];\nif (anchor != NONE && pos[i].w > 0.0) {\nlet a = pos[c.first + anchor].xyz;\nlet d = pos[i].xyz - a;\nlet l = length(d);\nlet lim = stf(c.base + teth + v * 2u + 1u);\nif (l > lim) {\npos[i] = vec4f(a + d * (lim / l), pos[i].w);\n}\n}\n}\nfn ph_collide(c: Cloth, v: u32, t: f32, h: f32) {\nlet i = c.first + v;\nif (pos[i].w > 0.0) {\ncollide(c, i, t, h);\nbackstop(c, v, t);\n}\nlet nv = (pos[i].xyz - prev[i].xyz) / h * exp(-c.fabric.x * h);\nlet sp = length(nv);\nvel[i] = vec4f(select(nv, nv * (params.max_speed / sp), sp > params.max_speed), 0.0);\n}\n@compute @workgroup_size(WG) fn step(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) tid: u32) {\nlet c = cloths[wg.x];\nif (c.live == 0u) {\nreturn;\n}\nlet n = c.count;\nlet h = params.h;\nlet h2 = h * h;\nlet c0 = c.base + c.colours;\nlet nstretch = st[c.base + c.extra.y + 13u];\nlet teth = st[c.base + c.extra.y + 5u];\nfor (var s = 0u; s < params.substeps; s++) {\nlet t = mix(params.t0, params.t1, f32(s + 1u) / f32(params.substeps));\nlet time = params.time + h * f32(s);\nfor (var v = tid; v < n; v += WG) {\nph_air(c, v, time, s == 0u);\n}\nstorageBarrier();\nfor (var v = tid; v < n; v += WG) {\nph_predict(c, v, t, h);\n}\nstorageBarrier();\nfor (var k = 0u; k < nstretch; k++) {\nfor (var j = st[c0 + k] + tid; j < st[c0 + k + 1u]; j += WG) {\nsolve(c, j, h2);\n}\nstorageBarrier();\n}\nif (nstretch < c.ncolours) {\nfor (var it = 0u; it < max(params.bend_iters, 1u); it++) {\nfor (var j = st[c0 + nstretch] + tid; j < st[c0 + nstretch + 1u]; j += WG) {\nbend_scatter(c, j, h2, it == 0u);\n}\nstorageBarrier();\nfor (var v = tid; v < n; v += WG) {\nph_bend_apply(c, v);\n}\nstorageBarrier();\n}\n}\nif (teth != 0u) {\nfor (var v = tid; v < n; v += WG) {\nph_tether(c, v, teth);\n}\nstorageBarrier();\n}\nfor (var v = tid; v < n; v += WG) {\nph_collide(c, v, t, h);\n}\nstorageBarrier();\n}\n}\noverride WCOLOUR: u32 = 0u;\noverride BFIRST: bool = true;\nconst WW: u32 = 256u;\nfn wide_t() -> f32 {\nreturn mix(params.t0, params.t1, f32(params.iterations + 1u) / f32(params.substeps));\n}\n@compute @workgroup_size(256) fn w_air(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet v = wg.x * WW + l;\nif (c.live == 0u || v >= c.count) {\nreturn;\n}\nph_air(c, v, params.time + params.h * f32(params.iterations), params.iterations == 0u);\n}\n@compute @workgroup_size(256) fn w_predict(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet v = wg.x * WW + l;\nif (c.live == 0u || v >= c.count) {\nreturn;\n}\nph_predict(c, v, wide_t(), params.h);\n}\n@compute @workgroup_size(256) fn w_stretch(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nif (c.live == 0u || WCOLOUR >= st[c.base + c.extra.y + 13u]) {\nreturn;\n}\nlet c0 = c.base + c.colours;\nlet j = st[c0 + WCOLOUR] + wg.x * WW + l;\nif (j < st[c0 + WCOLOUR + 1u]) {\nsolve(c, j, params.h * params.h);\n}\n}\n@compute @workgroup_size(256) fn w_bend(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet nstretch = st[c.base + c.extra.y + 13u];\nif (c.live == 0u || nstretch >= c.ncolours) {\nreturn;\n}\nlet c0 = c.base + c.colours;\nlet j = st[c0 + nstretch] + wg.x * WW + l;\nif (j < st[c0 + nstretch + 1u]) {\nbend_scatter(c, j, params.h * params.h, BFIRST);\n}\n}\n@compute @workgroup_size(256) fn w_bend_apply(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet v = wg.x * WW + l;\nif (c.live == 0u || v >= c.count || st[c.base + c.extra.y + 13u] >= c.ncolours) {\nreturn;\n}\nph_bend_apply(c, v);\n}\n@compute @workgroup_size(256) fn w_tether(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet v = wg.x * WW + l;\nlet teth = st[c.base + c.extra.y + 5u];\nif (c.live == 0u || v >= c.count || teth == 0u) {\nreturn;\n}\nph_tether(c, v, teth);\n}\n@compute @workgroup_size(256) fn w_collide(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet v = wg.x * WW + l;\nif (c.live == 0u || v >= c.count) {\nreturn;\n}\nph_collide(c, v, wide_t(), params.h);\n}\nconst AL_DECAY: f32 = 0.95;\nconst K_DECAY: f32 = 0.99;\nconst K_RAMP: f32 = 1000.0;\nconst K_MAX: f32 = 10.0;\nconst K_CONTACT: f32 = 100.0;\nconst FRICTION_EPS: f32 = 1e-4;\nfn outer3(a: vec3f, b: vec3f) -> mat3x3f {\nreturn mat3x3f(a * b.x, a * b.y, a * b.z);\n}\nfn hard_reach(x: vec3f, a: vec3f, lim: f32, s: u32, kmin: f32, f: ptr<function, vec3f>, hm: ptr<function, mat3x3f>) {\nlet d = x - a;\nlet l = length(d);\nif (l < 1e-9) {\nreturn;\n}\nlet k = max(bitcast<f32>(torn[s + 1u]), kmin);\nlet fc = k * (lim - l) + bitcast<f32>(torn[s]);\nif (fc < 0.0) {\nlet nd = d / l;\n*f += fc * nd;\n*hm += k * outer3(nd, nd);\n}\n}\nfn dual_reach(x: vec3f, a: vec3f, lim: f32, rest: f32, s: u32, kmin: f32) {\nlet cv = lim - length(x - a);\nlet k = max(bitcast<f32>(torn[s + 1u]), kmin);\nlet lam = clamp(k * cv + bitcast<f32>(torn[s]), -0.1 * K_MAX * kmin * rest, 0.0);\ntorn[s] = bitcast<u32>(lam);\nif (cv < 0.0) {\ntorn[s + 1u] = bitcast<u32>(min(K_MAX * kmin, k + K_RAMP * kmin * (-cv) / max(rest, 1e-6)));\n}\n}\nfn vbd_vertex(c: Cloth, v: u32, h2inv: f32, hd: u32, lim: f32, tc: f32) {\nlet i = c.first + v;\nlet xi = pos[i];\nif (xi.w <= 0.0) {\nreturn;\n}\nlet x = xi.xyz;\nlet mh = h2inv / xi.w;\nvar f = (vel[i].xyz - x) * mh;\nvar hm = mat3x3f(mh, 0.0, 0.0, 0.0, mh, 0.0, 0.0, 0.0, mh);\nlet c11 = stf(hd + 6u);\nlet c22 = stf(hd + 7u);\nlet c12 = stf(hd + 8u);\nlet c33 = stf(hd + 9u);\nlet cs = stf(hd + 10u);\nlet tr = c.base + st[hd];\nlet a0 = c.base + c.adj;\nfor (var k = st[a0 + v]; k < st[a0 + v + 1u]; k++) {\nlet tri = st[a0 + k];\nif (tri_torn(c, tri)) {\ncontinue;\n}\nlet o = c.base + c.tris + tri * 3u;\nlet v1 = st[o + 1u];\nlet v2 = st[o + 2u];\nlet r = tr + tri * 5u;\nlet m = vec4f(stf(r), stf(r + 1u), stf(r + 2u), stf(r + 3u));\nlet area = stf(r + 4u);\nif (area <= 0.0) {\ncontinue;\n}\nvar d = -vec2f(m.x + m.z, m.y + m.w);\nif (v == v1) {\nd = m.xy;\n} else if (v == v2) {\nd = m.zw;\n}\nlet p0 = pos[c.first + st[o]].xyz;\nlet e1 = pos[c.first + v1].xyz - p0;\nlet e2 = pos[c.first + v2].xyz - p0;\nlet f1 = e1 * m.x + e2 * m.z;\nlet f2 = e1 * m.y + e2 * m.w;\nlet g11 = 0.5 * (dot(f1, f1) - 1.0);\nlet g22 = 0.5 * (dot(f2, f2) - 1.0);\nlet g12 = 0.5 * dot(f1, f2);\nlet k11 = c11 * select(1.0, cs, g11 < 0.0);\nlet k22 = c22 * select(1.0, cs, g22 < 0.0);\nlet k12 = c12 * select(1.0, cs, g11 < 0.0 || g22 < 0.0);\nlet s11 = k11 * g11 + k12 * g22;\nlet s22 = k12 * g11 + k22 * g22;\nlet s12 = 2.0 * c33 * g12;\nlet sd = vec2f(s11 * d.x + s12 * d.y, s12 * d.x + s22 * d.y);\nf -= area * (f1 * sd.x + f2 * sd.y);\nlet q11 = k11 * d.x * d.x + c33 * d.y * d.y;\nlet q12 = (k12 + c33) * d.x * d.y;\nlet q22 = k22 * d.y * d.y + c33 * d.x * d.x;\nlet geo = max(0.0, dot(d, sd));\nhm += area * (q11 * outer3(f1, f1) + q12 * (outer3(f1, f2) + outer3(f2, f1)) + q22 * outer3(f2, f2) + mat3x3f(geo, 0.0, 0.0, 0.0, geo, 0.0, 0.0, 0.0, geo));\n}\nlet bc = c.base + st[hd + 3u];\nfor (var k = st[bc + v]; k < st[bc + v + 1u]; k++) {\nlet e = st[bc + k];\nlet o = c.base + (e >> 2u);\nif (c.fabric2.w > 0.0 && torn[c.base + st[o + 9u]] != 0u) {\ncontinue;\n}\nlet w = vec4f(stf(o + 4u), stf(o + 5u), stf(o + 6u), stf(o + 7u));\nlet b = w.x * pos[c.first + st[o]].xyz + w.y * pos[c.first + st[o + 1u]].xyz + w.z * pos[c.first + st[o + 2u]].xyz + w.w * pos[c.first + st[o + 3u]].xyz;\nlet kb = 1.0 / max(stf(o + 8u), 1e-12);\nlet ws = w[e & 3u];\nf -= kb * ws * b;\nlet hb = kb * ws * ws;\nhm += mat3x3f(hb, 0.0, 0.0, 0.0, hb, 0.0, 0.0, 0.0, hb);\n}\nif (lim > 0.0) {\nlet ec = c.base + st[hd + 4u];\nfor (var k = st[ec + v]; k < st[ec + v + 1u]; k++) {\nlet o = c.base + st[ec + k];\nif (c.fabric2.w > 0.0 && torn[o] != 0u) {\ncontinue;\n}\nlet other = select(st[o], st[o + 1u], st[o] == v);\nhard_reach(x, pos[c.first + other].xyz, stf(o + 4u) * (1.0 + lim), o + 1u, c11, &f, &hm);\n}\n}\nlet teth = st[hd + 5u];\nif (teth != 0u) {\nlet t = c.base + teth + v * 2u;\nlet anchor = st[t];\nif (anchor != NONE) {\nhard_reach(x, pos[c.first + anchor].xyz, stf(t + 1u), t, c11, &f, &hm);\n}\n}\nlet kc = K_CONTACT * c11;\nfor (var k = 0u; k < params.colliders; k++) {\nlet cl = colliders[k];\nlet at = mix(cl.p0.xyz, cl.p1.xyz, tc);\nlet cq = nlerp(cl.q0, cl.q1, tc);\nlet local = quat_rotate(quat_conj(cq), x - at);\nlet sd = shape_sdf(cl.p0.w, cl.dims.xyz, local);\nlet depth = c.fabric.z - sd.w;\nif (depth > 0.0) {\nlet nd = quat_rotate(cq, sd.xyz);\nlet fnorm = kc * depth;\nf += fnorm * nd;\nhm += kc * outer3(nd, nd);\nlet lc = local - sd.xyz * sd.w;\nlet vcol = select(vec3f(0.0), (cl.p1.xyz + quat_rotate(cl.q1, lc) - cl.p0.xyz - quat_rotate(cl.q0, lc)) / params.span, params.span > 0.0);\nlet u = (x - prev[i].xyz) - vcol * params.h;\nlet ut = u - dot(u, nd) * nd;\nlet ul = length(ut);\nlet w = sqrt(c.fabric.y * cl.p1.w) * fnorm * select(1.0 / max(ul, 1e-12), (2.0 - ul / FRICTION_EPS) / FRICTION_EPS, ul < FRICTION_EPS);\nf -= w * ut;\nhm += w * (mat3x3f(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0) - outer3(nd, nd));\n}\n}\nlet a = hm[0];\nlet b = hm[1];\nlet cc = hm[2];\nlet r0 = cross(b, cc);\nlet r1 = cross(cc, a);\nlet r2 = cross(a, b);\nlet det = dot(a, r0);\nif (abs(det) < 1e-30) {\nreturn;\n}\npos[i] = vec4f(x + vec3f(dot(r0, f), dot(r1, f), dot(r2, f)) / det, xi.w);\n}\n@compute @workgroup_size(WG) fn vbd(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) tid: u32) {\nlet c = cloths[wg.x];\nif (c.live == 0u) {\nreturn;\n}\nlet n = c.count;\nlet h = params.h;\nlet h2inv = 1.0 / (h * h);\nlet damp = exp(-c.fabric.x * h);\nlet hd = c.base + c.extra.y;\nlet lim0 = bitcast<f32>(c.extra.z);\nlet lim = select(lim0, max(lim0, c.fabric2.w * 1.5), c.fabric2.w > 0.0 && lim0 > 0.0);\nlet vc = c.base + st[hd + 1u];\nlet ncv = st[hd + 2u];\nlet teth = st[hd + 5u];\nlet m = st[c.base + c.colours + c.ncolours];\nlet c11 = stf(hd + 6u);\nlet iters = max(params.iterations, 1u);\nfor (var s = 0u; s < params.substeps; s++) {\nlet t = mix(params.t0, params.t1, f32(s + 1u) / f32(params.substeps));\nlet time = params.time + h * f32(s);\nfor (var v = tid; v < n; v += WG) {\nlet i = c.first + v;\nprev[i] = vec4f(aero(c, v, time), 0.0);\n}\nif (s == 0u) {\nfor (var j = tid; j < m; j += WG) {\nlet o = c.base + c.cons + j * 12u;\nif (st[o + 2u] == NONE) {\ntorn[o + 1u] = bitcast<u32>(bitcast<f32>(torn[o + 1u]) * AL_DECAY);\ntorn[o + 2u] = bitcast<u32>(bitcast<f32>(torn[o + 2u]) * K_DECAY);\n}\n}\nif (teth != 0u) {\nfor (var v = tid; v < n; v += WG) {\nlet ts = c.base + teth + v * 2u;\ntorn[ts] = bitcast<u32>(bitcast<f32>(torn[ts]) * AL_DECAY);\ntorn[ts + 1u] = bitcast<u32>(bitcast<f32>(torn[ts + 1u]) * K_DECAY);\n}\n}\n}\nstorageBarrier();\nfor (var v = tid; v < n; v += WG) {\nlet i = c.first + v;\nlet p = pos[i];\nlet air = prev[i].xyz;\nprev[i] = p;\nif (p.w <= 0.0) {\npos[i] = vec4f(pin_pos(c, v, t), 0.0);\ncontinue;\n}\nlet y = p.xyz + h * (vel[i].xyz + h * (params.gravity + air));\nvel[i] = vec4f(y, 0.0);\npos[i] = vec4f(y, p.w);\n}\nstorageBarrier();\nfor (var it = 0u; it < iters; it++) {\nfor (var k = 0u; k < ncv; k++) {\nlet lo = st[vc + k];\nlet hi = st[vc + k + 1u];\nfor (var j = lo + tid; j < hi; j += WG) {\nvbd_vertex(c, st[vc + ncv + 1u + j], h2inv, hd, lim, t);\n}\nstorageBarrier();\n}\nfor (var j = tid; j < m; j += WG) {\nlet o = c.base + c.cons + j * 12u;\nif (st[o + 2u] != NONE) {\ncontinue;\n}\nif (c.fabric2.w > 0.0) {\nif (torn[o] != 0u) {\ncontinue;\n}\nlet rest = stf(o + 4u);\nif (length(pos[c.first + st[o + 1u]].xyz - pos[c.first + st[o]].xyz) > rest * (1.0 + c.fabric2.w)) {\ntorn[o] = 1u;\ntorn[c.base + st[hd + 12u] + j] = 1u;\ncontinue;\n}\n}\nif (lim > 0.0) {\nlet rest = stf(o + 4u);\ndual_reach(pos[c.first + st[o]].xyz, pos[c.first + st[o + 1u]].xyz, rest * (1.0 + lim), rest, o + 1u, c11);\n}\n}\nif (teth != 0u) {\nfor (var v = tid; v < n; v += WG) {\nlet ts = c.base + teth + v * 2u;\nlet anchor = st[ts];\nif (anchor != NONE && pos[c.first + v].w > 0.0) {\nlet lt = stf(ts + 1u);\ndual_reach(pos[c.first + v].xyz, pos[c.first + anchor].xyz, lt, lt, ts, c11);\n}\n}\n}\nstorageBarrier();\n}\nfor (var v = tid; v < n; v += WG) {\nlet i = c.first + v;\nif (pos[i].w > 0.0) {\ncollide(c, i, t, h);\nbackstop(c, v, t);\n}\nlet nv = (pos[i].xyz - prev[i].xyz) / h * damp;\nlet sp = length(nv);\nvel[i] = vec4f(select(nv, nv * (params.max_speed / sp), sp > params.max_speed), 0.0);\n}\nstorageBarrier();\n}\n}\noverride VCOLOUR: u32 = 0u;\nfn vbd_limit(c: Cloth) -> f32 {\nlet lim0 = bitcast<f32>(c.extra.z);\nreturn select(lim0, max(lim0, c.fabric2.w * 1.5), c.fabric2.w > 0.0 && lim0 > 0.0);\n}\n@compute @workgroup_size(256) fn vw_warm(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nif (c.live == 0u) {\nreturn;\n}\nlet j = wg.x * WW + l;\nlet m = st[c.base + c.colours + c.ncolours];\nif (j < m) {\nlet o = c.base + c.cons + j * 12u;\nif (st[o + 2u] == NONE) {\ntorn[o + 1u] = bitcast<u32>(bitcast<f32>(torn[o + 1u]) * AL_DECAY);\ntorn[o + 2u] = bitcast<u32>(bitcast<f32>(torn[o + 2u]) * K_DECAY);\n}\n}\nlet teth = st[c.base + c.extra.y + 5u];\nif (teth != 0u && j < c.count) {\nlet ts = c.base + teth + j * 2u;\ntorn[ts] = bitcast<u32>(bitcast<f32>(torn[ts]) * AL_DECAY);\ntorn[ts + 1u] = bitcast<u32>(bitcast<f32>(torn[ts + 1u]) * K_DECAY);\n}\n}\n@compute @workgroup_size(256) fn vw_predict(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet v = wg.x * WW + l;\nif (c.live == 0u || v >= c.count) {\nreturn;\n}\nlet i = c.first + v;\nlet h = params.h;\nlet p = pos[i];\nlet air = prev[i].xyz;\nprev[i] = p;\nif (p.w <= 0.0) {\npos[i] = vec4f(pin_pos(c, v, wide_t()), 0.0);\nreturn;\n}\nlet y = p.xyz + h * (vel[i].xyz + h * (params.gravity + air));\nvel[i] = vec4f(y, 0.0);\npos[i] = vec4f(y, p.w);\n}\n@compute @workgroup_size(256) fn vw_colour(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet hd = c.base + c.extra.y;\nlet ncv = st[hd + 2u];\nif (c.live == 0u || VCOLOUR >= ncv) {\nreturn;\n}\nlet vc = c.base + st[hd + 1u];\nlet j = st[vc + VCOLOUR] + wg.x * WW + l;\nif (j < st[vc + VCOLOUR + 1u]) {\nvbd_vertex(c, st[vc + ncv + 1u + j], 1.0 / (params.h * params.h), hd, vbd_limit(c), wide_t());\n}\n}\n@compute @workgroup_size(256) fn vw_dual(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nif (c.live == 0u) {\nreturn;\n}\nlet hd = c.base + c.extra.y;\nlet c11 = stf(hd + 6u);\nlet lim = vbd_limit(c);\nlet j = wg.x * WW + l;\nlet m = st[c.base + c.colours + c.ncolours];\nif (j < m) {\nlet o = c.base + c.cons + j * 12u;\nif (st[o + 2u] == NONE) {\nvar live = true;\nif (c.fabric2.w > 0.0) {\nif (torn[o] != 0u) {\nlive = false;\n} else {\nlet rest = stf(o + 4u);\nif (length(pos[c.first + st[o + 1u]].xyz - pos[c.first + st[o]].xyz) > rest * (1.0 + c.fabric2.w)) {\ntorn[o] = 1u;\ntorn[c.base + st[hd + 12u] + j] = 1u;\nlive = false;\n}\n}\n}\nif (live && lim > 0.0) {\nlet rest = stf(o + 4u);\ndual_reach(pos[c.first + st[o]].xyz, pos[c.first + st[o + 1u]].xyz, rest * (1.0 + lim), rest, o + 1u, c11);\n}\n}\n}\nlet teth = st[hd + 5u];\nif (teth != 0u && j < c.count) {\nlet ts = c.base + teth + j * 2u;\nlet anchor = st[ts];\nif (anchor != NONE && pos[c.first + j].w > 0.0) {\nlet lt = stf(ts + 1u);\ndual_reach(pos[c.first + j].xyz, pos[c.first + anchor].xyz, lt, lt, ts, c11);\n}\n}\n}\n@group(0) @binding(8) var<storage, read_write> pool: array<f32>;\n@group(0) @binding(12) var<storage, read_write> tri_out: array<u32>;\n@compute @workgroup_size(WG) fn write(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) tid: u32) {\nlet c = cloths[wg.x];\nif (c.live == 0u) {\nreturn;\n}\nlet a = params.alpha;\nlet inv = quat_conj(c.rot1);\nlet scale = 1.0 / c.origin1.w;\nlet a0 = c.base + c.adj;\nfor (var v = tid; v < c.count; v += WG) {\nlet i = c.first + v;\nlet p = mix(last[i].xyz, pos[i].xyz, a);\nvar nrm = vec3f(0.0);\nfor (var k = st[a0 + v]; k < st[a0 + v + 1u]; k++) {\nif (tri_torn(c, st[a0 + k])) {\ncontinue;\n}\nlet o = c.base + c.tris + st[a0 + k] * 3u;\nlet j0 = c.first + st[o];\nlet j1 = c.first + st[o + 1u];\nlet j2 = c.first + st[o + 2u];\nlet q0 = mix(last[j0].xyz, pos[j0].xyz, a);\nnrm += cross(mix(last[j1].xyz, pos[j1].xyz, a) - q0, mix(last[j2].xyz, pos[j2].xyz, a) - q0);\n}\nlet ln = quat_rotate(inv, nrm);\nlet len = length(ln);\nlet nl = select(vec3f(0.0, 1.0, 0.0), ln / len, len > 1e-20);\nlet lp = quat_rotate(inv, p - c.origin1.xyz) * scale;\nlet o = (c.pool + v) * 8u;\npool[o] = lp.x;\npool[o + 1u] = lp.y;\npool[o + 2u] = lp.z;\npool[o + 3u] = nl.x;\npool[o + 4u] = nl.y;\npool[o + 5u] = nl.z;\n}\nif (c.fabric2.w > 0.0) {\nlet ntri = (c.colours - c.tris) / 3u;\nfor (var t = tid; t < ntri; t += WG) {\nlet o = c.base + c.tris + t * 3u;\nlet gone = tri_torn(c, t);\nlet at = c.extra.x + t * 3u;\ntri_out[at] = st[o];\ntri_out[at + 1u] = select(st[o + 1u], st[o], gone);\ntri_out[at + 2u] = select(st[o + 2u], st[o], gone);\n}\n}\n}\n@group(0) @binding(9) var<storage, read_write> hash: array<atomic<u32>>;\n@group(0) @binding(10) var<storage, read_write> delta: array<vec4f>;\nvar<workgroup> partial: array<u32, 1024>;\nfn cell_hash(c: vec3i, mask: u32) -> u32 {\nreturn (bitcast<u32>(c.x * 92837111) ^ bitcast<u32>(c.y * 689287499) ^ bitcast<u32>(c.z * 283923481)) & mask;\n}\n@compute @workgroup_size(WG) fn selfcollide(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) tid: u32) {\nlet c = cloths[wg.x];\nif (c.live == 0u || c.table == 0u) {\nreturn;\n}\nlet n = c.count;\nlet table = c.table;\nlet mask = table - 1u;\nlet hb = c.hash;\nlet ent = hb + table + 1u;\nlet d = c.fabric2.z;\nlet inv = 1.0 / d;\nlet dt = params.h * f32(params.substeps);\nfor (var k = tid; k <= table; k += WG) {\natomicStore(&hash[hb + k], 0u);\n}\nstorageBarrier();\nfor (var v = tid; v < n; v += WG) {\nlet h = cell_hash(vec3i(floor(pos[c.first + v].xyz * inv)), mask);\natomicAdd(&hash[hb + h], 1u);\n}\nstorageBarrier();\nlet per = (table + WG - 1u) / WG;\nlet lo = tid * per;\nlet hi = min(lo + per, table);\nvar run = 0u;\nfor (var k = lo; k < hi; k++) {\nrun += atomicLoad(&hash[hb + k]);\n}\npartial[tid] = run;\nworkgroupBarrier();\nif (tid == 0u) {\nvar acc = 0u;\nfor (var k = 0u; k < WG; k++) {\nlet x = partial[k];\npartial[k] = acc;\nacc += x;\n}\n}\nworkgroupBarrier();\nrun = partial[tid];\nfor (var k = lo; k < hi; k++) {\nrun += atomicLoad(&hash[hb + k]);\natomicStore(&hash[hb + k], run);\n}\nstorageBarrier();\nfor (var v = tid; v < n; v += WG) {\nlet h = cell_hash(vec3i(floor(pos[c.first + v].xyz * inv)), mask);\nlet at = atomicSub(&hash[hb + h], 1u) - 1u;\natomicStore(&hash[ent + at], v);\n}\nstorageBarrier();\nfor (var k = tid; k < table; k += WG) {\nlet lo = atomicLoad(&hash[hb + k]);\nlet hi = select(atomicLoad(&hash[hb + k + 1u]), n, k == mask);\nfor (var a = lo + 1u; a < hi; a++) {\nlet key = atomicLoad(&hash[ent + a]);\nvar b = a;\nwhile (b > lo && atomicLoad(&hash[ent + b - 1u]) > key) {\natomicStore(&hash[ent + b], atomicLoad(&hash[ent + b - 1u]));\nb--;\n}\natomicStore(&hash[ent + b], key);\n}\n}\nstorageBarrier();\nlet scale = c.origin1.w;\nfor (var v = tid; v < n; v += WG) {\nlet i = c.first + v;\nlet a = pos[i];\nvar push = vec3f(0.0);\nvar hits = 0.0;\nif (a.w > 0.0) {\nlet r = c.base + v * 4u;\nlet ra = vec3f(stf(r), stf(r + 1u), stf(r + 2u));\nlet cell = vec3i(floor(a.xyz * inv));\nfor (var dz = -1; dz <= 1; dz++) {\nfor (var dy = -1; dy <= 1; dy++) {\nfor (var dx = -1; dx <= 1; dx++) {\nlet h = cell_hash(cell + vec3i(dx, dy, dz), mask);\nlet end = select(atomicLoad(&hash[hb + h + 1u]), n, h == mask);\nfor (var k = atomicLoad(&hash[hb + h]); k < end; k++) {\nlet u = atomicLoad(&hash[ent + k]);\nif (u == v) {\ncontinue;\n}\nlet b = pos[c.first + u];\nlet diff = a.xyz - b.xyz;\nlet dist = length(diff);\nif (dist >= d || dist < 1e-9) {\ncontinue;\n}\nlet q = c.base + u * 4u;\nif (length(ra - vec3f(stf(q), stf(q + 1u), stf(q + 2u))) * scale < d) {\ncontinue;\n}\npush += diff * ((d - dist) / dist * a.w / (a.w + b.w));\nhits += 1.0;\n}\n}\n}\n}\n}\ndelta[i] = vec4f(push / max(hits, 1.0), 0.0);\n}\nstorageBarrier();\nfor (var v = tid; v < n; v += WG) {\nlet i = c.first + v;\nlet p = delta[i].xyz;\npos[i] = vec4f(pos[i].xyz + p, pos[i].w);\nvel[i] = vec4f(vel[i].xyz + p * (0.5 / dt), 0.0);\n}\n}\n@compute @workgroup_size(256) fn sw_clear(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet k = wg.x * WW + l;\nif (c.live == 0u || c.table == 0u || k > c.table) {\nreturn;\n}\natomicStore(&hash[c.hash + k], 0u);\n}\n@compute @workgroup_size(256) fn sw_count(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet v = wg.x * WW + l;\nif (c.live == 0u || c.table == 0u || v >= c.count) {\nreturn;\n}\nlet h = cell_hash(vec3i(floor(pos[c.first + v].xyz * (1.0 / c.fabric2.z))), c.table - 1u);\natomicAdd(&hash[c.hash + h], 1u);\n}\n@compute @workgroup_size(WG) fn sw_scan(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) tid: u32) {\nlet c = cloths[wg.y];\nif (c.live == 0u || c.table == 0u) {\nreturn;\n}\nlet table = c.table;\nlet hb = c.hash;\nlet per = (table + WG - 1u) / WG;\nlet lo = tid * per;\nlet hi = min(lo + per, table);\nvar run = 0u;\nfor (var k = lo; k < hi; k++) {\nrun += atomicLoad(&hash[hb + k]);\n}\npartial[tid] = run;\nworkgroupBarrier();\nif (tid == 0u) {\nvar acc = 0u;\nfor (var k = 0u; k < WG; k++) {\nlet x = partial[k];\npartial[k] = acc;\nacc += x;\n}\n}\nworkgroupBarrier();\nrun = partial[tid];\nfor (var k = lo; k < hi; k++) {\nrun += atomicLoad(&hash[hb + k]);\natomicStore(&hash[hb + k], run);\n}\n}\n@compute @workgroup_size(256) fn sw_fill(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet v = wg.x * WW + l;\nif (c.live == 0u || c.table == 0u || v >= c.count) {\nreturn;\n}\nlet h = cell_hash(vec3i(floor(pos[c.first + v].xyz * (1.0 / c.fabric2.z))), c.table - 1u);\nlet at = atomicSub(&hash[c.hash + h], 1u) - 1u;\natomicStore(&hash[c.hash + c.table + 1u + at], v);\n}\n@compute @workgroup_size(256) fn sw_sort(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet k = wg.x * WW + l;\nif (c.live == 0u || c.table == 0u || k >= c.table) {\nreturn;\n}\nlet hb = c.hash;\nlet ent = hb + c.table + 1u;\nlet lo = atomicLoad(&hash[hb + k]);\nlet hi = select(atomicLoad(&hash[hb + k + 1u]), c.count, k == c.table - 1u);\nfor (var a = lo + 1u; a < hi; a++) {\nlet key = atomicLoad(&hash[ent + a]);\nvar b = a;\nwhile (b > lo && atomicLoad(&hash[ent + b - 1u]) > key) {\natomicStore(&hash[ent + b], atomicLoad(&hash[ent + b - 1u]));\nb--;\n}\natomicStore(&hash[ent + b], key);\n}\n}\n@compute @workgroup_size(256) fn sw_push(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet v = wg.x * WW + l;\nif (c.live == 0u || c.table == 0u || v >= c.count) {\nreturn;\n}\nlet n = c.count;\nlet mask = c.table - 1u;\nlet hb = c.hash;\nlet ent = hb + c.table + 1u;\nlet d = c.fabric2.z;\nlet inv = 1.0 / d;\nlet scale = c.origin1.w;\nlet i = c.first + v;\nlet a = pos[i];\nvar push = vec3f(0.0);\nvar hits = 0.0;\nif (a.w > 0.0) {\nlet r = c.base + v * 4u;\nlet ra = vec3f(stf(r), stf(r + 1u), stf(r + 2u));\nlet cell = vec3i(floor(a.xyz * inv));\nfor (var dz = -1; dz <= 1; dz++) {\nfor (var dy = -1; dy <= 1; dy++) {\nfor (var dx = -1; dx <= 1; dx++) {\nlet h = cell_hash(cell + vec3i(dx, dy, dz), mask);\nlet end = select(atomicLoad(&hash[hb + h + 1u]), n, h == mask);\nfor (var k = atomicLoad(&hash[hb + h]); k < end; k++) {\nlet u = atomicLoad(&hash[ent + k]);\nif (u == v) {\ncontinue;\n}\nlet b = pos[c.first + u];\nlet diff = a.xyz - b.xyz;\nlet dist = length(diff);\nif (dist >= d || dist < 1e-9) {\ncontinue;\n}\nlet q = c.base + u * 4u;\nif (length(ra - vec3f(stf(q), stf(q + 1u), stf(q + 2u))) * scale < d) {\ncontinue;\n}\npush += diff * ((d - dist) / dist * a.w / (a.w + b.w));\nhits += 1.0;\n}\n}\n}\n}\n}\ndelta[i] = vec4f(push / max(hits, 1.0), 0.0);\n}\n@compute @workgroup_size(256) fn sw_apply(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet v = wg.x * WW + l;\nif (c.live == 0u || c.table == 0u || v >= c.count) {\nreturn;\n}\nlet i = c.first + v;\nlet p = delta[i].xyz;\npos[i] = vec4f(pos[i].xyz + p, pos[i].w);\nvel[i] = vec4f(vel[i].xyz + p * (0.5 / (params.h * f32(params.substeps))), 0.0);\n}\nfn quat_rotate(q: vec4f, v: vec3f) -> vec3f {\nlet t = 2.0 * cross(q.xyz, v);\nreturn v + q.w * t + cross(q.xyz, t);\n}";
+};

package/dist/gpu-shaders.gen.js

@@ -0,0 +1,8 @@
+// GENERATED by tools/shaders-gen.mjs from shaders/**/*.wesl. Do not edit.
+// Regenerate with `node tools/shaders-gen.mjs`; CI runs it with --check.
+/** Linked from shaders/kanduka/cloth.wesl. */
+export const kandukaCloth = {
+    hash: '0473fc3b76a0ea73',
+    wgsl: "struct Params {\ngravity: vec3f,\nh: f32,\nwind: vec3f,\ntime: f32,\ngust: vec4f,\nsubsteps: u32,\ncolliders: u32,\nt0: f32,\nt1: f32,\nalpha: f32,\nspan: f32,\nmax_speed: f32,\niterations: u32,\nbend_iters: u32,\npad0: u32,\npad1: u32,\npad2: u32,\n}\nstruct Cloth {\nfirst: u32,\ncount: u32,\nbase: u32,\npool: u32,\ntris: u32,\nadj: u32,\ncolours: u32,\nncolours: u32,\ncons: u32,\nlive: u32,\nhash: u32,\ntable: u32,\norigin0: vec4f,\nrot0: vec4f,\norigin1: vec4f,\nrot1: vec4f,\nfabric: vec4f,\nfabric2: vec4f,\nextra: vec4u,\n}\nstruct Collider {\np0: vec4f,\nq0: vec4f,\np1: vec4f,\nq1: vec4f,\ndims: vec4f,\n}\nconst NONE: u32 = 0xffffffffu;\noverride WG: u32 = 256u;\nconst SPHERE: f32 = 0.0;\nconst CAPSULE: f32 = 1.0;\nconst BOX: f32 = 2.0;\n@group(0) @binding(0) var<uniform> params: Params;\n@group(0) @binding(1) var<storage, read> cloths: array<Cloth>;\n@group(0) @binding(2) var<storage, read> st: array<u32>;\n@group(0) @binding(3) var<storage, read_write> pos: array<vec4f>;\n@group(0) @binding(4) var<storage, read_write> prev: array<vec4f>;\n@group(0) @binding(5) var<storage, read_write> vel: array<vec4f>;\n@group(0) @binding(6) var<storage, read_write> last: array<vec4f>;\n@group(0) @binding(7) var<storage, read> colliders: array<Collider>;\n@group(0) @binding(11) var<storage, read_write> torn: array<u32>;\nfn tri_torn(c: Cloth, tri: u32) -> bool {\nif (c.fabric2.w <= 0.0) {\nreturn false;\n}\nlet te = c.base + c.cons + st[c.base + c.colours + c.ncolours] * 12u + tri * 3u;\nreturn torn[c.base + st[te]] != 0u || torn[c.base + st[te + 1u]] != 0u || torn[c.base + st[te + 2u]] != 0u;\n}\nfn stf(i: u32) -> f32 {\nreturn bitcast<f32>(st[i]);\n}\nfn quat_conj(q: vec4f) -> vec4f {\nreturn vec4f(-q.xyz, q.w);\n}\nfn nlerp(a: vec4f, b: vec4f, t: f32) -> vec4f {\nlet s = select(1.0, -1.0, dot(a, b) < 0.0);\nreturn normalize(mix(a, b * s, t));\n}\nfn wind_at(p: vec3f, t: f32) -> vec3f {\nlet w = params.wind;\nlet speed = length(w);\nif (speed <= 0.0) {\nreturn vec3f(0.0);\n}\nlet g = params.gust;\nlet gust = 1.0 + g.y * (0.6 * sin(6.2831853 * g.z * t) + 0.4 * sin(6.2831853 * g.z * 2.3 * t + 1.7));\nlet q = p - w * t * 0.35;\nlet n = vec3f(sin(q.y * 1.7 + q.z * 0.9 + t * 1.3) + 0.5 * sin(q.x * 2.9 - q.y * 2.1 + t * 2.7), sin(q.z * 1.3 - q.x * 1.1 + t * 1.9) + 0.5 * sin(q.y * 3.1 + q.z * 2.3 - t * 2.3), sin(q.x * 1.5 + q.y * 0.7 - t * 1.6) + 0.5 * sin(q.z * 2.7 - q.x * 1.9 + t * 3.1));\nreturn w * gust + n * (g.x * speed * 0.5);\n}\nfn aero(c: Cloth, v: u32, t: f32) -> vec3f {\nlet rho = params.gust.w;\nif (rho <= 0.0 || pos[c.first + v].w <= 0.0) {\nreturn vec3f(0.0);\n}\nlet a0 = c.base + c.adj;\nlet lo = st[a0 + v];\nlet hi = st[a0 + v + 1u];\nlet air = wind_at(pos[c.first + v].xyz, t) * c.fabric2.y;\nvar f = vec3f(0.0);\nfor (var k = lo; k < hi; k++) {\nlet tri = st[a0 + k];\nif (tri_torn(c, tri)) {\ncontinue;\n}\nlet o = c.base + c.tris + tri * 3u;\nlet i0 = c.first + st[o];\nlet i1 = c.first + st[o + 1u];\nlet i2 = c.first + st[o + 2u];\nlet p0 = pos[i0].xyz;\nlet cr = cross(pos[i1].xyz - p0, pos[i2].xyz - p0);\nlet len = length(cr);\nif (len < 1e-12) {\ncontinue;\n}\nlet n = cr / len;\nlet area = 0.5 * len;\nlet rel = air - (vel[i0].xyz + vel[i1].xyz + vel[i2].xyz) / 3.0;\nlet vn = dot(rel, n);\nlet vt = rel - vn * n;\nf += 0.5 * rho * area * (c.fabric.w * abs(vn) * vn * n + c.fabric2.x * length(vt) * vt) / 3.0;\n}\nlet acc = f * pos[c.first + v].w;\nlet room = length(air - vel[c.first + v].xyz) / params.h;\nlet al = length(acc);\nreturn select(acc, acc * (room / al), al > room);\n}\nfn pin_target(c: Cloth, v: u32, t: f32) -> vec3f {\nlet r = c.base + v * 4u;\nlet local = vec3f(stf(r), stf(r + 1u), stf(r + 2u));\nlet o = mix(c.origin0, c.origin1, t);\nreturn o.xyz + quat_rotate(nlerp(c.rot0, c.rot1, t), local * o.w);\n}\nfn solve(c: Cloth, j: u32, h2: f32) {\nlet o = c.base + c.cons + j * 12u;\nlet i0 = c.first + st[o];\nlet i1 = c.first + st[o + 1u];\nlet e2 = st[o + 2u];\nif (e2 == NONE) {\nlet a = pos[i0];\nlet b = pos[i1];\nlet w = a.w + b.w;\nlet d = b.xyz - a.xyz;\nlet len = length(d);\nif (w <= 0.0 || len < 1e-9) {\nreturn;\n}\nlet cv = len - stf(o + 4u);\nif (c.fabric2.w > 0.0) {\nif (torn[o] != 0u) {\nreturn;\n}\nif (cv > stf(o + 4u) * c.fabric2.w) {\ntorn[o] = 1u;\ntorn[c.base + st[c.base + c.extra.y + 12u] + j] = 1u;\nreturn;\n}\n}\nlet alpha = select(stf(o + 5u), stf(o + 6u), cv < 0.0) / h2;\nlet dl = -cv / (w + alpha);\nlet n = d / len;\npos[i0] = vec4f(a.xyz - a.w * dl * n, a.w);\npos[i1] = vec4f(b.xyz + b.w * dl * n, b.w);\nreturn;\n}\nif (c.fabric2.w > 0.0 && torn[c.base + st[o + 9u]] != 0u) {\nreturn;\n}\nlet i2 = c.first + e2;\nlet i3 = c.first + st[o + 3u];\nlet x0 = pos[i0];\nlet x1 = pos[i1];\nlet x2 = pos[i2];\nlet x3 = pos[i3];\nlet k = vec4f(stf(o + 4u), stf(o + 5u), stf(o + 6u), stf(o + 7u));\nlet b = k.x * x0.xyz + k.y * x1.xyz + k.z * x2.xyz + k.w * x3.xyz;\nlet wk = x0.w * k.x * k.x + x1.w * k.y * k.y + x2.w * k.z * k.z + x3.w * k.w * k.w;\nlet denom = wk + stf(o + 8u) / h2;\nif (wk <= 0.0) {\nreturn;\n}\nlet s = -1.0 / denom;\npos[i0] = vec4f(x0.xyz + x0.w * k.x * s * b, x0.w);\npos[i1] = vec4f(x1.xyz + x1.w * k.y * s * b, x1.w);\npos[i2] = vec4f(x2.xyz + x2.w * k.z * s * b, x2.w);\npos[i3] = vec4f(x3.xyz + x3.w * k.w * s * b, x3.w);\n}\nfn anchor_of(c: Cloth, v: u32) -> u32 {\nlet at = st[c.base + c.extra.y + 11u];\nif (at == 0u) {\nreturn NONE;\n}\nlet k = st[c.base + at + v];\nreturn select(params.colliders + c.extra.w + k, NONE, k == NONE);\n}\nfn pin_pos(c: Cloth, v: u32, t: f32) -> vec3f {\nlet k = anchor_of(c, v);\nif (k == NONE) {\nreturn pin_target(c, v, t);\n}\nreturn mix(colliders[k].p0.xyz, colliders[k].p1.xyz, t);\n}\nfn backstop(c: Cloth, v: u32, t: f32) {\nlet i = c.first + v;\nlet k = anchor_of(c, v);\nif (k == NONE || pos[i].w <= 0.0) {\nreturn;\n}\nlet a = colliders[k];\nlet n = normalize(mix(a.q0.xyz, a.q1.xyz, t));\nlet d = dot(pos[i].xyz - mix(a.p0.xyz, a.p1.xyz, t), n) + a.p1.w;\nif (d < 0.0) {\npos[i] = vec4f(pos[i].xyz - d * n, pos[i].w);\n}\n}\nconst FIXED: f32 = 1e9;\n@group(0) @binding(10) var<storage, read_write> dbend: array<atomic<i32>>;\nfn bend_scatter(c: Cloth, j: u32, h2: f32, first: bool) {\nlet o = c.base + c.cons + j * 12u;\nif (c.fabric2.w > 0.0 && torn[c.base + st[o + 9u]] != 0u) {\nreturn;\n}\nlet ids = vec4u(c.first + st[o], c.first + st[o + 1u], c.first + st[o + 2u], c.first + st[o + 3u]);\nlet x0 = pos[ids.x];\nlet x1 = pos[ids.y];\nlet x2 = pos[ids.z];\nlet x3 = pos[ids.w];\nlet w = vec4f(stf(o + 4u), stf(o + 5u), stf(o + 6u), stf(o + 7u));\nlet inv = vec4f(x0.w, x1.w, x2.w, x3.w);\nlet bc = c.base + st[c.base + c.extra.y + 3u];\nvar split = vec4f(1.0);\nfor (var q = 0u; q < 4u; q++) {\nlet v = st[o + q];\nsplit[q] = f32(max(1u, st[bc + v + 1u] - st[bc + v]));\n}\nlet wk = dot(split * inv, w * w);\nif (wk <= 0.0) {\nreturn;\n}\nlet b = w.x * x0.xyz + w.y * x1.xyz + w.z * x2.xyz + w.w * x3.xyz;\nlet at = stf(o + 8u) / h2;\nvar lam = vec3f(0.0);\nif (!first) {\nlam = vec3f(bitcast<f32>(torn[o + 3u]), bitcast<f32>(torn[o + 4u]), bitcast<f32>(torn[o + 5u]));\n}\nlet r = b + at * lam;\nlet s = -FIXED / (wk + at);\nif (params.bend_iters > 1u) {\nlet nl = lam + r * (s / FIXED);\ntorn[o + 3u] = bitcast<u32>(nl.x);\ntorn[o + 4u] = bitcast<u32>(nl.y);\ntorn[o + 5u] = bitcast<u32>(nl.z);\n}\nfor (var q = 0u; q < 4u; q++) {\nif (inv[q] <= 0.0) {\ncontinue;\n}\nlet d = vec3i(round(r * (inv[q] * w[q] * s)));\nlet at = ids[q] * 4u;\natomicAdd(&dbend[at], d.x);\natomicAdd(&dbend[at + 1u], d.y);\natomicAdd(&dbend[at + 2u], d.z);\n}\n}\nfn shape_sdf(kind: f32, dims: vec3f, p: vec3f) -> vec4f {\nif (kind == SPHERE) {\nlet l = length(p);\nreturn vec4f(select(vec3f(0.0, 1.0, 0.0), p / l, l > 1e-9), l - dims.x);\n}\nif (kind == CAPSULE) {\nlet q = vec3f(p.x, p.y - clamp(p.y, -dims.x, dims.x), p.z);\nlet l = length(q);\nreturn vec4f(select(vec3f(0.0, 1.0, 0.0), q / l, l > 1e-9), l - dims.y);\n}\nlet q = abs(p) - dims;\nlet outside = max(q, vec3f(0.0));\nlet lo = length(outside);\nif (lo > 0.0) {\nreturn vec4f(outside * sign(p) / lo, lo);\n}\nif (q.x >= q.y && q.x >= q.z) {\nreturn vec4f(sign(p.x), 0.0, 0.0, q.x);\n}\nif (q.y >= q.z) {\nreturn vec4f(0.0, sign(p.y), 0.0, q.y);\n}\nreturn vec4f(0.0, 0.0, sign(p.z), q.z);\n}\nfn collide(c: Cloth, i: u32, t: f32, h: f32) {\nvar x = pos[i].xyz;\nlet start = prev[i].xyz;\nlet thick = c.fabric.z;\nfor (var k = 0u; k < params.colliders; k++) {\nlet cl = colliders[k];\nlet cp = mix(cl.p0.xyz, cl.p1.xyz, t);\nlet cq = nlerp(cl.q0, cl.q1, t);\nlet local = quat_rotate(quat_conj(cq), x - cp);\nlet sd = shape_sdf(cl.p0.w, cl.dims.xyz, local);\nlet depth = thick - sd.w;\nif (depth <= 0.0) {\ncontinue;\n}\nlet n = quat_rotate(cq, sd.xyz);\nx += n * depth;\nlet lc = local - sd.xyz * sd.w;\nlet w0 = cl.p0.xyz + quat_rotate(cl.q0, lc);\nlet w1 = cl.p1.xyz + quat_rotate(cl.q1, lc);\nlet vc = select(vec3f(0.0), (w1 - w0) / params.span, params.span > 0.0);\nlet rel = (x - start) - vc * h;\nlet tang = rel - dot(rel, n) * n;\nlet tl = length(tang);\nlet mu = sqrt(c.fabric.y * cl.p1.w);\nif (tl > 0.0) {\nx -= tang * min(1.0, mu * depth / tl);\n}\n}\npos[i] = vec4f(x, pos[i].w);\n}\nfn ph_air(c: Cloth, v: u32, time: f32, first: bool) {\nlet i = c.first + v;\nprev[i] = vec4f(aero(c, v, time), 0.0);\nif (first) {\nfor (var q = 0u; q < 4u; q++) {\natomicStore(&dbend[i * 4u + q], 0);\n}\n}\n}\nfn ph_predict(c: Cloth, v: u32, t: f32, h: f32) {\nlet i = c.first + v;\nlet p = pos[i];\nif (p.w <= 0.0) {\nprev[i] = p;\npos[i] = vec4f(pin_pos(c, v, t), 0.0);\nreturn;\n}\nlet vv = vel[i].xyz + h * (params.gravity + prev[i].xyz);\nprev[i] = p;\nvel[i] = vec4f(vv, 0.0);\npos[i] = vec4f(p.xyz + h * vv, p.w);\n}\nfn ph_bend_apply(c: Cloth, v: u32) {\nlet i = c.first + v;\nlet d = vec3f(f32(atomicLoad(&dbend[i * 4u])), f32(atomicLoad(&dbend[i * 4u + 1u])), f32(atomicLoad(&dbend[i * 4u + 2u])));\npos[i] = vec4f(pos[i].xyz + d / FIXED, pos[i].w);\nfor (var q = 0u; q < 4u; q++) {\natomicStore(&dbend[i * 4u + q], 0);\n}\n}\nfn ph_tether(c: Cloth, v: u32, teth: u32) {\nlet i = c.first + v;\nlet anchor = st[c.base + teth + v * 2u];\nif (anchor != NONE && pos[i].w > 0.0) {\nlet a = pos[c.first + anchor].xyz;\nlet d = pos[i].xyz - a;\nlet l = length(d);\nlet lim = stf(c.base + teth + v * 2u + 1u);\nif (l > lim) {\npos[i] = vec4f(a + d * (lim / l), pos[i].w);\n}\n}\n}\nfn ph_collide(c: Cloth, v: u32, t: f32, h: f32) {\nlet i = c.first + v;\nif (pos[i].w > 0.0) {\ncollide(c, i, t, h);\nbackstop(c, v, t);\n}\nlet nv = (pos[i].xyz - prev[i].xyz) / h * exp(-c.fabric.x * h);\nlet sp = length(nv);\nvel[i] = vec4f(select(nv, nv * (params.max_speed / sp), sp > params.max_speed), 0.0);\n}\n@compute @workgroup_size(WG) fn step(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) tid: u32) {\nlet c = cloths[wg.x];\nif (c.live == 0u) {\nreturn;\n}\nlet n = c.count;\nlet h = params.h;\nlet h2 = h * h;\nlet c0 = c.base + c.colours;\nlet nstretch = st[c.base + c.extra.y + 13u];\nlet teth = st[c.base + c.extra.y + 5u];\nfor (var s = 0u; s < params.substeps; s++) {\nlet t = mix(params.t0, params.t1, f32(s + 1u) / f32(params.substeps));\nlet time = params.time + h * f32(s);\nfor (var v = tid; v < n; v += WG) {\nph_air(c, v, time, s == 0u);\n}\nstorageBarrier();\nfor (var v = tid; v < n; v += WG) {\nph_predict(c, v, t, h);\n}\nstorageBarrier();\nfor (var k = 0u; k < nstretch; k++) {\nfor (var j = st[c0 + k] + tid; j < st[c0 + k + 1u]; j += WG) {\nsolve(c, j, h2);\n}\nstorageBarrier();\n}\nif (nstretch < c.ncolours) {\nfor (var it = 0u; it < max(params.bend_iters, 1u); it++) {\nfor (var j = st[c0 + nstretch] + tid; j < st[c0 + nstretch + 1u]; j += WG) {\nbend_scatter(c, j, h2, it == 0u);\n}\nstorageBarrier();\nfor (var v = tid; v < n; v += WG) {\nph_bend_apply(c, v);\n}\nstorageBarrier();\n}\n}\nif (teth != 0u) {\nfor (var v = tid; v < n; v += WG) {\nph_tether(c, v, teth);\n}\nstorageBarrier();\n}\nfor (var v = tid; v < n; v += WG) {\nph_collide(c, v, t, h);\n}\nstorageBarrier();\n}\n}\noverride WCOLOUR: u32 = 0u;\noverride BFIRST: bool = true;\nconst WW: u32 = 256u;\nfn wide_t() -> f32 {\nreturn mix(params.t0, params.t1, f32(params.iterations + 1u) / f32(params.substeps));\n}\n@compute @workgroup_size(256) fn w_air(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet v = wg.x * WW + l;\nif (c.live == 0u || v >= c.count) {\nreturn;\n}\nph_air(c, v, params.time + params.h * f32(params.iterations), params.iterations == 0u);\n}\n@compute @workgroup_size(256) fn w_predict(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet v = wg.x * WW + l;\nif (c.live == 0u || v >= c.count) {\nreturn;\n}\nph_predict(c, v, wide_t(), params.h);\n}\n@compute @workgroup_size(256) fn w_stretch(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nif (c.live == 0u || WCOLOUR >= st[c.base + c.extra.y + 13u]) {\nreturn;\n}\nlet c0 = c.base + c.colours;\nlet j = st[c0 + WCOLOUR] + wg.x * WW + l;\nif (j < st[c0 + WCOLOUR + 1u]) {\nsolve(c, j, params.h * params.h);\n}\n}\n@compute @workgroup_size(256) fn w_bend(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet nstretch = st[c.base + c.extra.y + 13u];\nif (c.live == 0u || nstretch >= c.ncolours) {\nreturn;\n}\nlet c0 = c.base + c.colours;\nlet j = st[c0 + nstretch] + wg.x * WW + l;\nif (j < st[c0 + nstretch + 1u]) {\nbend_scatter(c, j, params.h * params.h, BFIRST);\n}\n}\n@compute @workgroup_size(256) fn w_bend_apply(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet v = wg.x * WW + l;\nif (c.live == 0u || v >= c.count || st[c.base + c.extra.y + 13u] >= c.ncolours) {\nreturn;\n}\nph_bend_apply(c, v);\n}\n@compute @workgroup_size(256) fn w_tether(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet v = wg.x * WW + l;\nlet teth = st[c.base + c.extra.y + 5u];\nif (c.live == 0u || v >= c.count || teth == 0u) {\nreturn;\n}\nph_tether(c, v, teth);\n}\n@compute @workgroup_size(256) fn w_collide(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet v = wg.x * WW + l;\nif (c.live == 0u || v >= c.count) {\nreturn;\n}\nph_collide(c, v, wide_t(), params.h);\n}\nconst AL_DECAY: f32 = 0.95;\nconst K_DECAY: f32 = 0.99;\nconst K_RAMP: f32 = 1000.0;\nconst K_MAX: f32 = 10.0;\nconst K_CONTACT: f32 = 100.0;\nconst FRICTION_EPS: f32 = 1e-4;\nfn outer3(a: vec3f, b: vec3f) -> mat3x3f {\nreturn mat3x3f(a * b.x, a * b.y, a * b.z);\n}\nfn hard_reach(x: vec3f, a: vec3f, lim: f32, s: u32, kmin: f32, f: ptr<function, vec3f>, hm: ptr<function, mat3x3f>) {\nlet d = x - a;\nlet l = length(d);\nif (l < 1e-9) {\nreturn;\n}\nlet k = max(bitcast<f32>(torn[s + 1u]), kmin);\nlet fc = k * (lim - l) + bitcast<f32>(torn[s]);\nif (fc < 0.0) {\nlet nd = d / l;\n*f += fc * nd;\n*hm += k * outer3(nd, nd);\n}\n}\nfn dual_reach(x: vec3f, a: vec3f, lim: f32, rest: f32, s: u32, kmin: f32) {\nlet cv = lim - length(x - a);\nlet k = max(bitcast<f32>(torn[s + 1u]), kmin);\nlet lam = clamp(k * cv + bitcast<f32>(torn[s]), -0.1 * K_MAX * kmin * rest, 0.0);\ntorn[s] = bitcast<u32>(lam);\nif (cv < 0.0) {\ntorn[s + 1u] = bitcast<u32>(min(K_MAX * kmin, k + K_RAMP * kmin * (-cv) / max(rest, 1e-6)));\n}\n}\nfn vbd_vertex(c: Cloth, v: u32, h2inv: f32, hd: u32, lim: f32, tc: f32) {\nlet i = c.first + v;\nlet xi = pos[i];\nif (xi.w <= 0.0) {\nreturn;\n}\nlet x = xi.xyz;\nlet mh = h2inv / xi.w;\nvar f = (vel[i].xyz - x) * mh;\nvar hm = mat3x3f(mh, 0.0, 0.0, 0.0, mh, 0.0, 0.0, 0.0, mh);\nlet c11 = stf(hd + 6u);\nlet c22 = stf(hd + 7u);\nlet c12 = stf(hd + 8u);\nlet c33 = stf(hd + 9u);\nlet cs = stf(hd + 10u);\nlet tr = c.base + st[hd];\nlet a0 = c.base + c.adj;\nfor (var k = st[a0 + v]; k < st[a0 + v + 1u]; k++) {\nlet tri = st[a0 + k];\nif (tri_torn(c, tri)) {\ncontinue;\n}\nlet o = c.base + c.tris + tri * 3u;\nlet v1 = st[o + 1u];\nlet v2 = st[o + 2u];\nlet r = tr + tri * 5u;\nlet m = vec4f(stf(r), stf(r + 1u), stf(r + 2u), stf(r + 3u));\nlet area = stf(r + 4u);\nif (area <= 0.0) {\ncontinue;\n}\nvar d = -vec2f(m.x + m.z, m.y + m.w);\nif (v == v1) {\nd = m.xy;\n} else if (v == v2) {\nd = m.zw;\n}\nlet p0 = pos[c.first + st[o]].xyz;\nlet e1 = pos[c.first + v1].xyz - p0;\nlet e2 = pos[c.first + v2].xyz - p0;\nlet f1 = e1 * m.x + e2 * m.z;\nlet f2 = e1 * m.y + e2 * m.w;\nlet g11 = 0.5 * (dot(f1, f1) - 1.0);\nlet g22 = 0.5 * (dot(f2, f2) - 1.0);\nlet g12 = 0.5 * dot(f1, f2);\nlet k11 = c11 * select(1.0, cs, g11 < 0.0);\nlet k22 = c22 * select(1.0, cs, g22 < 0.0);\nlet k12 = c12 * select(1.0, cs, g11 < 0.0 || g22 < 0.0);\nlet s11 = k11 * g11 + k12 * g22;\nlet s22 = k12 * g11 + k22 * g22;\nlet s12 = 2.0 * c33 * g12;\nlet sd = vec2f(s11 * d.x + s12 * d.y, s12 * d.x + s22 * d.y);\nf -= area * (f1 * sd.x + f2 * sd.y);\nlet q11 = k11 * d.x * d.x + c33 * d.y * d.y;\nlet q12 = (k12 + c33) * d.x * d.y;\nlet q22 = k22 * d.y * d.y + c33 * d.x * d.x;\nlet geo = max(0.0, dot(d, sd));\nhm += area * (q11 * outer3(f1, f1) + q12 * (outer3(f1, f2) + outer3(f2, f1)) + q22 * outer3(f2, f2) + mat3x3f(geo, 0.0, 0.0, 0.0, geo, 0.0, 0.0, 0.0, geo));\n}\nlet bc = c.base + st[hd + 3u];\nfor (var k = st[bc + v]; k < st[bc + v + 1u]; k++) {\nlet e = st[bc + k];\nlet o = c.base + (e >> 2u);\nif (c.fabric2.w > 0.0 && torn[c.base + st[o + 9u]] != 0u) {\ncontinue;\n}\nlet w = vec4f(stf(o + 4u), stf(o + 5u), stf(o + 6u), stf(o + 7u));\nlet b = w.x * pos[c.first + st[o]].xyz + w.y * pos[c.first + st[o + 1u]].xyz + w.z * pos[c.first + st[o + 2u]].xyz + w.w * pos[c.first + st[o + 3u]].xyz;\nlet kb = 1.0 / max(stf(o + 8u), 1e-12);\nlet ws = w[e & 3u];\nf -= kb * ws * b;\nlet hb = kb * ws * ws;\nhm += mat3x3f(hb, 0.0, 0.0, 0.0, hb, 0.0, 0.0, 0.0, hb);\n}\nif (lim > 0.0) {\nlet ec = c.base + st[hd + 4u];\nfor (var k = st[ec + v]; k < st[ec + v + 1u]; k++) {\nlet o = c.base + st[ec + k];\nif (c.fabric2.w > 0.0 && torn[o] != 0u) {\ncontinue;\n}\nlet other = select(st[o], st[o + 1u], st[o] == v);\nhard_reach(x, pos[c.first + other].xyz, stf(o + 4u) * (1.0 + lim), o + 1u, c11, &f, &hm);\n}\n}\nlet teth = st[hd + 5u];\nif (teth != 0u) {\nlet t = c.base + teth + v * 2u;\nlet anchor = st[t];\nif (anchor != NONE) {\nhard_reach(x, pos[c.first + anchor].xyz, stf(t + 1u), t, c11, &f, &hm);\n}\n}\nlet kc = K_CONTACT * c11;\nfor (var k = 0u; k < params.colliders; k++) {\nlet cl = colliders[k];\nlet at = mix(cl.p0.xyz, cl.p1.xyz, tc);\nlet cq = nlerp(cl.q0, cl.q1, tc);\nlet local = quat_rotate(quat_conj(cq), x - at);\nlet sd = shape_sdf(cl.p0.w, cl.dims.xyz, local);\nlet depth = c.fabric.z - sd.w;\nif (depth > 0.0) {\nlet nd = quat_rotate(cq, sd.xyz);\nlet fnorm = kc * depth;\nf += fnorm * nd;\nhm += kc * outer3(nd, nd);\nlet lc = local - sd.xyz * sd.w;\nlet vcol = select(vec3f(0.0), (cl.p1.xyz + quat_rotate(cl.q1, lc) - cl.p0.xyz - quat_rotate(cl.q0, lc)) / params.span, params.span > 0.0);\nlet u = (x - prev[i].xyz) - vcol * params.h;\nlet ut = u - dot(u, nd) * nd;\nlet ul = length(ut);\nlet w = sqrt(c.fabric.y * cl.p1.w) * fnorm * select(1.0 / max(ul, 1e-12), (2.0 - ul / FRICTION_EPS) / FRICTION_EPS, ul < FRICTION_EPS);\nf -= w * ut;\nhm += w * (mat3x3f(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0) - outer3(nd, nd));\n}\n}\nlet a = hm[0];\nlet b = hm[1];\nlet cc = hm[2];\nlet r0 = cross(b, cc);\nlet r1 = cross(cc, a);\nlet r2 = cross(a, b);\nlet det = dot(a, r0);\nif (abs(det) < 1e-30) {\nreturn;\n}\npos[i] = vec4f(x + vec3f(dot(r0, f), dot(r1, f), dot(r2, f)) / det, xi.w);\n}\n@compute @workgroup_size(WG) fn vbd(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) tid: u32) {\nlet c = cloths[wg.x];\nif (c.live == 0u) {\nreturn;\n}\nlet n = c.count;\nlet h = params.h;\nlet h2inv = 1.0 / (h * h);\nlet damp = exp(-c.fabric.x * h);\nlet hd = c.base + c.extra.y;\nlet lim0 = bitcast<f32>(c.extra.z);\nlet lim = select(lim0, max(lim0, c.fabric2.w * 1.5), c.fabric2.w > 0.0 && lim0 > 0.0);\nlet vc = c.base + st[hd + 1u];\nlet ncv = st[hd + 2u];\nlet teth = st[hd + 5u];\nlet m = st[c.base + c.colours + c.ncolours];\nlet c11 = stf(hd + 6u);\nlet iters = max(params.iterations, 1u);\nfor (var s = 0u; s < params.substeps; s++) {\nlet t = mix(params.t0, params.t1, f32(s + 1u) / f32(params.substeps));\nlet time = params.time + h * f32(s);\nfor (var v = tid; v < n; v += WG) {\nlet i = c.first + v;\nprev[i] = vec4f(aero(c, v, time), 0.0);\n}\nif (s == 0u) {\nfor (var j = tid; j < m; j += WG) {\nlet o = c.base + c.cons + j * 12u;\nif (st[o + 2u] == NONE) {\ntorn[o + 1u] = bitcast<u32>(bitcast<f32>(torn[o + 1u]) * AL_DECAY);\ntorn[o + 2u] = bitcast<u32>(bitcast<f32>(torn[o + 2u]) * K_DECAY);\n}\n}\nif (teth != 0u) {\nfor (var v = tid; v < n; v += WG) {\nlet ts = c.base + teth + v * 2u;\ntorn[ts] = bitcast<u32>(bitcast<f32>(torn[ts]) * AL_DECAY);\ntorn[ts + 1u] = bitcast<u32>(bitcast<f32>(torn[ts + 1u]) * K_DECAY);\n}\n}\n}\nstorageBarrier();\nfor (var v = tid; v < n; v += WG) {\nlet i = c.first + v;\nlet p = pos[i];\nlet air = prev[i].xyz;\nprev[i] = p;\nif (p.w <= 0.0) {\npos[i] = vec4f(pin_pos(c, v, t), 0.0);\ncontinue;\n}\nlet y = p.xyz + h * (vel[i].xyz + h * (params.gravity + air));\nvel[i] = vec4f(y, 0.0);\npos[i] = vec4f(y, p.w);\n}\nstorageBarrier();\nfor (var it = 0u; it < iters; it++) {\nfor (var k = 0u; k < ncv; k++) {\nlet lo = st[vc + k];\nlet hi = st[vc + k + 1u];\nfor (var j = lo + tid; j < hi; j += WG) {\nvbd_vertex(c, st[vc + ncv + 1u + j], h2inv, hd, lim, t);\n}\nstorageBarrier();\n}\nfor (var j = tid; j < m; j += WG) {\nlet o = c.base + c.cons + j * 12u;\nif (st[o + 2u] != NONE) {\ncontinue;\n}\nif (c.fabric2.w > 0.0) {\nif (torn[o] != 0u) {\ncontinue;\n}\nlet rest = stf(o + 4u);\nif (length(pos[c.first + st[o + 1u]].xyz - pos[c.first + st[o]].xyz) > rest * (1.0 + c.fabric2.w)) {\ntorn[o] = 1u;\ntorn[c.base + st[hd + 12u] + j] = 1u;\ncontinue;\n}\n}\nif (lim > 0.0) {\nlet rest = stf(o + 4u);\ndual_reach(pos[c.first + st[o]].xyz, pos[c.first + st[o + 1u]].xyz, rest * (1.0 + lim), rest, o + 1u, c11);\n}\n}\nif (teth != 0u) {\nfor (var v = tid; v < n; v += WG) {\nlet ts = c.base + teth + v * 2u;\nlet anchor = st[ts];\nif (anchor != NONE && pos[c.first + v].w > 0.0) {\nlet lt = stf(ts + 1u);\ndual_reach(pos[c.first + v].xyz, pos[c.first + anchor].xyz, lt, lt, ts, c11);\n}\n}\n}\nstorageBarrier();\n}\nfor (var v = tid; v < n; v += WG) {\nlet i = c.first + v;\nif (pos[i].w > 0.0) {\ncollide(c, i, t, h);\nbackstop(c, v, t);\n}\nlet nv = (pos[i].xyz - prev[i].xyz) / h * damp;\nlet sp = length(nv);\nvel[i] = vec4f(select(nv, nv * (params.max_speed / sp), sp > params.max_speed), 0.0);\n}\nstorageBarrier();\n}\n}\noverride VCOLOUR: u32 = 0u;\nfn vbd_limit(c: Cloth) -> f32 {\nlet lim0 = bitcast<f32>(c.extra.z);\nreturn select(lim0, max(lim0, c.fabric2.w * 1.5), c.fabric2.w > 0.0 && lim0 > 0.0);\n}\n@compute @workgroup_size(256) fn vw_warm(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nif (c.live == 0u) {\nreturn;\n}\nlet j = wg.x * WW + l;\nlet m = st[c.base + c.colours + c.ncolours];\nif (j < m) {\nlet o = c.base + c.cons + j * 12u;\nif (st[o + 2u] == NONE) {\ntorn[o + 1u] = bitcast<u32>(bitcast<f32>(torn[o + 1u]) * AL_DECAY);\ntorn[o + 2u] = bitcast<u32>(bitcast<f32>(torn[o + 2u]) * K_DECAY);\n}\n}\nlet teth = st[c.base + c.extra.y + 5u];\nif (teth != 0u && j < c.count) {\nlet ts = c.base + teth + j * 2u;\ntorn[ts] = bitcast<u32>(bitcast<f32>(torn[ts]) * AL_DECAY);\ntorn[ts + 1u] = bitcast<u32>(bitcast<f32>(torn[ts + 1u]) * K_DECAY);\n}\n}\n@compute @workgroup_size(256) fn vw_predict(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet v = wg.x * WW + l;\nif (c.live == 0u || v >= c.count) {\nreturn;\n}\nlet i = c.first + v;\nlet h = params.h;\nlet p = pos[i];\nlet air = prev[i].xyz;\nprev[i] = p;\nif (p.w <= 0.0) {\npos[i] = vec4f(pin_pos(c, v, wide_t()), 0.0);\nreturn;\n}\nlet y = p.xyz + h * (vel[i].xyz + h * (params.gravity + air));\nvel[i] = vec4f(y, 0.0);\npos[i] = vec4f(y, p.w);\n}\n@compute @workgroup_size(256) fn vw_colour(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet hd = c.base + c.extra.y;\nlet ncv = st[hd + 2u];\nif (c.live == 0u || VCOLOUR >= ncv) {\nreturn;\n}\nlet vc = c.base + st[hd + 1u];\nlet j = st[vc + VCOLOUR] + wg.x * WW + l;\nif (j < st[vc + VCOLOUR + 1u]) {\nvbd_vertex(c, st[vc + ncv + 1u + j], 1.0 / (params.h * params.h), hd, vbd_limit(c), wide_t());\n}\n}\n@compute @workgroup_size(256) fn vw_dual(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nif (c.live == 0u) {\nreturn;\n}\nlet hd = c.base + c.extra.y;\nlet c11 = stf(hd + 6u);\nlet lim = vbd_limit(c);\nlet j = wg.x * WW + l;\nlet m = st[c.base + c.colours + c.ncolours];\nif (j < m) {\nlet o = c.base + c.cons + j * 12u;\nif (st[o + 2u] == NONE) {\nvar live = true;\nif (c.fabric2.w > 0.0) {\nif (torn[o] != 0u) {\nlive = false;\n} else {\nlet rest = stf(o + 4u);\nif (length(pos[c.first + st[o + 1u]].xyz - pos[c.first + st[o]].xyz) > rest * (1.0 + c.fabric2.w)) {\ntorn[o] = 1u;\ntorn[c.base + st[hd + 12u] + j] = 1u;\nlive = false;\n}\n}\n}\nif (live && lim > 0.0) {\nlet rest = stf(o + 4u);\ndual_reach(pos[c.first + st[o]].xyz, pos[c.first + st[o + 1u]].xyz, rest * (1.0 + lim), rest, o + 1u, c11);\n}\n}\n}\nlet teth = st[hd + 5u];\nif (teth != 0u && j < c.count) {\nlet ts = c.base + teth + j * 2u;\nlet anchor = st[ts];\nif (anchor != NONE && pos[c.first + j].w > 0.0) {\nlet lt = stf(ts + 1u);\ndual_reach(pos[c.first + j].xyz, pos[c.first + anchor].xyz, lt, lt, ts, c11);\n}\n}\n}\n@group(0) @binding(8) var<storage, read_write> pool: array<f32>;\n@group(0) @binding(12) var<storage, read_write> tri_out: array<u32>;\n@compute @workgroup_size(WG) fn write(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) tid: u32) {\nlet c = cloths[wg.x];\nif (c.live == 0u) {\nreturn;\n}\nlet a = params.alpha;\nlet inv = quat_conj(c.rot1);\nlet scale = 1.0 / c.origin1.w;\nlet a0 = c.base + c.adj;\nfor (var v = tid; v < c.count; v += WG) {\nlet i = c.first + v;\nlet p = mix(last[i].xyz, pos[i].xyz, a);\nvar nrm = vec3f(0.0);\nfor (var k = st[a0 + v]; k < st[a0 + v + 1u]; k++) {\nif (tri_torn(c, st[a0 + k])) {\ncontinue;\n}\nlet o = c.base + c.tris + st[a0 + k] * 3u;\nlet j0 = c.first + st[o];\nlet j1 = c.first + st[o + 1u];\nlet j2 = c.first + st[o + 2u];\nlet q0 = mix(last[j0].xyz, pos[j0].xyz, a);\nnrm += cross(mix(last[j1].xyz, pos[j1].xyz, a) - q0, mix(last[j2].xyz, pos[j2].xyz, a) - q0);\n}\nlet ln = quat_rotate(inv, nrm);\nlet len = length(ln);\nlet nl = select(vec3f(0.0, 1.0, 0.0), ln / len, len > 1e-20);\nlet lp = quat_rotate(inv, p - c.origin1.xyz) * scale;\nlet o = (c.pool + v) * 8u;\npool[o] = lp.x;\npool[o + 1u] = lp.y;\npool[o + 2u] = lp.z;\npool[o + 3u] = nl.x;\npool[o + 4u] = nl.y;\npool[o + 5u] = nl.z;\n}\nif (c.fabric2.w > 0.0) {\nlet ntri = (c.colours - c.tris) / 3u;\nfor (var t = tid; t < ntri; t += WG) {\nlet o = c.base + c.tris + t * 3u;\nlet gone = tri_torn(c, t);\nlet at = c.extra.x + t * 3u;\ntri_out[at] = st[o];\ntri_out[at + 1u] = select(st[o + 1u], st[o], gone);\ntri_out[at + 2u] = select(st[o + 2u], st[o], gone);\n}\n}\n}\n@group(0) @binding(9) var<storage, read_write> hash: array<atomic<u32>>;\n@group(0) @binding(10) var<storage, read_write> delta: array<vec4f>;\nvar<workgroup> partial: array<u32, 1024>;\nfn cell_hash(c: vec3i, mask: u32) -> u32 {\nreturn (bitcast<u32>(c.x * 92837111) ^ bitcast<u32>(c.y * 689287499) ^ bitcast<u32>(c.z * 283923481)) & mask;\n}\n@compute @workgroup_size(WG) fn selfcollide(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) tid: u32) {\nlet c = cloths[wg.x];\nif (c.live == 0u || c.table == 0u) {\nreturn;\n}\nlet n = c.count;\nlet table = c.table;\nlet mask = table - 1u;\nlet hb = c.hash;\nlet ent = hb + table + 1u;\nlet d = c.fabric2.z;\nlet inv = 1.0 / d;\nlet dt = params.h * f32(params.substeps);\nfor (var k = tid; k <= table; k += WG) {\natomicStore(&hash[hb + k], 0u);\n}\nstorageBarrier();\nfor (var v = tid; v < n; v += WG) {\nlet h = cell_hash(vec3i(floor(pos[c.first + v].xyz * inv)), mask);\natomicAdd(&hash[hb + h], 1u);\n}\nstorageBarrier();\nlet per = (table + WG - 1u) / WG;\nlet lo = tid * per;\nlet hi = min(lo + per, table);\nvar run = 0u;\nfor (var k = lo; k < hi; k++) {\nrun += atomicLoad(&hash[hb + k]);\n}\npartial[tid] = run;\nworkgroupBarrier();\nif (tid == 0u) {\nvar acc = 0u;\nfor (var k = 0u; k < WG; k++) {\nlet x = partial[k];\npartial[k] = acc;\nacc += x;\n}\n}\nworkgroupBarrier();\nrun = partial[tid];\nfor (var k = lo; k < hi; k++) {\nrun += atomicLoad(&hash[hb + k]);\natomicStore(&hash[hb + k], run);\n}\nstorageBarrier();\nfor (var v = tid; v < n; v += WG) {\nlet h = cell_hash(vec3i(floor(pos[c.first + v].xyz * inv)), mask);\nlet at = atomicSub(&hash[hb + h], 1u) - 1u;\natomicStore(&hash[ent + at], v);\n}\nstorageBarrier();\nfor (var k = tid; k < table; k += WG) {\nlet lo = atomicLoad(&hash[hb + k]);\nlet hi = select(atomicLoad(&hash[hb + k + 1u]), n, k == mask);\nfor (var a = lo + 1u; a < hi; a++) {\nlet key = atomicLoad(&hash[ent + a]);\nvar b = a;\nwhile (b > lo && atomicLoad(&hash[ent + b - 1u]) > key) {\natomicStore(&hash[ent + b], atomicLoad(&hash[ent + b - 1u]));\nb--;\n}\natomicStore(&hash[ent + b], key);\n}\n}\nstorageBarrier();\nlet scale = c.origin1.w;\nfor (var v = tid; v < n; v += WG) {\nlet i = c.first + v;\nlet a = pos[i];\nvar push = vec3f(0.0);\nvar hits = 0.0;\nif (a.w > 0.0) {\nlet r = c.base + v * 4u;\nlet ra = vec3f(stf(r), stf(r + 1u), stf(r + 2u));\nlet cell = vec3i(floor(a.xyz * inv));\nfor (var dz = -1; dz <= 1; dz++) {\nfor (var dy = -1; dy <= 1; dy++) {\nfor (var dx = -1; dx <= 1; dx++) {\nlet h = cell_hash(cell + vec3i(dx, dy, dz), mask);\nlet end = select(atomicLoad(&hash[hb + h + 1u]), n, h == mask);\nfor (var k = atomicLoad(&hash[hb + h]); k < end; k++) {\nlet u = atomicLoad(&hash[ent + k]);\nif (u == v) {\ncontinue;\n}\nlet b = pos[c.first + u];\nlet diff = a.xyz - b.xyz;\nlet dist = length(diff);\nif (dist >= d || dist < 1e-9) {\ncontinue;\n}\nlet q = c.base + u * 4u;\nif (length(ra - vec3f(stf(q), stf(q + 1u), stf(q + 2u))) * scale < d) {\ncontinue;\n}\npush += diff * ((d - dist) / dist * a.w / (a.w + b.w));\nhits += 1.0;\n}\n}\n}\n}\n}\ndelta[i] = vec4f(push / max(hits, 1.0), 0.0);\n}\nstorageBarrier();\nfor (var v = tid; v < n; v += WG) {\nlet i = c.first + v;\nlet p = delta[i].xyz;\npos[i] = vec4f(pos[i].xyz + p, pos[i].w);\nvel[i] = vec4f(vel[i].xyz + p * (0.5 / dt), 0.0);\n}\n}\n@compute @workgroup_size(256) fn sw_clear(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet k = wg.x * WW + l;\nif (c.live == 0u || c.table == 0u || k > c.table) {\nreturn;\n}\natomicStore(&hash[c.hash + k], 0u);\n}\n@compute @workgroup_size(256) fn sw_count(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet v = wg.x * WW + l;\nif (c.live == 0u || c.table == 0u || v >= c.count) {\nreturn;\n}\nlet h = cell_hash(vec3i(floor(pos[c.first + v].xyz * (1.0 / c.fabric2.z))), c.table - 1u);\natomicAdd(&hash[c.hash + h], 1u);\n}\n@compute @workgroup_size(WG) fn sw_scan(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) tid: u32) {\nlet c = cloths[wg.y];\nif (c.live == 0u || c.table == 0u) {\nreturn;\n}\nlet table = c.table;\nlet hb = c.hash;\nlet per = (table + WG - 1u) / WG;\nlet lo = tid * per;\nlet hi = min(lo + per, table);\nvar run = 0u;\nfor (var k = lo; k < hi; k++) {\nrun += atomicLoad(&hash[hb + k]);\n}\npartial[tid] = run;\nworkgroupBarrier();\nif (tid == 0u) {\nvar acc = 0u;\nfor (var k = 0u; k < WG; k++) {\nlet x = partial[k];\npartial[k] = acc;\nacc += x;\n}\n}\nworkgroupBarrier();\nrun = partial[tid];\nfor (var k = lo; k < hi; k++) {\nrun += atomicLoad(&hash[hb + k]);\natomicStore(&hash[hb + k], run);\n}\n}\n@compute @workgroup_size(256) fn sw_fill(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet v = wg.x * WW + l;\nif (c.live == 0u || c.table == 0u || v >= c.count) {\nreturn;\n}\nlet h = cell_hash(vec3i(floor(pos[c.first + v].xyz * (1.0 / c.fabric2.z))), c.table - 1u);\nlet at = atomicSub(&hash[c.hash + h], 1u) - 1u;\natomicStore(&hash[c.hash + c.table + 1u + at], v);\n}\n@compute @workgroup_size(256) fn sw_sort(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet k = wg.x * WW + l;\nif (c.live == 0u || c.table == 0u || k >= c.table) {\nreturn;\n}\nlet hb = c.hash;\nlet ent = hb + c.table + 1u;\nlet lo = atomicLoad(&hash[hb + k]);\nlet hi = select(atomicLoad(&hash[hb + k + 1u]), c.count, k == c.table - 1u);\nfor (var a = lo + 1u; a < hi; a++) {\nlet key = atomicLoad(&hash[ent + a]);\nvar b = a;\nwhile (b > lo && atomicLoad(&hash[ent + b - 1u]) > key) {\natomicStore(&hash[ent + b], atomicLoad(&hash[ent + b - 1u]));\nb--;\n}\natomicStore(&hash[ent + b], key);\n}\n}\n@compute @workgroup_size(256) fn sw_push(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet v = wg.x * WW + l;\nif (c.live == 0u || c.table == 0u || v >= c.count) {\nreturn;\n}\nlet n = c.count;\nlet mask = c.table - 1u;\nlet hb = c.hash;\nlet ent = hb + c.table + 1u;\nlet d = c.fabric2.z;\nlet inv = 1.0 / d;\nlet scale = c.origin1.w;\nlet i = c.first + v;\nlet a = pos[i];\nvar push = vec3f(0.0);\nvar hits = 0.0;\nif (a.w > 0.0) {\nlet r = c.base + v * 4u;\nlet ra = vec3f(stf(r), stf(r + 1u), stf(r + 2u));\nlet cell = vec3i(floor(a.xyz * inv));\nfor (var dz = -1; dz <= 1; dz++) {\nfor (var dy = -1; dy <= 1; dy++) {\nfor (var dx = -1; dx <= 1; dx++) {\nlet h = cell_hash(cell + vec3i(dx, dy, dz), mask);\nlet end = select(atomicLoad(&hash[hb + h + 1u]), n, h == mask);\nfor (var k = atomicLoad(&hash[hb + h]); k < end; k++) {\nlet u = atomicLoad(&hash[ent + k]);\nif (u == v) {\ncontinue;\n}\nlet b = pos[c.first + u];\nlet diff = a.xyz - b.xyz;\nlet dist = length(diff);\nif (dist >= d || dist < 1e-9) {\ncontinue;\n}\nlet q = c.base + u * 4u;\nif (length(ra - vec3f(stf(q), stf(q + 1u), stf(q + 2u))) * scale < d) {\ncontinue;\n}\npush += diff * ((d - dist) / dist * a.w / (a.w + b.w));\nhits += 1.0;\n}\n}\n}\n}\n}\ndelta[i] = vec4f(push / max(hits, 1.0), 0.0);\n}\n@compute @workgroup_size(256) fn sw_apply(@builtin(workgroup_id) wg: vec3u, @builtin(local_invocation_index) l: u32) {\nlet c = cloths[wg.y];\nlet v = wg.x * WW + l;\nif (c.live == 0u || c.table == 0u || v >= c.count) {\nreturn;\n}\nlet i = c.first + v;\nlet p = delta[i].xyz;\npos[i] = vec4f(pos[i].xyz + p, pos[i].w);\nvel[i] = vec4f(vel[i].xyz + p * (0.5 / (params.h * f32(params.substeps))), 0.0);\n}\nfn quat_rotate(q: vec4f, v: vec3f) -> vec3f {\nlet t = 2.0 * cross(q.xyz, v);\nreturn v + q.w * t + cross(q.xyz, t);\n}",
+};
+//# sourceMappingURL=gpu-shaders.gen.js.map

package/dist/gpu-shaders.gen.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"gpu-shaders.gen.js","sourceRoot":"","sources":["../src/gpu-shaders.gen.ts"],"names":[],"mappings":"AAAA,0EAA0E;AAC1E,yEAAyE;AAEzE,8CAA8C;AAC9C,MAAM,CAAC,MAAM,YAAY,GAAG;IAC1B,IAAI,EAAE,kBAAkB;IACxB,IAAI,EAAE,wkkCAAwkkC;CACtkkC,CAAC"}

package/dist/gpu.d.ts

@@ -0,0 +1,2 @@
+export { bendWeights, type ClothFabric, clothGrid, type ClothGridOptions, type ClothMesh, type ClothTopology, clothTopology, FABRICS, type FabricName, fabricFromKes, KES, type KesFabric, packCloth, type PackedCloth, splitTorn, STENCIL_BEND } from './cloth-asset.ts';
+export { cloth, type ClothOptions, clothPlugin, ClothSystem, type ClothTorn, type ClothValues, type WindSettings } from './cloth.ts';

package/dist/gpu.js

@@ -0,0 +1,5 @@
+// `@yali-engine/physics/gpu` (ADR-0101): Kanduka's GPU deformables, an entry of its own so a game
+// without cloth carries none of it. Phase 3 step 1: XPBD cloth on WebGPU core.
+export { bendWeights, clothGrid, clothTopology, FABRICS, fabricFromKes, KES, packCloth, splitTorn, STENCIL_BEND } from "./cloth-asset.js";
+export { cloth, clothPlugin, ClothSystem } from "./cloth.js";
+//# sourceMappingURL=gpu.js.map

package/dist/gpu.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"gpu.js","sourceRoot":"","sources":["../src/gpu.ts"],"names":[],"mappings":"AAAA,kGAAkG;AAClG,+EAA+E;AAC/E,OAAO,EAAE,WAAW,EAAoB,SAAS,EAA6D,aAAa,EAAE,OAAO,EAAmB,aAAa,EAAE,GAAG,EAAkB,SAAS,EAAoB,SAAS,EAAE,YAAY,EAAE,MAAM,kBAAkB,CAAC;AAC1Q,OAAO,EAAE,KAAK,EAAqB,WAAW,EAAE,WAAW,EAAuD,MAAM,YAAY,CAAC"}

package/dist/index.d.ts

@@ -0,0 +1,19 @@
+/**
+ * `@yali-engine/physics`: rigid bodies, colliders, ray casts and collision assets over Kanduka, Yali's
+ * own Soft Step solver, compiled into the core module's `physics` variant (ADR-0082, ADR-0084).
+ * `@yali-engine/vite` loads that variant when an app depends on this package.
+ *
+ * @example
+ * import { collider, physicsPlugin, rigidBody, type PhysicsComponents } from '@yali-engine/physics';
+ * const app = App.create({ core, plugins: [transformsPlugin(), physicsPlugin()] });
+ * const { RigidBody, Collider } = app.resource<PhysicsComponents>('physicsComponents');
+ * const ball = app.world.spawn([...transforms.bundle, RigidBody, Collider]);
+ * app.world.insert(ball, Transform, { t: [0, 5, 0], r: [0, 0, 0, 1], s: 1 });
+ * app.world.insert(ball, RigidBody, rigidBody());
+ * app.world.insert(ball, Collider, collider({ sphere: 0.5 }, { restitution: 0.5 }));
+ */
+export { BodyKind, collider, type ColliderOptions, type ColliderShape, joint, type JointAxis, type JointOptions, JointType, type PhysicsComponents, registerPhysics, rigidBody, type RigidBodyOptions, ShapeKind } from './components.ts';
+export { Physics, type PhysicsDebug, type PhysicsDebugLines, type PhysicsSettings, type PhysicsStats, type RayHit } from './physics.ts';
+export { type CharacterOptions, characterController, FieldKind, forceField, type ForceFieldOptions } from './character.ts';
+export { type CollisionAsset, type CollisionPiece, readCollision, spawnCollision, writeCollision } from './collision-asset.ts';
+export { physicsPlugin, type PhysicsPluginOptions } from './plugin.ts';

package/dist/index.js

@@ -0,0 +1,20 @@
+/**
+ * `@yali-engine/physics`: rigid bodies, colliders, ray casts and collision assets over Kanduka, Yali's
+ * own Soft Step solver, compiled into the core module's `physics` variant (ADR-0082, ADR-0084).
+ * `@yali-engine/vite` loads that variant when an app depends on this package.
+ *
+ * @example
+ * import { collider, physicsPlugin, rigidBody, type PhysicsComponents } from '@yali-engine/physics';
+ * const app = App.create({ core, plugins: [transformsPlugin(), physicsPlugin()] });
+ * const { RigidBody, Collider } = app.resource<PhysicsComponents>('physicsComponents');
+ * const ball = app.world.spawn([...transforms.bundle, RigidBody, Collider]);
+ * app.world.insert(ball, Transform, { t: [0, 5, 0], r: [0, 0, 0, 1], s: 1 });
+ * app.world.insert(ball, RigidBody, rigidBody());
+ * app.world.insert(ball, Collider, collider({ sphere: 0.5 }, { restitution: 0.5 }));
+ */
+export { BodyKind, collider, joint, JointType, registerPhysics, rigidBody, ShapeKind } from "./components.js";
+export { Physics } from "./physics.js";
+export { characterController, FieldKind, forceField } from "./character.js";
+export { readCollision, spawnCollision, writeCollision } from "./collision-asset.js";
+export { physicsPlugin } from "./plugin.js";
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -0,0 +1 @@
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package/dist/physics.d.ts

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+import { type Entity, type World } from '@yali-engine/core';
+/** A ray hit. */
+export interface RayHit {
+    /** The entity whose collider was hit. */
+    readonly entity: Entity;
+    /** Distance along the ray (0 when it starts inside a solid shape). */
+    readonly distance: number;
+    /** Surface normal at the hit (zero when the ray starts inside). */
+    readonly normal: readonly [number, number, number];
+}
+/** The last step's counts. */
+export interface PhysicsStats {
+    readonly bodies: number;
+    readonly awake: number;
+    readonly pairs: number;
+    readonly contacts: number;
+    /** Graph colours of the last solve (0: a small solve, sequential in pair order). */
+    readonly colors: number;
+    /** Threads that ran the last solve's substeps (1 without a pool, or for a small solve). */
+    readonly threads: number;
+}
+/** What debug draw shows (`Physics.debug`, ADR-0087). */
+export interface PhysicsDebug {
+    /** Every collider's wireframe, coloured by its body's state. */
+    colliders: boolean;
+    /** Contact points (small crosses) and their normals. */
+    contacts: boolean;
+    /** Segments per frame at most. */
+    maxSegments: number;
+}
+/** A frame's debug segments, as views into the core's memory (valid until the next step). */
+export interface PhysicsDebugLines {
+    readonly f32: Float32Array<ArrayBufferLike>;
+    readonly u32: Uint32Array<ArrayBufferLike>;
+    /** First vertex (16 bytes each: x, y, z relative to `origin`, RGBA8). */
+    readonly first: number;
+    /** Vertices (two per segment). */
+    readonly count: number;
+    /** The physics frame's f64 origin. */
+    readonly origin: readonly [number, number, number];
+}
+/** The physics settings `Physics.configure` takes. */
+export interface PhysicsSettings {
+    /** m/s² (default [0, -9.81, 0]). */
+    readonly gravity?: readonly [number, number, number];
+    /** Soft Step substeps per fixed step (default 4). */
+    readonly substeps?: number;
+}
+/**
+ * The physics world of an app (the `physics` resource): ray casts, collision assets, settings
+ * and stats. Bodies and colliders are entities (`physics.RigidBody`, `physics.Collider`); this is
+ * everything else.
+ *
+ * @example
+ * const physics = app.resource<Physics>('physics');
+ * const hit = physics.raycast([0, 10, 0], [0, -1, 0], 100);
+ * if (hit) console.log(hit.entity, hit.distance);
+ */
+export declare class Physics {
+    #private;
+    readonly world: World;
+    constructor(world: World, fixedDelta: number, settings?: PhysicsSettings);
+    /** What debug draw shows; both off by default. The plugin hands the lines to `render.debug`. */
+    readonly debug: PhysicsDebug;
+    /**
+     * This step's debug segments (what `debug` asks for), or null when it asks for nothing. The
+     * views point into the core's memory: read them before the next step. Allocation-free.
+     */
+    debugLines(): PhysicsDebugLines | null;
+    /** Gravity and substeps (the fixed step is the app's). */
+    configure(s: PhysicsSettings): void;
+    /** The first collider the ray hits within `maxDistance` (layers in `mask`), or null. */
+    raycast(origin: readonly [number, number, number], dir: readonly [number, number, number], maxDistance?: number, mask?: number): RayHit | null;
+    /** Many rays in one call into the core (each `[origin, dir, maxDistance, mask]`). */
+    raycasts(rays: readonly (readonly [readonly [number, number, number], readonly [number, number, number], number, number])[]): (RayHit | null)[];
+    /** Adds a convex hull of `points` (x, y, z triples, local frame); returns its asset index. */
+    addHull(points: Float32Array): number;
+    /** Adds a static triangle mesh; returns its asset index. */
+    addMesh(vertices: Float32Array, indices: Uint32Array, doubleSided?: boolean): number;
+    /** Adds a heightfield (`rows × cols` heights, row-major); returns its asset index. */
+    addHeightfield(rows: number, cols: number, heights: Float32Array, cell: readonly [number, number], heightScale?: number): number;
+    /**
+     * Saves the physics state (ADR-0091: bodies, contacts with their warm-start impulses, joints,
+     * sleep); returns its id. Restoring it continues bit for bit. The ECS world's own state is the
+     * caller's to save (rollback, replay, undo).
+     */
+    snapshot(): number;
+    /** Back to snapshot `id`, between frames; every body's Transform and velocity is written back. */
+    restore(id: number): void;
+    /** Frees snapshot `id`. */
+    dropSnapshot(id: number): void;
+    /** The last step's counts. */
+    stats(): PhysicsStats;
+}