@zylem/game-lib 0.6.2 → 0.6.4

package/dist/physics.js

@@ -0,0 +1,577 @@
+// src/lib/physics/physics-protocol.ts
+var FLOATS_PER_BODY = 13;
+var TransformOffset = {
+  POS_X: 0,
+  POS_Y: 1,
+  POS_Z: 2,
+  ROT_X: 3,
+  ROT_Y: 4,
+  ROT_Z: 5,
+  ROT_W: 6,
+  LINVEL_X: 7,
+  LINVEL_Y: 8,
+  LINVEL_Z: 9,
+  ANGVEL_X: 10,
+  ANGVEL_Y: 11,
+  ANGVEL_Z: 12
+};
+
+// src/lib/physics/physics-pose.ts
+import { Quaternion } from "three";
+var _previousQuaternion = new Quaternion();
+var _currentQuaternion = new Quaternion();
+var _renderQuaternion = new Quaternion();
+function createPhysicsPose(position = {}, rotation = {}) {
+  return {
+    position: {
+      x: position.x ?? 0,
+      y: position.y ?? 0,
+      z: position.z ?? 0
+    },
+    rotation: {
+      x: rotation.x ?? 0,
+      y: rotation.y ?? 0,
+      z: rotation.z ?? 0,
+      w: rotation.w ?? 1
+    }
+  };
+}
+function clampInterpolationAlpha(alpha) {
+  if (!Number.isFinite(alpha)) return 0;
+  return Math.max(0, Math.min(1, alpha));
+}
+function interpolatePhysicsPose(previous, current, alpha) {
+  const t = clampInterpolationAlpha(alpha);
+  _previousQuaternion.set(
+    previous.rotation.x,
+    previous.rotation.y,
+    previous.rotation.z,
+    previous.rotation.w
+  );
+  _currentQuaternion.set(
+    current.rotation.x,
+    current.rotation.y,
+    current.rotation.z,
+    current.rotation.w
+  );
+  _renderQuaternion.slerpQuaternions(
+    _previousQuaternion,
+    _currentQuaternion,
+    t
+  );
+  return {
+    position: {
+      x: previous.position.x + (current.position.x - previous.position.x) * t,
+      y: previous.position.y + (current.position.y - previous.position.y) * t,
+      z: previous.position.z + (current.position.z - previous.position.z) * t
+    },
+    rotation: {
+      x: _renderQuaternion.x,
+      y: _renderQuaternion.y,
+      z: _renderQuaternion.z,
+      w: _renderQuaternion.w
+    }
+  };
+}
+
+// src/lib/physics/physics-body-handle.ts
+var PhysicsBodyHandle = class {
+  uuid;
+  /** Last-known physics state, updated from worker each frame. */
+  _snapshot = {
+    previous: createPhysicsPose(),
+    current: createPhysicsPose(),
+    linvel: { x: 0, y: 0, z: 0 },
+    angvel: { x: 0, y: 0, z: 0 }
+  };
+  /** Queued commands to be sent to the worker on next step. */
+  _pendingCommands = [];
+  /** Optional reference to the proxy's shared command queue. */
+  _sharedQueue = null;
+  constructor(uuid, sharedQueue) {
+    this.uuid = uuid;
+    this._sharedQueue = sharedQueue ?? null;
+  }
+  // ─── Read API (returns cached values) ────────────────────────────────
+  /** Cached position from last physics step. */
+  translation() {
+    return this._snapshot.current.position;
+  }
+  /** Cached rotation quaternion from last physics step. */
+  rotation() {
+    return this._snapshot.current.rotation;
+  }
+  /** Cached linear velocity from last physics step. */
+  linvel() {
+    return this._snapshot.linvel;
+  }
+  /** Cached angular velocity from last physics step. */
+  angvel() {
+    return this._snapshot.angvel;
+  }
+  getPoseHistory() {
+    return this._snapshot;
+  }
+  getRenderPose(alpha) {
+    return interpolatePhysicsPose(
+      this._snapshot.previous,
+      this._snapshot.current,
+      alpha
+    );
+  }
+  // ─── Write API (queues commands) ─────────────────────────────────────
+  setLinvel(v, _wakeUp) {
+    this.enqueue({ kind: "setLinvel", uuid: this.uuid, x: v.x, y: v.y, z: v.z });
+    this._snapshot.linvel = { ...v };
+  }
+  setAngvel(v, _wakeUp) {
+    this.enqueue({ kind: "setAngvel", uuid: this.uuid, x: v.x, y: v.y, z: v.z });
+    this._snapshot.angvel = { ...v };
+  }
+  setTranslation(v, _wakeUp) {
+    this.enqueue({ kind: "setTranslation", uuid: this.uuid, x: v.x, y: v.y, z: v.z });
+    this.setCollapsedTranslation(v);
+  }
+  setRotation(q, _wakeUp) {
+    this.enqueue({ kind: "setRotation", uuid: this.uuid, x: q.x, y: q.y, z: q.z, w: q.w });
+    this.setCollapsedRotation(q);
+  }
+  applyImpulse(v, _wakeUp) {
+    this.enqueue({ kind: "applyImpulse", uuid: this.uuid, x: v.x, y: v.y, z: v.z });
+  }
+  applyTorqueImpulse(v, _wakeUp) {
+    this.enqueue({ kind: "applyTorqueImpulse", uuid: this.uuid, x: v.x, y: v.y, z: v.z });
+  }
+  lockTranslations(locked, _wakeUp) {
+    this.enqueue({ kind: "lockTranslations", uuid: this.uuid, locked });
+  }
+  lockRotations(locked, _wakeUp) {
+    this.enqueue({ kind: "lockRotations", uuid: this.uuid, locked });
+  }
+  setLinearDamping(damping) {
+    this.enqueue({ kind: "setLinearDamping", uuid: this.uuid, damping });
+  }
+  setGravityScale(scale, _wakeUp) {
+    this.enqueue({ kind: "setGravityScale", uuid: this.uuid, scale });
+  }
+  // ─── Stubbed read-only methods for compatibility ─────────────────────
+  /** Returns 'Dynamic' for compatibility; actual type is not synced. */
+  bodyType() {
+    return 0;
+  }
+  mass() {
+    return 1;
+  }
+  isEnabled() {
+    return true;
+  }
+  isSleeping() {
+    return false;
+  }
+  /** Collider access is not available through the handle. Returns null. */
+  collider(_index) {
+    return null;
+  }
+  // ─── Internal ────────────────────────────────────────────────────────
+  /**
+   * Update the cached snapshot from worker data.
+   * Called by the PhysicsProxy after receiving a stepResult.
+   */
+  _seedSnapshot(px, py, pz, rx, ry, rz, rw, lvx, lvy, lvz, avx, avy, avz) {
+    this.writePose(this._snapshot.previous, px, py, pz, rx, ry, rz, rw);
+    this.writePose(this._snapshot.current, px, py, pz, rx, ry, rz, rw);
+    this._snapshot.linvel.x = lvx;
+    this._snapshot.linvel.y = lvy;
+    this._snapshot.linvel.z = lvz;
+    this._snapshot.angvel.x = avx;
+    this._snapshot.angvel.y = avy;
+    this._snapshot.angvel.z = avz;
+  }
+  _updateSnapshot(px, py, pz, rx, ry, rz, rw, lvx, lvy, lvz, avx, avy, avz) {
+    this.copyPose(this._snapshot.current, this._snapshot.previous);
+    this.writePose(this._snapshot.current, px, py, pz, rx, ry, rz, rw);
+    this._snapshot.linvel.x = lvx;
+    this._snapshot.linvel.y = lvy;
+    this._snapshot.linvel.z = lvz;
+    this._snapshot.angvel.x = avx;
+    this._snapshot.angvel.y = avy;
+    this._snapshot.angvel.z = avz;
+  }
+  /** Drain pending commands. */
+  _drainCommands() {
+    const cmds = this._pendingCommands;
+    this._pendingCommands = [];
+    return cmds;
+  }
+  enqueue(cmd) {
+    if (this._sharedQueue) {
+      this._sharedQueue.push(cmd);
+    } else {
+      this._pendingCommands.push(cmd);
+    }
+  }
+  copyPose(source, target) {
+    target.position.x = source.position.x;
+    target.position.y = source.position.y;
+    target.position.z = source.position.z;
+    target.rotation.x = source.rotation.x;
+    target.rotation.y = source.rotation.y;
+    target.rotation.z = source.rotation.z;
+    target.rotation.w = source.rotation.w;
+  }
+  writePose(target, px, py, pz, rx, ry, rz, rw) {
+    target.position.x = px;
+    target.position.y = py;
+    target.position.z = pz;
+    target.rotation.x = rx;
+    target.rotation.y = ry;
+    target.rotation.z = rz;
+    target.rotation.w = rw;
+  }
+  setCollapsedTranslation(translation) {
+    this._snapshot.previous.position.x = translation.x;
+    this._snapshot.previous.position.y = translation.y;
+    this._snapshot.previous.position.z = translation.z;
+    this._snapshot.current.position.x = translation.x;
+    this._snapshot.current.position.y = translation.y;
+    this._snapshot.current.position.z = translation.z;
+  }
+  setCollapsedRotation(rotation) {
+    this._snapshot.previous.rotation.x = rotation.x;
+    this._snapshot.previous.rotation.y = rotation.y;
+    this._snapshot.previous.rotation.z = rotation.z;
+    this._snapshot.previous.rotation.w = rotation.w;
+    this._snapshot.current.rotation.x = rotation.x;
+    this._snapshot.current.rotation.y = rotation.y;
+    this._snapshot.current.rotation.z = rotation.z;
+    this._snapshot.current.rotation.w = rotation.w;
+  }
+};
+
+// src/lib/physics/physics-proxy.ts
+var PhysicsProxy = class {
+  worker = null;
+  handles = /* @__PURE__ */ new Map();
+  commandQueue = [];
+  collisionListeners = [];
+  pendingStep = null;
+  /** Latest interpolation alpha from the worker (0..1). */
+  interpolationAlpha = 0;
+  /**
+   * Spawn the worker and initialize the Rapier world inside it.
+   * Resolves when the worker reports `ready`.
+   *
+   * @param gravity World gravity as [x, y, z].
+   * @param physicsRate Physics tick rate in Hz (default 60).
+   * @param workerUrl URL to the physics worker script. The consuming
+   *   application must provide this because bundlers (Vite, Webpack)
+   *   can only resolve worker URLs from application source code.
+   *   Example for Vite:
+   *   ```ts
+   *   new URL('@zylem/game-lib/dist/physics-worker.js', import.meta.url)
+   *   ```
+   */
+  async init(gravity, physicsRate = 60, workerUrl) {
+    if (!workerUrl) {
+      throw new Error(
+        '[PhysicsProxy] workerUrl is required. Provide physicsWorkerUrl in your stage config.\nFor Vite: physicsWorkerUrl: new URL("@zylem/game-lib/dist/physics-worker.js", import.meta.url)'
+      );
+    }
+    this.worker = new Worker(workerUrl, { type: "module" });
+    return new Promise((resolve, reject) => {
+      const onMessage = (e) => {
+        if (e.data.type === "ready") {
+          this.worker.removeEventListener("message", onMessage);
+          this.worker.addEventListener("message", this.onWorkerMessage.bind(this));
+          resolve();
+        } else if (e.data.type === "error") {
+          reject(new Error(e.data.message));
+        }
+      };
+      this.worker.addEventListener("message", onMessage);
+      this.send({ type: "init", gravity, physicsRate });
+    });
+  }
+  /**
+   * Register a body in the worker and return a main-thread handle.
+   *
+   * @returns A {@link PhysicsBodyHandle} for reading cached transforms
+   *   and queuing write commands.
+   */
+  addBody(uuid, body, colliders, characterController) {
+    const cmd = {
+      type: "addBody",
+      uuid,
+      body,
+      colliders,
+      characterController
+    };
+    this.send(cmd);
+    const handle = new PhysicsBodyHandle(uuid, this.commandQueue);
+    handle._seedSnapshot(
+      body.translation[0],
+      body.translation[1],
+      body.translation[2],
+      0,
+      0,
+      0,
+      1,
+      0,
+      0,
+      0,
+      0,
+      0,
+      0
+    );
+    this.handles.set(uuid, handle);
+    return handle;
+  }
+  /** Remove a body from the worker and discard its handle. */
+  removeBody(uuid) {
+    this.send({ type: "removeBody", uuid });
+    this.handles.delete(uuid);
+  }
+  /** Get a body handle by entity UUID. */
+  getHandle(uuid) {
+    return this.handles.get(uuid);
+  }
+  /**
+   * Send a step command to the worker with the current frame delta
+   * and all queued body commands.
+   *
+   * Returns a promise that resolves after the worker replies with
+   * the step result. Handles are updated and collision callbacks
+   * are fired before the promise resolves.
+   */
+  step(delta) {
+    return new Promise((resolve, reject) => {
+      this.pendingStep = { resolve, reject };
+      const commands = this.commandQueue.splice(0);
+      for (const handle of this.handles.values()) {
+        commands.push(...handle._drainCommands());
+      }
+      this.send({ type: "step", delta, commands });
+    });
+  }
+  /**
+   * Subscribe to collision events.
+   * @returns Unsubscribe function.
+   */
+  onCollision(callback) {
+    this.collisionListeners.push(callback);
+    return () => {
+      this.collisionListeners = this.collisionListeners.filter((cb) => cb !== callback);
+    };
+  }
+  /** Terminate the worker and release all handles. */
+  dispose() {
+    if (this.worker) {
+      this.send({ type: "dispose" });
+      this.worker.terminate();
+      this.worker = null;
+    }
+    this.handles.clear();
+    this.commandQueue.length = 0;
+    this.collisionListeners.length = 0;
+    this.pendingStep = null;
+  }
+  // ─── Internal ────────────────────────────────────────────────────────
+  send(cmd) {
+    this.worker?.postMessage(cmd);
+  }
+  onWorkerMessage(e) {
+    const event = e.data;
+    switch (event.type) {
+      case "stepResult":
+        this.applyStepResult(event);
+        break;
+      case "error":
+        if (this.pendingStep) {
+          this.pendingStep.reject(new Error(event.message));
+          this.pendingStep = null;
+        } else {
+          console.error("[PhysicsProxy] Worker error:", event.message);
+        }
+        break;
+    }
+  }
+  applyStepResult(result) {
+    const { transforms, bodyOrder, collisions, interpolationAlpha } = result;
+    this.interpolationAlpha = interpolationAlpha;
+    for (let i = 0; i < bodyOrder.length; i++) {
+      const handle = this.handles.get(bodyOrder[i]);
+      if (!handle) continue;
+      const o = i * FLOATS_PER_BODY;
+      handle._updateSnapshot(
+        transforms[o + TransformOffset.POS_X],
+        transforms[o + TransformOffset.POS_Y],
+        transforms[o + TransformOffset.POS_Z],
+        transforms[o + TransformOffset.ROT_X],
+        transforms[o + TransformOffset.ROT_Y],
+        transforms[o + TransformOffset.ROT_Z],
+        transforms[o + TransformOffset.ROT_W],
+        transforms[o + TransformOffset.LINVEL_X],
+        transforms[o + TransformOffset.LINVEL_Y],
+        transforms[o + TransformOffset.LINVEL_Z],
+        transforms[o + TransformOffset.ANGVEL_X],
+        transforms[o + TransformOffset.ANGVEL_Y],
+        transforms[o + TransformOffset.ANGVEL_Z]
+      );
+    }
+    for (const pair of collisions) {
+      for (const listener of this.collisionListeners) {
+        try {
+          listener(pair);
+        } catch (err) {
+          console.error("[PhysicsProxy] Collision listener error:", err);
+        }
+      }
+    }
+    if (this.pendingStep) {
+      this.pendingStep.resolve(result);
+      this.pendingStep = null;
+    }
+  }
+};
+
+// src/lib/physics/serialize-descriptors.ts
+import { RigidBodyType } from "@dimforge/rapier3d-compat";
+function serializeBodyDesc(desc) {
+  const status = desc.status;
+  let type = "dynamic";
+  if (status === RigidBodyType.Fixed) type = "fixed";
+  else if (status === RigidBodyType.KinematicPositionBased) type = "kinematicPositionBased";
+  else if (status === RigidBodyType.KinematicVelocityBased) type = "kinematicVelocityBased";
+  const t = desc.translation ?? { x: 0, y: 0, z: 0 };
+  return {
+    type,
+    translation: [t.x ?? 0, t.y ?? 0, t.z ?? 0],
+    gravityScale: desc.gravityScale ?? 1,
+    canSleep: desc.canSleep ?? false,
+    ccdEnabled: desc.ccdEnabled ?? true
+  };
+}
+function serializeColliderDesc(desc) {
+  const internal = desc;
+  const customShapeData = internal.__zylemShapeData;
+  if (customShapeData?.shape === "trimesh") {
+    const result2 = {
+      shape: "trimesh",
+      dimensions: [],
+      vertices: [...customShapeData.vertices],
+      indices: [...customShapeData.indices]
+    };
+    const translation = internal.translation;
+    if (translation && (translation.x !== 0 || translation.y !== 0 || translation.z !== 0)) {
+      result2.translation = [translation.x, translation.y, translation.z];
+    }
+    if (internal.isSensor) {
+      result2.sensor = true;
+    }
+    if (internal.collisionGroups !== void 0 && internal.collisionGroups !== 4294967295) {
+      result2.collisionGroups = internal.collisionGroups;
+    }
+    if (internal.activeCollisionTypes !== void 0) {
+      result2.activeCollisionTypes = internal.activeCollisionTypes;
+    }
+    return result2;
+  }
+  const shapeType = internal.shape?.type ?? internal.shapeType ?? 0;
+  const { shape, dimensions, heightfieldMeta } = extractShapeData(shapeType, internal);
+  const result = {
+    shape,
+    dimensions
+  };
+  const t = internal.translation;
+  if (t && (t.x !== 0 || t.y !== 0 || t.z !== 0)) {
+    result.translation = [t.x, t.y, t.z];
+  }
+  if (internal.isSensor) {
+    result.sensor = true;
+  }
+  if (internal.collisionGroups !== void 0 && internal.collisionGroups !== 4294967295) {
+    result.collisionGroups = internal.collisionGroups;
+  }
+  if (internal.activeCollisionTypes !== void 0) {
+    result.activeCollisionTypes = internal.activeCollisionTypes;
+  }
+  if (heightfieldMeta) {
+    result.heightfieldMeta = heightfieldMeta;
+  }
+  return result;
+}
+function serializeCharacterController() {
+  return {
+    offset: 0.01,
+    maxSlopeClimbAngle: 45 * Math.PI / 180,
+    minSlopeSlideAngle: 30 * Math.PI / 180,
+    snapToGroundDistance: 0.01,
+    slideEnabled: true,
+    applyImpulsesToDynamic: true,
+    characterMass: 1
+  };
+}
+function extractShapeData(shapeType, internal) {
+  switch (shapeType) {
+    case 0:
+      return {
+        shape: "ball",
+        dimensions: [internal.shape?.radius ?? internal.halfExtents?.x ?? 1]
+      };
+    case 1:
+      return {
+        shape: "cuboid",
+        dimensions: [
+          internal.shape?.halfExtents?.x ?? internal.halfExtents?.x ?? 0.5,
+          internal.shape?.halfExtents?.y ?? internal.halfExtents?.y ?? 0.5,
+          internal.shape?.halfExtents?.z ?? internal.halfExtents?.z ?? 0.5
+        ]
+      };
+    case 2:
+      return {
+        shape: "capsule",
+        dimensions: [
+          internal.shape?.halfHeight ?? 0.5,
+          internal.shape?.radius ?? 0.5
+        ]
+      };
+    case 6:
+      return {
+        shape: "cone",
+        dimensions: [
+          internal.shape?.halfHeight ?? 1,
+          internal.shape?.radius ?? 1
+        ]
+      };
+    case 7:
+      return {
+        shape: "cylinder",
+        dimensions: [
+          internal.shape?.halfHeight ?? 1,
+          internal.shape?.radius ?? 1
+        ]
+      };
+    case 11: {
+      const nrows = internal.shape?.nrows ?? 10;
+      const ncols = internal.shape?.ncols ?? 10;
+      const heights = internal.shape?.heights;
+      return {
+        shape: "heightfield",
+        dimensions: heights ? Array.from(heights) : [],
+        heightfieldMeta: { nrows, ncols }
+      };
+    }
+    default:
+      return { shape: "cuboid", dimensions: [0.5, 0.5, 0.5] };
+  }
+}
+export {
+  FLOATS_PER_BODY,
+  PhysicsBodyHandle,
+  PhysicsProxy,
+  TransformOffset,
+  serializeBodyDesc,
+  serializeCharacterController,
+  serializeColliderDesc
+};
+//# sourceMappingURL=physics.js.map

package/dist/physics.js.map

@@ -0,0 +1 @@
+{"version":3,"sources":["../src/lib/physics/physics-protocol.ts","../src/lib/physics/physics-pose.ts","../src/lib/physics/physics-body-handle.ts","../src/lib/physics/physics-proxy.ts","../src/lib/physics/serialize-descriptors.ts"],"sourcesContent":["/**\n * Message protocol for communication between the main thread and the\n * physics Web Worker.\n *\n * Data flows in two directions:\n *   Main → Worker: {@link PhysicsCommand} (init, entity CRUD, per-frame step)\n *   Worker → Main: {@link PhysicsEvent}   (ready, step results, errors)\n *\n * All types are plain JSON-serializable objects so they can cross the\n * postMessage boundary without structured-clone issues.\n */\n\n// ─── Serializable Descriptor Types ─────────────────────────────────────────\n\n/** Rigid body type mirroring Rapier's RigidBodyType enum values. */\nexport type SerializableBodyType = 'dynamic' | 'fixed' | 'kinematicPositionBased' | 'kinematicVelocityBased';\n\n/**\n * Plain-object representation of a Rapier RigidBodyDesc.\n * Created on the main thread and reconstructed in the worker.\n */\nexport interface SerializableBodyDesc {\n\ttype: SerializableBodyType;\n\ttranslation: [number, number, number];\n\tgravityScale: number;\n\tcanSleep: boolean;\n\tccdEnabled: boolean;\n\tlockTranslations?: boolean;\n\tlockRotations?: boolean;\n}\n\n/** Collider shape kind. Matches the factory functions in collision-factories. */\nexport type ColliderShapeKind =\n\t| 'cuboid'\n\t| 'ball'\n\t| 'capsule'\n\t| 'cone'\n\t| 'cylinder'\n\t| 'trimesh'\n\t| 'heightfield';\n\n/**\n * Plain-object representation of a Rapier ColliderDesc.\n * Shape-specific dimensions are stored in {@link dimensions}.\n */\nexport interface SerializableColliderDesc {\n\tshape: ColliderShapeKind;\n\t/** Shape-specific numeric dimensions (e.g. halfExtents, radius, halfHeight). */\n\tdimensions: number[];\n\t/** For trimesh: flattened xyz vertex array. */\n\tvertices?: number[];\n\t/** For trimesh: triangle indices referencing {@link vertices}. */\n\tindices?: number[];\n\t/** Collider offset translation relative to the body. */\n\ttranslation?: [number, number, number];\n\tsensor?: boolean;\n\tcollisionGroups?: number;\n\tactiveCollisionTypes?: number;\n\t/** For heightfield: number of rows and columns. */\n\theightfieldMeta?: { nrows: number; ncols: number };\n}\n\n/** Describes a character controller to be created alongside the body. */\nexport interface SerializableCharacterController {\n\toffset: number;\n\tmaxSlopeClimbAngle: number;\n\tminSlopeSlideAngle: number;\n\tsnapToGroundDistance: number;\n\tslideEnabled: boolean;\n\tapplyImpulsesToDynamic: boolean;\n\tcharacterMass: number;\n}\n\n// ─── Per-Body Commands (batched inside a step) ─────────────────────────────\n\nexport type BodyCommand =\n\t| { kind: 'setLinvel'; uuid: string; x: number; y: number; z: number }\n\t| { kind: 'setAngvel'; uuid: string; x: number; y: number; z: number }\n\t| { kind: 'setTranslation'; uuid: string; x: number; y: number; z: number }\n\t| { kind: 'setRotation'; uuid: string; x: number; y: number; z: number; w: number }\n\t| { kind: 'applyImpulse'; uuid: string; x: number; y: number; z: number }\n\t| { kind: 'applyTorqueImpulse'; uuid: string; x: number; y: number; z: number }\n\t| { kind: 'lockTranslations'; uuid: string; locked: boolean }\n\t| { kind: 'lockRotations'; uuid: string; locked: boolean }\n\t| { kind: 'addTranslation'; uuid: string; dx: number; dy: number; dz: number }\n\t| { kind: 'setLinearDamping'; uuid: string; damping: number }\n\t| { kind: 'setGravityScale'; uuid: string; scale: number };\n\n// ─── Main → Worker Commands ────────────────────────────────────────────────\n\nexport type PhysicsCommand =\n\t| PhysicsInitCommand\n\t| PhysicsAddBodyCommand\n\t| PhysicsRemoveBodyCommand\n\t| PhysicsStepCommand\n\t| PhysicsDisposeCommand;\n\nexport interface PhysicsInitCommand {\n\ttype: 'init';\n\tgravity: [number, number, number];\n\tphysicsRate: number;\n}\n\nexport interface PhysicsAddBodyCommand {\n\ttype: 'addBody';\n\tuuid: string;\n\tbody: SerializableBodyDesc;\n\tcolliders: SerializableColliderDesc[];\n\tcharacterController?: SerializableCharacterController;\n}\n\nexport interface PhysicsRemoveBodyCommand {\n\ttype: 'removeBody';\n\tuuid: string;\n}\n\nexport interface PhysicsStepCommand {\n\ttype: 'step';\n\tdelta: number;\n\tcommands: BodyCommand[];\n}\n\nexport interface PhysicsDisposeCommand {\n\ttype: 'dispose';\n}\n\n// ─── Worker → Main Events ──────────────────────────────────────────────────\n\nexport type PhysicsEvent =\n\t| PhysicsReadyEvent\n\t| PhysicsStepResultEvent\n\t| PhysicsErrorEvent;\n\nexport interface PhysicsReadyEvent {\n\ttype: 'ready';\n}\n\n/**\n * Result of a physics step sent from the worker each frame.\n *\n * `transforms` is a flat Float32Array with 13 floats per body:\n *   [posX, posY, posZ, rotX, rotY, rotZ, rotW, linvelX, linvelY, linvelZ, angvelX, angvelY, angvelZ]\n *\n * The order matches {@link bodyOrder} — an array of UUIDs in the same\n * index order as the transform buffer.\n */\nexport interface PhysicsStepResultEvent {\n\ttype: 'stepResult';\n\t/** Flat buffer: 13 floats per body (pos3, rot4, linvel3, angvel3). */\n\ttransforms: Float32Array;\n\t/** UUID order matching the transforms buffer. */\n\tbodyOrder: string[];\n\t/** Collision pairs detected this frame. */\n\tcollisions: CollisionPair[];\n\t/** Interpolation alpha for rendering (0..1). */\n\tinterpolationAlpha: number;\n}\n\nexport interface PhysicsErrorEvent {\n\ttype: 'error';\n\tmessage: string;\n}\n\n/** A collision pair detected during the physics step. */\nexport interface CollisionPair {\n\tuuidA: string;\n\tuuidB: string;\n\tcontactType: 'contact' | 'intersection';\n}\n\n// ─── Transform Buffer Layout ───────────────────────────────────────────────\n\n/** Number of floats per body in the transforms buffer. */\nexport const FLOATS_PER_BODY = 13;\n\n/** Offsets into the per-body segment of the transforms buffer. */\nexport const TransformOffset = {\n\tPOS_X: 0,\n\tPOS_Y: 1,\n\tPOS_Z: 2,\n\tROT_X: 3,\n\tROT_Y: 4,\n\tROT_Z: 5,\n\tROT_W: 6,\n\tLINVEL_X: 7,\n\tLINVEL_Y: 8,\n\tLINVEL_Z: 9,\n\tANGVEL_X: 10,\n\tANGVEL_Y: 11,\n\tANGVEL_Z: 12,\n} as const;\n","import { Quaternion } from 'three';\n\nexport interface PhysicsVector3 {\n\tx: number;\n\ty: number;\n\tz: number;\n}\n\nexport interface PhysicsQuaternion {\n\tx: number;\n\ty: number;\n\tz: number;\n\tw: number;\n}\n\nexport interface PhysicsPose {\n\tposition: PhysicsVector3;\n\trotation: PhysicsQuaternion;\n}\n\nexport interface PhysicsPoseHistory {\n\tprevious: PhysicsPose;\n\tcurrent: PhysicsPose;\n}\n\nexport interface PhysicsPoseReadable {\n\ttranslation(): PhysicsVector3;\n\trotation(): PhysicsQuaternion;\n}\n\nexport interface PhysicsRenderPoseProvider {\n\tgetPoseHistory(): PhysicsPoseHistory;\n\tgetRenderPose(alpha: number): PhysicsPose;\n}\n\nconst directBodyPoseHistory = new WeakMap<object, PhysicsPoseHistory>();\nconst _previousQuaternion = new Quaternion();\nconst _currentQuaternion = new Quaternion();\nconst _renderQuaternion = new Quaternion();\n\nexport function createPhysicsPose(\n\tposition: Partial<PhysicsVector3> = {},\n\trotation: Partial<PhysicsQuaternion> = {},\n): PhysicsPose {\n\treturn {\n\t\tposition: {\n\t\t\tx: position.x ?? 0,\n\t\t\ty: position.y ?? 0,\n\t\t\tz: position.z ?? 0,\n\t\t},\n\t\trotation: {\n\t\t\tx: rotation.x ?? 0,\n\t\t\ty: rotation.y ?? 0,\n\t\t\tz: rotation.z ?? 0,\n\t\t\tw: rotation.w ?? 1,\n\t\t},\n\t};\n}\n\nexport function clonePhysicsVector3(vector: PhysicsVector3): PhysicsVector3 {\n\treturn { x: vector.x, y: vector.y, z: vector.z };\n}\n\nexport function clonePhysicsQuaternion(\n\trotation: PhysicsQuaternion,\n): PhysicsQuaternion {\n\treturn { x: rotation.x, y: rotation.y, z: rotation.z, w: rotation.w };\n}\n\nexport function clonePhysicsPose(pose: PhysicsPose): PhysicsPose {\n\treturn {\n\t\tposition: clonePhysicsVector3(pose.position),\n\t\trotation: clonePhysicsQuaternion(pose.rotation),\n\t};\n}\n\nexport function clampInterpolationAlpha(alpha: number): number {\n\tif (!Number.isFinite(alpha)) return 0;\n\treturn Math.max(0, Math.min(1, alpha));\n}\n\nexport function capturePhysicsPose(body: PhysicsPoseReadable): PhysicsPose {\n\treturn {\n\t\tposition: clonePhysicsVector3(body.translation()),\n\t\trotation: clonePhysicsQuaternion(body.rotation()),\n\t};\n}\n\nexport function createCollapsedPhysicsPoseHistory(\n\tpose: PhysicsPose,\n): PhysicsPoseHistory {\n\tconst current = clonePhysicsPose(pose);\n\treturn {\n\t\tprevious: clonePhysicsPose(current),\n\t\tcurrent,\n\t};\n}\n\nexport function registerDirectBodyPoseHistory(\n\tbody: object & PhysicsPoseReadable,\n): PhysicsPoseHistory {\n\tconst history = createCollapsedPhysicsPoseHistory(capturePhysicsPose(body));\n\tdirectBodyPoseHistory.set(body, history);\n\treturn history;\n}\n\nexport function getDirectBodyPoseHistory(\n\tbody: object,\n): PhysicsPoseHistory | null {\n\treturn directBodyPoseHistory.get(body) ?? null;\n}\n\nexport function collapseDirectBodyPoseHistory(\n\tbody: object & PhysicsPoseReadable,\n): PhysicsPoseHistory {\n\tconst pose = capturePhysicsPose(body);\n\tconst history =\n\t\tdirectBodyPoseHistory.get(body) ?? createCollapsedPhysicsPoseHistory(pose);\n\n\thistory.previous = clonePhysicsPose(pose);\n\thistory.current = clonePhysicsPose(pose);\n\tdirectBodyPoseHistory.set(body, history);\n\n\treturn history;\n}\n\nexport function prepareDirectBodyPoseHistoryStep(\n\tbody: object & PhysicsPoseReadable,\n): PhysicsPoseHistory {\n\treturn collapseDirectBodyPoseHistory(body);\n}\n\nexport function commitDirectBodyPoseHistoryStep(\n\tbody: object & PhysicsPoseReadable,\n): PhysicsPoseHistory {\n\tconst pose = capturePhysicsPose(body);\n\tconst history =\n\t\tdirectBodyPoseHistory.get(body) ?? createCollapsedPhysicsPoseHistory(pose);\n\n\thistory.current = clonePhysicsPose(pose);\n\tdirectBodyPoseHistory.set(body, history);\n\n\treturn history;\n}\n\nexport function interpolatePhysicsPose(\n\tprevious: PhysicsPose,\n\tcurrent: PhysicsPose,\n\talpha: number,\n): PhysicsPose {\n\tconst t = clampInterpolationAlpha(alpha);\n\n\t_previousQuaternion.set(\n\t\tprevious.rotation.x,\n\t\tprevious.rotation.y,\n\t\tprevious.rotation.z,\n\t\tprevious.rotation.w,\n\t);\n\t_currentQuaternion.set(\n\t\tcurrent.rotation.x,\n\t\tcurrent.rotation.y,\n\t\tcurrent.rotation.z,\n\t\tcurrent.rotation.w,\n\t);\n\t_renderQuaternion.slerpQuaternions(\n\t\t_previousQuaternion,\n\t\t_currentQuaternion,\n\t\tt,\n\t);\n\n\treturn {\n\t\tposition: {\n\t\t\tx: previous.position.x + (current.position.x - previous.position.x) * t,\n\t\t\ty: previous.position.y + (current.position.y - previous.position.y) * t,\n\t\t\tz: previous.position.z + (current.position.z - previous.position.z) * t,\n\t\t},\n\t\trotation: {\n\t\t\tx: _renderQuaternion.x,\n\t\t\ty: _renderQuaternion.y,\n\t\t\tz: _renderQuaternion.z,\n\t\t\tw: _renderQuaternion.w,\n\t\t},\n\t};\n}\n\nexport function getBodyPoseHistory(body: unknown): PhysicsPoseHistory | null {\n\tif (isRenderPoseProvider(body)) {\n\t\treturn body.getPoseHistory();\n\t}\n\tif (isPhysicsPoseReadable(body)) {\n\t\treturn directBodyPoseHistory.get(body as object) ?? null;\n\t}\n\treturn null;\n}\n\nexport function getBodyRenderPose(\n\tbody: PhysicsPoseReadable | PhysicsRenderPoseProvider,\n\talpha: number,\n): PhysicsPose {\n\tif (isRenderPoseProvider(body)) {\n\t\treturn body.getRenderPose(alpha);\n\t}\n\n\tconst history = directBodyPoseHistory.get(body as object);\n\tif (!history) {\n\t\treturn capturePhysicsPose(body);\n\t}\n\n\tconst latestPose = capturePhysicsPose(body);\n\tif (!posesEqual(latestPose, history.current)) {\n\t\tconst collapsed = collapseDirectBodyPoseHistory(body as object & PhysicsPoseReadable);\n\t\treturn clonePhysicsPose(collapsed.current);\n\t}\n\n\treturn interpolatePhysicsPose(history.previous, history.current, alpha);\n}\n\nfunction isPhysicsPoseReadable(value: unknown): value is PhysicsPoseReadable {\n\treturn (\n\t\tvalue != null &&\n\t\ttypeof value === 'object' &&\n\t\ttypeof (value as PhysicsPoseReadable).translation === 'function' &&\n\t\ttypeof (value as PhysicsPoseReadable).rotation === 'function'\n\t);\n}\n\nfunction isRenderPoseProvider(value: unknown): value is PhysicsRenderPoseProvider {\n\treturn (\n\t\tvalue != null &&\n\t\ttypeof value === 'object' &&\n\t\ttypeof (value as PhysicsRenderPoseProvider).getPoseHistory === 'function' &&\n\t\ttypeof (value as PhysicsRenderPoseProvider).getRenderPose === 'function'\n\t);\n}\n\nfunction posesEqual(a: PhysicsPose, b: PhysicsPose): boolean {\n\treturn (\n\t\ta.position.x === b.position.x &&\n\t\ta.position.y === b.position.y &&\n\t\ta.position.z === b.position.z &&\n\t\ta.rotation.x === b.rotation.x &&\n\t\ta.rotation.y === b.rotation.y &&\n\t\ta.rotation.z === b.rotation.z &&\n\t\ta.rotation.w === b.rotation.w\n\t);\n}\n","import type { BodyCommand } from './physics-protocol';\nimport {\n\tcreatePhysicsPose,\n\tinterpolatePhysicsPose,\n\ttype PhysicsPose,\n\ttype PhysicsPoseHistory,\n\ttype PhysicsQuaternion,\n\ttype PhysicsVector3,\n} from './physics-pose';\n\n/**\n * Lightweight read-only view of a physics body's state.\n *\n * These values are synced from the worker each frame and represent\n * the body's state after the latest physics step.\n */\nexport interface PhysicsSnapshot {\n\tprevious: PhysicsPose;\n\tcurrent: PhysicsPose;\n\tlinvel: { x: number; y: number; z: number };\n\tangvel: { x: number; y: number; z: number };\n}\n\n/**\n * Main-thread handle for a physics body that lives in a Web Worker.\n *\n * Provides the same read interface as a Rapier RigidBody (translation,\n * rotation, linvel, angvel) by returning cached values that are synced\n * from the worker each frame.\n *\n * Write operations (setLinvel, setTranslation, etc.) are queued as\n * {@link BodyCommand}s and sent to the worker on the next step.\n */\nexport class PhysicsBodyHandle {\n\treadonly uuid: string;\n\n\t/** Last-known physics state, updated from worker each frame. */\n\tprivate _snapshot: PhysicsSnapshot = {\n\t\tprevious: createPhysicsPose(),\n\t\tcurrent: createPhysicsPose(),\n\t\tlinvel: { x: 0, y: 0, z: 0 },\n\t\tangvel: { x: 0, y: 0, z: 0 },\n\t};\n\n\t/** Queued commands to be sent to the worker on next step. */\n\tprivate _pendingCommands: BodyCommand[] = [];\n\n\t/** Optional reference to the proxy's shared command queue. */\n\tprivate _sharedQueue: BodyCommand[] | null = null;\n\n\tconstructor(uuid: string, sharedQueue?: BodyCommand[]) {\n\t\tthis.uuid = uuid;\n\t\tthis._sharedQueue = sharedQueue ?? null;\n\t}\n\n\t// ─── Read API (returns cached values) ────────────────────────────────\n\n\t/** Cached position from last physics step. */\n\ttranslation(): { x: number; y: number; z: number } {\n\t\treturn this._snapshot.current.position;\n\t}\n\n\t/** Cached rotation quaternion from last physics step. */\n\trotation(): { x: number; y: number; z: number; w: number } {\n\t\treturn this._snapshot.current.rotation;\n\t}\n\n\t/** Cached linear velocity from last physics step. */\n\tlinvel(): { x: number; y: number; z: number } {\n\t\treturn this._snapshot.linvel;\n\t}\n\n\t/** Cached angular velocity from last physics step. */\n\tangvel(): { x: number; y: number; z: number } {\n\t\treturn this._snapshot.angvel;\n\t}\n\n\tgetPoseHistory(): PhysicsPoseHistory {\n\t\treturn this._snapshot;\n\t}\n\n\tgetRenderPose(alpha: number): PhysicsPose {\n\t\treturn interpolatePhysicsPose(\n\t\t\tthis._snapshot.previous,\n\t\t\tthis._snapshot.current,\n\t\t\talpha,\n\t\t);\n\t}\n\n\t// ─── Write API (queues commands) ─────────────────────────────────────\n\n\tsetLinvel(v: { x: number; y: number; z: number }, _wakeUp?: boolean): void {\n\t\tthis.enqueue({ kind: 'setLinvel', uuid: this.uuid, x: v.x, y: v.y, z: v.z });\n\t\tthis._snapshot.linvel = { ...v };\n\t}\n\n\tsetAngvel(v: { x: number; y: number; z: number }, _wakeUp?: boolean): void {\n\t\tthis.enqueue({ kind: 'setAngvel', uuid: this.uuid, x: v.x, y: v.y, z: v.z });\n\t\tthis._snapshot.angvel = { ...v };\n\t}\n\n\tsetTranslation(v: { x: number; y: number; z: number }, _wakeUp?: boolean): void {\n\t\tthis.enqueue({ kind: 'setTranslation', uuid: this.uuid, x: v.x, y: v.y, z: v.z });\n\t\tthis.setCollapsedTranslation(v);\n\t}\n\n\tsetRotation(q: { x: number; y: number; z: number; w: number }, _wakeUp?: boolean): void {\n\t\tthis.enqueue({ kind: 'setRotation', uuid: this.uuid, x: q.x, y: q.y, z: q.z, w: q.w });\n\t\tthis.setCollapsedRotation(q);\n\t}\n\n\tapplyImpulse(v: { x: number; y: number; z: number }, _wakeUp?: boolean): void {\n\t\tthis.enqueue({ kind: 'applyImpulse', uuid: this.uuid, x: v.x, y: v.y, z: v.z });\n\t}\n\n\tapplyTorqueImpulse(v: { x: number; y: number; z: number }, _wakeUp?: boolean): void {\n\t\tthis.enqueue({ kind: 'applyTorqueImpulse', uuid: this.uuid, x: v.x, y: v.y, z: v.z });\n\t}\n\n\tlockTranslations(locked: boolean, _wakeUp?: boolean): void {\n\t\tthis.enqueue({ kind: 'lockTranslations', uuid: this.uuid, locked });\n\t}\n\n\tlockRotations(locked: boolean, _wakeUp?: boolean): void {\n\t\tthis.enqueue({ kind: 'lockRotations', uuid: this.uuid, locked });\n\t}\n\n\tsetLinearDamping(damping: number): void {\n\t\tthis.enqueue({ kind: 'setLinearDamping', uuid: this.uuid, damping });\n\t}\n\n\tsetGravityScale(scale: number, _wakeUp?: boolean): void {\n\t\tthis.enqueue({ kind: 'setGravityScale', uuid: this.uuid, scale });\n\t}\n\n\t// ─── Stubbed read-only methods for compatibility ─────────────────────\n\n\t/** Returns 'Dynamic' for compatibility; actual type is not synced. */\n\tbodyType(): number {\n\t\treturn 0;\n\t}\n\n\tmass(): number {\n\t\treturn 1;\n\t}\n\n\tisEnabled(): boolean {\n\t\treturn true;\n\t}\n\n\tisSleeping(): boolean {\n\t\treturn false;\n\t}\n\n\t/** Collider access is not available through the handle. Returns null. */\n\tcollider(_index: number): null {\n\t\treturn null;\n\t}\n\n\t// ─── Internal ────────────────────────────────────────────────────────\n\n\t/**\n\t * Update the cached snapshot from worker data.\n\t * Called by the PhysicsProxy after receiving a stepResult.\n\t */\n\t_seedSnapshot(\n\t\tpx: number,\n\t\tpy: number,\n\t\tpz: number,\n\t\trx: number,\n\t\try: number,\n\t\trz: number,\n\t\trw: number,\n\t\tlvx: number,\n\t\tlvy: number,\n\t\tlvz: number,\n\t\tavx: number,\n\t\tavy: number,\n\t\tavz: number,\n\t): void {\n\t\tthis.writePose(this._snapshot.previous, px, py, pz, rx, ry, rz, rw);\n\t\tthis.writePose(this._snapshot.current, px, py, pz, rx, ry, rz, rw);\n\t\tthis._snapshot.linvel.x = lvx;\n\t\tthis._snapshot.linvel.y = lvy;\n\t\tthis._snapshot.linvel.z = lvz;\n\t\tthis._snapshot.angvel.x = avx;\n\t\tthis._snapshot.angvel.y = avy;\n\t\tthis._snapshot.angvel.z = avz;\n\t}\n\n\t_updateSnapshot(\n\t\tpx: number, py: number, pz: number,\n\t\trx: number, ry: number, rz: number, rw: number,\n\t\tlvx: number, lvy: number, lvz: number,\n\t\tavx: number, avy: number, avz: number,\n\t): void {\n\t\tthis.copyPose(this._snapshot.current, this._snapshot.previous);\n\t\tthis.writePose(this._snapshot.current, px, py, pz, rx, ry, rz, rw);\n\t\tthis._snapshot.linvel.x = lvx;\n\t\tthis._snapshot.linvel.y = lvy;\n\t\tthis._snapshot.linvel.z = lvz;\n\t\tthis._snapshot.angvel.x = avx;\n\t\tthis._snapshot.angvel.y = avy;\n\t\tthis._snapshot.angvel.z = avz;\n\t}\n\n\t/** Drain pending commands. */\n\t_drainCommands(): BodyCommand[] {\n\t\tconst cmds = this._pendingCommands;\n\t\tthis._pendingCommands = [];\n\t\treturn cmds;\n\t}\n\n\tprivate enqueue(cmd: BodyCommand): void {\n\t\tif (this._sharedQueue) {\n\t\t\tthis._sharedQueue.push(cmd);\n\t\t} else {\n\t\t\tthis._pendingCommands.push(cmd);\n\t\t}\n\t}\n\n\tprivate copyPose(source: PhysicsPose, target: PhysicsPose): void {\n\t\ttarget.position.x = source.position.x;\n\t\ttarget.position.y = source.position.y;\n\t\ttarget.position.z = source.position.z;\n\t\ttarget.rotation.x = source.rotation.x;\n\t\ttarget.rotation.y = source.rotation.y;\n\t\ttarget.rotation.z = source.rotation.z;\n\t\ttarget.rotation.w = source.rotation.w;\n\t}\n\n\tprivate writePose(\n\t\ttarget: PhysicsPose,\n\t\tpx: number,\n\t\tpy: number,\n\t\tpz: number,\n\t\trx: number,\n\t\try: number,\n\t\trz: number,\n\t\trw: number,\n\t): void {\n\t\ttarget.position.x = px;\n\t\ttarget.position.y = py;\n\t\ttarget.position.z = pz;\n\t\ttarget.rotation.x = rx;\n\t\ttarget.rotation.y = ry;\n\t\ttarget.rotation.z = rz;\n\t\ttarget.rotation.w = rw;\n\t}\n\n\tprivate setCollapsedTranslation(translation: PhysicsVector3): void {\n\t\tthis._snapshot.previous.position.x = translation.x;\n\t\tthis._snapshot.previous.position.y = translation.y;\n\t\tthis._snapshot.previous.position.z = translation.z;\n\t\tthis._snapshot.current.position.x = translation.x;\n\t\tthis._snapshot.current.position.y = translation.y;\n\t\tthis._snapshot.current.position.z = translation.z;\n\t}\n\n\tprivate setCollapsedRotation(rotation: PhysicsQuaternion): void {\n\t\tthis._snapshot.previous.rotation.x = rotation.x;\n\t\tthis._snapshot.previous.rotation.y = rotation.y;\n\t\tthis._snapshot.previous.rotation.z = rotation.z;\n\t\tthis._snapshot.previous.rotation.w = rotation.w;\n\t\tthis._snapshot.current.rotation.x = rotation.x;\n\t\tthis._snapshot.current.rotation.y = rotation.y;\n\t\tthis._snapshot.current.rotation.z = rotation.z;\n\t\tthis._snapshot.current.rotation.w = rotation.w;\n\t}\n}\n","import type {\n\tPhysicsCommand,\n\tPhysicsEvent,\n\tPhysicsStepResultEvent,\n\tPhysicsAddBodyCommand,\n\tBodyCommand,\n\tCollisionPair,\n\tSerializableBodyDesc,\n\tSerializableColliderDesc,\n\tSerializableCharacterController,\n} from './physics-protocol';\nimport { FLOATS_PER_BODY, TransformOffset } from './physics-protocol';\nimport { PhysicsBodyHandle } from './physics-body-handle';\n\n/**\n * Callback signature for collision events dispatched by the proxy.\n */\nexport type CollisionCallback = (pair: CollisionPair) => void;\n\n/**\n * Main-thread proxy that communicates with the physics Web Worker.\n *\n * Usage:\n * ```ts\n * const proxy = new PhysicsProxy();\n * await proxy.init([0, -9.81, 0], 60);\n * const handle = proxy.addBody(uuid, bodyDesc, colliderDescs);\n * // each frame:\n * await proxy.step(delta);\n * ```\n *\n * The proxy owns the worker lifecycle and manages body handles.\n * After each step, all handles are updated with fresh transform data\n * and collision callbacks are fired.\n */\nexport class PhysicsProxy {\n\tprivate worker: Worker | null = null;\n\tprivate handles = new Map<string, PhysicsBodyHandle>();\n\tprivate commandQueue: BodyCommand[] = [];\n\tprivate collisionListeners: CollisionCallback[] = [];\n\tprivate pendingStep: {\n\t\tresolve: (result: PhysicsStepResultEvent) => void;\n\t\treject: (err: Error) => void;\n\t} | null = null;\n\n\t/** Latest interpolation alpha from the worker (0..1). */\n\tinterpolationAlpha = 0;\n\n\t/**\n\t * Spawn the worker and initialize the Rapier world inside it.\n\t * Resolves when the worker reports `ready`.\n\t *\n\t * @param gravity World gravity as [x, y, z].\n\t * @param physicsRate Physics tick rate in Hz (default 60).\n\t * @param workerUrl URL to the physics worker script. The consuming\n\t *   application must provide this because bundlers (Vite, Webpack)\n\t *   can only resolve worker URLs from application source code.\n\t *   Example for Vite:\n\t *   ```ts\n\t *   new URL('@zylem/game-lib/dist/physics-worker.js', import.meta.url)\n\t *   ```\n\t */\n\tasync init(\n\t\tgravity: [number, number, number],\n\t\tphysicsRate = 60,\n\t\tworkerUrl?: URL,\n\t): Promise<void> {\n\t\tif (!workerUrl) {\n\t\t\tthrow new Error(\n\t\t\t\t'[PhysicsProxy] workerUrl is required. Provide physicsWorkerUrl in your stage config.\\n' +\n\t\t\t\t'For Vite: physicsWorkerUrl: new URL(\"@zylem/game-lib/dist/physics-worker.js\", import.meta.url)'\n\t\t\t);\n\t\t}\n\t\tthis.worker = new Worker(workerUrl, { type: 'module' });\n\n\t\treturn new Promise<void>((resolve, reject) => {\n\t\t\tconst onMessage = (e: MessageEvent<PhysicsEvent>) => {\n\t\t\t\tif (e.data.type === 'ready') {\n\t\t\t\t\tthis.worker!.removeEventListener('message', onMessage);\n\t\t\t\t\tthis.worker!.addEventListener('message', this.onWorkerMessage.bind(this));\n\t\t\t\t\tresolve();\n\t\t\t\t} else if (e.data.type === 'error') {\n\t\t\t\t\treject(new Error(e.data.message));\n\t\t\t\t}\n\t\t\t};\n\t\t\tthis.worker!.addEventListener('message', onMessage);\n\n\t\t\tthis.send({ type: 'init', gravity, physicsRate });\n\t\t});\n\t}\n\n\t/**\n\t * Register a body in the worker and return a main-thread handle.\n\t *\n\t * @returns A {@link PhysicsBodyHandle} for reading cached transforms\n\t *   and queuing write commands.\n\t */\n\taddBody(\n\t\tuuid: string,\n\t\tbody: SerializableBodyDesc,\n\t\tcolliders: SerializableColliderDesc[],\n\t\tcharacterController?: SerializableCharacterController,\n\t): PhysicsBodyHandle {\n\t\tconst cmd: PhysicsAddBodyCommand = {\n\t\t\ttype: 'addBody',\n\t\t\tuuid,\n\t\t\tbody,\n\t\t\tcolliders,\n\t\t\tcharacterController,\n\t\t};\n\t\tthis.send(cmd);\n\n\t\tconst handle = new PhysicsBodyHandle(uuid, this.commandQueue);\n\t\thandle._seedSnapshot(\n\t\t\tbody.translation[0], body.translation[1], body.translation[2],\n\t\t\t0, 0, 0, 1,\n\t\t\t0, 0, 0,\n\t\t\t0, 0, 0,\n\t\t);\n\t\tthis.handles.set(uuid, handle);\n\t\treturn handle;\n\t}\n\n\t/** Remove a body from the worker and discard its handle. */\n\tremoveBody(uuid: string): void {\n\t\tthis.send({ type: 'removeBody', uuid });\n\t\tthis.handles.delete(uuid);\n\t}\n\n\t/** Get a body handle by entity UUID. */\n\tgetHandle(uuid: string): PhysicsBodyHandle | undefined {\n\t\treturn this.handles.get(uuid);\n\t}\n\n\t/**\n\t * Send a step command to the worker with the current frame delta\n\t * and all queued body commands.\n\t *\n\t * Returns a promise that resolves after the worker replies with\n\t * the step result. Handles are updated and collision callbacks\n\t * are fired before the promise resolves.\n\t */\n\tstep(delta: number): Promise<PhysicsStepResultEvent> {\n\t\treturn new Promise((resolve, reject) => {\n\t\t\tthis.pendingStep = { resolve, reject };\n\n\t\t\tconst commands = this.commandQueue.splice(0);\n\n\t\t\tfor (const handle of this.handles.values()) {\n\t\t\t\tcommands.push(...handle._drainCommands());\n\t\t\t}\n\n\t\t\tthis.send({ type: 'step', delta, commands });\n\t\t});\n\t}\n\n\t/**\n\t * Subscribe to collision events.\n\t * @returns Unsubscribe function.\n\t */\n\tonCollision(callback: CollisionCallback): () => void {\n\t\tthis.collisionListeners.push(callback);\n\t\treturn () => {\n\t\t\tthis.collisionListeners = this.collisionListeners.filter((cb) => cb !== callback);\n\t\t};\n\t}\n\n\t/** Terminate the worker and release all handles. */\n\tdispose(): void {\n\t\tif (this.worker) {\n\t\t\tthis.send({ type: 'dispose' });\n\t\t\tthis.worker.terminate();\n\t\t\tthis.worker = null;\n\t\t}\n\t\tthis.handles.clear();\n\t\tthis.commandQueue.length = 0;\n\t\tthis.collisionListeners.length = 0;\n\t\tthis.pendingStep = null;\n\t}\n\n\t// ─── Internal ────────────────────────────────────────────────────────\n\n\tprivate send(cmd: PhysicsCommand): void {\n\t\tthis.worker?.postMessage(cmd);\n\t}\n\n\tprivate onWorkerMessage(e: MessageEvent<PhysicsEvent>): void {\n\t\tconst event = e.data;\n\n\t\tswitch (event.type) {\n\t\t\tcase 'stepResult':\n\t\t\t\tthis.applyStepResult(event);\n\t\t\t\tbreak;\n\t\t\tcase 'error':\n\t\t\t\tif (this.pendingStep) {\n\t\t\t\t\tthis.pendingStep.reject(new Error(event.message));\n\t\t\t\t\tthis.pendingStep = null;\n\t\t\t\t} else {\n\t\t\t\t\tconsole.error('[PhysicsProxy] Worker error:', event.message);\n\t\t\t\t}\n\t\t\t\tbreak;\n\t\t}\n\t}\n\n\tprivate applyStepResult(result: PhysicsStepResultEvent): void {\n\t\tconst { transforms, bodyOrder, collisions, interpolationAlpha } = result;\n\t\tthis.interpolationAlpha = interpolationAlpha;\n\n\t\tfor (let i = 0; i < bodyOrder.length; i++) {\n\t\t\tconst handle = this.handles.get(bodyOrder[i]);\n\t\t\tif (!handle) continue;\n\n\t\t\tconst o = i * FLOATS_PER_BODY;\n\t\t\thandle._updateSnapshot(\n\t\t\t\ttransforms[o + TransformOffset.POS_X],\n\t\t\t\ttransforms[o + TransformOffset.POS_Y],\n\t\t\t\ttransforms[o + TransformOffset.POS_Z],\n\t\t\t\ttransforms[o + TransformOffset.ROT_X],\n\t\t\t\ttransforms[o + TransformOffset.ROT_Y],\n\t\t\t\ttransforms[o + TransformOffset.ROT_Z],\n\t\t\t\ttransforms[o + TransformOffset.ROT_W],\n\t\t\t\ttransforms[o + TransformOffset.LINVEL_X],\n\t\t\t\ttransforms[o + TransformOffset.LINVEL_Y],\n\t\t\t\ttransforms[o + TransformOffset.LINVEL_Z],\n\t\t\t\ttransforms[o + TransformOffset.ANGVEL_X],\n\t\t\t\ttransforms[o + TransformOffset.ANGVEL_Y],\n\t\t\t\ttransforms[o + TransformOffset.ANGVEL_Z],\n\t\t\t);\n\t\t}\n\n\t\tfor (const pair of collisions) {\n\t\t\tfor (const listener of this.collisionListeners) {\n\t\t\t\ttry {\n\t\t\t\t\tlistener(pair);\n\t\t\t\t} catch (err) {\n\t\t\t\t\tconsole.error('[PhysicsProxy] Collision listener error:', err);\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\n\t\tif (this.pendingStep) {\n\t\t\tthis.pendingStep.resolve(result);\n\t\t\tthis.pendingStep = null;\n\t\t}\n\t}\n}\n","import type { RigidBodyDesc, ColliderDesc } from '@dimforge/rapier3d-compat';\nimport { RigidBodyType } from '@dimforge/rapier3d-compat';\nimport type {\n\tSerializableBodyDesc,\n\tSerializableBodyType,\n\tSerializableColliderDesc,\n\tColliderShapeKind,\n\tSerializableCharacterController,\n} from './physics-protocol';\n\n/**\n * Convert a Rapier RigidBodyDesc to a plain serializable object.\n *\n * Rapier descriptors are WASM-backed class instances that cannot cross\n * the postMessage boundary. This extracts the relevant data into a\n * JSON-safe format that the worker can reconstruct.\n */\nexport function serializeBodyDesc(desc: RigidBodyDesc): SerializableBodyDesc {\n\tconst status = (desc as any).status as number;\n\tlet type: SerializableBodyType = 'dynamic';\n\tif (status === RigidBodyType.Fixed) type = 'fixed';\n\telse if (status === RigidBodyType.KinematicPositionBased) type = 'kinematicPositionBased';\n\telse if (status === RigidBodyType.KinematicVelocityBased) type = 'kinematicVelocityBased';\n\n\tconst t = (desc as any).translation ?? { x: 0, y: 0, z: 0 };\n\n\treturn {\n\t\ttype,\n\t\ttranslation: [t.x ?? 0, t.y ?? 0, t.z ?? 0],\n\t\tgravityScale: (desc as any).gravityScale ?? 1,\n\t\tcanSleep: (desc as any).canSleep ?? false,\n\t\tccdEnabled: (desc as any).ccdEnabled ?? true,\n\t};\n}\n\n/**\n * Convert a Rapier ColliderDesc to a plain serializable object.\n *\n * Because Rapier's ColliderDesc uses opaque shape enums and internal\n * buffers, we infer the shape from the descriptor's internal type tag\n * and extract the numeric dimensions.\n */\nexport function serializeColliderDesc(desc: ColliderDesc): SerializableColliderDesc {\n\tconst internal = desc as any;\n\tconst customShapeData = internal.__zylemShapeData as\n\t\t| { shape: 'trimesh'; vertices: number[]; indices: number[] }\n\t\t| undefined;\n\tif (customShapeData?.shape === 'trimesh') {\n\t\tconst result: SerializableColliderDesc = {\n\t\t\tshape: 'trimesh',\n\t\t\tdimensions: [],\n\t\t\tvertices: [...customShapeData.vertices],\n\t\t\tindices: [...customShapeData.indices],\n\t\t};\n\n\t\tconst translation = internal.translation;\n\t\tif (\n\t\t\ttranslation\n\t\t\t&& (translation.x !== 0 || translation.y !== 0 || translation.z !== 0)\n\t\t) {\n\t\t\tresult.translation = [translation.x, translation.y, translation.z];\n\t\t}\n\n\t\tif (internal.isSensor) {\n\t\t\tresult.sensor = true;\n\t\t}\n\n\t\tif (internal.collisionGroups !== undefined && internal.collisionGroups !== 0xFFFFFFFF) {\n\t\t\tresult.collisionGroups = internal.collisionGroups;\n\t\t}\n\n\t\tif (internal.activeCollisionTypes !== undefined) {\n\t\t\tresult.activeCollisionTypes = internal.activeCollisionTypes;\n\t\t}\n\n\t\treturn result;\n\t}\n\n\tconst shapeType = internal.shape?.type ?? internal.shapeType ?? 0;\n\n\tconst { shape, dimensions, heightfieldMeta } = extractShapeData(shapeType, internal);\n\n\tconst result: SerializableColliderDesc = {\n\t\tshape,\n\t\tdimensions,\n\t};\n\n\tconst t = internal.translation;\n\tif (t && (t.x !== 0 || t.y !== 0 || t.z !== 0)) {\n\t\tresult.translation = [t.x, t.y, t.z];\n\t}\n\n\tif (internal.isSensor) {\n\t\tresult.sensor = true;\n\t}\n\n\tif (internal.collisionGroups !== undefined && internal.collisionGroups !== 0xFFFFFFFF) {\n\t\tresult.collisionGroups = internal.collisionGroups;\n\t}\n\n\tif (internal.activeCollisionTypes !== undefined) {\n\t\tresult.activeCollisionTypes = internal.activeCollisionTypes;\n\t}\n\n\tif (heightfieldMeta) {\n\t\tresult.heightfieldMeta = heightfieldMeta;\n\t}\n\n\treturn result;\n}\n\n/**\n * Create a serializable character controller descriptor.\n */\nexport function serializeCharacterController(): SerializableCharacterController {\n\treturn {\n\t\toffset: 0.01,\n\t\tmaxSlopeClimbAngle: 45 * Math.PI / 180,\n\t\tminSlopeSlideAngle: 30 * Math.PI / 180,\n\t\tsnapToGroundDistance: 0.01,\n\t\tslideEnabled: true,\n\t\tapplyImpulsesToDynamic: true,\n\t\tcharacterMass: 1,\n\t};\n}\n\n// ─── Shape Extraction ──────────────────────────────────────────────────────\n\n/**\n * Rapier shape type enum values (from rapier internals):\n *   0 = Ball, 1 = Cuboid, 2 = Capsule, 6 = Cone, 7 = Cylinder,\n *   11 = HeightField\n */\nfunction extractShapeData(\n\tshapeType: number,\n\tinternal: any,\n): { shape: ColliderShapeKind; dimensions: number[]; heightfieldMeta?: { nrows: number; ncols: number } } {\n\tswitch (shapeType) {\n\t\tcase 0: // Ball\n\t\t\treturn {\n\t\t\t\tshape: 'ball',\n\t\t\t\tdimensions: [internal.shape?.radius ?? internal.halfExtents?.x ?? 1],\n\t\t\t};\n\t\tcase 1: // Cuboid\n\t\t\treturn {\n\t\t\t\tshape: 'cuboid',\n\t\t\t\tdimensions: [\n\t\t\t\t\tinternal.shape?.halfExtents?.x ?? internal.halfExtents?.x ?? 0.5,\n\t\t\t\t\tinternal.shape?.halfExtents?.y ?? internal.halfExtents?.y ?? 0.5,\n\t\t\t\t\tinternal.shape?.halfExtents?.z ?? internal.halfExtents?.z ?? 0.5,\n\t\t\t\t],\n\t\t\t};\n\t\tcase 2: // Capsule\n\t\t\treturn {\n\t\t\t\tshape: 'capsule',\n\t\t\t\tdimensions: [\n\t\t\t\t\tinternal.shape?.halfHeight ?? 0.5,\n\t\t\t\t\tinternal.shape?.radius ?? 0.5,\n\t\t\t\t],\n\t\t\t};\n\t\tcase 6: // Cone\n\t\t\treturn {\n\t\t\t\tshape: 'cone',\n\t\t\t\tdimensions: [\n\t\t\t\t\tinternal.shape?.halfHeight ?? 1,\n\t\t\t\t\tinternal.shape?.radius ?? 1,\n\t\t\t\t],\n\t\t\t};\n\t\tcase 7: // Cylinder\n\t\t\treturn {\n\t\t\t\tshape: 'cylinder',\n\t\t\t\tdimensions: [\n\t\t\t\t\tinternal.shape?.halfHeight ?? 1,\n\t\t\t\t\tinternal.shape?.radius ?? 1,\n\t\t\t\t],\n\t\t\t};\n\t\tcase 11: { // HeightField\n\t\t\tconst nrows = internal.shape?.nrows ?? 10;\n\t\t\tconst ncols = internal.shape?.ncols ?? 10;\n\t\t\tconst heights = internal.shape?.heights;\n\t\t\treturn {\n\t\t\t\tshape: 'heightfield',\n\t\t\t\tdimensions: heights ? Array.from(heights) : [],\n\t\t\t\theightfieldMeta: { nrows, ncols },\n\t\t\t};\n\t\t}\n\t\tdefault:\n\t\t\treturn { shape: 'cuboid', dimensions: [0.5, 0.5, 0.5] 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