avbd-babylon 0.1.0 → 0.2.0
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/README.md +44 -1
- package/dist/avbd.global.js +212 -123
- package/dist/avbd.js +212 -123
- package/dist/gpuDevice.d.ts +4 -0
- package/dist/native.js +1 -1
- package/docs/BABYLON_API.md +8 -0
- package/docs/RELEASE.md +49 -4
- package/package.json +63 -65
- package/tests/README.md +2 -0
package/dist/avbd.js
CHANGED
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this.midpoints)if(tt(X(L(),r,n))<tl)return;if(this.contacts.length>=ua)return;let{bodyA:s,bodyB:a}=this;this.contacts.push({feature:i,rA:Si(L(),s.positionAng,X(L(),e,s.positionLin)),rB:Si(L(),a.positionAng,X(L(),t,a.positionLin))}),this.midpoints.push(r)}};function Us(o,e,t,i,r,s,a,n){let l=tt(i);if(l<Qt)return!0;let c=1/Math.sqrt(l),f=we(L(),i,c);Z(f,t)<0&&de(f,f);let u=Math.abs(Z(t,f)),d=o.half[0]*Yt(f,o.axis[0])+o.half[1]*Yt(f,o.axis[1])+o.half[2]*Yt(f,o.axis[2]),h=e.half[0]*Yt(f,e.axis[0])+e.half[1]*Yt(f,e.axis[1])+e.half[2]*Yt(f,e.axis[2]),m=u-(d+h);return m>0?!1:((!n.valid||m>n.separation)&&(n.valid=!0,n.type=r,n.indexA=s,n.indexB=a,n.separation=m,n.normalAB=f),!0)}function la(o,e,t){let i=(e+1)%3,r=(e+2)%3,s=Z(t,o.axis[i])>=0?1:-1,a=Z(t,o.axis[r])>=0?1:-1,n=U(L(),o.center,o.axis[i],o.half[i]*s);U(n,n,o.axis[r],o.half[r]*a);let l=we(L(),o.axis[e],o.half[e]);return[X(L(),n,l),Sr(L(),n,l)]}function al(o,e,t,i){let 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i=this.bodyA,r=this.bodyB,s=this.basis;ce(ya,i.positionAng,e.rA),ce(va,r.positionAng,e.rB),Zo(zr,s),Ba(Hs,ya,s),Ba(Ws,va,zr),Oe(Mr,e.penalty[0],e.penalty[1],e.penalty[2]),we(he,e.C0,1-t),U(he,he,ie(Kt,s,pa),1),U(he,he,ie(Kt,zr,ba),1),U(he,he,ie(Kt,Hs,ma),1),U(he,he,ie(Kt,Ws,ga),1),ie(xe,Mr,he),U(xe,xe,e.lambda,1),xe[0]=et(xe[0],0),Zi=Math.abs(xe[0])*this.friction,Ci=Math.sqrt(xe[1]*xe[1]+xe[2]*xe[2]),Ci>Zi&&Ci>0&&(xe[1]*=Zi/Ci,xe[2]*=Zi/Ci)}computeDisplacements(){let e=this.bodyA,t=this.bodyB;X(pa,e.positionLin,e.initialLin),Et(ma,e.positionAng,e.initialAng),X(ba,t.positionLin,t.initialLin),Et(ga,t.positionAng,t.initialAng)}updatePrimal(e,t,i){this.computeDisplacements();let r=e===this.bodyA;for(let s of this.contacts){this.evaluate(s,t);let a=r?this.basis:zr,n=r?Hs:Ws;$t(Js,a),$t($s,n),je(Xs,$s,Mr),Se(i.lhsLin,je(Ir,je(Ir,Js,Mr),a)),Se(i.lhsAng,je(Ir,Xs,n)),Se(i.lhsCross,je(Ir,Xs,a)),U(i.rhsLin,i.rhsLin,ie(Kt,Js,xe),1),U(i.rhsAng,i.rhsAng,ie(Kt,$s,xe),1)}}updateDual(e){let{solver:t}=this;this.computeDisplacements();for(let i of this.contacts)this.evaluate(i,e),i.lambda.set(xe),xe[0]<0&&(i.penalty[0]=et(i.penalty[0]+t.betaLin*Math.abs(he[0]),pt)),Ci<=Zi&&(i.penalty[1]=et(i.penalty[1]+t.betaLin*Math.abs(he[1]),pt),i.penalty[2]=et(i.penalty[2]+t.betaLin*Math.abs(he[2]),pt),i.stick=Math.sqrt(he[1]*he[1]+he[2]*he[2])<sa)}};var Ys=()=>({dt:1/60,gravity:-10,iterations:10,betaLin:1e4,betaAng:100,alpha:.99,gamma:.999}),Pi=class{dt=1/60;gravity=-10;iterations=10;alpha=.99;betaLin=1e4;betaAng=100;gamma=.999;bodies=[];forces=[];constructor(){this.defaultParams()}defaultParams(){Object.assign(this,Ys())}clear(){this.forces=[],this.bodies=[]}pick(e,t){let r=null,s=L(),a=L();for(let n=this.bodies.length-1;n>=0;n--){let l=this.bodies[n];if(l.mass<=0)continue;Si(s,l.positionAng,X(s,e,l.positionLin)),Si(a,l.positionAng,t);let c=0,f=1/0,u=!0;for(let h=0;h<3&&u;h++){let m=l.size[h]*.5;if(Math.abs(a[h])<1e-6){(s[h]<-m||s[h]>m)&&(u=!1);continue}let p=1/a[h],b=(-m-s[h])*p,y=(m-s[h])*p;b>y&&([b,y]=[y,b]),c=Math.max(c,b),f=Math.min(f,y),c>f&&(u=!1)}if(!u)continue;let d=c>=0?c:f;d<0||(!r||d<r.t)&&(r={body:l,local:U(L(),s,a,d),t:d})}return r}sys=oa();dxLin=L();dxAng=L();dp=L();accel=L();step(){let{dt:e,gravity:t,bodies:i,sys:r,dp:s}=this;for(let n=i.length-1;n>=0;n--){let l=i[n];for(let c=n-1;c>=0;c--){let f=i[c];X(s,l.positionLin,f.positionLin);let u=l.radius+f.radius;Z(s,s)<=u*u&&!l.constrainedTo(f)&&new ki(this,l,f)}}let a=[];for(let n of this.forces)n.initialize()?a.push(n):n.unlinkFromBodies();this.forces=a;for(let n=i.length-1;n>=0;n--){let l=i[n];U(l.inertialLin,l.positionLin,l.velocityLin,e),l.mass>0&&(l.inertialLin[2]+=t*(e*e)),Cr(l.inertialAng,l.positionAng,wa(l.velocityAng,e)),Jt(this.accel,X(this.accel,l.velocityLin,l.prevVelocityLin),e);let c=this.accel[2]*Yo(t),f=Re(c/Math.abs(t),0,1);Number.isFinite(f)||(f=0),l.initialLin.set(l.positionLin),l.initialAng.set(l.positionAng),l.mass>0&&(U(l.positionLin,l.positionLin,l.velocityLin,e),l.positionLin[2]+=t*(f*e*e),Cr(l.positionAng,l.positionAng,wa(l.velocityAng,e)))}for(let n=0;n<this.iterations;n++){for(let l=i.length-1;l>=0;l--){let c=i[l];if(c.mass<=0)continue;let f=c.mass,u=c.moment;Oe(r.lhsLin,f/(e*e),f/(e*e),f/(e*e)),Oe(r.lhsAng,u[0]/(e*e),u[1]/(e*e),u[2]/(e*e)),r.lhsCross.fill(0),ie(r.rhsLin,r.lhsLin,X(s,c.positionLin,c.inertialLin)),ie(r.rhsAng,r.lhsAng,Et(s,c.positionAng,c.inertialAng));let d=c.forces;for(let h=d.length-1;h>=0;h--)d[h].updatePrimal(c,this.alpha,r);ia(r.lhsLin,r.lhsAng,r.lhsCross,de(r.rhsLin,r.rhsLin),de(r.rhsAng,r.rhsAng),this.dxLin,this.dxAng),U(c.positionLin,c.positionLin,this.dxLin,1),Cr(c.positionAng,c.positionAng,this.dxAng)}for(let l of this.forces)l.updateDual(this.alpha)}for(let n of i)n.prevVelocityLin.set(n.velocityLin),n.mass>0&&(Jt(n.velocityLin,X(n.velocityLin,n.positionLin,n.initialLin),e),Jt(n.velocityAng,Et(n.velocityAng,n.positionAng,n.initialAng),e))}},ll=L(),wa=(o,e)=>we(ll,o,e);var oe=(o,e)=>[o[0]-e[0],o[1]-e[1],o[2]-e[2]],nt=(o,e)=>o[0]*e[0]+o[1]*e[1]+o[2]*e[2],Zt=(o,e)=>[o[1]*e[2]-o[2]*e[1],o[2]*e[0]-o[0]*e[2],o[0]*e[1]-o[1]*e[0]],Te=o=>Math.sqrt(nt(o,o));function er(o){let e=Sa(o);return!e||e.vertices.length/3<=32?e:Sa(cl(e,32))}function cl(o,e){let[t,i,r,s]=o.rotation,a=u=>{let d=[2*(i*u[2]-r*u[1]),2*(r*u[0]-t*u[2]),2*(t*u[1]-i*u[0])];return[u[0]+s*d[0]+(i*d[2]-r*d[1])+o.center[0],u[1]+s*d[1]+(r*d[0]-t*d[2])+o.center[1],u[2]+s*d[2]+(t*d[1]-i*d[0])+o.center[2]]},n=[];for(let u=0;u<o.vertices.length;u+=3)n.push(a([o.vertices[u],o.vertices[u+1],o.vertices[u+2]]));let l=0;n.forEach((u,d)=>{Te(oe(u,o.center))>Te(oe(n[l],o.center))&&(l=d)});let c=[l],f=n.map(u=>Te(oe(u,n[l])));for(;c.length<e;){let u=0;f.forEach((d,h)=>{d>f[u]&&(u=h)}),c.push(u),n.forEach((d,h)=>{f[h]=Math.min(f[h],Te(oe(d,n[u])))})}return c.flatMap(u=>n[u])}function Sa(o){let e=0;for(let g=0;g<o.length;g++)e=Math.max(e,Math.abs(o[g]));let t=Math.max(e,1e-9)*1e-6,i=new Set,r=[];for(let g=0;g+2<o.length;g+=3){let x=[o[g],o[g+1],o[g+2]],v=x.map(B=>Math.round(B/t)).join(",");i.has(v)||(i.add(v),r.push(x))}if(r.length<4)return null;let s=Math.max(e,1e-9)*1e-10,a=0;for(let g=1;g<r.length;g++)r[g][0]<r[a][0]&&(a=g);let n=-1,l=0;for(let g=0;g<r.length;g++){let x=Te(oe(r[g],r[a]));x>l&&(l=x,n=g)}if(n<0||l<s)return null;let c=-1;l=0;let f=oe(r[n],r[a]);for(let g=0;g<r.length;g++){let x=Te(Zt(f,oe(r[g],r[a])));x>l&&(l=x,c=g)}if(c<0||l<s*Te(f))return null;let u=Zt(f,oe(r[c],r[a])),d=-1;l=0;for(let g=0;g<r.length;g++){let x=Math.abs(nt(u,oe(r[g],r[a])));x>l&&(l=x,d=g)}if(d<0||l<s*Te(u))return null;let h=[],m=(g,x,v)=>{let B=Zt(oe(r[x],r[g]),oe(r[v],r[g])),E=Te(B)||1,k=[B[0]/E,B[1]/E,B[2]/E];return{v:[g,x,v],n:k,d:nt(k,r[g])}},b=nt(u,oe(r[d],r[a]))>0?[a,c,n]:[a,n,c];h.push(m(b[0],b[1],b[2])),h.push(m(b[0],d,b[1])),h.push(m(b[1],d,b[2])),h.push(m(b[2],d,b[0]));let y=new Set([a,n,c,d]),A=r.map((g,x)=>x).filter(g=>!y.has(g)),w=[a,n,c,d].reduce((g,x)=>[g[0]+r[x][0]/4,g[1]+r[x][1]/4,g[2]+r[x][2]/4],[0,0,0]);A.sort((g,x)=>Te(oe(r[x],w))-Te(oe(r[g],w)));for(let g of A){let x=h.filter(P=>nt(P.n,r[g])-P.d>s);if(!x.length)continue;let v=new Map;for(let P of h)for(let _=0;_<3;_++)v.set(`${P.v[_]},${P.v[(_+1)%3]}`,P);let B=new Set(x),E=[...x];for(;E.length;){let P=E.pop();for(let _=0;_<3;_++){let S=v.get(`${P.v[(_+1)%3]},${P.v[_]}`);S&&!B.has(S)&&nt(S.n,r[g])-S.d>-s&&(B.add(S),E.push(S))}}let k=[...B],z=new Set;for(let P of k)for(let _=0;_<3;_++)z.add(`${P.v[_]},${P.v[(_+1)%3]}`);let M=[];for(let P of k)for(let _=0;_<3;_++){let S=P.v[_],C=P.v[(_+1)%3];z.has(`${C},${S}`)||M.push([S,C])}for(let P of k)h.splice(h.indexOf(P),1);for(let[P,_]of M)h.push(m(P,_,g))}return ul(r.flat(),h.flatMap(g=>g.v))}function ul(o,e){let t=[];for(let S=0;S+2<o.length;S+=3)t.push([o[S],o[S+1],o[S+2]]);let i=0;for(let S of t)i=Math.max(i,Math.abs(S[0]),Math.abs(S[1]),Math.abs(S[2]));let r=Math.max(i,1e-9)*1e-5,s=[];for(let S=0;S+2<e.length;S+=3){let C=[e[S],e[S+1],e[S+2]],R=Zt(oe(t[C[1]],t[C[0]]),oe(t[C[2]],t[C[0]])),I=Te(R);if(!(I>0))continue;let O=[R[0]/I,R[1]/I,R[2]/I];s.push({v:C,n:O,d:nt(O,t[C[0]])})}let a=new Map;s.forEach((S,C)=>{for(let R=0;R<3;R++)a.set(`${S.v[R]},${S.v[(R+1)%3]}`,C)});let n=new Array(s.length).fill(-1),l=[];s.forEach((S,C)=>{if(n[C]>=0)return;let R=[C];n[C]=l.length;for(let I=0;I<R.length;I++){let O=s[R[I]];for(let q=0;q<3;q++){let G=a.get(`${O.v[(q+1)%3]},${O.v[q]}`);if(G===void 0||n[G]>=0)continue;let j=s[G];nt(S.n,j.n)>1-1e-5&&j.v.every(F=>Math.abs(nt(S.n,t[F])-S.d)<=r)&&(n[G]=l.length,R.push(G))}}l.push(R)});let c=[];for(let S of l){let C=new Set;for(let j of S)for(let F=0;F<3;F++)C.add(`${s[j].v[F]},${s[j].v[(F+1)%3]}`);let R=new Map;for(let j of S)for(let F=0;F<3;F++){let W=s[j].v[F],ee=s[j].v[(F+1)%3];if(!C.has(`${ee},${W}`)){if(R.has(W))return null;R.set(W,ee)}}let I=[0,0,0];for(let j of S){let F=s[j],W=Zt(oe(t[F.v[1]],t[F.v[0]]),oe(t[F.v[2]],t[F.v[0]]));I[0]+=W[0],I[1]+=W[1],I[2]+=W[2]}let O=Te(I)||1,q=R.keys().next().value,G=[q];for(let j=R.get(q);j!==q&&G.length<=R.size;j=R.get(j))G.push(j);if(G.length!==R.size)return null;c.push({n:[I[0]/O,I[1]/O,I[2]/O],verts:G})}let f=new Map,u=[];for(let S of c)for(let C of S.verts)f.has(C)||(f.set(C,u.length),u.push(t[C]));for(let S of c)S.verts=S.verts.map(C=>f.get(C));let d=new Set,h=0;for(let S of c)S.verts.forEach((C,R)=>{d.add(`${C},${S.verts[(R+1)%S.verts.length]}`),h++});if(d.size!==h||![...d].every(S=>{let[C,R]=S.split(",");return d.has(`${R},${C}`)})||u.length-d.size/2+c.length!==2)return null;let m=0,p=[0,0,0],b=[0,0,0,0,0,0];for(let S of c){let C=u[S.verts[0]];for(let R=1;R+1<S.verts.length;R++){let I=u[S.verts[R]],O=u[S.verts[R+1]],q=nt(C,Zt(I,O));m+=q/6;for(let j=0;j<3;j++)p[j]+=q/24*(C[j]+I[j]+O[j]);let G=(j,F)=>q/120*(C[j]*C[F]+I[j]*I[F]+O[j]*O[F]+(C[j]+I[j]+O[j])*(C[F]+I[F]+O[F]));b[0]+=G(0,0),b[1]+=G(1,1),b[2]+=G(2,2),b[3]+=G(0,1),b[4]+=G(0,2),b[5]+=G(1,2)}}if(!(m>0))return null;for(let S=0;S<3;S++)p[S]/=m;b[0]-=m*p[0]*p[0],b[1]-=m*p[1]*p[1],b[2]-=m*p[2]*p[2],b[3]-=m*p[0]*p[1],b[4]-=m*p[0]*p[2],b[5]-=m*p[1]*p[2];let y=b[0]+b[1]+b[2],A=[[y-b[0],-b[3],-b[4]],[-b[3],y-b[1],-b[5]],[-b[4],-b[5],y-b[2]]],{values:w,vectors:g}=fl(A),x=g,v=S=>{let C=oe(S,p);return[x[0][0]*C[0]+x[1][0]*C[1]+x[2][0]*C[2],x[0][1]*C[0]+x[1][1]*C[1]+x[2][1]*C[2],x[0][2]*C[0]+x[1][2]*C[1]+x[2][2]*C[2]]},B=u.map(v),E=new Float32Array(B.flat()),k=c.map(S=>{let C=S.n,R=[x[0][0]*C[0]+x[1][0]*C[1]+x[2][0]*C[2],x[0][1]*C[0]+x[1][1]*C[1]+x[2][1]*C[2],x[0][2]*C[0]+x[1][2]*C[1]+x[2][2]*C[2]],I=-1/0;for(let O of S.verts)I=Math.max(I,nt(R,B[O]));return{normal:R,d:I,verts:S.verts}}),z=new Map;k.forEach((S,C)=>S.verts.forEach((R,I)=>z.set(`${R},${S.verts[(I+1)%S.verts.length]}`,C)));let M=[];k.forEach((S,C)=>S.verts.forEach((R,I)=>{let O=S.verts[(I+1)%S.verts.length],q=z.get(`${O},${R}`);R<O&&q!==void 0&&M.push([R,O,C,q])}));let P=[0,0,0],_=0;for(let S of B){for(let C=0;C<3;C++)P[C]=Math.max(P[C],2*Math.abs(S[C]));_=Math.max(_,Te(S))}return{vertices:E,faces:k,edges:M,volume:m,moments:[w[0],w[1],w[2]],size:P,radius:_,center:p,rotation:dl(x)}}function fl(o){let e=o.map(n=>[...n]),t=[[1,0,0],[0,1,0],[0,0,1]];for(let n=0;n<50&&!(e[0][1]**2+e[0][2]**2+e[1][2]**2<1e-30*(e[0][0]**2+e[1][1]**2+e[2][2]**2+1e-300));n++)for(let c=0;c<3;c++)for(let f=c+1;f<3;f++){if(Math.abs(e[c][f])<1e-300)continue;let u=(e[f][f]-e[c][c])/(2*e[c][f]),d=Math.sign(u||1)/(Math.abs(u)+Math.sqrt(u*u+1)),h=1/Math.sqrt(d*d+1),m=d*h;for(let p=0;p<3;p++){let b=e[p][c],y=e[p][f];e[p][c]=h*b-m*y,e[p][f]=m*b+h*y}for(let p=0;p<3;p++){let b=e[c][p],y=e[f][p];e[c][p]=h*b-m*y,e[f][p]=m*b+h*y}for(let p=0;p<3;p++){let b=t[p][c],y=t[p][f];t[p][c]=h*b-m*y,t[p][f]=m*b+h*y}}let i=[t[0][0],t[1][0],t[2][0]],r=[t[0][1],t[1][1],t[2][1]],s=Zt(i,r),a=[[i[0],r[0],s[0]],[i[1],r[1],s[1]],[i[2],r[2],s[2]]];return{values:[e[0][0],e[1][1],e[2][2]],vectors:a}}function dl(o){let e=o[0][0]+o[1][1]+o[2][2],t,i,r,s;if(e>0){let n=.5/Math.sqrt(e+1);s=.25/n,t=(o[2][1]-o[1][2])*n,i=(o[0][2]-o[2][0])*n,r=(o[1][0]-o[0][1])*n}else if(o[0][0]>o[1][1]&&o[0][0]>o[2][2]){let n=2*Math.sqrt(1+o[0][0]-o[1][1]-o[2][2]);s=(o[2][1]-o[1][2])/n,t=.25*n,i=(o[0][1]+o[1][0])/n,r=(o[0][2]+o[2][0])/n}else if(o[1][1]>o[2][2]){let n=2*Math.sqrt(1+o[1][1]-o[0][0]-o[2][2]);s=(o[0][2]-o[2][0])/n,t=(o[0][1]+o[1][0])/n,i=.25*n,r=(o[1][2]+o[2][1])/n}else{let n=2*Math.sqrt(1+o[2][2]-o[0][0]-o[1][1]);s=(o[1][0]-o[0][1])/n,t=(o[0][2]+o[2][0])/n,i=(o[1][2]+o[2][1])/n,r=.25*n}let a=Math.hypot(t,i,r,s);return[t/a,i/a,r/a,s/a]}var ka=new WeakSet,tr=o=>ka.has(o),hl=new WeakSet;var Pa=o=>hl.has(o);function Rr(o,e,t,i,r,s=[0,0,0]){let a=new at(o,[2*e,2*e,2*e],t,i,r,s);a.mass=t>0?4/3*Math.PI*e*e*e*t:0;let n=.4*a.mass*e*e;return a.moment.set([n,n,n]),a.radius=e,ka.add(a),a}var La=new WeakMap,_a=o=>La.get(o);function Or(o,e,t,i,r,s=[0,0,0,1],a=[0,0,0]){if(e.vertices.length/3>32||e.faces.length>255||e.edges.length>255)throw new Error(`hull: ${e.vertices.length/3} vertices, ${e.faces.length} faces, ${e.edges.length} edges (at most ${32} vertices, 255 faces and edges)`);let n=new at(o,e.size,t,i,r,a);return n.positionAng.set([s[0],s[1],s[2],s[3]]),n.mass=t>0?e.volume*t:0,n.moment.set(e.moments.map(l=>l*Math.max(t,0))),n.radius=e.radius,La.set(n,e),n}var Qs=`
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1
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var L=(o=0,e=0,t=0)=>Float64Array.of(o,e,t),Pi=(o=0,e=0,t=0,i=1)=>Float64Array.of(o,e,t,i),Y=()=>new Float64Array(9);var ca=o=>o<0?-1:o>0?1:0,tt=(o,e)=>o<e?o:e,hl=(o,e)=>o>e?o:e,Oe=(o,e,t)=>hl(e,tt(t,o)),Z=(o,e)=>o[0]*e[0]+o[1]*e[1]+o[2]*e[2],it=o=>Z(o,o),Li=o=>Math.sqrt(it(o));function We(o,e,t,i){return o[0]=e,o[1]=t,o[2]=i,o}var Lr=(o,e,t)=>We(o,e[0]+t[0],e[1]+t[1],e[2]+t[2]),X=(o,e,t)=>We(o,e[0]-t[0],e[1]-t[1],e[2]-t[2]),Ce=(o,e,t)=>We(o,e[0]*t,e[1]*t,e[2]*t),ei=(o,e,t)=>We(o,e[0]/t,e[1]/t,e[2]/t),he=(o,e)=>We(o,-e[0],-e[1],-e[2]),Js=(o,e)=>We(o,Math.abs(e[0]),Math.abs(e[1]),Math.abs(e[2])),N=(o,e,t,i)=>We(o,e[0]+t[0]*i,e[1]+t[1]*i,e[2]+t[2]*i),pl=(o,e)=>ei(o,e,Li(e)),Mt=(o,e,t)=>We(o,e[1]*t[2]-e[2]*t[1],e[2]*t[0]-e[0]*t[2],e[0]*t[1]-e[1]*t[0]);function ki(o,e,t,i,r){return o[0]=e,o[1]=t,o[2]=i,o[3]=r,o}function ua(o,e,t){let i=e[0],r=e[1],s=e[2],a=e[3],n=t[0],l=t[1],c=t[2],f=t[3];return ki(o,a*n+i*f+r*c-s*l,a*l-i*c+r*f+s*n,a*c+i*l-r*n+s*f,a*f-i*n-r*l-s*c)}var 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a=r?this.basis:Or,n=r?Ks:Zs;ti(eo,a),ti(to,n),Te(io,to,jr),Se(i.lhsLin,Te(Tr,Te(Tr,eo,jr),a)),Se(i.lhsAng,Te(Tr,io,n)),Se(i.lhsCross,Te(Tr,io,a)),N(i.rhsLin,i.rhsLin,ie(oi,eo,Ae),1),N(i.rhsAng,i.rhsAng,ie(oi,to,Ae),1)}}updateDual(e){let{solver:t}=this;this.computeDisplacements();for(let i of this.contacts)this.evaluate(i,e),i.lambda.set(Ae),Ae[0]<0&&(i.penalty[0]=tt(i.penalty[0]+t.betaLin*Math.abs(pe[0]),pt)),Ei<=sr&&(i.penalty[1]=tt(i.penalty[1]+t.betaLin*Math.abs(pe[1]),pt),i.penalty[2]=tt(i.penalty[2]+t.betaLin*Math.abs(pe[2]),pt),i.stick=Math.sqrt(pe[1]*pe[1]+pe[2]*pe[2])<ga)}};var ro=()=>({dt:1/60,gravity:-10,iterations:10,betaLin:1e4,betaAng:100,alpha:.99,gamma:.999}),jt=class{dt=1/60;gravity=-10;iterations=10;alpha=.99;betaLin=1e4;betaAng=100;gamma=.999;bodies=[];forces=[];constructor(){this.defaultParams()}defaultParams(){Object.assign(this,ro())}clear(){this.forces=[],this.bodies=[]}pick(e,t){let r=null,s=L(),a=L();for(let n=this.bodies.length-1;n>=0;n--){let l=this.bodies[n];if(l.mass<=0)continue;_i(s,l.positionAng,X(s,e,l.positionLin)),_i(a,l.positionAng,t);let c=0,f=1/0,u=!0;for(let p=0;p<3&&u;p++){let m=l.size[p]*.5;if(Math.abs(a[p])<1e-6){(s[p]<-m||s[p]>m)&&(u=!1);continue}let h=1/a[p],b=(-m-s[p])*h,y=(m-s[p])*h;b>y&&([b,y]=[y,b]),c=Math.max(c,b),f=Math.min(f,y),c>f&&(u=!1)}if(!u)continue;let d=c>=0?c:f;d<0||(!r||d<r.t)&&(r={body:l,local:N(L(),s,a,d),t:d})}return r}sys=ya();dxLin=L();dxAng=L();dp=L();accel=L();step(){let{dt:e,gravity:t,bodies:i,sys:r,dp:s}=this;for(let n=i.length-1;n>=0;n--){let l=i[n];for(let c=n-1;c>=0;c--){let f=i[c];X(s,l.positionLin,f.positionLin);let u=l.radius+f.radius;Z(s,s)<=u*u&&!l.constrainedTo(f)&&new zi(this,l,f)}}let a=[];for(let n of this.forces)n.initialize()?a.push(n):n.unlinkFromBodies();this.forces=a;for(let n=i.length-1;n>=0;n--){let l=i[n];N(l.inertialLin,l.positionLin,l.velocityLin,e),l.mass>0&&(l.inertialLin[2]+=t*(e*e)),_r(l.inertialAng,l.positionAng,ja(l.velocityAng,e)),ei(this.accel,X(this.accel,l.velocityLin,l.prevVelocityLin),e);let c=this.accel[2]*ca(t),f=Oe(c/Math.abs(t),0,1);Number.isFinite(f)||(f=0),l.initialLin.set(l.positionLin),l.initialAng.set(l.positionAng),l.mass>0&&(N(l.positionLin,l.positionLin,l.velocityLin,e),l.positionLin[2]+=t*(f*e*e),_r(l.positionAng,l.positionAng,ja(l.velocityAng,e)))}for(let n=0;n<this.iterations;n++){for(let l=i.length-1;l>=0;l--){let c=i[l];if(c.mass<=0)continue;let f=c.mass,u=c.moment;je(r.lhsLin,f/(e*e),f/(e*e),f/(e*e)),je(r.lhsAng,u[0]/(e*e),u[1]/(e*e),u[2]/(e*e)),r.lhsCross.fill(0),ie(r.rhsLin,r.lhsLin,X(s,c.positionLin,c.inertialLin)),ie(r.rhsAng,r.lhsAng,It(s,c.positionAng,c.inertialAng));let d=c.forces;for(let p=d.length-1;p>=0;p--)d[p].updatePrimal(c,this.alpha,r);ma(r.lhsLin,r.lhsAng,r.lhsCross,he(r.rhsLin,r.rhsLin),he(r.rhsAng,r.rhsAng),this.dxLin,this.dxAng),N(c.positionLin,c.positionLin,this.dxLin,1),_r(c.positionAng,c.positionAng,this.dxAng)}for(let l of this.forces)l.updateDual(this.alpha)}for(let n of i)n.prevVelocityLin.set(n.velocityLin),n.mass>0&&(ei(n.velocityLin,X(n.velocityLin,n.positionLin,n.initialLin),e),ei(n.velocityAng,It(n.velocityAng,n.positionAng,n.initialAng),e))}},Sl=L(),ja=(o,e)=>Ce(Sl,o,e);var oe=(o,e)=>[o[0]-e[0],o[1]-e[1],o[2]-e[2]],nt=(o,e)=>o[0]*e[0]+o[1]*e[1]+o[2]*e[2],ai=(o,e)=>[o[1]*e[2]-o[2]*e[1],o[2]*e[0]-o[0]*e[2],o[0]*e[1]-o[1]*e[0]],Ge=o=>Math.sqrt(nt(o,o));function or(o){let e=Ta(o);return!e||e.vertices.length/3<=32?e:Ta(kl(e,32))}function kl(o,e){let[t,i,r,s]=o.rotation,a=u=>{let d=[2*(i*u[2]-r*u[1]),2*(r*u[0]-t*u[2]),2*(t*u[1]-i*u[0])];return[u[0]+s*d[0]+(i*d[2]-r*d[1])+o.center[0],u[1]+s*d[1]+(r*d[0]-t*d[2])+o.center[1],u[2]+s*d[2]+(t*d[1]-i*d[0])+o.center[2]]},n=[];for(let u=0;u<o.vertices.length;u+=3)n.push(a([o.vertices[u],o.vertices[u+1],o.vertices[u+2]]));let l=0;n.forEach((u,d)=>{Ge(oe(u,o.center))>Ge(oe(n[l],o.center))&&(l=d)});let c=[l],f=n.map(u=>Ge(oe(u,n[l])));for(;c.length<e;){let u=0;f.forEach((d,p)=>{d>f[u]&&(u=p)}),c.push(u),n.forEach((d,p)=>{f[p]=Math.min(f[p],Ge(oe(d,n[u])))})}return c.flatMap(u=>n[u])}function Ta(o){let e=0;for(let g=0;g<o.length;g++)e=Math.max(e,Math.abs(o[g]));let t=Math.max(e,1e-9)*1e-6,i=new Set,r=[];for(let g=0;g+2<o.length;g+=3){let A=[o[g],o[g+1],o[g+2]],x=A.map(w=>Math.round(w/t)).join(",");i.has(x)||(i.add(x),r.push(A))}if(r.length<4)return null;let s=Math.max(e,1e-9)*1e-10,a=0;for(let g=1;g<r.length;g++)r[g][0]<r[a][0]&&(a=g);let n=-1,l=0;for(let g=0;g<r.length;g++){let A=Ge(oe(r[g],r[a]));A>l&&(l=A,n=g)}if(n<0||l<s)return null;let c=-1;l=0;let f=oe(r[n],r[a]);for(let g=0;g<r.length;g++){let A=Ge(ai(f,oe(r[g],r[a])));A>l&&(l=A,c=g)}if(c<0||l<s*Ge(f))return null;let u=ai(f,oe(r[c],r[a])),d=-1;l=0;for(let g=0;g<r.length;g++){let A=Math.abs(nt(u,oe(r[g],r[a])));A>l&&(l=A,d=g)}if(d<0||l<s*Ge(u))return null;let p=[],m=(g,A,x)=>{let w=ai(oe(r[A],r[g]),oe(r[x],r[g])),E=Ge(w)||1,k=[w[0]/E,w[1]/E,w[2]/E];return{v:[g,A,x],n:k,d:nt(k,r[g])}},b=nt(u,oe(r[d],r[a]))>0?[a,c,n]:[a,n,c];p.push(m(b[0],b[1],b[2])),p.push(m(b[0],d,b[1])),p.push(m(b[1],d,b[2])),p.push(m(b[2],d,b[0]));let y=new Set([a,n,c,d]),v=r.map((g,A)=>A).filter(g=>!y.has(g)),B=[a,n,c,d].reduce((g,A)=>[g[0]+r[A][0]/4,g[1]+r[A][1]/4,g[2]+r[A][2]/4],[0,0,0]);v.sort((g,A)=>Ge(oe(r[A],B))-Ge(oe(r[g],B)));for(let g of v){let A=p.filter(P=>nt(P.n,r[g])-P.d>s);if(!A.length)continue;let x=new Map;for(let P of p)for(let _=0;_<3;_++)x.set(`${P.v[_]},${P.v[(_+1)%3]}`,P);let w=new Set(A),E=[...A];for(;E.length;){let P=E.pop();for(let _=0;_<3;_++){let C=x.get(`${P.v[(_+1)%3]},${P.v[_]}`);C&&!w.has(C)&&nt(C.n,r[g])-C.d>-s&&(w.add(C),E.push(C))}}let k=[...w],z=new Set;for(let P of k)for(let _=0;_<3;_++)z.add(`${P.v[_]},${P.v[(_+1)%3]}`);let M=[];for(let P of k)for(let _=0;_<3;_++){let C=P.v[_],S=P.v[(_+1)%3];z.has(`${S},${C}`)||M.push([C,S])}for(let P of k)p.splice(p.indexOf(P),1);for(let[P,_]of M)p.push(m(P,_,g))}return Pl(r.flat(),p.flatMap(g=>g.v))}function Pl(o,e){let t=[];for(let C=0;C+2<o.length;C+=3)t.push([o[C],o[C+1],o[C+2]]);let i=0;for(let C of t)i=Math.max(i,Math.abs(C[0]),Math.abs(C[1]),Math.abs(C[2]));let r=Math.max(i,1e-9)*1e-5,s=[];for(let C=0;C+2<e.length;C+=3){let S=[e[C],e[C+1],e[C+2]],R=ai(oe(t[S[1]],t[S[0]]),oe(t[S[2]],t[S[0]])),I=Ge(R);if(!(I>0))continue;let O=[R[0]/I,R[1]/I,R[2]/I];s.push({v:S,n:O,d:nt(O,t[S[0]])})}let a=new Map;s.forEach((C,S)=>{for(let R=0;R<3;R++)a.set(`${C.v[R]},${C.v[(R+1)%3]}`,S)});let n=new Array(s.length).fill(-1),l=[];s.forEach((C,S)=>{if(n[S]>=0)return;let R=[S];n[S]=l.length;for(let I=0;I<R.length;I++){let O=s[R[I]];for(let q=0;q<3;q++){let G=a.get(`${O.v[(q+1)%3]},${O.v[q]}`);if(G===void 0||n[G]>=0)continue;let j=s[G];nt(C.n,j.n)>1-1e-5&&j.v.every(F=>Math.abs(nt(C.n,t[F])-C.d)<=r)&&(n[G]=l.length,R.push(G))}}l.push(R)});let c=[];for(let C of l){let S=new Set;for(let j of C)for(let F=0;F<3;F++)S.add(`${s[j].v[F]},${s[j].v[(F+1)%3]}`);let R=new Map;for(let j of C)for(let F=0;F<3;F++){let H=s[j].v[F],ee=s[j].v[(F+1)%3];if(!S.has(`${ee},${H}`)){if(R.has(H))return null;R.set(H,ee)}}let I=[0,0,0];for(let j of C){let F=s[j],H=ai(oe(t[F.v[1]],t[F.v[0]]),oe(t[F.v[2]],t[F.v[0]]));I[0]+=H[0],I[1]+=H[1],I[2]+=H[2]}let O=Ge(I)||1,q=R.keys().next().value,G=[q];for(let j=R.get(q);j!==q&&G.length<=R.size;j=R.get(j))G.push(j);if(G.length!==R.size)return null;c.push({n:[I[0]/O,I[1]/O,I[2]/O],verts:G})}let f=new Map,u=[];for(let C of c)for(let S of C.verts)f.has(S)||(f.set(S,u.length),u.push(t[S]));for(let C of c)C.verts=C.verts.map(S=>f.get(S));let d=new Set,p=0;for(let C of c)C.verts.forEach((S,R)=>{d.add(`${S},${C.verts[(R+1)%C.verts.length]}`),p++});if(d.size!==p||![...d].every(C=>{let[S,R]=C.split(",");return d.has(`${R},${S}`)})||u.length-d.size/2+c.length!==2)return null;let m=0,h=[0,0,0],b=[0,0,0,0,0,0];for(let C of c){let S=u[C.verts[0]];for(let R=1;R+1<C.verts.length;R++){let I=u[C.verts[R]],O=u[C.verts[R+1]],q=nt(S,ai(I,O));m+=q/6;for(let j=0;j<3;j++)h[j]+=q/24*(S[j]+I[j]+O[j]);let G=(j,F)=>q/120*(S[j]*S[F]+I[j]*I[F]+O[j]*O[F]+(S[j]+I[j]+O[j])*(S[F]+I[F]+O[F]));b[0]+=G(0,0),b[1]+=G(1,1),b[2]+=G(2,2),b[3]+=G(0,1),b[4]+=G(0,2),b[5]+=G(1,2)}}if(!(m>0))return null;for(let C=0;C<3;C++)h[C]/=m;b[0]-=m*h[0]*h[0],b[1]-=m*h[1]*h[1],b[2]-=m*h[2]*h[2],b[3]-=m*h[0]*h[1],b[4]-=m*h[0]*h[2],b[5]-=m*h[1]*h[2];let y=b[0]+b[1]+b[2],v=[[y-b[0],-b[3],-b[4]],[-b[3],y-b[1],-b[5]],[-b[4],-b[5],y-b[2]]],{values:B,vectors:g}=Ll(v),A=g,x=C=>{let S=oe(C,h);return[A[0][0]*S[0]+A[1][0]*S[1]+A[2][0]*S[2],A[0][1]*S[0]+A[1][1]*S[1]+A[2][1]*S[2],A[0][2]*S[0]+A[1][2]*S[1]+A[2][2]*S[2]]},w=u.map(x),E=new Float32Array(w.flat()),k=c.map(C=>{let S=C.n,R=[A[0][0]*S[0]+A[1][0]*S[1]+A[2][0]*S[2],A[0][1]*S[0]+A[1][1]*S[1]+A[2][1]*S[2],A[0][2]*S[0]+A[1][2]*S[1]+A[2][2]*S[2]],I=-1/0;for(let O of C.verts)I=Math.max(I,nt(R,w[O]));return{normal:R,d:I,verts:C.verts}}),z=new Map;k.forEach((C,S)=>C.verts.forEach((R,I)=>z.set(`${R},${C.verts[(I+1)%C.verts.length]}`,S)));let M=[];k.forEach((C,S)=>C.verts.forEach((R,I)=>{let O=C.verts[(I+1)%C.verts.length],q=z.get(`${O},${R}`);R<O&&q!==void 0&&M.push([R,O,S,q])}));let P=[0,0,0],_=0;for(let C of w){for(let S=0;S<3;S++)P[S]=Math.max(P[S],2*Math.abs(C[S]));_=Math.max(_,Ge(C))}return{vertices:E,faces:k,edges:M,volume:m,moments:[B[0],B[1],B[2]],size:P,radius:_,center:h,rotation:_l(A)}}function Ll(o){let e=o.map(n=>[...n]),t=[[1,0,0],[0,1,0],[0,0,1]];for(let n=0;n<50&&!(e[0][1]**2+e[0][2]**2+e[1][2]**2<1e-30*(e[0][0]**2+e[1][1]**2+e[2][2]**2+1e-300));n++)for(let c=0;c<3;c++)for(let f=c+1;f<3;f++){if(Math.abs(e[c][f])<1e-300)continue;let u=(e[f][f]-e[c][c])/(2*e[c][f]),d=Math.sign(u||1)/(Math.abs(u)+Math.sqrt(u*u+1)),p=1/Math.sqrt(d*d+1),m=d*p;for(let h=0;h<3;h++){let b=e[h][c],y=e[h][f];e[h][c]=p*b-m*y,e[h][f]=m*b+p*y}for(let h=0;h<3;h++){let b=e[c][h],y=e[f][h];e[c][h]=p*b-m*y,e[f][h]=m*b+p*y}for(let h=0;h<3;h++){let b=t[h][c],y=t[h][f];t[h][c]=p*b-m*y,t[h][f]=m*b+p*y}}let i=[t[0][0],t[1][0],t[2][0]],r=[t[0][1],t[1][1],t[2][1]],s=ai(i,r),a=[[i[0],r[0],s[0]],[i[1],r[1],s[1]],[i[2],r[2],s[2]]];return{values:[e[0][0],e[1][1],e[2][2]],vectors:a}}function _l(o){let e=o[0][0]+o[1][1]+o[2][2],t,i,r,s;if(e>0){let n=.5/Math.sqrt(e+1);s=.25/n,t=(o[2][1]-o[1][2])*n,i=(o[0][2]-o[2][0])*n,r=(o[1][0]-o[0][1])*n}else if(o[0][0]>o[1][1]&&o[0][0]>o[2][2]){let n=2*Math.sqrt(1+o[0][0]-o[1][1]-o[2][2]);s=(o[2][1]-o[1][2])/n,t=.25*n,i=(o[0][1]+o[1][0])/n,r=(o[0][2]+o[2][0])/n}else if(o[1][1]>o[2][2]){let n=2*Math.sqrt(1+o[1][1]-o[0][0]-o[2][2]);s=(o[0][2]-o[2][0])/n,t=(o[0][1]+o[1][0])/n,i=.25*n,r=(o[1][2]+o[2][1])/n}else{let n=2*Math.sqrt(1+o[2][2]-o[0][0]-o[1][1]);s=(o[1][0]-o[0][1])/n,t=(o[0][2]+o[2][0])/n,i=(o[1][2]+o[2][1])/n,r=.25*n}let a=Math.hypot(t,i,r,s);return[t/a,i/a,r/a,s/a]}var Ga=new WeakSet,ar=o=>Ga.has(o),El=new WeakSet;var Fa=o=>El.has(o);function Mi(o,e,t,i,r,s=[0,0,0]){let a=new De(o,[2*e,2*e,2*e],t,i,r,s);a.mass=t>0?4/3*Math.PI*e*e*e*t:0;let n=.4*a.mass*e*e;return a.moment.set([n,n,n]),a.radius=e,Ga.add(a),a}var Ua=new WeakMap,Dr=o=>Ua.get(o);function Gr(o,e,t,i,r,s=[0,0,0,1],a=[0,0,0]){if(e.vertices.length/3>32||e.faces.length>255||e.edges.length>255)throw new Error(`hull: ${e.vertices.length/3} vertices, ${e.faces.length} faces, ${e.edges.length} edges (at most ${32} vertices, 255 faces and edges)`);let n=new De(o,e.size,t,i,r,a);return n.positionAng.set([s[0],s[1],s[2],s[3]]),n.mass=t>0?e.volume*t:0,n.moment.set(e.moments.map(l=>l*Math.max(t,0))),n.radius=e.radius,Ua.set(n,e),n}var so=`
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`,mt=`
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${
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${so}
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@@ -148,7 +148,7 @@ fn rot(angle: f32, v: vec2f) -> vec2f {
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if (base < sp.n) { data[sp.offset + base] += add; }
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+
`,Fe=class{levels=[];buffers=[];scanPipeline;addPipeline;constructor(e,t,i,r){let s=e.createShaderModule({label:"prefix scan",code:zl}),a=e.createBindGroupLayout({entries:[{binding:0,visibility:GPUShaderStage.COMPUTE,buffer:{type:"uniform"}},{binding:1,visibility:GPUShaderStage.COMPUTE,buffer:{type:"storage"}},{binding:2,visibility:GPUShaderStage.COMPUTE,buffer:{type:"storage"}}]}),n=e.createPipelineLayout({bindGroupLayouts:[a]});this.scanPipeline=e.createComputePipeline({label:"scanBlocks",layout:n,compute:{module:s,entryPoint:"scanBlocks"}}),this.addPipeline=e.createComputePipeline({label:"addBlocks",layout:n,compute:{module:s,entryPoint:"addBlocks"}});let l=t,c=i,f=r;for(;;){let u=Math.max(1,Math.ceil(f/512)),d=e.createBuffer({label:`scan sums ${this.levels.length}`,size:Math.max(u,4)*4,usage:GPUBufferUsage.STORAGE}),p=e.createBuffer({size:16,usage:GPUBufferUsage.UNIFORM,mappedAtCreation:!0});new Uint32Array(p.getMappedRange()).set([c,f,0,0]),p.unmap(),this.buffers.push(d,p);let m=e.createBindGroup({layout:a,entries:[{binding:0,resource:{buffer:p}},{binding:1,resource:{buffer:l}},{binding:2,resource:{buffer:d}}]});if(this.levels.push({n:f,blocks:u,group:m}),u===1)break;l=d,c=0,f=u}}encode(e){e.setPipeline(this.scanPipeline);for(let t of this.levels)e.setBindGroup(0,t.group),e.dispatchWorkgroups(t.blocks);e.setPipeline(this.addPipeline);for(let t=this.levels.length-2;t>=0;t--)e.setBindGroup(0,this.levels[t].group),e.dispatchWorkgroups(this.levels[t].blocks)}destroy(){for(let e of this.buffers)e.destroy()}};var Ml=`
|
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237
237
|
alias TopoItem = Contact;
|
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238
238
|
|
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239
239
|
fn topoCount() -> u32 {
|
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@@ -254,7 +254,7 @@ fn jointActive(j: u32) -> bool {
|
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254
254
|
let s = joints[j].stiff;
|
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255
255
|
return info[j].x != T_NONE && (s.x != 0.0 || s.y != 0.0 || s.z != 0.0);
|
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256
256
|
}
|
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-
`,
|
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257
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+
`,li=(o,e)=>`
|
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258
258
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${o}
|
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259
259
|
${e}
|
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260
260
|
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@@ -532,11 +532,11 @@ fn colorScatter(@builtin(global_invocation_id) gid: vec3u, @builtin(workgroup_id
|
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532
532
|
let slot = atomicLoad(&color[params.colorHistOffset + col * params.colorGroups + wid.x]) + state(params.stateBOffset, b);
|
|
533
533
|
atomicStore(&color[params.colorBodiesOffset + slot], b);
|
|
534
534
|
}
|
|
535
|
-
`,
|
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535
|
+
`,nr=li(mt,Ml);var Il=Pi(),lt=Y(),Ur=Y(),ci=Y(),ao=Y(),Ii=Y(),no=Y(),He=Y(),Nr=Y(),lr=Y(),re=L(),me=L(),se=L(),Tt=L(),Ri=L();function lo(o,e,t){return je(o,-t[e],-t[e],-t[e]),o[e]+=t[0],o[3+e]+=t[1],o[6+e]+=t[2],o}var qr=(o,e,t)=>We(o,tt(e[0],t),tt(e[1],t),tt(e[2],t)),we=class extends Rt{rA;rB;C0Lin=L();C0Ang=L();penaltyLin=L();penaltyAng=L();lambdaLin=L();lambdaAng=L();stiffnessLin;stiffnessAng;fracture;torqueArm;broken=!1;constructor(e,t,i,r,s,a=1/0,n=0,l=1/0){super(e,t,i),this.rA=L(r[0],r[1],r[2]),this.rB=L(s[0],s[1],s[2]),this.stiffnessLin=a,this.stiffnessAng=n,this.fracture=l;let c=t?t.size:[0,0,0];this.torqueArm=it([c[0]+i.size[0],c[1]+i.size[1],c[2]+i.size[2]])}evaluateLin(e){let{bodyA:t,bodyB:i}=this;return t?ht(Tt,t.positionLin,t.positionAng,this.rA):Tt.set(this.rA),X(e,Tt,ht(Ri,i.positionLin,i.positionAng,this.rB))}evaluateAng(e){return It(e,this.bodyA?this.bodyA.positionAng:Il,this.bodyB.positionAng),Ce(e,e,this.torqueArm)}initialize(){let{solver:e}=this;this.evaluateLin(this.C0Lin),this.evaluateAng(this.C0Ang);for(let t=0;t<3;t++)this.lambdaLin[t]=this.lambdaLin[t]*e.alpha*e.gamma,this.lambdaAng[t]=this.lambdaAng[t]*e.alpha*e.gamma,this.penaltyLin[t]=Oe(this.penaltyLin[t]*e.gamma,rr,pt),this.penaltyAng[t]=Oe(this.penaltyAng[t]*e.gamma,rr,pt);return qr(this.penaltyLin,this.penaltyLin,this.stiffnessLin),qr(this.penaltyAng,this.penaltyAng,this.stiffnessAng),!this.broken}updatePrimal(e,t,i){let r=e===this.bodyA;if(it(this.penaltyLin)>0){je(lt,this.penaltyLin[0],this.penaltyLin[1],this.penaltyLin[2]),this.evaluateLin(re),this.stiffnessLin===1/0&&N(re,re,this.C0Lin,-t),ie(me,lt,re),N(me,me,this.lambdaLin,1);let s=r?1:-1;je(Ur,s,s,s),r?$s(ci,he(se,ue(se,this.bodyA.positionAng,this.rA))):$s(ci,ue(se,this.bodyB.positionAng,this.rB)),ti(ao,Ur),ti(Ii,ci),Te(no,Ii,lt),Se(i.lhsLin,Te(He,Te(He,ao,lt),Ur)),Se(i.lhsAng,Te(He,no,ci)),Se(i.lhsCross,Te(He,no,Ur)),r?ue(se,this.bodyA.positionAng,this.rA):he(se,ue(se,this.bodyB.positionAng,this.rB)),ii(Nr,lo(lr,0,se),me[0]),Se(Nr,ii(lr,lo(lr,1,se),me[1])),Se(Nr,ii(lr,lo(lr,2,se),me[2])),Se(i.lhsAng,ha(He,Nr)),N(i.rhsLin,i.rhsLin,ie(se,ao,me),1),N(i.rhsAng,i.rhsAng,ie(se,Ii,me),1)}if(it(this.penaltyAng)>0){je(lt,this.penaltyAng[0],this.penaltyAng[1],this.penaltyAng[2]),this.evaluateAng(re),this.stiffnessAng===1/0&&N(re,re,this.C0Ang,-t),ie(me,lt,re),N(me,me,this.lambdaAng,1);let s=(r?1:-1)*this.torqueArm;je(ci,s,s,s),ti(Ii,ci),Se(i.lhsAng,Te(He,Te(He,Ii,lt),ci)),N(i.rhsAng,i.rhsAng,ie(se,Ii,me),1)}}updateDual(e){let{solver:t}=this;it(this.penaltyLin)>0&&(je(lt,this.penaltyLin[0],this.penaltyLin[1],this.penaltyLin[2]),this.evaluateLin(re),this.stiffnessLin===1/0&&(N(re,re,this.C0Lin,-e),ie(me,lt,re),N(this.lambdaLin,me,this.lambdaLin,1)),N(this.penaltyLin,this.penaltyLin,Js(se,re),t.betaLin),qr(this.penaltyLin,this.penaltyLin,tt(this.stiffnessLin,pt))),it(this.penaltyAng)>0&&(je(lt,this.penaltyAng[0],this.penaltyAng[1],this.penaltyAng[2]),this.evaluateAng(re),this.stiffnessAng===1/0&&(N(re,re,this.C0Ang,-e),ie(me,lt,re),N(this.lambdaAng,me,this.lambdaAng,1)),N(this.penaltyAng,this.penaltyAng,Js(se,re),t.betaAng),qr(this.penaltyAng,this.penaltyAng,tt(this.stiffnessAng,pt))),it(this.lambdaAng)>this.fracture*this.fracture&&(this.penaltyLin.fill(0),this.penaltyAng.fill(0),this.lambdaLin.fill(0),this.lambdaAng.fill(0),this.broken=!0)}},ct=class extends Rt{rA;rB;rest;stiffness;constructor(e,t,i,r,s,a,n=-1){super(e,t,i),this.rA=L(r[0],r[1],r[2]),this.rB=L(s[0],s[1],s[2]),this.stiffness=a,this.rest=n,this.rest<0&&(ht(Tt,t.positionLin,t.positionAng,this.rA),ht(Ri,i.positionLin,i.positionAng,this.rB),this.rest=Li(X(re,Tt,Ri)))}initialize(){return!0}updatePrimal(e,t,i){let r=this.bodyA,s=this.bodyB;ht(Tt,r.positionLin,r.positionAng,this.rA),ht(Ri,s.positionLin,s.positionAng,this.rB);let a=X(re,Tt,Ri),n=Li(a);if(n<=1e-6)return;let l=ei(me,a,n),c=n-this.rest,f=this.stiffness*c,u=Tt,d=Ri;e===r?(ue(se,r.positionAng,this.rA),u.set(l),Mt(d,se,l)):(ue(se,s.positionAng,this.rB),he(u,l),he(d,Mt(d,se,l))),Se(i.lhsLin,ii(He,Er(He,u,u),this.stiffness)),Se(i.lhsAng,ii(He,Er(He,d,d),this.stiffness)),Se(i.lhsCross,ii(He,Er(He,d,u),this.stiffness)),N(i.rhsLin,i.rhsLin,Ce(se,u,f),1),N(i.rhsAng,i.rhsAng,Ce(se,d,f),1)}updateDual(){}},Vr=class extends Rt{initialize(){return!0}updatePrimal(){}updateDual(){}};var ke=40,Oi=0,cr=4,Na=8,qa=12,co=16,uo=20,Va=24,Wa=28,fo=32,ho=36,te=32,Dt=0,ur=4,ji=8,Ti=12,Ha=16,Ja=20,Gt=24,Di=28,bt=8;var Wr=4,wt=16,Gi=0,Hr=4,Jr=8,$r=12,fr=2147483648,Fi=6,Rl=7,$a=0,po=1,mo=2,Xr=3,dr=1,Ui=2,bo=1,go=2,yo=4,vo=8,xo=16,Ol=.1,Xa=.002,Ya=.002,jl=.05,Ao=44,ae=`
|
|
536
536
|
// Shared by every 3D module (avbd3d/gpu/layout.ts)
|
|
537
|
-
${
|
|
538
|
-
const T_JOINT = ${
|
|
539
|
-
const T_SPRING = ${
|
|
537
|
+
${so}
|
|
538
|
+
const T_JOINT = ${dr};
|
|
539
|
+
const T_SPRING = ${Ui};
|
|
540
540
|
|
|
541
541
|
const PENALTY_MIN = 1.0;
|
|
542
542
|
const PENALTY_MAX = 1e10;
|
|
@@ -545,22 +545,22 @@ const PIVOT_FLOOR = 1e-5;
|
|
|
545
545
|
const COLLISION_MARGIN = 0.01;
|
|
546
546
|
const STICK_THRESH = 0.00001;
|
|
547
547
|
|
|
548
|
-
const SHAPE_SPHERE = ${
|
|
549
|
-
const SHAPE_SAIL = ${
|
|
550
|
-
const SHAPE_HULL = ${
|
|
551
|
-
const STICK_BIT = ${
|
|
552
|
-
const C_MANIFOLDS = ${
|
|
553
|
-
const C_PREV_MANIFOLDS = ${
|
|
548
|
+
const SHAPE_SPHERE = ${po}.0;
|
|
549
|
+
const SHAPE_SAIL = ${mo}.0;
|
|
550
|
+
const SHAPE_HULL = ${Xr}.0;
|
|
551
|
+
const STICK_BIT = ${fr}u;
|
|
552
|
+
const C_MANIFOLDS = ${Fi}u;
|
|
553
|
+
const C_PREV_MANIFOLDS = ${Rl}u;
|
|
554
554
|
/** Feature key of every contact involving a sphere (one contact per pair). */
|
|
555
555
|
const SPHERE_FEATURE = 3u << 24u;
|
|
556
556
|
|
|
557
|
-
const FLAG_MATCH_NEAREST = ${
|
|
558
|
-
const FLAG_FACE_BIAS = ${
|
|
559
|
-
const FLAG_REUSE_CONTACTS = ${
|
|
560
|
-
const FLAG_START_AT_REST = ${
|
|
561
|
-
const FLAG_MASS_PENALTY = ${
|
|
562
|
-
const REST_SPEED = ${
|
|
563
|
-
const NEAREST_FRACTION = ${
|
|
557
|
+
const FLAG_MATCH_NEAREST = ${bo}u;
|
|
558
|
+
const FLAG_FACE_BIAS = ${go}u;
|
|
559
|
+
const FLAG_REUSE_CONTACTS = ${yo}u;
|
|
560
|
+
const FLAG_START_AT_REST = ${vo}u;
|
|
561
|
+
const FLAG_MASS_PENALTY = ${xo}u;
|
|
562
|
+
const REST_SPEED = ${Ol};
|
|
563
|
+
const NEAREST_FRACTION = ${jl};
|
|
564
564
|
|
|
565
565
|
struct Body {
|
|
566
566
|
pos: vec4f, // xyz, w: friction
|
|
@@ -678,7 +678,7 @@ fn orthonormal(n: vec3f) -> mat3x3f {
|
|
|
678
678
|
// Columns of the WGSL matrix are the basis rows
|
|
679
679
|
return mat3x3f(n, t1, cross(n, t1));
|
|
680
680
|
}
|
|
681
|
-
`,
|
|
681
|
+
`,Ni=`
|
|
682
682
|
alias TopoItem = Manifold;
|
|
683
683
|
|
|
684
684
|
/** A body pair has one manifold, so the other body alone orders a body's contacts. */
|
|
@@ -699,7 +699,7 @@ fn jointActive(j: u32) -> bool {
|
|
|
699
699
|
let k = joints[j];
|
|
700
700
|
return info[j].x != T_NONE && (k.penLin.w != 0.0 || k.penAng.w != 0.0);
|
|
701
701
|
}
|
|
702
|
-
`,
|
|
702
|
+
`,wo=`
|
|
703
703
|
fn lanesFor(bodies: u32) -> u32 {
|
|
704
704
|
let rule = params.primalLanes;
|
|
705
705
|
if (bodies >= (1u << (rule & 255u))) { return 1u; }
|
|
@@ -711,7 +711,7 @@ fn lanesFor(bodies: u32) -> u32 {
|
|
|
711
711
|
fn colorThreads(bodies: u32) -> u32 {
|
|
712
712
|
return bodies * lanesFor(bodies);
|
|
713
713
|
}
|
|
714
|
-
`,
|
|
714
|
+
`,Qa={counter:"C_MANIFOLDS",prevCounter:"C_PREV_MANIFOLDS",capacity:"params.manifoldCapacity",colorThreads:wo};var Ka=`
|
|
715
715
|
const MAX_CLIP = 64u;
|
|
716
716
|
const NO_HULL = 0xffffffffu;
|
|
717
717
|
|
|
@@ -1095,8 +1095,8 @@ fn sphereHull(c: vec3f, r: f32, X: Poly) -> SphereBoxHit {
|
|
|
1095
1095
|
out.onSphere = c - n * r;
|
|
1096
1096
|
return out;
|
|
1097
1097
|
}
|
|
1098
|
-
`;var
|
|
1099
|
-
${
|
|
1098
|
+
`;var Yr=`
|
|
1099
|
+
${ae}
|
|
1100
1100
|
|
|
1101
1101
|
struct RefPose {
|
|
1102
1102
|
pos: vec4f,
|
|
@@ -1116,15 +1116,15 @@ fn updateRefs(@builtin(global_invocation_id) gid: vec3u) {
|
|
|
1116
1116
|
let last = refs[i];
|
|
1117
1117
|
// A zero quaternion marks a body without a reference yet
|
|
1118
1118
|
let moved = dot(last.rot, last.rot) == 0.0
|
|
1119
|
-
|| length(pos - last.pos.xyz) > ${
|
|
1120
|
-
|| length(qsub(rot, last.rot)) > ${
|
|
1119
|
+
|| length(pos - last.pos.xyz) > ${Xa}
|
|
1120
|
+
|| length(qsub(rot, last.rot)) > ${Ya};
|
|
1121
1121
|
if (moved) {
|
|
1122
1122
|
refs[i] = RefPose(vec4f(pos, 0.0), rot);
|
|
1123
1123
|
bodies[i].inertialPos.w = bitcast<f32>(params.step);
|
|
1124
1124
|
}
|
|
1125
1125
|
}
|
|
1126
|
-
`,
|
|
1127
|
-
${
|
|
1126
|
+
`,Ft=`
|
|
1127
|
+
${ae}
|
|
1128
1128
|
|
|
1129
1129
|
@group(0) @binding(0) var<uniform> params: Params;
|
|
1130
1130
|
@group(0) @binding(1) var<storage, read> bodies: array<Body>;
|
|
@@ -1331,8 +1331,8 @@ fn findPairs(@builtin(global_invocation_id) gid: vec3u) {
|
|
|
1331
1331
|
testPair(P, l);
|
|
1332
1332
|
}
|
|
1333
1333
|
}
|
|
1334
|
-
`,
|
|
1335
|
-
${
|
|
1334
|
+
`,ui=o=>`
|
|
1335
|
+
${ae}
|
|
1336
1336
|
|
|
1337
1337
|
@group(0) @binding(0) var<uniform> params: Params;
|
|
1338
1338
|
@group(0) @binding(1) var<storage, read> bodies: array<Body>;
|
|
@@ -1747,7 +1747,7 @@ fn reuseContacts(a: u32, b: u32) -> bool {
|
|
|
1747
1747
|
return true;
|
|
1748
1748
|
}
|
|
1749
1749
|
|
|
1750
|
-
${o?
|
|
1750
|
+
${o?Ka:"fn isHull(i: u32) -> bool { return false; }"}
|
|
1751
1751
|
|
|
1752
1752
|
@compute @workgroup_size(64)
|
|
1753
1753
|
fn narrowphase(@builtin(global_invocation_id) gid: vec3u) {
|
|
@@ -1876,9 +1876,9 @@ fn narrowphase(@builtin(global_invocation_id) gid: vec3u) {
|
|
|
1876
1876
|
contacts[base + i] = Contact(rA, found.feature[i] | stick, rB, c0.x, pen, c0.y, lam, c0.z);
|
|
1877
1877
|
}
|
|
1878
1878
|
}
|
|
1879
|
-
`,
|
|
1880
|
-
${
|
|
1881
|
-
${
|
|
1879
|
+
`,Za=ui(!1),en=ui(!0);var be=`
|
|
1880
|
+
${ae}
|
|
1881
|
+
${wo}
|
|
1882
1882
|
|
|
1883
1883
|
// Per-dispatch constants, selected with a dynamic uniform offset
|
|
1884
1884
|
struct PassConstants {
|
|
@@ -2418,36 +2418,36 @@ fn updateVelocities(@builtin(global_invocation_id) gid: vec3u) {
|
|
|
2418
2418
|
bodies[i].vel.w = prevUp;
|
|
2419
2419
|
}
|
|
2420
2420
|
}
|
|
2421
|
-
`;function Wr(o,e){let t=0,i=o.length-1;for(;t<i;){let r=o[e],s=t,a=i;do{for(;o[s]<r;)s++;for(;r<o[a];)a--;if(s<=a){let n=o[s];o[s]=o[a],o[a]=n,s++,a--}}while(s<=a);a<e&&(t=s),e<s&&(i=a)}return o[e]}function bo(o){let e=o.length,t=e>0?Wr(o,e>>1):1,i=0;for(let r=0;r<e;r++)o[r]<=2*t&&(i=Math.max(i,o[r]));return e>64&&(i=Math.max(i,Wr(o,e-64-1))),i}var wt=o=>o===1/0?3e38:o===-1/0?-3e38:o,He=o=>Math.ceil(o/64),Ha=o=>2**Math.ceil(Math.log2(Math.max(o,2))),xl=o=>Math.max(o,1)*Ce*4,Al=8,Jr=3,Bl=8,wl=1.6,Sl=.8,Cl=2,kl=[0,0,1],Pl=()=>({...Ys(),matchNearest:!0,faceBias:!0,reuseContacts:!0,startAtRest:!0,massPenalty:!0,windSpeed:0,windAngle:0,windGust:.4,windPressure:.72,up:[0,1,0]});function Ll(o,e){let t=o.vertices.length/3,i=o.faces.length,r=o.faces.reduce((m,p)=>m+p.verts.length,0),s=Math.ceil(r/4),a=o.edges.length,n=new Float32Array((2+t+2*i+s+a)*4),l=new Uint32Array(n.buffer),c=e+2,f=c+t,u=f+2*i,d=u+s;l.set([c,t,f,i,d,a,u,0],0);for(let m=0;m<t;m++)n.set(o.vertices.subarray(m*3,m*3+3),(2+m)*4);let h=0;return o.faces.forEach((m,p)=>{let b=(2+t+2*p)*4;n.set(m.normal,b),n[b+3]=m.d,l[b+4]=h,l[b+5]=m.verts.length;for(let y of m.verts)l[(2+t+2*i)*4+h++]=y}),o.edges.forEach((m,p)=>l.set(m,(2+t+2*i+s+p)*4)),n}var go=.001;function _l(o,e){let t=o.length,i=o.map(b=>[0,1,2].map(y=>{let A=[0,0,0];return A[y]=1,ce(L(),b.positionAng,A)})),r=o.map((b,y)=>{if(tr(b))return[b.radius,b.radius,b.radius];let A=[0,0,0];for(let w=0;w<3;w++)for(let g=0;g<3;g++)A[g]+=b.size[w]*.5*Math.abs(i[y][w][g]);return A}),s=bo(Float64Array.from(o,b=>b.radius)),a=Math.max(2*s,.001),n=(b,y)=>{let A=o[b],w=o[y];if(A.mass<=0&&w.mass<=0)return!1;let g=[0,1,2].map(v=>A.positionLin[v]-w.positionLin[v]),x=A.radius+w.radius;return g[0]*g[0]+g[1]*g[1]+g[2]*g[2]>x*x?!1:g.every((v,B)=>Math.abs(v)<=r[b][B]+r[y][B])},l=(b,y)=>b[0]*y[0]+b[1]*y[1]+b[2]*y[2],c=(b,y)=>{let A=o[b],w=o[y],g=[0,1,2].map(k=>w.positionLin[k]-A.positionLin[k]),[x,v]=[tr(A),tr(w)];if(x&&v)return Math.hypot(g[0],g[1],g[2])<=A.radius+w.radius+go;if(x||v){let[k,z,M]=x?[y,A.radius,-1]:[b,w.radius,1],P=0;for(let _=0;_<3;_++){let S=Math.abs(M*l(g,i[k][_]))-o[k].size[_]*.5;S>0&&(P+=S*S)}return P<=(z+go)**2}let B=(k,z)=>o[k].size[0]*.5*Math.abs(l(i[k][0],z))+o[k].size[1]*.5*Math.abs(l(i[k][1],z))+o[k].size[2]*.5*Math.abs(l(i[k][2],z)),E=k=>{let z=Math.hypot(k[0],k[1],k[2]);return z<1e-6?!1:Math.abs(l(g,k))-B(b,k)-B(y,k)>go*z};for(let k=0;k<3;k++)if(E(i[b][k])||E(i[y][k]))return!1;for(let k of i[b])for(let z of i[y])if(E([k[1]*z[2]-k[2]*z[1],k[2]*z[0]-k[0]*z[2],k[0]*z[1]-k[1]*z[0]]))return!1;return!0},f=new Set,u=new Map,d=(b,y,A)=>(b*73856093^y*19349663^A*83492791)>>>0,h=b=>[0,1,2].map(y=>Math.floor(o[b].positionLin[y]/a));for(let b=0;b<t;b++){if(o[b].radius>s){f.add(b);continue}let[y,A,w]=h(b),g=d(y,A,w),x=u.get(g);x?x.push(b):u.set(g,[b])}let m=0,p=0;for(let b=0;b<t;b++){if(f.has(b))continue;let[y,A,w]=h(b);for(let g=-1;g<=1;g++)for(let x=-1;x<=1;x++)for(let v=-1;v<=1;v++)for(let B of u.get(d(y+v,A+x,w+g))??[])B<b&&n(b,B)&&(m++,c(b,B)&&(p++,e[b]++,e[B]++))}for(let b of f)for(let y=0;y<t;y++)y!==b&&(!f.has(y)||y<b)&&n(b,y)&&(m++,c(b,y)&&(p++,e[b]++,e[y]++));return{pairs:m,touching:p}}function El(o){let e=[1/0,1/0,1/0],t=[-1/0,-1/0,-1/0];for(let s of o)for(let a=0;a<3;a++)e[a]=Math.min(e[a],s.positionLin[a]),t[a]=Math.max(t[a],s.positionLin[a]);let i=s=>{let a=s&1023;return a=(a|a<<16)&50331903,a=(a|a<<8)&50393103,a=(a|a<<4)&51130563,a=(a|a<<2)&153391689,a},r=o.map(s=>{let a=[0,1,2].map(n=>Math.min(1023,Math.floor((s.positionLin[n]-e[n])/Math.max(t[n]-e[n],1e-9)*1024)));return(i(a[0])|i(a[1])<<1|i(a[2])<<2)>>>0});return o.map((s,a)=>a).sort((s,a)=>r[s]-r[a]||s-a)}var fe=()=>GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_SRC|GPUBufferUsage.COPY_DST,$r=class{device;params=Pl();bodyCount=0;bodyCapacity;bodies=[];hulls;hullBuffer;get hullStorage(){return this.hullBuffer}hullCapacity=4096;hullTop=0;hullSlots=new Map;contactShaders;hullShaders=!1;hullFree=[];refToGpu;jointCount=0;jointCapacity=0;info=new Int32Array(0);pairCapacity=0;manifoldCapacity=0;contactCapacity=0;colorCap=12;fixedColors=null;primalLanes=[2**31,2**15,2**12];splitPasses=!1;shrinkVotes=0;colorRounds;get colorHistOffset(){return 3*this.bodyCapacity+65}bodyBuffer;ownsBodyBuffer;jointBuffer;infoBuffer;contactBuffers;manifoldBuffers;pairBuffer;tableBuffer;gridBuffer;staticBuffer=null;filterBuffer;get filterStorage(){return this.filterBuffer}counterBuffer;get contactStorage(){let e=1-this.parity;return{manifolds:this.manifoldBuffers[e],contacts:this.contactBuffers[e],counters:this.counterBuffer}}argsBuffer;adjBuffer=null;colorBuffer;paramsBuffer;refBuffer;stepCount=0;passBuffer=null;passEntries=0;parity=0;tableSize;hashSize=0;cellSize=1;maxSmallRadius=0;largeCount=0;noCollideCount=0;radiiDirty=!0;noCollideDirty=!0;large=[];entries=[];pendingEntries=[];releasedSlots=new Set;freeSlots=[];layouts;pipes={};groups;passGroup=null;gridScan;colorHistScan;colorGroups;adjScan=null;timing;timingCallback=null;timingBusy=!1;destroyed=!1;constructor(e,t,i={}){this.device=e;let{dt:r,gravity:s,iterations:a,alpha:n,betaLin:l,betaAng:c,gamma:f}=t;if(Object.assign(this.params,{dt:r,gravity:s,iterations:a,alpha:n,betaLin:l,betaAng:c,gamma:f,up:kl}),this.bodyCount=t.bodies.length,this.colorRounds=i.colorRounds??16,this.ownsBodyBuffer=!i.bodyBuffer,this.bodyCapacity=i.bodyBuffer?Math.floor(i.bodyBuffer.size/(Ce*4)):Math.max(i.bodyCapacity??this.bodyCount+1024,this.bodyCount,1),this.bodyCapacity<this.bodyCount)throw new Error("body buffer too small");this.bodyBuffer=i.bodyBuffer??e.createBuffer({label:"bodies 3d",size:xl(this.bodyCapacity),usage:fe()}),this.filterBuffer=e.createBuffer({label:"collision filters",size:Math.max(this.bodyCapacity,1)*8,usage:fe()}),e.queue.writeBuffer(this.filterBuffer,0,new Uint32Array(Math.max(this.bodyCapacity,1)*2).fill(4294967295));let u=this.bodyCapacity;this.tableSize=Ha(2*u),this.gridBuffer=e.createBuffer({label:"grid 3d",size:(2*this.tableSize+1+4*u)*4,usage:fe()}),this.counterBuffer=e.createBuffer({label:"counters",size:64,usage:fe()}),this.argsBuffer=e.createBuffer({label:"indirect args",size:816,usage:fe()|GPUBufferUsage.INDIRECT}),this.colorGroups=Math.ceil(u/256),this.colorBuffer=e.createBuffer({label:"colours",size:(3*u+65+64*this.colorGroups+1)*4,usage:fe()}),this.paramsBuffer=e.createBuffer({label:"params 3d",size:po*4,usage:GPUBufferUsage.UNIFORM|GPUBufferUsage.COPY_DST}),this.refBuffer=e.createBuffer({label:"reference poses",size:u*32,usage:fe()}),this.hulls=(i.hulls??!0)&&e.limits.maxStorageBuffersPerShaderStage>=9,this.hullBuffer=e.createBuffer({label:"hulls",size:this.hullCapacity*16,usage:fe()}),e.queue.writeBuffer(this.colorBuffer,0,new Uint32Array(u).fill(255));let d=2*ue.length;this.timing=e.features.has("timestamp-query")?{querySet:e.createQuerySet({type:"timestamp",count:d}),resolve:e.createBuffer({size:d*8,usage:GPUBufferUsage.QUERY_RESOLVE|GPUBufferUsage.COPY_SRC}),read:e.createBuffer({size:d*8,usage:GPUBufferUsage.MAP_READ|GPUBufferUsage.COPY_DST})}:null,this.layouts=this.createLayouts(),this.createPipelines(i.shaders??{}),this.gridScan=new De(e,this.gridBuffer,0,this.tableSize+1),this.colorHistScan=new De(e,this.colorBuffer,this.colorHistOffset,64*this.colorGroups+1);let h=i.spatialSort===!1?t.bodies.map((v,B)=>B):El(t.bodies);this.refToGpu=new Int32Array(h.length),h.forEach((v,B)=>this.refToGpu[v]=B);let m=new Map(t.bodies.map((v,B)=>[v,this.refToGpu[B]])),p=t.forces.filter(v=>v instanceof Ae||v instanceof ct);for(let v of t.forces){if(!(v instanceof Fr))continue;let B=m.get(v.bodyA),E=m.get(v.bodyB);this.pendingEntries.push([Math.max(B,E),Math.min(B,E),4294967295])}this.allocateJoints(Math.max(p.length+256,i.capacity?.joints??0));for(let v of p)this.writeJoint(this.jointCount++,v,m);let b=new Int32Array(t.bodies.length),{pairs:y,touching:A}=_l(t.bodies,b),w=new Map(t.bodies.map((v,B)=>[v,B]));for(let v of p)v.bodyA&&b[w.get(v.bodyA)]++,b[w.get(v.bodyB)]++;let g=0;t.bodies.forEach((v,B)=>{v.mass>0&&(g=Math.max(g,b[B]))}),this.colorCap=Math.min(64,Math.max(Bl,g+1+Jr,i.capacity?.colors??0));let x=i.capacity??{};this.allocateContacts(Math.max(8192,4*u,Al*A,x.contacts??0),Math.max(4096,4*u,2*y,x.pairs??0),Math.max(4096,u,wl*A,x.manifolds??0)),this.writeBodies(0,h.map(v=>t.bodies[v]))}gpuIndex(e){return e<this.refToGpu.length?this.refToGpu[e]:e}createLayouts(){let e=this.device,t=(a,n)=>e.createBindGroupLayout({label:a,entries:n.map((l,c)=>({binding:c,visibility:GPUShaderStage.COMPUTE,buffer:{type:l}}))}),i="read-only-storage",r="storage",s="uniform";return{broad:t("broadphase 3d",[s,i,r,r,r,i,i,i]),contacts:t("contacts 3d",[s,i,i,r,i,r,i,r,r,...this.hulls?[i]:[]]),topo:t("topology 3d",[s,i,i,i,i,r,r,r]),solve:t("solve 3d",[s,r,r,i,r,i,i,i,i]),pass:e.createBindGroupLayout({label:"pass",entries:[{binding:0,visibility:GPUShaderStage.COMPUTE,buffer:{type:"uniform",hasDynamicOffset:!0,minBindingSize:16}}]}),args:t("args 3d",[s,i,i,r]),refs:t("refs 3d",[s,r,r])}}createPipelines(e){let t=this.device,i=(s,a,n)=>{let l=t.createShaderModule({code:s}),c=t.createPipelineLayout({bindGroupLayouts:a});for(let f of n)this.pipes[f]=t.createComputePipeline({label:f,layout:c,compute:{module:l,entryPoint:f}})},r=this.layouts;i(jt,[r.broad],["beginFrame","gridCount","gridScatter","findPairs"]),i(Na,[r.refs],["updateRefs"]),i(e.contacts??Ua,[r.contacts],["hashInsert","narrowphase"]),this.contactShaders={make:s=>i(s,[r.contacts],["hashInsert","narrowphase"]),custom:!!e.contacts},i(ti(me,Ti),[r.topo],["degreeJoints","degreeContacts","fillJoints","fillContacts","sortAdjacency","colorCompact","colorMark","colorRoundAB","colorRoundBA","colorCount","colorStarts","colorScatter"]),i(e.solve??ke,[r.solve,r.pass],["warmStartJoints","warmStartBodies","primal","dual","updateVelocities"]),i(Ks(me,Ga),[r.args],["argsPrev","argsPairs","argsContacts","argsColors"])}allocateJoints(e){let t=this.device,i=t.createBuffer({label:"joints 3d",size:Math.max(e,1)*te*4,usage:fe()}),r=t.createBuffer({label:"joint info",size:Math.max(e,1)*16,usage:fe()});if(this.jointBuffer){let a=t.createCommandEncoder();a.copyBufferToBuffer(this.jointBuffer,0,i,0,this.jointCapacity*te*4),a.copyBufferToBuffer(this.infoBuffer,0,r,0,this.jointCapacity*16),t.queue.submit([a.finish()]),this.jointBuffer.destroy(),this.infoBuffer.destroy()}let s=new Int32Array(e*4);s.set(this.info.subarray(0,Math.min(this.info.length,s.length))),this.info=s,this.jointBuffer=i,this.infoBuffer=r,this.jointCapacity=e,this.contactBuffers&&this.rebuildBindings()}allocateContacts(e,t,i){let r=this.device,s=r.limits.maxStorageBufferBindingSize,a=Math.min(Math.ceil(e),Math.floor(s/(Bt*4))),n=Math.min(Math.ceil(t),Math.floor(s/8)),l=Math.min(Math.ceil(i),n,Math.floor(s/(bt*4))),c={contacts:this.contactBuffers,manifolds:this.manifoldBuffers,contactCapacity:this.contactCapacity,manifoldCapacity:this.manifoldCapacity};for(let f of[this.pairBuffer,this.tableBuffer])f?.destroy();if(this.contactCapacity=a,this.pairCapacity=n,this.manifoldCapacity=l,this.hashSize=Ha(2*l),this.pairBuffer=r.createBuffer({label:"pairs",size:n*8,usage:fe()}),this.tableBuffer=r.createBuffer({label:"manifold hash",size:this.hashSize*4,usage:fe()}),this.contactBuffers=[0,1].map(f=>r.createBuffer({label:`contacts 3d ${f}`,size:a*Bt*4,usage:fe()})),this.manifoldBuffers=[0,1].map(f=>r.createBuffer({label:`manifolds 3d ${f}`,size:l*bt*4,usage:fe()})),c.contacts){let f=r.createCommandEncoder(),u=Math.min(c.contactCapacity,a)*Bt*4,d=Math.min(c.manifoldCapacity,l)*bt*4;c.contacts.forEach((h,m)=>f.copyBufferToBuffer(h,0,this.contactBuffers[m],0,u)),c.manifolds.forEach((h,m)=>f.copyBufferToBuffer(h,0,this.manifoldBuffers[m],0,d)),r.queue.submit([f.finish()]),[...c.contacts,...c.manifolds].forEach(h=>h.destroy())}this.rebuildBindings()}rebuildBindings(){let e=this.device,t=this.bodyCapacity;this.adjBuffer?.destroy(),this.adjBuffer=e.createBuffer({label:"adjacency",size:(2*t+1+2*(this.jointCapacity+this.manifoldCapacity))*4,usage:fe()}),this.adjScan?.destroy(),this.adjScan=new De(e,this.adjBuffer,0,this.bodyCount+1),this.staticBuffer??=e.createBuffer({label:"statics",size:16,usage:fe()});let i=(d,h)=>e.createBindGroup({layout:d,entries:h.map((m,p)=>({binding:p,resource:{buffer:m}}))}),r=this.paramsBuffer,[s,a]=this.contactBuffers,[n,l]=this.manifoldBuffers,c=this.adjBuffer,f=this.tableBuffer,u=this.counterBuffer;this.groups={broad:i(this.layouts.broad,[r,this.bodyBuffer,this.gridBuffer,this.pairBuffer,u,this.staticBuffer,this.jointBuffer,this.filterBuffer]),contacts:[i(this.layouts.contacts,[r,this.bodyBuffer,this.pairBuffer,s,a,n,l,f,u,...this.hulls?[this.hullBuffer]:[]]),i(this.layouts.contacts,[r,this.bodyBuffer,this.pairBuffer,a,s,l,n,f,u,...this.hulls?[this.hullBuffer]:[]])],topo:[n,l].map(d=>i(this.layouts.topo,[r,this.bodyBuffer,this.jointBuffer,this.infoBuffer,d,u,c,this.colorBuffer])),solve:[0,1].map(d=>i(this.layouts.solve,[r,this.bodyBuffer,this.jointBuffer,this.infoBuffer,[s,a][d],c,this.colorBuffer,u,[n,l][d]])),args:i(this.layouts.args,[r,this.counterBuffer,this.colorBuffer,this.argsBuffer]),refs:i(this.layouts.refs,[r,this.bodyBuffer,this.refBuffer])}}writeBodies(e,t){let i=new Float32Array(Math.max(t.length,1)*Ce);t.forEach((r,s)=>{let a=this.pack(r,i,s*Ce,this.bodies[e+s]?.hull);this.bodies[e+s]?.radius!==a.radius&&(this.radiiDirty=!0),this.bodies[e+s]=a}),this.device.queue.writeBuffer(this.bodyBuffer,e*Ce*4,i,0,t.length*Ce)}rewriteFixed(e,t,i,r,s){if(!e.length)return;let a=new Float32Array(Ce),n={positionLin:[0,0,0],positionAng:[0,0,0,1],initialLin:[0,0,0],initialAng:[0,0,0,1],inertialLin:[0,0,0],inertialAng:[0,0,0,1],velocityLin:[0,0,0],prevVelocityLin:[0,0,0],velocityAng:[0,0,0],size:[i[0],i[1],i[2]],mass:0,moment:[0,0,0],friction:r,radius:Math.hypot(i[0]/2,i[1]/2,i[2]/2)},l=this.pack(n,a,0);for(let c=0;c<e.length;){let f=c+1;for(;f<e.length&&e[f]===e[f-1]+1;)f++;let u=new Float32Array((f-c)*Ce);for(let d=c;d<f;d++){let h=(d-c)*Ce;u.set(a,h);for(let p=0;p<3;p++)u[h+Ei+p]=t[3*d+p];if(s)for(let p=0;p<4;p++)u[h+sr+p]=s[4*d+p];let m=this.bodies[e[d]];m?.radius!==l.radius&&(this.radiiDirty=!0),m?.hull&&this.releaseHull(m.hull),this.bodies[e[d]]={...l,size:[...l.size]}}this.device.queue.writeBuffer(this.bodyBuffer,e[c]*Ce*4,u),this.device.queue.writeBuffer(this.colorBuffer,e[c]*4,new Uint32Array(f-c).fill(255)),c=f}}pack(e,t,i,r){{t.set(e.positionLin,i+Ei),t[i+Ei+3]=e.friction,t.set(e.positionAng,i+sr),t.set(e.size,i+io),t[i+io+3]=e.mass,t.set(e.moment,i+ro),t[i+ro+3]=e.radius,t.set(e.initialLin,i+Ea),t.set(e.initialAng,i+za),t.set(e.inertialLin,i+Ma),t.set(e.inertialAng,i+Ia),t.set(e.velocityLin,i+so);let s=this.params.up;t[i+so+3]=e.prevVelocityLin[0]*s[0]+e.prevVelocityLin[1]*s[1]+e.prevVelocityLin[2]*s[2],t.set(e.velocityAng,i+oo);let a=tr(e),n=this.hulls?_a(e):void 0;r&&r!==n&&this.releaseHull(r);let l=n?r===n?this.hullSlots.get(n).offset:this.acquireHull(n):-1;return t[i+oo+3]=a?ao:l>=0?Hr+l:Pa(e)?no:ja,{radius:e.radius,dynamic:e.mass>0,sphere:a,size:[e.size[0],e.size[1],e.size[2]],hull:n}}}writeJoint(e,t,i){let r=new Float32Array(te),s=t.bodyA?i.get(t.bodyA):-1,a=i.get(t.bodyB);t instanceof Ae?(r.set(t.penaltyLin,Rt),r[Rt+3]=wt(t.broken?0:t.stiffnessLin),r.set(t.penaltyAng,or),r[or+3]=wt(t.broken?0:t.stiffnessAng),r.set(t.lambdaLin,zi),r[zi+3]=wt(t.fracture),r.set(t.lambdaAng,Mi),r[Mi+3]=t.torqueArm,r.set(t.C0Lin,Ra),r.set(t.C0Ang,Oa),r.set(t.rA,Ot),r.set(t.rB,Ii)):(r[Rt+3]=t.stiffness,r.set(t.rA,Ot),r[Ot+3]=t.rest,r.set(t.rB,Ii)),this.info.set([t instanceof Ae?nr:ji,s,a,0],e*4),this.device.queue.writeBuffer(this.jointBuffer,e*te*4,r),this.device.queue.writeBuffer(this.infoBuffer,e*16,this.info,e*4,4),this.noCollide(s,a,e)}noCollide(e,t,i){e<0||(this.pendingEntries.push([Math.max(e,t),Math.min(e,t),i]),this.noCollideDirty=!0)}uploadStatics(){if(this.radiiDirty){let r=this.bodyCount,s=new Float64Array(r);for(let c=0;c<r;c++)s[c]=this.bodies[c].radius;let a=bo(s),n=1/0;for(let c=0;c<r;c++)s[c]>a&&(n=Math.min(n,s[c]));let l=n===1/0?a*1.5:(a+n)/2;this.maxSmallRadius=l,this.cellSize=Math.max(2*a*(1+1e-4),.001),this.large=[];for(let c=0;c<r;c++)this.bodies[c].radius>l&&this.large.push(c);this.radiiDirty=!1}if(this.noCollideDirty){let r=(l,c)=>l[0]-c[0]||l[1]-c[1],s=this.releasedSlots.size?this.entries.filter(l=>!this.releasedSlots.has(l[2])):this.entries;this.releasedSlots.clear();let a=this.pendingEntries.sort(r);this.pendingEntries=[];let n=[];for(let l=0,c=0;l<s.length||c<a.length;)c>=a.length||l<s.length&&r(s[l],a[c])<=0?n.push(s[l++]):n.push(a[c++]);this.entries=n,this.noCollideDirty=!1}let{large:e,entries:t}=this;this.largeCount=e.length,this.noCollideCount=t.length;let i=new Uint32Array(Math.max(e.length+3*t.length,4));i.set(e,0),t.forEach((r,s)=>i.set(r,e.length+3*s)),this.staticBuffer.size<i.byteLength&&(this.staticBuffer.destroy(),this.staticBuffer=this.device.createBuffer({label:"statics",size:i.byteLength,usage:fe()}),this.rebuildBindings()),this.device.queue.writeBuffer(this.staticBuffer,0,i)}seedFrom(e){if(this.refToGpu.some((m,p)=>m!==p))throw new Error("seedFrom needs spatialSort: false");let t=new Map(e.bodies.map((m,p)=>[m,p]));this.writeBodies(0,e.bodies);let i=0;for(let m of e.forces)(m instanceof Ae||m instanceof ct)&&this.writeJoint(i++,m,t);if(i!==this.jointCount)throw new Error("seedFrom: joints differ from the reference");let r=e.forces.filter(m=>m instanceof ki),s=r.reduce((m,p)=>m+p.contacts.length,0);if(s>this.contactCapacity||r.length>this.manifoldCapacity)throw new Error("seedFrom: too many contacts");let a=new ArrayBuffer(Math.max(s,1)*Bt*4),n=new Uint32Array(a),l=new Float32Array(a),c=new ArrayBuffer(Math.max(r.length,1)*bt*4),f=new Uint32Array(c),u=new Float32Array(c),d=0;r.forEach((m,p)=>{f.set([t.get(m.bodyA),t.get(m.bodyB),d,m.contacts.length],p*bt),u.set([m.basis[0],m.basis[1],m.basis[2],m.friction],p*bt+Nr);for(let b of m.contacts){let y=d++*Bt;l.set(b.rA,y+Ri),n[y+Ri+3]=b.feature>>>0|(b.stick?ar:0),l.set([...b.rB,b.C0[0]],y+Ur),l.set([...b.penalty,b.C0[1]],y+qr),l.set([...b.lambda,b.C0[2]],y+Vr)}}),this.device.queue.writeBuffer(this.contactBuffers[1-this.parity],0,a),this.device.queue.writeBuffer(this.manifoldBuffers[1-this.parity],0,c);let h=new Uint32Array(16);h[1]=s,h[Oi]=r.length,this.device.queue.writeBuffer(this.counterBuffer,0,h)}sequentialColors(){let e=new Uint32Array(this.bodyCount).fill(255),t=0;for(let i=this.bodyCount-1;i>=0;i--)this.bodies[i].dynamic&&(e[i]=t++);if(t>64)throw new Error(`sequentialColors: ${t} dynamic bodies, at most ${64}`);return e}acquireHull(e){!this.hullShaders&&!this.contactShaders.custom&&(this.contactShaders.make(qa),this.hullShaders=!0);let t=this.hullSlots.get(e);if(t)return t.refs++,t.offset;let i=2+e.vertices.length/3+2*e.faces.length+Math.ceil(e.faces.reduce((a,n)=>a+n.verts.length,0)/4)+e.edges.length,r=-1,s=this.hullFree.findIndex(a=>a.size>=i);if(s>=0){let a=this.hullFree[s];r=a.offset,a.size===i?this.hullFree.splice(s,1):Object.assign(a,{offset:a.offset+i,size:a.size-i})}else r=this.hullTop,this.hullTop+=i,this.hullTop>this.hullCapacity&&this.growHulls(this.hullTop);if(r+Hr>=2**24)throw new Error("hull buffer beyond 2^24 vec4s");return this.device.queue.writeBuffer(this.hullBuffer,r*16,Ll(e,r)),this.hullSlots.set(e,{offset:r,size:i,refs:1}),r}releaseHull(e){let t=this.hullSlots.get(e);if(!t||--t.refs>0)return;this.hullSlots.delete(e),this.hullFree.push({offset:t.offset,size:t.size}),this.hullFree.sort((r,s)=>r.offset-s.offset);let i=[];for(let r of this.hullFree){let s=i[i.length-1];s&&s.offset+s.size===r.offset?s.size+=r.size:i.push({...r})}this.hullFree=i}growHulls(e){let t=this.hullCapacity;for(;t<e;)t*=2;let i=this.device.createBuffer({label:"hulls",size:t*16,usage:fe()}),r=this.device.createCommandEncoder();r.copyBufferToBuffer(this.hullBuffer,0,i,0,this.hullCapacity*16),this.device.queue.submit([r.finish()]),this.hullBuffer.destroy(),this.hullBuffer=i,this.hullCapacity=t,this.contactBuffers&&this.rebuildBindings()}addBody(e){return this.addBodies([e])}addBodies(e){let t=Math.min(e.length,this.bodyCapacity-this.bodyCount);if(t<=0)return-1;let i=this.bodyCount;return this.bodyCount+=t,this.writeBodies(i,e.slice(0,t)),this.device.queue.writeBuffer(this.colorBuffer,i*4,new Uint32Array(t).fill(255)),this.adjScan.destroy(),this.adjScan=new De(this.device,this.adjBuffer,0,this.bodyCount+1),i}appendJoint(e,t,i,r,s,a){let n=this.jointCount;n>=this.jointCapacity&&this.allocateJoints(this.jointCapacity*2),this.jointCount++;let l=new Float32Array(te);l[Rt+3]=wt(s),l[or+3]=wt(a),l[zi+3]=3e38,l.set([i[0],i[1],i[2]],Ot),l.set([r[0],r[1],r[2]],Ii);let c=e>=0?this.bodies[e].size:[0,0,0],f=this.bodies[t].size;return l[Mi+3]=(c[0]+f[0])**2+(c[1]+f[1])**2+(c[2]+f[2])**2,this.info.set([nr,e,t,0],n*4),this.device.queue.writeBuffer(this.jointBuffer,n*te*4,l),this.device.queue.writeBuffer(this.infoBuffer,n*16,this.info,n*4,4),this.noCollide(e,t,n),n}appendJoints(e,t,i=!1){return this.appendConstraints(e.length,(r,s)=>{let{a,b:n,rA:l,rB:c,angular:f}=e[r];s[Rt+3]=3e38,s[or+3]=f===void 0?3e38:wt(f),s[zi+3]=i?-wt(t):wt(t),s.set([l[0],l[1],l[2]],Ot),s.set([c[0],c[1],c[2]],Ii);let[u,d]=[this.bodies[a].size,this.bodies[n].size];return s[Mi+3]=(u[0]+d[0])**2+(u[1]+d[1])**2+(u[2]+d[2])**2,[nr,a,n]})}appendSprings(e){return this.appendConstraints(e.length,(t,i)=>{let{a:r,b:s,rA:a,rB:n,stiffness:l,rest:c}=e[t];return i[Rt+3]=wt(l),i.set([a[0],a[1],a[2],c],Ot),i.set([n[0],n[1],n[2]],Ii),[ji,r,s]})}appendConstraints(e,t){let i=[];if(this.freeSlots.length)for(this.freeSlots.sort((n,l)=>l-n);i.length<e&&this.freeSlots.length;)i.push(this.freeSlots.pop());let r=e-i.length,s=this.jointCapacity;for(;this.jointCount+r>s;)s*=2;s>this.jointCapacity&&this.allocateJoints(s);for(let n=0;n<r;n++)i.push(this.jointCount++);let a=new Float32Array(e*te);for(let n=0;n<e;n++){let[l,c,f]=t(n,a.subarray(n*te,(n+1)*te));this.info.set([l,c,f,0],i[n]*4),this.releasedSlots.delete(i[n]),this.noCollide(c,f,i[n])}for(let n=0;n<e;){let l=n+1;for(;l<e&&i[l]===i[l-1]+1;)l++;this.device.queue.writeBuffer(this.jointBuffer,i[n]*te*4,a,n*te,(l-n)*te),this.device.queue.writeBuffer(this.infoBuffer,i[n]*16,this.info,i[n]*4,(l-n)*4),n=l}return i}releaseJoints(e){let t=[...new Set(Array.from(e))].filter(r=>r<this.jointCount&&this.info[r*4]!==0).sort((r,s)=>r-s);if(!t.length)return;for(let r of t)this.info.set([0,-1,-1,0],r*4),this.releasedSlots.add(r),this.freeSlots.push(r);let i=new Float32Array(0);for(let r=0;r<t.length;){let s=r+1;for(;s<t.length&&t[s]===t[s-1]+1;)s++;i.length<(s-r)*te&&(i=new Float32Array((s-r)*te)),this.device.queue.writeBuffer(this.jointBuffer,t[r]*te*4,i,0,(s-r)*te),this.device.queue.writeBuffer(this.infoBuffer,t[r]*16,this.info,t[r]*4,(s-r)*4),r=s}this.noCollideDirty=!0}rewriteBodies(e,t){for(let i=0;i<e.length;){let r=i+1;for(;r<e.length&&e[r]===e[r-1]+1;)r++;this.writeBodies(e[i],t.slice(i,r)),this.device.queue.writeBuffer(this.colorBuffer,e[i]*4,new Uint32Array(r-i).fill(255)),i=r}}setFilters(e,t,i){for(let r=0;r<e.length;){let s=r+1;for(;s<e.length&&e[s]===e[s-1]+1;)s++;let a=new Uint32Array(2*(s-r));for(let n=r;n<s;n++)a.set([t[n]>>>0,i[n]>>>0],2*(n-r));this.device.queue.writeBuffer(this.filterBuffer,e[r]*8,a),r=s}}setWorldAnchor(e,t){this.device.queue.writeBuffer(this.jointBuffer,(e*te+Ot)*4,new Float32Array([t[0],t[1],t[2]]))}disableConstraint(e){this.device.queue.writeBuffer(this.jointBuffer,(e*te+Rt)*4,new Float32Array(8)),this.device.queue.writeBuffer(this.jointBuffer,(e*te+zi)*4,new Float32Array(3)),this.device.queue.writeBuffer(this.jointBuffer,(e*te+Mi)*4,new Float32Array(3))}profileNextStep(e){this.timing&&!this.timingBusy&&(this.timingCallback=e)}writeParams(){let e=this.params,t=this.bodyCapacity,i=new ArrayBuffer(po*4),r=new Float32Array(i),s=new Uint32Array(i);r[0]=e.dt,r[1]=e.gravity,r[2]=e.betaLin,r[3]=e.betaAng,r[4]=e.gamma,r[5]=e.alpha,s[6]=(e.matchNearest?lo:0)|(e.faceBias?co:0)|(e.reuseContacts?uo:0)|(e.startAtRest?fo:0)|(e.massPenalty?ho:0),s[7]=this.bodyCount,s[8]=this.jointCount,s[9]=this.colorCap,r[10]=this.cellSize,s[11]=this.tableSize-1,r[12]=this.maxSmallRadius,s[13]=this.largeCount,s[14]=this.noCollideCount,s[15]=this.pairCapacity,s[16]=this.contactCapacity,s[17]=this.hashSize-1,s[18]=t+1,s[19]=2*t+1,s[20]=this.tableSize+1,s[21]=2*this.tableSize+1,s[22]=2*this.tableSize+1+t,s[23]=t,s[24]=this.colorHistOffset,s[25]=2*t,s[26]=this.colorGroups,s[27]=2*t+65,s[28]=this.colorRounds,s[29]=this.manifoldCapacity,s[30]=this.stepCount;let a=n=>Math.min(31,Math.max(0,Math.round(Math.log2(n))));s[31]=a(this.primalLanes[0])|a(this.primalLanes[1])<<8|a(this.primalLanes[2])<<16,r.set([e.windSpeed*Math.cos(e.windAngle),e.windSpeed*Math.sin(e.windAngle),0,e.windPressure,e.windGust],32),r.set([e.up[0],e.up[1],e.up[2],0],40),this.device.queue.writeBuffer(this.paramsBuffer,0,i)}writePassConstants(e,t){let i=this.colorCap+1,r=Math.max(e*i,1);(r>this.passEntries||!this.passGroup)&&(this.passBuffer?.destroy(),this.passBuffer=this.device.createBuffer({label:"pass constants",size:r*256,usage:GPUBufferUsage.UNIFORM|GPUBufferUsage.COPY_DST}),this.passEntries=r,this.passGroup=this.device.createBindGroup({layout:this.layouts.pass,entries:[{binding:0,resource:{buffer:this.passBuffer,size:16}}]}));let s=new ArrayBuffer(r*256),a=new Uint32Array(s),n=new Float32Array(s);for(let l=0;l<e;l++)for(let c=0;c<=this.colorCap;c++){let f=(l*i+c)*256/4;a[f]=c,n[f+1]=t}this.device.queue.writeBuffer(this.passBuffer,0,s)}step(){(this.radiiDirty||this.noCollideDirty)&&this.uploadStatics();let e=this.params;this.fixedColors&&(this.device.queue.writeBuffer(this.colorBuffer,0,this.fixedColors),this.colorCap=Math.max(1,...this.fixedColors.map(A=>A===255?0:A+1))),this.stepCount++,this.writeParams(),this.writePassConstants(e.iterations,e.alpha);let t=this.parity,i=this.bodyCapacity,r=this.bodyCount,s=this.jointCount,a=this.device.createCommandEncoder({label:"avbd3d step"});a.clearBuffer(this.gridBuffer,0,(2*this.tableSize+1)*4),a.clearBuffer(this.tableBuffer),a.clearBuffer(this.adjBuffer,0,(2*i+1)*4);let n=this.timingCallback!==null&&this.timing!==null,l,c=0,f=n||this.splitPasses,u=()=>{l&&!f||(l?.end(),l=a.beginComputePass({label:f?ue[c]:"avbd3d step",timestampWrites:n?{querySet:this.timing.querySet,beginningOfPassWriteIndex:2*c,endOfPassWriteIndex:2*c+1}:void 0}),c++)},d=this.groups,h=(A,w,g)=>{g<=0||(l.setPipeline(this.pipes[A]),l.setBindGroup(0,w),l.dispatchWorkgroups(g))},m=(A,w,g)=>{l.setPipeline(this.pipes[A]),l.setBindGroup(0,w),l.dispatchWorkgroupsIndirect(this.argsBuffer,g*4)};if(u(),h("beginFrame",d.broad,1),e.reuseContacts&&h("updateRefs",d.refs,He(r)),h("argsPrev",d.args,1),m("hashInsert",d.contacts[t],6),h("gridCount",d.broad,He(r)),this.gridScan.encode(l),h("gridScatter",d.broad,He(r)),h("findPairs",d.broad,He(r)),h("argsPairs",d.args,1),m("narrowphase",d.contacts[t],0),h("argsContacts",d.args,1),u(),h("degreeJoints",d.topo[t],He(s)),m("degreeContacts",d.topo[t],3),this.adjScan.encode(l),h("fillJoints",d.topo[t],He(s)),m("fillContacts",d.topo[t],3),h("sortAdjacency",d.topo[t],He(r)),u(),!this.fixedColors){h("colorCompact",d.topo[t],He(r)),h("colorMark",d.topo[t],He(r));for(let A=0;A<this.colorRounds;A++)h(A%2===0?"colorRoundAB":"colorRoundBA",d.topo[t],He(r))}h("colorCount",d.topo[t],this.colorGroups),this.colorHistScan.encode(l),h("colorStarts",d.topo[t],1),h("argsColors",d.args,1),h("colorScatter",d.topo[t],this.colorGroups),u();let p=this.colorCap+1,b=A=>l.setBindGroup(1,this.passGroup,[A*256]);l.setBindGroup(0,d.solve[t]),b(0),s>0&&(l.setPipeline(this.pipes.warmStartJoints),l.dispatchWorkgroups(He(s))),l.setPipeline(this.pipes.warmStartBodies),l.dispatchWorkgroups(He(r));for(let A=0;A<e.iterations;A++){l.setPipeline(this.pipes.primal);for(let w=0;w<this.colorCap;w++)b(A*p+w),l.dispatchWorkgroupsIndirect(this.argsBuffer,(12+3*w)*4);b(A*p+this.colorCap),l.setPipeline(this.pipes.dual),l.dispatchWorkgroupsIndirect(this.argsBuffer,36)}l.setPipeline(this.pipes.updateVelocities),l.dispatchWorkgroups(He(r)),l.end();let y=2*ue.length;if(n){let{querySet:A,resolve:w,read:g}=this.timing;a.resolveQuerySet(A,0,y,w,0),a.copyBufferToBuffer(w,0,g,0,y*8)}if(this.device.queue.submit([a.finish()]),this.parity=1-t,n){let A=this.timingCallback;this.timingCallback=null,this.timingBusy=!0;let w=this.timing.read;w.mapAsync(GPUMapMode.READ).then(()=>{let g=new BigUint64Array(w.getMappedRange()).slice();if(w.unmap(),this.timingBusy=!1,this.destroyed)return this.releaseTiming();let x=(B,E)=>Number(g[E]-g[B])/1e6,v={total:x(0,y-1)};ue.forEach((B,E)=>v[B]=x(2*E,2*E+1)),A(v)},()=>{this.timingBusy=!1,this.destroyed&&this.releaseTiming()})}}async readBodies(){return new Float32Array(await this.read(this.bodyBuffer,this.bodyCount*Ce*4))}async readJoints(){return new Float32Array(await this.read(this.jointBuffer,this.jointCount*te*4))}async readCounters(){let e=new Uint32Array(await this.read(this.counterBuffer,64));return{pairs:e[0],contacts:e[1],manifolds:e[Oi],overflow:e[3],clashes:e[4],colors:e[5]}}async readContactList(){let e=await this.readCounters(),t=Math.min(e.manifolds,this.manifoldCapacity),i=Math.min(e.contacts,this.contactCapacity),r=1-this.parity,[s,a]=await Promise.all([this.read(this.manifoldBuffers[r],t*bt*4),this.read(this.contactBuffers[r],i*Bt*4)]),n=new Uint32Array(s),l=new Float32Array(s),c=new Uint32Array(a),f=new Float32Array(a),u=[];for(let d=0;d<t;d++){let h=d*bt,m=[...l.subarray(h+Nr,h+Nr+3)];for(let p=n[h+2];p<n[h+2]+(n[h+3]&15);p++){let b=p*Bt,y=c[b+Ri+3];u.push({a:n[h],b:n[h+1],feature:(y&~ar)>>>0,stick:(y&ar)!==0,rA:[...f.subarray(b+Ri,b+Ri+3)],rB:[...f.subarray(b+Ur,b+Ur+3)],pen:[...f.subarray(b+qr,b+qr+3)],lam:[...f.subarray(b+Vr,b+Vr+3)],normal:m})}}return u}async readPairs(){let{pairs:e}=await this.readCounters();return new Uint32Array(await this.read(this.pairBuffer,Math.min(e,this.pairCapacity)*8))}jointInfo(){return this.info.subarray(0,this.jointCount*4)}adapt(e){if(this.fixedColors)return;let t=e.colors;e.clashes>0&&(this.colorRounds=Math.min(32,this.colorRounds*2)),e.clashes>0||this.colorCap-t<2?(this.colorCap=Math.min(64,Math.max(t+Jr+2,this.colorCap+4)),this.shrinkVotes=0):t+Jr+2<this.colorCap||this.colorRounds>4?++this.shrinkVotes>=3&&(this.colorCap=Math.min(64,t+Jr),this.colorRounds=Math.max(4,this.colorRounds-4),this.shrinkVotes=0):this.shrinkVotes=0;let i=(n,l,c)=>(e.overflow&c)!==0||n>Sl*l?Math.max(Cl*n,1.25*l):l,r=i(e.contacts,this.contactCapacity,2),s=i(e.pairs,this.pairCapacity,1),a=i(e.manifolds,this.manifoldCapacity,4);this.capacityCanGrow(r,s,a)&&this.allocateContacts(r,s,a)}capacityCanGrow(e,t,i){let r=this.device.limits.maxStorageBufferBindingSize;return Math.min(e,r/(Bt*4))>this.contactCapacity||Math.min(t,r/8)>this.pairCapacity||Math.min(i,t,r/(bt*4))>this.manifoldCapacity}async read(e,t){if(t===0)return new ArrayBuffer(0);let i=this.device.createBuffer({size:t,usage:GPUBufferUsage.MAP_READ|GPUBufferUsage.COPY_DST}),r=this.device.createCommandEncoder();r.copyBufferToBuffer(e,0,i,0,t),this.device.queue.submit([r.finish()]),await i.mapAsync(GPUMapMode.READ);let s=i.getMappedRange().slice(0);return i.unmap(),i.destroy(),s}releaseTiming(){this.timing?.resolve.destroy(),this.timing?.read.destroy(),this.timing?.querySet.destroy()}destroy(){this.ownsBodyBuffer&&this.bodyBuffer.destroy();let e=[this.jointBuffer,this.infoBuffer,...this.contactBuffers,...this.manifoldBuffers,this.pairBuffer,this.tableBuffer,this.gridBuffer,this.staticBuffer,this.counterBuffer,this.argsBuffer,this.adjBuffer,this.colorBuffer,this.paramsBuffer,this.refBuffer,this.hullBuffer,this.passBuffer,this.filterBuffer];for(let t of e)t?.destroy();this.destroyed=!0,this.timingBusy||this.releaseTiming(),this.gridScan.destroy(),this.colorHistScan.destroy(),this.adjScan?.destroy()}};var Wa=` e.C = vec3f(
|
|
2421
|
+
`;function Qr(o,e){let t=0,i=o.length-1;for(;t<i;){let r=o[e],s=t,a=i;do{for(;o[s]<r;)s++;for(;r<o[a];)a--;if(s<=a){let n=o[s];o[s]=o[a],o[a]=n,s++,a--}}while(s<=a);a<e&&(t=s),e<s&&(i=a)}return o[e]}function Bo(o){let e=o.length,t=e>0?Qr(o,e>>1):1,i=0;for(let r=0;r<e;r++)o[r]<=2*t&&(i=Math.max(i,o[r]));return e>64&&(i=Math.max(i,Qr(o,e-64-1))),i}var Bt=o=>o===1/0?3e38:o===-1/0?-3e38:o,Je=o=>Math.ceil(o/64),rn=o=>2**Math.ceil(Math.log2(Math.max(o,2))),Tl=o=>Math.max(o,1)*ke*4,Dl=8,Kr=3,Gl=8,Fl=1.6,Ul=.8,Nl=2,ql=[0,0,1],Vl=()=>({...ro(),matchNearest:!0,faceBias:!0,reuseContacts:!0,startAtRest:!0,massPenalty:!0,windSpeed:0,windAngle:0,windGust:.4,windPressure:.72,up:[0,1,0]});function Wl(o,e){let t=o.vertices.length/3,i=o.faces.length,r=o.faces.reduce((m,h)=>m+h.verts.length,0),s=Math.ceil(r/4),a=o.edges.length,n=new Float32Array((2+t+2*i+s+a)*4),l=new Uint32Array(n.buffer),c=e+2,f=c+t,u=f+2*i,d=u+s;l.set([c,t,f,i,d,a,u,0],0);for(let m=0;m<t;m++)n.set(o.vertices.subarray(m*3,m*3+3),(2+m)*4);let p=0;return o.faces.forEach((m,h)=>{let b=(2+t+2*h)*4;n.set(m.normal,b),n[b+3]=m.d,l[b+4]=p,l[b+5]=m.verts.length;for(let y of m.verts)l[(2+t+2*i)*4+p++]=y}),o.edges.forEach((m,h)=>l.set(m,(2+t+2*i+s+h)*4)),n}var Co=.001;function Hl(o,e){let t=o.length,i=o.map(b=>[0,1,2].map(y=>{let v=[0,0,0];return v[y]=1,ue(L(),b.positionAng,v)})),r=o.map((b,y)=>{if(ar(b))return[b.radius,b.radius,b.radius];let v=[0,0,0];for(let B=0;B<3;B++)for(let g=0;g<3;g++)v[g]+=b.size[B]*.5*Math.abs(i[y][B][g]);return v}),s=Bo(Float64Array.from(o,b=>b.radius)),a=Math.max(2*s,.001),n=(b,y)=>{let v=o[b],B=o[y];if(v.mass<=0&&B.mass<=0)return!1;let g=[0,1,2].map(x=>v.positionLin[x]-B.positionLin[x]),A=v.radius+B.radius;return g[0]*g[0]+g[1]*g[1]+g[2]*g[2]>A*A?!1:g.every((x,w)=>Math.abs(x)<=r[b][w]+r[y][w])},l=(b,y)=>b[0]*y[0]+b[1]*y[1]+b[2]*y[2],c=(b,y)=>{let v=o[b],B=o[y],g=[0,1,2].map(k=>B.positionLin[k]-v.positionLin[k]),[A,x]=[ar(v),ar(B)];if(A&&x)return Math.hypot(g[0],g[1],g[2])<=v.radius+B.radius+Co;if(A||x){let[k,z,M]=A?[y,v.radius,-1]:[b,B.radius,1],P=0;for(let _=0;_<3;_++){let C=Math.abs(M*l(g,i[k][_]))-o[k].size[_]*.5;C>0&&(P+=C*C)}return P<=(z+Co)**2}let w=(k,z)=>o[k].size[0]*.5*Math.abs(l(i[k][0],z))+o[k].size[1]*.5*Math.abs(l(i[k][1],z))+o[k].size[2]*.5*Math.abs(l(i[k][2],z)),E=k=>{let z=Math.hypot(k[0],k[1],k[2]);return z<1e-6?!1:Math.abs(l(g,k))-w(b,k)-w(y,k)>Co*z};for(let k=0;k<3;k++)if(E(i[b][k])||E(i[y][k]))return!1;for(let k of i[b])for(let z of i[y])if(E([k[1]*z[2]-k[2]*z[1],k[2]*z[0]-k[0]*z[2],k[0]*z[1]-k[1]*z[0]]))return!1;return!0},f=new Set,u=new Map,d=(b,y,v)=>(b*73856093^y*19349663^v*83492791)>>>0,p=b=>[0,1,2].map(y=>Math.floor(o[b].positionLin[y]/a));for(let b=0;b<t;b++){if(o[b].radius>s){f.add(b);continue}let[y,v,B]=p(b),g=d(y,v,B),A=u.get(g);A?A.push(b):u.set(g,[b])}let m=0,h=0;for(let b=0;b<t;b++){if(f.has(b))continue;let[y,v,B]=p(b);for(let g=-1;g<=1;g++)for(let A=-1;A<=1;A++)for(let x=-1;x<=1;x++)for(let w of u.get(d(y+x,v+A,B+g))??[])w<b&&n(b,w)&&(m++,c(b,w)&&(h++,e[b]++,e[w]++))}for(let b of f)for(let y=0;y<t;y++)y!==b&&(!f.has(y)||y<b)&&n(b,y)&&(m++,c(b,y)&&(h++,e[b]++,e[y]++));return{pairs:m,touching:h}}function Jl(o){let e=[1/0,1/0,1/0],t=[-1/0,-1/0,-1/0];for(let s of o)for(let a=0;a<3;a++)e[a]=Math.min(e[a],s.positionLin[a]),t[a]=Math.max(t[a],s.positionLin[a]);let i=s=>{let a=s&1023;return a=(a|a<<16)&50331903,a=(a|a<<8)&50393103,a=(a|a<<4)&51130563,a=(a|a<<2)&153391689,a},r=o.map(s=>{let a=[0,1,2].map(n=>Math.min(1023,Math.floor((s.positionLin[n]-e[n])/Math.max(t[n]-e[n],1e-9)*1024)));return(i(a[0])|i(a[1])<<1|i(a[2])<<2)>>>0});return o.map((s,a)=>a).sort((s,a)=>r[s]-r[a]||s-a)}var de=()=>GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_SRC|GPUBufferUsage.COPY_DST,Zr=class{device;params=Vl();bodyCount=0;bodyCapacity;bodies=[];hulls;hullBuffer;get hullStorage(){return this.hullBuffer}hullCapacity=4096;hullTop=0;hullSlots=new Map;contactShaders;hullShaders=!1;hullFree=[];refToGpu;jointCount=0;jointCapacity=0;info=new Int32Array(0);pairCapacity=0;manifoldCapacity=0;contactCapacity=0;colorCap=12;fixedColors=null;primalLanes=[2**31,2**15,2**12];splitPasses=!1;shrinkVotes=0;colorRounds;get colorHistOffset(){return 3*this.bodyCapacity+65}bodyBuffer;ownsBodyBuffer;jointBuffer;infoBuffer;contactBuffers;manifoldBuffers;pairBuffer;tableBuffer;gridBuffer;staticBuffer=null;filterBuffer;get filterStorage(){return this.filterBuffer}counterBuffer;get contactStorage(){let e=1-this.parity;return{manifolds:this.manifoldBuffers[e],contacts:this.contactBuffers[e],counters:this.counterBuffer}}argsBuffer;adjBuffer=null;colorBuffer;paramsBuffer;refBuffer;stepCount=0;passBuffer=null;passEntries=0;parity=0;tableSize;hashSize=0;cellSize=1;maxSmallRadius=0;largeCount=0;noCollideCount=0;radiiDirty=!0;noCollideDirty=!0;large=[];entries=[];pendingEntries=[];releasedSlots=new Set;freeSlots=[];layouts;pipes={};groups;passGroup=null;gridScan;colorHistScan;colorGroups;adjScan=null;timing;timingCallback=null;timingBusy=!1;destroyed=!1;constructor(e,t,i={}){this.device=e;let{dt:r,gravity:s,iterations:a,alpha:n,betaLin:l,betaAng:c,gamma:f}=t;if(Object.assign(this.params,{dt:r,gravity:s,iterations:a,alpha:n,betaLin:l,betaAng:c,gamma:f,up:ql}),this.bodyCount=t.bodies.length,this.colorRounds=i.colorRounds??16,this.ownsBodyBuffer=!i.bodyBuffer,this.bodyCapacity=i.bodyBuffer?Math.floor(i.bodyBuffer.size/(ke*4)):Math.max(i.bodyCapacity??this.bodyCount+1024,this.bodyCount,1),this.bodyCapacity<this.bodyCount)throw new Error("body buffer too small");this.bodyBuffer=i.bodyBuffer??e.createBuffer({label:"bodies 3d",size:Tl(this.bodyCapacity),usage:de()}),this.filterBuffer=e.createBuffer({label:"collision filters",size:Math.max(this.bodyCapacity,1)*8,usage:de()}),e.queue.writeBuffer(this.filterBuffer,0,new Uint32Array(Math.max(this.bodyCapacity,1)*2).fill(4294967295));let u=this.bodyCapacity;this.tableSize=rn(2*u),this.gridBuffer=e.createBuffer({label:"grid 3d",size:(2*this.tableSize+1+4*u)*4,usage:de()}),this.counterBuffer=e.createBuffer({label:"counters",size:64,usage:de()}),this.argsBuffer=e.createBuffer({label:"indirect args",size:816,usage:de()|GPUBufferUsage.INDIRECT}),this.colorGroups=Math.ceil(u/256),this.colorBuffer=e.createBuffer({label:"colours",size:(3*u+65+64*this.colorGroups+1)*4,usage:de()}),this.paramsBuffer=e.createBuffer({label:"params 3d",size:Ao*4,usage:GPUBufferUsage.UNIFORM|GPUBufferUsage.COPY_DST}),this.refBuffer=e.createBuffer({label:"reference poses",size:u*32,usage:de()}),this.hulls=(i.hulls??!0)&&e.limits.maxStorageBuffersPerShaderStage>=9,this.hullBuffer=e.createBuffer({label:"hulls",size:this.hullCapacity*16,usage:de()}),e.queue.writeBuffer(this.colorBuffer,0,new Uint32Array(u).fill(255));let d=2*fe.length;this.timing=e.features.has("timestamp-query")?{querySet:e.createQuerySet({type:"timestamp",count:d}),resolve:e.createBuffer({size:d*8,usage:GPUBufferUsage.QUERY_RESOLVE|GPUBufferUsage.COPY_SRC}),read:e.createBuffer({size:d*8,usage:GPUBufferUsage.MAP_READ|GPUBufferUsage.COPY_DST})}:null,this.layouts=this.createLayouts(),this.createPipelines(i.shaders??{}),this.gridScan=new Fe(e,this.gridBuffer,0,this.tableSize+1),this.colorHistScan=new Fe(e,this.colorBuffer,this.colorHistOffset,64*this.colorGroups+1);let p=i.spatialSort===!1?t.bodies.map((x,w)=>w):Jl(t.bodies);this.refToGpu=new Int32Array(p.length),p.forEach((x,w)=>this.refToGpu[x]=w);let m=new Map(t.bodies.map((x,w)=>[x,this.refToGpu[w]])),h=t.forces.filter(x=>x instanceof we||x instanceof ct);for(let x of t.forces){if(!(x instanceof Vr))continue;let w=m.get(x.bodyA),E=m.get(x.bodyB);this.pendingEntries.push([Math.max(w,E),Math.min(w,E),4294967295])}this.allocateJoints(Math.max(h.length+256,i.capacity?.joints??0));for(let x of h)this.writeJoint(this.jointCount++,x,m);let b=new Int32Array(t.bodies.length),{pairs:y,touching:v}=Hl(t.bodies,b),B=new Map(t.bodies.map((x,w)=>[x,w]));for(let x of h)x.bodyA&&b[B.get(x.bodyA)]++,b[B.get(x.bodyB)]++;let g=0;t.bodies.forEach((x,w)=>{x.mass>0&&(g=Math.max(g,b[w]))}),this.colorCap=Math.min(64,Math.max(Gl,g+1+Kr,i.capacity?.colors??0));let A=i.capacity??{};this.allocateContacts(Math.max(8192,4*u,Dl*v,A.contacts??0),Math.max(4096,4*u,2*y,A.pairs??0),Math.max(4096,u,Fl*v,A.manifolds??0)),this.writeBodies(0,p.map(x=>t.bodies[x]))}gpuIndex(e){return e<this.refToGpu.length?this.refToGpu[e]:e}createLayouts(){let e=this.device,t=(a,n)=>e.createBindGroupLayout({label:a,entries:n.map((l,c)=>({binding:c,visibility:GPUShaderStage.COMPUTE,buffer:{type:l}}))}),i="read-only-storage",r="storage",s="uniform";return{broad:t("broadphase 3d",[s,i,r,r,r,i,i,i]),contacts:t("contacts 3d",[s,i,i,r,i,r,i,r,r,...this.hulls?[i]:[]]),topo:t("topology 3d",[s,i,i,i,i,r,r,r]),solve:t("solve 3d",[s,r,r,i,r,i,i,i,i]),pass:e.createBindGroupLayout({label:"pass",entries:[{binding:0,visibility:GPUShaderStage.COMPUTE,buffer:{type:"uniform",hasDynamicOffset:!0,minBindingSize:16}}]}),args:t("args 3d",[s,i,i,r]),refs:t("refs 3d",[s,r,r])}}createPipelines(e){let t=this.device,i=(s,a,n)=>{let l=t.createShaderModule({code:s}),c=t.createPipelineLayout({bindGroupLayouts:a});for(let f of n)this.pipes[f]=t.createComputePipeline({label:f,layout:c,compute:{module:l,entryPoint:f}})},r=this.layouts;i(Ft,[r.broad],["beginFrame","gridCount","gridScatter","findPairs"]),i(Yr,[r.refs],["updateRefs"]),i(e.contacts??Za,[r.contacts],["hashInsert","narrowphase"]),this.contactShaders={make:s=>i(s,[r.contacts],["hashInsert","narrowphase"]),custom:!!e.contacts},i(li(ae,Ni),[r.topo],["degreeJoints","degreeContacts","fillJoints","fillContacts","sortAdjacency","colorCompact","colorMark","colorRoundAB","colorRoundBA","colorCount","colorStarts","colorScatter"]),i(e.solve??be,[r.solve,r.pass],["warmStartJoints","warmStartBodies","primal","dual","updateVelocities"]),i(oo(ae,Qa),[r.args],["argsPrev","argsPairs","argsContacts","argsColors"])}allocateJoints(e){let t=this.device,i=t.createBuffer({label:"joints 3d",size:Math.max(e,1)*te*4,usage:de()}),r=t.createBuffer({label:"joint info",size:Math.max(e,1)*16,usage:de()});if(this.jointBuffer){let a=t.createCommandEncoder();a.copyBufferToBuffer(this.jointBuffer,0,i,0,this.jointCapacity*te*4),a.copyBufferToBuffer(this.infoBuffer,0,r,0,this.jointCapacity*16),t.queue.submit([a.finish()]),this.jointBuffer.destroy(),this.infoBuffer.destroy()}let s=new Int32Array(e*4);s.set(this.info.subarray(0,Math.min(this.info.length,s.length))),this.info=s,this.jointBuffer=i,this.infoBuffer=r,this.jointCapacity=e,this.contactBuffers&&this.rebuildBindings()}allocateContacts(e,t,i){let r=this.device,s=r.limits.maxStorageBufferBindingSize,a=Math.min(Math.ceil(e),Math.floor(s/(wt*4))),n=Math.min(Math.ceil(t),Math.floor(s/8)),l=Math.min(Math.ceil(i),n,Math.floor(s/(bt*4))),c={contacts:this.contactBuffers,manifolds:this.manifoldBuffers,contactCapacity:this.contactCapacity,manifoldCapacity:this.manifoldCapacity};for(let f of[this.pairBuffer,this.tableBuffer])f?.destroy();if(this.contactCapacity=a,this.pairCapacity=n,this.manifoldCapacity=l,this.hashSize=rn(2*l),this.pairBuffer=r.createBuffer({label:"pairs",size:n*8,usage:de()}),this.tableBuffer=r.createBuffer({label:"manifold hash",size:this.hashSize*4,usage:de()}),this.contactBuffers=[0,1].map(f=>r.createBuffer({label:`contacts 3d ${f}`,size:a*wt*4,usage:de()})),this.manifoldBuffers=[0,1].map(f=>r.createBuffer({label:`manifolds 3d ${f}`,size:l*bt*4,usage:de()})),c.contacts){let f=r.createCommandEncoder(),u=Math.min(c.contactCapacity,a)*wt*4,d=Math.min(c.manifoldCapacity,l)*bt*4;c.contacts.forEach((p,m)=>f.copyBufferToBuffer(p,0,this.contactBuffers[m],0,u)),c.manifolds.forEach((p,m)=>f.copyBufferToBuffer(p,0,this.manifoldBuffers[m],0,d)),r.queue.submit([f.finish()]),[...c.contacts,...c.manifolds].forEach(p=>p.destroy())}this.rebuildBindings()}rebuildBindings(){let e=this.device,t=this.bodyCapacity;this.adjBuffer?.destroy(),this.adjBuffer=e.createBuffer({label:"adjacency",size:(2*t+1+2*(this.jointCapacity+this.manifoldCapacity))*4,usage:de()}),this.adjScan?.destroy(),this.adjScan=new Fe(e,this.adjBuffer,0,this.bodyCount+1),this.staticBuffer??=e.createBuffer({label:"statics",size:16,usage:de()});let i=(d,p)=>e.createBindGroup({layout:d,entries:p.map((m,h)=>({binding:h,resource:{buffer:m}}))}),r=this.paramsBuffer,[s,a]=this.contactBuffers,[n,l]=this.manifoldBuffers,c=this.adjBuffer,f=this.tableBuffer,u=this.counterBuffer;this.groups={broad:i(this.layouts.broad,[r,this.bodyBuffer,this.gridBuffer,this.pairBuffer,u,this.staticBuffer,this.jointBuffer,this.filterBuffer]),contacts:[i(this.layouts.contacts,[r,this.bodyBuffer,this.pairBuffer,s,a,n,l,f,u,...this.hulls?[this.hullBuffer]:[]]),i(this.layouts.contacts,[r,this.bodyBuffer,this.pairBuffer,a,s,l,n,f,u,...this.hulls?[this.hullBuffer]:[]])],topo:[n,l].map(d=>i(this.layouts.topo,[r,this.bodyBuffer,this.jointBuffer,this.infoBuffer,d,u,c,this.colorBuffer])),solve:[0,1].map(d=>i(this.layouts.solve,[r,this.bodyBuffer,this.jointBuffer,this.infoBuffer,[s,a][d],c,this.colorBuffer,u,[n,l][d]])),args:i(this.layouts.args,[r,this.counterBuffer,this.colorBuffer,this.argsBuffer]),refs:i(this.layouts.refs,[r,this.bodyBuffer,this.refBuffer])}}writeBodies(e,t){let i=new Float32Array(Math.max(t.length,1)*ke);t.forEach((r,s)=>{let a=this.pack(r,i,s*ke,this.bodies[e+s]?.hull);this.bodies[e+s]?.radius!==a.radius&&(this.radiiDirty=!0),this.bodies[e+s]=a}),this.device.queue.writeBuffer(this.bodyBuffer,e*ke*4,i,0,t.length*ke)}rewriteFixed(e,t,i,r,s){if(!e.length)return;let a=new Float32Array(ke),n={positionLin:[0,0,0],positionAng:[0,0,0,1],initialLin:[0,0,0],initialAng:[0,0,0,1],inertialLin:[0,0,0],inertialAng:[0,0,0,1],velocityLin:[0,0,0],prevVelocityLin:[0,0,0],velocityAng:[0,0,0],size:[i[0],i[1],i[2]],mass:0,moment:[0,0,0],friction:r,radius:Math.hypot(i[0]/2,i[1]/2,i[2]/2)},l=this.pack(n,a,0);for(let c=0;c<e.length;){let f=c+1;for(;f<e.length&&e[f]===e[f-1]+1;)f++;let u=new Float32Array((f-c)*ke);for(let d=c;d<f;d++){let p=(d-c)*ke;u.set(a,p);for(let h=0;h<3;h++)u[p+Oi+h]=t[3*d+h];if(s)for(let h=0;h<4;h++)u[p+cr+h]=s[4*d+h];let m=this.bodies[e[d]];m?.radius!==l.radius&&(this.radiiDirty=!0),m?.hull&&this.releaseHull(m.hull),this.bodies[e[d]]={...l,size:[...l.size]}}this.device.queue.writeBuffer(this.bodyBuffer,e[c]*ke*4,u),this.device.queue.writeBuffer(this.colorBuffer,e[c]*4,new Uint32Array(f-c).fill(255)),c=f}}pack(e,t,i,r){{t.set(e.positionLin,i+Oi),t[i+Oi+3]=e.friction,t.set(e.positionAng,i+cr),t.set(e.size,i+co),t[i+co+3]=e.mass,t.set(e.moment,i+uo),t[i+uo+3]=e.radius,t.set(e.initialLin,i+Na),t.set(e.initialAng,i+qa),t.set(e.inertialLin,i+Va),t.set(e.inertialAng,i+Wa),t.set(e.velocityLin,i+fo);let s=this.params.up;t[i+fo+3]=e.prevVelocityLin[0]*s[0]+e.prevVelocityLin[1]*s[1]+e.prevVelocityLin[2]*s[2],t.set(e.velocityAng,i+ho);let a=ar(e),n=this.hulls?Dr(e):void 0;r&&r!==n&&this.releaseHull(r);let l=n?r===n?this.hullSlots.get(n).offset:this.acquireHull(n):-1;return t[i+ho+3]=a?po:l>=0?Xr+l:Fa(e)?mo:$a,{radius:e.radius,dynamic:e.mass>0,sphere:a,size:[e.size[0],e.size[1],e.size[2]],hull:n}}}writeJoint(e,t,i){let r=new Float32Array(te),s=t.bodyA?i.get(t.bodyA):-1,a=i.get(t.bodyB);t instanceof we?(r.set(t.penaltyLin,Dt),r[Dt+3]=Bt(t.broken?0:t.stiffnessLin),r.set(t.penaltyAng,ur),r[ur+3]=Bt(t.broken?0:t.stiffnessAng),r.set(t.lambdaLin,ji),r[ji+3]=Bt(t.fracture),r.set(t.lambdaAng,Ti),r[Ti+3]=t.torqueArm,r.set(t.C0Lin,Ha),r.set(t.C0Ang,Ja),r.set(t.rA,Gt),r.set(t.rB,Di)):(r[Dt+3]=t.stiffness,r.set(t.rA,Gt),r[Gt+3]=t.rest,r.set(t.rB,Di)),this.info.set([t instanceof we?dr:Ui,s,a,0],e*4),this.device.queue.writeBuffer(this.jointBuffer,e*te*4,r),this.device.queue.writeBuffer(this.infoBuffer,e*16,this.info,e*4,4),this.noCollide(s,a,e)}noCollide(e,t,i){e<0||(this.pendingEntries.push([Math.max(e,t),Math.min(e,t),i]),this.noCollideDirty=!0)}uploadStatics(){if(this.radiiDirty){let r=this.bodyCount,s=new Float64Array(r);for(let c=0;c<r;c++)s[c]=this.bodies[c].radius;let a=Bo(s),n=1/0;for(let c=0;c<r;c++)s[c]>a&&(n=Math.min(n,s[c]));let l=n===1/0?a*1.5:(a+n)/2;this.maxSmallRadius=l,this.cellSize=Math.max(2*a*(1+1e-4),.001),this.large=[];for(let c=0;c<r;c++)this.bodies[c].radius>l&&this.large.push(c);this.radiiDirty=!1}if(this.noCollideDirty){let r=(l,c)=>l[0]-c[0]||l[1]-c[1],s=this.releasedSlots.size?this.entries.filter(l=>!this.releasedSlots.has(l[2])):this.entries;this.releasedSlots.clear();let a=this.pendingEntries.sort(r);this.pendingEntries=[];let n=[];for(let l=0,c=0;l<s.length||c<a.length;)c>=a.length||l<s.length&&r(s[l],a[c])<=0?n.push(s[l++]):n.push(a[c++]);this.entries=n,this.noCollideDirty=!1}let{large:e,entries:t}=this;this.largeCount=e.length,this.noCollideCount=t.length;let i=new Uint32Array(Math.max(e.length+3*t.length,4));i.set(e,0),t.forEach((r,s)=>i.set(r,e.length+3*s)),this.staticBuffer.size<i.byteLength&&(this.staticBuffer.destroy(),this.staticBuffer=this.device.createBuffer({label:"statics",size:i.byteLength,usage:de()}),this.rebuildBindings()),this.device.queue.writeBuffer(this.staticBuffer,0,i)}seedFrom(e){if(this.refToGpu.some((m,h)=>m!==h))throw new Error("seedFrom needs spatialSort: false");let t=new Map(e.bodies.map((m,h)=>[m,h]));this.writeBodies(0,e.bodies);let i=0;for(let m of e.forces)(m instanceof we||m instanceof ct)&&this.writeJoint(i++,m,t);if(i!==this.jointCount)throw new Error("seedFrom: joints differ from the reference");let r=e.forces.filter(m=>m instanceof zi),s=r.reduce((m,h)=>m+h.contacts.length,0);if(s>this.contactCapacity||r.length>this.manifoldCapacity)throw new Error("seedFrom: too many contacts");let a=new ArrayBuffer(Math.max(s,1)*wt*4),n=new Uint32Array(a),l=new Float32Array(a),c=new ArrayBuffer(Math.max(r.length,1)*bt*4),f=new Uint32Array(c),u=new Float32Array(c),d=0;r.forEach((m,h)=>{f.set([t.get(m.bodyA),t.get(m.bodyB),d,m.contacts.length],h*bt),u.set([m.basis[0],m.basis[1],m.basis[2],m.friction],h*bt+Wr);for(let b of m.contacts){let y=d++*wt;l.set(b.rA,y+Gi),n[y+Gi+3]=b.feature>>>0|(b.stick?fr:0),l.set([...b.rB,b.C0[0]],y+Hr),l.set([...b.penalty,b.C0[1]],y+Jr),l.set([...b.lambda,b.C0[2]],y+$r)}}),this.device.queue.writeBuffer(this.contactBuffers[1-this.parity],0,a),this.device.queue.writeBuffer(this.manifoldBuffers[1-this.parity],0,c);let p=new Uint32Array(16);p[1]=s,p[Fi]=r.length,this.device.queue.writeBuffer(this.counterBuffer,0,p)}sequentialColors(){let e=new Uint32Array(this.bodyCount).fill(255),t=0;for(let i=this.bodyCount-1;i>=0;i--)this.bodies[i].dynamic&&(e[i]=t++);if(t>64)throw new Error(`sequentialColors: ${t} dynamic bodies, at most ${64}`);return e}acquireHull(e){!this.hullShaders&&!this.contactShaders.custom&&(this.contactShaders.make(en),this.hullShaders=!0);let t=this.hullSlots.get(e);if(t)return t.refs++,t.offset;let i=2+e.vertices.length/3+2*e.faces.length+Math.ceil(e.faces.reduce((a,n)=>a+n.verts.length,0)/4)+e.edges.length,r=-1,s=this.hullFree.findIndex(a=>a.size>=i);if(s>=0){let a=this.hullFree[s];r=a.offset,a.size===i?this.hullFree.splice(s,1):Object.assign(a,{offset:a.offset+i,size:a.size-i})}else r=this.hullTop,this.hullTop+=i,this.hullTop>this.hullCapacity&&this.growHulls(this.hullTop);if(r+Xr>=2**24)throw new Error("hull buffer beyond 2^24 vec4s");return this.device.queue.writeBuffer(this.hullBuffer,r*16,Wl(e,r)),this.hullSlots.set(e,{offset:r,size:i,refs:1}),r}releaseHull(e){let t=this.hullSlots.get(e);if(!t||--t.refs>0)return;this.hullSlots.delete(e),this.hullFree.push({offset:t.offset,size:t.size}),this.hullFree.sort((r,s)=>r.offset-s.offset);let i=[];for(let r of this.hullFree){let s=i[i.length-1];s&&s.offset+s.size===r.offset?s.size+=r.size:i.push({...r})}this.hullFree=i}growHulls(e){let t=this.hullCapacity;for(;t<e;)t*=2;let i=this.device.createBuffer({label:"hulls",size:t*16,usage:de()}),r=this.device.createCommandEncoder();r.copyBufferToBuffer(this.hullBuffer,0,i,0,this.hullCapacity*16),this.device.queue.submit([r.finish()]),this.hullBuffer.destroy(),this.hullBuffer=i,this.hullCapacity=t,this.contactBuffers&&this.rebuildBindings()}addBody(e){return this.addBodies([e])}addBodies(e){let t=Math.min(e.length,this.bodyCapacity-this.bodyCount);if(t<=0)return-1;let i=this.bodyCount;return this.bodyCount+=t,this.writeBodies(i,e.slice(0,t)),this.device.queue.writeBuffer(this.colorBuffer,i*4,new Uint32Array(t).fill(255)),this.adjScan.destroy(),this.adjScan=new Fe(this.device,this.adjBuffer,0,this.bodyCount+1),i}appendJoint(e,t,i,r,s,a){let n=this.jointCount;n>=this.jointCapacity&&this.allocateJoints(this.jointCapacity*2),this.jointCount++;let l=new Float32Array(te);l[Dt+3]=Bt(s),l[ur+3]=Bt(a),l[ji+3]=3e38,l.set([i[0],i[1],i[2]],Gt),l.set([r[0],r[1],r[2]],Di);let c=e>=0?this.bodies[e].size:[0,0,0],f=this.bodies[t].size;return l[Ti+3]=(c[0]+f[0])**2+(c[1]+f[1])**2+(c[2]+f[2])**2,this.info.set([dr,e,t,0],n*4),this.device.queue.writeBuffer(this.jointBuffer,n*te*4,l),this.device.queue.writeBuffer(this.infoBuffer,n*16,this.info,n*4,4),this.noCollide(e,t,n),n}appendJoints(e,t,i=!1){return this.appendConstraints(e.length,(r,s)=>{let{a,b:n,rA:l,rB:c,angular:f}=e[r];s[Dt+3]=3e38,s[ur+3]=f===void 0?3e38:Bt(f),s[ji+3]=i?-Bt(t):Bt(t),s.set([l[0],l[1],l[2]],Gt),s.set([c[0],c[1],c[2]],Di);let[u,d]=[this.bodies[a].size,this.bodies[n].size];return s[Ti+3]=(u[0]+d[0])**2+(u[1]+d[1])**2+(u[2]+d[2])**2,[dr,a,n]})}appendSprings(e){return this.appendConstraints(e.length,(t,i)=>{let{a:r,b:s,rA:a,rB:n,stiffness:l,rest:c}=e[t];return i[Dt+3]=Bt(l),i.set([a[0],a[1],a[2],c],Gt),i.set([n[0],n[1],n[2]],Di),[Ui,r,s]})}appendConstraints(e,t){let i=[];if(this.freeSlots.length)for(this.freeSlots.sort((n,l)=>l-n);i.length<e&&this.freeSlots.length;)i.push(this.freeSlots.pop());let r=e-i.length,s=this.jointCapacity;for(;this.jointCount+r>s;)s*=2;s>this.jointCapacity&&this.allocateJoints(s);for(let n=0;n<r;n++)i.push(this.jointCount++);let a=new Float32Array(e*te);for(let n=0;n<e;n++){let[l,c,f]=t(n,a.subarray(n*te,(n+1)*te));this.info.set([l,c,f,0],i[n]*4),this.releasedSlots.delete(i[n]),this.noCollide(c,f,i[n])}for(let n=0;n<e;){let l=n+1;for(;l<e&&i[l]===i[l-1]+1;)l++;this.device.queue.writeBuffer(this.jointBuffer,i[n]*te*4,a,n*te,(l-n)*te),this.device.queue.writeBuffer(this.infoBuffer,i[n]*16,this.info,i[n]*4,(l-n)*4),n=l}return i}releaseJoints(e){let t=[...new Set(Array.from(e))].filter(r=>r<this.jointCount&&this.info[r*4]!==0).sort((r,s)=>r-s);if(!t.length)return;for(let r of t)this.info.set([0,-1,-1,0],r*4),this.releasedSlots.add(r),this.freeSlots.push(r);let i=new Float32Array(0);for(let r=0;r<t.length;){let s=r+1;for(;s<t.length&&t[s]===t[s-1]+1;)s++;i.length<(s-r)*te&&(i=new Float32Array((s-r)*te)),this.device.queue.writeBuffer(this.jointBuffer,t[r]*te*4,i,0,(s-r)*te),this.device.queue.writeBuffer(this.infoBuffer,t[r]*16,this.info,t[r]*4,(s-r)*4),r=s}this.noCollideDirty=!0}rewriteBodies(e,t){for(let i=0;i<e.length;){let r=i+1;for(;r<e.length&&e[r]===e[r-1]+1;)r++;this.writeBodies(e[i],t.slice(i,r)),this.device.queue.writeBuffer(this.colorBuffer,e[i]*4,new Uint32Array(r-i).fill(255)),i=r}}setFilters(e,t,i){for(let r=0;r<e.length;){let s=r+1;for(;s<e.length&&e[s]===e[s-1]+1;)s++;let a=new Uint32Array(2*(s-r));for(let n=r;n<s;n++)a.set([t[n]>>>0,i[n]>>>0],2*(n-r));this.device.queue.writeBuffer(this.filterBuffer,e[r]*8,a),r=s}}setWorldAnchor(e,t){this.device.queue.writeBuffer(this.jointBuffer,(e*te+Gt)*4,new Float32Array([t[0],t[1],t[2]]))}disableConstraint(e){this.device.queue.writeBuffer(this.jointBuffer,(e*te+Dt)*4,new Float32Array(8)),this.device.queue.writeBuffer(this.jointBuffer,(e*te+ji)*4,new Float32Array(3)),this.device.queue.writeBuffer(this.jointBuffer,(e*te+Ti)*4,new Float32Array(3))}profileNextStep(e){this.timing&&!this.timingBusy&&(this.timingCallback=e)}writeParams(){let e=this.params,t=this.bodyCapacity,i=new ArrayBuffer(Ao*4),r=new Float32Array(i),s=new Uint32Array(i);r[0]=e.dt,r[1]=e.gravity,r[2]=e.betaLin,r[3]=e.betaAng,r[4]=e.gamma,r[5]=e.alpha,s[6]=(e.matchNearest?bo:0)|(e.faceBias?go:0)|(e.reuseContacts?yo:0)|(e.startAtRest?vo:0)|(e.massPenalty?xo:0),s[7]=this.bodyCount,s[8]=this.jointCount,s[9]=this.colorCap,r[10]=this.cellSize,s[11]=this.tableSize-1,r[12]=this.maxSmallRadius,s[13]=this.largeCount,s[14]=this.noCollideCount,s[15]=this.pairCapacity,s[16]=this.contactCapacity,s[17]=this.hashSize-1,s[18]=t+1,s[19]=2*t+1,s[20]=this.tableSize+1,s[21]=2*this.tableSize+1,s[22]=2*this.tableSize+1+t,s[23]=t,s[24]=this.colorHistOffset,s[25]=2*t,s[26]=this.colorGroups,s[27]=2*t+65,s[28]=this.colorRounds,s[29]=this.manifoldCapacity,s[30]=this.stepCount;let a=n=>Math.min(31,Math.max(0,Math.round(Math.log2(n))));s[31]=a(this.primalLanes[0])|a(this.primalLanes[1])<<8|a(this.primalLanes[2])<<16,r.set([e.windSpeed*Math.cos(e.windAngle),e.windSpeed*Math.sin(e.windAngle),0,e.windPressure,e.windGust],32),r.set([e.up[0],e.up[1],e.up[2],0],40),this.device.queue.writeBuffer(this.paramsBuffer,0,i)}writePassConstants(e,t){let i=this.colorCap+1,r=Math.max(e*i,1);(r>this.passEntries||!this.passGroup)&&(this.passBuffer?.destroy(),this.passBuffer=this.device.createBuffer({label:"pass constants",size:r*256,usage:GPUBufferUsage.UNIFORM|GPUBufferUsage.COPY_DST}),this.passEntries=r,this.passGroup=this.device.createBindGroup({layout:this.layouts.pass,entries:[{binding:0,resource:{buffer:this.passBuffer,size:16}}]}));let s=new ArrayBuffer(r*256),a=new Uint32Array(s),n=new Float32Array(s);for(let l=0;l<e;l++)for(let c=0;c<=this.colorCap;c++){let f=(l*i+c)*256/4;a[f]=c,n[f+1]=t}this.device.queue.writeBuffer(this.passBuffer,0,s)}step(){(this.radiiDirty||this.noCollideDirty)&&this.uploadStatics();let e=this.params;this.fixedColors&&(this.device.queue.writeBuffer(this.colorBuffer,0,this.fixedColors),this.colorCap=Math.max(1,...this.fixedColors.map(v=>v===255?0:v+1))),this.stepCount++,this.writeParams(),this.writePassConstants(e.iterations,e.alpha);let t=this.parity,i=this.bodyCapacity,r=this.bodyCount,s=this.jointCount,a=this.device.createCommandEncoder({label:"avbd3d step"});a.clearBuffer(this.gridBuffer,0,(2*this.tableSize+1)*4),a.clearBuffer(this.tableBuffer),a.clearBuffer(this.adjBuffer,0,(2*i+1)*4);let n=this.timingCallback!==null&&this.timing!==null,l,c=0,f=n||this.splitPasses,u=()=>{l&&!f||(l?.end(),l=a.beginComputePass({label:f?fe[c]:"avbd3d step",timestampWrites:n?{querySet:this.timing.querySet,beginningOfPassWriteIndex:2*c,endOfPassWriteIndex:2*c+1}:void 0}),c++)},d=this.groups,p=(v,B,g)=>{g<=0||(l.setPipeline(this.pipes[v]),l.setBindGroup(0,B),l.dispatchWorkgroups(g))},m=(v,B,g)=>{l.setPipeline(this.pipes[v]),l.setBindGroup(0,B),l.dispatchWorkgroupsIndirect(this.argsBuffer,g*4)};if(u(),p("beginFrame",d.broad,1),e.reuseContacts&&p("updateRefs",d.refs,Je(r)),p("argsPrev",d.args,1),m("hashInsert",d.contacts[t],6),p("gridCount",d.broad,Je(r)),this.gridScan.encode(l),p("gridScatter",d.broad,Je(r)),p("findPairs",d.broad,Je(r)),p("argsPairs",d.args,1),m("narrowphase",d.contacts[t],0),p("argsContacts",d.args,1),u(),p("degreeJoints",d.topo[t],Je(s)),m("degreeContacts",d.topo[t],3),this.adjScan.encode(l),p("fillJoints",d.topo[t],Je(s)),m("fillContacts",d.topo[t],3),p("sortAdjacency",d.topo[t],Je(r)),u(),!this.fixedColors){p("colorCompact",d.topo[t],Je(r)),p("colorMark",d.topo[t],Je(r));for(let v=0;v<this.colorRounds;v++)p(v%2===0?"colorRoundAB":"colorRoundBA",d.topo[t],Je(r))}p("colorCount",d.topo[t],this.colorGroups),this.colorHistScan.encode(l),p("colorStarts",d.topo[t],1),p("argsColors",d.args,1),p("colorScatter",d.topo[t],this.colorGroups),u();let h=this.colorCap+1,b=v=>l.setBindGroup(1,this.passGroup,[v*256]);l.setBindGroup(0,d.solve[t]),b(0),s>0&&(l.setPipeline(this.pipes.warmStartJoints),l.dispatchWorkgroups(Je(s))),l.setPipeline(this.pipes.warmStartBodies),l.dispatchWorkgroups(Je(r));for(let v=0;v<e.iterations;v++){l.setPipeline(this.pipes.primal);for(let B=0;B<this.colorCap;B++)b(v*h+B),l.dispatchWorkgroupsIndirect(this.argsBuffer,(12+3*B)*4);b(v*h+this.colorCap),l.setPipeline(this.pipes.dual),l.dispatchWorkgroupsIndirect(this.argsBuffer,36)}l.setPipeline(this.pipes.updateVelocities),l.dispatchWorkgroups(Je(r)),l.end();let y=2*fe.length;if(n){let{querySet:v,resolve:B,read:g}=this.timing;a.resolveQuerySet(v,0,y,B,0),a.copyBufferToBuffer(B,0,g,0,y*8)}if(this.device.queue.submit([a.finish()]),this.parity=1-t,n){let v=this.timingCallback;this.timingCallback=null,this.timingBusy=!0;let B=this.timing.read;B.mapAsync(GPUMapMode.READ).then(()=>{let g=new BigUint64Array(B.getMappedRange()).slice();if(B.unmap(),this.timingBusy=!1,this.destroyed)return this.releaseTiming();let A=(w,E)=>Number(g[E]-g[w])/1e6,x={total:A(0,y-1)};fe.forEach((w,E)=>x[w]=A(2*E,2*E+1)),v(x)},()=>{this.timingBusy=!1,this.destroyed&&this.releaseTiming()})}}async readBodies(){return new Float32Array(await this.read(this.bodyBuffer,this.bodyCount*ke*4))}async readJoints(){return new Float32Array(await this.read(this.jointBuffer,this.jointCount*te*4))}async readCounters(){let e=new Uint32Array(await this.read(this.counterBuffer,64));return{pairs:e[0],contacts:e[1],manifolds:e[Fi],overflow:e[3],clashes:e[4],colors:e[5]}}async readContactList(){let e=await this.readCounters(),t=Math.min(e.manifolds,this.manifoldCapacity),i=Math.min(e.contacts,this.contactCapacity),r=1-this.parity,[s,a]=await Promise.all([this.read(this.manifoldBuffers[r],t*bt*4),this.read(this.contactBuffers[r],i*wt*4)]),n=new Uint32Array(s),l=new Float32Array(s),c=new Uint32Array(a),f=new Float32Array(a),u=[];for(let d=0;d<t;d++){let p=d*bt,m=[...l.subarray(p+Wr,p+Wr+3)];for(let h=n[p+2];h<n[p+2]+(n[p+3]&15);h++){let b=h*wt,y=c[b+Gi+3];u.push({a:n[p],b:n[p+1],feature:(y&~fr)>>>0,stick:(y&fr)!==0,rA:[...f.subarray(b+Gi,b+Gi+3)],rB:[...f.subarray(b+Hr,b+Hr+3)],pen:[...f.subarray(b+Jr,b+Jr+3)],lam:[...f.subarray(b+$r,b+$r+3)],normal:m})}}return u}async readPairs(){let{pairs:e}=await this.readCounters();return new Uint32Array(await this.read(this.pairBuffer,Math.min(e,this.pairCapacity)*8))}jointInfo(){return this.info.subarray(0,this.jointCount*4)}adapt(e){if(this.fixedColors)return;let t=e.colors;e.clashes>0&&(this.colorRounds=Math.min(32,this.colorRounds*2)),e.clashes>0||this.colorCap-t<2?(this.colorCap=Math.min(64,Math.max(t+Kr+2,this.colorCap+4)),this.shrinkVotes=0):t+Kr+2<this.colorCap||this.colorRounds>4?++this.shrinkVotes>=3&&(this.colorCap=Math.min(64,t+Kr),this.colorRounds=Math.max(4,this.colorRounds-4),this.shrinkVotes=0):this.shrinkVotes=0;let i=(n,l,c)=>(e.overflow&c)!==0||n>Ul*l?Math.max(Nl*n,1.25*l):l,r=i(e.contacts,this.contactCapacity,2),s=i(e.pairs,this.pairCapacity,1),a=i(e.manifolds,this.manifoldCapacity,4);this.capacityCanGrow(r,s,a)&&this.allocateContacts(r,s,a)}capacityCanGrow(e,t,i){let r=this.device.limits.maxStorageBufferBindingSize;return Math.min(e,r/(wt*4))>this.contactCapacity||Math.min(t,r/8)>this.pairCapacity||Math.min(i,t,r/(bt*4))>this.manifoldCapacity}async read(e,t){if(t===0)return new ArrayBuffer(0);let i=this.device.createBuffer({size:t,usage:GPUBufferUsage.MAP_READ|GPUBufferUsage.COPY_DST}),r=this.device.createCommandEncoder();r.copyBufferToBuffer(e,0,i,0,t),this.device.queue.submit([r.finish()]),await i.mapAsync(GPUMapMode.READ);let s=i.getMappedRange().slice(0);return i.unmap(),i.destroy(),s}releaseTiming(){this.timing?.resolve.destroy(),this.timing?.read.destroy(),this.timing?.querySet.destroy()}destroy(){this.ownsBodyBuffer&&this.bodyBuffer.destroy();let e=[this.jointBuffer,this.infoBuffer,...this.contactBuffers,...this.manifoldBuffers,this.pairBuffer,this.tableBuffer,this.gridBuffer,this.staticBuffer,this.counterBuffer,this.argsBuffer,this.adjBuffer,this.colorBuffer,this.paramsBuffer,this.refBuffer,this.hullBuffer,this.passBuffer,this.filterBuffer];for(let t of e)t?.destroy();this.destroyed=!0,this.timingBusy||this.releaseTiming(),this.gridScan.destroy(),this.colorHistScan.destroy(),this.adjScan?.destroy()}};var sn=` e.C = vec3f(
|
|
2422
2422
|
k.c0x * keep + dot(n, A.dLin) - dot(n, B.dLin) + dot(cross(e.rAW, n), A.dAng) + dot(cross(e.rBW, -n), B.dAng),
|
|
2423
2423
|
k.c0y * keep + dot(t1, A.dLin) - dot(t1, B.dLin) + dot(cross(e.rAW, t1), A.dAng) + dot(cross(e.rBW, -t1), B.dAng),
|
|
2424
|
-
k.c0z * keep + dot(t2, A.dLin) - dot(t2, B.dLin) + dot(cross(e.rAW, t2), A.dAng) + dot(cross(e.rBW, -t2), B.dAng));`;if(
|
|
2425
|
-
e.C = vec3f(k.c0x, k.c0y, k.c0z) * keep + vec3f(dot(n, delta), dot(t1, delta), dot(t2, delta));`);function
|
|
2426
|
-
var e = begin;`);return o=
|
|
2424
|
+
k.c0z * keep + dot(t2, A.dLin) - dot(t2, B.dLin) + dot(cross(e.rAW, t2), A.dAng) + dot(cross(e.rBW, -t2), B.dAng));`;if(be.split(sn).length!==2)throw Error("Pinned contact evaluation changed; review the app kernel variant");var pr=be.replace(sn,` let delta = A.dLin - B.dLin + cross(A.dAng, e.rAW) - cross(B.dAng, e.rBW);
|
|
2425
|
+
e.C = vec3f(k.c0x, k.c0y, k.c0z) * keep + vec3f(dot(n, delta), dot(t1, delta), dot(t2, delta));`);function ot(o,e,t){if(o.split(e).length!==2)throw Error("Pinned solve layout changed; review the app kernel variant");return o.replace(e,t)}var es=(()=>{let o=ot(pr," var e = adj[i] + lane;",` let begin = adj[i];
|
|
2426
|
+
var e = begin;`);return o=ot(o,` if (c == cEnd) {
|
|
2427
2427
|
`,` if (c >= cEnd) {
|
|
2428
|
-
`),o=
|
|
2428
|
+
`),o=ot(o,` e += lanes;
|
|
2429
2429
|
if (id < params.jointCount) {
|
|
2430
2430
|
addJoint(&acc, id, pc.alpha, i);`,` e++;
|
|
2431
2431
|
if (id < params.jointCount) {
|
|
2432
2432
|
if ((e - begin - 1u) % lanes != lane) { continue; }
|
|
2433
|
-
addJoint(&acc, id, pc.alpha, i);`),o=
|
|
2433
|
+
addJoint(&acc, id, pc.alpha, i);`),o=ot(o," isA = i == mf.ids.x;",` c = mf.ids.z + lane;
|
|
2434
2434
|
cEnd = mf.ids.z + pairCount(mf);
|
|
2435
2435
|
if (c >= cEnd) { continue; }
|
|
2436
|
-
isA = i == mf.ids.x;`),o=
|
|
2436
|
+
isA = i == mf.ids.x;`),o=ot(o,` c = mf.ids.z;
|
|
2437
2437
|
cEnd = mf.ids.z + pairCount(mf);
|
|
2438
|
-
if (c == cEnd) { continue; }`,""),o=
|
|
2438
|
+
if (c == cEnd) { continue; }`,""),o=ot(o," c++;"," c += lanes;"),o})();function zo(o=be){o=ot(o,"fn manifoldCount() -> u32 {",`fn solverStepValid() -> bool {
|
|
2439
2439
|
return counters[C_OVERFLOW] == 0u && counters[C_CLASHES] == 0u;
|
|
2440
2440
|
}
|
|
2441
2441
|
|
|
2442
2442
|
|
|
2443
|
-
fn manifoldCount() -> u32 {`);for(let[e,t]of[["warmStartJoints","global_invocation_id"],["warmStartBodies","global_invocation_id"],["dual","global_invocation_id"],["updateVelocities","global_invocation_id"]]){let i=`fn ${e}(@builtin(${t}) gid: vec3u) {`;o=
|
|
2444
|
-
if (!solverStepValid()) { return; }`)}return
|
|
2443
|
+
fn manifoldCount() -> u32 {`);for(let[e,t]of[["warmStartJoints","global_invocation_id"],["warmStartBodies","global_invocation_id"],["dual","global_invocation_id"],["updateVelocities","global_invocation_id"]]){let i=`fn ${e}(@builtin(${t}) gid: vec3u) {`;o=ot(o,i,`${i}
|
|
2444
|
+
if (!solverStepValid()) { return; }`)}return ot(o," let live = k < count;"," let live = k < count && solverStepValid();")}function Mo(o){return o=ot(o," return qsub(rotA(a), bodies[b].rot) * k.lamAng.w;",` let rest = vec4f(k.c0Lin.w, k.c0Ang.w, k.rA.w, k.rB.w);
|
|
2445
2445
|
var restTarget = rotA(a);
|
|
2446
2446
|
if (dot(rest, rest) > 0.5) {
|
|
2447
2447
|
restTarget = vec4f(restTarget.w * rest.xyz + rest.w * restTarget.xyz + cross(restTarget.xyz, rest.xyz),
|
|
2448
2448
|
restTarget.w * rest.w - dot(restTarget.xyz, rest.xyz));
|
|
2449
2449
|
}
|
|
2450
|
-
return qsub(restTarget, bodies[b].rot) * k.lamAng.w;`),o=
|
|
2450
|
+
return qsub(restTarget, bodies[b].rot) * k.lamAng.w;`),o=ot(o,"k.c0Lin = vec4f(jointLinC(k, a, b), 0.0);","k.c0Lin = vec4f(jointLinC(k, a, b), k.c0Lin.w);"),ot(o,"k.c0Ang = vec4f(jointAngC(k, a, b), 0.0);","k.c0Ang = vec4f(jointAngC(k, a, b), k.c0Ang.w);")}var on=`// Capture new constraints from live GPU poses; no stale mesh poses or readback.
|
|
2451
2451
|
struct Body { pos:vec4f,rot:vec4f,initialPos:vec4f,initialRot:vec4f,size:vec4f,moment:vec4f,inertialPos:vec4f,inertialRot:vec4f,velocity:vec4f,angular:vec4f }
|
|
2452
2452
|
struct Joint { penLin:vec4f,penAng:vec4f,lamLin:vec4f,lamAng:vec4f,c0Lin:vec4f,c0Ang:vec4f,rA:vec4f,rB:vec4f }
|
|
2453
2453
|
@group(0) @binding(0) var<storage,read> bodies:array<Body>;
|
|
@@ -2472,7 +2472,7 @@ fn rotate(q:vec4f,v:vec3f)->vec3f {let t=2.*cross(q.xyz,v);return v+q.w*t+cross(
|
|
|
2472
2472
|
joints[slot].rA.w=length(pa-pb);
|
|
2473
2473
|
}
|
|
2474
2474
|
}
|
|
2475
|
-
`;var
|
|
2475
|
+
`;var an=`// Conservative GPU sleeping. Resting contacts form supports from the ground
|
|
2476
2476
|
// upward. Any impact, moving joint endpoint or explicit edit wakes the world.
|
|
2477
2477
|
// This deliberately favors reliable waking over finely partitioned islands.
|
|
2478
2478
|
struct Body { pos:vec4f,rot:vec4f,initialPos:vec4f,initialRot:vec4f,size:vec4f,moment:vec4f,inertialPos:vec4f,inertialRot:vec4f,velocity:vec4f,angular:vec4f }
|
|
@@ -2522,13 +2522,13 @@ fn impact(a:u32,b:u32) {
|
|
|
2522
2522
|
}
|
|
2523
2523
|
if(states[i].asleep!=0u){atomicAdd(&globals[1],1u);}
|
|
2524
2524
|
}
|
|
2525
|
-
`;var
|
|
2525
|
+
`;var Io=class{constructor(e){this.device=e,this.targets=new Map,this.bits=new Float32Array(1),this.words=new Uint32Array(this.bits.buffer)}target(e){let t=this.targets.get(e);return t||this.targets.set(e,t={pending:new Map}),t}uint(e,t,i){this.target(e).pending.set(t,i>>>0)}float(e,t,i){this.bits[0]=i,this.uint(e,t,this.words[0])}get pending(){for(let e of this.targets.values())if(e.pending.size)return!0;return!1}flush(e){let t=this.device,i=e,r=0,s=0,a=0,n=0;for(let[l,c]of this.targets){let f=c.pending.size;if(!f)continue;(!c.data||c.data.length<f*2)&&(c.data=new Uint32Array(Math.max(f*2,(c.data?.length??0)*2,128)));let u=Array.from(c.pending.keys()),d=!0;for(let m=1;m<f;m++)if(u[m]<u[m-1]){d=!1;break}d||u.sort((m,h)=>m-h);let p=1;for(let m=1;m<f;m++)u[m]!==u[m-1]+1&&p++;if(p<=4||f<=8){for(let m=0;m<f;m++)c.data[m]=c.pending.get(u[m]);for(let m=0;m<f;){let h=m+1;for(;h<f&&u[h]===u[h-1]+1;)h++;t.queue.writeBuffer(l,u[m]*4,c.data.buffer,m*4,(h-m)*4),r++,m=h}n+=f*4}else{let m=f*8,h=Math.min(t.limits.maxBufferSize,t.limits.maxStorageBufferBindingSize);if(m>h)throw Error("Property batch exceeds GPU buffer limits");for(let B=0;B<f;B++)c.data[B*2]=u[B],c.data[B*2+1]=c.pending.get(u[B]);(!c.upload||c.upload.size<m)&&(c.upload?.destroy(),c.upload=t.createBuffer({size:Math.min(h,m*2),usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST}),c.group=null),t.queue.writeBuffer(c.upload,0,c.data.buffer,0,m),this.pipeline??=t.createComputePipeline({layout:"auto",compute:{entryPoint:"applyEdits",module:t.createShaderModule({code:`
|
|
2526
2526
|
@group(0) @binding(0) var<storage,read_write> outputWords:array<u32>;
|
|
2527
2527
|
@group(0) @binding(1) var<storage,read> edits:array<vec2u>;
|
|
2528
2528
|
@compute @workgroup_size(64) fn applyEdits(@builtin(global_invocation_id) id:vec3u){
|
|
2529
2529
|
let i=id.x+id.y*${t.limits.maxComputeWorkgroupsPerDimension*64}u;
|
|
2530
2530
|
if(i>=arrayLength(&edits)){return;}let edit=edits[i];outputWords[edit.x]=edit.y;
|
|
2531
|
-
}`})}}),(!c.group||c.bytes!==m)&&(c.group=t.createBindGroup({layout:this.pipeline.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:l}},{binding:1,resource:{buffer:c.upload,size:m}}]}),c.bytes=m),i??=t.createCommandEncoder({label:"AVBD property edits"});let b=i.beginComputePass();b.setPipeline(this.pipeline),b.setBindGroup(0,c.group);let y=Math.ceil(f/64),
|
|
2531
|
+
}`})}}),(!c.group||c.bytes!==m)&&(c.group=t.createBindGroup({layout:this.pipeline.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:l}},{binding:1,resource:{buffer:c.upload,size:m}}]}),c.bytes=m),i??=t.createCommandEncoder({label:"AVBD property edits"});let b=i.beginComputePass();b.setPipeline(this.pipeline),b.setBindGroup(0,c.group);let y=Math.ceil(f/64),v=t.limits.maxComputeWorkgroupsPerDimension;b.dispatchWorkgroups(Math.min(y,v),Math.ceil(y/v)),b.end(),r++,s++,n+=m}a+=f,c.pending.clear()}!e&&i&&t.queue.submit([i.finish()]),a&&(this.lastBatch={words:a,writes:r,dispatches:s,uploadedBytes:n,submissions:!e&&i?1:0})}destroy(){for(let e of this.targets.values())e.upload?.destroy();this.targets.clear()}forget(e){this.targets.get(e)?.upload?.destroy(),this.targets.delete(e)}};function Q(o){return o.propertyEdits??=new Io(o.device)}var hi=class{constructor(e,t={}){if(this.world=e,this.device=e.device,this.speed=t.speedThreshold??.03,this.delay=t.timeThreshold??.5,!Number.isFinite(this.speed)||this.speed<=0||!Number.isFinite(this.delay)||this.delay<=0)throw Error("Sleep speedThreshold and timeThreshold must be positive and finite");let i=this.device,r=GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST|GPUBufferUsage.COPY_SRC;this.state=i.createBuffer({size:e.capacity*32,usage:r}),this.globals=i.createBuffer({size:8,usage:r}),this.params=i.createBuffer({size:48,usage:GPUBufferUsage.UNIFORM|GPUBufferUsage.COPY_DST});let s=i.createShaderModule({code:an});this.layout=i.createBindGroupLayout({entries:["storage","storage","read-only-storage","read-only-storage","read-only-storage","storage","uniform"].map((c,f)=>({binding:f,visibility:GPUShaderStage.COMPUTE,buffer:{type:c}}))});let a=i.createPipelineLayout({bindGroupLayouts:[this.layout]});this.pipelines=Object.fromEntries(["before","clear","contacts","joints","rest"].map(c=>[c,i.createComputePipeline({layout:a,compute:{module:s,entryPoint:c}})]));let n=new Float32Array(e.capacity*8),l=new Uint32Array(n.buffer);for(let c of e.aggregates)if(!c.disposed){let f=(c.gpuSlot??e.gpu.gpuIndex(c.index))*8;n[f]=c.rigid.mass,l[f+4]=c.allowSleep===!1||c.rigid.allowSleep===!1?0:1}i.queue.writeBuffer(this.state,0,n),this.wakeRequested=!1}register(e,t,i=!0){let r=new Float32Array([t,0,0,0,0,0,0,0]);new Uint32Array(r.buffer)[4]=i?1:0;let s=new Uint32Array(r.buffer),a=Q(this.world.gpu);for(let n=0;n<8;n++)a.uint(this.state,e*8+n,s[n]);this.wakeRequested=!0}bindContacts(){let e=this.world.gpu,t=e.contactStorage,i=[e.bodyBuffer,this.state,e.infoBuffer,t.manifolds,t.counters,this.globals,this.params],r=this.groups?.find(s=>s.buffers.every((a,n)=>a===i[n]));r||(r={buffers:i,group:this.device.createBindGroup({layout:this.layout,entries:i.map((s,a)=>({binding:a,resource:{buffer:s}}))})},this.groups=[...(this.groups??[]).slice(-1),r]),this.group=r.group}before(e){this.world.gpu.flushPropertyEdits(e);let{gpu:t}=this.world,i=t.contactStorage,r=new ArrayBuffer(48),s=new Uint32Array(r),a=new Float32Array(r);s.set([t.bodyCount,t.jointCount,t.manifoldCapacity,this.wakeRequested?1:0]),a.set([this.speed,this.delay,t.params.dt,t.params.gravity],4),a.set(t.params.up,8),this.device.queue.writeBuffer(this.params,0,r),this.wakeRequested=!1,this.bindContacts(),this.run([["before",t.bodyCount],["clear",1]],e)}after(e){let t=this.world.gpu,i=t.contactStorage;this.bindContacts(),this.run([["contacts",t.manifoldCapacity],["joints",t.jointCount],["rest",t.bodyCount]],e)}run(e,t){let i=t??this.device.createCommandEncoder(),r=i.beginComputePass();r.setBindGroup(0,this.group);for(let[s,a]of e)a&&(r.setPipeline(this.pipelines[s]),r.dispatchWorkgroups(s==="clear"?1:Math.ceil(a/64)));r.end(),t||this.device.queue.submit([i.finish()])}async readStats(){let e=this.device,t=e.createBuffer({size:8,usage:GPUBufferUsage.COPY_DST|GPUBufferUsage.MAP_READ});try{let i=e.createCommandEncoder();i.copyBufferToBuffer(this.globals,0,t,0,8),e.queue.submit([i.finish()]),await t.mapAsync(GPUMapMode.READ);let r=new Uint32Array(t.getMappedRange());return{sleeping:r[1],wakeRequested:!!r[0]}}finally{t.destroy()}}dispose(){this.world.gpu.propertyEdits?.forget(this.state),this.state.destroy(),this.globals.destroy(),this.params.destroy()}};var Ro=new WeakMap;function Pt(o={}){let e={};for(let t of["breakStrain","breakForce"]){let i=o[t]??1/0;if(i!==1/0&&(!Number.isFinite(i)||i<=0))throw Error(`${t} must be positive or Infinity`);e[t]=i}return e}function ts(o,e){let t=Pt(e);Number.isFinite(t.breakStrain)||Number.isFinite(t.breakForce)?Ro.set(o,t):Ro.delete(o)}var Oo=o=>Ro.get(o);function is(o){let e="fn dualJoint(j: u32) {";if(o.split(e).length!==2)throw Error("Review spring fracture kernel integration");return o.replace(e,`${e}
|
|
2532
2532
|
if (info[j].x == T_SPRING) {
|
|
2533
2533
|
var material = joints[j];
|
|
2534
2534
|
let strainLimit = material.lamLin.w;
|
|
@@ -2550,7 +2550,7 @@ fn impact(a:u32,b:u32) {
|
|
|
2550
2550
|
}
|
|
2551
2551
|
}
|
|
2552
2552
|
}
|
|
2553
|
-
`)}var
|
|
2553
|
+
`)}var Yl=["auto","standard","optimized","points"];function qi({requested:o="auto",bodyCount:e,constraintCount:t=0,contactScheduling:i="manifolds",custom:r=!1}){if(!Yl.includes(o))throw Error("solverMode must be 'auto', 'standard', 'optimized' or 'points'");if(!["manifolds","points"].includes(i))throw Error("contactScheduling must be 'manifolds' or 'points'");if(r&&o!=="auto")throw Error("A scene-specific solve shader cannot be replaced with a rigid-body solver mode");let s=r?"custom":o!=="auto"?o:t>0||e<5e4?"standard":i==="points"?"points":"optimized",a=r?"This scene supplies its own solver. Automatic keeps that implementation.":o!=="auto"?"Explicit implementation override (developer setting).":t>0?"Work layout selected for joints and springs.":e<5e4?"Work layout selected for smaller rigid scenes.":s==="points"?"Large rigid scene with a measured shared-contact-points layout.":"Work layout selected for large rigid scenes.";return{requested:o,selected:s,reason:a,bodyCount:e,constraintCount:t}}var rs=`// Portable hierarchical PLOC: Morton ordering and independent SAH treelets.
|
|
2554
2554
|
// Dispatch boundaries publish each hierarchy level; no cross-workgroup spin waits.
|
|
2555
2555
|
struct Node {
|
|
2556
2556
|
lo: vec3f,
|
|
@@ -2807,7 +2807,7 @@ fn ropes(@builtin(global_invocation_id) gid: vec3u) {
|
|
|
2807
2807
|
}
|
|
2808
2808
|
links[build.escapeOffset + id] = escape;
|
|
2809
2809
|
}\r
|
|
2810
|
-
`;var
|
|
2810
|
+
`;var nn=`// Stable 4-bit GPU radix sort; PrefixScan scans digit-major block counts.
|
|
2811
2811
|
struct SortSettings { count: u32, blocks: u32, shift: u32, _pad: u32 }
|
|
2812
2812
|
@group(0) @binding(0) var<uniform> sort: SortSettings;
|
|
2813
2813
|
@group(0) @binding(1) var<storage, read> input: array<vec2u>;
|
|
@@ -2855,10 +2855,10 @@ fn scatterDigits(
|
|
|
2855
2855
|
}
|
|
2856
2856
|
output[hist[digit * sort.blocks + wid.x] + rank] = value;
|
|
2857
2857
|
}\r
|
|
2858
|
-
`;var
|
|
2859
|
-
fn gridCount`),
|
|
2860
|
-
fn findPairs`);if(
|
|
2861
|
-
${
|
|
2858
|
+
`;var Zl=()=>GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST|GPUBufferUsage.COPY_SRC,ut=(o,e=128)=>Math.max(1,Math.ceil(o/e)),ec=4294967295,jo=Ft.indexOf(`@compute @workgroup_size(64)
|
|
2859
|
+
fn gridCount`),To=Ft.indexOf("/** Binary search"),ln=Ft.indexOf(`@compute @workgroup_size(64)
|
|
2860
|
+
fn findPairs`);if(jo<0||To<jo||ln<To)throw Error("Pinned broadphase changed; review H-PLOC integration");var tc=rs.slice(0,rs.indexOf("@group(0)")),ic=(Ft.slice(0,jo)+Ft.slice(To,ln)).replace("var<storage, read_write> grid: array<atomic<u32>>;","var<storage, read_write> tree: array<Node>;")+`
|
|
2861
|
+
${tc}
|
|
2862
2862
|
@group(1) @binding(0) var<uniform> build: BuildSettings;
|
|
2863
2863
|
@group(1) @binding(1) var<storage,read> links: array<u32>;
|
|
2864
2864
|
@compute @workgroup_size(64)
|
|
@@ -2880,11 +2880,11 @@ fn findTreePairs(@builtin(global_invocation_id) gid:vec3u) {
|
|
|
2880
2880
|
at=links[build.escapeOffset+at];
|
|
2881
2881
|
} else {at=node.left;}
|
|
2882
2882
|
}
|
|
2883
|
-
}`,
|
|
2883
|
+
}`,ss=class{constructor(e,t,{rebuildInterval:i=64}={}){if(!Number.isInteger(i)||i<1)throw Error("BVH rebuildInterval must be a positive integer");if(this.device=e,this.capacity=t.bodyCapacity,this.capacity>16*e.limits.maxComputeWorkgroupsPerDimension)throw Error("H-PLOC capacity exceeds the adapter dispatch limit; select the grid");this.bodyBuffer=t.bodyBuffer,this.rebuildInterval=i,this.nodeCapacity=2*this.capacity+16*Math.ceil(Math.log2(Math.max(2,this.capacity)))+32,this.buffers=[],this.uniforms=[],this.stats={builds:0,refits:0,nodes:0,extraBytes:0};let r=(f,u,d=Zl())=>{if(d&GPUBufferUsage.STORAGE&&u>e.limits.maxStorageBufferBindingSize)throw Error(`${f} exceeds the adapter storage binding limit`);let p=e.createBuffer({label:f,size:Math.max(16,u),usage:d});return this.buffers.push(p),this.stats.extraBytes+=p.size,p};this.nodes=r("H-PLOC nodes",this.nodeCapacity*32),this.links=r("H-PLOC parents and escape links",this.nodeCapacity*8),this.keys=[r("Morton keys A",this.capacity*8),r("Morton keys B",this.capacity*8)],this.clusters=r("H-PLOC level roots",this.capacity*8+128),this.bounds=r("H-PLOC scene bounds",(ut(this.capacity)*2+256)*16),this.sortBlocks=ut(this.capacity),this.hist=r("Morton radix counts",this.sortBlocks*16*4),this.scan=new Fe(e,this.hist,0,this.sortBlocks*16);let s=(f,u)=>({binding:f,visibility:GPUShaderStage.COMPUTE,buffer:{type:u}});this.layout=e.createBindGroupLayout({entries:[s(0,"uniform"),s(1,"read-only-storage"),...Array.from({length:5},(f,u)=>s(u+2,"storage"))]}),this.extraLayout=e.createBindGroupLayout({entries:[s(0,"uniform"),s(1,"read-only-storage")]});let a=e.createShaderModule({label:"portable H-PLOC",code:ae+rs+`
|
|
2884
2884
|
@compute @workgroup_size(128)
|
|
2885
2885
|
fn initializeLinks(@builtin(global_invocation_id) gid:vec3u){if(gid.x<build.escapeOffset){links[gid.x]=0xffffffffu;}}
|
|
2886
|
-
`}),n=e.createPipelineLayout({bindGroupLayouts:[this.layout]});this.pipes=Object.fromEntries(["leaves","reduceBounds","mortonCodes","seedClusters","miniHploc","refitTreelets","ropes","initializeLinks"].map(f=>[f,e.createComputePipeline({layout:n,compute:{module:a,entryPoint:f}})]));let l=e.createShaderModule({label:"stable Morton radix",code:
|
|
2887
|
-
for (var i = lo + 1u; i < hi; i++) {`,
|
|
2886
|
+
`}),n=e.createPipelineLayout({bindGroupLayouts:[this.layout]});this.pipes=Object.fromEntries(["leaves","reduceBounds","mortonCodes","seedClusters","miniHploc","refitTreelets","ropes","initializeLinks"].map(f=>[f,e.createComputePipeline({layout:n,compute:{module:a,entryPoint:f}})]));let l=e.createShaderModule({label:"stable Morton radix",code:nn});this.sortLayout=e.createBindGroupLayout({entries:[s(0,"uniform"),s(1,"read-only-storage"),s(2,"storage"),s(3,"storage")]});let c=e.createPipelineLayout({bindGroupLayouts:[this.sortLayout]});this.sortPipes=Object.fromEntries(["countDigits","scatterDigits"].map(f=>[f,e.createComputePipeline({layout:c,compute:{module:l,entryPoint:f}})])),this.traverse=e.createComputePipeline({label:"H-PLOC collision traversal",layout:e.createPipelineLayout({bindGroupLayouts:[t.layouts.broad,this.extraLayout]}),compute:{module:e.createShaderModule({code:ic}),entryPoint:"findTreePairs"}}),this.configure(t.bodyCount)}uniform(e){let t=this.device.createBuffer({size:e.length*4,usage:GPUBufferUsage.UNIFORM,mappedAtCreation:!0});return new Uint32Array(t.getMappedRange()).set(e),t.unmap(),this.uniforms.push(t),t}configure(e){if(e===this.count)return;if(e>this.capacity)throw Error("H-PLOC body capacity exceeded");for(let d of this.uniforms)d.destroy();this.uniforms=[],this.count=e,this.built=!1,this.stepsSinceBuild=0;let t=[],i=e,r=e,s=0,a=e,n=e===0?ec:0;for(;i>1;){let d=Math.ceil(i/16);t.push({inputCount:i,nodeBase:r,inputOffset:s,outputOffset:a,blocks:d}),d===1&&(n=r+i-2),r+=d*15,s=a,a+=d,i=d}this.stats.nodes=e?2*e-1:0;let l=(d={})=>{let p=this.uniform([e,d.nodeBase??0,d.inputOffset??0,d.outputOffset??0,n,this.sortBlocks,0,d.boundsOffset??0,d.inputCount??e,this.nodeCapacity,0,0]);return{group:this.device.createBindGroup({layout:this.layout,entries:[p,this.bodyBuffer,this.nodes,this.keys[0],this.bounds,this.links,this.clusters].map((h,b)=>({binding:b,resource:{buffer:h}}))}),buffer:p}};this.base=l(),this.levels=t.map(d=>({...d,...l(d)})),this.reductions=[];let c=ut(e),f=0,u=c*2;for(;c>1;){let d=ut(c);this.reductions.push({blocks:d,...l({inputCount:c,inputOffset:f,outputOffset:u})}),f=u,u+=d*2,c=d}this.morton=l({boundsOffset:f}),this.sortGroups=Array.from({length:8},(d,p)=>{let m=this.uniform([e,this.sortBlocks,p*4,0]);return this.device.createBindGroup({layout:this.sortLayout,entries:[m,this.keys[p%2],this.keys[1-p%2],this.hist].map((h,b)=>({binding:b,resource:{buffer:h}}))})}),this.extra=this.device.createBindGroup({layout:this.extraLayout,entries:[{binding:0,resource:{buffer:this.base.buffer}},{binding:1,resource:{buffer:this.links}}]}),this.broadBuffers=null}encodeBuild(e){let t=(r,s,a)=>{e.setPipeline(this.pipes[r]),e.setBindGroup(0,s),e.dispatchWorkgroups(a)};t("leaves",this.base.group,ut(this.count));let i=!this.built||this.stepsSinceBuild>=this.rebuildInterval;if(this.lastRebuilt=i,i){t("initializeLinks",this.base.group,ut(this.nodeCapacity));for(let r of this.reductions)t("reduceBounds",r.group,r.blocks);t("mortonCodes",this.morton.group,ut(this.count));for(let r of this.sortGroups)e.setPipeline(this.sortPipes.countDigits),e.setBindGroup(0,r),e.dispatchWorkgroups(this.sortBlocks),this.scan.encode(e),e.setPipeline(this.sortPipes.scatterDigits),e.setBindGroup(0,r),e.dispatchWorkgroups(this.sortBlocks);t("seedClusters",this.base.group,ut(this.count));for(let r of this.levels)t("miniHploc",r.group,r.blocks);t("ropes",this.base.group,ut(this.nodeCapacity)),this.built=!0,this.stepsSinceBuild=0,this.stats.builds++}else{for(let r of this.levels)t("refitTreelets",r.group,ut(r.blocks,64));this.stats.refits++}this.stepsSinceBuild++}encodePairs(e,t){this.configure(t.bodyCount);let i=[t.paramsBuffer,t.bodyBuffer,this.nodes,t.pairBuffer,t.counterBuffer,t.staticBuffer,t.jointBuffer,t.filterBuffer];(!this.broadBuffers||i.some((r,s)=>r!==this.broadBuffers[s]))&&(this.broadBuffers=i,this.broad=this.device.createBindGroup({layout:t.layouts.broad,entries:i.map((r,s)=>({binding:s,resource:{buffer:r}}))})),e.setPipeline(this.traverse),e.setBindGroup(0,this.broad),e.setBindGroup(1,this.extra),e.dispatchWorkgroups(ut(this.count,64))}destroy(){this.scan.destroy();for(let e of[...this.buffers,...this.uniforms])e.destroy()}};function cn(o,e={}){let t,i,r=!0,s=new Map,a=l=>{if(!i&&!l)return;let c=e.timestampWrites,f=o.beginComputePass({...e,timestampWrites:c&&(r||l)?{querySet:c.querySet,...r&&c.beginningOfPassWriteIndex!==void 0?{beginningOfPassWriteIndex:c.beginningOfPassWriteIndex}:{},...l&&c.endOfPassWriteIndex!==void 0?{endOfPassWriteIndex:c.endOfPassWriteIndex}:{}}:void 0});if(i){f.setPipeline(i.pipeline);for(let[u,d]of i.bindings)f.setBindGroup(u,...d);f[i.method](...i.args)}f.end(),i=null,r=!1},n=(l,c)=>{a(!1),i={pipeline:t,bindings:new Map(s),method:l,args:c}};return{setPipeline(l){t=l},setBindGroup(l,c,f){s.set(l,f===void 0?[c]:[c,[...f]])},dispatchWorkgroups(...l){n("dispatchWorkgroups",l)},dispatchWorkgroupsIndirect(...l){n("dispatchWorkgroupsIndirect",l)},end(){a(!0)}}}var $e=o=>Math.ceil(o/64);function un(o){(o.radiiDirty||o.noCollideDirty)&&o.uploadStatics();let e=o.params;o.fixedColors&&(o.device.queue.writeBuffer(o.colorBuffer,0,o.fixedColors),o.colorCap=Math.max(1,...o.fixedColors.map(x=>x===255?0:x+1))),o.stepCount++,o.writeParams(),o.writePassConstants(e.iterations,e.alpha);let t=o.parity,i=o.bodyCapacity,r=o.bodyCount,s=o.jointCount,a=o.groups,n=o.device.createCommandEncoder({label:"AVBD app step"});o.encodeStepPrelude?.(n),o.bvh||n.clearBuffer(o.gridBuffer,0,(2*o.tableSize+1)*4),n.clearBuffer(o.tableBuffer),n.clearBuffer(o.adjBuffer,0,(2*i+1)*4);let l=!!o.detailCallback,c=l||o.timingCallback!==null&&o.timing!==null,f=c||o.splitPasses,u=l?o.detailTiming:o.timing,d=[],p,m,h=(x,w)=>{if(p&&!l&&(m===w||!f))return;p?.end(),m=w;let E=l?d.length:fe.indexOf(w);d.push({name:x,aggregate:w});let k={label:x,timestampWrites:c?{querySet:u.querySet,beginningOfPassWriteIndex:E*2,endOfPassWriteIndex:E*2+1}:void 0};p=o.dispatchIsolation?cn(n,k):n.beginComputePass(k)},b=(x,w,E)=>{E<=0||(p.setPipeline(o.pipes[x]),p.setBindGroup(0,w),p.dispatchWorkgroups(E))},y=(x,w,E)=>{p.setPipeline(o.pipes[x]),p.setBindGroup(0,w),p.dispatchWorkgroupsIndirect(o.argsBuffer,E*4)};if(h("contactCache","collision"),b("beginFrame",a.broad,1),e.reuseContacts&&b("updateRefs",a.refs,$e(r)),b("argsPrev",a.args,1),y("hashInsert",a.contacts[t],6),h("broadphaseBuild","collision"),o.bvh?(o.bvh.configure(r),o.bvh.encodeBuild(p)):(b("gridCount",a.broad,$e(r)),o.gridScan.encode(p),b("gridScatter",a.broad,$e(r))),h("broadphasePairs","collision"),o.bvh?o.bvh.encodePairs(p,o):b("findPairs",a.broad,$e(r)),h("narrowphase","collision"),b("argsPairs",a.args,1),y("narrowphase",a.contacts[t],0),b("argsContacts",a.args,1),h("adjacency","adjacency"),b("degreeJoints",a.topo[t],$e(s)),y("degreeContacts",a.topo[t],3),o.adjScan.encode(p),b("fillJoints",a.topo[t],$e(s)),y("fillContacts",a.topo[t],3),b("sortAdjacency",a.topo[t],$e(r)),h("coloring","coloring"),!o.fixedColors){b("colorCompact",a.topo[t],$e(r)),b("colorMark",a.topo[t],$e(r));for(let x=0;x<o.colorRounds;x++)b(x%2===0?"colorRoundAB":"colorRoundBA",a.topo[t],$e(r))}b("colorCount",a.topo[t],o.colorGroups),o.colorHistScan.encode(p),b("colorStarts",a.topo[t],1),b("argsColors",a.args,1),b("colorScatter",a.topo[t],o.colorGroups);let v=x=>p.setBindGroup(1,o.passGroup,[x*256]),B=()=>{p.setBindGroup(0,a.solve[t]),v(0)};h("warmStart","solve"),B(),s>0&&(p.setPipeline(o.pipes.warmStartJoints),p.dispatchWorkgroups($e(s))),p.setPipeline(o.pipes.warmStartBodies),r&&p.dispatchWorkgroups($e(r));for(let x=0;x<e.iterations;x++){h("bodySolve","solve"),B(),p.setPipeline(o.pipes.primal);for(let w=0;w<o.colorCap;w++)v(x*(o.colorCap+1)+w),p.dispatchWorkgroupsIndirect(o.argsBuffer,(12+3*w)*4);h("contactUpdate","solve"),B(),v(x*(o.colorCap+1)+o.colorCap),p.setPipeline(o.pipes.dual),p.dispatchWorkgroupsIndirect(o.argsBuffer,36)}h("velocities","solve"),B(),p.setPipeline(o.pipes.updateVelocities),r&&p.dispatchWorkgroups($e(r)),p.end();let g=2*(l?d.length:fe.length);if(c&&(n.resolveQuerySet(u.querySet,0,g,u.resolve,0),n.copyBufferToBuffer(u.resolve,0,u.read,0,g*8)),o.parity=1-t,o.encodeStepPostlude?.(n),o.device.queue.submit([n.finish()]),!c)return;let A=l?o.detailCallback:o.timingCallback;l?o.detailCallback=null:o.timingCallback=null,o.timingBusy=!0,u.read.mapAsync(GPUMapMode.READ).then(()=>{let x=new BigUint64Array(u.read.getMappedRange()).slice();if(u.read.unmap(),o.timingBusy=!1,o.destroyed){o.releaseAppTiming(),o.releaseTiming();return}let w=(k,z)=>Number(x[z]-x[k])/1e6,E={total:w(0,g-1),broadphase:o.broadphase,bvhRebuilt:o.bvh?.lastRebuilt??!1};if(l){E.details={};for(let[k,z]of d.entries()){let M=w(k*2,k*2+1);E[z.aggregate]=(E[z.aggregate]??0)+M,E.details[z.name]=(E.details[z.name]??0)+M}}else fe.forEach((k,z)=>E[k]=w(z*2,z*2+1));A(E)},x=>{o.timingBusy=!1,o.profileErrors.push(x.message),o.destroyed&&(o.releaseAppTiming(),o.releaseTiming())})}var fn=` let list = params.adjListOffset;
|
|
2887
|
+
for (var i = lo + 1u; i < hi; i++) {`,dn=li(ae,Ni);if(dn.split(fn).length!==2)throw Error("Pinned adjacency sort changed; review the cached-key variant");var hn=dn.replace(fn,`
|
|
2888
2888
|
let list = params.adjListOffset;
|
|
2889
2889
|
let count = hi - lo;
|
|
2890
2890
|
if (count <= 16u) {
|
|
@@ -2913,13 +2913,23 @@ fn initializeLinks(@builtin(global_invocation_id) gid:vec3u){if(gid.x<build.esca
|
|
|
2913
2913
|
}
|
|
2914
2914
|
return;
|
|
2915
2915
|
}
|
|
2916
|
-
for (var i = lo + 1u; i < hi; i++) {`);function
|
|
2917
|
-
if ((contacts[gid.x].ids.w & 0x80000000u) != 0u) { return; }`)}function
|
|
2916
|
+
for (var i = lo + 1u; i < hi; i++) {`);function pn(o){return o.replace("return m.ids.w & 15u;","return select(m.ids.w & 15u, 0u, (m.ids.w & 0x80000000u) != 0u);").replace("bodies[i].initialPos = pos;","bodies[i].initialPos = vec4f(pos.xyz, bodies[i].initialPos.w);")}function Do(o){return o.replace("let generated = prev.ids.w >> 4u;","let generated = (prev.ids.w >> 4u) & 0x07ffffffu;").replace("reuseContacts(a, b))","bodies[a].initialPos.w == 0.0 && bodies[b].initialPos.w == 0.0 && reuseContacts(a, b))").replace("count | (params.step << 4u)","count | ((params.step & 0x07ffffffu) << 4u) | select(0u, 0x80000000u, bodies[a].initialPos.w != 0.0 || bodies[b].initialPos.w != 0.0)")}function mn(o=li(ae,Ni)){return o.replaceAll("if (gid.x >= topoCount()) { return; }",`if (gid.x >= topoCount()) { return; }
|
|
2917
|
+
if ((contacts[gid.x].ids.w & 0x80000000u) != 0u) { return; }`)}function bn(o){let e=o.device,t=e.createShaderModule({code:`
|
|
2918
2918
|
@group(0) @binding(0) var<storage,read_write> records:array<vec4f>;
|
|
2919
2919
|
@compute @workgroup_size(64) fn clear(@builtin(global_invocation_id) id:vec3u){
|
|
2920
2920
|
if(id.x*10u+2u>=arrayLength(&records)){return;}
|
|
2921
2921
|
records[id.x*10u+2u].w=0.;
|
|
2922
|
-
}`}),i=e.createComputePipeline({layout:"auto",compute:{module:t,entryPoint:"clear"}}),r=e.createBindGroup({layout:i.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:o.bodyBuffer}}]}),s=e.createCommandEncoder(),a=s.beginComputePass();a.setPipeline(i),a.setBindGroup(0,r),a.dispatchWorkgroups(Math.ceil(o.bodyCount/64)),a.end(),e.queue.submit([s.finish()])}var
|
|
2922
|
+
}`}),i=e.createComputePipeline({layout:"auto",compute:{module:t,entryPoint:"clear"}}),r=e.createBindGroup({layout:i.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:o.bodyBuffer}}]}),s=e.createCommandEncoder(),a=s.beginComputePass();a.setPipeline(i),a.setBindGroup(0,r),a.dispatchWorkgroups(Math.ceil(o.bodyCount/64)),a.end(),e.queue.submit([s.finish()])}var rc=`
|
|
2923
|
+
fn contactGeneration(value: f32) -> u32 {
|
|
2924
|
+
return select(0u, bitcast<u32>(value) ^ 0x3f800000u, value != 0.0);
|
|
2925
|
+
}
|
|
2926
|
+
fn contactMovedAfter(value: f32, generated: u32) -> bool {
|
|
2927
|
+
let age = (contactGeneration(value) - generated) & 0x07ffffffu;
|
|
2928
|
+
return age != 0u && age < 0x04000000u;
|
|
2929
|
+
}
|
|
2930
|
+
`;function gn(o){let e="bodies[i].inertialPos.w = bitcast<f32>(params.step);";if(!o.includes(e))throw Error("Contact reference layout changed");return o.replace(e,"bodies[i].inertialPos.w = bitcast<f32>((params.step & 0x07ffffffu) ^ 0x3f800000u);")}function Go(o){let e=` let moved = max(bitcast<u32>(bodies[a].inertialPos.w), bitcast<u32>(bodies[b].inertialPos.w));
|
|
2931
|
+
if (count == 0u || generated < moved) { return false; }`;if(!o.includes(e))throw Error("Contact cache layout changed");return rc+o.replace(e,` let generation = generated & 0x07ffffffu;
|
|
2932
|
+
if (count == 0u || contactMovedAfter(bodies[a].inertialPos.w, generation) || contactMovedAfter(bodies[b].inertialPos.w, generation)) { return false; }`)}var sc=`${ae}
|
|
2923
2933
|
struct Config { count:u32, joints:u32, capacity:u32, list:u32, threshold:f32, dt:f32, pad0:u32, pad1:u32 }
|
|
2924
2934
|
struct Velocity { incoming:vec4f, incomingAngular:vec4f, linear:vec4f, angular:vec4f }
|
|
2925
2935
|
struct Bounce { impulse:f32, delta:f32, reboundSpeed:f32, inverseMass:f32, rA:vec4f, rB:vec4f }
|
|
@@ -2995,7 +3005,7 @@ fn pointVelocity(i:u32,r:vec3f,incoming:bool)->vec3f {
|
|
|
2995
3005
|
let i=id.x;if(i>=cfg.count || bodies[i].size.w<=0.){return;}
|
|
2996
3006
|
bodies[i].vel=velocities[i].linear;bodies[i].angVel=velocities[i].angular;
|
|
2997
3007
|
}
|
|
2998
|
-
`,
|
|
3008
|
+
`,Vi=class{constructor(e,{code:t=sc,dimension:i=3}={}){this.solver=e,this.dimension=i,this.device=e.device,this.active=new Set;let r=this.device,s=GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST;this.materials=r.createBuffer({size:e.bodyCapacity*4,usage:s}),this.velocities=r.createBuffer({size:e.bodyCapacity*64,usage:s}),this.params=r.createBuffer({size:32,usage:GPUBufferUsage.UNIFORM|GPUBufferUsage.COPY_DST}),this.layout=r.createBindGroupLayout({entries:["uniform","storage","storage","read-only-storage","read-only-storage","read-only-storage","read-only-storage","read-only-storage","storage"].map((l,c)=>({binding:c,visibility:GPUShaderStage.COMPUTE,buffer:{type:l}}))});let a=r.createShaderModule({code:t}),n=r.createPipelineLayout({bindGroupLayouts:[this.layout]});this.pipes=Object.fromEntries(["captureIncoming","captureSolved","initialize","pairs","apply","writeBack"].map(l=>[l,r.createComputePipeline({layout:n,compute:{module:a,entryPoint:l}})]))}set(e,t){if(!Number.isFinite(t)||t<0||t>1)throw Error("restitution must be between 0 and 1");t>0?this.active.add(e):this.active.delete(e),Q(this.solver).float(this.materials,e,t)}bind(){let e=this.solver,t=this.device,i=this.dimension===3?e.contactStorage:{manifolds:e.contactBuffers[1-e.parity],contacts:e.contactBuffers[1-e.parity],counters:e.counterBuffer},r=this.dimension===3?e.manifoldCapacity:e.contactCapacity;this.capacity!==r&&(this.bounce?.destroy(),this.capacity=r,this.bounce=t.createBuffer({size:Math.max(1,this.capacity)*48,usage:GPUBufferUsage.STORAGE}));let s=[this.params,e.bodyBuffer,this.velocities,this.materials,i.manifolds,i.contacts,e.adjBuffer,i.counters,this.bounce];(!this.buffers||s.some((n,l)=>n!==this.buffers[l]))&&(this.buffers=s,this.group=t.createBindGroup({layout:this.layout,entries:s.map((n,l)=>({binding:l,resource:{buffer:n}}))}));let a=new Uint32Array([e.bodyCount,e.jointCount,r,2*e.bodyCapacity+1,0,0,0,0]);new Float32Array(a.buffer).set([1,e.params.dt],4),t.queue.writeBuffer(this.params,0,a)}run(e,t){this.bind();let i=t??this.device.createCommandEncoder(),r=i.beginComputePass();r.setBindGroup(0,this.group);for(let s of e)r.setPipeline(this.pipes[s]),r.dispatchWorkgroups(Math.max(1,Math.ceil((s==="initialize"||s==="pairs"?this.capacity:this.solver.bodyCount)/64)));r.end(),t||this.device.queue.submit([i.finish()])}before(e){this.active.size&&this.run(["captureIncoming"],e)}after(e){this.active.size&&this.run(["captureSolved","initialize",...Array.from({length:12},()=>["pairs","apply"]).flat(),"writeBack"],e)}destroy(){for(let e of["materials","velocities","params","bounce"])this[e]?.destroy()}};var yn=new WeakMap,Uo=o=>yn.get(o);function Wi(o,e){yn.set(o,e)}var Fo=(o,e,t)=>{if(o.split(e).length!==2)throw Error("Pinned angular solver layout changed");return o.replace(e,t)};function No(o){return o=Fo(o,"fn addJoint(acc: ptr<function, Acc>, j: u32, alpha: f32, i: u32) {",`
|
|
2999
3009
|
fn angularFrame(k:Joint,a:i32,b:i32)->mat3x3f {
|
|
3000
3010
|
let qa=rotA(a);let axis=qrotate(qa,k.rA.xyz);
|
|
3001
3011
|
let ta=qrotate(qa,k.c0Lin.xyz);let tb=qrotate(bodies[b].rot,k.c0Ang.xyz);
|
|
@@ -3046,10 +3056,10 @@ fn dualAngular(j:u32){
|
|
|
3046
3056
|
}
|
|
3047
3057
|
`+`
|
|
3048
3058
|
fn addJoint(acc: ptr<function, Acc>, j: u32, alpha: f32, i: u32) {
|
|
3049
|
-
if(info[j].x==3 || info[j].x==4){if(joints[j].penLin.w!=0.){addAngular(acc,j,alpha,i);}return;}`),o=
|
|
3059
|
+
if(info[j].x==3 || info[j].x==4){if(joints[j].penLin.w!=0.){addAngular(acc,j,alpha,i);}return;}`),o=Fo(o," if (j >= params.jointCount || info[j].x != T_JOINT) { return; }",` if(j>=params.jointCount){return;}
|
|
3050
3060
|
if(info[j].x==3 || info[j].x==4){warmAngular(j);return;}
|
|
3051
|
-
if(info[j].x!=T_JOINT){return;}`),
|
|
3052
|
-
if(info[j].x==3 || info[j].x==4){dualAngular(j);return;}`)}function gt({type:o,axisA:e=[0,1,0],axisB:t=[0,1,0],speed:i=1,maxTorque:r=100,minAngle:s=-Math.PI,maxAngle:a=Math.PI}={}){let n=l=>{let c=l&&typeof l.x=="number"?[l.x,l.y,l.z]:Array.from(l),f=Math.hypot(...c);if(c.length!==3||!c.every(Number.isFinite)||f<1e-8)throw Error("Angular axis requires three finite, nonzero components");return c.map(u=>u/f)};if(o!=="motor"&&o!=="limit")throw Error("Invalid angular constraint type");if(!Number.isFinite(i)||!Number.isFinite(r)||r<0)throw Error("Motor speed must be finite and maxTorque nonnegative");if(!Number.isFinite(s)||!Number.isFinite(a)||s<-Math.PI||a>Math.PI||s>a)throw Error("Hinge angles must be ordered within -PI..PI radians");return{type:o,axisA:n(e),axisB:n(t),speed:i,maxTorque:r,minAngle:s,maxAngle:a}}var
|
|
3061
|
+
if(info[j].x!=T_JOINT){return;}`),Fo(o,"fn dualJoint(j: u32) {",`fn dualJoint(j: u32) {
|
|
3062
|
+
if(info[j].x==3 || info[j].x==4){dualAngular(j);return;}`)}function gt({type:o,axisA:e=[0,1,0],axisB:t=[0,1,0],speed:i=1,maxTorque:r=100,minAngle:s=-Math.PI,maxAngle:a=Math.PI}={}){let n=l=>{let c=l&&typeof l.x=="number"?[l.x,l.y,l.z]:Array.from(l),f=Math.hypot(...c);if(c.length!==3||!c.every(Number.isFinite)||f<1e-8)throw Error("Angular axis requires three finite, nonzero components");return c.map(u=>u/f)};if(o!=="motor"&&o!=="limit")throw Error("Invalid angular constraint type");if(!Number.isFinite(i)||!Number.isFinite(r)||r<0)throw Error("Motor speed must be finite and maxTorque nonnegative");if(!Number.isFinite(s)||!Number.isFinite(a)||s<-Math.PI||a>Math.PI||s>a)throw Error("Hinge angles must be ordered within -PI..PI radians");return{type:o,axisA:n(e),axisB:n(t),speed:i,maxTorque:r,minAngle:s,maxAngle:a}}var vn=`struct Body { pos:vec4f,rot:vec4f,initialPos:vec4f,initialRot:vec4f,size:vec4f,moment:vec4f,inertialPos:vec4f,inertialRot:vec4f,velocity:vec4f,angular:vec4f }
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struct Joint {penLin:vec4f,penAng:vec4f,lamLin:vec4f,lamAng:vec4f,c0Lin:vec4f,c0Ang:vec4f,rA:vec4f,rB:vec4f}
|
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@group(0) @binding(0) var<storage,read> bodies:array<Body>;
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@group(0) @binding(1) var<storage,read_write> joints:array<Joint>;
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@@ -3067,7 +3077,7 @@ fn rotate(q:vec4f,v:vec3f)->vec3f{let t=2.*cross(q.xyz,v);return v+q.w*t+cross(q
|
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3067
3077
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if(length(tangentB)<1.e-6){tangentB=select(vec3f(0.,-axisB.z,axisB.y),vec3f(-axisB.y,axisB.x,0.),abs(axisB.x)>abs(axisB.z));}
|
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joints[j].c0Lin=vec4f(tangent,0.);joints[j].c0Ang=vec4f(normalize(tangentB),0.);
|
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}
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3070
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-
`;var
|
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3080
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+
`;var xn=new WeakSet,os=o=>xn.has(o);function Hi(o,e,t,i=1,r=.6,s=[0,0,0]){if(!Number.isFinite(e)||e<=0||!Number.isFinite(t)||t<2*e)throw Error("Capsule height must be at least twice its positive radius");if(!Number.isFinite(i)||i<0)throw Error("Capsule density must be nonnegative");let a=new De(o,[2*e,t,2*e],i,r,s),n=t-2*e,l=Math.PI*e*e*n*i,c=4/3*Math.PI*e**3*i;a.mass=l+c;let f=l*e**2/2+c*2*e**2/5,u=l*(n**2/12+e**2/4)+c*(2*e**2/5+n**2/4+3*n*e/8);return a.moment.set([u,f,u]),a.radius=t/2,xn.add(a),a}var An=`// Exact rounded capsule geometry. Shape -1: radius=size.x/2, segment along Y,
|
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// half-length=size.y/2-radius. No tessellation, endpoint-only collision test,
|
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3082
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// shape storage buffer or iterative support search for capsule/sphere/box.
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struct Capsule {a:vec3f,b:vec3f,r:f32}
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@@ -3146,16 +3156,16 @@ fn capsuleBox(A:Capsule,B:Box,q:vec4f,sat:ptr<function,Sat>)->Found{
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3146
3156
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if(ends.count==2u){return ends;}
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addFound(&found,B.c+qrotate(q,center)+n*A.r,B.c+qrotate(q,onBox),4u<<24u);return found;
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}
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-
`;function
|
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3150
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-
fn narrowphase`;if(!o.includes(e))throw Error("Pinned capsule narrowphase layout changed");let t=o.includes("struct Poly");t&&(o=o.replace(e,
|
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3151
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-
`+e)),o=o.replace(e,
|
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3159
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+
`;function wn(o){if(o.includes("fn capsuleOf"))throw Error("Capsule collision kernel installed twice");let e=`@compute @workgroup_size(64)
|
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+
fn narrowphase`;if(!o.includes(e))throw Error("Pinned capsule narrowphase layout changed");let t=o.includes("struct Poly");t&&(o=o.replace(e,nc+`
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3161
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+
`+e)),o=o.replace(e,An+`
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3152
3162
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`+e);let i=t?" else if(isHull(b)){found=capsulePoly(capsuleOf(a),polyOf(b),&sat);}":"",r=t?" else if(isHull(a)){found=capsulePoly(capsuleOf(b),polyOf(a),&sat);}":"";return o.replace("let anySphere = sphereA || sphereB;","let anySphere = sphereA || sphereB || capsuleA || capsuleB;").replace(" if (sphereA && sphereB) {",` let capsuleA=bodies[a].angVel.w == -1.;let capsuleB=bodies[b].angVel.w == -1.;
|
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3153
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if(capsuleA || capsuleB){
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3154
3164
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if(capsuleA && capsuleB){found=capsuleCapsule(capsuleOf(a),capsuleOf(b),&sat);}
|
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3155
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|
else if(capsuleA){if(sphereB){found=capsuleSphere(capsuleOf(a),B.c,B.h.x,&sat);}${i} else{found=capsuleBox(capsuleOf(a),B,bodies[b].rot,&sat);}}
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3156
3166
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else{if(sphereA){found=capsuleSphere(capsuleOf(b),A.c,A.h.x,&sat);}${r} else{found=capsuleBox(capsuleOf(b),A,bodies[a].rot,&sat);}
|
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3157
3167
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sat.n=-sat.n;for(var c=0u;c<found.count;c++){let p=found.xA[c];found.xA[c]=found.xB[c];found.xB[c]=p;}}
|
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3158
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-
} else if (sphereA && sphereB) {`)}var
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3168
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+
} else if (sphereA && sphereB) {`)}var nc=`
|
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fn capPolyAxis(A:Capsule,P:Poly,axis:vec3f,best:ptr<function,f32>,normal:ptr<function,vec3f>)->bool{
|
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3160
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let l=length(axis);if(l<1.e-8){return true;}let n=axis/l;
|
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3161
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let lo=min(dot(A.a,n),dot(A.b,n))-A.r;let hi=max(dot(A.a,n),dot(A.b,n))+A.r;
|
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@@ -3187,7 +3197,7 @@ fn capsulePoly(A:Capsule,P:Poly,sat:ptr<function,Sat>)->Found{
|
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3187
3197
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}
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3188
3198
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(*sat).n=n;addFound(&found,points.a+n*A.r,points.b,4u<<24u);return found;
|
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}
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3190
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-
`;var
|
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3200
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+
`;var qo=`// GPU queries against current poses. Rounded box/hull sweeps test offset faces
|
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3191
3201
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// and rounded edges, so expanding a bounding box cannot create corner hits.
|
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3192
3202
|
struct Query { origin:vec4f, direction:vec4f }
|
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3193
3203
|
struct Params { head:vec4u, flags:vec4u, ignored:array<vec4u,4> }
|
|
@@ -3341,9 +3351,88 @@ fn nearest(@builtin(global_invocation_id) id:vec3u){if(id.x>=params.head.x||igno
|
|
|
3341
3351
|
fn owner(@builtin(global_invocation_id) id:vec3u){if(id.x>=params.head.x||ignored(id.x)){return;}let h=trace(id.x,queries[id.y]);if(h.t>=0.&&bitcast<u32>(max(0.,h.t))==atomicLoad(&best[id.y*2u])){atomicMin(&best[id.y*2u+1u],id.x);}}
|
|
3342
3352
|
@compute @workgroup_size(64)
|
|
3343
3353
|
fn finish(@builtin(global_invocation_id) id:vec3u){if(id.x>=params.head.y){return;}let index=atomicLoad(&best[id.x*2u+1u]);if(index==0xffffffffu){hits[id.x*2u]=vec4f(0.,0.,0.,-1.);return;}let h=trace(index,queries[id.x]);hits[id.x*2u]=vec4f(h.n,max(0.,h.t));hits[id.x*2u+1u]=vec4f(bitcast<f32>(index),0.,0.,0.);}
|
|
3344
|
-
`;var Dt=class{constructor(e,t=3){this.solver=e,this.dimension=t,this.jobs=new Set,this.idle=[],this.destroyed=!1;let i=e.device,r=i.createShaderModule({label:`AVBD ${t}D queries`,code:t===2?Oo.replace("const DIM=3u;","const DIM=2u;").replace("const STRIDE=10u;","const STRIDE=6u;"):Oo});this.layout=i.createBindGroupLayout({entries:["read-only-storage","read-only-storage","read-only-storage","storage","storage","uniform","read-only-storage"].map((a,n)=>({binding:n,visibility:GPUShaderStage.COMPUTE,buffer:{type:a}}))});let s=i.createPipelineLayout({bindGroupLayouts:[this.layout]});this.pipes=Object.fromEntries(["nearest","owner","finish"].map(a=>[a,i.createComputePipeline({layout:s,compute:{module:r,entryPoint:a}})])),this.dummy=i.createBuffer({size:16,usage:GPUBufferUsage.STORAGE})}acquire(e){if(this.destroyed)throw Error("GPU queries have been destroyed");let t=this.idle.findIndex(r=>r.capacity>=e),i=t>=0?this.idle.splice(t,1)[0]:this.idle.pop()??{};if(!i.capacity||i.capacity<e){let r=Math.min(65535,Math.max(e,(i.capacity??0)*2,16));for(let[s,a,n]of[["queryBuffer",r*32,GPUBufferUsage.STORAGE],["best",r*8,GPUBufferUsage.STORAGE],["hits",r*32,GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_SRC],["uniform",96,GPUBufferUsage.UNIFORM],["read",r*32,GPUBufferUsage.MAP_READ]])i[s]?.destroy(),i[s]=this.solver.device.createBuffer({size:a,usage:n|GPUBufferUsage.COPY_DST});i.capacity=r,i.buffers=null,i.data=new Float32Array(r*8),i.initial=new Uint32Array(r*2),i.params=new Uint32Array(24)}return this.jobs.add(i),i}release(e){if(e.read.unmap(),!this.destroyed&&e.capacity*104<=2*1024*1024&&this.idle.length<2)this.idle.push(e);else{for(let t of["queryBuffer","best","hits","uniform","read"])e[t].destroy();this.jobs.delete(e)}}async cast(e,{ignore:t=[],collidesWith:i=4294967295,includeTriggers:r=!0}={}){if(this.destroyed)throw Error("GPU queries have been destroyed");let s=this.solver,a=s.device,n=this.dimension;if(!Number.isInteger(i)||i<0||i>4294967295)throw Error("Query mask must be an unsigned 32-bit integer");if(typeof r!="boolean")throw Error("includeTriggers must be boolean");if(t.length>16||t.some(u=>!Number.isInteger(u)||u<0||u>=s.bodyCount))throw Error("Queries can ignore up to 16 live body indices");if(e.length>Math.min(65535,a.limits.maxComputeWorkgroupsPerDimension))throw Error("Too many queries in one batch");let l=e.map(u=>{let d=Array.from(u.origin),h=Array.from(u.direction),m=u.radius??0,p=u.maxDistance??3e38;if(d.length!==n||h.length!==n||![...d,...h].every(Number.isFinite)||Math.hypot(...h)===0)throw Error(`A query requires ${n} finite components and a nonzero direction`);if(!Number.isFinite(m)||m<0||!Number.isFinite(p)||p<0)throw Error("Query radius and maximum distance must be finite and nonnegative");let b=Math.hypot(...h);return{origin:d,direction:h.map(y=>y/b),radius:m,maxDistance:p}});if(!l.length)return[];let c=l.length,f=this.acquire(c);try{let u=f.data;l.forEach((k,z)=>{u.set([...k.origin,...Array(3-n).fill(0),k.maxDistance,...k.direction,...Array(3-n).fill(0),k.radius],z*8)});let d=f.params;d.fill(0),d.set([s.bodyCount,c,t.length,i,r?0:1,n===3||s.filters?1:0,s.sensorsEnabled?1:0,n===2&&s.shapeBuffer?1:0]),d.set(t,8);let h=f.initial;for(let k=0;k<c;k++)h.set([2139095040,4294967295],k*2);let{queryBuffer:m,best:p,hits:b,uniform:y,read:A}=f;a.queue.writeBuffer(m,0,u.buffer,0,c*32),a.queue.writeBuffer(p,0,h.buffer,0,c*8),a.queue.writeBuffer(y,0,d);let w=[s.bodyBuffer,n===3?s.hullStorage:s.shapeBuffer??this.dummy,m,p,b,y,n===3?s.filterStorage:s.filters??this.dummy];(!f.buffers||w.some((k,z)=>k!==f.buffers[z]))&&(f.group=a.createBindGroup({layout:this.layout,entries:w.map((k,z)=>({binding:z,resource:{buffer:k}}))}),f.buffers=w);let g=a.createCommandEncoder(),x=g.beginComputePass();x.setBindGroup(0,f.group);for(let k of["nearest","owner"])x.setPipeline(this.pipes[k]),x.dispatchWorkgroups(Math.ceil(s.bodyCount/64),c);x.setPipeline(this.pipes.finish),x.dispatchWorkgroups(Math.ceil(c/64)),x.end(),g.copyBufferToBuffer(b,0,A,0,c*32),a.queue.submit([g.finish()]),await A.mapAsync(GPUMapMode.READ,0,c*32);let v=A.getMappedRange(0,c*32),B=new Float32Array(v),E=new Uint32Array(v);return l.map((k,z)=>{let M=B[z*8+3];if(M<0)return null;let P=Array.from(B.slice(z*8,z*8+n)),_=k.origin.map((S,C)=>S+M*k.direction[C]);return{index:E[z*8+4],distance:M,normal:P,center:_,point:_.map((S,C)=>S-k.radius*P[C])}})}finally{this.release(f)}}destroy(){this.destroyed=!0;for(let e of this.jobs)for(let t of["queryBuffer","best","hits","uniform","read"])e[t].destroy();this.jobs.clear(),this.idle.length=0,this.dummy.destroy()}};function is(o,e){let t=this.passConstantCache??={alphas:[]},i=t.iterations!==o||t.colors!==this.colorCap||t.buffer!==this.passBuffer||!this.passGroup;for(let n=0;n<o;n++){let l=typeof e=="function"?e(n):e;t.alphas[n]!==l&&(i=!0),t.alphas[n]=l}if(!i)return;let r=this.colorCap+1,s=Math.max(o*r,1),a=s*256;(s>this.passEntries||!this.passGroup)&&(this.passBuffer?.destroy(),this.passBuffer=this.device.createBuffer({label:"AVBD pass constants",size:a,usage:GPUBufferUsage.UNIFORM|GPUBufferUsage.COPY_DST}),this.passEntries=s,this.passGroup=this.device.createBindGroup({layout:this.layouts.pass,entries:[{binding:0,resource:{buffer:this.passBuffer,size:16}}]})),(!t.data||t.data.byteLength<a)&&(t.data=new ArrayBuffer(Math.max(a,(t.data?.byteLength??0)*2)),t.u32=new Uint32Array(t.data),t.f32=new Float32Array(t.data));for(let n=0;n<o;n++)for(let l=0;l<=this.colorCap;l++){let c=(n*r+l)*256/4;t.u32[c]=l,t.f32[c+1]=t.alphas[n]}this.device.queue.writeBuffer(this.passBuffer,0,t.data,0,a),t.iterations=o,t.colors=this.colorCap,t.buffer=this.passBuffer,t.uploads=(t.uploads??0)+1}var Ni=class extends $r{writePassConstants(e,t){is.call(this,e,t)}constructor(e,t,i={}){let r=t.forces.some(u=>Io(u)),s=t.forces.some(u=>{let d=Lo(u);return d&&(Number.isFinite(d.breakStrain)||Number.isFinite(d.breakForce))}),a={requested:i.solverMode??"auto",contactScheduling:i.contactScheduling??"manifolds",custom:!!i.shaders?.solve},n=Di({...a,bodyCount:t.bodies.length,constraintCount:t.forces.filter(u=>u instanceof Ae||u instanceof ct).length}),l=n.selected==="custom"?i.shaders.solve:n.selected==="optimized"?ur:n.selected==="points"?Xr:void 0,c=i.broadphase??"auto";if(!["grid","hploc","auto"].includes(c))throw Error("broadphase must be 'grid', 'hploc' or 'auto'");let f=i.bvh?.rebuildInterval??64;if(!Number.isInteger(f)||f<1)throw Error("BVH rebuildInterval must be a positive integer");for(let[u,d]of[["minimumColors",64],["minimumColorRounds",32]]){let h=i[u]??0;if(!Number.isInteger(h)||h<0||h>d)throw Error(`${u} must be an integer between 0 and ${d}`);if(u==="minimumColorRounds"&&h%2)throw Error("minimumColorRounds must be even")}super(e,t,{...i,shaders:{...i.shaders,solve:So(Co(r?Ro(s?Qr(l??ke):l??ke):s?Qr(l??ke):l??ke))}}),this.solverPolicy=a,this.springFracture=s,this.angularConstraints=r,this.customSolveSource=i.shaders?.solve,t.forces.forEach((u,d)=>{let h=Lo(u);h&&this.setSpringMaterial(d,h)}),this.adaptiveScheduling=i.adaptiveScheduling??!0,this.defaultPrimalLanes=[...this.primalLanes],this.cacheAdjacencyKeys=i.cacheAdjacencyKeys,this.adjacencyPipelines={original:this.pipes.sortAdjacency},this.selectAdjacencyPipeline(),this.solverDecision=n,this.solvePipelineCache=new Map([[n.selected,Object.fromEntries(["warmStartJoints","warmStartBodies","primal","dual","updateVelocities"].map(u=>[u,this.pipes[u]]))]]),this.minimumColors=i.minimumColors??0,this.minimumColorRounds=i.minimumColorRounds??4,this.colorCap=Math.max(this.minimumColors,this.colorCap),this.colorRounds=Math.max(this.minimumColorRounds,this.colorRounds),this.broadphaseRequested=c,this.broadphase=c==="hploc"?"hploc":"grid",this.bvhOptions=i.bvh??{},this.bvh=null,this.detailCallback=null,this.detailTiming=null,this.profileErrors=[],this.selectBroadphase(),t.forces.forEach((u,d)=>{let h=Io(u);h&&this.setAngularConstraint(d,h)}),t.bodies.forEach((u,d)=>{es(u)&&this.installCapsule(this.gpuIndex(d))})}installCapsule(e){if(!this.capsulesEnabled){if(this.contactShaders.custom)throw Error("Analytic capsules require the built-in contact kernel");this.capsulesEnabled=!0;let t=this.contactShaders.make;this.contactShaders.make=i=>t(cn(i)),this.contactShaders.make(lr(this.hullShaders??!1))}this.device.queue.writeBuffer(this.bodyBuffer,e*160+156,new Float32Array([-1]))}async raycast(e,t,i={}){let[r]=await this.raycastAll([{origin:e,direction:t,maxDistance:i.maxDistance}],i);return r}raycastAll(e,t={}){return this.flushPropertyEdits(),this.shapeQueries??=new Dt(this),this.shapeQueries.cast(e.map(i=>({...i,radius:0})),t)}async sphereCast(e,t,i,r={}){let[s]=await this.sphereCastAll([{origin:e,radius:t,direction:i,maxDistance:r.maxDistance}],r);return s}sphereCastAll(e,t={}){return this.flushPropertyEdits(),this.shapeQueries??=new Dt(this),this.shapeQueries.cast(e,t)}selectBroadphase(){if(this.broadphaseRequested!=="auto"){this.broadphaseDecision={requested:this.broadphaseRequested,selected:this.broadphase,reason:"Explicit selection"};return}let e=new Float64Array(this.bodyCount),t=0,i=0,r=0;for(let d=0;d<this.bodyCount;d++){let h=this.bodies[d];if(h.radius>0&&(e[t++]=h.radius),h.dynamic){i++;let[m,p,b]=h.size,y=Math.min(m,p,b),A=Math.max(m,p,b),w=m+p+b-y-A;!h.sphere&&!h.hull&&y<=.4*w&&w>=.5*A&&r++}}let s=t?Wr(e.subarray(0,t),t>>1):1,a=this.cellSize/(2*s),n=this.jointCount-this.freeSlots.length,l=i?r/i:0,c=this.bodyCapacity<=16*this.device.limits.maxComputeWorkgroupsPerDimension&&(2*this.bodyCapacity+16*Math.ceil(Math.log2(Math.max(2,this.bodyCapacity)))+32)*32<=this.device.limits.maxStorageBufferBindingSize,f=n>=this.bodyCount&&l>=.25,u=c&&this.bodyCount>=1e4&&(a>=4||f);this.broadphase=u?"hploc":"grid",this.broadphaseDecision={requested:"auto",selected:this.broadphase,bodyCount:this.bodyCount,cellRatio:a,constraintCount:n,thinPlateFraction:l,reason:c?u?f?"Many linked thin plates; the tree avoids empty grid-cell space":"Large grid cells contain many smaller objects":"Grid retained for this body count and size distribution":"The GPU tree exceeds this adapter's limits; the grid is used"}}step(){this.selectAdjacencyPipeline(),this.selectSolver(),this.radiiDirty&&(this.uploadStatics(),this.selectBroadphase()),this.broadphaseRequested==="auto"&&this.broadphaseDecision.constraintCount!==this.jointCount-this.freeSlots.length&&this.selectBroadphase(),this.broadphase==="grid"&&this.bvh&&(this.bvh.destroy(),this.bvh=null),this.broadphase==="hploc"&&(!this.bvh||this.bvh.bodyBuffer!==this.bodyBuffer)&&(this.bvh?.destroy(),this.bvh=new Zr(this.device,this,this.bvhOptions)),this.bvh||this.detailCallback||this.sleeping||this.restitution?.active.size||this.bodyCommands?.pending.size||this.propertyEdits?.pending||this.externalBeforeStep?Qa(this):super.step()}encodeStepPrelude(e){this.flushPropertyEdits(e),this.sleeping?.before(e),this.bodyCommands?.flush(e),this.externalBeforeStep?.(e),this.restitution?.before(e)}encodeStepPostlude(e){this.restitution?.after(e),this.sleeping?.after(e),this.externalAfterStep?.(e)}setRestitution(e,t){if(this.destroyed)throw Error("The 3D solver has been destroyed");if(!Number.isInteger(e)||e<0||e>=this.bodyCount||!Number.isFinite(t)||t<0||t>1)throw Error("Restitution requires a live body index and a value between 0 and 1");t>0&&!this.restitution&&(this.restitution=new Gi(this)),this.restitution?.set(e,t),this.wakeAll()}setSolverMode(e){return Di({...this.solverPolicy,requested:e,bodyCount:this.bodyCount}),this.solverPolicy.requested=e,this.selectSolver(),this.solverDecision}solveSource(e){return this.springFracture&&(e=Qr(e)),this.angularConstraints&&(e=Ro(e)),this.sensorsEnabled&&(e=tn(e)),So(Co(e))}setAngularConstraint(e,t){if(!Number.isInteger(e)||e<0||e>=this.jointCount)throw Error("Angular constraint needs a live slot");let i=gt(t);this.flushPropertyEdits(),this.angularConstraints||(this.angularConstraints=!0,this.rebuildSolvePipelines());let r=new Float32Array(32);r[0]=r[1]=1e3,r[3]=3e38,r.set(i.axisA,24),r.set(i.axisB,28),r[27]=i.type==="motor"?i.speed:i.minAngle,r[31]=i.type==="motor"?i.maxTorque:i.maxAngle,this.device.queue.writeBuffer(this.jointBuffer,e*128,r),this.info[e*4]=i.type==="motor"?3:4,this.device.queue.writeBuffer(this.infoBuffer,e*16,this.info.subarray(e*4,e*4+4)),this.captureAngularFrames([e]),this.wakeAll()}captureAngularFrames(e){if(!e.length)return;this.flushPropertyEdits();let t=this.device;this.angularFramePipeline??=t.createComputePipeline({layout:"auto",compute:{module:t.createShaderModule({code:`const DISPATCH_STRIDE = ${t.limits.maxComputeWorkgroupsPerDimension*64}u;
|
|
3345
|
-
|
|
3346
|
-
|
|
3354
|
+
`;var Nt=class{constructor(e,t=3){this.solver=e,this.dimension=t,this.jobs=new Set,this.idle=[],this.destroyed=!1;let i=e.device,r=i.createShaderModule({label:`AVBD ${t}D queries`,code:t===2?qo.replace("const DIM=3u;","const DIM=2u;").replace("const STRIDE=10u;","const STRIDE=6u;"):qo});this.layout=i.createBindGroupLayout({entries:["read-only-storage","read-only-storage","read-only-storage","storage","storage","uniform","read-only-storage"].map((a,n)=>({binding:n,visibility:GPUShaderStage.COMPUTE,buffer:{type:a}}))});let s=i.createPipelineLayout({bindGroupLayouts:[this.layout]});this.pipes=Object.fromEntries(["nearest","owner","finish"].map(a=>[a,i.createComputePipeline({layout:s,compute:{module:r,entryPoint:a}})])),this.dummy=i.createBuffer({size:16,usage:GPUBufferUsage.STORAGE})}acquire(e){if(this.destroyed)throw Error("GPU queries have been destroyed");let t=this.idle.findIndex(r=>r.capacity>=e),i=t>=0?this.idle.splice(t,1)[0]:this.idle.pop()??{};if(!i.capacity||i.capacity<e){let r=Math.min(65535,Math.max(e,(i.capacity??0)*2,16));for(let[s,a,n]of[["queryBuffer",r*32,GPUBufferUsage.STORAGE],["best",r*8,GPUBufferUsage.STORAGE],["hits",r*32,GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_SRC],["uniform",96,GPUBufferUsage.UNIFORM],["read",r*32,GPUBufferUsage.MAP_READ]])i[s]?.destroy(),i[s]=this.solver.device.createBuffer({size:a,usage:n|GPUBufferUsage.COPY_DST});i.capacity=r,i.buffers=null,i.data=new Float32Array(r*8),i.initial=new Uint32Array(r*2),i.params=new Uint32Array(24)}return this.jobs.add(i),i}release(e){if(e.read.unmap(),!this.destroyed&&e.capacity*104<=2*1024*1024&&this.idle.length<2)this.idle.push(e);else{for(let t of["queryBuffer","best","hits","uniform","read"])e[t].destroy();this.jobs.delete(e)}}async cast(e,{ignore:t=[],collidesWith:i=4294967295,includeTriggers:r=!0}={}){if(this.destroyed)throw Error("GPU queries have been destroyed");let s=this.solver,a=s.device,n=this.dimension;if(!Number.isInteger(i)||i<0||i>4294967295)throw Error("Query mask must be an unsigned 32-bit integer");if(typeof r!="boolean")throw Error("includeTriggers must be boolean");if(t.length>16||t.some(u=>!Number.isInteger(u)||u<0||u>=s.bodyCount))throw Error("Queries can ignore up to 16 live body indices");if(e.length>Math.min(65535,a.limits.maxComputeWorkgroupsPerDimension))throw Error("Too many queries in one batch");let l=e.map(u=>{let d=Array.from(u.origin),p=Array.from(u.direction),m=u.radius??0,h=u.maxDistance??3e38;if(d.length!==n||p.length!==n||![...d,...p].every(Number.isFinite)||Math.hypot(...p)===0)throw Error(`A query requires ${n} finite components and a nonzero direction`);if(!Number.isFinite(m)||m<0||!Number.isFinite(h)||h<0)throw Error("Query radius and maximum distance must be finite and nonnegative");let b=Math.hypot(...p);return{origin:d,direction:p.map(y=>y/b),radius:m,maxDistance:h}});if(!l.length)return[];let c=l.length,f=this.acquire(c);try{let u=f.data;l.forEach((k,z)=>{u.set([...k.origin,...Array(3-n).fill(0),k.maxDistance,...k.direction,...Array(3-n).fill(0),k.radius],z*8)});let d=f.params;d.fill(0),d.set([s.bodyCount,c,t.length,i,r?0:1,n===3||s.filters?1:0,s.sensorsEnabled?1:0,n===2&&s.shapeBuffer?1:0]),d.set(t,8);let p=f.initial;for(let k=0;k<c;k++)p.set([2139095040,4294967295],k*2);let{queryBuffer:m,best:h,hits:b,uniform:y,read:v}=f;a.queue.writeBuffer(m,0,u.buffer,0,c*32),a.queue.writeBuffer(h,0,p.buffer,0,c*8),a.queue.writeBuffer(y,0,d);let B=[s.bodyBuffer,n===3?s.hullStorage:s.shapeBuffer??this.dummy,m,h,b,y,n===3?s.filterStorage:s.filters??this.dummy];(!f.buffers||B.some((k,z)=>k!==f.buffers[z]))&&(f.group=a.createBindGroup({layout:this.layout,entries:B.map((k,z)=>({binding:z,resource:{buffer:k}}))}),f.buffers=B);let g=a.createCommandEncoder(),A=g.beginComputePass();A.setBindGroup(0,f.group);for(let k of["nearest","owner"])A.setPipeline(this.pipes[k]),A.dispatchWorkgroups(Math.ceil(s.bodyCount/64),c);A.setPipeline(this.pipes.finish),A.dispatchWorkgroups(Math.ceil(c/64)),A.end(),g.copyBufferToBuffer(b,0,v,0,c*32),a.queue.submit([g.finish()]),await v.mapAsync(GPUMapMode.READ,0,c*32);let x=v.getMappedRange(0,c*32),w=new Float32Array(x),E=new Uint32Array(x);return l.map((k,z)=>{let M=w[z*8+3];if(M<0)return null;let P=Array.from(w.slice(z*8,z*8+n)),_=k.origin.map((C,S)=>C+M*k.direction[S]);return{index:E[z*8+4],distance:M,normal:P,center:_,point:_.map((C,S)=>C-k.radius*P[S])}})}finally{this.release(f)}}destroy(){this.destroyed=!0;for(let e of this.jobs)for(let t of["queryBuffer","best","hits","uniform","read"])e[t].destroy();this.jobs.clear(),this.idle.length=0,this.dummy.destroy()}};function as(o,e){let t=this.passConstantCache??={alphas:[]},i=t.iterations!==o||t.colors!==this.colorCap||t.buffer!==this.passBuffer||!this.passGroup;for(let n=0;n<o;n++){let l=typeof e=="function"?e(n):e;t.alphas[n]!==l&&(i=!0),t.alphas[n]=l}if(!i)return;let r=this.colorCap+1,s=Math.max(o*r,1),a=s*256;(s>this.passEntries||!this.passGroup)&&(this.passBuffer?.destroy(),this.passBuffer=this.device.createBuffer({label:"AVBD pass constants",size:a,usage:GPUBufferUsage.UNIFORM|GPUBufferUsage.COPY_DST}),this.passEntries=s,this.passGroup=this.device.createBindGroup({layout:this.layouts.pass,entries:[{binding:0,resource:{buffer:this.passBuffer,size:16}}]})),(!t.data||t.data.byteLength<a)&&(t.data=new ArrayBuffer(Math.max(a,(t.data?.byteLength??0)*2)),t.u32=new Uint32Array(t.data),t.f32=new Float32Array(t.data));for(let n=0;n<o;n++)for(let l=0;l<=this.colorCap;l++){let c=(n*r+l)*256/4;t.u32[c]=l,t.f32[c+1]=t.alphas[n]}this.device.queue.writeBuffer(this.passBuffer,0,t.data,0,a),t.iterations=o,t.colors=this.colorCap,t.buffer=this.passBuffer,t.uploads=(t.uploads??0)+1}var Vo=new WeakMap;function ns(o){return Vo.get(o)}function Bn(o,e){e?Vo.set(o,Object.freeze({...e})):Vo.delete(o)}function Wo(o){let e=o.indexOf("/** A partial system per body slot handed between lanes (primal). */"),t=o.indexOf("fn accumulate(",e),i=o.lastIndexOf("/**",t);if(e<0||t<0||i<=e)throw Error("3D primal layout changed; review the compatibility kernel");return o.slice(0,e)+`
|
|
3355
|
+
@compute @workgroup_size(64)
|
|
3356
|
+
fn primal(@builtin(global_invocation_id) gid: vec3u) {
|
|
3357
|
+
let start = color[params.colorStartOffset + pc.color];
|
|
3358
|
+
let count = color[params.colorStartOffset + pc.color + 1u] - start;
|
|
3359
|
+
if (gid.x >= count || !solverStepValid()) { return; }
|
|
3360
|
+
let i = color[params.colorBodiesOffset + start + gid.x];
|
|
3361
|
+
finishBody(i, accumulate(i, 0u, 1u));
|
|
3362
|
+
}
|
|
3363
|
+
|
|
3364
|
+
`+o.slice(i)}function qt(o,e,t){if(o.split(e).length!==2)throw Error("3D contact layout changed; review the compatibility kernel");return o.replace(e,t)}function ls(o,e,t){let i=new RegExp(`struct ${e} \\{[^}]*\\}`,"g");if([...o.matchAll(i)].length!==1)throw Error(`Expected one 3D ${e} layout`);return o.replace(i,t)}function Cn(o,e,t){let i=`fn ${e}(`;if(o.split(i).length!==2)throw Error(`Expected one 3D ${e} function`);let r=o.indexOf(i),a=o.indexOf("{",r)+1,n=1;for(;a<o.length&&n;a++)o[a]==="{"&&n++,o[a]==="}"&&n--;if(n)throw Error(`Incomplete 3D ${e} function`);return o.slice(0,r)+t(o.slice(r,a))+o.slice(a)}function Ho(o){o=ls(o,"PairBody",`struct PairBody {
|
|
3365
|
+
ids: vec4u,
|
|
3366
|
+
rot: vec4f,
|
|
3367
|
+
dLin: vec4f,
|
|
3368
|
+
dAng: vec4f,
|
|
3369
|
+
}`),o=qt(o,"return PairBody(i, rot, bodies[i].pos.xyz - bodies[i].initialPos.xyz, qsub(rot, bodies[i].initialRot));","return PairBody(vec4u(i, 0u, 0u, 0u), rot, vec4f(bodies[i].pos.xyz - bodies[i].initialPos.xyz, 0.0), vec4f(qsub(rot, bodies[i].initialRot), 0.0));"),o=o.replace(/\b(A|B)\.index\b/g,"$1.ids.x").replace(/\b(A|B)\.(dLin|dAng)\b/g,"$1.$2.xyz"),o=ls(o,"Contact",`struct Contact {
|
|
3370
|
+
anchorA: vec4u, // xyz: float bits, w: integer feature key
|
|
3371
|
+
anchorB: vec4f, // xyz: anchor, w: normal error
|
|
3372
|
+
penalty: vec4f, // xyz: penalties, w: first tangent error
|
|
3373
|
+
force: vec4f, // xyz: forces, w: second tangent error
|
|
3374
|
+
}`);let e={rA:"bitcast<vec3f>(k.anchorA.xyz)",rB:"k.anchorB.xyz",key:"k.anchorA.w",c0x:"k.anchorB.w",c0y:"k.penalty.w",c0z:"k.force.w",pen:"k.penalty.xyz",lam:"k.force.xyz"};for(let t of["evalContact","accumulate","dualManifold"])o=Cn(o,t,i=>i.replace(/\bk\.(rA|rB|key|c0x|c0y|c0z|pen|lam)\b/g,(r,s)=>e[s]));return o=qt(o,"contacts[c].lam = e.F;","contacts[c].force = vec4f(e.F, k.force.w);"),o=qt(o,"contacts[c].key =","contacts[c].anchorA.w ="),o=qt(o,"contacts[c].pen = pen;","contacts[c].penalty = vec4f(pen, k.penalty.w);"),o=Cn(o,"evalContact",t=>{t=qt(t,` var e: ContactEval;
|
|
3375
|
+
`,""),t=qt(t," e.rAW ="," let rAW ="),t=qt(t," e.rBW ="," let rBW ="),t=t.replaceAll("e.rAW","rAW").replaceAll("e.rBW","rBW"),t=qt(t," e.C ="," let C =");let i=t.indexOf(" var F ="),r=t.indexOf(" return e;",i);if(i<0||r<0)throw Error("Expected 3D contact force projection");return t.slice(0,i)+` let raw = k.penalty.xyz * C + k.force.xyz;
|
|
3376
|
+
let normalForce = select(0.0, raw.x, raw.x < 0.0);
|
|
3377
|
+
let bounds = abs(normalForce) * friction;
|
|
3378
|
+
let frictionScale = length(raw.yz);
|
|
3379
|
+
var scale = 1.0;
|
|
3380
|
+
if (frictionScale > bounds && frictionScale > 0.0) {
|
|
3381
|
+
scale = bounds / frictionScale;
|
|
3382
|
+
}
|
|
3383
|
+
let force = vec3f(normalForce, raw.yz * scale);
|
|
3384
|
+
return ContactEval(vec4f(rAW, 0.0), vec4f(rBW, 0.0),
|
|
3385
|
+
vec4f(C, 0.0), vec4f(force, 0.0), vec4f(frictionScale, bounds, 0.0, 0.0));
|
|
3386
|
+
}`}),o=ls(o,"ContactEval",`struct ContactEval {
|
|
3387
|
+
rAW: vec4f,
|
|
3388
|
+
rBW: vec4f,
|
|
3389
|
+
C: vec4f,
|
|
3390
|
+
F: vec4f,
|
|
3391
|
+
limits: vec4f, // x: tangent force length, y: Coulomb bound
|
|
3392
|
+
}`),o=o.replace(/\b(ev|e)\.(rAW|rBW|C|F)\b/g,"$1.$2.xyz").replace(/\be\.frictionScale\b/g,"e.limits.x").replace(/\be\.bounds\b/g,"e.limits.y"),o=ls(o,"PassConstants","struct PassConstants { data: vec4u, }"),o.replaceAll("pc.color","pc.data.x").replaceAll("pc.alpha","bitcast<f32>(pc.data.y)")}function Jo(o){if(!o.includes("struct Poly"))return o;let e=`@compute @workgroup_size(64)
|
|
3393
|
+
fn narrowphase(@builtin(global_invocation_id) gid: vec3u)`;if(o.split(e).length!==2)throw Error("3D hull narrowphase changed; review the compatibility kernel");return o.replace(e,"fn narrowphasePair(gid: vec3u)")+`
|
|
3394
|
+
@compute @workgroup_size(32)
|
|
3395
|
+
fn narrowphase(@builtin(global_invocation_id) gid: vec3u) {
|
|
3396
|
+
for (var offset = 0u; offset < 2u; offset++) {
|
|
3397
|
+
narrowphasePair(vec3u(gid.x * 2u + offset, 0u, 0u));
|
|
3398
|
+
}
|
|
3399
|
+
}
|
|
3400
|
+
`}var Vt=class extends Zr{writePassConstants(e,t){as.call(this,e,t)}constructor(e,t,i={}){let r=ns(e),s=i.scalarPrimal??r?.scalarPrimal??!1,a=i.portableContactMath??r?.portableContactMath??!1,n=t.forces.some(b=>Uo(b)),l=t.forces.some(b=>{let y=Oo(b);return y&&(Number.isFinite(y.breakStrain)||Number.isFinite(y.breakForce))}),c={requested:i.solverMode??"auto",contactScheduling:i.contactScheduling??"manifolds",custom:!!i.shaders?.solve},f=qi({...c,bodyCount:t.bodies.length,constraintCount:t.forces.filter(b=>b instanceof we||b instanceof ct).length}),u=f.selected==="custom"?i.shaders.solve:f.selected==="optimized"?pr:f.selected==="points"?es:void 0,d=r?.broadphase??i.broadphase??"auto";if(!["grid","hploc","auto"].includes(d))throw Error("broadphase must be 'grid', 'hploc' or 'auto'");let p=i.bvh?.rebuildInterval??64;if(!Number.isInteger(p)||p<1)throw Error("BVH rebuildInterval must be a positive integer");for(let[b,y]of[["minimumColors",64],["minimumColorRounds",32]]){let v=i[b]??0;if(!Number.isInteger(v)||v<0||v>y)throw Error(`${b} must be an integer between 0 and ${y}`);if(b==="minimumColorRounds"&&v%2)throw Error("minimumColorRounds must be even")}let m=zo(Mo(n?No(l?is(u??be):u??be):l?is(u??be):u??be));s&&(m=Wo(m)),a&&(m=Ho(m));let h=a&&!i.shaders?.contacts&&i.hulls!==!1&&e.limits.maxStorageBuffersPerShaderStage>=9&&t.bodies.some(b=>Dr(b));if(super(e,t,{...i,shaders:{...i.shaders,contacts:h?Jo(ui(!0)):i.shaders?.contacts,solve:m}}),this.solverPolicy=c,this.scalarPrimal=s,this.portableContactMath=a,s&&(this.primalLanes=[1,1,1]),this.dispatchIsolation=r?.dispatchIsolation??!1,!i.shaders?.contacts){h&&(this.contactShaders.custom=!1,this.hullShaders=!0);let b=this.contactShaders.make;this.contactShaders.make=y=>b(a?Jo(Go(y)):Go(y)),this.contactShaders.make(ui(this.hullShaders??!1)),this.pipes.updateRefs=e.createComputePipeline({label:"Portable contact references",layout:e.createPipelineLayout({bindGroupLayouts:[this.layouts.refs]}),compute:{module:e.createShaderModule({code:gn(Yr)}),entryPoint:"updateRefs"}})}this.springFracture=l,this.angularConstraints=n,this.customSolveSource=i.shaders?.solve,t.forces.forEach((b,y)=>{let v=Oo(b);v&&this.setSpringMaterial(y,v)}),this.adaptiveScheduling=s?!1:i.adaptiveScheduling??!0,this.defaultPrimalLanes=[...this.primalLanes],this.cacheAdjacencyKeys=i.cacheAdjacencyKeys,this.adjacencyPipelines={original:this.pipes.sortAdjacency},this.selectAdjacencyPipeline(),this.solverDecision=f,this.solvePipelineCache=new Map([[f.selected,Object.fromEntries(["warmStartJoints","warmStartBodies","primal","dual","updateVelocities"].map(b=>[b,this.pipes[b]]))]]),this.minimumColors=i.minimumColors??0,this.minimumColorRounds=i.minimumColorRounds??4,this.colorCap=Math.max(this.minimumColors,this.colorCap),this.colorRounds=Math.max(this.minimumColorRounds,this.colorRounds),this.broadphaseRequested=d,this.broadphase=d==="hploc"?"hploc":"grid",this.bvhOptions=i.bvh??{},this.bvh=null,this.detailCallback=null,this.detailTiming=null,this.profileErrors=[],this.selectBroadphase(),t.forces.forEach((b,y)=>{let v=Uo(b);v&&this.setAngularConstraint(y,v)}),t.bodies.forEach((b,y)=>{os(b)&&this.installCapsule(this.gpuIndex(y))})}installCapsule(e){if(!this.capsulesEnabled){if(this.contactShaders.custom)throw Error("Analytic capsules require the built-in contact kernel");this.capsulesEnabled=!0;let t=this.contactShaders.make;this.contactShaders.make=i=>t(wn(i)),this.contactShaders.make(ui(this.hullShaders??!1))}this.device.queue.writeBuffer(this.bodyBuffer,e*160+156,new Float32Array([-1]))}async raycast(e,t,i={}){let[r]=await this.raycastAll([{origin:e,direction:t,maxDistance:i.maxDistance}],i);return r}raycastAll(e,t={}){return this.flushPropertyEdits(),this.shapeQueries??=new Nt(this),this.shapeQueries.cast(e.map(i=>({...i,radius:0})),t)}async sphereCast(e,t,i,r={}){let[s]=await this.sphereCastAll([{origin:e,radius:t,direction:i,maxDistance:r.maxDistance}],r);return s}sphereCastAll(e,t={}){return this.flushPropertyEdits(),this.shapeQueries??=new Nt(this),this.shapeQueries.cast(e,t)}selectBroadphase(){if(this.broadphaseRequested!=="auto"){this.broadphaseDecision={requested:this.broadphaseRequested,selected:this.broadphase,reason:"Explicit selection"};return}let e=new Float64Array(this.bodyCount),t=0,i=0,r=0;for(let d=0;d<this.bodyCount;d++){let p=this.bodies[d];if(p.radius>0&&(e[t++]=p.radius),p.dynamic){i++;let[m,h,b]=p.size,y=Math.min(m,h,b),v=Math.max(m,h,b),B=m+h+b-y-v;!p.sphere&&!p.hull&&y<=.4*B&&B>=.5*v&&r++}}let s=t?Qr(e.subarray(0,t),t>>1):1,a=this.cellSize/(2*s),n=this.jointCount-this.freeSlots.length,l=i?r/i:0,c=this.bodyCapacity<=16*this.device.limits.maxComputeWorkgroupsPerDimension&&(2*this.bodyCapacity+16*Math.ceil(Math.log2(Math.max(2,this.bodyCapacity)))+32)*32<=this.device.limits.maxStorageBufferBindingSize,f=n>=this.bodyCount&&l>=.25,u=c&&this.bodyCount>=1e4&&(a>=4||f);this.broadphase=u?"hploc":"grid",this.broadphaseDecision={requested:"auto",selected:this.broadphase,bodyCount:this.bodyCount,cellRatio:a,constraintCount:n,thinPlateFraction:l,reason:c?u?f?"Many linked thin plates; the tree avoids empty grid-cell space":"Large grid cells contain many smaller objects":"Grid retained for this body count and size distribution":"The GPU tree exceeds this adapter's limits; the grid is used"}}step(){this.selectAdjacencyPipeline(),this.selectSolver(),this.radiiDirty&&(this.uploadStatics(),this.selectBroadphase()),this.broadphaseRequested==="auto"&&this.broadphaseDecision.constraintCount!==this.jointCount-this.freeSlots.length&&this.selectBroadphase(),this.broadphase==="grid"&&this.bvh&&(this.bvh.destroy(),this.bvh=null),this.broadphase==="hploc"&&(!this.bvh||this.bvh.bodyBuffer!==this.bodyBuffer)&&(this.bvh?.destroy(),this.bvh=new ss(this.device,this,this.bvhOptions)),this.dispatchIsolation||this.bvh||this.detailCallback||this.sleeping||this.restitution?.active.size||this.bodyCommands?.pending.size||this.propertyEdits?.pending||this.externalBeforeStep?un(this):super.step()}encodeStepPrelude(e){this.flushPropertyEdits(e),this.sleeping?.before(e),this.bodyCommands?.flush(e),this.externalBeforeStep?.(e),this.restitution?.before(e)}encodeStepPostlude(e){this.restitution?.after(e),this.sleeping?.after(e),this.externalAfterStep?.(e)}setRestitution(e,t){if(this.destroyed)throw Error("The 3D solver has been destroyed");if(!Number.isInteger(e)||e<0||e>=this.bodyCount||!Number.isFinite(t)||t<0||t>1)throw Error("Restitution requires a live body index and a value between 0 and 1");t>0&&!this.restitution&&(this.restitution=new Vi(this)),this.restitution?.set(e,t),this.wakeAll()}setSolverMode(e){return qi({...this.solverPolicy,requested:e,bodyCount:this.bodyCount}),this.solverPolicy.requested=e,this.selectSolver(),this.solverDecision}solveSource(e){return this.springFracture&&(e=is(e)),this.angularConstraints&&(e=No(e)),this.sensorsEnabled&&(e=pn(e)),e=zo(Mo(e)),this.scalarPrimal&&(e=Wo(e)),this.portableContactMath&&(e=Ho(e)),e}setAngularConstraint(e,t){if(!Number.isInteger(e)||e<0||e>=this.jointCount)throw Error("Angular constraint needs a live slot");let i=gt(t);this.flushPropertyEdits(),this.angularConstraints||(this.angularConstraints=!0,this.rebuildSolvePipelines());let r=new Float32Array(32);r[0]=r[1]=1e3,r[3]=3e38,r.set(i.axisA,24),r.set(i.axisB,28),r[27]=i.type==="motor"?i.speed:i.minAngle,r[31]=i.type==="motor"?i.maxTorque:i.maxAngle,this.device.queue.writeBuffer(this.jointBuffer,e*128,r),this.info[e*4]=i.type==="motor"?3:4,this.device.queue.writeBuffer(this.infoBuffer,e*16,this.info.subarray(e*4,e*4+4)),this.captureAngularFrames([e]),this.wakeAll()}captureAngularFrames(e){if(!e.length)return;this.flushPropertyEdits();let t=this.device;this.angularFramePipeline??=t.createComputePipeline({layout:"auto",compute:{module:t.createShaderModule({code:`const DISPATCH_STRIDE = ${t.limits.maxComputeWorkgroupsPerDimension*64}u;
|
|
3401
|
+
${vn.replaceAll("id.x","(id.x+id.y*DISPATCH_STRIDE)")}`}),entryPoint:"capture"}}),this.runCapture("angular",this.angularFramePipeline,Uint32Array.from(e),e.length)}setMotor(e,{speed:t,maxTorque:i}={}){if(this.destroyed)throw Error("The 3D solver has been destroyed");if(this.info[e*4]!==3)throw Error("Motor needs an active motor slot");if(t!==void 0&&!Number.isFinite(t))throw Error("Motor speed must be finite");if(i!==void 0&&(!Number.isFinite(i)||i<0))throw Error("maxTorque must be nonnegative");t!==void 0&&Q(this).float(this.jointBuffer,e*32+27,t),i!==void 0&&Q(this).float(this.jointBuffer,e*32+31,i),this.wakeAll()}rebuildSolvePipelines(){this.solvePipelineCache.clear();let e=this.solverDecision.selected,t=e==="custom"?this.customSolveSource:e==="optimized"?pr:e==="points"?es:be,i=this.device.createShaderModule({code:this.solveSource(t)}),r=this.device.createPipelineLayout({bindGroupLayouts:[this.layouts.solve,this.layouts.pass]}),s=Object.fromEntries(["warmStartJoints","warmStartBodies","primal","dual","updateVelocities"].map(a=>[a,this.device.createComputePipeline({layout:r,compute:{module:i,entryPoint:a}})]));Object.assign(this.pipes,s),this.solvePipelineCache.set(e,s)}setSensor(e,t){if(this.destroyed)throw Error("The 3D solver has been destroyed");if(!Number.isInteger(e)||e<0||e>=this.bodyCount||typeof t!="boolean")throw Error("Sensor requires a live body index and boolean flag");if(t&&!this.sensorsEnabled){this.sensorsEnabled=!0,bn(this),this.rebuildSolvePipelines(),this.contactShaders.make(Do(ui(this.hullShaders??!1)));let i=this.contactShaders.make;this.contactShaders.make=a=>i(Do(a));let r=this.device.createShaderModule({code:mn()}),s=this.device.createPipelineLayout({bindGroupLayouts:[this.layouts.topo]});for(let a of["degreeContacts","fillContacts"])this.pipes[a]=this.device.createComputePipeline({layout:s,compute:{module:r,entryPoint:a}})}this.sensorsEnabled&&Q(this).float(this.bodyBuffer,e*40+11,t?1:0),this.wakeAll()}selectSolver(){let e=this.jointCount-this.freeSlots.length;this.adaptiveScheduling&&this.schedulingDecision?.dense&&(this.bodyCount<25e4||e>0)&&(this.primalLanes=[...this.defaultPrimalLanes],this.schedulingDecision={...this.schedulingDecision,dense:!1,reason:"Threads per body follow solve-group size"});let t=this.solverDecision;if(t.requested===this.solverPolicy.requested&&t.bodyCount===this.bodyCount&&t.constraintCount===e)return;let i=qi({...this.solverPolicy,bodyCount:this.bodyCount,constraintCount:e});if(i.selected!==t.selected){let r=this.solvePipelineCache.get(i.selected);if(!r){let s=i.selected==="optimized"?pr:i.selected==="points"?es:void 0,a=this.device.createShaderModule({code:this.solveSource(s??be)}),n=this.device.createPipelineLayout({bindGroupLayouts:[this.layouts.solve,this.layouts.pass]});r=Object.fromEntries(["warmStartJoints","warmStartBodies","primal","dual","updateVelocities"].map(l=>[l,this.device.createComputePipeline({label:`${i.selected} ${l}`,layout:n,compute:{module:a,entryPoint:l}})])),this.solvePipelineCache.set(i.selected,r)}Object.assign(this.pipes,r)}this.solverDecision=i}profileDetailedNextStep(e){if(!this.device.features.has("timestamp-query")||this.timingBusy||this.timingCallback||this.detailCallback)return!1;let t=2*(9+2*this.params.iterations);return(!this.detailTiming||this.detailTiming.count<t)&&(this.releaseAppTiming(),this.detailTiming={count:t,querySet:this.device.createQuerySet({type:"timestamp",count:t}),resolve:this.device.createBuffer({size:t*8,usage:GPUBufferUsage.QUERY_RESOLVE|GPUBufferUsage.COPY_SRC}),read:this.device.createBuffer({size:t*8,usage:GPUBufferUsage.COPY_DST|GPUBufferUsage.MAP_READ})}),this.detailCallback=e,!0}captureConstraintFrames(e){if(e.length){this.flushPropertyEdits(),this.framePipeline||(this.framePipeline=this.device.createComputePipeline({layout:"auto",compute:{module:this.device.createShaderModule({code:`const DISPATCH_STRIDE = ${this.device.limits.maxComputeWorkgroupsPerDimension*64}u;
|
|
3402
|
+
${on.replaceAll("id.x","(id.x+id.y*DISPATCH_STRIDE)")}`}),entryPoint:"capture"}})),(!this.frameData||this.frameData.length<e.length*4)&&(this.frameData=new Uint32Array(Math.max(e.length*4,(this.frameData?.length??0)*2,64)));for(let t=0;t<e.length;t++)this.frameData[t*4]=e[t].slot,this.frameData[t*4+1]=e[t].spring?1:0;this.runCapture("frame",this.framePipeline,this.frameData.subarray(0,e.length*4),e.length)}}runCapture(e,t,i,r){this.flushEdits?.();let s=this.device,a=(this.captureUploads??={})[e]??={};(!a.buffer||a.buffer.size<i.byteLength)&&(a.buffer?.destroy(),a.buffer=s.createBuffer({size:i.byteLength*2,usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST}),a.buffers=null),s.queue.writeBuffer(a.buffer,0,i);let n=[this.bodyBuffer,this.jointBuffer,this.infoBuffer,a.buffer];(!a.buffers||n.some((d,p)=>d!==a.buffers[p])||a.bytes!==i.byteLength)&&(a.group=s.createBindGroup({layout:t.getBindGroupLayout(0),entries:n.map((d,p)=>({binding:p,resource:{buffer:d,...p===3?{size:i.byteLength}:{}}}))}),a.buffers=n,a.bytes=i.byteLength);let l=s.createCommandEncoder(),c=l.beginComputePass();c.setPipeline(t),c.setBindGroup(0,a.group);let f=Math.ceil(r/64),u=s.limits.maxComputeWorkgroupsPerDimension;c.dispatchWorkgroups(Math.min(f,u),Math.ceil(f/u)),c.end(),s.queue.submit([l.finish()])}setSpringMaterial(e,t={}){if(this.destroyed)throw Error("The 3D solver has been destroyed");if(!Number.isInteger(e)||e<0||e>=this.jointCount||this.info[e*4]!==Ui)throw Error("Spring material requires an active spring slot");let i=Pt(t);!this.springFracture&&(Number.isFinite(i.breakStrain)||Number.isFinite(i.breakForce))&&(this.springFracture=!0,this.rebuildSolvePipelines());for(let[r,s]of[["breakStrain",11],["breakForce",15]])Q(this).float(this.jointBuffer,e*32+s,i[r]===1/0?0:i[r]);this.wakeAll()}appendConstraints(...e){return this.flushPropertyEdits(),super.appendConstraints(...e)}appendJoint(e,t,i,r,s,a){let n=c=>c===1/0?3e38:c,[l]=this.appendConstraints(1,(c,f)=>{f[3]=n(s),f[7]=n(a),f[11]=3e38,f.set(i,24),f.set(r,28);let u=e>=0?this.bodies[e].size:[0,0,0],d=this.bodies[t].size;return f[15]=u.reduce((p,m,h)=>p+(m+d[h])**2,0),[1,e,t]});return this.wakeAll(),l}appendJoints(...e){let t=super.appendJoints(...e);return this.wakeAll(),t}appendSprings(...e){let t=super.appendSprings(...e);return this.wakeAll(),t}enableSleeping(e,t={}){this.sleeping||(this.sleeping=new hi({device:this.device,gpu:this,capacity:this.bodyCapacity,aggregates:e.bodies.map((i,r)=>({rigid:i,index:r}))},t))}wakeAll(){this.sleeping&&(this.sleeping.wakeRequested=!0)}async readSleepStats(){return this.sleeping?this.sleeping.readStats():{sleeping:0,wakeRequested:!1}}addBodies(e){this.flushPropertyEdits();let t=super.addBodies(e);if(t>=0)for(let i=0;i<Math.min(e.length,this.bodyCount-t);i++)os(e[i])&&this.installCapsule(t+i);if(t>=0&&this.sleeping)for(let i=0;i<Math.min(e.length,this.bodyCount-t);i++)this.sleeping.register(t+i,e[i].mass,e[i].allowSleep!==!1);return t}rewriteBodies(e,t){this.flushPropertyEdits(),super.rewriteBodies(e,t);for(let i=0;i<e.length;i++)os(t[i])&&this.installCapsule(e[i]);if(this.sleeping)for(let i=0;i<e.length;i++)this.sleeping.register(e[i],t[i].mass,t[i].allowSleep!==!1)}releaseJoints(e){this.flushPropertyEdits(),super.releaseJoints(e),this.wakeAll()}setWorldAnchor(e,t){if(!Number.isInteger(e)||e<0||e>=this.jointCount||this.info[e*4+1]!==-1||t?.length!==3||!Array.from(t).every(Number.isFinite))throw Error("A world joint and finite xyz anchor are required");for(let i=0;i<3;i++)Q(this).float(this.jointBuffer,e*32+24+i,t[i]);this.wakeAll()}disableConstraint(e){this.flushPropertyEdits(),super.disableConstraint(e),this.wakeAll()}setFilters(e,t,i){if(this.destroyed)throw Error("The 3D solver has been destroyed");if(e.length!==t.length||e.length!==i.length)throw Error("Each body index needs a group and collision mask");for(let s=0;s<e.length;s++){if(!Number.isInteger(e[s])||e[s]<0||e[s]>=this.bodyCount)throw Error("Collision filters require live body indices");for(let a of[t[s],i[s]])if(!Number.isInteger(a)||a<0||a>4294967295)throw Error("Collision masks must be unsigned 32-bit integers")}let r=Q(this);for(let s=0;s<e.length;s++)r.uint(this.filterBuffer,e[s]*2,t[s]),r.uint(this.filterBuffer,e[s]*2+1,i[s]);this.wakeAll()}profileNextStep(e){return this.detailCallback?!1:super.profileNextStep(t=>e({...t,broadphase:this.broadphase,bvhRebuilt:this.bvh?.lastRebuilt??!1}))}flushPropertyEdits(e){this.propertyEdits?.flush(e)}readJoints(){return this.flushPropertyEdits(),super.readJoints()}releaseAppTiming(){if(this.detailTiming){for(let e of["querySet","resolve","read"])this.detailTiming[e].destroy();this.detailTiming=null}}destroy(){this.passConstantCache=null;for(let e of Object.values(this.captureUploads??{}))e.buffer.destroy();this.captureUploads=null,this.frameData=null,this.propertyEdits?.destroy(),this.shapeQueries?.destroy(),this.restitution?.destroy(),this.sleeping?.dispose(),this.bvh?.destroy(),this.bvh=null,this.timingBusy||this.releaseAppTiming(),super.destroy(),this.solvePipelineCache.clear(),this.adjacencyPipelines={}}adapt(e){if(super.adapt(e),this.colorCap=Math.max(this.minimumColors,this.colorCap),this.colorRounds=Math.max(this.minimumColorRounds,this.colorRounds),this.adaptiveScheduling){let t=this.bodyCount>=25e4&&this.jointCount-this.freeSlots.length===0&&e.manifolds>=1.75*this.bodyCount&&!e.overflow&&!e.clashes;this.primalLanes=t?[2**31,2**31,2**31]:[...this.defaultPrimalLanes],this.schedulingDecision={bodyCount:this.bodyCount,manifolds:e.manifolds,dense:t,cachedAdjacency:this.adjacencyCached,reason:t?"Eight threads share each dense body solve":"Threads per body follow solve-group size"}}}selectAdjacencyPipeline(){let e=this.cacheAdjacencyKeys??this.bodyCount>=25e4;this.adjacencyCached!==e&&(e&&!this.adjacencyPipelines.cached&&(this.adjacencyPipelines.cached=this.device.createComputePipeline({label:"Cached adjacency keys",layout:this.device.createPipelineLayout({bindGroupLayouts:[this.layouts.topo]}),compute:{module:this.device.createShaderModule({code:hn}),entryPoint:"sortAdjacency"}})),this.pipes.sortAdjacency=e?this.adjacencyPipelines.cached:this.adjacencyPipelines.original,this.adjacencyCached=e)}};var $o=new WeakMap,Sn=[{name:"batched-grid",broadphase:"grid",dispatchIsolation:!1},{name:"isolated-grid",broadphase:"grid",dispatchIsolation:!0},{name:"batched-hploc",broadphase:"hploc",dispatchIsolation:!1},{name:"isolated-hploc",broadphase:"hploc",dispatchIsolation:!0},{name:"scalar-grid",broadphase:"grid",dispatchIsolation:!1,scalarPrimal:!0},{name:"scalar-isolated-grid",broadphase:"grid",dispatchIsolation:!0,scalarPrimal:!0},{name:"portable-contact-grid",broadphase:"grid",dispatchIsolation:!1,portableContactMath:!0},{name:"portable-contact-isolated-grid",broadphase:"grid",dispatchIsolation:!0,scalarPrimal:!0,portableContactMath:!0}];function kn(o){return $o.has(o)||$o.set(o,cc(o)),$o.get(o)}async function cc(o,e){let t=[];for(let i of Sn){let r=await pc(o,i,e);if(t.push(r),!!r.passed)return Bn(o,{dispatchIsolation:i.dispatchIsolation,scalarPrimal:i.scalarPrimal??!1,portableContactMath:i.portableContactMath??!1,broadphase:i.broadphase==="hploc"?"hploc":void 0}),{...r,selected:i.name,compatibility:i.name!==Sn[0].name,attempts:t}}return{...t[0],selected:null,compatibility:!1,attempts:t}}function uc(o){let e=new jt;return e.iterations=5,o||(e.gravity=0),new De(e,[16,.25,16],0,.6,[0,-.125,0]),new De(e,[1,1,1],1,.6,[-2,o?2:.45,0]),Mi(e,.5,1,.6,[0,o?2.3:.45,0]),Hi(e,.25,1.6,1,.6,[2,o?2.5:.75,0]),e}async function Wt(o,e,t=e.size){let i=o.createBuffer({size:t,usage:GPUBufferUsage.MAP_READ|GPUBufferUsage.COPY_DST});try{let r=o.createCommandEncoder();return r.copyBufferToBuffer(e,0,i,0,t),o.queue.submit([r.finish()]),await i.mapAsync(GPUMapMode.READ),i.getMappedRange().slice(0)}finally{i.destroy()}}async function fc(o){o.step();let e=await o.readCounters(),t=new Uint32Array(await Wt(o.device,o.argsBuffer)),i=await hc(o),r=new Uint32Array(i),s=new Float32Array(i),a=new Uint32Array(await Wt(o.device,o.adjBuffer)),n=new Uint32Array(await Wt(o.device,o.colorBuffer)),{manifolds:l,contacts:c}=o.contactStorage,f=await Wt(o.device,l,Math.max(32,e.manifolds*32)),u=new Uint32Array(f),d=new Float32Array(f),p=new Float32Array(await Wt(o.device,c,Math.max(64,e.contacts*64))),m=await o.readBodies(),h=e.manifolds>=3?await dc(o):[],b=h.some(({contactEvaluation:y})=>y.returnedForce===0&&y.independentForce<-1e-5);return{expectedFloorPairs:3,counters:e,pairs:e.pairs?Array.from(await o.readPairs()):[],narrowphaseWorkgroups:Array.from(t.subarray(0,3)),solver:{scalarPrimal:o.scalarPrimal,portableContactMath:o.portableContactMath,lanes:[...o.primalLanes],contactWorkgroups:Array.from(t.subarray(3,6)),dualWorkgroups:Array.from(t.subarray(9,12)),colorWorkgroups:Array.from(t.subarray(12,12+3*o.colorCap)),adjacencyStarts:Array.from(a.subarray(0,5)),adjacencyEntries:Array.from(a.subarray(2*o.bodyCapacity+1,2*o.bodyCapacity+1+a[4])),colorStarts:Array.from(n.subarray(2*o.bodyCapacity,2*o.bodyCapacity+o.colorCap+1)),colorBodies:Array.from(n.subarray(2*o.bodyCapacity+65,2*o.bodyCapacity+68)),positionsAfterOverlap:[1,2,3].map(y=>Array.from(m.subarray(y*40,y*40+3))),manifolds:Array.from({length:e.manifolds},(y,v)=>({ids:Array.from(u.subarray(v*8,v*8+4)),normalAndFriction:Array.from(d.subarray(v*8+4,v*8+8))})),contacts:Array.from({length:e.contacts},(y,v)=>({anchorA:Array.from(p.subarray(v*16,v*16+3)),anchorB:Array.from(p.subarray(v*16+4,v*16+7)),gap:p[v*16+7],penalty:Array.from(p.subarray(v*16+8,v*16+11)),force:Array.from(p.subarray(v*16+12,v*16+15))})),serialSystems:h,failure:b?"contact-evaluation":null},filters:Array.from(new Uint32Array(await Wt(o.device,o.filterBuffer))),params:{bodyCount:r[0],largeCount:r[1],noCollideCount:r[2],pairCapacity:r[3],contactCapacity:r[4],dt:s[5],cellSize:s[6],maxSmallRadius:s[7],up:Array.from(s.subarray(8,11)),alpha:s[11]},stage:e.pairs<3?"collision-pairs":e.manifolds<3?"contact-generation":"contacts-created"}}async function dc(o){let e=o.portableContactMath?"bitcast<f32>(pc.data.y)":"pc.alpha",t=o.portableContactMath?"k.anchorB.w":"k.c0x",i=o.portableContactMath?"k.penalty.x":"k.pen.x",r=o.portableContactMath?"k.force.x":"k.lam.x",s=o.device.createShaderModule({code:o.solveSource(be)+`
|
|
3403
|
+
@compute @workgroup_size(1) fn inspectSystems(@builtin(global_invocation_id) gid: vec3u) {
|
|
3404
|
+
let acc = accumulate(gid.x + 1u, 0u, 1u);
|
|
3405
|
+
joints[gid.x].penLin = vec4f(acc.lin[0][0], acc.lin[1][1], acc.lin[2][2], 0.0);
|
|
3406
|
+
joints[gid.x].penAng = vec4f(acc.ang[0][0], acc.ang[1][1], acc.ang[2][2], 0.0);
|
|
3407
|
+
joints[gid.x].c0Lin = vec4f(acc.rLin, 0.0);
|
|
3408
|
+
joints[gid.x].c0Ang = vec4f(acc.rAng, 0.0);
|
|
3409
|
+
let mf = manifolds[gid.x];
|
|
3410
|
+
let k = contacts[mf.ids.z];
|
|
3411
|
+
let A = pairBody(mf.ids.x); let B = pairBody(mf.ids.y);
|
|
3412
|
+
let basis = orthonormal(mf.geo.xyz);
|
|
3413
|
+
let result = evalContact(k, basis, mf.geo.w, A, B, ${e});
|
|
3414
|
+
// Independently recompute the normal row from scalar inputs. Compare input
|
|
3415
|
+
// reads, pass alpha, the returned error and the returned clamped force.
|
|
3416
|
+
let dA = bodies[mf.ids.x].pos.xyz - bodies[mf.ids.x].initialPos.xyz;
|
|
3417
|
+
let dB = bodies[mf.ids.y].pos.xyz - bodies[mf.ids.y].initialPos.xyz;
|
|
3418
|
+
let wA = qsub(bodies[mf.ids.x].rot, bodies[mf.ids.x].initialRot);
|
|
3419
|
+
let wB = qsub(bodies[mf.ids.y].rot, bodies[mf.ids.y].initialRot);
|
|
3420
|
+
let expectedC = ${t} * (1.0 - ${e}) + dot(basis[0], dA - dB)
|
|
3421
|
+
+ dot(cross(result.rAW.xyz, basis[0]), wA)
|
|
3422
|
+
- dot(cross(result.rBW.xyz, basis[0]), wB);
|
|
3423
|
+
let raw = ${i} * expectedC + ${r};
|
|
3424
|
+
joints[gid.x].rA = vec4f(${t}, ${e}, result.C.x, result.F.x);
|
|
3425
|
+
joints[gid.x].rB = vec4f(${i}, ${r}, expectedC, min(raw, 0.0));
|
|
3426
|
+
}`}),a=o.device.createComputePipeline({layout:o.device.createPipelineLayout({bindGroupLayouts:[o.layouts.solve,o.layouts.pass]}),compute:{module:s,entryPoint:"inspectSystems"}}),n=o.device.createCommandEncoder(),l=n.beginComputePass();l.setPipeline(a),l.setBindGroup(0,o.groups.solve[1-o.parity]),l.setBindGroup(1,o.passGroup,[0]),l.dispatchWorkgroups(3),l.end(),o.device.queue.submit([n.finish()]);let c=new Float32Array(await Wt(o.device,o.jointBuffer,384));return[0,1,2].map(f=>({linearDiagonal:Array.from(c.subarray(f*32,f*32+3)),angularDiagonal:Array.from(c.subarray(f*32+4,f*32+7)),linearForce:Array.from(c.subarray(f*32+16,f*32+19)),angularForce:Array.from(c.subarray(f*32+20,f*32+23)),contactEvaluation:{inputGap:c[f*32+24],passAlpha:c[f*32+25],returnedError:c[f*32+26],returnedForce:c[f*32+27],inputPenalty:c[f*32+28],inputForce:c[f*32+29],independentError:c[f*32+30],independentForce:c[f*32+31]}}))}async function hc(o){let{device:e}=o,t=e.createBuffer({size:48,usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_SRC});try{let i=e.createComputePipeline({layout:"auto",compute:{module:e.createShaderModule({code:ae+`
|
|
3427
|
+
@group(0) @binding(0) var<uniform> p: Params;
|
|
3428
|
+
@group(0) @binding(1) var<storage,read_write> out: array<u32>;
|
|
3429
|
+
@compute @workgroup_size(1) fn inspectParams() {
|
|
3430
|
+
out[0]=p.bodyCount; out[1]=p.largeCount; out[2]=p.noCollideCount;
|
|
3431
|
+
out[3]=p.pairCapacity; out[4]=p.contactCapacity;
|
|
3432
|
+
out[5]=bitcast<u32>(p.dt); out[6]=bitcast<u32>(p.cellSize); out[7]=bitcast<u32>(p.maxSmallRadius);
|
|
3433
|
+
out[8]=bitcast<u32>(p.up.x); out[9]=bitcast<u32>(p.up.y); out[10]=bitcast<u32>(p.up.z);
|
|
3434
|
+
out[11]=bitcast<u32>(p.alpha);
|
|
3435
|
+
}`}),entryPoint:"inspectParams"}}),r=e.createBindGroup({layout:i.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:o.paramsBuffer}},{binding:1,resource:{buffer:t}}]}),s=e.createCommandEncoder(),a=s.beginComputePass();return a.setPipeline(i),a.setBindGroup(0,r),a.dispatchWorkgroups(1),a.end(),e.queue.submit([s.finish()]),await Wt(e,t)}finally{t.destroy()}}async function pc(o,e,t){let i={mode:e.name,passed:!1,steps:180,cases:[],errors:[],contactCache:"normal-float-generations-v1",diagnosticVersion:4,limits:{storageBindings:o.limits.maxStorageBuffersPerShaderStage,workgroupStorageBytes:o.limits.maxComputeWorkgroupStorageSize,workgroupInvocations:o.limits.maxComputeInvocationsPerWorkgroup,storageBindingBytes:o.limits.maxStorageBufferBindingSize}},r,s=a=>{let n=new Vt(o,uc(a),{spatialSort:!1,bodyCapacity:4,broadphase:e.broadphase,scalarPrimal:e.scalarPrimal??!1,portableContactMath:e.portableContactMath??!1,capacity:{pairs:32,manifolds:32,contacts:256,colors:8}});return n.params.up=[0,1,0],n.dispatchIsolation=e.dispatchIsolation,t?.(n,e,a),n};o.pushErrorScope("validation");try{if(r=s(!1),i.pipeline=await fc(r),i.pipeline.stage!=="contacts-created")i.reason=i.pipeline.stage==="collision-pairs"?"The GPU did not find the three known overlapping floor pairs.":"The GPU found overlapping pairs but did not create all floor contacts.";else{r.destroy(),r=s(!0);let a=0;i.samples=[];for(let l=0;l<i.steps;l++){if(r.step(),(l+1)%30&&l!==39)continue;let c=await r.readCounters();if(i.samples.push({step:l+1,...c}),c.manifolds&&a++,c.overflow||c.clashes)throw Error("Incomplete GPU contact graph")}let n=await r.readBodies();for(let l=1;l<4;l++){let c=l*40,[f,u,d,p]=n.subarray(c+4,c+8),m=l===1?.5*(Math.abs(2*(f*u+p*d))+Math.abs(1-2*(f*f+d*d))+Math.abs(2*(u*d-p*f))):l===2?.5:.25+.55*Math.abs(1-2*(f*f+d*d)),h=n[c+1]-m,b=n.subarray(c,c+40).every(Number.isFinite);i.cases.push({shape:["floor","box","sphere","capsule"][l],passed:b&&h>=-.06&&h<.12,floorGap:h,position:Array.from(n.subarray(c,c+3))})}i.contactSteps=a,i.passed=a>0&&i.cases.every(l=>l.passed),i.passed||(i.reason=i.pipeline.solver.failure==="contact-evaluation"?"The GPU created floor contacts but returned zero force where a push was required.":"The GPU did not keep all three falling shapes on the floor.")}}catch(a){i.errors.push(a.message)}finally{try{let a=await o.popErrorScope();a&&i.errors.push(a.message)}catch(a){i.errors.push(a.message)}r?.destroy()}return i.passed=i.passed&&!i.errors.length,i}async function Xo(o={}){if(!globalThis.navigator?.gpu)throw Error("WebGPU needs a supported browser on localhost or HTTPS");let e=await navigator.gpu.requestAdapter({powerPreference:o.powerPreference??"high-performance"});if(!e)throw Error("No WebGPU adapter is available");let t={};for(let[r,s]of Object.entries(o.preferredLimits??{})){if(!r.startsWith("max")||e.limits[r]===void 0||!Number.isSafeInteger(s)||s<0)throw Error(`Invalid preferred GPU limit: ${r}`);t[r]=Math.min(s,e.limits[r])}for(let[r,s]of Object.entries(o.requiredLimits??{})){if(e.limits[r]===void 0||!Number.isSafeInteger(s)||s<0)throw Error(`Invalid required GPU limit: ${r}`);let a=e.limits[r];if(r.startsWith("min")&&s<a||!r.startsWith("min")&&s>a)throw Error(`GPU limit ${r} requires ${s}; this adapter supports ${a}`);t[r]=s}let i=await e.requestDevice({requiredLimits:t,requiredFeatures:e.features.has("timestamp-query")?["timestamp-query"]:[]});if(o.validate3D)try{await cs(i)}catch(r){throw i.destroy(),r}return{adapter:e,device:i}}async function cs(o){if(ns(o))return o;let e=await kn(o);if(!e.passed)throw Error(`GPU 3D contact check failed: ${e.reason??e.errors.join("; ")}`);return o}var Pn=`struct Body { pos:vec4f,rot:vec4f,initialPos:vec4f,initialRot:vec4f,size:vec4f,moment:vec4f,inertialPos:vec4f,inertialRot:vec4f,velocity:vec4f,angular:vec4f }
|
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struct Command { index:u32,mask:u32,pad0:u32,pad1:u32,velocity:vec4f,angular:vec4f,impulse:vec4f,torque:vec4f,position:vec4f,rotation:vec4f,pointImpulse:vec4f }
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@group(0) @binding(0) var<storage,read_write> bodies:array<Body>;
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@group(0) @binding(1) var<storage,read> commands:array<Command>;
|
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@@ -3365,7 +3454,7 @@ fn rotate(q:vec4f,v:vec3f)->vec3f {let t=2.*cross(q.xyz,v);return v+q.w*t+cross(
|
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if((c.mask&16u)!=0u){b.size.w=0.;b.moment=vec4f(vec3f(0),b.moment.w);b.velocity=vec4f(0);b.angular=vec4f(vec3f(0),b.angular.w);}
|
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bodies[c.index]=b;
|
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}
|
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3368
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-
`;var
|
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|
+
`;var Lt=class{constructor(e,t,i="linear"){this.solver=e,this.dimension=t,this.components=i==="angular"&&t===2?1:t;let r=e.device,s=t===3?10:6,a=t===3?i==="angular"?9:8:3;this.pipeline=r.createComputePipeline({layout:"auto",compute:{entryPoint:"setVelocities",module:r.createShaderModule({code:`
|
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|
@group(0) @binding(0) var<storage,read_write> bodies:array<vec4f>;
|
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3370
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|
@group(0) @binding(1) var<storage,read> indices:array<u32>;
|
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|
@group(0) @binding(2) var<storage,read> velocities:array<f32>;
|
|
@@ -3376,7 +3465,7 @@ fn rotate(q:vec4f,v:vec3f)->vec3f {let t=2.*cross(q.xyz,v);return v+q.w*t+cross(
|
|
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|
var v=bodies[base];
|
|
3377
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|
${this.components===1?"v.z=velocities[i];":`v.x=velocities[i*${t}u];v.y=velocities[i*${t}u+1u];${t===3?"v.z=velocities[i*3u+2u];":""}`}
|
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|
bodies[base]=v;
|
|
3379
|
-
}`})}})}set(e,t){let i=this.solver,r=i.device,s=e instanceof Uint32Array?e:Uint32Array.from(e),a=t instanceof Float32Array?t:Float32Array.from(t);if(a.length!==s.length*this.components)throw Error(`Provide ${this.components} velocity components per body`);let n=-1;for(let c=0;c<e.length;c++){if(i.liveIndex(e[c]),e[c]<=n)throw Error("Velocity batch indices must be unique and ascending GPU slots");n=e[c]}for(let c of a)if(!Number.isFinite(c))throw Error("Velocities must be finite Float32 values");let l=Math.min(r.limits.maxStorageBufferBindingSize,r.limits.maxBufferSize);if(s.byteLength>l||a.byteLength>l)throw Error("Velocity batch exceeds GPU buffer limits");s.length&&(i.wakeAll(),i.flushEdits(),this.submitValidated(s,a))}submitValidated(e,t,i){if(!e.length)return;let r=this.solver,s=r.device,a=Math.min(s.limits.maxStorageBufferBindingSize,s.limits.maxBufferSize);if(e.byteLength>a||t.byteLength>a)throw Error("Velocity batch exceeds GPU buffer limits");for(let[u,d]of[["indices",e],["values",t]])(!this[u]||this[u].size<d.byteLength)&&(this[u]?.destroy(),this[u]=s.createBuffer({size:Math.min(a,d.byteLength*2),usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST})),s.queue.writeBuffer(this[u],0,d);let n=i??s.createCommandEncoder(),l=n.beginComputePass();l.setPipeline(this.pipeline),(!this.binding||this.boundBody!==r.bodyBuffer||this.boundIndices!==this.indices||this.boundValues!==this.values||this.boundBytes!==t.byteLength)&&(this.binding=s.createBindGroup({layout:this.pipeline.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:r.bodyBuffer}},{binding:1,resource:{buffer:this.indices,size:e.byteLength}},{binding:2,resource:{buffer:this.values,size:t.byteLength}}]}),this.boundBody=r.bodyBuffer,this.boundIndices=this.indices,this.boundValues=this.values,this.boundBytes=t.byteLength),l.setBindGroup(0,this.binding);let c=Math.ceil(e.length/64),f=s.limits.maxComputeWorkgroupsPerDimension;l.dispatchWorkgroups(Math.min(c,f),Math.ceil(c/f)),l.end(),i||s.queue.submit([n.finish()]),this.lastBatch={bodies:e.length,uploadedBytes:e.byteLength+t.byteLength}}destroy(){this.indices?.destroy(),this.values?.destroy()}},
|
|
3468
|
+
}`})}})}set(e,t){let i=this.solver,r=i.device,s=e instanceof Uint32Array?e:Uint32Array.from(e),a=t instanceof Float32Array?t:Float32Array.from(t);if(a.length!==s.length*this.components)throw Error(`Provide ${this.components} velocity components per body`);let n=-1;for(let c=0;c<e.length;c++){if(i.liveIndex(e[c]),e[c]<=n)throw Error("Velocity batch indices must be unique and ascending GPU slots");n=e[c]}for(let c of a)if(!Number.isFinite(c))throw Error("Velocities must be finite Float32 values");let l=Math.min(r.limits.maxStorageBufferBindingSize,r.limits.maxBufferSize);if(s.byteLength>l||a.byteLength>l)throw Error("Velocity batch exceeds GPU buffer limits");s.length&&(i.wakeAll(),i.flushEdits(),this.submitValidated(s,a))}submitValidated(e,t,i){if(!e.length)return;let r=this.solver,s=r.device,a=Math.min(s.limits.maxStorageBufferBindingSize,s.limits.maxBufferSize);if(e.byteLength>a||t.byteLength>a)throw Error("Velocity batch exceeds GPU buffer limits");for(let[u,d]of[["indices",e],["values",t]])(!this[u]||this[u].size<d.byteLength)&&(this[u]?.destroy(),this[u]=s.createBuffer({size:Math.min(a,d.byteLength*2),usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST})),s.queue.writeBuffer(this[u],0,d);let n=i??s.createCommandEncoder(),l=n.beginComputePass();l.setPipeline(this.pipeline),(!this.binding||this.boundBody!==r.bodyBuffer||this.boundIndices!==this.indices||this.boundValues!==this.values||this.boundBytes!==t.byteLength)&&(this.binding=s.createBindGroup({layout:this.pipeline.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:r.bodyBuffer}},{binding:1,resource:{buffer:this.indices,size:e.byteLength}},{binding:2,resource:{buffer:this.values,size:t.byteLength}}]}),this.boundBody=r.bodyBuffer,this.boundIndices=this.indices,this.boundValues=this.values,this.boundBytes=t.byteLength),l.setBindGroup(0,this.binding);let c=Math.ceil(e.length/64),f=s.limits.maxComputeWorkgroupsPerDimension;l.dispatchWorkgroups(Math.min(c,f),Math.ceil(c/f)),l.end(),i||s.queue.submit([n.finish()]),this.lastBatch={bodies:e.length,uploadedBytes:e.byteLength+t.byteLength}}destroy(){this.indices?.destroy(),this.values?.destroy()}},Ht=class{constructor(e,t){this.solver=e,this.dimension=t,this.wordsPerBody=t===3?8:5}set(e,{linear:t,angular:i}={}){let r=this.solver,s=this.dimension,a=s===3?3:1,n=e instanceof Uint32Array?e:Uint32Array.from(e),l=t===void 0?null:t instanceof Float32Array?t:Float32Array.from(t),c=i===void 0?null:i instanceof Float32Array?i:Float32Array.from(i);if(!l&&!c)throw Error("Provide linear and/or angular velocities");if(l&&l.length!==n.length*s)throw Error(`Provide ${s} linear components per body`);if(c&&c.length!==n.length*a)throw Error(`Provide ${a} angular components per body`);let f=-1;for(let p=0;p<e.length;p++){if(r.liveIndex(e[p]),e[p]<=f)throw Error("Velocity batch indices must be unique and ascending GPU slots");f=e[p]}for(let p of[l,c])if(p){for(let m of p)if(!Number.isFinite(m))throw Error("Velocities must be finite Float32 values")}let u=n.length*this.wordsPerBody,d=Math.min(r.device.limits.maxStorageBufferBindingSize,r.device.limits.maxBufferSize);if(u*4>d)throw Error("Motion batch exceeds GPU buffer limits");if(u){(!this.data||this.data.length<u)&&(this.data=new Uint32Array(Math.max(u,(this.data?.length??0)*2)),this.floats=new Float32Array(this.data.buffer));for(let p=0;p<n.length;p++){let m=p*this.wordsPerBody;if(this.data[m]=n[p],this.data[m+1]=(l?1:0)|(c?2:0),l)for(let h=0;h<s;h++)this.floats[m+2+h]=l[p*s+h];if(c)for(let h=0;h<a;h++)this.floats[m+2+s+h]=c[p*a+h]}r.wakeAll(),r.flushEdits(),this.submitValidated(this.data.subarray(0,u))}}submitValidated(e,t){if(!e.length)return;let i=this.solver,r=i.device,s=this.wordsPerBody,a=Math.min(r.limits.maxStorageBufferBindingSize,r.limits.maxBufferSize);if(e.byteLength>a)throw Error("Motion batch exceeds GPU buffer limits");(!this.buffer||this.buffer.size<e.byteLength)&&(this.buffer?.destroy(),this.buffer=r.createBuffer({size:Math.min(a,e.byteLength*2),usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST})),r.queue.writeBuffer(this.buffer,0,e),this.pipeline??=r.createComputePipeline({layout:"auto",compute:{entryPoint:"edit",module:r.createShaderModule({code:`
|
|
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|
@group(0) @binding(0) var<storage,read_write> bodies:array<vec4f>;
|
|
3381
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|
@group(0) @binding(1) var<storage,read> commands:array<u32>;
|
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3382
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|
@compute @workgroup_size(64) fn edit(@builtin(global_invocation_id) id:vec3u) {
|
|
@@ -3388,14 +3477,14 @@ fn rotate(q:vec4f,v:vec3f)->vec3f {let t=2.*cross(q.xyz,v);return v+q.w*t+cross(
|
|
|
3388
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|
if((mask&1u)!=0u){v.x=bitcast<f32>(commands[o+2u]);v.y=bitcast<f32>(commands[o+3u]);${this.dimension===3?"v.z=bitcast<f32>(commands[o+4u]);":""}}
|
|
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|
${this.dimension===2?"if((mask&2u)!=0u){v.z=bitcast<f32>(commands[o+4u]);}":"if((mask&2u)!=0u){var a=bodies[b+9u];a.xyz=vec3f(bitcast<f32>(commands[o+5u]),bitcast<f32>(commands[o+6u]),bitcast<f32>(commands[o+7u]));bodies[b+9u]=a;}"}
|
|
3390
3479
|
bodies[b+${this.dimension===3?8:3}u]=v;
|
|
3391
|
-
}`})}}),(!this.binding||this.boundBody!==i.bodyBuffer||this.boundBuffer!==this.buffer||this.boundBytes!==e.byteLength)&&(this.binding=r.createBindGroup({layout:this.pipeline.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:i.bodyBuffer}},{binding:1,resource:{buffer:this.buffer,size:e.byteLength}}]}),this.boundBody=i.bodyBuffer,this.boundBuffer=this.buffer,this.boundBytes=e.byteLength);let n=t??r.createCommandEncoder(),l=n.beginComputePass();l.setPipeline(this.pipeline),l.setBindGroup(0,this.binding);let c=Math.ceil(e.length/s/64),f=r.limits.maxComputeWorkgroupsPerDimension;l.dispatchWorkgroups(Math.min(c,f),Math.ceil(c/f)),l.end(),t||r.queue.submit([n.finish()]),this.lastBatch={bodies:e.length/s,uploadedBytes:e.byteLength}}destroy(){this.buffer?.destroy(),this.binding=null,this.data=this.floats=null}};function
|
|
3480
|
+
}`})}}),(!this.binding||this.boundBody!==i.bodyBuffer||this.boundBuffer!==this.buffer||this.boundBytes!==e.byteLength)&&(this.binding=r.createBindGroup({layout:this.pipeline.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:i.bodyBuffer}},{binding:1,resource:{buffer:this.buffer,size:e.byteLength}}]}),this.boundBody=i.bodyBuffer,this.boundBuffer=this.buffer,this.boundBytes=e.byteLength);let n=t??r.createCommandEncoder(),l=n.beginComputePass();l.setPipeline(this.pipeline),l.setBindGroup(0,this.binding);let c=Math.ceil(e.length/s/64),f=r.limits.maxComputeWorkgroupsPerDimension;l.dispatchWorkgroups(Math.min(c,f),Math.ceil(c/f)),l.end(),t||r.queue.submit([n.finish()]),this.lastBatch={bodies:e.length/s,uploadedBytes:e.byteLength}}destroy(){this.buffer?.destroy(),this.binding=null,this.data=this.floats=null}};function us(o,e={}){return qi({...e,requested:e.solverMode??"auto",bodyCount:o.bodies.length,custom:!!e.shaders?.solve}),{...e,solverMode:e.solverMode??"auto"}}function Ji(o,e){let t=o&&typeof o.x=="number"?[o.x,o.y,o.z]:Array.from(o);if(t.length!==3||!t.every(Number.isFinite))throw Error(`${e} requires three finite components`);return t}function fs(o,e){if(o!==1/0&&(!Number.isFinite(o)||o<0))throw Error(`${e} must be nonnegative or Infinity`);return o}function Ln(o,e){let t=Ji(e,"anchor");if(!o)return t;let i=o.aggregate,r=i.mesh.position.constructor;return new r(...t).subtract(i.localCenter).applyRotationQuaternion(i.localRotation.conjugate()).asArray()}var mr=class{constructor(e,t,i,r={}){e.assertAlive();for(let a of[t,i])if(a&&(a.assertAlive(),a.aggregate.world!==e))throw Error("Constraint bodies must belong to this world");if(!i||t===i)throw Error("A constraint needs a body B and distinct endpoints");let s=r.type??"ball";if(!["ball","fixed","spring","motor","limit"].includes(s))throw Error("Constraint type must be ball, fixed, spring, motor or limit");if(s==="spring"&&!t)throw Error("A spring requires two bodies; use a static aggregate for a world anchor");if(this.world=e,this.bodyA=t,this.bodyB=i,this.type=s,s==="motor"||s==="limit"){let a=(n,l)=>n?new n.aggregate.mesh.position.constructor(...Ji(l,"axis")).applyRotationQuaternion(n.aggregate.localRotation.conjugate()).asArray():Ji(l,"axis");this.angularMaterial=gt({...r,type:s,axisA:a(t,r.axisA??[0,1,0]),axisB:a(i,r.axisB??[0,1,0])})}if(this.anchorA=Ln(t,r.anchorA??[0,0,0]),this.anchorB=Ln(i,r.anchorB??[0,0,0]),this.linear=fs(s==="spring"?r.stiffness??1e3:r.stiffness??1/0,"stiffness"),this.angular=s==="fixed"?fs(r.angularStiffness??1/0,"angularStiffness"):0,this.breakForce=fs(r.breakForce??1/0,"breakForce"),this.breakForce===0)throw Error("breakForce must be positive");if(this.material=Pt({breakForce:this.breakForce,breakStrain:r.breakStrain}),s!=="spring"&&r.breakStrain!==void 0)throw Error("breakStrain applies to springs only");if(this.breakOnPull=r.breakOnPull??!1,this.rest=r.rest,this.rest!==void 0&&(!Number.isFinite(this.rest)||this.rest<0))throw Error("Spring rest length must be nonnegative and finite");if(s==="spring"&&!Number.isFinite(this.linear))throw Error("Spring stiffness must be finite");e.gpu?(e.flushCommands(),this.attach()):this.force=s==="spring"?new ct(e.ref,t.aggregate.rigid,i.aggregate.rigid,this.anchorA,this.anchorB,this.linear,this.rest??-1):new we(e.ref,t?.aggregate.rigid??null,i.aggregate.rigid,this.anchorA,this.anchorB,this.linear,this.angular,this.breakForce),this.force&&s==="spring"&&ts(this.force,this.material),this.force&&this.angularMaterial&&Wi(this.force,this.angularMaterial),e.constraints.add(this),e.wakeAll?.()}attach(e,t=!0){let i=this.world.gpu;if(e!==void 0?this.slot=e:this.type==="spring"?[this.slot]=i.appendSprings([{a:this.bodyA.gpuIndex,b:this.bodyB.gpuIndex,rA:this.anchorA,rB:this.anchorB,stiffness:this.linear,rest:this.rest??0}]):this.slot=i.appendJoint(this.bodyA?.gpuIndex??-1,this.bodyB.gpuIndex,this.anchorA,this.anchorB,this.linear,this.angular),this.angularMaterial&&i.setAngularConstraint(this.slot,this.angularMaterial),this.type==="spring"&&(Number.isFinite(this.material.breakStrain)||Number.isFinite(this.material.breakForce))&&i.setSpringMaterial(this.slot,this.material),this.type!=="spring"&&Number.isFinite(this.breakForce)){let r=Number.isFinite(this.breakForce)?this.breakForce:1e30;i.device.queue.writeBuffer(i.jointBuffer,(this.slot*32+11)*4,new Float32Array([this.breakOnPull?-r:r]))}t&&(this.type==="fixed"||this.type==="spring"&&this.rest===void 0)&&i.captureConstraintFrames([{slot:this.slot,spring:this.type==="spring"}])}assertAlive(){if(this.world.assertAlive(),this.disposed)throw Error("Constraint is disposed")}setWorldAnchor(e){if(this.assertAlive(),this.bodyA||this.type==="spring")throw Error("Only world-anchored joints have a movable world anchor");return this.anchorA=Ji(e,"world anchor"),this.world.gpu?this.world.gpu.setWorldAnchor(this.slot,this.anchorA):this.force.rA.set(this.anchorA),this.world.wakeAll?.(),this}async readState(){this.assertAlive(),this.world.initialize();let e=this.world.gpu,t=this.world.device,i=t.createBuffer({size:128,usage:GPUBufferUsage.COPY_DST|GPUBufferUsage.MAP_READ});try{let r=t.createCommandEncoder();r.copyBufferToBuffer(e.jointBuffer,this.slot*128,i,0,128),t.queue.submit([r.finish()]),await i.mapAsync(GPUMapMode.READ);let s=new Float32Array(i.getMappedRange().slice(0));return{broken:s[3]===0&&s[7]===0,linearForce:Array.from(s.subarray(8,11)),angularForce:Array.from(s.subarray(12,15))}}finally{i.destroy()}}setMotor(e){if(this.assertAlive(),this.type!=="motor")throw Error("setMotor requires a motor constraint");return this.angularMaterial=gt({...this.angularMaterial,...e}),this.world.gpu?this.world.gpu.setMotor(this.slot,e):Wi(this.force,this.angularMaterial),this.world.wakeAll(),this}dispose(){this.disposed||(this.world.disposed||(this.world.gpu?this.world.gpu.releaseJoints([this.slot]):this.force.destroy(),this.world.wakeAll?.()),this.world.constraints.delete(this),this.disposed=!0)}},br=class{constructor(e,t,i,r={}){let s=gt({...r,type:"limit"}),a=r.span??1;if(!Number.isFinite(a)||a<=0)throw Error("Hinge span must be positive");let n=Ji(r.anchorA??[0,0,0],"anchorA"),l=Ji(r.anchorB??[0,0,0],"anchorB");r.motor&>({...r.motor,type:"motor",axisA:s.axisA,axisB:s.axisB}),this.world=e,this.bodyA=t,this.bodyB=i,this.disposed=!1,this.joints=[-1,1].map(c=>e.addJoint(t,i,{anchorA:n.map((f,u)=>f+c*a*.5*s.axisA[u]),anchorB:l.map((f,u)=>f+c*a*.5*s.axisB[u]),stiffness:r.stiffness??1/0})),(r.minAngle!==void 0||r.maxAngle!==void 0)&&(this.limit=e.addConstraint(t,i,{...s,type:"limit"})),r.motor&&(this.motor=e.addMotor(t,i,{axisA:s.axisA,axisB:s.axisB,...r.motor}))}dispose(){if(!this.disposed){for(let e of[...this.joints,this.limit,this.motor])e?.dispose();this.disposed=!0}}};var Jt=class{constructor(e){this.device=e,this.pipelines=new Map,this.idle=[],this.jobs=new Set,this.destroyed=!1}acquire(e,t){if(this.destroyed)throw Error("Pose readback has been destroyed");let i=this.device;if(e>i.limits.maxStorageBufferBindingSize||t>Math.min(i.limits.maxStorageBufferBindingSize,i.limits.maxBufferSize))throw Error("Pose selection exceeds GPU buffer limits");let r=this.idle.findIndex(a=>a.selection.size>=e&&a.selected.size>=t),s=r>=0?this.idle.splice(r,1)[0]:this.idle.pop()??{};for(let[a,n,l]of[["selection",e,GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST],["selected",t,GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_SRC],["staging",t,GPUBufferUsage.MAP_READ|GPUBufferUsage.COPY_DST]])(!s[a]||s[a].size<n)&&(s[a]?.destroy(),s[a]=i.createBuffer({size:n,usage:l}));return this.jobs.add(s),s}release(e){if(e.staging.unmap(),!this.destroyed&&e.selected.size<=8*1024*1024&&this.idle.length<2)this.idle.push(e);else{for(let t of["selection","selected","staging"])e[t].destroy();this.jobs.delete(e)}}destroy(){this.destroyed=!0;for(let e of this.jobs)for(let t of["selection","selected","staging"])e[t].destroy();this.jobs.clear(),this.idle.length=0}async read(e,t,i=!1,r=10){if(!t.length)return new Float32Array;let s=i?r===6?1:2:r,a=this.device,n=a.limits.maxComputeWorkgroupsPerDimension,l=`${r}:${s}`,c=this.pipelines.get(l);c||(c=a.createComputePipeline({layout:"auto",compute:{entryPoint:"gather",module:a.createShaderModule({code:`
|
|
3392
3481
|
@group(0) @binding(0) var<storage,read> bodies:array<vec4f>;
|
|
3393
3482
|
@group(0) @binding(1) var<storage,read> indices:array<u32>;
|
|
3394
3483
|
@group(0) @binding(2) var<storage,read_write> selected:array<vec4f>;
|
|
3395
3484
|
@compute @workgroup_size(64) fn gather(@builtin(global_invocation_id) id:vec3u) {
|
|
3396
3485
|
let i=id.x+id.y*${n*64}u; if(i>=arrayLength(&selected)){return;}
|
|
3397
3486
|
selected[i]=bodies[indices[i/${s}u]*${r}u+i%${s}u];
|
|
3398
|
-
}`})}}),this.pipelines.set(l,c));let f=t.length*s*16,u=this.acquire(t.length*4,f),{selection:d,selected:
|
|
3487
|
+
}`})}}),this.pipelines.set(l,c));let f=t.length*s*16,u=this.acquire(t.length*4,f),{selection:d,selected:p,staging:m}=u;try{a.queue.writeBuffer(d,0,t instanceof Uint32Array?t:Uint32Array.from(t)),(!u.group||u.body!==e||u.pipeline!==c||u.boundSelection!==d||u.boundSelected!==p||u.indexBytes!==t.length*4||u.bytes!==f)&&(u.group=a.createBindGroup({layout:c.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:e}},{binding:1,resource:{buffer:d,size:t.length*4}},{binding:2,resource:{buffer:p,size:f}}]}),u.body=e,u.pipeline=c,u.boundSelection=d,u.boundSelected=p,u.indexBytes=t.length*4,u.bytes=f);let h=a.createCommandEncoder(),b=h.beginComputePass();b.setPipeline(c),b.setBindGroup(0,u.group);let y=Math.ceil(t.length*s/64);return b.dispatchWorkgroups(Math.min(y,n),Math.ceil(y/n)),b.end(),h.copyBufferToBuffer(p,0,m,0,f),a.queue.submit([h.finish()]),await m.mapAsync(GPUMapMode.READ,0,f),new Float32Array(m.getMappedRange(0,f).slice(0))}finally{this.release(u)}}};var Yo=4,$i=3,Xt=1,bc=2,gr=`
|
|
3399
3488
|
struct Manifold { ids: vec4u, geo: vec4f } // a, b (a > b), first contact, count (low 4 bits); normal (b to a)
|
|
3400
3489
|
struct Contact { rA: vec3f, key: u32, rB: vec3f, c0x: f32, pen: vec3f, c0y: f32, lam: vec3f, c0z: f32 }
|
|
3401
3490
|
struct Params { prev: u32, now: u32, mask: u32, capacity: u32, pairs: u32, step: u32, dt: f32, pad: u32 }
|
|
@@ -3409,7 +3498,7 @@ struct Params { prev: u32, now: u32, mask: u32, capacity: u32, pairs: u32, step:
|
|
|
3409
3498
|
@group(0) @binding(6) var<storage, read_write> events: array<vec4f>;
|
|
3410
3499
|
@group(0) @binding(7) var<uniform> params: Params;
|
|
3411
3500
|
|
|
3412
|
-
const STRIDE = ${
|
|
3501
|
+
const STRIDE = ${ke/4}u;
|
|
3413
3502
|
|
|
3414
3503
|
fn hash32(x0: u32) -> u32 {
|
|
3415
3504
|
var x = x0;
|
|
@@ -3424,7 +3513,7 @@ fn turn(q: vec4f, v: vec3f) -> vec3f {
|
|
|
3424
3513
|
}
|
|
3425
3514
|
|
|
3426
3515
|
fn slotOf(base: u32, h: u32) -> u32 {
|
|
3427
|
-
return ${
|
|
3516
|
+
return ${Yo}u + 2u * (base + h);
|
|
3428
3517
|
}
|
|
3429
3518
|
|
|
3430
3519
|
fn insert(base: u32, a: u32, b: u32) {
|
|
@@ -3457,16 +3546,16 @@ fn has(base: u32, a: u32, b: u32) -> bool {
|
|
|
3457
3546
|
fn emit(kind: u32, a: u32, b: u32, point: vec3f, impulse: f32, normal: vec3f) {
|
|
3458
3547
|
let e = atomicAdd(&table[0], 1u);
|
|
3459
3548
|
if (e >= params.capacity) { return; }
|
|
3460
|
-
events[${
|
|
3461
|
-
events[${
|
|
3462
|
-
events[${
|
|
3549
|
+
events[${$i}u * e] = bitcast<vec4f>(vec4u(kind, a, b, params.step));
|
|
3550
|
+
events[${$i}u * e + 1u] = vec4f(point, impulse);
|
|
3551
|
+
events[${$i}u * e + 2u] = vec4f(normal, 0.0);
|
|
3463
3552
|
}
|
|
3464
3553
|
|
|
3465
3554
|
/** Per pair this step: into this step's set, and a begin if it wasn't in last step's. */
|
|
3466
3555
|
@compute @workgroup_size(64)
|
|
3467
3556
|
fn touching(@builtin(global_invocation_id) id: vec3u) {
|
|
3468
3557
|
let m = id.x;
|
|
3469
|
-
if (m >= min(counters[${
|
|
3558
|
+
if (m >= min(counters[${Fi}u], params.pairs)) { return; }
|
|
3470
3559
|
let mf = manifolds[m];
|
|
3471
3560
|
let count = mf.ids.w & 15u;
|
|
3472
3561
|
let a = mf.ids.x;
|
|
@@ -3475,8 +3564,8 @@ fn touching(@builtin(global_invocation_id) id: vec3u) {
|
|
|
3475
3564
|
insert(params.now, a, b);
|
|
3476
3565
|
if (has(params.prev, a, b)) { return; }
|
|
3477
3566
|
// Where (the points' average, on a) and how hard (the normal force over the step)
|
|
3478
|
-
let pA = bodies[a * STRIDE + ${
|
|
3479
|
-
let qA = bodies[a * STRIDE + ${
|
|
3567
|
+
let pA = bodies[a * STRIDE + ${Oi/4}u].xyz;
|
|
3568
|
+
let qA = bodies[a * STRIDE + ${cr/4}u];
|
|
3480
3569
|
var point = vec3f(0.0);
|
|
3481
3570
|
var force = 0.0;
|
|
3482
3571
|
for (var i = 0u; i < count; i++) {
|
|
@@ -3484,7 +3573,7 @@ fn touching(@builtin(global_invocation_id) id: vec3u) {
|
|
|
3484
3573
|
point += turn(qA, k.rA) + pA;
|
|
3485
3574
|
force += k.lam.x;
|
|
3486
3575
|
}
|
|
3487
|
-
emit(${
|
|
3576
|
+
emit(${Xt}u, a, b, point / f32(count), abs(force) * params.dt, mf.geo.xyz);
|
|
3488
3577
|
}
|
|
3489
3578
|
|
|
3490
3579
|
/** Per slot of last step's set: an end if the pair isn't in this step's. */
|
|
@@ -3495,10 +3584,10 @@ fn ended(@builtin(global_invocation_id) id: vec3u) {
|
|
|
3495
3584
|
let k = atomicLoad(&table[s]);
|
|
3496
3585
|
if (k == 0u) { return; }
|
|
3497
3586
|
let b = atomicLoad(&table[s + 1u]);
|
|
3498
|
-
if (!has(params.now, k - 1u, b)) { emit(${
|
|
3587
|
+
if (!has(params.now, k - 1u, b)) { emit(${bc}u, k - 1u, b, vec3f(0.0), 0.0, vec3f(0.0)); }
|
|
3499
3588
|
}
|
|
3500
|
-
`,
|
|
3501
|
-
fn touching`),
|
|
3589
|
+
`,gc=gr.replace("struct Manifold { ids: vec4u, geo: vec4f }","struct Manifold { ids:vec4u, pl:vec4f, anchors:vec4f, geo:vec4f, misc:vec4f }").replace(`const STRIDE = ${ke/4}u;`,"const STRIDE = 6u;").replace(gr.slice(gr.indexOf(`@compute @workgroup_size(64)
|
|
3590
|
+
fn touching`),gr.indexOf("/** Per slot of last step")),`
|
|
3502
3591
|
@compute @workgroup_size(64) fn touching(@builtin(global_invocation_id) id:vec3u){
|
|
3503
3592
|
let m=id.x;let count=min(counters[1u],params.pairs);if(m>=count){return;}
|
|
3504
3593
|
let c=manifolds[m];let a=c.ids.x;let b=c.ids.y;
|
|
@@ -3507,11 +3596,11 @@ fn touching`),hr.indexOf("/** Per slot of last step")),`
|
|
|
3507
3596
|
insert(params.now,a,b);if(has(params.prev,a,b)){return;}
|
|
3508
3597
|
let pose=bodies[a*STRIDE];let cs=cos(pose.z);let sn=sin(pose.z);
|
|
3509
3598
|
let r=c.anchors.xy;let point=pose.xy+vec2f(cs*r.x-sn*r.y,sn*r.x+cs*r.y);
|
|
3510
|
-
emit(${
|
|
3599
|
+
emit(${Xt}u,a,b,vec3f(point,0.),abs(c.pl.z)*params.dt,vec3f(c.geo.zw,0.));
|
|
3511
3600
|
}
|
|
3512
3601
|
|
|
3513
|
-
`),Nt=class{device;pipelines;layout;watch;table;events;params;setSlots;capacity;group=null;bound=[];flip=0;bodies;constructor(e,t,i,r,s,a=3){this.device=e,this.bodies=t,this.capacity=s,this.setSlots=2**Math.ceil(Math.log2(Math.max(64,2*r)));let n=e.createShaderModule({label:"contact events",code:a===2?Jl:hr}),l=["read-only-storage","read-only-storage","read-only-storage","read-only-storage","read-only-storage","storage","storage","uniform"];this.layout=e.createBindGroupLayout({label:"contact events",entries:l.map((d,h)=>({binding:h,visibility:GPUShaderStage.COMPUTE,buffer:{type:d}}))});let c=e.createPipelineLayout({bindGroupLayouts:[this.layout]}),f=d=>e.createComputePipeline({label:`contact events ${d}`,layout:c,compute:{module:n,entryPoint:d}});this.pipelines={touching:f("touching"),ended:f("ended")};let u=GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST|GPUBufferUsage.COPY_SRC;this.watch=e.createBuffer({label:"contact watch",size:Math.max(16,i*4),usage:u}),this.table=e.createBuffer({label:"contact sets",size:(To+4*this.setSlots)*4,usage:u}),this.events=e.createBuffer({label:"contact events",size:s*qi*16,usage:u}),this.params=e.createBuffer({label:"contact params",size:32,usage:GPUBufferUsage.UNIFORM|GPUBufferUsage.COPY_DST})}setWatched(e,t){let i=e.map((r,s)=>[r,t[s]?1:0]).sort((r,s)=>r[0]-s[0]);for(let r=0;r<i.length;){let s=r+1;for(;s<i.length&&i[s][0]===i[s-1][0]+1;)s++;this.device.queue.writeBuffer(this.watch,i[r][0]*4,Uint32Array.from(i.slice(r,s),a=>a[1])),r=s}}run(e,t,i,r){let s=this.device,a=[this.bodies,e.manifolds,e.contacts,e.counters,this.watch,this.table,this.events,this.params];(!this.group||a.some((d,h)=>d!==this.bound[h]))&&(this.bound=a,this.group=s.createBindGroup({layout:this.layout,entries:a.map((d,h)=>({binding:h,resource:{buffer:d}}))})),this.flip=1-this.flip;let[n,l]=this.flip?[0,this.setSlots]:[this.setSlots,0],c=new Uint32Array([n,l,this.setSlots-1,this.capacity,t,i,0,0]);new Float32Array(c.buffer)[6]=r,s.queue.writeBuffer(this.params,0,c);let f=s.createCommandEncoder({label:"contact events"});f.clearBuffer(this.table,(To+2*l)*4,2*this.setSlots*4);let u=f.beginComputePass({label:"contact events"});u.setBindGroup(0,this.group),u.setPipeline(this.pipelines.touching),u.dispatchWorkgroups(Math.max(1,Math.ceil(t/64))),u.setPipeline(this.pipelines.ended),u.dispatchWorkgroups(Math.ceil(this.setSlots/64)),u.end(),s.queue.submit([f.finish()])}async read(){let e=this.device,t=16+this.capacity*qi*16,i=e.createBuffer({size:t,usage:GPUBufferUsage.MAP_READ|GPUBufferUsage.COPY_DST}),r=e.createCommandEncoder({label:"read contact events"});r.copyBufferToBuffer(this.table,0,i,0,16),r.copyBufferToBuffer(this.events,0,i,16,t-16),r.clearBuffer(this.table,0,16),e.queue.submit([r.finish()]),await i.mapAsync(GPUMapMode.READ);let s=i.getMappedRange().slice(0);i.unmap(),i.destroy();let a=new Uint32Array(s),n=new Float32Array(s),l=Math.min(a[0],this.capacity),c=[];for(let f=0;f<l;f++){let u=4+f*qi*4;c.push({kind:a[u],a:a[u+1],b:a[u+2],step:a[u+3],point:[n[u+4],n[u+5],n[u+6]],impulse:n[u+7],normal:[n[u+8],n[u+9],n[u+10]]})}return c.sort((f,u)=>f.step-u.step),{events:c,dropped:a[0]-l,full:a[1]!==0}}destroy(){for(let e of[this.watch,this.table,this.events,this.params])e.destroy()}};var $e=Object.freeze({BOX:"box",SPHERE:"sphere",CAPSULE:"capsule",CYLINDER:"cylinder",CONVEX_HULL:"convex-hull"}),Le=o=>o&&typeof o.x=="number"?[o.x,o.y,o.z,...typeof o.w=="number"?[o.w]:[]]:Array.from(o),pr=new WeakMap,Vi=o=>{if(!Number.isInteger(o)||o<0||o>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");return o},os=(o,e,t=!1)=>{if(!Number.isFinite(o)||(t?o<0:o<=0))throw Error(`${e} must be ${t?"nonnegative":"positive"} and finite`);return o},as=class o{static async create({device:e,...t}={}){if(t.scene&&pr.has(t.scene))throw Error("This scene already has an AVBD world");let i=!e;e||({device:e}=await jo({preferredLimits:{maxStorageBuffersPerShaderStage:9,maxStorageBufferBindingSize:512*1024*1024,maxBufferSize:1024*1024*1024}}));let r;try{return r=new o(e,t),r.ownsDevice=i,r.scene&&r.autoAttach&&r.attachToScene(),r}catch(s){throw r?r.dispose():i&&e.destroy(),s}}constructor(e,{scene:t,gravity:i=[0,-10,0],timeStep:r=1/60,iterations:s=10,capacity:a=4096,syncMeshes:n=!0,maxSyncedBodies:l=2048,broadphase:c="auto",solverMode:f="auto",bvh:u={},autoAttach:d=!0,maxContactPairs:h=8192,maxContactEvents:m=4096,sleeping:p=!1}={}){if(this.device=e,this.scene=t,this.autoAttach=d,this.syncEnabled=n,this.maxSyncedBodies=l,!Number.isInteger(a)||a<1||!Number.isInteger(l)||l<0)throw Error("capacity and maxSyncedBodies must be valid integer counts");if(this.capacity=a,this.collisionOptions={broadphase:c,bvh:u,solverMode:f},this.ref=new Pi,this.ref.dt=os(r,"timeStep"),!Number.isInteger(s)||s<1)throw Error("iterations must be a positive integer");this.ref.iterations=s,this.aggregates=[],this.constraints=new Set,this.contactListeners=new Set;for(let[y,A]of Object.entries({maxContactPairs:h,maxContactEvents:m}))if(!Number.isInteger(A)||A<1)throw Error(`${y} must be a positive integer`);if(this.contactOptions={maxContactPairs:h,maxContactEvents:m},this.bodyReadback=new Ft(e),this.sleepOptions=p,p!==!1&&p!==!0&&(typeof p!="object"||p===null))throw Error("sleeping must be a boolean or options object");this.commands=new Map,this.steps=0,this.errors=[],this.deviceLost=null;let b=new WeakRef(this);e.lost.then(y=>{let A=b.deref();!A||A.disposed||(A.deviceLost={reason:y.reason,message:y.message},A.errors.push(`WebGPU device lost: ${y.message||y.reason}`),A.dispose())}),this.setGravity(i),this.errorListener=y=>this.errors.push(y.error.message),e.addEventListener("uncapturederror",this.errorListener),t&&pr.set(t,this)}setGravity(e){let t=Le(e);if(t.length!==3||!t.every(Number.isFinite))throw Error("gravity requires three finite components");let i=Math.hypot(...t);this.gravity=-i,this.up=i?t.map(r=>-r/i):[0,1,0],this.gpu&&(this.gpu.params.gravity=this.gravity,this.gpu.params.up=this.up),this.wakeAll()}get solverDecision(){return this.initialize(),{...this.gpu.solverDecision}}setSolverMode(e){this.initialize();let t=this.gpu.setSolverMode(e);return this.collisionOptions.solverMode=e,{...t}}initialize(){if(this.assertAlive(),this.gpu)return;if(this.syncEnabled&&this.aggregates.filter(r=>r.sync).length>this.maxSyncedBodies)throw Error("For large scenes use syncMeshes:false and draw the GPU body buffer directly");if(this.aggregates.length>this.capacity)throw Error(`Body capacity ${this.capacity} exceeded; size the world before initialization`);this.gpu=new Ni(this.device,this.ref,rs(this.ref,{bodyCapacity:Math.max(1,this.capacity),spatialSort:!0,...this.collisionOptions})),Object.assign(this.gpu.params,{gravity:this.gravity,up:this.up}),this.gpu.externalBeforeStep=r=>{this.sleepManager?.before(r),this.flushCommands(r)},this.gpu.externalAfterStep=r=>this.sleepManager?.after(r);let e=new Map([...this.constraints].map(r=>[r.force,r])),t=[],i=0;for(let r of this.ref.forces){let s=e.get(r);s&&(s.attach(i++,!1),(s.type==="fixed"||s.type==="spring"&&s.rest===void 0)&&t.push({slot:s.slot,spring:s.type==="spring"}))}this.gpu.captureConstraintFrames(t),this.byGpuIndex=new Map(this.aggregates.map(r=>[this.gpu.gpuIndex(r.index),r.body]));for(let r of this.aggregates)(r.disposed||r.group!==4294967295||r.collidesWith!==4294967295)&&this.gpu.setFilters([this.gpu.gpuIndex(r.index)],[r.disposed?0:r.group],[r.disposed?0:r.collidesWith]);for(let r of this.aggregates)r.isTrigger&&this.gpu.setSensor(r.body.gpuIndex,!0);for(let r of this.aggregates)r.restitution>0&&this.gpu.setRestitution(r.body.gpuIndex,r.restitution);this.contactListeners.size&&this.initializeContacts(),this.sleepOptions&&(this.sleepManager=new li(this,this.sleepOptions===!0?{}:this.sleepOptions))}addAggregate(e,t,i={}){return new ns(e,t,i,this)}addAggregates(e){return e.map(({mesh:t,type:i,options:r})=>this.addAggregate(t,i,r))}addConstraint(e,t,i={}){return new fr(this,e,t,i)}addJoint(e,t,i={}){return this.addConstraint(e,t,{...i,type:i.type??"ball"})}addWeld(e,t,i={}){return this.addConstraint(e,t,{...i,type:"fixed"})}addSpring(e,t,i={}){return this.addConstraint(e,t,{...i,type:"spring"})}enableSleeping(e={}){return this.assertAlive(),this.sleepOptions=e,this.gpu&&!this.sleepManager&&(this.sleepManager=new li(this,e)),this}addMotor(e,t,i={}){return this.addConstraint(e,t,{...i,type:"motor"})}addHinge(e,t,i={}){return new dr(this,e,t,i)}initializeContacts(){if(this.contactWatch)return;let{maxContactPairs:e,maxContactEvents:t}=this.contactOptions;this.contactWatch=new Nt(this.device,this.gpu.bodyBuffer,this.capacity,e,t);let i=this.aggregates.filter(r=>!r.disposed);this.contactWatch.setWatched(i.map(r=>r.body.gpuIndex),i.map(()=>!0))}onContact(e){if(this.assertAlive(),typeof e!="function")throw Error("A contact callback is required");return this.contactListeners.add(e),this.gpu&&this.initializeContacts(),()=>this.contactListeners.delete(e)}async readContactEvents(){return this.initialize(),this.initializeContacts(),this.contactPending?this.contactPending:(this.contactPending=this.contactWatch.read().then(e=>({...e,events:e.events.map(t=>({...t,type:t.kind===Ut?"begin":"end",isTrigger:!!(this.byGpuIndex.get(t.a)?.aggregate.isTrigger||this.byGpuIndex.get(t.b)?.aggregate.isTrigger),a:this.byGpuIndex.get(t.a),b:this.byGpuIndex.get(t.b)}))})).finally(()=>this.contactPending=null),this.contactPending)}async raycast(e,t,i={}){let[r]=await this.raycastAll([{origin:e,direction:t,maxDistance:i.maxDistance}],i);return r}async sphereCast(e,t,i,r={}){let[s]=await this.sphereCastAll([{origin:e,radius:t,direction:i,maxDistance:r.maxDistance}],r);return s}async sphereCastAll(e,{ignore:t=[],collidesWith:i=4294967295,includeTriggers:r=!0}={}){this.assertAlive(),Vi(i),this.initialize(),this.flushCommands();for(let a of t)if(a.aggregate.world!==this||a.disposed)throw Error("Ignored cast bodies must belong to this world and be alive");return(await this.gpu.sphereCastAll(e.map(a=>({...a,origin:Le(a.origin),direction:Le(a.direction)})),{ignore:t.map(a=>a.gpuIndex),collidesWith:i,includeTriggers:r})).map(a=>a?{...a,body:this.byGpuIndex.get(a.index)??null}:null)}async raycastAll(e,{ignore:t=[],collidesWith:i=4294967295,includeTriggers:r=!0}={}){Vi(i),this.initialize(),this.flushCommands();let s=e.map(n=>{let l=Le(n.origin),c=Le(n.direction);if(l.length!==3||c.length!==3||![...l,...c].every(Number.isFinite)||!Math.hypot(...c))throw Error("A ray requires a finite origin and nonzero direction");return n.maxDistance!==void 0&&os(n.maxDistance,"maxDistance",!0),{...n,origin:l,direction:c}});for(let n of t)if(n.aggregate.world!==this)throw Error("Ignored ray bodies must belong to this world");return(await this.gpu.raycastAll(s,{ignore:t.map(n=>n.gpuIndex),collidesWith:i,includeTriggers:r})).map(n=>n?{...n,body:this.byGpuIndex.get(n.index)??null}:null)}getRenderBinding(e=this.device){if(this.initialize(),e!==this.device)throw Error("Direct GPU rendering must share the physics GPUDevice");return{device:e,buffer:this.bodyBuffer,stride:160,positionOffset:0,rotationOffset:16,sizeOffset:64,count:this.gpu.bodyCount}}wakeAll(){this.sleepManager&&(this.sleepManager.wakeRequested=!0)}async readSleepStats(){return this.initialize(),this.sleepManager?this.sleepManager.readStats():{sleeping:0,wakeRequested:!1}}assertAlive(){if(this.disposed)throw Error("AVBD world is disposed")}queue(e,t,i,r){this.assertAlive(),e.assertAlive();let s=Le(r);if(s.length!==(i==="rotation"?4:3)||!s.every(Number.isFinite))throw Error(`${i} requires ${i==="rotation"?4:3} finite components`);let a=this.commands.get(e);return a||this.commands.set(e,a={mask:0}),a.mask|=t,a[i]=s,this.wakeAll(),a}flushCommands(e){if(this.initialize(),this.gpu.flushPropertyEdits(e),!this.commands.size)return;this.sleepManager?.wakeRequested&&this.sleepManager.before(e);let t=this.commands.size,i=0;for(let p of this.commands.values())i|=p.mask;if(i===1||i===2){if(!this.velocityIndices||this.velocityIndices.length<t){let A=Math.max(t,(this.velocityIndices?.length??0)*2,64);this.velocityIndices=new Uint32Array(A),this.velocityValues=new Float32Array(A*3)}let p=0;for(let[A,w]of this.commands)this.velocityIndices[p]=A.aggregate.gpuSlot??this.gpu.gpuIndex(A.aggregate.index),this.velocityValues.set(i===2?w.angular:w.velocity,p++*3);let b=i===2?"angularVelocityBatch":"velocityBatch",y=this[b]??=new Ct(this.gpu,3,i===2?"angular":"linear");y.solver=this.gpu,y.submitValidated(this.velocityIndices.subarray(0,t),this.velocityValues.subarray(0,t*3),e),this.lastCommandBatch={bodies:t,path:i===2?"packed-angular-velocities":"packed-velocities",uploadedBytes:t*16},this.commands.clear();return}let r=!0;for(let p of this.commands.values())if((p.mask&-4)!==0){r=!1;break}if(r){(!this.motionData||this.motionData.length<t*8)&&(this.motionData=new Uint32Array(Math.max(t*8,(this.motionData?.length??0)*2,512)),this.motionFloats=new Float32Array(this.motionData.buffer));let p=0;for(let[b,y]of this.commands){let A=p++*8;this.motionData[A]=b.aggregate.gpuSlot??this.gpu.gpuIndex(b.aggregate.index),this.motionData[A+1]=y.mask,y.velocity&&this.motionFloats.set(y.velocity,A+2),y.angular&&this.motionFloats.set(y.angular,A+5)}this.motionBatch??=new Gt(this.gpu,3),this.motionBatch.submitValidated(this.motionData.subarray(0,t*8),e),this.lastCommandBatch={bodies:t,path:"packed-motion",uploadedBytes:t*32},this.commands.clear();return}let s=t*128,a=Math.min(this.device.limits.maxStorageBufferBindingSize,this.device.limits.maxBufferSize);if(s>a)throw Error("Body command batch exceeds GPU buffer limits");(!this.commandData||this.commandData.byteLength<s)&&(this.commandData=new ArrayBuffer(Math.min(a,Math.max(s,(this.commandData?.byteLength??0)*2,128))));let n=this.commandData,l=new Float32Array(n),c=new Uint32Array(n);l.fill(0,0,t*32);let f=0;for(let[p,b]of this.commands){let y=f++*32;c[y]=p.aggregate.gpuSlot??this.gpu.gpuIndex(p.aggregate.index),c[y+1]=b.mask;for(let[A,w]of[["velocity",4],["angular",8],["impulse",12],["torque",16],["position",20],["rotation",24],["pointImpulse",28]])b[A]&&l.set(b[A],y+w)}this.commands.clear(),(!this.commandBuffer||this.commandBuffer.size<s)&&(this.commandBuffer?.destroy(),this.commandBuffer=this.device.createBuffer({size:Math.min(a,Math.max(s*2,128)),usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST})),this.device.queue.writeBuffer(this.commandBuffer,0,n,0,s),this.commandPipeline??=this.device.createComputePipeline({layout:"auto",compute:{module:this.device.createShaderModule({code:`const DISPATCH_STRIDE = ${this.device.limits.maxComputeWorkgroupsPerDimension*64}u;
|
|
3514
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${un}`,label:"AVBD body commands"}),entryPoint:"applyCommands"}}),(!this.commandBinding||this.boundCommandBody!==this.gpu.bodyBuffer||this.boundCommandBuffer!==this.commandBuffer||this.boundCommandBytes!==s)&&(this.commandBinding=this.device.createBindGroup({layout:this.commandPipeline.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:this.gpu.bodyBuffer}},{binding:1,resource:{buffer:this.commandBuffer,size:s}}]}),this.boundCommandBody=this.gpu.bodyBuffer,this.boundCommandBuffer=this.commandBuffer,this.boundCommandBytes=s);let u=e??this.device.createCommandEncoder(),d=u.beginComputePass();d.setPipeline(this.commandPipeline),d.setBindGroup(0,this.commandBinding);let h=Math.ceil(f/64),m=this.device.limits.maxComputeWorkgroupsPerDimension;d.dispatchWorkgroups(Math.min(h,m),Math.ceil(h/m)),d.end(),e||this.device.queue.submit([u.finish()]),this.lastCommandBatch={bodies:t,path:"aggregate-commands",uploadedBytes:s}}step(){this.initialize(),this.gpu.step(),this.steps++,this.contactWatch&&(this.contactWatch.run(this.gpu.contactStorage,this.gpu.manifoldCapacity,this.steps,this.ref.dt),this.contactListeners.size&&!this.contactPending&&this.readContactEvents().then(({events:e,dropped:t,full:i})=>{if(!this.disposed){(t||i)&&this.errors.push(`Contact event storage full: ${t} events dropped; increase maxContactEvents/maxContactPairs`);for(let r of e)for(let s of this.contactListeners)s(r)}}).catch(e=>{this.disposed||this.errors.push(e.message)})),this.syncEnabled&&!this.syncPending&&this.syncMeshes().catch(e=>this.errors.push(e.message)),this.steps%20===0&&!this.counterPending&&(this.counterPending=!0,this.gpu.readCounters().then(e=>{this.disposed||(this.counters=e,this.gpu.adapt(e),(e.overflow||e.clashes)&&this.errors.push(`Collision capacity/color conflict: ${JSON.stringify(e)}`))}).catch(e=>{this.disposed||this.errors.push(e.message)}).finally(()=>this.counterPending=!1))}async syncMeshes(){if(this.initialize(),this.flushCommands(),this.syncPending)return this.syncPending;let e=this.aggregates.filter(t=>t.sync&&!t.disposed);return this.syncPending=this.bodyReadback.read(this.bodyBuffer,e.map(t=>t.body.gpuIndex),!0).then(t=>{if(!this.disposed){for(let i=0;i<e.length;i++)e[i].disposed||e[i].syncPose(t,i*8);this.lastSyncBytes=t.byteLength}}).finally(()=>this.syncPending=null),this.syncPending}get bodyBuffer(){return this.initialize(),this.gpu.bodyBuffer}async readBodies(e){if(this.initialize(),this.flushCommands(),e){for(let t of e)if(t.aggregate.world!==this)throw Error("Selected bodies must belong to this world");return this.bodyReadback.read(this.bodyBuffer,e.map(t=>t.gpuIndex))}return this.gpu.readBodies()}dispose(){if(!this.disposed){this.disposed=!0,this.observer&&this.scene?.onBeforeRenderObservable.remove(this.observer),this.disposeObserver&&this.scene?.onDisposeObservable.remove(this.disposeObserver),this.scene&&pr.get(this.scene)===this&&pr.delete(this.scene),this.device.removeEventListener("uncapturederror",this.errorListener),this.gpu?.destroy(),this.contactWatch?.destroy(),this.sleepManager?.dispose(),this.commandBuffer?.destroy(),this.velocityBatch?.destroy(),this.angularVelocityBatch?.destroy(),this.motionBatch?.destroy(),this.bodyReadback.destroy(),this.commandData=this.velocityIndices=this.velocityValues=null,this.commandBinding=null;for(let e of this.aggregates)e.disposed=!0,e.body.disposed=!0;this.commands.clear(),this.contactListeners.clear();for(let e of this.constraints)e.disposed=!0;this.constraints.clear(),this.ownsDevice&&this.device.destroy()}}attachToScene(e=this.scene){if(this.assertAlive(),!e)throw Error("A Babylon scene is required");if(this.observer&&e===this.scene)return this;if(this.observer)throw Error("AVBD world is already attached to another scene");this.scene=e,this.disposeObserver=e.onDisposeObservable.addOnce(()=>this.dispose());let t=0;return this.observer=e.onBeforeRenderObservable.add(()=>{t+=Math.min(.05,e.getEngine().getDeltaTime()/1e3);for(let i=0;t>=this.ref.dt&&i<3;i++)this.step(),t-=this.ref.dt}),this}},ns=class{constructor(e,t,{mass:i=1,friction:r=.6,restitution:s=0,allowSleep:a,isTrigger:n=!1,sync:l=!0,group:c=4294967295,collidesWith:f=4294967295}={},u){if(u=u instanceof as?u:pr.get(u??e.getScene()),!u)throw Error("Create an AVBD world for this scene before adding aggregates");if(u.assertAlive(),typeof t=="number"&&(t=[$e.SPHERE,$e.CAPSULE,$e.CYLINDER,$e.BOX,$e.CONVEX_HULL][t]),os(i,"mass",!0),os(r,"friction",!0),!Number.isFinite(s)||s<0||s>1)throw Error("restitution must be between 0 and 1");if(e.parent)throw Error("AVBD aggregate meshes must have no parent; bake the parent transform first");if(!Object.values($e).includes(t))throw Error(`Unsupported AVBD shape: ${t}`);if(u.aggregates.length>=u.capacity)throw Error("AVBD body capacity exceeded");if(this.world=u,this.mesh=e,this.sync=l,this.type=t,a!==void 0&&typeof a!="boolean")throw Error("allowSleep must be a boolean");if(this.allowSleep=a??!0,typeof n!="boolean")throw Error("isTrigger must be a boolean");if(this.isTrigger=n,this.restitution=s,a===!0&&!u.sleepOptions&&u.enableSleeping(),this.group=Vi(c),this.collidesWith=Vi(f),u.gpu&&u.syncEnabled&&l&&u.aggregates.filter(g=>g.sync&&!g.disposed).length>=u.maxSyncedBodies)throw Error("For large scenes use syncMeshes:false and draw the GPU body buffer directly");if(![$e.BOX,$e.SPHERE,$e.CAPSULE].includes(t)&&u.device.limits.maxStorageBuffersPerShaderStage<9)throw Error("Convex hull collisions require nine storage buffer bindings");e.computeWorldMatrix(!0),e.refreshBoundingInfo();let d=e.getBoundingInfo().boundingBox,h=e.scaling;if([h.x,h.y,h.z].some(g=>g<=0))throw Error("Bake negative or zero mesh scaling before creating an aggregate");let m=d.maximum.subtract(d.minimum).multiply(h),p=d.center.multiply(h),b=e.rotationQuaternion?.clone()||e.rotation.toQuaternion();this.localCenter=p,this.localRotation=b.constructor.Identity();let y;if(t===$e.BOX)y=new at(u.ref,Le(m),1,r,[0,0,0]);else if(t===$e.SPHERE){if(Math.max(m.x,m.y,m.z)-Math.min(m.x,m.y,m.z)>1e-4)throw Error("Sphere aggregate requires uniform dimensions");y=Rr(u.ref,m.x/2,1,r,[0,0,0])}else if(t===$e.CAPSULE){if(Math.abs(m.x-m.z)>1e-4)throw Error("Capsule aggregate requires equal X and Z diameters; bake an upright Y-axis capsule mesh");y=ts(u.ref,m.x/2,m.y,1,r,[0,0,0])}else{let g=e.getVerticesData("position");if(!g)throw Error("Hull aggregate requires mesh positions");let x=Float32Array.from(g,(B,E)=>B*[h.x,h.y,h.z][E%3]),v=er(x);if(!v)throw Error("Hull aggregate requires a closed shape with nonzero volume");this.localCenter=new e.position.constructor(...v.center),this.localRotation=b.constructor.FromArray(v.rotation),y=Or(u.ref,v,1,r,[0,0,0])}let A=i/y.mass;y.mass=i,y.moment.forEach((g,x)=>y.moment[x]=g*A);let w=e.position.add(this.localCenter.applyRotationQuaternion(b));if(y.positionLin.set(Le(w)),y.positionAng.set(b.multiply(this.localRotation).asArray()),this.rigid=y,this.index=u.aggregates.length,this.body=new ls(this),u.aggregates.push(this),e.rotationQuaternion=b,u.gpu){if(this.gpuSlot=u.gpu.addBody(y),this.gpuSlot<0)throw Error("AVBD body capacity exceeded");u.byGpuIndex.set(this.gpuSlot,this.body),u.gpu.setFilters([this.gpuSlot],[this.group],[this.collidesWith]),(this.isTrigger||u.gpu.sensorsEnabled)&&u.gpu.setSensor(this.gpuSlot,this.isTrigger),this.restitution>0&&u.gpu.setRestitution(this.gpuSlot,this.restitution),u.contactWatch?.setWatched([this.gpuSlot],[!0]),u.sleepManager?.register(this.gpuSlot,y.mass,this.allowSleep),u.wakeAll?.()}}syncPose(e,t){let i=t??this.body.gpuIndex*40,r=this.localRotation.constructor.FromArray(e,i+4).multiply(this.localRotation.conjugate());this.mesh.rotationQuaternion.copyFrom(r),this.mesh.position.copyFrom(new this.mesh.position.constructor(...e.subarray(i,i+3)).subtract(this.localCenter.applyRotationQuaternion(r)))}dispose(){if(this.disposed)return;let e=this.world;for(let t of[...e.constraints])(t.bodyA===this.body||t.bodyB===this.body)&&t.dispose();if(e.gpu){let t=this.body.gpuIndex;e.queue(this.body,16,"velocity",[0,0,0]),e.gpu.setFilters([t],[0],[0]),e.gpu.setRestitution(t,0)}this.rigid.mass=0,this.rigid.moment.fill(0),this.sync=!1,this.disposed=this.body.disposed=!0,e.sleepManager?.register(this.gpuSlot??e.gpu?.gpuIndex(this.index)??this.index,0),e.wakeAll?.()}},ls=class{constructor(e){this.aggregate=e}assertAlive(){if(this.disposed||this.aggregate.disposed)throw Error("AVBD body is disposed")}get gpuIndex(){this.assertAlive();let e=this.aggregate.world;return e.initialize(),this.aggregate.gpuSlot??e.gpu.gpuIndex(this.aggregate.index)}setLinearVelocity(e){return this.aggregate.world.queue(this,1,"velocity",e),this}setAngularVelocity(e){return this.aggregate.world.queue(this,2,"angular",e),this}applyImpulse(e,t){let i=t?Le(t):null;if(i&&(i.length!==3||!i.every(Number.isFinite)))throw Error("Impulse point requires three finite components");let r=this.aggregate.world,s=Le(e),a=r.commands.get(this),n=s.map((c,f)=>c+(a?.impulse?.[f]||0)),l=r.queue(this,4,"impulse",n);if(t){let c=[i[1]*s[2]-i[2]*s[1],i[2]*s[0]-i[0]*s[2],i[0]*s[1]-i[1]*s[0]],f=l.torque||[0,0,0];l.torque=Le(c).map((u,d)=>u+f[d]),l.pointImpulse=s.map((u,d)=>u+(l.pointImpulse?.[d]||0))}return this}applyAngularImpulse(e){let t=this.aggregate.world,i=t.commands.get(this)?.torque||[0,0,0];return t.queue(this,4,"torque",Le(e).map((r,s)=>r+i[s])),this}applyForce(e,t){return this.applyImpulse(Le(e).map(i=>i*this.aggregate.world.ref.dt),t)}applyTorque(e){return this.applyAngularImpulse(Le(e).map(t=>t*this.aggregate.world.ref.dt))}setCollisionGroups(e,t=4294967295){this.assertAlive();let i=this.aggregate,r=Vi(e),s=Vi(t);return i.group=r,i.collidesWith=s,i.world.gpu&&i.world.gpu.setFilters([this.gpuIndex],[i.group],[i.collidesWith]),i.world.wakeAll?.(),this}setTrigger(e){if(this.assertAlive(),typeof e!="boolean")throw Error("isTrigger must be a boolean");let t=this.aggregate;return t.isTrigger=e,t.world.gpu&&t.world.gpu.setSensor(this.gpuIndex,e),t.world.wakeAll(),this}setRestitution(e){if(this.assertAlive(),!Number.isFinite(e)||e<0||e>1)throw Error("restitution must be between 0 and 1");let t=this.aggregate;return t.restitution=e,t.world.gpu&&t.world.gpu.setRestitution(this.gpuIndex,e),t.world.wakeAll(),this}async readState(){let e=await this.aggregate.world.readBodies([this]),t=this.aggregate.rigid.mass;return{position:Array.from(e.subarray(0,3)),rotation:Array.from(e.subarray(4,8)),linearVelocity:Array.from(e.subarray(32,35)),angularVelocity:Array.from(e.subarray(36,39)),mass:t,effectiveMass:e[19],sleeping:t>0&&e[19]===0}}wakeUp(){return this.assertAlive(),this.aggregate.world.wakeAll(),this}setSleepEnabled(e){if(this.assertAlive(),typeof e!="boolean")throw Error("Sleep eligibility must be a boolean");let t=this.aggregate,i=t.world;return t.allowSleep=e,e&&!i.sleepOptions&&i.enableSleeping(),i.gpu&&i.sleepManager?.register(this.gpuIndex,t.rigid.mass,e),i.wakeAll(),this}teleport(e,t=this.aggregate.mesh.rotationQuaternion){let i=t.clone().normalize(),r=this.aggregate;return r.world.queue(this,8,"position",Le(e.add(r.localCenter.applyRotationQuaternion(i)))),r.world.queue(this,8,"rotation",i.multiply(r.localRotation).asArray()),this}};var ci=class{solver;bodyA;bodyB;J=new Float64Array(12);H=new Float64Array(36);C=new Float64Array(4);fmin=new Float64Array(4).fill(-1/0);fmax=new Float64Array(4).fill(1/0);stiffness=new Float64Array(4).fill(1/0);fracture=new Float64Array(4).fill(1/0);penalty=new Float64Array(4);lambda=new Float64Array(4);constructor(e,t,i){this.solver=e,this.bodyA=t,this.bodyB=i,e.forces.push(this),t?.forces.push(this),i.forces.push(this)}destroy(){let e=this.solver.forces,t=e.indexOf(this);t>=0&&e.splice(t,1),this.unlinkFromBodies()}unlinkFromBodies(){for(let e of[this.bodyA,this.bodyB]){if(!e)continue;let t=e.forces.indexOf(this);t>=0&&e.forces.splice(t,1)}}disable(){this.stiffness.fill(0),this.penalty.fill(0),this.lambda.fill(0)}};var dn=o=>o<0?-1:o>0?1:0,Hi=(o,e)=>o<e?o:e,$l=(o,e)=>o>e?o:e,Wi=(o,e,t)=>$l(e,Hi(t,o));function mr(o,e,t){let i=Math.cos(o),r=Math.sin(o);return[i*e-r*t,r*e+i*t]}function ui(o,e,t){let i=Math.cos(o[2]),r=Math.sin(o[2]);return[i*e-r*t+o[0],r*e+i*t+o[1]]}function kt(o,e,t,i,r){o[e*3]=t,o[e*3+1]=i,o[e*3+2]=r}var cs=class extends ci{rA;rB;C0=new Float64Array(3);torqueArm;restAngle;constructor(e,t,i,r,s,a=[1/0,1/0,1/0],n=1/0){super(e,t,i),this.rA=[r[0],r[1]],this.rB=[s[0],s[1]],this.stiffness[0]=a[0],this.stiffness[1]=a[1],this.stiffness[2]=a[2],this.fmax[2]=n,this.fmin[2]=-n,this.fracture[2]=n,this.restAngle=(t?t.position[2]:0)-i.position[2];let l=(t?t.size[0]:0)+i.size[0],c=(t?t.size[1]:0)+i.size[1];this.torqueArm=l*l+c*c}rows(){return 3}evaluate(e){let t=this.bodyA?ui(this.bodyA.position,this.rA[0],this.rA[1]):this.rA,i=ui(this.bodyB.position,this.rB[0],this.rB[1]);e[0]=t[0]-i[0],e[1]=t[1]-i[1],e[2]=((this.bodyA?this.bodyA.position[2]:0)-this.bodyB.position[2]-this.restAngle)*this.torqueArm}initialize(){return this.evaluate(this.C0),this.stiffness[0]!==0||this.stiffness[1]!==0||this.stiffness[2]!==0}Cn=new Float64Array(3);computeConstraint(e){this.evaluate(this.Cn);for(let t=0;t<3;t++)this.C[t]=this.stiffness[t]===1/0?this.Cn[t]-this.C0[t]*e:this.Cn[t]}computeDerivatives(e){let{J:t,H:i}=this;if(i.fill(0,0,27),e===this.bodyA){let r=mr(e.position[2],this.rA[0],this.rA[1]);kt(t,0,1,0,-r[1]),kt(t,1,0,1,r[0]),kt(t,2,0,0,this.torqueArm),i[8]=-r[0],i[17]=-r[1]}else{let r=mr(e.position[2],this.rB[0],this.rB[1]);kt(t,0,-1,0,r[1]),kt(t,1,0,-1,-r[0]),kt(t,2,0,0,-this.torqueArm),i[8]=r[0],i[17]=r[1]}}},us=class extends ci{rA;rB;rest;constructor(e,t,i,r,s,a,n=-1){if(super(e,t,i),this.rA=[r[0],r[1]],this.rB=[s[0],s[1]],this.stiffness[0]=a,this.rest=n,this.rest<0){let l=ui(t.position,r[0],r[1]),c=ui(i.position,s[0],s[1]);this.rest=Math.hypot(l[0]-c[0],l[1]-c[1])}}rows(){return 1}initialize(){return!0}delta(){let e=ui(this.bodyA.position,this.rA[0],this.rA[1]),t=ui(this.bodyB.position,this.rB[0],this.rB[1]);return[e[0]-t[0],e[1]-t[1]]}computeConstraint(){let e=this.delta();this.C[0]=Math.hypot(e[0],e[1])-this.rest}computeDerivatives(e){let t=this.delta(),i=t[0]*t[0]+t[1]*t[1];if(i===0)return;let r=Math.sqrt(i),s=t[0]/r,a=t[1]/r,n=(1-s*s)/r,l=(0-s*a)/r,c=(0-a*s)/r,f=(1-a*a)/r,u=e===this.bodyA,d=u?this.rA:this.rB,h=mr(e.position[2],-d[1],d[0]),m=mr(e.position[2],d[0],d[1]),p=n*h[0]+l*h[1],b=c*h[0]+f*h[1],y=s*m[0]+a*m[1],A=s*h[0]+a*h[1];u?kt(this.J,0,s,a,A):kt(this.J,0,-s,-a,-A);let w=u?-y-y:y+y,g=this.H;g[0]=n,g[1]=l,g[2]=p,g[3]=c,g[4]=f,g[5]=b,g[6]=p,g[7]=b,g[8]=w}},fs=class extends ci{rows(){return 0}initialize(){return!0}computeConstraint(){}computeDerivatives(){}},ds=class extends ci{speed;constructor(e,t,i,r,s){super(e,t,i),this.speed=r,this.fmax[0]=s,this.fmin[0]=-s}rows(){return 1}initialize(){return!0}computeConstraint(){let e=this.bodyA?this.bodyA.position[2]-this.bodyA.initial[2]:0,t=this.bodyB.position[2]-this.bodyB.initial[2];this.C[0]=e-t-this.speed*this.solver.dt}computeDerivatives(e){kt(this.J,0,0,0,e===this.bodyA?1:-1),this.H.fill(0,0,9)}};var hs=()=>({dt:1/60,gravity:-10,iterations:10,beta:1e5,alpha:.99,gamma:.99,postStabilize:!0,stiffnessRescale:!1,vbd:!1,vbdStiffness:1e6,matchNearest:!1}),ps=()=>({...hs(),postStabilize:!1,alpha:.95,matchNearest:!0});var Ji=(o,e)=>o>e?o*2097152+e:e*2097152+o;function Xl(o,e,t){let i=0,r=e;for(;i<r;){let s=i+r>>>1;o[s]<t?i=s+1:r=s}return i}function Do(o,e,t){let i=Xl(o,e,t);return i<e&&o[i]===t}var ms=class{cellSize=1;pairs=new Float64Array(1024);pairCount=0;configuredFor=-1;large=new Int32Array(0);isLarge=new Uint8Array(0);cellX=new Int32Array(0);cellY=new Int32Array(0);tableSize=0;bucketStart=new Int32Array(0);sorted=new Int32Array(0);configure(e,t){this.configuredFor=e;let i=Float64Array.from({length:e},(n,l)=>t[l*4+1]).sort(),r=e>0?i[e>>1]:1,s=0;for(let n=0;n<e;n++)i[n]<=4*r&&(s=Math.max(s,i[n]));this.cellSize=Math.max(2*s,.001),this.isLarge=new Uint8Array(e);let a=[];for(let n=0;n<e;n++)t[n*4+1]>s&&(this.isLarge[n]=1,a.push(n));for(this.large=Int32Array.from(a),this.cellX=new Int32Array(e),this.cellY=new Int32Array(e),this.tableSize=1;this.tableSize<2*e;)this.tableSize<<=1;this.bucketStart=new Int32Array(this.tableSize+1),this.sorted=new Int32Array(e)}hash(e,t){return(Math.imul(e,73856093)^Math.imul(t,19349663))&this.tableSize-1}findPairs(e,t,i,r,s,a){e!==this.configuredFor&&this.configure(e,i),this.pairCount=0;let{cellX:n,cellY:l,isLarge:c,bucketStart:f,sorted:u}=this,d=1/this.cellSize;f.fill(0);for(let p=0;p<e;p++)c[p]||(n[p]=Math.floor(t[p*4]*d),l[p]=Math.floor(t[p*4+1]*d),f[this.hash(n[p],l[p])+1]++);for(let p=0;p<this.tableSize;p++)f[p+1]+=f[p];let h=f.slice(0,this.tableSize);for(let p=0;p<e;p++)c[p]||(u[h[this.hash(n[p],l[p])]++]=p);let m=(p,b)=>{if(!r[p]&&!r[b])return;let y=t[p*4]-t[b*4],A=t[p*4+1]-t[b*4+1],w=i[p*4+1]+i[b*4+1];if(y*y+A*A>w*w)return;let g=Ji(p,b);if(!Do(s,a,g)){if(this.pairCount===this.pairs.length){let x=new Float64Array(this.pairs.length*2);x.set(this.pairs),this.pairs=x}this.pairs[this.pairCount++]=g}};for(let p=0;p<e;p++){if(c[p])continue;let b=n[p],y=l[p];for(let A=-1;A<=1;A++)for(let w=-1;w<=1;w++){let g=this.hash(b+w,y+A);for(let x=f[g];x<f[g+1];x++){let v=u[x];v>=p||n[v]!==b+w||l[v]!==y+A||m(p,v)}}}for(let p of this.large)for(let b=0;b<e;b++)b===p||c[b]&&b>p||m(p,b);this.pairs.subarray(0,this.pairCount).sort()}};var Xe=new Float64Array(12),hn=new Float64Array(12),fi=new Float64Array(12);function yt(o,e,t,i,r,s,a,n){let l=e*6;o[l]=t,o[l+1]=i,o[l+2]=r,o[l+3]=s,o[l+4]=a,o[l+5]=n}function pn(o,e,t,i,r,s){let a=0,n=t*e[0]+i*e[1]-r,l=t*e[6]+i*e[7]-r;if(n<=0){for(let c=0;c<6;c++)o[a*6+c]=e[c];a++}if(l<=0){for(let c=0;c<6;c++)o[a*6+c]=e[6+c];a++}if(n*l<0){let c=n/(n-l),f=e[0]+(e[6]-e[0])*c,u=e[1]+(e[7]-e[1])*c;n>0?yt(o,a,f,u,s,e[3],0,e[5]):yt(o,a,f,u,e[8],s,e[10],0),a++}return a}function bs(o,e,t,i,r,s,a,n){let l=-(r*a+s*n),c=-(-s*a+r*n);Math.abs(l)>Math.abs(c)?l>0?(yt(Xe,0,o,-e,0,0,3,4),yt(Xe,1,o,e,0,0,4,1)):(yt(Xe,0,-o,e,0,0,1,2),yt(Xe,1,-o,-e,0,0,2,3)):c>0?(yt(Xe,0,o,e,0,0,4,1),yt(Xe,1,-o,e,0,0,1,2)):(yt(Xe,0,-o,-e,0,0,2,3),yt(Xe,1,o,-e,0,0,3,4));for(let f=0;f<2;f++){let u=f*6,d=Xe[u],h=Xe[u+1];Xe[u]=t+r*d-s*h,Xe[u+1]=i+s*d+r*h}}function mn(o,e,t,i,r,s,a,n,l,c,f){let u=Math.cos(t),d=Math.sin(t),h=Math.cos(n),m=Math.sin(n),p=s-o,b=a-e,y=u*p+d*b,A=-d*p+u*b,w=h*p+m*b,g=-m*p+h*b,x=Math.abs(u*h+d*m),v=Math.abs(u*-m+d*h),B=Math.abs(-d*h+u*m),E=Math.abs(-d*-m+u*h),k=Math.abs(y)-i-(x*l+v*c),z=Math.abs(A)-r-(B*l+E*c);if(k>0||z>0)return 0;let M=Math.abs(w)-(x*i+B*r)-l,P=Math.abs(g)-(v*i+E*r)-c;if(M>0||P>0)return 0;let _=0,S=k,C=y>0?u:-u,R=y>0?d:-d;z>.95*S+.01*r&&(_=1,S=z,C=A>0?-d:d,R=A>0?u:-u),M>.95*S+.01*l&&(_=2,S=M,C=w>0?h:-h,R=w>0?m:-m),P>.95*S+.01*c&&(_=3,S=P,C=g>0?-m:m,R=g>0?h:-h);let I,O,q,G,j,F,W,ee,ne;if(_===0){I=C,O=R,q=o*I+e*O+i,G=-d,j=u;let N=o*G+e*j;F=-N+r,W=N+r,ee=3,ne=1,bs(l,c,s,a,h,m,I,O)}else if(_===1){I=C,O=R,q=o*I+e*O+r,G=u,j=d;let N=o*G+e*j;F=-N+i,W=N+i,ee=2,ne=4,bs(l,c,s,a,h,m,I,O)}else if(_===2){I=-C,O=-R,q=s*I+a*O+l,G=-m,j=h;let N=s*G+a*j;F=-N+c,W=N+c,ee=3,ne=1,bs(i,r,o,e,u,d,I,O)}else{I=-C,O=-R,q=s*I+a*O+c,G=h,j=m;let N=s*G+a*j;F=-N+l,W=N+l,ee=2,ne=4,bs(i,r,o,e,u,d,I,O)}if(pn(hn,Xe,-G,-j,F,ee)<2||pn(fi,hn,G,j,W,ne)<2)return 0;let ve=0;for(let N=0;N<2;N++){let Ee=N*6,ze=fi[Ee],le=fi[Ee+1],Fe=I*ze+O*le-q;if(Fe>0)continue;let Lt=ze-I*Fe,Me=le-O*Fe,Ne=fi[Ee+2],Ie=fi[Ee+3],Ue=fi[Ee+4],Ze=fi[Ee+5],bi,gi,yi,vi;_>=2?([Ne,Ie,Ue,Ze]=[Ue,Ze,Ne,Ie],bi=ze-o,gi=le-e,yi=Lt-s,vi=Me-a):(bi=Lt-o,gi=Me-e,yi=ze-s,vi=le-a);let At=ve*7;f[At+0]=Ne&255|(Ie&255)<<8|(Ue&255)<<16|(Ze&255)<<24,f[At+1]=u*bi+d*gi,f[At+1+1]=-d*bi+u*gi,f[At+3]=h*yi+m*vi,f[At+3+1]=-m*yi+h*vi,f[At+5]=-C,f[At+5+1]=-R,ve++}return ve}var bn=o=>31-Math.clz32(o&-o);function Yl(o){let e=o+2654435769;return e^=e>>>16,e=Math.imul(e,2146121005),e^=e>>>15,e=Math.imul(e,2221713035),e^=e>>>16,e>>>0}var Go=(o,e,t,i)=>o>t||o===t&&e>i,gs=class{colors=new Int32Array(0);colorStart=new Int32Array(65);colorBodies=new Int32Array(0);next=new Int32Array(0);pending=new Uint8Array(0);prio=new Uint32Array(0);resize(e){if(this.colors.length===e)return;let t=new Int32Array(e).fill(-1);t.set(this.colors.subarray(0,Math.min(e,this.colors.length))),this.colors=t,this.next=new Int32Array(e),this.pending=new Uint8Array(e),this.colorBodies=new Int32Array(e),this.prio=Uint32Array.from({length:e},(i,r)=>Yl(r))}run(e,t,i,r,s,a){this.resize(e);let{colors:n,next:l,pending:c,prio:f}=this,u=(g,x)=>{let v=s[g*4+1],B=v===x?s[g*4+2]:v;return B>=0&&t[B]?B:-1},d=(g,x)=>{let v=0,B=0;for(let E=i[g];E<i[g+1];E++){let k=u(r[E],g);if(k<0||x&&c[k])continue;let z=n[k];z<0||(z<32?v|=1<<z:B|=1<<z-32)}return~v!==0?bn(~v):~B!==0?32+bn(~B):63};for(let g=0;g<e;g++){if(l[g]=n[g],!t[g]||n[g]<0)continue;let x=!0;for(let v=i[g];v<i[g+1]&&x;v++){let B=u(r[v],g);B>=0&&!Go(f[g],g,f[B],B)&&(x=!1)}x&&(l[g]=Math.min(n[g],d(g,!1)))}n.set(l);let h=()=>{let g=0;for(let x=0;x<e;x++)if(c[x]=0,!!t[x]){if(n[x]<0)c[x]=1;else for(let v=i[x];v<i[x+1];v++){let B=u(r[v],x);if(B>=0&&n[B]===n[x]&&Go(f[B],B,f[x],x)){c[x]=1;break}}g+=c[x]}return g},m=h(),p=0;for(;m>0&&p<a;){p++;for(let g=0;g<e;g++){if(l[g]=-2,!c[g])continue;let x=!0;for(let v=i[g];v<i[g+1]&&x;v++){let B=u(r[v],g);B>=0&&c[B]&&!Go(f[g],g,f[B],B)&&(x=!1)}x&&(l[g]=d(g,!0))}for(let g=0;g<e;g++)l[g]!==-2&&(n[g]=l[g],c[g]=0,m--)}let b=0;if(m>0){for(let g=0;g<e;g++)c[g]&&n[g]<0&&(n[g]=0);b=h()}let y=this.colorStart;y.fill(0);let A=0;for(let g=0;g<e;g++)t[g]&&(y[n[g]+1]++,A=Math.max(A,n[g]+1));for(let g=0;g<64;g++)y[g+1]+=y[g];let w=y.slice(0,64);for(let g=0;g<e;g++)t[g]&&(this.colorBodies[w[n[g]]++]=g);return{numColors:A,conflicts:b,rounds:p}}};var An=0,Vt=1,Bn=2,ys=3,Fo=4,wn=[0,3,1,1,2],ec=.05,D=4,T=32,be=0,ae=3,$=6,ft=9,dt=12,di=15,ot=18,H=21,K=23,ge=25,_e=26,vt=27,br=28,vs=class{params=hs();options;bodyCount=0;pose;initial;inertial;velocity;prevVelocity;shape;props;dynamic=new Uint8Array(0);jointCount=0;contactCount=0;info=new Int32Array(0);data;handles=[];prevCount=0;prevKeys=new Float64Array(0);prevInfo=new Int32Array(0);prevData=new Float64Array(0);ignorePairs=[];noCollide=new Float64Array(0);noCollideCount=0;noCollideDirty=!0;adjStart=new Int32Array(1);adjList=new Int32Array(0);broadphase=new ms;coloring=new gs;numColors=0;colorConflicts=0;colorRounds=0;profiling=!1;profile={};phaseStart=0;contactOut=new Float64Array(14);dxBuf=new Float64Array(0);constructor(e={}){this.options={precision:"f32",order:"colored",colorRounds:32,...e},this.pose=this.real(0),this.initial=this.real(0),this.inertial=this.real(0),this.velocity=this.real(0),this.prevVelocity=this.real(0),this.shape=this.real(0),this.props=this.real(0),this.data=this.real(0)}real(e){return this.options.precision==="f32"?new Float32Array(e):new Float64Array(e)}grow(e,t){if(e.length>=t)return e;let i=new e.constructor(Math.max(t,e.length*2,16));return i.set(e),i}clear(){this.bodyCount=0,this.jointCount=0,this.contactCount=0,this.prevCount=0,this.handles=[],this.ignorePairs=[],this.noCollideDirty=!0,this.coloring.resize(0)}addBody(e,t,i,r,s=[0,0,0]){let a=this.bodyCount++,n=this.bodyCount*4;this.pose=this.grow(this.pose,n),this.initial=this.grow(this.initial,n),this.inertial=this.grow(this.inertial,n),this.velocity=this.grow(this.velocity,n),this.prevVelocity=this.grow(this.prevVelocity,n),this.shape=this.grow(this.shape,n),this.props=this.grow(this.props,n),this.dynamic=this.grow(this.dynamic,this.bodyCount);let l=e[0]*e[1]*t;return this.pose.set([r[0],r[1],r[2]??0,0],a*4),this.velocity.set([s[0],s[1],s[2]??0,0],a*4),this.prevVelocity.set(this.velocity.subarray(a*4,a*4+4),a*4),this.shape.set([e[0],e[1],l,l*(e[0]*e[0]+e[1]*e[1])/12],a*4),this.props.set([i,Math.hypot(e[0]*.5,e[1]*.5),0,0],a*4),this.dynamic[a]=l>0?1:0,a}allocConstraint(){let e=this.jointCount++,t=this.jointCount+this.contactCount;this.info=this.grow(this.info,t*D),this.data=this.grow(this.data,t*T),this.contactCount>0&&(this.info.copyWithin((e+1)*D,e*D,(t-1)*D),this.data.copyWithin((e+1)*T,e*T,(t-1)*T)),this.data.fill(0,e*T,e*T+T);for(let i=0;i<3;i++)this.data[e*T+$+i]=1/0,this.data[e*T+ft+i]=-1/0,this.data[e*T+dt+i]=1/0,this.data[e*T+di+i]=1/0;return this.handles[e]=null,this.noCollideDirty=!0,e}setInfo(e,t,i,r){this.info.set([t,i,r,0],e*D)}addJoint(e,t,i,r,s=[1/0,1/0,1/0],a=1/0){let n=this.allocConstraint();this.setInfo(n,Vt,e,t);let l=this.data,c=n*T;l.set(s,c+$),l[c+dt+2]=a,l[c+ft+2]=-a,l[c+di+2]=a,l.set(i,c+H),l.set(r,c+K),l[c+ge]=(e>=0?this.pose[e*4+2]:0)-this.pose[t*4+2];let f=(e>=0?this.shape[e*4]:0)+this.shape[t*4],u=(e>=0?this.shape[e*4+1]:0)+this.shape[t*4+1];l[c+_e]=f*f+u*u;let d={slot:n,alive:!0};return this.handles[n]=d,d}setJointWorldAnchor(e,t,i){e.alive&&(this.data[e.slot*T+H]=t,this.data[e.slot*T+H+1]=i)}removeJoint(e){e.alive&&(this.disable(e.slot),e.alive=!1)}addSpring(e,t,i,r,s,a){let n=this.allocConstraint();this.setInfo(n,Bn,e,t);let l=n*T;this.data[l+$]=s,this.data.set(i,l+H),this.data.set(r,l+K),this.data[l+ge]=a}addMotor(e,t,i,r){let s=this.allocConstraint();this.setInfo(s,ys,e,t);let a=s*T;this.data[a+dt]=r,this.data[a+ft]=-r,this.data[a+ge]=i}ignoredPairs(){return this.ignorePairs}addIgnoreCollision(e,t){this.ignorePairs.push(Ji(e,t)),this.noCollideDirty=!0}loadFromReference(e){this.clear();let t=Object.keys(hs());Object.assign(this.params,Object.fromEntries(t.map(r=>[r,e[r]])));let i=new Map(e.bodies.map((r,s)=>[r,s]));for(let r of e.bodies){let s=this.addBody(r.size,0,r.friction,r.position,r.velocity);this.shape[s*4+2]=r.mass,this.shape[s*4+3]=r.moment,this.dynamic[s]=r.mass>0?1:0}for(let r of e.forces){let s=r.bodyA?i.get(r.bodyA):-1,a=i.get(r.bodyB);if(r instanceof cs){let n=this.addJoint(s,a,r.rA,r.rB,[r.stiffness[0],r.stiffness[1],r.stiffness[2]],r.fracture[2]);this.data[n.slot*T+ge]=r.restAngle,this.data[n.slot*T+_e]=r.torqueArm}else r instanceof us?this.addSpring(s,a,r.rA,r.rB,r.stiffness[0],r.rest):r instanceof ds?this.addMotor(s,a,r.speed,r.fmax[0]):r instanceof fs&&this.addIgnoreCollision(s,a)}}step(){let e=this.params,t=e.postStabilize&&!e.vbd,i=e.vbd?0:e.alpha;this.phaseStart=this.profiling?performance.now():0,this.saveContacts(),this.findPairs(),this.mark("broadphase"),this.initJoints(),this.narrowphase(),this.mark("narrowphase"),this.warmStartConstraints(t,i),this.buildAdjacency(),this.mark("adjacency"),this.colorBodies(),this.mark("coloring"),this.warmStartBodies();let r=e.iterations+(t?1:0);for(let s=0;s<r;s++){let a=t?s<e.iterations?1:0:i;this.primal(a),this.mark("primal"),s<e.iterations&&this.dual(a),s===e.iterations-1&&this.updateVelocities(),this.mark("dual")}t&&this.refreshStick()}mark(e){if(!this.profiling)return;let t=performance.now();this.profile[e]=(this.profile[e]??0)+t-this.phaseStart,this.phaseStart=t}resetProfile(){for(let e of Object.keys(this.profile))delete this.profile[e]}saveContacts(){let e=this.contactCount,t=this.jointCount;this.prevKeys.length<e&&(this.prevKeys=new Float64Array(e*2),this.prevInfo=new Int32Array(e*2*D),this.prevData=new Float64Array(e*2*T));for(let i=0;i<e;i++){let r=t+i;this.prevKeys[i]=Ji(this.info[r*D+1],this.info[r*D+2])}this.prevInfo.set(this.info.subarray(t*D,(t+e)*D)),this.prevData.set(this.data.subarray(t*T,(t+e)*T)),this.prevCount=e,this.contactCount=0}findPairs(){if(this.noCollideDirty){let e=[...this.ignorePairs];for(let t=0;t<this.jointCount;t++){let i=this.info[t*D+1],r=this.info[t*D+2];this.info[t*D]!==An&&i>=0&&e.push(Ji(i,r))}this.noCollide=Float64Array.from(e).sort(),this.noCollideCount=e.length,this.noCollideDirty=!1}this.broadphase.findPairs(this.bodyCount,this.pose,this.props,this.dynamic,this.noCollide,this.noCollideCount)}initJoints(){let{info:e,data:t,pose:i}=this,r=0;for(let s=0;s<this.jointCount;s++){let a=s*T;if(e[s*D]===Vt){if(t[a+$]===0&&t[a+$+1]===0&&t[a+$+2]===0){let f=this.handles[s];f&&(f.alive=!1);continue}let l=e[s*D+1],c=e[s*D+2];this.jointC(l,c,a,i,t,a+ot)}r!==s&&(e.copyWithin(r*D,s*D,(s+1)*D),t.copyWithin(r*T,a,a+T),this.handles[r]=this.handles[s],this.handles[r]&&(this.handles[r].slot=r)),r++}if(r!==this.jointCount){for(let s=r;s<this.jointCount;s++)this.handles[s]=null;this.jointCount=r,this.noCollideDirty=!0}}jointC(e,t,i,r,s,a,n=s){let l,c,f;if(e>=0){let p=Math.cos(r[e*4+2]),b=Math.sin(r[e*4+2]),y=s[i+H],A=s[i+H+1];l=p*y-b*A+r[e*4],c=b*y+p*A+r[e*4+1],f=r[e*4+2]}else l=s[i+H],c=s[i+H+1],f=0;let u=Math.cos(r[t*4+2]),d=Math.sin(r[t*4+2]),h=s[i+K],m=s[i+K+1];n[a]=l-(u*h-d*m+r[t*4]),n[a+1]=c-(d*h+u*m+r[t*4+1]),n[a+2]=(f-r[t*4+2]-s[i+ge])*s[i+_e]}narrowphase(){let{pose:e,shape:t,props:i}=this,r=this.broadphase.pairs,s=this.contactOut;for(let a=0;a<this.broadphase.pairCount;a++){let n=r[a],l=Math.floor(n/2097152),c=n-l*2097152,f=mn(e[l*4],e[l*4+1],e[l*4+2],t[l*4]*.5,t[l*4+1]*.5,e[c*4],e[c*4+1],e[c*4+2],t[c*4]*.5,t[c*4+1]*.5,s);if(f===0)continue;let u=0,d=this.prevCount;for(;u<d;){let p=u+d>>>1;this.prevKeys[p]<n?u=p+1:d=p}let h=u,m=Math.sqrt(i[l*4]*i[c*4]);for(let p=0;p<f;p++){let b=this.jointCount+this.contactCount++;this.info=this.grow(this.info,(b+1)*D),this.data=this.grow(this.data,(b+1)*T);let y=this.data,A=b*T,w=p*7,g=s[w+0];this.info.set([Fo,l,c,g],b*D),y.fill(0,A,A+T),y[A+$]=y[A+$+1]=1/0,y[A+ft]=-1/0,y[A+dt]=0,y[A+di]=y[A+di+1]=1/0,y[A+H]=s[w+1],y[A+H+1]=s[w+1+1],y[A+K]=s[w+3],y[A+K+1]=s[w+3+1],y[A+ge]=m,y[A+_e]=s[w+5],y[A+vt]=s[w+5+1];let x=-1;for(let S=h;S<this.prevCount&&this.prevKeys[S]===n;S++)this.prevInfo[S*D+3]===g&&(x=S);if(x<0&&this.params.matchNearest){let S=ec*Math.min(t[l*4],t[l*4+1],t[c*4],t[c*4+1]);for(let C=h;C<this.prevCount&&this.prevKeys[C]===n;C++){let R=Math.hypot(this.prevData[C*T+H]-y[A+H],this.prevData[C*T+H+1]-y[A+H+1]);R<=S&&(S=R,x=C)}}if(x>=0){let S=x*T;y[A+be]=this.prevData[S+be],y[A+be+1]=this.prevData[S+be+1],y[A+ae]=this.prevData[S+ae],y[A+ae+1]=this.prevData[S+ae+1],this.prevData[S+br]&&(y[A+H]=this.prevData[S+H],y[A+H+1]=this.prevData[S+H+1],y[A+K]=this.prevData[S+K],y[A+K+1]=this.prevData[S+K+1])}let[v,B]=qt(e[l*4+2],y[A+H],y[A+H+1]),[E,k]=qt(e[c*4+2],y[A+K],y[A+K+1]),z=y[A+_e],M=y[A+vt],P=e[l*4]+v-e[c*4]-E,_=e[l*4+1]+B-e[c*4+1]-k;y[A+ot]=z*P+M*_+5e-4,y[A+ot+1]=M*P-z*_}}}warmStartConstraints(e,t){let i=this.params,r=this.data,s=this.jointCount+this.contactCount;for(let a=0;a<s;a++){let n=wn[this.info[a*D]],l=a*T;for(let c=0;c<n;c++){if(i.vbd){r[l+be+c]=Hi(r[l+$+c],i.vbdStiffness);continue}e||(r[l+ae+c]=r[l+ae+c]*t*i.gamma),r[l+be+c]=Hi(Wi(r[l+be+c]*i.gamma,1,1e9),r[l+$+c])}}}prepareTopology(){this.buildAdjacency(),this.colorBodies()}buildAdjacency(){let e=this.bodyCount,t=this.jointCount+this.contactCount;this.adjStart=this.grow(this.adjStart,e+1),this.adjList=this.grow(this.adjList,t*2);let i=this.adjStart;i.fill(0,0,e+1);for(let s=0;s<t;s++)for(let a=1;a<=2;a++){let n=this.info[s*D+a];n>=0&&this.dynamic[n]&&i[n+1]++}for(let s=0;s<e;s++)i[s+1]+=i[s];let r=i.slice(0,e);for(let s=0;s<t;s++)for(let a=1;a<=2;a++){let n=this.info[s*D+a];n>=0&&this.dynamic[n]&&(this.adjList[r[n]++]=s)}}colorBodies(){if(this.options.order!=="colored")return;let e=this.coloring.run(this.bodyCount,this.dynamic,this.adjStart,this.adjList,this.info,this.options.colorRounds);this.numColors=e.numColors,this.colorConflicts=e.conflicts,this.colorRounds=e.rounds}warmStartBodies(){let{dt:e,gravity:t}=this.params,{pose:i,velocity:r,initial:s,inertial:a,prevVelocity:n}=this;for(let l=0;l<this.bodyCount;l++){let c=l*4;r[c+2]=Wi(r[c+2],-50,50),a[c]=i[c]+r[c]*e,a[c+1]=i[c+1]+r[c+1]*e,a[c+2]=i[c+2]+r[c+2]*e,this.dynamic[l]&&(a[c+1]+=t*e*e);let f=(r[c+1]-n[c+1])/e*dn(t),u=Wi(f/Math.abs(t),0,1);Number.isFinite(u)||(u=0),s[c]=i[c],s[c+1]=i[c+1],s[c+2]=i[c+2],i[c]=i[c]+r[c]*e,i[c+1]=i[c+1]+r[c+1]*e+t*u*e*e,i[c+2]=i[c+2]+r[c+2]*e}}eC=new Float64Array(3);eMin=new Float64Array(3);eMax=new Float64Array(3);eJ=new Float64Array(9);eG=new Float64Array(9);evalConstraint(e,t,i){let{info:r,data:s,pose:a,initial:n}=this,l=r[e*D],c=r[e*D+1],f=r[e*D+2],u=e*T,{eC:d,eMin:h,eMax:m,eJ:p,eG:b}=this,y=wn[l];for(let w=0;w<y;w++)h[w]=s[u+ft+w],m[w]=s[u+dt+w];let A=i===c;if(b.fill(0),l===Vt){this.jointC(c,f,u,a,s,0,d);for(let w=0;w<3;w++)s[u+$+w]===1/0&&(d[w]-=s[u+ot+w]*t);if(i>=0){let w=a[i*4+2],[g,x]=qt(w,s[u+(A?H:K)],s[u+(A?H:K)+1]),v=A?1:-1;p[0]=v,p[1]=0,p[2]=-v*x,p[3]=0,p[4]=v,p[5]=v*g,p[6]=0,p[7]=0,p[8]=v*s[u+_e],b[2]=Math.abs(g),b[5]=Math.abs(x)}}else if(l===Bn){let[w,g]=Sn(a,c,s[u+H],s[u+H+1]),[x,v]=Sn(a,f,s[u+K],s[u+K+1]),B=w-x,E=g-v,k=B*B+E*E,z=Math.sqrt(k);if(d[0]=z-s[u+ge],i>=0&&k!==0){let M=B/z,P=E/z,_=(1-M*M)/z,S=-M*P/z,C=(1-P*P)/z,R=a[i*4+2],I=A?H:K,[O,q]=qt(R,-s[u+I+1],s[u+I]),[G,j]=qt(R,s[u+I],s[u+I+1]),F=_*O+S*q,W=S*O+C*q,ee=M*G+P*j,ne=M*O+P*q,ve=A?1:-1;p[0]=ve*M,p[1]=ve*P,p[2]=ve*ne;let N=A?-ee-ee:ee+ee;b[0]=Math.hypot(_,S,F),b[1]=Math.hypot(S,C,W),b[2]=Math.hypot(F,W,N)}else i>=0&&p.fill(0,0,3)}else if(l===ys){let w=c>=0?a[c*4+2]-n[c*4+2]:0,g=a[f*4+2]-n[f*4+2];d[0]=w-g-s[u+ge]*this.params.dt,i>=0&&(p[0]=0,p[1]=0,p[2]=A?1:-1)}else if(l===Fo){let w=s[u+_e],g=s[u+vt],x=g,v=-w,[B,E]=qt(n[c*4+2],s[u+H],s[u+H+1]),[k,z]=qt(n[f*4+2],s[u+K],s[u+K+1]),M=B*g-E*w,P=-(k*g-z*w),_=B*v-E*x,S=-(k*v-z*x),C=a[c*4]-n[c*4],R=a[c*4+1]-n[c*4+1],I=a[c*4+2]-n[c*4+2],O=a[f*4]-n[f*4],q=a[f*4+1]-n[f*4+1],G=a[f*4+2]-n[f*4+2];d[0]=s[u+ot]*(1-t)+w*C+g*R+M*I+-w*O+-g*q+P*G,d[1]=s[u+ot+1]*(1-t)+x*C+v*R+_*I+-x*O+-v*q+S*G;let j=Math.abs(s[u+ae])*s[u+ge];m[1]=j,h[1]=-j,i>=0&&(A?(p[0]=w,p[1]=g,p[2]=M,p[3]=x,p[4]=v,p[5]=_):(p[0]=-w,p[1]=-g,p[2]=P,p[3]=-x,p[4]=-v,p[5]=S))}return y}solveBody(e,t){let i=this.params,{shape:r,pose:s,inertial:a,data:n}=this,l=i.dt*i.dt,c=r[e*4+2]/l,f=r[e*4+3]/l,u=c,d=0,h=c,m=0,p=0,b=f,y=c*(s[e*4]-a[e*4]),A=c*(s[e*4+1]-a[e*4+1]),w=f*(s[e*4+2]-a[e*4+2]),{eC:g,eMin:x,eMax:v,eJ:B,eG:E}=this,k=this.adjStart,z=this.adjList;for(let F=k[e+1]-1;F>=k[e];F--){let W=z[F],ee=this.evalConstraint(W,t,e),ne=W*T,ve=!i.vbd;for(let N=0;N<ee;N++){let Ee=n[ne+$+N],ze=ve&&Ee===1/0?n[ne+ae+N]:0,le=n[ne+be+N],Fe=g[N],Lt=le*Fe+ze,Me=Wi(Lt,x[N],v[N]),Ne=Math.abs(Me);i.stiffnessRescale&&Fe!==0&&(Lt<x[N]?le=Math.abs((x[N]-ze)/Fe):Lt>v[N]&&(le=Math.abs((v[N]-ze)/Fe)));let Ie=B[N*3],Ue=B[N*3+1],Ze=B[N*3+2];y+=Ie*Me,A+=Ue*Me,w+=Ze*Me,u+=Ie*Ie*le+E[N*3]*Ne,d+=Ue*Ie*le,h+=Ue*Ue*le+E[N*3+1]*Ne,m+=Ze*Ie*le,p+=Ze*Ue*le,b+=Ze*Ze*le+E[N*3+2]*Ne}}let M=u,P=d/u,_=m/u,S=h-P*P*M,C=(p-P*_*M)/S,R=b-(_*_*M+C*C*S),I=A-P*y,q=(w-_*y-C*I)/R,G=I/S-C*q,j=y/M-P*G-_*q;this.dxBuf[e*3]=j,this.dxBuf[e*3+1]=G,this.dxBuf[e*3+2]=q}applyDx(e){this.pose[e*4]-=this.dxBuf[e*3],this.pose[e*4+1]-=this.dxBuf[e*3+1],this.pose[e*4+2]-=this.dxBuf[e*3+2]}primal(e){if(this.dxBuf.length<this.bodyCount*3&&(this.dxBuf=new Float64Array(this.bodyCount*3)),this.options.order==="sequential"){for(let r=this.bodyCount-1;r>=0;r--)this.dynamic[r]&&(this.solveBody(r,e),this.applyDx(r));return}let{colorStart:t,colorBodies:i}=this.coloring;for(let r=0;r<this.numColors;r++){for(let s=t[r];s<t[r+1];s++)this.solveBody(i[s],e);for(let s=t[r];s<t[r+1];s++)this.applyDx(i[s])}}dual(e){let t=this.params,i=this.data,{eC:r,eMin:s,eMax:a}=this,n=this.jointCount+this.contactCount;for(let l=0;l<n;l++){let c=this.info[l*D];if(c===An)continue;let f=this.evalConstraint(l,e,-1),u=l*T;c===Fo&&(i[u+br]=Math.abs(i[u+ae+1])<a[1]&&Math.abs(i[u+ot+1])<.01?1:0);for(let d=0;d<f;d++){let h=i[u+$+d],m=!t.vbd&&h===1/0?i[u+ae+d]:0,p=Wi(i[u+be+d]*r[d]+m,s[d],a[d]);i[u+ae+d]=p,Math.abs(p)>=i[u+di+d]&&this.disable(l),!t.vbd&&p>s[d]&&p<a[d]&&(i[u+be+d]=Hi(i[u+be+d]+t.beta*Math.abs(r[d]),Hi(1e9,i[u+$+d])))}}}refreshStick(){let e=this.data;for(let t=0;t<this.contactCount;t++){let i=(this.jointCount+t)*T,r=Math.abs(e[i+ae])*e[i+ge];e[i+br]=Math.abs(e[i+ae+1])<r&&Math.abs(e[i+ot+1])<.01?1:0}}disable(e){let t=e*T;this.data.fill(0,t+be,t+be+3),this.data.fill(0,t+ae,t+ae+3),this.data.fill(0,t+$,t+$+3)}updateVelocities(){let{dt:e}=this.params,{pose:t,initial:i,velocity:r,prevVelocity:s}=this;for(let a=0;a<this.bodyCount;a++){let n=a*4;s[n]=r[n],s[n+1]=r[n+1],s[n+2]=r[n+2],this.dynamic[a]&&(r[n]=(t[n]-i[n])/e,r[n+1]=(t[n+1]-i[n+1])/e,r[n+2]=(t[n+2]-i[n+2])/e)}}pick(e,t){for(let i=this.bodyCount-1;i>=0;i--){let[r,s]=qt(-this.pose[i*4+2],e-this.pose[i*4],t-this.pose[i*4+1]);if(Math.abs(r)<=this.shape[i*4]*.5&&Math.abs(s)<=this.shape[i*4+1]*.5)return{body:i,local:[r,s]}}return null}kineticEnergy(){let e=0;for(let t=0;t<this.bodyCount;t++){if(!this.dynamic[t])continue;let i=t*4,r=this.velocity;e+=.5*this.shape[i+2]*(r[i]*r[i]+r[i+1]*r[i+1])+.5*this.shape[i+3]*r[i+2]*r[i+2]}return e}maxJointError(){let e=0,t=new Float64Array(3);for(let i=0;i<this.jointCount;i++){if(this.info[i*D]!==Vt)continue;let r=i*T;this.jointC(this.info[i*D+1],this.info[i*D+2],r,this.pose,this.data,0,t);for(let s=0;s<2;s++)this.data[r+$+s]===1/0&&(e=Math.max(e,Math.abs(t[s])))}return e}isContactPairIgnored(e,t){return Do(this.noCollide,this.noCollideCount,Ji(e,t))}};function qt(o,e,t){let i=Math.cos(o),r=Math.sin(o);return[i*e-r*t,r*e+i*t]}function Sn(o,e,t,i){let r=Math.cos(o[e*4+2]),s=Math.sin(o[e*4+2]);return[r*t-s*i+o[e*4],s*t+r*i+o[e*4+1]]}var gr=`
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`),$t=class{device;pipelines;layout;watch;table;events;params;setSlots;capacity;group=null;bound=[];flip=0;bodies;constructor(e,t,i,r,s,a=3){this.device=e,this.bodies=t,this.capacity=s,this.setSlots=2**Math.ceil(Math.log2(Math.max(64,2*r)));let n=e.createShaderModule({label:"contact events",code:a===2?gc:gr}),l=["read-only-storage","read-only-storage","read-only-storage","read-only-storage","read-only-storage","storage","storage","uniform"];this.layout=e.createBindGroupLayout({label:"contact events",entries:l.map((d,p)=>({binding:p,visibility:GPUShaderStage.COMPUTE,buffer:{type:d}}))});let c=e.createPipelineLayout({bindGroupLayouts:[this.layout]}),f=d=>e.createComputePipeline({label:`contact events ${d}`,layout:c,compute:{module:n,entryPoint:d}});this.pipelines={touching:f("touching"),ended:f("ended")};let u=GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST|GPUBufferUsage.COPY_SRC;this.watch=e.createBuffer({label:"contact watch",size:Math.max(16,i*4),usage:u}),this.table=e.createBuffer({label:"contact sets",size:(Yo+4*this.setSlots)*4,usage:u}),this.events=e.createBuffer({label:"contact events",size:s*$i*16,usage:u}),this.params=e.createBuffer({label:"contact params",size:32,usage:GPUBufferUsage.UNIFORM|GPUBufferUsage.COPY_DST})}setWatched(e,t){let i=e.map((r,s)=>[r,t[s]?1:0]).sort((r,s)=>r[0]-s[0]);for(let r=0;r<i.length;){let s=r+1;for(;s<i.length&&i[s][0]===i[s-1][0]+1;)s++;this.device.queue.writeBuffer(this.watch,i[r][0]*4,Uint32Array.from(i.slice(r,s),a=>a[1])),r=s}}run(e,t,i,r){let s=this.device,a=[this.bodies,e.manifolds,e.contacts,e.counters,this.watch,this.table,this.events,this.params];(!this.group||a.some((d,p)=>d!==this.bound[p]))&&(this.bound=a,this.group=s.createBindGroup({layout:this.layout,entries:a.map((d,p)=>({binding:p,resource:{buffer:d}}))})),this.flip=1-this.flip;let[n,l]=this.flip?[0,this.setSlots]:[this.setSlots,0],c=new Uint32Array([n,l,this.setSlots-1,this.capacity,t,i,0,0]);new Float32Array(c.buffer)[6]=r,s.queue.writeBuffer(this.params,0,c);let f=s.createCommandEncoder({label:"contact events"});f.clearBuffer(this.table,(Yo+2*l)*4,2*this.setSlots*4);let u=f.beginComputePass({label:"contact events"});u.setBindGroup(0,this.group),u.setPipeline(this.pipelines.touching),u.dispatchWorkgroups(Math.max(1,Math.ceil(t/64))),u.setPipeline(this.pipelines.ended),u.dispatchWorkgroups(Math.ceil(this.setSlots/64)),u.end(),s.queue.submit([f.finish()])}async read(){let e=this.device,t=16+this.capacity*$i*16,i=e.createBuffer({size:t,usage:GPUBufferUsage.MAP_READ|GPUBufferUsage.COPY_DST}),r=e.createCommandEncoder({label:"read contact events"});r.copyBufferToBuffer(this.table,0,i,0,16),r.copyBufferToBuffer(this.events,0,i,16,t-16),r.clearBuffer(this.table,0,16),e.queue.submit([r.finish()]),await i.mapAsync(GPUMapMode.READ);let s=i.getMappedRange().slice(0);i.unmap(),i.destroy();let a=new Uint32Array(s),n=new Float32Array(s),l=Math.min(a[0],this.capacity),c=[];for(let f=0;f<l;f++){let u=4+f*$i*4;c.push({kind:a[u],a:a[u+1],b:a[u+2],step:a[u+3],point:[n[u+4],n[u+5],n[u+6]],impulse:n[u+7],normal:[n[u+8],n[u+9],n[u+10]]})}return c.sort((f,u)=>f.step-u.step),{events:c,dropped:a[0]-l,full:a[1]!==0}}destroy(){for(let e of[this.watch,this.table,this.events,this.params])e.destroy()}};var Xe=Object.freeze({BOX:"box",SPHERE:"sphere",CAPSULE:"capsule",CYLINDER:"cylinder",CONVEX_HULL:"convex-hull"}),_e=o=>o&&typeof o.x=="number"?[o.x,o.y,o.z,...typeof o.w=="number"?[o.w]:[]]:Array.from(o),yr=new WeakMap,Xi=o=>{if(!Number.isInteger(o)||o<0||o>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");return o},ds=(o,e,t=!1)=>{if(!Number.isFinite(o)||(t?o<0:o<=0))throw Error(`${e} must be ${t?"nonnegative":"positive"} and finite`);return o},hs=class o{static async create({device:e,...t}={}){if(t.scene&&yr.has(t.scene))throw Error("This scene already has an AVBD world");let i=!e;e||({device:e}=await Xo({preferredLimits:{maxStorageBuffersPerShaderStage:9,maxStorageBufferBindingSize:512*1024*1024,maxBufferSize:1024*1024*1024}}));let r;try{return await cs(e),r=new o(e,t),r.ownsDevice=i,r.scene&&r.autoAttach&&r.attachToScene(),r}catch(s){throw r?r.dispose():i&&e.destroy(),s}}constructor(e,{scene:t,gravity:i=[0,-10,0],timeStep:r=1/60,iterations:s=10,capacity:a=4096,syncMeshes:n=!0,maxSyncedBodies:l=2048,broadphase:c="auto",solverMode:f="auto",bvh:u={},autoAttach:d=!0,maxContactPairs:p=8192,maxContactEvents:m=4096,sleeping:h=!1}={}){if(this.device=e,this.scene=t,this.autoAttach=d,this.syncEnabled=n,this.maxSyncedBodies=l,!Number.isInteger(a)||a<1||!Number.isInteger(l)||l<0)throw Error("capacity and maxSyncedBodies must be valid integer counts");if(this.capacity=a,this.collisionOptions={broadphase:c,bvh:u,solverMode:f},this.ref=new jt,this.ref.dt=ds(r,"timeStep"),!Number.isInteger(s)||s<1)throw Error("iterations must be a positive integer");this.ref.iterations=s,this.aggregates=[],this.constraints=new Set,this.contactListeners=new Set;for(let[y,v]of Object.entries({maxContactPairs:p,maxContactEvents:m}))if(!Number.isInteger(v)||v<1)throw Error(`${y} must be a positive integer`);if(this.contactOptions={maxContactPairs:p,maxContactEvents:m},this.bodyReadback=new Jt(e),this.sleepOptions=h,h!==!1&&h!==!0&&(typeof h!="object"||h===null))throw Error("sleeping must be a boolean or options object");this.commands=new Map,this.steps=0,this.errors=[],this.deviceLost=null;let b=new WeakRef(this);e.lost.then(y=>{let v=b.deref();!v||v.disposed||(v.deviceLost={reason:y.reason,message:y.message},v.errors.push(`WebGPU device lost: ${y.message||y.reason}`),v.dispose())}),this.setGravity(i),this.errorListener=y=>this.errors.push(y.error.message),e.addEventListener("uncapturederror",this.errorListener),t&&yr.set(t,this)}setGravity(e){let t=_e(e);if(t.length!==3||!t.every(Number.isFinite))throw Error("gravity requires three finite components");let i=Math.hypot(...t);this.gravity=-i,this.up=i?t.map(r=>-r/i):[0,1,0],this.gpu&&(this.gpu.params.gravity=this.gravity,this.gpu.params.up=this.up),this.wakeAll()}get solverDecision(){return this.initialize(),{...this.gpu.solverDecision}}setSolverMode(e){this.initialize();let t=this.gpu.setSolverMode(e);return this.collisionOptions.solverMode=e,{...t}}initialize(){if(this.assertAlive(),this.gpu)return;if(this.syncEnabled&&this.aggregates.filter(r=>r.sync).length>this.maxSyncedBodies)throw Error("For large scenes use syncMeshes:false and draw the GPU body buffer directly");if(this.aggregates.length>this.capacity)throw Error(`Body capacity ${this.capacity} exceeded; size the world before initialization`);this.gpu=new Vt(this.device,this.ref,us(this.ref,{bodyCapacity:Math.max(1,this.capacity),spatialSort:!0,...this.collisionOptions})),Object.assign(this.gpu.params,{gravity:this.gravity,up:this.up}),this.gpu.externalBeforeStep=r=>{this.sleepManager?.before(r),this.flushCommands(r)},this.gpu.externalAfterStep=r=>this.sleepManager?.after(r);let e=new Map([...this.constraints].map(r=>[r.force,r])),t=[],i=0;for(let r of this.ref.forces){let s=e.get(r);s&&(s.attach(i++,!1),(s.type==="fixed"||s.type==="spring"&&s.rest===void 0)&&t.push({slot:s.slot,spring:s.type==="spring"}))}this.gpu.captureConstraintFrames(t),this.byGpuIndex=new Map(this.aggregates.map(r=>[this.gpu.gpuIndex(r.index),r.body]));for(let r of this.aggregates)(r.disposed||r.group!==4294967295||r.collidesWith!==4294967295)&&this.gpu.setFilters([this.gpu.gpuIndex(r.index)],[r.disposed?0:r.group],[r.disposed?0:r.collidesWith]);for(let r of this.aggregates)r.isTrigger&&this.gpu.setSensor(r.body.gpuIndex,!0);for(let r of this.aggregates)r.restitution>0&&this.gpu.setRestitution(r.body.gpuIndex,r.restitution);this.contactListeners.size&&this.initializeContacts(),this.sleepOptions&&(this.sleepManager=new hi(this,this.sleepOptions===!0?{}:this.sleepOptions))}addAggregate(e,t,i={}){return new ps(e,t,i,this)}addAggregates(e){return e.map(({mesh:t,type:i,options:r})=>this.addAggregate(t,i,r))}addConstraint(e,t,i={}){return new mr(this,e,t,i)}addJoint(e,t,i={}){return this.addConstraint(e,t,{...i,type:i.type??"ball"})}addWeld(e,t,i={}){return this.addConstraint(e,t,{...i,type:"fixed"})}addSpring(e,t,i={}){return this.addConstraint(e,t,{...i,type:"spring"})}enableSleeping(e={}){return this.assertAlive(),this.sleepOptions=e,this.gpu&&!this.sleepManager&&(this.sleepManager=new hi(this,e)),this}addMotor(e,t,i={}){return this.addConstraint(e,t,{...i,type:"motor"})}addHinge(e,t,i={}){return new br(this,e,t,i)}initializeContacts(){if(this.contactWatch)return;let{maxContactPairs:e,maxContactEvents:t}=this.contactOptions;this.contactWatch=new $t(this.device,this.gpu.bodyBuffer,this.capacity,e,t);let i=this.aggregates.filter(r=>!r.disposed);this.contactWatch.setWatched(i.map(r=>r.body.gpuIndex),i.map(()=>!0))}onContact(e){if(this.assertAlive(),typeof e!="function")throw Error("A contact callback is required");return this.contactListeners.add(e),this.gpu&&this.initializeContacts(),()=>this.contactListeners.delete(e)}async readContactEvents(){return this.initialize(),this.initializeContacts(),this.contactPending?this.contactPending:(this.contactPending=this.contactWatch.read().then(e=>({...e,events:e.events.map(t=>({...t,type:t.kind===Xt?"begin":"end",isTrigger:!!(this.byGpuIndex.get(t.a)?.aggregate.isTrigger||this.byGpuIndex.get(t.b)?.aggregate.isTrigger),a:this.byGpuIndex.get(t.a),b:this.byGpuIndex.get(t.b)}))})).finally(()=>this.contactPending=null),this.contactPending)}async raycast(e,t,i={}){let[r]=await this.raycastAll([{origin:e,direction:t,maxDistance:i.maxDistance}],i);return r}async sphereCast(e,t,i,r={}){let[s]=await this.sphereCastAll([{origin:e,radius:t,direction:i,maxDistance:r.maxDistance}],r);return s}async sphereCastAll(e,{ignore:t=[],collidesWith:i=4294967295,includeTriggers:r=!0}={}){this.assertAlive(),Xi(i),this.initialize(),this.flushCommands();for(let a of t)if(a.aggregate.world!==this||a.disposed)throw Error("Ignored cast bodies must belong to this world and be alive");return(await this.gpu.sphereCastAll(e.map(a=>({...a,origin:_e(a.origin),direction:_e(a.direction)})),{ignore:t.map(a=>a.gpuIndex),collidesWith:i,includeTriggers:r})).map(a=>a?{...a,body:this.byGpuIndex.get(a.index)??null}:null)}async raycastAll(e,{ignore:t=[],collidesWith:i=4294967295,includeTriggers:r=!0}={}){Xi(i),this.initialize(),this.flushCommands();let s=e.map(n=>{let l=_e(n.origin),c=_e(n.direction);if(l.length!==3||c.length!==3||![...l,...c].every(Number.isFinite)||!Math.hypot(...c))throw Error("A ray requires a finite origin and nonzero direction");return n.maxDistance!==void 0&&ds(n.maxDistance,"maxDistance",!0),{...n,origin:l,direction:c}});for(let n of t)if(n.aggregate.world!==this)throw Error("Ignored ray bodies must belong to this world");return(await this.gpu.raycastAll(s,{ignore:t.map(n=>n.gpuIndex),collidesWith:i,includeTriggers:r})).map(n=>n?{...n,body:this.byGpuIndex.get(n.index)??null}:null)}getRenderBinding(e=this.device){if(this.initialize(),e!==this.device)throw Error("Direct GPU rendering must share the physics GPUDevice");return{device:e,buffer:this.bodyBuffer,stride:160,positionOffset:0,rotationOffset:16,sizeOffset:64,count:this.gpu.bodyCount}}wakeAll(){this.sleepManager&&(this.sleepManager.wakeRequested=!0)}async readSleepStats(){return this.initialize(),this.sleepManager?this.sleepManager.readStats():{sleeping:0,wakeRequested:!1}}assertAlive(){if(this.disposed)throw Error("AVBD world is disposed")}queue(e,t,i,r){this.assertAlive(),e.assertAlive();let s=_e(r);if(s.length!==(i==="rotation"?4:3)||!s.every(Number.isFinite))throw Error(`${i} requires ${i==="rotation"?4:3} finite components`);let a=this.commands.get(e);return a||this.commands.set(e,a={mask:0}),a.mask|=t,a[i]=s,this.wakeAll(),a}flushCommands(e){if(this.initialize(),this.gpu.flushPropertyEdits(e),!this.commands.size)return;this.sleepManager?.wakeRequested&&this.sleepManager.before(e);let t=this.commands.size,i=0;for(let h of this.commands.values())i|=h.mask;if(i===1||i===2){if(!this.velocityIndices||this.velocityIndices.length<t){let v=Math.max(t,(this.velocityIndices?.length??0)*2,64);this.velocityIndices=new Uint32Array(v),this.velocityValues=new Float32Array(v*3)}let h=0;for(let[v,B]of this.commands)this.velocityIndices[h]=v.aggregate.gpuSlot??this.gpu.gpuIndex(v.aggregate.index),this.velocityValues.set(i===2?B.angular:B.velocity,h++*3);let b=i===2?"angularVelocityBatch":"velocityBatch",y=this[b]??=new Lt(this.gpu,3,i===2?"angular":"linear");y.solver=this.gpu,y.submitValidated(this.velocityIndices.subarray(0,t),this.velocityValues.subarray(0,t*3),e),this.lastCommandBatch={bodies:t,path:i===2?"packed-angular-velocities":"packed-velocities",uploadedBytes:t*16},this.commands.clear();return}let r=!0;for(let h of this.commands.values())if((h.mask&-4)!==0){r=!1;break}if(r){(!this.motionData||this.motionData.length<t*8)&&(this.motionData=new Uint32Array(Math.max(t*8,(this.motionData?.length??0)*2,512)),this.motionFloats=new Float32Array(this.motionData.buffer));let h=0;for(let[b,y]of this.commands){let v=h++*8;this.motionData[v]=b.aggregate.gpuSlot??this.gpu.gpuIndex(b.aggregate.index),this.motionData[v+1]=y.mask,y.velocity&&this.motionFloats.set(y.velocity,v+2),y.angular&&this.motionFloats.set(y.angular,v+5)}this.motionBatch??=new Ht(this.gpu,3),this.motionBatch.submitValidated(this.motionData.subarray(0,t*8),e),this.lastCommandBatch={bodies:t,path:"packed-motion",uploadedBytes:t*32},this.commands.clear();return}let s=t*128,a=Math.min(this.device.limits.maxStorageBufferBindingSize,this.device.limits.maxBufferSize);if(s>a)throw Error("Body command batch exceeds GPU buffer limits");(!this.commandData||this.commandData.byteLength<s)&&(this.commandData=new ArrayBuffer(Math.min(a,Math.max(s,(this.commandData?.byteLength??0)*2,128))));let n=this.commandData,l=new Float32Array(n),c=new Uint32Array(n);l.fill(0,0,t*32);let f=0;for(let[h,b]of this.commands){let y=f++*32;c[y]=h.aggregate.gpuSlot??this.gpu.gpuIndex(h.aggregate.index),c[y+1]=b.mask;for(let[v,B]of[["velocity",4],["angular",8],["impulse",12],["torque",16],["position",20],["rotation",24],["pointImpulse",28]])b[v]&&l.set(b[v],y+B)}this.commands.clear(),(!this.commandBuffer||this.commandBuffer.size<s)&&(this.commandBuffer?.destroy(),this.commandBuffer=this.device.createBuffer({size:Math.min(a,Math.max(s*2,128)),usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST})),this.device.queue.writeBuffer(this.commandBuffer,0,n,0,s),this.commandPipeline??=this.device.createComputePipeline({layout:"auto",compute:{module:this.device.createShaderModule({code:`const DISPATCH_STRIDE = ${this.device.limits.maxComputeWorkgroupsPerDimension*64}u;
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${Pn}`,label:"AVBD body commands"}),entryPoint:"applyCommands"}}),(!this.commandBinding||this.boundCommandBody!==this.gpu.bodyBuffer||this.boundCommandBuffer!==this.commandBuffer||this.boundCommandBytes!==s)&&(this.commandBinding=this.device.createBindGroup({layout:this.commandPipeline.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:this.gpu.bodyBuffer}},{binding:1,resource:{buffer:this.commandBuffer,size:s}}]}),this.boundCommandBody=this.gpu.bodyBuffer,this.boundCommandBuffer=this.commandBuffer,this.boundCommandBytes=s);let u=e??this.device.createCommandEncoder(),d=u.beginComputePass();d.setPipeline(this.commandPipeline),d.setBindGroup(0,this.commandBinding);let p=Math.ceil(f/64),m=this.device.limits.maxComputeWorkgroupsPerDimension;d.dispatchWorkgroups(Math.min(p,m),Math.ceil(p/m)),d.end(),e||this.device.queue.submit([u.finish()]),this.lastCommandBatch={bodies:t,path:"aggregate-commands",uploadedBytes:s}}step(){this.initialize(),this.gpu.step(),this.steps++,this.contactWatch&&(this.contactWatch.run(this.gpu.contactStorage,this.gpu.manifoldCapacity,this.steps,this.ref.dt),this.contactListeners.size&&!this.contactPending&&this.readContactEvents().then(({events:e,dropped:t,full:i})=>{if(!this.disposed){(t||i)&&this.errors.push(`Contact event storage full: ${t} events dropped; increase maxContactEvents/maxContactPairs`);for(let r of e)for(let s of this.contactListeners)s(r)}}).catch(e=>{this.disposed||this.errors.push(e.message)})),this.syncEnabled&&!this.syncPending&&this.syncMeshes().catch(e=>this.errors.push(e.message)),this.steps%20===0&&!this.counterPending&&(this.counterPending=!0,this.gpu.readCounters().then(e=>{this.disposed||(this.counters=e,this.gpu.adapt(e),(e.overflow||e.clashes)&&this.errors.push(`Collision capacity/color conflict: ${JSON.stringify(e)}`))}).catch(e=>{this.disposed||this.errors.push(e.message)}).finally(()=>this.counterPending=!1))}async syncMeshes(){if(this.initialize(),this.flushCommands(),this.syncPending)return this.syncPending;let e=this.aggregates.filter(t=>t.sync&&!t.disposed);return this.syncPending=this.bodyReadback.read(this.bodyBuffer,e.map(t=>t.body.gpuIndex),!0).then(t=>{if(!this.disposed){for(let i=0;i<e.length;i++)e[i].disposed||e[i].syncPose(t,i*8);this.lastSyncBytes=t.byteLength}}).finally(()=>this.syncPending=null),this.syncPending}get bodyBuffer(){return this.initialize(),this.gpu.bodyBuffer}async readBodies(e){if(this.initialize(),this.flushCommands(),e){for(let t of e)if(t.aggregate.world!==this)throw Error("Selected bodies must belong to this world");return this.bodyReadback.read(this.bodyBuffer,e.map(t=>t.gpuIndex))}return this.gpu.readBodies()}dispose(){if(!this.disposed){this.disposed=!0,this.observer&&this.scene?.onBeforeRenderObservable.remove(this.observer),this.disposeObserver&&this.scene?.onDisposeObservable.remove(this.disposeObserver),this.scene&&yr.get(this.scene)===this&&yr.delete(this.scene),this.device.removeEventListener("uncapturederror",this.errorListener),this.gpu?.destroy(),this.contactWatch?.destroy(),this.sleepManager?.dispose(),this.commandBuffer?.destroy(),this.velocityBatch?.destroy(),this.angularVelocityBatch?.destroy(),this.motionBatch?.destroy(),this.bodyReadback.destroy(),this.commandData=this.velocityIndices=this.velocityValues=null,this.commandBinding=null;for(let e of this.aggregates)e.disposed=!0,e.body.disposed=!0;this.commands.clear(),this.contactListeners.clear();for(let e of this.constraints)e.disposed=!0;this.constraints.clear(),this.ownsDevice&&this.device.destroy()}}attachToScene(e=this.scene){if(this.assertAlive(),!e)throw Error("A Babylon scene is required");if(this.observer&&e===this.scene)return this;if(this.observer)throw Error("AVBD world is already attached to another scene");this.scene=e,this.disposeObserver=e.onDisposeObservable.addOnce(()=>this.dispose());let t=0;return this.observer=e.onBeforeRenderObservable.add(()=>{t+=Math.min(.05,e.getEngine().getDeltaTime()/1e3);for(let i=0;t>=this.ref.dt&&i<3;i++)this.step(),t-=this.ref.dt}),this}},ps=class{constructor(e,t,{mass:i=1,friction:r=.6,restitution:s=0,allowSleep:a,isTrigger:n=!1,sync:l=!0,group:c=4294967295,collidesWith:f=4294967295}={},u){if(u=u instanceof hs?u:yr.get(u??e.getScene()),!u)throw Error("Create an AVBD world for this scene before adding aggregates");if(u.assertAlive(),typeof t=="number"&&(t=[Xe.SPHERE,Xe.CAPSULE,Xe.CYLINDER,Xe.BOX,Xe.CONVEX_HULL][t]),ds(i,"mass",!0),ds(r,"friction",!0),!Number.isFinite(s)||s<0||s>1)throw Error("restitution must be between 0 and 1");if(e.parent)throw Error("AVBD aggregate meshes must have no parent; bake the parent transform first");if(!Object.values(Xe).includes(t))throw Error(`Unsupported AVBD shape: ${t}`);if(u.aggregates.length>=u.capacity)throw Error("AVBD body capacity exceeded");if(this.world=u,this.mesh=e,this.sync=l,this.type=t,a!==void 0&&typeof a!="boolean")throw Error("allowSleep must be a boolean");if(this.allowSleep=a??!0,typeof n!="boolean")throw Error("isTrigger must be a boolean");if(this.isTrigger=n,this.restitution=s,a===!0&&!u.sleepOptions&&u.enableSleeping(),this.group=Xi(c),this.collidesWith=Xi(f),u.gpu&&u.syncEnabled&&l&&u.aggregates.filter(g=>g.sync&&!g.disposed).length>=u.maxSyncedBodies)throw Error("For large scenes use syncMeshes:false and draw the GPU body buffer directly");if(![Xe.BOX,Xe.SPHERE,Xe.CAPSULE].includes(t)&&u.device.limits.maxStorageBuffersPerShaderStage<9)throw Error("Convex hull collisions require nine storage buffer bindings");e.computeWorldMatrix(!0),e.refreshBoundingInfo();let d=e.getBoundingInfo().boundingBox,p=e.scaling;if([p.x,p.y,p.z].some(g=>g<=0))throw Error("Bake negative or zero mesh scaling before creating an aggregate");let m=d.maximum.subtract(d.minimum).multiply(p),h=d.center.multiply(p),b=e.rotationQuaternion?.clone()||e.rotation.toQuaternion();this.localCenter=h,this.localRotation=b.constructor.Identity();let y;if(t===Xe.BOX)y=new De(u.ref,_e(m),1,r,[0,0,0]);else if(t===Xe.SPHERE){if(Math.max(m.x,m.y,m.z)-Math.min(m.x,m.y,m.z)>1e-4)throw Error("Sphere aggregate requires uniform dimensions");y=Mi(u.ref,m.x/2,1,r,[0,0,0])}else if(t===Xe.CAPSULE){if(Math.abs(m.x-m.z)>1e-4)throw Error("Capsule aggregate requires equal X and Z diameters; bake an upright Y-axis capsule mesh");y=Hi(u.ref,m.x/2,m.y,1,r,[0,0,0])}else{let g=e.getVerticesData("position");if(!g)throw Error("Hull aggregate requires mesh positions");let A=Float32Array.from(g,(w,E)=>w*[p.x,p.y,p.z][E%3]),x=or(A);if(!x)throw Error("Hull aggregate requires a closed shape with nonzero volume");this.localCenter=new e.position.constructor(...x.center),this.localRotation=b.constructor.FromArray(x.rotation),y=Gr(u.ref,x,1,r,[0,0,0])}let v=i/y.mass;y.mass=i,y.moment.forEach((g,A)=>y.moment[A]=g*v);let B=e.position.add(this.localCenter.applyRotationQuaternion(b));if(y.positionLin.set(_e(B)),y.positionAng.set(b.multiply(this.localRotation).asArray()),this.rigid=y,this.index=u.aggregates.length,this.body=new ms(this),u.aggregates.push(this),e.rotationQuaternion=b,u.gpu){if(this.gpuSlot=u.gpu.addBody(y),this.gpuSlot<0)throw Error("AVBD body capacity exceeded");u.byGpuIndex.set(this.gpuSlot,this.body),u.gpu.setFilters([this.gpuSlot],[this.group],[this.collidesWith]),(this.isTrigger||u.gpu.sensorsEnabled)&&u.gpu.setSensor(this.gpuSlot,this.isTrigger),this.restitution>0&&u.gpu.setRestitution(this.gpuSlot,this.restitution),u.contactWatch?.setWatched([this.gpuSlot],[!0]),u.sleepManager?.register(this.gpuSlot,y.mass,this.allowSleep),u.wakeAll?.()}}syncPose(e,t){let i=t??this.body.gpuIndex*40,r=this.localRotation.constructor.FromArray(e,i+4).multiply(this.localRotation.conjugate());this.mesh.rotationQuaternion.copyFrom(r),this.mesh.position.copyFrom(new this.mesh.position.constructor(...e.subarray(i,i+3)).subtract(this.localCenter.applyRotationQuaternion(r)))}dispose(){if(this.disposed)return;let e=this.world;for(let t of[...e.constraints])(t.bodyA===this.body||t.bodyB===this.body)&&t.dispose();if(e.gpu){let t=this.body.gpuIndex;e.queue(this.body,16,"velocity",[0,0,0]),e.gpu.setFilters([t],[0],[0]),e.gpu.setRestitution(t,0)}this.rigid.mass=0,this.rigid.moment.fill(0),this.sync=!1,this.disposed=this.body.disposed=!0,e.sleepManager?.register(this.gpuSlot??e.gpu?.gpuIndex(this.index)??this.index,0),e.wakeAll?.()}},ms=class{constructor(e){this.aggregate=e}assertAlive(){if(this.disposed||this.aggregate.disposed)throw Error("AVBD body is disposed")}get gpuIndex(){this.assertAlive();let e=this.aggregate.world;return e.initialize(),this.aggregate.gpuSlot??e.gpu.gpuIndex(this.aggregate.index)}setLinearVelocity(e){return this.aggregate.world.queue(this,1,"velocity",e),this}setAngularVelocity(e){return this.aggregate.world.queue(this,2,"angular",e),this}applyImpulse(e,t){let i=t?_e(t):null;if(i&&(i.length!==3||!i.every(Number.isFinite)))throw Error("Impulse point requires three finite components");let r=this.aggregate.world,s=_e(e),a=r.commands.get(this),n=s.map((c,f)=>c+(a?.impulse?.[f]||0)),l=r.queue(this,4,"impulse",n);if(t){let c=[i[1]*s[2]-i[2]*s[1],i[2]*s[0]-i[0]*s[2],i[0]*s[1]-i[1]*s[0]],f=l.torque||[0,0,0];l.torque=_e(c).map((u,d)=>u+f[d]),l.pointImpulse=s.map((u,d)=>u+(l.pointImpulse?.[d]||0))}return this}applyAngularImpulse(e){let t=this.aggregate.world,i=t.commands.get(this)?.torque||[0,0,0];return t.queue(this,4,"torque",_e(e).map((r,s)=>r+i[s])),this}applyForce(e,t){return this.applyImpulse(_e(e).map(i=>i*this.aggregate.world.ref.dt),t)}applyTorque(e){return this.applyAngularImpulse(_e(e).map(t=>t*this.aggregate.world.ref.dt))}setCollisionGroups(e,t=4294967295){this.assertAlive();let i=this.aggregate,r=Xi(e),s=Xi(t);return i.group=r,i.collidesWith=s,i.world.gpu&&i.world.gpu.setFilters([this.gpuIndex],[i.group],[i.collidesWith]),i.world.wakeAll?.(),this}setTrigger(e){if(this.assertAlive(),typeof e!="boolean")throw Error("isTrigger must be a boolean");let t=this.aggregate;return t.isTrigger=e,t.world.gpu&&t.world.gpu.setSensor(this.gpuIndex,e),t.world.wakeAll(),this}setRestitution(e){if(this.assertAlive(),!Number.isFinite(e)||e<0||e>1)throw Error("restitution must be between 0 and 1");let t=this.aggregate;return t.restitution=e,t.world.gpu&&t.world.gpu.setRestitution(this.gpuIndex,e),t.world.wakeAll(),this}async readState(){let e=await this.aggregate.world.readBodies([this]),t=this.aggregate.rigid.mass;return{position:Array.from(e.subarray(0,3)),rotation:Array.from(e.subarray(4,8)),linearVelocity:Array.from(e.subarray(32,35)),angularVelocity:Array.from(e.subarray(36,39)),mass:t,effectiveMass:e[19],sleeping:t>0&&e[19]===0}}wakeUp(){return this.assertAlive(),this.aggregate.world.wakeAll(),this}setSleepEnabled(e){if(this.assertAlive(),typeof e!="boolean")throw Error("Sleep eligibility must be a boolean");let t=this.aggregate,i=t.world;return t.allowSleep=e,e&&!i.sleepOptions&&i.enableSleeping(),i.gpu&&i.sleepManager?.register(this.gpuIndex,t.rigid.mass,e),i.wakeAll(),this}teleport(e,t=this.aggregate.mesh.rotationQuaternion){let i=t.clone().normalize(),r=this.aggregate;return r.world.queue(this,8,"position",_e(e.add(r.localCenter.applyRotationQuaternion(i)))),r.world.queue(this,8,"rotation",i.multiply(r.localRotation).asArray()),this}};var pi=class{solver;bodyA;bodyB;J=new Float64Array(12);H=new Float64Array(36);C=new Float64Array(4);fmin=new Float64Array(4).fill(-1/0);fmax=new Float64Array(4).fill(1/0);stiffness=new Float64Array(4).fill(1/0);fracture=new Float64Array(4).fill(1/0);penalty=new Float64Array(4);lambda=new Float64Array(4);constructor(e,t,i){this.solver=e,this.bodyA=t,this.bodyB=i,e.forces.push(this),t?.forces.push(this),i.forces.push(this)}destroy(){let e=this.solver.forces,t=e.indexOf(this);t>=0&&e.splice(t,1),this.unlinkFromBodies()}unlinkFromBodies(){for(let e of[this.bodyA,this.bodyB]){if(!e)continue;let t=e.forces.indexOf(this);t>=0&&e.forces.splice(t,1)}}disable(){this.stiffness.fill(0),this.penalty.fill(0),this.lambda.fill(0)}};var _n=o=>o<0?-1:o>0?1:0,Yi=(o,e)=>o<e?o:e,yc=(o,e)=>o>e?o:e,Qi=(o,e,t)=>yc(e,Yi(t,o));function vr(o,e,t){let i=Math.cos(o),r=Math.sin(o);return[i*e-r*t,r*e+i*t]}function mi(o,e,t){let i=Math.cos(o[2]),r=Math.sin(o[2]);return[i*e-r*t+o[0],r*e+i*t+o[1]]}function _t(o,e,t,i,r){o[e*3]=t,o[e*3+1]=i,o[e*3+2]=r}var bs=class extends pi{rA;rB;C0=new Float64Array(3);torqueArm;restAngle;constructor(e,t,i,r,s,a=[1/0,1/0,1/0],n=1/0){super(e,t,i),this.rA=[r[0],r[1]],this.rB=[s[0],s[1]],this.stiffness[0]=a[0],this.stiffness[1]=a[1],this.stiffness[2]=a[2],this.fmax[2]=n,this.fmin[2]=-n,this.fracture[2]=n,this.restAngle=(t?t.position[2]:0)-i.position[2];let l=(t?t.size[0]:0)+i.size[0],c=(t?t.size[1]:0)+i.size[1];this.torqueArm=l*l+c*c}rows(){return 3}evaluate(e){let t=this.bodyA?mi(this.bodyA.position,this.rA[0],this.rA[1]):this.rA,i=mi(this.bodyB.position,this.rB[0],this.rB[1]);e[0]=t[0]-i[0],e[1]=t[1]-i[1],e[2]=((this.bodyA?this.bodyA.position[2]:0)-this.bodyB.position[2]-this.restAngle)*this.torqueArm}initialize(){return this.evaluate(this.C0),this.stiffness[0]!==0||this.stiffness[1]!==0||this.stiffness[2]!==0}Cn=new Float64Array(3);computeConstraint(e){this.evaluate(this.Cn);for(let t=0;t<3;t++)this.C[t]=this.stiffness[t]===1/0?this.Cn[t]-this.C0[t]*e:this.Cn[t]}computeDerivatives(e){let{J:t,H:i}=this;if(i.fill(0,0,27),e===this.bodyA){let r=vr(e.position[2],this.rA[0],this.rA[1]);_t(t,0,1,0,-r[1]),_t(t,1,0,1,r[0]),_t(t,2,0,0,this.torqueArm),i[8]=-r[0],i[17]=-r[1]}else{let r=vr(e.position[2],this.rB[0],this.rB[1]);_t(t,0,-1,0,r[1]),_t(t,1,0,-1,-r[0]),_t(t,2,0,0,-this.torqueArm),i[8]=r[0],i[17]=r[1]}}},gs=class extends pi{rA;rB;rest;constructor(e,t,i,r,s,a,n=-1){if(super(e,t,i),this.rA=[r[0],r[1]],this.rB=[s[0],s[1]],this.stiffness[0]=a,this.rest=n,this.rest<0){let l=mi(t.position,r[0],r[1]),c=mi(i.position,s[0],s[1]);this.rest=Math.hypot(l[0]-c[0],l[1]-c[1])}}rows(){return 1}initialize(){return!0}delta(){let e=mi(this.bodyA.position,this.rA[0],this.rA[1]),t=mi(this.bodyB.position,this.rB[0],this.rB[1]);return[e[0]-t[0],e[1]-t[1]]}computeConstraint(){let e=this.delta();this.C[0]=Math.hypot(e[0],e[1])-this.rest}computeDerivatives(e){let t=this.delta(),i=t[0]*t[0]+t[1]*t[1];if(i===0)return;let r=Math.sqrt(i),s=t[0]/r,a=t[1]/r,n=(1-s*s)/r,l=(0-s*a)/r,c=(0-a*s)/r,f=(1-a*a)/r,u=e===this.bodyA,d=u?this.rA:this.rB,p=vr(e.position[2],-d[1],d[0]),m=vr(e.position[2],d[0],d[1]),h=n*p[0]+l*p[1],b=c*p[0]+f*p[1],y=s*m[0]+a*m[1],v=s*p[0]+a*p[1];u?_t(this.J,0,s,a,v):_t(this.J,0,-s,-a,-v);let B=u?-y-y:y+y,g=this.H;g[0]=n,g[1]=l,g[2]=h,g[3]=c,g[4]=f,g[5]=b,g[6]=h,g[7]=b,g[8]=B}},ys=class extends pi{rows(){return 0}initialize(){return!0}computeConstraint(){}computeDerivatives(){}},vs=class extends pi{speed;constructor(e,t,i,r,s){super(e,t,i),this.speed=r,this.fmax[0]=s,this.fmin[0]=-s}rows(){return 1}initialize(){return!0}computeConstraint(){let e=this.bodyA?this.bodyA.position[2]-this.bodyA.initial[2]:0,t=this.bodyB.position[2]-this.bodyB.initial[2];this.C[0]=e-t-this.speed*this.solver.dt}computeDerivatives(e){_t(this.J,0,0,0,e===this.bodyA?1:-1),this.H.fill(0,0,9)}};var xs=()=>({dt:1/60,gravity:-10,iterations:10,beta:1e5,alpha:.99,gamma:.99,postStabilize:!0,stiffnessRescale:!1,vbd:!1,vbdStiffness:1e6,matchNearest:!1}),As=()=>({...xs(),postStabilize:!1,alpha:.95,matchNearest:!0});var Ki=(o,e)=>o>e?o*2097152+e:e*2097152+o;function vc(o,e,t){let i=0,r=e;for(;i<r;){let s=i+r>>>1;o[s]<t?i=s+1:r=s}return i}function Qo(o,e,t){let i=vc(o,e,t);return i<e&&o[i]===t}var ws=class{cellSize=1;pairs=new Float64Array(1024);pairCount=0;configuredFor=-1;large=new Int32Array(0);isLarge=new Uint8Array(0);cellX=new Int32Array(0);cellY=new Int32Array(0);tableSize=0;bucketStart=new Int32Array(0);sorted=new Int32Array(0);configure(e,t){this.configuredFor=e;let i=Float64Array.from({length:e},(n,l)=>t[l*4+1]).sort(),r=e>0?i[e>>1]:1,s=0;for(let n=0;n<e;n++)i[n]<=4*r&&(s=Math.max(s,i[n]));this.cellSize=Math.max(2*s,.001),this.isLarge=new Uint8Array(e);let a=[];for(let n=0;n<e;n++)t[n*4+1]>s&&(this.isLarge[n]=1,a.push(n));for(this.large=Int32Array.from(a),this.cellX=new Int32Array(e),this.cellY=new Int32Array(e),this.tableSize=1;this.tableSize<2*e;)this.tableSize<<=1;this.bucketStart=new Int32Array(this.tableSize+1),this.sorted=new Int32Array(e)}hash(e,t){return(Math.imul(e,73856093)^Math.imul(t,19349663))&this.tableSize-1}findPairs(e,t,i,r,s,a){e!==this.configuredFor&&this.configure(e,i),this.pairCount=0;let{cellX:n,cellY:l,isLarge:c,bucketStart:f,sorted:u}=this,d=1/this.cellSize;f.fill(0);for(let h=0;h<e;h++)c[h]||(n[h]=Math.floor(t[h*4]*d),l[h]=Math.floor(t[h*4+1]*d),f[this.hash(n[h],l[h])+1]++);for(let h=0;h<this.tableSize;h++)f[h+1]+=f[h];let p=f.slice(0,this.tableSize);for(let h=0;h<e;h++)c[h]||(u[p[this.hash(n[h],l[h])]++]=h);let m=(h,b)=>{if(!r[h]&&!r[b])return;let y=t[h*4]-t[b*4],v=t[h*4+1]-t[b*4+1],B=i[h*4+1]+i[b*4+1];if(y*y+v*v>B*B)return;let g=Ki(h,b);if(!Qo(s,a,g)){if(this.pairCount===this.pairs.length){let A=new Float64Array(this.pairs.length*2);A.set(this.pairs),this.pairs=A}this.pairs[this.pairCount++]=g}};for(let h=0;h<e;h++){if(c[h])continue;let b=n[h],y=l[h];for(let v=-1;v<=1;v++)for(let B=-1;B<=1;B++){let g=this.hash(b+B,y+v);for(let A=f[g];A<f[g+1];A++){let x=u[A];x>=h||n[x]!==b+B||l[x]!==y+v||m(h,x)}}}for(let h of this.large)for(let b=0;b<e;b++)b===h||c[b]&&b>h||m(h,b);this.pairs.subarray(0,this.pairCount).sort()}};var Ye=new Float64Array(12),En=new Float64Array(12),bi=new Float64Array(12);function yt(o,e,t,i,r,s,a,n){let l=e*6;o[l]=t,o[l+1]=i,o[l+2]=r,o[l+3]=s,o[l+4]=a,o[l+5]=n}function zn(o,e,t,i,r,s){let a=0,n=t*e[0]+i*e[1]-r,l=t*e[6]+i*e[7]-r;if(n<=0){for(let c=0;c<6;c++)o[a*6+c]=e[c];a++}if(l<=0){for(let c=0;c<6;c++)o[a*6+c]=e[6+c];a++}if(n*l<0){let c=n/(n-l),f=e[0]+(e[6]-e[0])*c,u=e[1]+(e[7]-e[1])*c;n>0?yt(o,a,f,u,s,e[3],0,e[5]):yt(o,a,f,u,e[8],s,e[10],0),a++}return a}function Bs(o,e,t,i,r,s,a,n){let l=-(r*a+s*n),c=-(-s*a+r*n);Math.abs(l)>Math.abs(c)?l>0?(yt(Ye,0,o,-e,0,0,3,4),yt(Ye,1,o,e,0,0,4,1)):(yt(Ye,0,-o,e,0,0,1,2),yt(Ye,1,-o,-e,0,0,2,3)):c>0?(yt(Ye,0,o,e,0,0,4,1),yt(Ye,1,-o,e,0,0,1,2)):(yt(Ye,0,-o,-e,0,0,2,3),yt(Ye,1,o,-e,0,0,3,4));for(let f=0;f<2;f++){let u=f*6,d=Ye[u],p=Ye[u+1];Ye[u]=t+r*d-s*p,Ye[u+1]=i+s*d+r*p}}function Mn(o,e,t,i,r,s,a,n,l,c,f){let u=Math.cos(t),d=Math.sin(t),p=Math.cos(n),m=Math.sin(n),h=s-o,b=a-e,y=u*h+d*b,v=-d*h+u*b,B=p*h+m*b,g=-m*h+p*b,A=Math.abs(u*p+d*m),x=Math.abs(u*-m+d*p),w=Math.abs(-d*p+u*m),E=Math.abs(-d*-m+u*p),k=Math.abs(y)-i-(A*l+x*c),z=Math.abs(v)-r-(w*l+E*c);if(k>0||z>0)return 0;let M=Math.abs(B)-(A*i+w*r)-l,P=Math.abs(g)-(x*i+E*r)-c;if(M>0||P>0)return 0;let _=0,C=k,S=y>0?u:-u,R=y>0?d:-d;z>.95*C+.01*r&&(_=1,C=z,S=v>0?-d:d,R=v>0?u:-u),M>.95*C+.01*l&&(_=2,C=M,S=B>0?p:-p,R=B>0?m:-m),P>.95*C+.01*c&&(_=3,C=P,S=g>0?-m:m,R=g>0?p:-p);let I,O,q,G,j,F,H,ee,le;if(_===0){I=S,O=R,q=o*I+e*O+i,G=-d,j=u;let U=o*G+e*j;F=-U+r,H=U+r,ee=3,le=1,Bs(l,c,s,a,p,m,I,O)}else if(_===1){I=S,O=R,q=o*I+e*O+r,G=u,j=d;let U=o*G+e*j;F=-U+i,H=U+i,ee=2,le=4,Bs(l,c,s,a,p,m,I,O)}else if(_===2){I=-S,O=-R,q=s*I+a*O+l,G=-m,j=p;let U=s*G+a*j;F=-U+c,H=U+c,ee=3,le=1,Bs(i,r,o,e,u,d,I,O)}else{I=-S,O=-R,q=s*I+a*O+c,G=p,j=m;let U=s*G+a*j;F=-U+l,H=U+l,ee=2,le=4,Bs(i,r,o,e,u,d,I,O)}if(zn(En,Ye,-G,-j,F,ee)<2||zn(bi,En,G,j,H,le)<2)return 0;let xe=0;for(let U=0;U<2;U++){let ze=U*6,Me=bi[ze],ce=bi[ze+1],Ne=I*Me+O*ce-q;if(Ne>0)continue;let zt=Me-I*Ne,Ie=ce-O*Ne,qe=bi[ze+2],Re=bi[ze+3],Ve=bi[ze+4],et=bi[ze+5],Ai,wi,Bi,Ci;_>=2?([qe,Re,Ve,et]=[Ve,et,qe,Re],Ai=Me-o,wi=ce-e,Bi=zt-s,Ci=Ie-a):(Ai=zt-o,wi=Ie-e,Bi=Me-s,Ci=ce-a);let At=xe*7;f[At+0]=qe&255|(Re&255)<<8|(Ve&255)<<16|(et&255)<<24,f[At+1]=u*Ai+d*wi,f[At+1+1]=-d*Ai+u*wi,f[At+3]=p*Bi+m*Ci,f[At+3+1]=-m*Bi+p*Ci,f[At+5]=-S,f[At+5+1]=-R,xe++}return xe}var In=o=>31-Math.clz32(o&-o);function xc(o){let e=o+2654435769;return e^=e>>>16,e=Math.imul(e,2146121005),e^=e>>>15,e=Math.imul(e,2221713035),e^=e>>>16,e>>>0}var Ko=(o,e,t,i)=>o>t||o===t&&e>i,Cs=class{colors=new Int32Array(0);colorStart=new Int32Array(65);colorBodies=new Int32Array(0);next=new Int32Array(0);pending=new Uint8Array(0);prio=new Uint32Array(0);resize(e){if(this.colors.length===e)return;let t=new Int32Array(e).fill(-1);t.set(this.colors.subarray(0,Math.min(e,this.colors.length))),this.colors=t,this.next=new Int32Array(e),this.pending=new Uint8Array(e),this.colorBodies=new Int32Array(e),this.prio=Uint32Array.from({length:e},(i,r)=>xc(r))}run(e,t,i,r,s,a){this.resize(e);let{colors:n,next:l,pending:c,prio:f}=this,u=(g,A)=>{let x=s[g*4+1],w=x===A?s[g*4+2]:x;return w>=0&&t[w]?w:-1},d=(g,A)=>{let x=0,w=0;for(let E=i[g];E<i[g+1];E++){let k=u(r[E],g);if(k<0||A&&c[k])continue;let z=n[k];z<0||(z<32?x|=1<<z:w|=1<<z-32)}return~x!==0?In(~x):~w!==0?32+In(~w):63};for(let g=0;g<e;g++){if(l[g]=n[g],!t[g]||n[g]<0)continue;let A=!0;for(let x=i[g];x<i[g+1]&&A;x++){let w=u(r[x],g);w>=0&&!Ko(f[g],g,f[w],w)&&(A=!1)}A&&(l[g]=Math.min(n[g],d(g,!1)))}n.set(l);let p=()=>{let g=0;for(let A=0;A<e;A++)if(c[A]=0,!!t[A]){if(n[A]<0)c[A]=1;else for(let x=i[A];x<i[A+1];x++){let w=u(r[x],A);if(w>=0&&n[w]===n[A]&&Ko(f[w],w,f[A],A)){c[A]=1;break}}g+=c[A]}return g},m=p(),h=0;for(;m>0&&h<a;){h++;for(let g=0;g<e;g++){if(l[g]=-2,!c[g])continue;let A=!0;for(let x=i[g];x<i[g+1]&&A;x++){let w=u(r[x],g);w>=0&&c[w]&&!Ko(f[g],g,f[w],w)&&(A=!1)}A&&(l[g]=d(g,!0))}for(let g=0;g<e;g++)l[g]!==-2&&(n[g]=l[g],c[g]=0,m--)}let b=0;if(m>0){for(let g=0;g<e;g++)c[g]&&n[g]<0&&(n[g]=0);b=p()}let y=this.colorStart;y.fill(0);let v=0;for(let g=0;g<e;g++)t[g]&&(y[n[g]+1]++,v=Math.max(v,n[g]+1));for(let g=0;g<64;g++)y[g+1]+=y[g];let B=y.slice(0,64);for(let g=0;g<e;g++)t[g]&&(this.colorBodies[B[n[g]]++]=g);return{numColors:v,conflicts:b,rounds:h}}};var Dn=0,Qt=1,Gn=2,Ss=3,Zo=4,Fn=[0,3,1,1,2],Cc=.05,D=4,T=32,ge=0,ne=3,$=6,ft=9,dt=12,gi=15,at=18,W=21,K=23,ye=25,Ee=26,vt=27,xr=28,ks=class{params=xs();options;bodyCount=0;pose;initial;inertial;velocity;prevVelocity;shape;props;dynamic=new Uint8Array(0);jointCount=0;contactCount=0;info=new Int32Array(0);data;handles=[];prevCount=0;prevKeys=new Float64Array(0);prevInfo=new Int32Array(0);prevData=new Float64Array(0);ignorePairs=[];noCollide=new Float64Array(0);noCollideCount=0;noCollideDirty=!0;adjStart=new Int32Array(1);adjList=new Int32Array(0);broadphase=new ws;coloring=new Cs;numColors=0;colorConflicts=0;colorRounds=0;profiling=!1;profile={};phaseStart=0;contactOut=new Float64Array(14);dxBuf=new Float64Array(0);constructor(e={}){this.options={precision:"f32",order:"colored",colorRounds:32,...e},this.pose=this.real(0),this.initial=this.real(0),this.inertial=this.real(0),this.velocity=this.real(0),this.prevVelocity=this.real(0),this.shape=this.real(0),this.props=this.real(0),this.data=this.real(0)}real(e){return this.options.precision==="f32"?new Float32Array(e):new Float64Array(e)}grow(e,t){if(e.length>=t)return e;let i=new e.constructor(Math.max(t,e.length*2,16));return i.set(e),i}clear(){this.bodyCount=0,this.jointCount=0,this.contactCount=0,this.prevCount=0,this.handles=[],this.ignorePairs=[],this.noCollideDirty=!0,this.coloring.resize(0)}addBody(e,t,i,r,s=[0,0,0]){let a=this.bodyCount++,n=this.bodyCount*4;this.pose=this.grow(this.pose,n),this.initial=this.grow(this.initial,n),this.inertial=this.grow(this.inertial,n),this.velocity=this.grow(this.velocity,n),this.prevVelocity=this.grow(this.prevVelocity,n),this.shape=this.grow(this.shape,n),this.props=this.grow(this.props,n),this.dynamic=this.grow(this.dynamic,this.bodyCount);let l=e[0]*e[1]*t;return this.pose.set([r[0],r[1],r[2]??0,0],a*4),this.velocity.set([s[0],s[1],s[2]??0,0],a*4),this.prevVelocity.set(this.velocity.subarray(a*4,a*4+4),a*4),this.shape.set([e[0],e[1],l,l*(e[0]*e[0]+e[1]*e[1])/12],a*4),this.props.set([i,Math.hypot(e[0]*.5,e[1]*.5),0,0],a*4),this.dynamic[a]=l>0?1:0,a}allocConstraint(){let e=this.jointCount++,t=this.jointCount+this.contactCount;this.info=this.grow(this.info,t*D),this.data=this.grow(this.data,t*T),this.contactCount>0&&(this.info.copyWithin((e+1)*D,e*D,(t-1)*D),this.data.copyWithin((e+1)*T,e*T,(t-1)*T)),this.data.fill(0,e*T,e*T+T);for(let i=0;i<3;i++)this.data[e*T+$+i]=1/0,this.data[e*T+ft+i]=-1/0,this.data[e*T+dt+i]=1/0,this.data[e*T+gi+i]=1/0;return this.handles[e]=null,this.noCollideDirty=!0,e}setInfo(e,t,i,r){this.info.set([t,i,r,0],e*D)}addJoint(e,t,i,r,s=[1/0,1/0,1/0],a=1/0){let n=this.allocConstraint();this.setInfo(n,Qt,e,t);let l=this.data,c=n*T;l.set(s,c+$),l[c+dt+2]=a,l[c+ft+2]=-a,l[c+gi+2]=a,l.set(i,c+W),l.set(r,c+K),l[c+ye]=(e>=0?this.pose[e*4+2]:0)-this.pose[t*4+2];let f=(e>=0?this.shape[e*4]:0)+this.shape[t*4],u=(e>=0?this.shape[e*4+1]:0)+this.shape[t*4+1];l[c+Ee]=f*f+u*u;let d={slot:n,alive:!0};return this.handles[n]=d,d}setJointWorldAnchor(e,t,i){e.alive&&(this.data[e.slot*T+W]=t,this.data[e.slot*T+W+1]=i)}removeJoint(e){e.alive&&(this.disable(e.slot),e.alive=!1)}addSpring(e,t,i,r,s,a){let n=this.allocConstraint();this.setInfo(n,Gn,e,t);let l=n*T;this.data[l+$]=s,this.data.set(i,l+W),this.data.set(r,l+K),this.data[l+ye]=a}addMotor(e,t,i,r){let s=this.allocConstraint();this.setInfo(s,Ss,e,t);let a=s*T;this.data[a+dt]=r,this.data[a+ft]=-r,this.data[a+ye]=i}ignoredPairs(){return this.ignorePairs}addIgnoreCollision(e,t){this.ignorePairs.push(Ki(e,t)),this.noCollideDirty=!0}loadFromReference(e){this.clear();let t=Object.keys(xs());Object.assign(this.params,Object.fromEntries(t.map(r=>[r,e[r]])));let i=new Map(e.bodies.map((r,s)=>[r,s]));for(let r of e.bodies){let s=this.addBody(r.size,0,r.friction,r.position,r.velocity);this.shape[s*4+2]=r.mass,this.shape[s*4+3]=r.moment,this.dynamic[s]=r.mass>0?1:0}for(let r of e.forces){let s=r.bodyA?i.get(r.bodyA):-1,a=i.get(r.bodyB);if(r instanceof bs){let n=this.addJoint(s,a,r.rA,r.rB,[r.stiffness[0],r.stiffness[1],r.stiffness[2]],r.fracture[2]);this.data[n.slot*T+ye]=r.restAngle,this.data[n.slot*T+Ee]=r.torqueArm}else r instanceof gs?this.addSpring(s,a,r.rA,r.rB,r.stiffness[0],r.rest):r instanceof vs?this.addMotor(s,a,r.speed,r.fmax[0]):r instanceof ys&&this.addIgnoreCollision(s,a)}}step(){let e=this.params,t=e.postStabilize&&!e.vbd,i=e.vbd?0:e.alpha;this.phaseStart=this.profiling?performance.now():0,this.saveContacts(),this.findPairs(),this.mark("broadphase"),this.initJoints(),this.narrowphase(),this.mark("narrowphase"),this.warmStartConstraints(t,i),this.buildAdjacency(),this.mark("adjacency"),this.colorBodies(),this.mark("coloring"),this.warmStartBodies();let r=e.iterations+(t?1:0);for(let s=0;s<r;s++){let a=t?s<e.iterations?1:0:i;this.primal(a),this.mark("primal"),s<e.iterations&&this.dual(a),s===e.iterations-1&&this.updateVelocities(),this.mark("dual")}t&&this.refreshStick()}mark(e){if(!this.profiling)return;let t=performance.now();this.profile[e]=(this.profile[e]??0)+t-this.phaseStart,this.phaseStart=t}resetProfile(){for(let e of Object.keys(this.profile))delete this.profile[e]}saveContacts(){let e=this.contactCount,t=this.jointCount;this.prevKeys.length<e&&(this.prevKeys=new Float64Array(e*2),this.prevInfo=new Int32Array(e*2*D),this.prevData=new Float64Array(e*2*T));for(let i=0;i<e;i++){let r=t+i;this.prevKeys[i]=Ki(this.info[r*D+1],this.info[r*D+2])}this.prevInfo.set(this.info.subarray(t*D,(t+e)*D)),this.prevData.set(this.data.subarray(t*T,(t+e)*T)),this.prevCount=e,this.contactCount=0}findPairs(){if(this.noCollideDirty){let e=[...this.ignorePairs];for(let t=0;t<this.jointCount;t++){let i=this.info[t*D+1],r=this.info[t*D+2];this.info[t*D]!==Dn&&i>=0&&e.push(Ki(i,r))}this.noCollide=Float64Array.from(e).sort(),this.noCollideCount=e.length,this.noCollideDirty=!1}this.broadphase.findPairs(this.bodyCount,this.pose,this.props,this.dynamic,this.noCollide,this.noCollideCount)}initJoints(){let{info:e,data:t,pose:i}=this,r=0;for(let s=0;s<this.jointCount;s++){let a=s*T;if(e[s*D]===Qt){if(t[a+$]===0&&t[a+$+1]===0&&t[a+$+2]===0){let f=this.handles[s];f&&(f.alive=!1);continue}let l=e[s*D+1],c=e[s*D+2];this.jointC(l,c,a,i,t,a+at)}r!==s&&(e.copyWithin(r*D,s*D,(s+1)*D),t.copyWithin(r*T,a,a+T),this.handles[r]=this.handles[s],this.handles[r]&&(this.handles[r].slot=r)),r++}if(r!==this.jointCount){for(let s=r;s<this.jointCount;s++)this.handles[s]=null;this.jointCount=r,this.noCollideDirty=!0}}jointC(e,t,i,r,s,a,n=s){let l,c,f;if(e>=0){let h=Math.cos(r[e*4+2]),b=Math.sin(r[e*4+2]),y=s[i+W],v=s[i+W+1];l=h*y-b*v+r[e*4],c=b*y+h*v+r[e*4+1],f=r[e*4+2]}else l=s[i+W],c=s[i+W+1],f=0;let u=Math.cos(r[t*4+2]),d=Math.sin(r[t*4+2]),p=s[i+K],m=s[i+K+1];n[a]=l-(u*p-d*m+r[t*4]),n[a+1]=c-(d*p+u*m+r[t*4+1]),n[a+2]=(f-r[t*4+2]-s[i+ye])*s[i+Ee]}narrowphase(){let{pose:e,shape:t,props:i}=this,r=this.broadphase.pairs,s=this.contactOut;for(let a=0;a<this.broadphase.pairCount;a++){let n=r[a],l=Math.floor(n/2097152),c=n-l*2097152,f=Mn(e[l*4],e[l*4+1],e[l*4+2],t[l*4]*.5,t[l*4+1]*.5,e[c*4],e[c*4+1],e[c*4+2],t[c*4]*.5,t[c*4+1]*.5,s);if(f===0)continue;let u=0,d=this.prevCount;for(;u<d;){let h=u+d>>>1;this.prevKeys[h]<n?u=h+1:d=h}let p=u,m=Math.sqrt(i[l*4]*i[c*4]);for(let h=0;h<f;h++){let b=this.jointCount+this.contactCount++;this.info=this.grow(this.info,(b+1)*D),this.data=this.grow(this.data,(b+1)*T);let y=this.data,v=b*T,B=h*7,g=s[B+0];this.info.set([Zo,l,c,g],b*D),y.fill(0,v,v+T),y[v+$]=y[v+$+1]=1/0,y[v+ft]=-1/0,y[v+dt]=0,y[v+gi]=y[v+gi+1]=1/0,y[v+W]=s[B+1],y[v+W+1]=s[B+1+1],y[v+K]=s[B+3],y[v+K+1]=s[B+3+1],y[v+ye]=m,y[v+Ee]=s[B+5],y[v+vt]=s[B+5+1];let A=-1;for(let C=p;C<this.prevCount&&this.prevKeys[C]===n;C++)this.prevInfo[C*D+3]===g&&(A=C);if(A<0&&this.params.matchNearest){let C=Cc*Math.min(t[l*4],t[l*4+1],t[c*4],t[c*4+1]);for(let S=p;S<this.prevCount&&this.prevKeys[S]===n;S++){let R=Math.hypot(this.prevData[S*T+W]-y[v+W],this.prevData[S*T+W+1]-y[v+W+1]);R<=C&&(C=R,A=S)}}if(A>=0){let C=A*T;y[v+ge]=this.prevData[C+ge],y[v+ge+1]=this.prevData[C+ge+1],y[v+ne]=this.prevData[C+ne],y[v+ne+1]=this.prevData[C+ne+1],this.prevData[C+xr]&&(y[v+W]=this.prevData[C+W],y[v+W+1]=this.prevData[C+W+1],y[v+K]=this.prevData[C+K],y[v+K+1]=this.prevData[C+K+1])}let[x,w]=Yt(e[l*4+2],y[v+W],y[v+W+1]),[E,k]=Yt(e[c*4+2],y[v+K],y[v+K+1]),z=y[v+Ee],M=y[v+vt],P=e[l*4]+x-e[c*4]-E,_=e[l*4+1]+w-e[c*4+1]-k;y[v+at]=z*P+M*_+5e-4,y[v+at+1]=M*P-z*_}}}warmStartConstraints(e,t){let i=this.params,r=this.data,s=this.jointCount+this.contactCount;for(let a=0;a<s;a++){let n=Fn[this.info[a*D]],l=a*T;for(let c=0;c<n;c++){if(i.vbd){r[l+ge+c]=Yi(r[l+$+c],i.vbdStiffness);continue}e||(r[l+ne+c]=r[l+ne+c]*t*i.gamma),r[l+ge+c]=Yi(Qi(r[l+ge+c]*i.gamma,1,1e9),r[l+$+c])}}}prepareTopology(){this.buildAdjacency(),this.colorBodies()}buildAdjacency(){let e=this.bodyCount,t=this.jointCount+this.contactCount;this.adjStart=this.grow(this.adjStart,e+1),this.adjList=this.grow(this.adjList,t*2);let i=this.adjStart;i.fill(0,0,e+1);for(let s=0;s<t;s++)for(let a=1;a<=2;a++){let n=this.info[s*D+a];n>=0&&this.dynamic[n]&&i[n+1]++}for(let s=0;s<e;s++)i[s+1]+=i[s];let r=i.slice(0,e);for(let s=0;s<t;s++)for(let a=1;a<=2;a++){let n=this.info[s*D+a];n>=0&&this.dynamic[n]&&(this.adjList[r[n]++]=s)}}colorBodies(){if(this.options.order!=="colored")return;let e=this.coloring.run(this.bodyCount,this.dynamic,this.adjStart,this.adjList,this.info,this.options.colorRounds);this.numColors=e.numColors,this.colorConflicts=e.conflicts,this.colorRounds=e.rounds}warmStartBodies(){let{dt:e,gravity:t}=this.params,{pose:i,velocity:r,initial:s,inertial:a,prevVelocity:n}=this;for(let l=0;l<this.bodyCount;l++){let c=l*4;r[c+2]=Qi(r[c+2],-50,50),a[c]=i[c]+r[c]*e,a[c+1]=i[c+1]+r[c+1]*e,a[c+2]=i[c+2]+r[c+2]*e,this.dynamic[l]&&(a[c+1]+=t*e*e);let f=(r[c+1]-n[c+1])/e*_n(t),u=Qi(f/Math.abs(t),0,1);Number.isFinite(u)||(u=0),s[c]=i[c],s[c+1]=i[c+1],s[c+2]=i[c+2],i[c]=i[c]+r[c]*e,i[c+1]=i[c+1]+r[c+1]*e+t*u*e*e,i[c+2]=i[c+2]+r[c+2]*e}}eC=new Float64Array(3);eMin=new Float64Array(3);eMax=new Float64Array(3);eJ=new Float64Array(9);eG=new Float64Array(9);evalConstraint(e,t,i){let{info:r,data:s,pose:a,initial:n}=this,l=r[e*D],c=r[e*D+1],f=r[e*D+2],u=e*T,{eC:d,eMin:p,eMax:m,eJ:h,eG:b}=this,y=Fn[l];for(let B=0;B<y;B++)p[B]=s[u+ft+B],m[B]=s[u+dt+B];let v=i===c;if(b.fill(0),l===Qt){this.jointC(c,f,u,a,s,0,d);for(let B=0;B<3;B++)s[u+$+B]===1/0&&(d[B]-=s[u+at+B]*t);if(i>=0){let B=a[i*4+2],[g,A]=Yt(B,s[u+(v?W:K)],s[u+(v?W:K)+1]),x=v?1:-1;h[0]=x,h[1]=0,h[2]=-x*A,h[3]=0,h[4]=x,h[5]=x*g,h[6]=0,h[7]=0,h[8]=x*s[u+Ee],b[2]=Math.abs(g),b[5]=Math.abs(A)}}else if(l===Gn){let[B,g]=Un(a,c,s[u+W],s[u+W+1]),[A,x]=Un(a,f,s[u+K],s[u+K+1]),w=B-A,E=g-x,k=w*w+E*E,z=Math.sqrt(k);if(d[0]=z-s[u+ye],i>=0&&k!==0){let M=w/z,P=E/z,_=(1-M*M)/z,C=-M*P/z,S=(1-P*P)/z,R=a[i*4+2],I=v?W:K,[O,q]=Yt(R,-s[u+I+1],s[u+I]),[G,j]=Yt(R,s[u+I],s[u+I+1]),F=_*O+C*q,H=C*O+S*q,ee=M*G+P*j,le=M*O+P*q,xe=v?1:-1;h[0]=xe*M,h[1]=xe*P,h[2]=xe*le;let U=v?-ee-ee:ee+ee;b[0]=Math.hypot(_,C,F),b[1]=Math.hypot(C,S,H),b[2]=Math.hypot(F,H,U)}else i>=0&&h.fill(0,0,3)}else if(l===Ss){let B=c>=0?a[c*4+2]-n[c*4+2]:0,g=a[f*4+2]-n[f*4+2];d[0]=B-g-s[u+ye]*this.params.dt,i>=0&&(h[0]=0,h[1]=0,h[2]=v?1:-1)}else if(l===Zo){let B=s[u+Ee],g=s[u+vt],A=g,x=-B,[w,E]=Yt(n[c*4+2],s[u+W],s[u+W+1]),[k,z]=Yt(n[f*4+2],s[u+K],s[u+K+1]),M=w*g-E*B,P=-(k*g-z*B),_=w*x-E*A,C=-(k*x-z*A),S=a[c*4]-n[c*4],R=a[c*4+1]-n[c*4+1],I=a[c*4+2]-n[c*4+2],O=a[f*4]-n[f*4],q=a[f*4+1]-n[f*4+1],G=a[f*4+2]-n[f*4+2];d[0]=s[u+at]*(1-t)+B*S+g*R+M*I+-B*O+-g*q+P*G,d[1]=s[u+at+1]*(1-t)+A*S+x*R+_*I+-A*O+-x*q+C*G;let j=Math.abs(s[u+ne])*s[u+ye];m[1]=j,p[1]=-j,i>=0&&(v?(h[0]=B,h[1]=g,h[2]=M,h[3]=A,h[4]=x,h[5]=_):(h[0]=-B,h[1]=-g,h[2]=P,h[3]=-A,h[4]=-x,h[5]=C))}return y}solveBody(e,t){let i=this.params,{shape:r,pose:s,inertial:a,data:n}=this,l=i.dt*i.dt,c=r[e*4+2]/l,f=r[e*4+3]/l,u=c,d=0,p=c,m=0,h=0,b=f,y=c*(s[e*4]-a[e*4]),v=c*(s[e*4+1]-a[e*4+1]),B=f*(s[e*4+2]-a[e*4+2]),{eC:g,eMin:A,eMax:x,eJ:w,eG:E}=this,k=this.adjStart,z=this.adjList;for(let F=k[e+1]-1;F>=k[e];F--){let H=z[F],ee=this.evalConstraint(H,t,e),le=H*T,xe=!i.vbd;for(let U=0;U<ee;U++){let ze=n[le+$+U],Me=xe&&ze===1/0?n[le+ne+U]:0,ce=n[le+ge+U],Ne=g[U],zt=ce*Ne+Me,Ie=Qi(zt,A[U],x[U]),qe=Math.abs(Ie);i.stiffnessRescale&&Ne!==0&&(zt<A[U]?ce=Math.abs((A[U]-Me)/Ne):zt>x[U]&&(ce=Math.abs((x[U]-Me)/Ne)));let Re=w[U*3],Ve=w[U*3+1],et=w[U*3+2];y+=Re*Ie,v+=Ve*Ie,B+=et*Ie,u+=Re*Re*ce+E[U*3]*qe,d+=Ve*Re*ce,p+=Ve*Ve*ce+E[U*3+1]*qe,m+=et*Re*ce,h+=et*Ve*ce,b+=et*et*ce+E[U*3+2]*qe}}let M=u,P=d/u,_=m/u,C=p-P*P*M,S=(h-P*_*M)/C,R=b-(_*_*M+S*S*C),I=v-P*y,q=(B-_*y-S*I)/R,G=I/C-S*q,j=y/M-P*G-_*q;this.dxBuf[e*3]=j,this.dxBuf[e*3+1]=G,this.dxBuf[e*3+2]=q}applyDx(e){this.pose[e*4]-=this.dxBuf[e*3],this.pose[e*4+1]-=this.dxBuf[e*3+1],this.pose[e*4+2]-=this.dxBuf[e*3+2]}primal(e){if(this.dxBuf.length<this.bodyCount*3&&(this.dxBuf=new Float64Array(this.bodyCount*3)),this.options.order==="sequential"){for(let r=this.bodyCount-1;r>=0;r--)this.dynamic[r]&&(this.solveBody(r,e),this.applyDx(r));return}let{colorStart:t,colorBodies:i}=this.coloring;for(let r=0;r<this.numColors;r++){for(let s=t[r];s<t[r+1];s++)this.solveBody(i[s],e);for(let s=t[r];s<t[r+1];s++)this.applyDx(i[s])}}dual(e){let t=this.params,i=this.data,{eC:r,eMin:s,eMax:a}=this,n=this.jointCount+this.contactCount;for(let l=0;l<n;l++){let c=this.info[l*D];if(c===Dn)continue;let f=this.evalConstraint(l,e,-1),u=l*T;c===Zo&&(i[u+xr]=Math.abs(i[u+ne+1])<a[1]&&Math.abs(i[u+at+1])<.01?1:0);for(let d=0;d<f;d++){let p=i[u+$+d],m=!t.vbd&&p===1/0?i[u+ne+d]:0,h=Qi(i[u+ge+d]*r[d]+m,s[d],a[d]);i[u+ne+d]=h,Math.abs(h)>=i[u+gi+d]&&this.disable(l),!t.vbd&&h>s[d]&&h<a[d]&&(i[u+ge+d]=Yi(i[u+ge+d]+t.beta*Math.abs(r[d]),Yi(1e9,i[u+$+d])))}}}refreshStick(){let e=this.data;for(let t=0;t<this.contactCount;t++){let i=(this.jointCount+t)*T,r=Math.abs(e[i+ne])*e[i+ye];e[i+xr]=Math.abs(e[i+ne+1])<r&&Math.abs(e[i+at+1])<.01?1:0}}disable(e){let t=e*T;this.data.fill(0,t+ge,t+ge+3),this.data.fill(0,t+ne,t+ne+3),this.data.fill(0,t+$,t+$+3)}updateVelocities(){let{dt:e}=this.params,{pose:t,initial:i,velocity:r,prevVelocity:s}=this;for(let a=0;a<this.bodyCount;a++){let n=a*4;s[n]=r[n],s[n+1]=r[n+1],s[n+2]=r[n+2],this.dynamic[a]&&(r[n]=(t[n]-i[n])/e,r[n+1]=(t[n+1]-i[n+1])/e,r[n+2]=(t[n+2]-i[n+2])/e)}}pick(e,t){for(let i=this.bodyCount-1;i>=0;i--){let[r,s]=Yt(-this.pose[i*4+2],e-this.pose[i*4],t-this.pose[i*4+1]);if(Math.abs(r)<=this.shape[i*4]*.5&&Math.abs(s)<=this.shape[i*4+1]*.5)return{body:i,local:[r,s]}}return null}kineticEnergy(){let e=0;for(let t=0;t<this.bodyCount;t++){if(!this.dynamic[t])continue;let i=t*4,r=this.velocity;e+=.5*this.shape[i+2]*(r[i]*r[i]+r[i+1]*r[i+1])+.5*this.shape[i+3]*r[i+2]*r[i+2]}return e}maxJointError(){let e=0,t=new Float64Array(3);for(let i=0;i<this.jointCount;i++){if(this.info[i*D]!==Qt)continue;let r=i*T;this.jointC(this.info[i*D+1],this.info[i*D+2],r,this.pose,this.data,0,t);for(let s=0;s<2;s++)this.data[r+$+s]===1/0&&(e=Math.max(e,Math.abs(t[s])))}return e}isContactPairIgnored(e,t){return Qo(this.noCollide,this.noCollideCount,Ki(e,t))}};function Yt(o,e,t){let i=Math.cos(o),r=Math.sin(o);return[i*e-r*t,r*e+i*t]}function Un(o,e,t,i){let r=Math.cos(o[e*4+2]),s=Math.sin(o[e*4+2]);return[r*t-s*i+o[e*4],s*t+r*i+o[e*4+1]]}var Ar=`
|
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3515
3604
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${mt}
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3516
3605
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|
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3517
3606
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@group(0) @binding(0) var<uniform> params: Params;
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@@ -3651,7 +3740,7 @@ fn findPairs(@builtin(global_invocation_id) gid: vec3u) {
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3651
3740
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testPair(l, i);
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3652
3741
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}
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3653
3742
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}
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3654
|
-
`,
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3743
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+
`,wr=`
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3655
3744
|
${mt}
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3656
3745
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|
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3657
3746
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@group(0) @binding(0) var<uniform> params: Params;
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@@ -3978,7 +4067,7 @@ fn narrowphase(@builtin(global_invocation_id) gid: vec3u) {
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3978
4067
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contacts[k] = rec;
|
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3979
4068
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}
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3980
4069
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}
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3981
|
-
`;var
|
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4070
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+
`;var Br=`
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3982
4071
|
${mt}
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3983
4072
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3984
4073
|
// Per-dispatch constants, selected with a dynamic uniform offset
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@@ -4351,7 +4440,7 @@ fn updateVelocities(@builtin(global_invocation_id) gid: vec3u) {
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4351
4440
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if (b.shape.z > 0.0) { b.vel = vec4f((b.pose.xyz - b.initial.xyz) / params.dt, 0.0); }
|
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4352
4441
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bodies[i] = b;
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4353
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}
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4354
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-
`;var xs=o=>o===1/0?3e38:o===-1/0?-3e38:o,Ye=o=>Math.ceil(o/64),Pn=o=>2**Math.ceil(Math.log2(Math.max(o,2))),lc=o=>Math.max(o,1)*24*4,cc=4,Qe=()=>GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_SRC|GPUBufferUsage.COPY_DST,As=class{device;params=ps();topology;bodyCount=0;bodyCapacity;jointCount=0;jointCapacity=0;pairCapacity=0;contactCapacity=0;colorCap=12;splitPasses=!1;primalMode="bucket";shrinkVotes=0;get colorHistOffset(){return 3*this.bodyCapacity+65}colorRounds;bodyBuffer;ownsBodyBuffer;jointBuffer;infoBuffer;contactBuffers;pairBuffer;tableBuffer;gridBuffer;staticBuffer=null;counterBuffer;argsBuffer;adjBuffer=null;colorBuffer;paramsBuffer;passBuffer=null;passEntries=0;parity=0;tableSize;hashSize=0;cellSize=1;maxSmallRadius=0;largeCount=0;noCollideCount=0;staticsDirty=!0;layouts;pipes={};groups;passGroup=null;gridScan;colorHistScan;colorGroups;adjScan=null;timing;timingCallback=null;timingBusy=!1;destroyed=!1;constructor(e,t,i={}){if(this.device=e,this.topology=t,Object.assign(this.params,t.params),this.bodyCount=t.bodyCount,this.colorRounds=i.colorRounds??16,this.ownsBodyBuffer=!i.bodyBuffer,this.bodyCapacity=i.bodyBuffer?Math.floor(i.bodyBuffer.size/96):Math.max(i.bodyCapacity??this.bodyCount+1024,this.bodyCount,1),this.bodyCapacity<this.bodyCount)throw new Error("body buffer too small");this.bodyBuffer=i.bodyBuffer??e.createBuffer({label:"bodies",size:lc(this.bodyCapacity),usage:Qe()});let r=this.bodyCapacity;this.tableSize=Pn(2*r),this.gridBuffer=e.createBuffer({label:"grid",size:(2*this.tableSize+1+3*r)*4,usage:Qe()}),this.counterBuffer=e.createBuffer({label:"counters",size:64,usage:Qe()}),this.argsBuffer=e.createBuffer({label:"indirect args",size:816,usage:Qe()|GPUBufferUsage.INDIRECT}),this.colorGroups=Math.ceil(r/256),this.colorBuffer=e.createBuffer({label:"colours",size:(3*r+65+64*this.colorGroups+1)*4,usage:Qe()}),this.paramsBuffer=e.createBuffer({label:"params",size:128,usage:GPUBufferUsage.UNIFORM|GPUBufferUsage.COPY_DST}),e.queue.writeBuffer(this.colorBuffer,0,new Uint32Array(r).fill(255));let s=2*ue.length;this.timing=e.features.has("timestamp-query")?{querySet:e.createQuerySet({type:"timestamp",count:s}),resolve:e.createBuffer({size:s*8,usage:GPUBufferUsage.QUERY_RESOLVE|GPUBufferUsage.COPY_SRC}),read:e.createBuffer({size:s*8,usage:GPUBufferUsage.MAP_READ|GPUBufferUsage.COPY_DST})}:null,this.layouts=this.createLayouts(),this.createPipelines(),this.gridScan=new De(e,this.gridBuffer,0,this.tableSize+1),this.colorHistScan=new De(e,this.colorBuffer,this.colorHistOffset,64*this.colorGroups+1),this.jointCount=t.jointCount,this.allocateJoints(t.jointCount+256),this.uploadJoints(0,t.jointCount),this.allocateContacts(Math.max(4096,4*r)),this.uploadBodies()}createLayouts(){let e=this.device,t=(a,n)=>e.createBindGroupLayout({label:a,entries:n.map((l,c)=>({binding:c,visibility:GPUShaderStage.COMPUTE,buffer:{type:l}}))}),i="read-only-storage",r="storage",s="uniform";return{broad:t("broadphase",[s,i,r,r,r,i,i]),contacts:t("contacts",[s,i,i,r,i,r,r]),topo:t("topology",[s,i,i,i,i,r,r,r]),solve:t("solve",[s,r,r,i,r,i,i,i]),pass:e.createBindGroupLayout({label:"pass",entries:[{binding:0,visibility:GPUShaderStage.COMPUTE,buffer:{type:"uniform",hasDynamicOffset:!0,minBindingSize:16}}]}),args:t("args",[s,i,i,r])}}createPipelines(){let e=this.device,t=(r,s,a)=>{let n=e.createShaderModule({code:r}),l=e.createPipelineLayout({bindGroupLayouts:s});for(let c of a)this.pipes[c]=e.createComputePipeline({label:c,layout:l,compute:{module:n,entryPoint:c}})},i=this.layouts;t(gr,[i.broad],["beginFrame","gridCount","gridScatter","findPairs"]),t(yr,[i.contacts],["hashInsert","narrowphase"]),t(ir,[i.topo],["degreeJoints","degreeContacts","fillJoints","fillContacts","sortAdjacency","colorCompact","colorMark","colorRoundAB","colorRoundBA","colorCount","colorStarts","colorScatter"]),t(vr,[i.solve,i.pass],["warmStartJoints","warmStartBodies","primal","primalScan","dual","refreshStick","updateVelocities"]),t(jr,[i.args],["argsPrev","argsPairs","argsContacts","argsColors"])}allocateJoints(e){let t=this.device,i=t.createBuffer({label:"joints",size:Math.max(e,1)*36*4,usage:Qe()}),r=t.createBuffer({label:"joint info",size:Math.max(e,1)*16,usage:Qe()});if(this.jointBuffer){let s=t.createCommandEncoder();s.copyBufferToBuffer(this.jointBuffer,0,i,0,this.jointCapacity*36*4),s.copyBufferToBuffer(this.infoBuffer,0,r,0,this.jointCapacity*16),t.queue.submit([s.finish()]),this.jointBuffer.destroy(),this.infoBuffer.destroy()}this.jointBuffer=i,this.infoBuffer=r,this.jointCapacity=e,this.contactBuffers&&this.rebuildBindings()}allocateContacts(e,t=2*e){let i=this.device,r=i.limits.maxStorageBufferBindingSize,s=Math.min(e,Math.floor(r/80),Math.floor(r/16)),a=Math.min(t,Math.floor(r/8)),n=this.contactBuffers,l=this.contactCapacity;for(let c of[this.pairBuffer,this.tableBuffer])c?.destroy();if(this.contactCapacity=s,this.pairCapacity=a,this.hashSize=Pn(4*s),this.pairBuffer=i.createBuffer({label:"pairs",size:a*8,usage:Qe()}),this.tableBuffer=i.createBuffer({label:"contact hash",size:this.hashSize*4,usage:Qe()}),this.contactBuffers=[0,1].map(c=>i.createBuffer({label:`contacts ${c}`,size:s*20*4,usage:Qe()})),n){let c=i.createCommandEncoder(),f=Math.min(l,s)*20*4;n.forEach((u,d)=>c.copyBufferToBuffer(u,0,this.contactBuffers[d],0,f)),i.queue.submit([c.finish()]),n.forEach(u=>u.destroy())}this.rebuildBindings()}rebuildBindings(){let e=this.device,t=this.bodyCapacity;this.adjBuffer?.destroy(),this.adjBuffer=e.createBuffer({label:"adjacency",size:(2*t+1+2*(this.jointCapacity+this.contactCapacity))*4,usage:Qe()}),this.adjScan?.destroy(),this.adjScan=new De(e,this.adjBuffer,0,this.bodyCount+1),this.staticBuffer??=e.createBuffer({label:"statics",size:16,usage:Qe()});let i=(l,c)=>e.createBindGroup({layout:l,entries:c.map((f,u)=>({binding:u,resource:{buffer:f}}))}),r=this.paramsBuffer,[s,a]=this.contactBuffers,n=this.adjBuffer;this.groups={broad:i(this.layouts.broad,[r,this.bodyBuffer,this.gridBuffer,this.pairBuffer,this.counterBuffer,this.staticBuffer,this.jointBuffer]),contacts:[i(this.layouts.contacts,[r,this.bodyBuffer,this.pairBuffer,s,a,this.tableBuffer,this.counterBuffer]),i(this.layouts.contacts,[r,this.bodyBuffer,this.pairBuffer,a,s,this.tableBuffer,this.counterBuffer])],topo:[s,a].map(l=>i(this.layouts.topo,[r,this.bodyBuffer,this.jointBuffer,this.infoBuffer,l,this.counterBuffer,n,this.colorBuffer])),solve:[s,a].map(l=>i(this.layouts.solve,[r,this.bodyBuffer,this.jointBuffer,this.infoBuffer,l,n,this.colorBuffer,this.counterBuffer])),args:i(this.layouts.args,[r,this.counterBuffer,this.colorBuffer,this.argsBuffer])}}uploadBodies(e=0,t=this.topology.bodyCount-e){let i=this.topology,r=new Float32Array(Math.max(t,1)*24);for(let s=0;s<t;s++){let a=e+s,n=s*24;r.set(i.pose.subarray(a*4,a*4+3),n),r[n+3]=i.props[a*4],r.set(i.initial.subarray(a*4,a*4+4),n+4),r.set(i.inertial.subarray(a*4,a*4+4),n+8),r.set(i.velocity.subarray(a*4,a*4+4),n+12),r.set(i.prevVelocity.subarray(a*4,a*4+4),n+16),r.set(i.shape.subarray(a*4,a*4+4),n+20)}this.device.queue.writeBuffer(this.bodyBuffer,e*24*4,r),this.staticsDirty=!0}uploadJoints(e,t){if(t===0)return;let i=this.topology,r=new Float32Array(t*36);for(let s=0;s<t;s++){let a=(e+s)*T,n=s*36;for(let l=0;l<3;l++)r[n+0+l]=i.data[a+be+l],r[n+4+l]=i.data[a+ae+l],r[n+8+l]=xs(i.data[a+$+l]),r[n+12+l]=xs(i.data[a+ft+l]),r[n+16+l]=xs(i.data[a+dt+l]),r[n+20+l]=xs(i.data[a+di+l]),r[n+24+l]=i.data[a+ot+l];r[n+28]=i.data[a+H],r[n+28+1]=i.data[a+H+1],r[n+28+2]=i.data[a+K],r[n+28+3]=i.data[a+K+1],r[n+32]=i.data[a+ge],r[n+32+1]=i.data[a+_e]}this.device.queue.writeBuffer(this.jointBuffer,e*36*4,r),this.device.queue.writeBuffer(this.infoBuffer,e*16,i.info,e*D,t*D)}uploadStatics(){let e=this.topology,t=this.bodyCount,i=Float64Array.from({length:t},(u,d)=>e.props[d*4+1]).sort(),r=t>0?i[t>>1]:1,s=0;for(let u=0;u<t;u++)i[u]<=cc*r&&(s=Math.max(s,i[u]));let a=1/0;for(let u=0;u<t;u++)i[u]>s&&(a=Math.min(a,i[u]));let n=a===1/0?s*1.5:(s+a)/2;this.maxSmallRadius=n,this.cellSize=Math.max(2*s*(1+1e-4),.001);let l=[];for(let u=0;u<t;u++)e.props[u*4+1]>n&&l.push(u);let c=[];for(let u=0;u<e.jointCount;u++){let d=e.info[u*D+1],h=e.info[u*D+2];d>=0&&c.push([Math.max(d,h),Math.min(d,h),u])}for(let u of e.ignoredPairs()){let d=Math.floor(u/2097152);c.push([d,u-d*2097152,4294967295])}c.sort((u,d)=>u[0]-d[0]||u[1]-d[1]),this.largeCount=l.length,this.noCollideCount=c.length;let f=new Uint32Array(Math.max(l.length+3*c.length,4));f.set(l,0),c.forEach((u,d)=>f.set(u,l.length+3*d)),this.staticBuffer.size<f.byteLength&&(this.staticBuffer.destroy(),this.staticBuffer=this.device.createBuffer({label:"statics",size:f.byteLength,usage:Qe()}),this.rebuildBindings()),this.device.queue.writeBuffer(this.staticBuffer,0,f),this.staticsDirty=!1}seedContactsFrom(e){let t=e.contactCount;if(t>this.contactCapacity)throw new Error("seedContactsFrom: too many contacts");let i=new ArrayBuffer(Math.max(t,1)*20*4),r=new Uint32Array(i),s=new Float32Array(i);for(let l=0;l<t;l++){let c=e.jointCount+l,f=c*T,u=l*20;r[u]=e.info[c*D+1],r[u+1]=e.info[c*D+2],r[u+2]=e.info[c*D+3],r[u+3]=e.data[f+br]?1:0,s.set([e.data[f+be],e.data[f+be+1],e.data[f+ae],e.data[f+ae+1]],u+4),s.set([e.data[f+H],e.data[f+H+1],e.data[f+K],e.data[f+K+1]],u+8),s.set([e.data[f+ot],e.data[f+ot+1],e.data[f+_e],e.data[f+vt]],u+12),s[u+16]=e.data[f+ge]}this.device.queue.writeBuffer(this.contactBuffers[1-this.parity],0,i);let a=new Uint32Array(16);a[1]=t,this.device.queue.writeBuffer(this.counterBuffer,0,a);let n=Uint32Array.from({length:this.bodyCount},(l,c)=>(e.coloring.colors[c]??-1)<0?255:e.coloring.colors[c]);this.device.queue.writeBuffer(this.colorBuffer,0,n)}addBody(e,t,i,r,s){if(this.bodyCount>=this.bodyCapacity)return-1;let a=this.topology.addBody(e,t,i,r,s);return this.bodyCount=this.topology.bodyCount,this.uploadBodies(a,1),this.device.queue.writeBuffer(this.colorBuffer,a*4,new Uint32Array([255])),this.adjScan.destroy(),this.adjScan=new De(this.device,this.adjBuffer,0,this.bodyCount+1),a}appendJoint(e,t,i,r,s,a=1/0){let n=this.topology;if(n.contactCount>0)throw new Error("appendJoint: the CPU mirror must not hold contacts");let l=n.addJoint(e,t,i,r,s,a).slot;return l>=this.jointCapacity&&this.allocateJoints(Math.max(l+1,this.jointCapacity*2)),this.jointCount=l+1,this.uploadJoints(l,1),e>=0&&(this.staticsDirty=!0),l}setWorldAnchor(e,t,i){this.device.queue.writeBuffer(this.jointBuffer,(e*36+28)*4,new Float32Array([t,i]))}disableConstraint(e){this.device.queue.writeBuffer(this.jointBuffer,(e*36+0)*4,new Float32Array(12)),this.topology.data.fill(0,e*T+$,e*T+$+3)}profileNextStep(e){this.timing&&!this.timingBusy&&(this.timingCallback=e)}writeParams(e,t){let i=this.params,r=this.bodyCapacity,s=new ArrayBuffer(128),a=new Float32Array(s),n=new Uint32Array(s);a[0]=i.dt,a[1]=i.gravity,a[2]=i.beta,a[3]=i.gamma,a[4]=e,a[5]=i.vbdStiffness,n[6]=(i.vbd?1:0)|(i.stiffnessRescale?2:0)|(t?4:0)|(i.matchNearest?8:0),n[7]=this.bodyCount,n[8]=this.jointCount,n[9]=this.colorCap,a[10]=this.cellSize,n[11]=this.tableSize-1,a[12]=this.maxSmallRadius,n[13]=this.largeCount,n[14]=this.noCollideCount,n[15]=this.pairCapacity,n[16]=this.contactCapacity,n[17]=this.hashSize-1,n[18]=r+1,n[19]=2*r+1,n[20]=this.tableSize+1,n[21]=2*this.tableSize+1,n[22]=2*this.tableSize+1+r,n[23]=r,n[24]=this.colorHistOffset,n[25]=2*r,n[26]=this.colorGroups,n[27]=2*r+65,n[28]=this.colorRounds,this.device.queue.writeBuffer(this.paramsBuffer,0,s)}writePassConstants(e,t){let i=this.colorCap+1,r=e*i;(r>this.passEntries||!this.passGroup)&&(this.passBuffer?.destroy(),this.passBuffer=this.device.createBuffer({label:"pass constants",size:r*256,usage:GPUBufferUsage.UNIFORM|GPUBufferUsage.COPY_DST}),this.passEntries=r,this.passGroup=this.device.createBindGroup({layout:this.layouts.pass,entries:[{binding:0,resource:{buffer:this.passBuffer,size:16}}]}));let s=new ArrayBuffer(r*256),a=new Uint32Array(s),n=new Float32Array(s);for(let l=0;l<e;l++)for(let c=0;c<=this.colorCap;c++){let f=(l*i+c)*256/4;a[f]=c,n[f+1]=t(l)}this.device.queue.writeBuffer(this.passBuffer,0,s)}step(){this.staticsDirty&&this.uploadStatics();let e=this.params,t=e.postStabilize&&!e.vbd,i=e.vbd?0:e.alpha,r=e.iterations+(t?1:0);this.writeParams(i,t),this.writePassConstants(r,x=>t?x<e.iterations?1:0:i);let s=this.parity,a=this.bodyCapacity,n=this.bodyCount,l=this.jointCount,c=this.device.createCommandEncoder({label:"avbd2d step"});c.clearBuffer(this.gridBuffer,0,(2*this.tableSize+1)*4),c.clearBuffer(this.tableBuffer),c.clearBuffer(this.adjBuffer,0,(2*a+1)*4);let f=this.timingCallback!==null&&this.timing!==null,u,d=0,h=f||this.splitPasses,m=()=>{u&&!h||(u?.end(),u=c.beginComputePass({label:h?ue[d]:"avbd2d step",timestampWrites:f?{querySet:this.timing.querySet,beginningOfPassWriteIndex:2*d,endOfPassWriteIndex:2*d+1}:void 0}),d++)},p=this.groups,b=(x,v,B)=>{B<=0||(u.setPipeline(this.pipes[x]),u.setBindGroup(0,v),u.dispatchWorkgroups(B))},y=(x,v,B)=>{u.setPipeline(this.pipes[x]),u.setBindGroup(0,v),u.dispatchWorkgroupsIndirect(this.argsBuffer,B*4)};m(),b("beginFrame",p.broad,1),b("argsPrev",p.args,1),y("hashInsert",p.contacts[s],6),b("gridCount",p.broad,Ye(n)),this.gridScan.encode(u),b("gridScatter",p.broad,Ye(n)),b("findPairs",p.broad,Ye(n)),b("argsPairs",p.args,1),y("narrowphase",p.contacts[s],0),b("argsContacts",p.args,1),m(),b("degreeJoints",p.topo[s],Ye(l)),y("degreeContacts",p.topo[s],3),this.adjScan.encode(u),b("fillJoints",p.topo[s],Ye(l)),y("fillContacts",p.topo[s],3),b("sortAdjacency",p.topo[s],Ye(n)),m(),b("colorCompact",p.topo[s],Ye(n)),b("colorMark",p.topo[s],Ye(n));for(let x=0;x<this.colorRounds;x++)b(x%2===0?"colorRoundAB":"colorRoundBA",p.topo[s],Ye(n));b("colorCount",p.topo[s],this.colorGroups),this.colorHistScan.encode(u),b("colorStarts",p.topo[s],1),b("argsColors",p.args,1),b("colorScatter",p.topo[s],this.colorGroups),m();let A=this.colorCap+1,w=x=>u.setBindGroup(1,this.passGroup,[x*256]);u.setBindGroup(0,p.solve[s]),w(0),l>0&&(u.setPipeline(this.pipes.warmStartJoints),u.dispatchWorkgroups(Ye(l))),u.setPipeline(this.pipes.warmStartBodies),u.dispatchWorkgroups(Ye(n));for(let x=0;x<r;x++){let v=this.primalMode==="scan";u.setPipeline(v?this.pipes.primalScan:this.pipes.primal);for(let B=0;B<this.colorCap;B++)w(x*A+B),v?u.dispatchWorkgroups(Ye(n)):u.dispatchWorkgroupsIndirect(this.argsBuffer,(12+3*B)*4);x<e.iterations&&(w(x*A+this.colorCap),u.setPipeline(this.pipes.dual),u.dispatchWorkgroupsIndirect(this.argsBuffer,36)),x===e.iterations-1&&(u.setPipeline(this.pipes.updateVelocities),u.dispatchWorkgroups(Ye(n)))}t&&(u.setPipeline(this.pipes.refreshStick),u.dispatchWorkgroupsIndirect(this.argsBuffer,12)),u.end();let g=2*ue.length;if(f){let{querySet:x,resolve:v,read:B}=this.timing;c.resolveQuerySet(x,0,g,v,0),c.copyBufferToBuffer(v,0,B,0,g*8)}if(this.device.queue.submit([c.finish()]),this.parity=1-s,f){let x=this.timingCallback;this.timingCallback=null,this.timingBusy=!0;let v=this.timing.read;v.mapAsync(GPUMapMode.READ).then(()=>{let B=new BigUint64Array(v.getMappedRange()).slice();if(v.unmap(),this.timingBusy=!1,this.destroyed)return this.releaseTiming();let E=(z,M)=>Number(B[M]-B[z])/1e6,k={total:E(0,g-1)};ue.forEach((z,M)=>k[z]=E(2*M,2*M+1)),x(k)},()=>{this.timingBusy=!1,this.destroyed&&this.releaseTiming()})}}async readBodies(){return new Float32Array(await this.read(this.bodyBuffer,this.bodyCount*24*4))}async readJoints(){return new Float32Array(await this.read(this.jointBuffer,this.jointCount*36*4))}async readCounters(){let e=new Uint32Array(await this.read(this.counterBuffer,64));return{pairs:e[0],contacts:e[1],overflow:e[3],clashes:e[4],colors:e[5]}}async readContacts(){let{contacts:e}=await this.readCounters(),t=Math.min(e,this.contactCapacity);return this.read(this.contactBuffers[1-this.parity],t*20*4)}async readPairs(){let{pairs:e}=await this.readCounters();return new Uint32Array(await this.read(this.pairBuffer,Math.min(e,this.pairCapacity)*8))}async readColors(){return new Uint32Array(await this.read(this.colorBuffer,this.bodyCount*4))}async readAdjacency(){let e=new Uint32Array(await this.read(this.adjBuffer,this.adjBuffer.size)),t=e.slice(0,this.bodyCount+1),i=2*this.bodyCapacity+1;return{start:t,list:e.slice(i,i+t[this.bodyCount])}}adapt(e){let t=e.colors;e.clashes>0||t>=this.colorCap-1?(this.colorCap=Math.min(64,Math.max(t+4,this.colorCap+4)),this.shrinkVotes=0):t+2<this.colorCap?++this.shrinkVotes>=3&&(this.colorCap=Math.min(64,Math.max(4,t+2)),this.shrinkVotes=0):this.shrinkVotes=0;let i=(e.overflow&2)!==0||e.contacts>.8*this.contactCapacity,r=(e.overflow&1)!==0||e.pairs>.8*this.pairCapacity,s=this.contactCapacity*(i?2:1),a=this.pairCapacity*(r?2:1);(i||r)&&this.capacityCanGrow(s,a)&&this.allocateContacts(s,a)}capacityCanGrow(e,t){let i=this.device.limits.maxStorageBufferBindingSize,r=Math.min(Math.floor(i/80),Math.floor(i/16));return Math.min(e,r)>this.contactCapacity||Math.min(t,Math.floor(i/8))>this.pairCapacity}async readStats(e){let[t,i]=await Promise.all([e??this.readBodies(),this.readJoints()]),r=0;for(let c=0;c<this.bodyCount;c++){let f=c*24,u=t[f+22],d=t[f+12],h=t[f+13],m=t[f+14];u>0&&(r+=.5*u*(d*d+h*h)+.5*t[f+23]*m*m)}let s=0,a=0,n=this.topology.info,l=(c,f,u)=>{let d=c*24,h=Math.cos(t[d+2]),m=Math.sin(t[d+2]);return[h*f-m*u+t[d],m*f+h*u+t[d+1]]};for(let c=0;c<this.jointCount;c++){if(n[c*D]!==Vt)continue;let f=c*36;if(i[f+8]===0&&i[f+8+1]===0&&i[f+8+2]===0)continue;a++;let u=n[c*D+1],d=n[c*D+2],h=u>=0?l(u,i[f+28],i[f+28+1]):[i[f+28],i[f+28+1]],m=l(d,i[f+28+2],i[f+28+3]);for(let p=0;p<2;p++)i[f+8+p]>=1e30&&(s=Math.max(s,Math.abs(h[p]-m[p])))}return{kineticEnergy:r,maxJointError:s,joints:a}}async read(e,t){if(t===0)return new ArrayBuffer(0);let i=this.device.createBuffer({size:t,usage:GPUBufferUsage.MAP_READ|GPUBufferUsage.COPY_DST}),r=this.device.createCommandEncoder();r.copyBufferToBuffer(e,0,i,0,t),this.device.queue.submit([r.finish()]),await i.mapAsync(GPUMapMode.READ);let s=i.getMappedRange().slice(0);return i.unmap(),i.destroy(),s}releaseTiming(){this.timing?.resolve.destroy(),this.timing?.read.destroy(),this.timing?.querySet.destroy()}destroy(){this.ownsBodyBuffer&&this.bodyBuffer.destroy();let e=[this.jointBuffer,this.infoBuffer,...this.contactBuffers,this.pairBuffer,this.tableBuffer,this.gridBuffer,this.staticBuffer,this.counterBuffer,this.argsBuffer,this.adjBuffer,this.colorBuffer,this.paramsBuffer,this.passBuffer];for(let t of e)t?.destroy();this.destroyed=!0,this.timingBusy||this.releaseTiming(),this.gridScan.destroy(),this.colorHistScan.destroy(),this.adjScan?.destroy()}};var uc=`${mt}
|
|
4443
|
+
`;var Ps=o=>o===1/0?3e38:o===-1/0?-3e38:o,Qe=o=>Math.ceil(o/64),Vn=o=>2**Math.ceil(Math.log2(Math.max(o,2))),Mc=o=>Math.max(o,1)*24*4,Ic=4,Ke=()=>GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_SRC|GPUBufferUsage.COPY_DST,Ls=class{device;params=As();topology;bodyCount=0;bodyCapacity;jointCount=0;jointCapacity=0;pairCapacity=0;contactCapacity=0;colorCap=12;splitPasses=!1;primalMode="bucket";shrinkVotes=0;get colorHistOffset(){return 3*this.bodyCapacity+65}colorRounds;bodyBuffer;ownsBodyBuffer;jointBuffer;infoBuffer;contactBuffers;pairBuffer;tableBuffer;gridBuffer;staticBuffer=null;counterBuffer;argsBuffer;adjBuffer=null;colorBuffer;paramsBuffer;passBuffer=null;passEntries=0;parity=0;tableSize;hashSize=0;cellSize=1;maxSmallRadius=0;largeCount=0;noCollideCount=0;staticsDirty=!0;layouts;pipes={};groups;passGroup=null;gridScan;colorHistScan;colorGroups;adjScan=null;timing;timingCallback=null;timingBusy=!1;destroyed=!1;constructor(e,t,i={}){if(this.device=e,this.topology=t,Object.assign(this.params,t.params),this.bodyCount=t.bodyCount,this.colorRounds=i.colorRounds??16,this.ownsBodyBuffer=!i.bodyBuffer,this.bodyCapacity=i.bodyBuffer?Math.floor(i.bodyBuffer.size/96):Math.max(i.bodyCapacity??this.bodyCount+1024,this.bodyCount,1),this.bodyCapacity<this.bodyCount)throw new Error("body buffer too small");this.bodyBuffer=i.bodyBuffer??e.createBuffer({label:"bodies",size:Mc(this.bodyCapacity),usage:Ke()});let r=this.bodyCapacity;this.tableSize=Vn(2*r),this.gridBuffer=e.createBuffer({label:"grid",size:(2*this.tableSize+1+3*r)*4,usage:Ke()}),this.counterBuffer=e.createBuffer({label:"counters",size:64,usage:Ke()}),this.argsBuffer=e.createBuffer({label:"indirect args",size:816,usage:Ke()|GPUBufferUsage.INDIRECT}),this.colorGroups=Math.ceil(r/256),this.colorBuffer=e.createBuffer({label:"colours",size:(3*r+65+64*this.colorGroups+1)*4,usage:Ke()}),this.paramsBuffer=e.createBuffer({label:"params",size:128,usage:GPUBufferUsage.UNIFORM|GPUBufferUsage.COPY_DST}),e.queue.writeBuffer(this.colorBuffer,0,new Uint32Array(r).fill(255));let s=2*fe.length;this.timing=e.features.has("timestamp-query")?{querySet:e.createQuerySet({type:"timestamp",count:s}),resolve:e.createBuffer({size:s*8,usage:GPUBufferUsage.QUERY_RESOLVE|GPUBufferUsage.COPY_SRC}),read:e.createBuffer({size:s*8,usage:GPUBufferUsage.MAP_READ|GPUBufferUsage.COPY_DST})}:null,this.layouts=this.createLayouts(),this.createPipelines(),this.gridScan=new Fe(e,this.gridBuffer,0,this.tableSize+1),this.colorHistScan=new Fe(e,this.colorBuffer,this.colorHistOffset,64*this.colorGroups+1),this.jointCount=t.jointCount,this.allocateJoints(t.jointCount+256),this.uploadJoints(0,t.jointCount),this.allocateContacts(Math.max(4096,4*r)),this.uploadBodies()}createLayouts(){let e=this.device,t=(a,n)=>e.createBindGroupLayout({label:a,entries:n.map((l,c)=>({binding:c,visibility:GPUShaderStage.COMPUTE,buffer:{type:l}}))}),i="read-only-storage",r="storage",s="uniform";return{broad:t("broadphase",[s,i,r,r,r,i,i]),contacts:t("contacts",[s,i,i,r,i,r,r]),topo:t("topology",[s,i,i,i,i,r,r,r]),solve:t("solve",[s,r,r,i,r,i,i,i]),pass:e.createBindGroupLayout({label:"pass",entries:[{binding:0,visibility:GPUShaderStage.COMPUTE,buffer:{type:"uniform",hasDynamicOffset:!0,minBindingSize:16}}]}),args:t("args",[s,i,i,r])}}createPipelines(){let e=this.device,t=(r,s,a)=>{let n=e.createShaderModule({code:r}),l=e.createPipelineLayout({bindGroupLayouts:s});for(let c of a)this.pipes[c]=e.createComputePipeline({label:c,layout:l,compute:{module:n,entryPoint:c}})},i=this.layouts;t(Ar,[i.broad],["beginFrame","gridCount","gridScatter","findPairs"]),t(wr,[i.contacts],["hashInsert","narrowphase"]),t(nr,[i.topo],["degreeJoints","degreeContacts","fillJoints","fillContacts","sortAdjacency","colorCompact","colorMark","colorRoundAB","colorRoundBA","colorCount","colorStarts","colorScatter"]),t(Br,[i.solve,i.pass],["warmStartJoints","warmStartBodies","primal","primalScan","dual","refreshStick","updateVelocities"]),t(Fr,[i.args],["argsPrev","argsPairs","argsContacts","argsColors"])}allocateJoints(e){let t=this.device,i=t.createBuffer({label:"joints",size:Math.max(e,1)*36*4,usage:Ke()}),r=t.createBuffer({label:"joint info",size:Math.max(e,1)*16,usage:Ke()});if(this.jointBuffer){let s=t.createCommandEncoder();s.copyBufferToBuffer(this.jointBuffer,0,i,0,this.jointCapacity*36*4),s.copyBufferToBuffer(this.infoBuffer,0,r,0,this.jointCapacity*16),t.queue.submit([s.finish()]),this.jointBuffer.destroy(),this.infoBuffer.destroy()}this.jointBuffer=i,this.infoBuffer=r,this.jointCapacity=e,this.contactBuffers&&this.rebuildBindings()}allocateContacts(e,t=2*e){let i=this.device,r=i.limits.maxStorageBufferBindingSize,s=Math.min(e,Math.floor(r/80),Math.floor(r/16)),a=Math.min(t,Math.floor(r/8)),n=this.contactBuffers,l=this.contactCapacity;for(let c of[this.pairBuffer,this.tableBuffer])c?.destroy();if(this.contactCapacity=s,this.pairCapacity=a,this.hashSize=Vn(4*s),this.pairBuffer=i.createBuffer({label:"pairs",size:a*8,usage:Ke()}),this.tableBuffer=i.createBuffer({label:"contact hash",size:this.hashSize*4,usage:Ke()}),this.contactBuffers=[0,1].map(c=>i.createBuffer({label:`contacts ${c}`,size:s*20*4,usage:Ke()})),n){let c=i.createCommandEncoder(),f=Math.min(l,s)*20*4;n.forEach((u,d)=>c.copyBufferToBuffer(u,0,this.contactBuffers[d],0,f)),i.queue.submit([c.finish()]),n.forEach(u=>u.destroy())}this.rebuildBindings()}rebuildBindings(){let e=this.device,t=this.bodyCapacity;this.adjBuffer?.destroy(),this.adjBuffer=e.createBuffer({label:"adjacency",size:(2*t+1+2*(this.jointCapacity+this.contactCapacity))*4,usage:Ke()}),this.adjScan?.destroy(),this.adjScan=new Fe(e,this.adjBuffer,0,this.bodyCount+1),this.staticBuffer??=e.createBuffer({label:"statics",size:16,usage:Ke()});let i=(l,c)=>e.createBindGroup({layout:l,entries:c.map((f,u)=>({binding:u,resource:{buffer:f}}))}),r=this.paramsBuffer,[s,a]=this.contactBuffers,n=this.adjBuffer;this.groups={broad:i(this.layouts.broad,[r,this.bodyBuffer,this.gridBuffer,this.pairBuffer,this.counterBuffer,this.staticBuffer,this.jointBuffer]),contacts:[i(this.layouts.contacts,[r,this.bodyBuffer,this.pairBuffer,s,a,this.tableBuffer,this.counterBuffer]),i(this.layouts.contacts,[r,this.bodyBuffer,this.pairBuffer,a,s,this.tableBuffer,this.counterBuffer])],topo:[s,a].map(l=>i(this.layouts.topo,[r,this.bodyBuffer,this.jointBuffer,this.infoBuffer,l,this.counterBuffer,n,this.colorBuffer])),solve:[s,a].map(l=>i(this.layouts.solve,[r,this.bodyBuffer,this.jointBuffer,this.infoBuffer,l,n,this.colorBuffer,this.counterBuffer])),args:i(this.layouts.args,[r,this.counterBuffer,this.colorBuffer,this.argsBuffer])}}uploadBodies(e=0,t=this.topology.bodyCount-e){let i=this.topology,r=new Float32Array(Math.max(t,1)*24);for(let s=0;s<t;s++){let a=e+s,n=s*24;r.set(i.pose.subarray(a*4,a*4+3),n),r[n+3]=i.props[a*4],r.set(i.initial.subarray(a*4,a*4+4),n+4),r.set(i.inertial.subarray(a*4,a*4+4),n+8),r.set(i.velocity.subarray(a*4,a*4+4),n+12),r.set(i.prevVelocity.subarray(a*4,a*4+4),n+16),r.set(i.shape.subarray(a*4,a*4+4),n+20)}this.device.queue.writeBuffer(this.bodyBuffer,e*24*4,r),this.staticsDirty=!0}uploadJoints(e,t){if(t===0)return;let i=this.topology,r=new Float32Array(t*36);for(let s=0;s<t;s++){let a=(e+s)*T,n=s*36;for(let l=0;l<3;l++)r[n+0+l]=i.data[a+ge+l],r[n+4+l]=i.data[a+ne+l],r[n+8+l]=Ps(i.data[a+$+l]),r[n+12+l]=Ps(i.data[a+ft+l]),r[n+16+l]=Ps(i.data[a+dt+l]),r[n+20+l]=Ps(i.data[a+gi+l]),r[n+24+l]=i.data[a+at+l];r[n+28]=i.data[a+W],r[n+28+1]=i.data[a+W+1],r[n+28+2]=i.data[a+K],r[n+28+3]=i.data[a+K+1],r[n+32]=i.data[a+ye],r[n+32+1]=i.data[a+Ee]}this.device.queue.writeBuffer(this.jointBuffer,e*36*4,r),this.device.queue.writeBuffer(this.infoBuffer,e*16,i.info,e*D,t*D)}uploadStatics(){let e=this.topology,t=this.bodyCount,i=Float64Array.from({length:t},(u,d)=>e.props[d*4+1]).sort(),r=t>0?i[t>>1]:1,s=0;for(let u=0;u<t;u++)i[u]<=Ic*r&&(s=Math.max(s,i[u]));let a=1/0;for(let u=0;u<t;u++)i[u]>s&&(a=Math.min(a,i[u]));let n=a===1/0?s*1.5:(s+a)/2;this.maxSmallRadius=n,this.cellSize=Math.max(2*s*(1+1e-4),.001);let l=[];for(let u=0;u<t;u++)e.props[u*4+1]>n&&l.push(u);let c=[];for(let u=0;u<e.jointCount;u++){let d=e.info[u*D+1],p=e.info[u*D+2];d>=0&&c.push([Math.max(d,p),Math.min(d,p),u])}for(let u of e.ignoredPairs()){let d=Math.floor(u/2097152);c.push([d,u-d*2097152,4294967295])}c.sort((u,d)=>u[0]-d[0]||u[1]-d[1]),this.largeCount=l.length,this.noCollideCount=c.length;let f=new Uint32Array(Math.max(l.length+3*c.length,4));f.set(l,0),c.forEach((u,d)=>f.set(u,l.length+3*d)),this.staticBuffer.size<f.byteLength&&(this.staticBuffer.destroy(),this.staticBuffer=this.device.createBuffer({label:"statics",size:f.byteLength,usage:Ke()}),this.rebuildBindings()),this.device.queue.writeBuffer(this.staticBuffer,0,f),this.staticsDirty=!1}seedContactsFrom(e){let t=e.contactCount;if(t>this.contactCapacity)throw new Error("seedContactsFrom: too many contacts");let i=new ArrayBuffer(Math.max(t,1)*20*4),r=new Uint32Array(i),s=new Float32Array(i);for(let l=0;l<t;l++){let c=e.jointCount+l,f=c*T,u=l*20;r[u]=e.info[c*D+1],r[u+1]=e.info[c*D+2],r[u+2]=e.info[c*D+3],r[u+3]=e.data[f+xr]?1:0,s.set([e.data[f+ge],e.data[f+ge+1],e.data[f+ne],e.data[f+ne+1]],u+4),s.set([e.data[f+W],e.data[f+W+1],e.data[f+K],e.data[f+K+1]],u+8),s.set([e.data[f+at],e.data[f+at+1],e.data[f+Ee],e.data[f+vt]],u+12),s[u+16]=e.data[f+ye]}this.device.queue.writeBuffer(this.contactBuffers[1-this.parity],0,i);let a=new Uint32Array(16);a[1]=t,this.device.queue.writeBuffer(this.counterBuffer,0,a);let n=Uint32Array.from({length:this.bodyCount},(l,c)=>(e.coloring.colors[c]??-1)<0?255:e.coloring.colors[c]);this.device.queue.writeBuffer(this.colorBuffer,0,n)}addBody(e,t,i,r,s){if(this.bodyCount>=this.bodyCapacity)return-1;let a=this.topology.addBody(e,t,i,r,s);return this.bodyCount=this.topology.bodyCount,this.uploadBodies(a,1),this.device.queue.writeBuffer(this.colorBuffer,a*4,new Uint32Array([255])),this.adjScan.destroy(),this.adjScan=new Fe(this.device,this.adjBuffer,0,this.bodyCount+1),a}appendJoint(e,t,i,r,s,a=1/0){let n=this.topology;if(n.contactCount>0)throw new Error("appendJoint: the CPU mirror must not hold contacts");let l=n.addJoint(e,t,i,r,s,a).slot;return l>=this.jointCapacity&&this.allocateJoints(Math.max(l+1,this.jointCapacity*2)),this.jointCount=l+1,this.uploadJoints(l,1),e>=0&&(this.staticsDirty=!0),l}setWorldAnchor(e,t,i){this.device.queue.writeBuffer(this.jointBuffer,(e*36+28)*4,new Float32Array([t,i]))}disableConstraint(e){this.device.queue.writeBuffer(this.jointBuffer,(e*36+0)*4,new Float32Array(12)),this.topology.data.fill(0,e*T+$,e*T+$+3)}profileNextStep(e){this.timing&&!this.timingBusy&&(this.timingCallback=e)}writeParams(e,t){let i=this.params,r=this.bodyCapacity,s=new ArrayBuffer(128),a=new Float32Array(s),n=new Uint32Array(s);a[0]=i.dt,a[1]=i.gravity,a[2]=i.beta,a[3]=i.gamma,a[4]=e,a[5]=i.vbdStiffness,n[6]=(i.vbd?1:0)|(i.stiffnessRescale?2:0)|(t?4:0)|(i.matchNearest?8:0),n[7]=this.bodyCount,n[8]=this.jointCount,n[9]=this.colorCap,a[10]=this.cellSize,n[11]=this.tableSize-1,a[12]=this.maxSmallRadius,n[13]=this.largeCount,n[14]=this.noCollideCount,n[15]=this.pairCapacity,n[16]=this.contactCapacity,n[17]=this.hashSize-1,n[18]=r+1,n[19]=2*r+1,n[20]=this.tableSize+1,n[21]=2*this.tableSize+1,n[22]=2*this.tableSize+1+r,n[23]=r,n[24]=this.colorHistOffset,n[25]=2*r,n[26]=this.colorGroups,n[27]=2*r+65,n[28]=this.colorRounds,this.device.queue.writeBuffer(this.paramsBuffer,0,s)}writePassConstants(e,t){let i=this.colorCap+1,r=e*i;(r>this.passEntries||!this.passGroup)&&(this.passBuffer?.destroy(),this.passBuffer=this.device.createBuffer({label:"pass constants",size:r*256,usage:GPUBufferUsage.UNIFORM|GPUBufferUsage.COPY_DST}),this.passEntries=r,this.passGroup=this.device.createBindGroup({layout:this.layouts.pass,entries:[{binding:0,resource:{buffer:this.passBuffer,size:16}}]}));let s=new ArrayBuffer(r*256),a=new Uint32Array(s),n=new Float32Array(s);for(let l=0;l<e;l++)for(let c=0;c<=this.colorCap;c++){let f=(l*i+c)*256/4;a[f]=c,n[f+1]=t(l)}this.device.queue.writeBuffer(this.passBuffer,0,s)}step(){this.staticsDirty&&this.uploadStatics();let e=this.params,t=e.postStabilize&&!e.vbd,i=e.vbd?0:e.alpha,r=e.iterations+(t?1:0);this.writeParams(i,t),this.writePassConstants(r,A=>t?A<e.iterations?1:0:i);let s=this.parity,a=this.bodyCapacity,n=this.bodyCount,l=this.jointCount,c=this.device.createCommandEncoder({label:"avbd2d step"});c.clearBuffer(this.gridBuffer,0,(2*this.tableSize+1)*4),c.clearBuffer(this.tableBuffer),c.clearBuffer(this.adjBuffer,0,(2*a+1)*4);let f=this.timingCallback!==null&&this.timing!==null,u,d=0,p=f||this.splitPasses,m=()=>{u&&!p||(u?.end(),u=c.beginComputePass({label:p?fe[d]:"avbd2d step",timestampWrites:f?{querySet:this.timing.querySet,beginningOfPassWriteIndex:2*d,endOfPassWriteIndex:2*d+1}:void 0}),d++)},h=this.groups,b=(A,x,w)=>{w<=0||(u.setPipeline(this.pipes[A]),u.setBindGroup(0,x),u.dispatchWorkgroups(w))},y=(A,x,w)=>{u.setPipeline(this.pipes[A]),u.setBindGroup(0,x),u.dispatchWorkgroupsIndirect(this.argsBuffer,w*4)};m(),b("beginFrame",h.broad,1),b("argsPrev",h.args,1),y("hashInsert",h.contacts[s],6),b("gridCount",h.broad,Qe(n)),this.gridScan.encode(u),b("gridScatter",h.broad,Qe(n)),b("findPairs",h.broad,Qe(n)),b("argsPairs",h.args,1),y("narrowphase",h.contacts[s],0),b("argsContacts",h.args,1),m(),b("degreeJoints",h.topo[s],Qe(l)),y("degreeContacts",h.topo[s],3),this.adjScan.encode(u),b("fillJoints",h.topo[s],Qe(l)),y("fillContacts",h.topo[s],3),b("sortAdjacency",h.topo[s],Qe(n)),m(),b("colorCompact",h.topo[s],Qe(n)),b("colorMark",h.topo[s],Qe(n));for(let A=0;A<this.colorRounds;A++)b(A%2===0?"colorRoundAB":"colorRoundBA",h.topo[s],Qe(n));b("colorCount",h.topo[s],this.colorGroups),this.colorHistScan.encode(u),b("colorStarts",h.topo[s],1),b("argsColors",h.args,1),b("colorScatter",h.topo[s],this.colorGroups),m();let v=this.colorCap+1,B=A=>u.setBindGroup(1,this.passGroup,[A*256]);u.setBindGroup(0,h.solve[s]),B(0),l>0&&(u.setPipeline(this.pipes.warmStartJoints),u.dispatchWorkgroups(Qe(l))),u.setPipeline(this.pipes.warmStartBodies),u.dispatchWorkgroups(Qe(n));for(let A=0;A<r;A++){let x=this.primalMode==="scan";u.setPipeline(x?this.pipes.primalScan:this.pipes.primal);for(let w=0;w<this.colorCap;w++)B(A*v+w),x?u.dispatchWorkgroups(Qe(n)):u.dispatchWorkgroupsIndirect(this.argsBuffer,(12+3*w)*4);A<e.iterations&&(B(A*v+this.colorCap),u.setPipeline(this.pipes.dual),u.dispatchWorkgroupsIndirect(this.argsBuffer,36)),A===e.iterations-1&&(u.setPipeline(this.pipes.updateVelocities),u.dispatchWorkgroups(Qe(n)))}t&&(u.setPipeline(this.pipes.refreshStick),u.dispatchWorkgroupsIndirect(this.argsBuffer,12)),u.end();let g=2*fe.length;if(f){let{querySet:A,resolve:x,read:w}=this.timing;c.resolveQuerySet(A,0,g,x,0),c.copyBufferToBuffer(x,0,w,0,g*8)}if(this.device.queue.submit([c.finish()]),this.parity=1-s,f){let A=this.timingCallback;this.timingCallback=null,this.timingBusy=!0;let x=this.timing.read;x.mapAsync(GPUMapMode.READ).then(()=>{let w=new BigUint64Array(x.getMappedRange()).slice();if(x.unmap(),this.timingBusy=!1,this.destroyed)return this.releaseTiming();let E=(z,M)=>Number(w[M]-w[z])/1e6,k={total:E(0,g-1)};fe.forEach((z,M)=>k[z]=E(2*M,2*M+1)),A(k)},()=>{this.timingBusy=!1,this.destroyed&&this.releaseTiming()})}}async readBodies(){return new Float32Array(await this.read(this.bodyBuffer,this.bodyCount*24*4))}async readJoints(){return new Float32Array(await this.read(this.jointBuffer,this.jointCount*36*4))}async readCounters(){let e=new Uint32Array(await this.read(this.counterBuffer,64));return{pairs:e[0],contacts:e[1],overflow:e[3],clashes:e[4],colors:e[5]}}async readContacts(){let{contacts:e}=await this.readCounters(),t=Math.min(e,this.contactCapacity);return this.read(this.contactBuffers[1-this.parity],t*20*4)}async readPairs(){let{pairs:e}=await this.readCounters();return new Uint32Array(await this.read(this.pairBuffer,Math.min(e,this.pairCapacity)*8))}async readColors(){return new Uint32Array(await this.read(this.colorBuffer,this.bodyCount*4))}async readAdjacency(){let e=new Uint32Array(await this.read(this.adjBuffer,this.adjBuffer.size)),t=e.slice(0,this.bodyCount+1),i=2*this.bodyCapacity+1;return{start:t,list:e.slice(i,i+t[this.bodyCount])}}adapt(e){let t=e.colors;e.clashes>0||t>=this.colorCap-1?(this.colorCap=Math.min(64,Math.max(t+4,this.colorCap+4)),this.shrinkVotes=0):t+2<this.colorCap?++this.shrinkVotes>=3&&(this.colorCap=Math.min(64,Math.max(4,t+2)),this.shrinkVotes=0):this.shrinkVotes=0;let i=(e.overflow&2)!==0||e.contacts>.8*this.contactCapacity,r=(e.overflow&1)!==0||e.pairs>.8*this.pairCapacity,s=this.contactCapacity*(i?2:1),a=this.pairCapacity*(r?2:1);(i||r)&&this.capacityCanGrow(s,a)&&this.allocateContacts(s,a)}capacityCanGrow(e,t){let i=this.device.limits.maxStorageBufferBindingSize,r=Math.min(Math.floor(i/80),Math.floor(i/16));return Math.min(e,r)>this.contactCapacity||Math.min(t,Math.floor(i/8))>this.pairCapacity}async readStats(e){let[t,i]=await Promise.all([e??this.readBodies(),this.readJoints()]),r=0;for(let c=0;c<this.bodyCount;c++){let f=c*24,u=t[f+22],d=t[f+12],p=t[f+13],m=t[f+14];u>0&&(r+=.5*u*(d*d+p*p)+.5*t[f+23]*m*m)}let s=0,a=0,n=this.topology.info,l=(c,f,u)=>{let d=c*24,p=Math.cos(t[d+2]),m=Math.sin(t[d+2]);return[p*f-m*u+t[d],m*f+p*u+t[d+1]]};for(let c=0;c<this.jointCount;c++){if(n[c*D]!==Qt)continue;let f=c*36;if(i[f+8]===0&&i[f+8+1]===0&&i[f+8+2]===0)continue;a++;let u=n[c*D+1],d=n[c*D+2],p=u>=0?l(u,i[f+28],i[f+28+1]):[i[f+28],i[f+28+1]],m=l(d,i[f+28+2],i[f+28+3]);for(let h=0;h<2;h++)i[f+8+h]>=1e30&&(s=Math.max(s,Math.abs(p[h]-m[h])))}return{kineticEnergy:r,maxJointError:s,joints:a}}async read(e,t){if(t===0)return new ArrayBuffer(0);let i=this.device.createBuffer({size:t,usage:GPUBufferUsage.MAP_READ|GPUBufferUsage.COPY_DST}),r=this.device.createCommandEncoder();r.copyBufferToBuffer(e,0,i,0,t),this.device.queue.submit([r.finish()]),await i.mapAsync(GPUMapMode.READ);let s=i.getMappedRange().slice(0);return i.unmap(),i.destroy(),s}releaseTiming(){this.timing?.resolve.destroy(),this.timing?.read.destroy(),this.timing?.querySet.destroy()}destroy(){this.ownsBodyBuffer&&this.bodyBuffer.destroy();let e=[this.jointBuffer,this.infoBuffer,...this.contactBuffers,this.pairBuffer,this.tableBuffer,this.gridBuffer,this.staticBuffer,this.counterBuffer,this.argsBuffer,this.adjBuffer,this.colorBuffer,this.paramsBuffer,this.passBuffer];for(let t of e)t?.destroy();this.destroyed=!0,this.timingBusy||this.releaseTiming(),this.gridScan.destroy(),this.colorHistScan.destroy(),this.adjScan?.destroy()}};var Rc=`${mt}
|
|
4355
4444
|
struct Config { count:u32,joints:u32,capacity:u32,list:u32,threshold:f32,dt:f32,pad0:u32,pad1:u32 }
|
|
4356
4445
|
struct Velocity { incoming:vec4f, incomingAngular:vec4f, linear:vec4f, angular:vec4f }
|
|
4357
4446
|
struct Bounce { impulse:f32,delta:f32,reboundSpeed:f32,inverseMass:f32,rA:vec4f,rB:vec4f }
|
|
@@ -4397,9 +4486,9 @@ fn pointVelocity(i:u32,r:vec2f,incoming:bool)->vec2f{let v=select(velocities[i].
|
|
|
4397
4486
|
velocities[i].linear+=vec4f(dv,0.);
|
|
4398
4487
|
}
|
|
4399
4488
|
@compute @workgroup_size(64) fn writeBack(@builtin(global_invocation_id) id:vec3u){let i=id.x;if(i>=cfg.count||bodies[i].shape.z<=0.){return;}bodies[i].vel=velocities[i].linear;}
|
|
4400
|
-
`,
|
|
4401
|
-
if (counters[C_OVERFLOW] != 0u || counters[C_CLASHES] != 0u) { return; }`)}return o}function
|
|
4402
|
-
if (col >= params.colorCap) { atomicAdd(&counters[C_CLASHES], 1u); }`)}var
|
|
4489
|
+
`,_s=class extends Vi{constructor(e){super(e,{code:Rc,dimension:2})}};function Wn(o){for(let e of["warmStartJoints","warmStartBodies","primal","primalScan","dual","refreshStick","updateVelocities"]){let t=`fn ${e}(@builtin(global_invocation_id) gid: vec3u) {`;if(o.split(t).length!==2)throw Error(`Pinned 2D ${e} signature changed; review the step guard`);o=o.replace(t,`${t}
|
|
4490
|
+
if (counters[C_OVERFLOW] != 0u || counters[C_CLASHES] != 0u) { return; }`)}return o}function Hn(o){let e="if (col == NO_COLOR) { col = params.colorCap - 1u; }";if(o.split(e).length!==2)throw Error("Pinned 2D color-count layout changed; review the capacity guard");return o.replace(e,`${e}
|
|
4491
|
+
if (col >= params.colorCap) { atomicAdd(&counters[C_CLASHES], 1u); }`)}var Jn=`// Sleeping is scheduling metadata in velocity.w; physical mass and inertia stay intact.
|
|
4403
4492
|
struct Body {pose:vec4f,initial:vec4f,inertial:vec4f,vel:vec4f,prev:vec4f,shape:vec4f}
|
|
4404
4493
|
struct Joint {pen:vec4f,lam:vec4f,stiff:vec4f,fmin:vec4f,fmax:vec4f,frac:vec4f,c0:vec4f,anchors:vec4f,param:vec4f}
|
|
4405
4494
|
struct Contact {ids:vec4u,pl:vec4f,anchors:vec4f,geo:vec4f,misc:vec4f}
|
|
@@ -4470,10 +4559,10 @@ fn rotate(angle:f32,p:vec2f)->vec2f{let c=cos(angle);let s=sin(angle);return vec
|
|
|
4470
4559
|
}
|
|
4471
4560
|
if(asleep(i)){atomicAdd(&globals[1],1u);}
|
|
4472
4561
|
}
|
|
4473
|
-
`;function
|
|
4562
|
+
`;function zs(o={}){if(o!==!0&&(typeof o!="object"||o===null))throw Error("sleeping must be a boolean or options object");let e=o.speedThreshold??.03,t=o.timeThreshold??.5;if(![e,t].every(i=>Number.isFinite(i)&&i>0))throw Error("Sleep thresholds must be positive and finite");return{speedThreshold:e,timeThreshold:t}}function $n(o){for(let e of["warmStartBodies","updateVelocities"])o=o.replace(`fn ${e}(@builtin(global_invocation_id) gid: vec3u) {`,`fn ${e}(@builtin(global_invocation_id) gid: vec3u) {
|
|
4474
4563
|
if(gid.x<params.bodyCount && bodies[gid.x].vel.w!=0.){return;}`);return o.replace("fn solveBody(i: u32) {",`fn solveBody(i: u32) {
|
|
4475
|
-
if(bodies[i].vel.w!=0.){return;}`)}function
|
|
4476
|
-
case 5: { return 2u; }`),o=
|
|
4564
|
+
if(bodies[i].vel.w!=0.){return;}`)}function Xn(o){return o.replace("return i >= 0 && bodies[i].shape.z > 0.0;","return i >= 0 && bodies[i].shape.z > 0.0 && bodies[i].vel.w==0.;")}var Es=class{constructor(e,t){this.gpu=e,this.device=e.device,this.options=zs(t);let i=this.device,r=GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST|GPUBufferUsage.COPY_SRC;this.state=i.createBuffer({size:e.bodyCapacity*16,usage:r}),this.globals=i.createBuffer({size:8,usage:r}),this.params=i.createBuffer({size:32,usage:GPUBufferUsage.UNIFORM|GPUBufferUsage.COPY_DST});let s=i.createShaderModule({code:Jn});this.layout=i.createBindGroupLayout({entries:["storage","storage","read-only-storage","read-only-storage","read-only-storage","read-only-storage","storage","uniform"].map((l,c)=>({binding:c,visibility:GPUShaderStage.COMPUTE,buffer:{type:l}}))});let a=i.createPipelineLayout({bindGroupLayouts:[this.layout]});this.pipes=Object.fromEntries(["clear","before","contactsWake","jointsWake","decide","applyWake","rest"].map(l=>[l,i.createComputePipeline({layout:a,compute:{module:s,entryPoint:l}})]));let n=new Uint32Array(e.bodyCapacity*4);for(let l=0;l<e.bodyCount;l++)n[l*4+1]=e.sleepEligible?.get(l)===!1?0:1;i.queue.writeBuffer(this.state,0,n),this.wakeRequested=!1}register(e,t=!0){let i=Q(this.gpu);for(let r=0;r<4;r++)i.uint(this.state,e*4+r,r===1?Number(t):0);this.wakeRequested=!0}group(e){let t=this.gpu,i=[t.bodyBuffer,this.state,t.infoBuffer,t.jointBuffer,t.contactBuffers[e],t.counterBuffer,this.globals,this.params],r=this.groups?.find(s=>s.buffers.every((a,n)=>a===i[n]));return r||(r={buffers:i,group:this.device.createBindGroup({layout:this.layout,entries:i.map((s,a)=>({binding:a,resource:{buffer:s}}))})},this.groups=[...(this.groups??[]).slice(-1),r]),r.group}dispatch(e,t,i){e.setBindGroup(0,this.group(t));for(let[r,s]of i)s&&(e.setPipeline(this.pipes[r]),e.dispatchWorkgroups(Math.ceil(s/64)))}run(e,t){let i=t??this.device.createCommandEncoder(),r=i.beginComputePass();this.dispatch(r,1-this.gpu.parity,e),r.end(),t||this.device.queue.submit([i.finish()])}before(e){this.gpu.flushPropertyEdits(e);let t=this.gpu,i=new ArrayBuffer(32),r=new Uint32Array(i),s=new Float32Array(i);r.set([t.bodyCount,t.jointCount,t.contactCapacity,Number(this.wakeRequested)]),s.set([this.options.speedThreshold,this.options.timeThreshold,t.params.dt,t.params.gravity],4),this.device.queue.writeBuffer(this.params,0,i),this.wakeRequested=!1,this.run([["clear",1],["before",t.bodyCount]],e)}encodeWake(e,t){let i=this.gpu;this.dispatch(e,t,[["contactsWake",i.contactCapacity],["jointsWake",i.jointCount],["decide",i.bodyCount],["applyWake",i.bodyCount]])}after(e){this.run([["rest",this.gpu.bodyCount]],e)}async readStats(){let e=new Uint32Array(await this.gpu.read(this.globals,8));return{sleeping:e[1],wakeRequested:this.wakeRequested||!!e[0]}}destroy(){this.gpu.propertyEdits?.forget(this.state),this.state.destroy(),this.globals.destroy(),this.params.destroy()}};var Ze=o=>Math.ceil(o/64);function Yn(){this.staticsDirty&&this.uploadStatics();let o=this.params,e=o.postStabilize&&!o.vbd,t=o.vbd?0:o.alpha,i=o.iterations+(e?1:0);this.writeParams(t,e),this.writePassConstants(i,g=>e?g<o.iterations?1:0:t);let r=this.parity,s=this.bodyCapacity,a=this.bodyCount,n=this.jointCount,l=this.device.createCommandEncoder({label:"avbd2d step"});this.encodeStepPrelude?.(l),l.clearBuffer(this.gridBuffer,0,(2*this.tableSize+1)*4),l.clearBuffer(this.tableBuffer),l.clearBuffer(this.adjBuffer,0,(2*s+1)*4);let c=this.timingCallback!==null&&this.timing!==null,f,u=0,d=c||this.splitPasses,p=()=>{f&&!d||(f?.end(),f=l.beginComputePass({label:d?fe[u]:"avbd2d step",timestampWrites:c?{querySet:this.timing.querySet,beginningOfPassWriteIndex:2*u,endOfPassWriteIndex:2*u+1}:void 0}),u++)},m=this.groups,h=(g,A,x)=>{x<=0||(f.setPipeline(this.pipes[g]),f.setBindGroup(0,A),f.dispatchWorkgroups(x))},b=(g,A,x)=>{f.setPipeline(this.pipes[g]),f.setBindGroup(0,A),f.dispatchWorkgroupsIndirect(this.argsBuffer,x*4)};p(),h("beginFrame",m.broad,1),h("argsPrev",m.args,1),b("hashInsert",m.contacts[r],6),h("gridCount",m.broad,Ze(a)),this.gridScan.encode(f),h("gridScatter",m.broad,Ze(a)),h("findPairs",m.broad,Ze(a)),h("argsPairs",m.args,1),b("narrowphase",m.contacts[r],0),h("argsContacts",m.args,1),this.sleeping?.encodeWake(f,r),p(),h("degreeJoints",m.topo[r],Ze(n)),b("degreeContacts",m.topo[r],3),this.adjScan.encode(f),h("fillJoints",m.topo[r],Ze(n)),b("fillContacts",m.topo[r],3),h("sortAdjacency",m.topo[r],Ze(a)),p(),h("colorCompact",m.topo[r],Ze(a)),h("colorMark",m.topo[r],Ze(a));for(let g=0;g<this.colorRounds;g++)h(g%2===0?"colorRoundAB":"colorRoundBA",m.topo[r],Ze(a));h("colorCount",m.topo[r],this.colorGroups),this.colorHistScan.encode(f),h("colorStarts",m.topo[r],1),h("argsColors",m.args,1),h("colorScatter",m.topo[r],this.colorGroups),p();let y=this.colorCap+1,v=g=>f.setBindGroup(1,this.passGroup,[g*256]);f.setBindGroup(0,m.solve[r]),v(0),n>0&&(f.setPipeline(this.pipes.warmStartJoints),f.dispatchWorkgroups(Ze(n))),f.setPipeline(this.pipes.warmStartBodies),f.dispatchWorkgroups(Ze(a));for(let g=0;g<i;g++){let A=this.primalMode==="scan";f.setPipeline(A?this.pipes.primalScan:this.pipes.primal);for(let x=0;x<this.colorCap;x++)v(g*y+x),A?f.dispatchWorkgroups(Ze(a)):f.dispatchWorkgroupsIndirect(this.argsBuffer,(12+3*x)*4);g<o.iterations&&(v(g*y+this.colorCap),f.setPipeline(this.pipes.dual),f.dispatchWorkgroupsIndirect(this.argsBuffer,36)),g===o.iterations-1&&(f.setPipeline(this.pipes.updateVelocities),f.dispatchWorkgroups(Ze(a)))}e&&(f.setPipeline(this.pipes.refreshStick),f.dispatchWorkgroupsIndirect(this.argsBuffer,12)),f.end();let B=2*fe.length;if(c){let{querySet:g,resolve:A,read:x}=this.timing;l.resolveQuerySet(g,0,B,A,0),l.copyBufferToBuffer(A,0,x,0,B*8)}if(this.parity=1-r,this.encodeStepPostlude?.(l),this.device.queue.submit([l.finish()]),c){let g=this.timingCallback;this.timingCallback=null,this.timingBusy=!0;let A=this.timing.read;A.mapAsync(GPUMapMode.READ).then(()=>{let x=new BigUint64Array(A.getMappedRange()).slice();if(A.unmap(),this.timingBusy=!1,this.destroyed)return this.releaseTiming();let w=(k,z)=>Number(x[z]-x[k])/1e6,E={total:w(0,B-1)};fe.forEach((k,z)=>E[k]=w(2*z,2*z+1)),g(E)},()=>{this.timingBusy=!1,this.destroyed&&this.releaseTiming()})}}var Ms=5;function er({minAngle:o=-Math.PI,maxAngle:e=Math.PI}={}){if(!Number.isFinite(o)||!Number.isFinite(e)||o>e)throw Error("Angle limits require finite minAngle <= maxAngle, in radians");return{minAngle:o,maxAngle:e}}function ia(o,e,t){let i=e*T;o.info[e*D]=Ms,o.data.set([1/0,1/0,0],i+$),o.data.set([-1/0,0,0],i+ft),o.data.set([0,1/0,0],i+dt),o.data[i+Ee]=t.minAngle,o.data[i+vt]=t.maxAngle}function Qn(o){let e=o.topology;for(let t=0;t<e.jointCount;t++)e.info[t*D]===Ms&&o.device.queue.writeBuffer(o.jointBuffer,(t*36+32)*4,new Float32Array([e.data[t*T+ye],e.data[t*T+Ee],e.data[t*T+vt],0]))}var Sr=(o,e,t)=>{if(o.split(e).length!==2)throw Error("Pinned 2D angular layout changed");return o.replace(e,t)};function Kn(o){return o=Sr(o,"case T_JOINT: { return 3u; }",`case T_JOINT: { return 3u; }
|
|
4565
|
+
case 5: { return 2u; }`),o=Sr(o,"fn jointRowsC(j: u32, alpha: f32) -> vec3f {",`
|
|
4477
4566
|
fn limitAngle2D(k:Joint,a:i32,b:i32)->f32 {
|
|
4478
4567
|
var angleA=0.;if(a>=0){angleA=bodies[a].pose.z;}
|
|
4479
4568
|
return angleA-bodies[b].pose.z-k.param.x;
|
|
@@ -4483,10 +4572,10 @@ fn limitRows2D(k:Joint,a:i32,b:i32,alpha:f32)->vec3f {
|
|
|
4483
4572
|
return vec3f(angle-k.param.y,angle-k.param.z,0.)-alpha*k.c0.xyz;
|
|
4484
4573
|
}
|
|
4485
4574
|
`+`
|
|
4486
|
-
fn jointRowsC(j: u32, alpha: f32) -> vec3f {`),o=
|
|
4575
|
+
fn jointRowsC(j: u32, alpha: f32) -> vec3f {`),o=Sr(o,` if (t == T_JOINT) {
|
|
4487
4576
|
// Hard rows`,` if(t==5){return limitRows2D(k,a,b,alpha);}
|
|
4488
4577
|
if (t == T_JOINT) {
|
|
4489
|
-
// Hard rows`),o=
|
|
4578
|
+
// Hard rows`),o=Sr(o," let C = jointRowsC(j, alpha);",` let C = jointRowsC(j, alpha);
|
|
4490
4579
|
if(t==5){
|
|
4491
4580
|
// Unilateral rows only contribute while their force is active. Inside the
|
|
4492
4581
|
// interval a hinge has no angular stiffness and remains free to rotate.
|
|
@@ -4494,8 +4583,8 @@ fn jointRowsC(j: u32, alpha: f32) -> vec3f {`),o=Ar(o,` if (t == T_JOINT) {
|
|
|
4494
4583
|
if(F.x!=0.){addRow(acc,vec3f(0.,0.,sg),vec3f(0.),C.x,k.pen.x,k.lam.x,k.stiff.x,k.fmin.x,k.fmax.x);}
|
|
4495
4584
|
if(F.y!=0.){addRow(acc,vec3f(0.,0.,sg),vec3f(0.),C.y,k.pen.y,k.lam.y,k.stiff.y,k.fmin.y,k.fmax.y);}
|
|
4496
4585
|
return;
|
|
4497
|
-
}`),o=
|
|
4498
|
-
if(t==5){let angle=limitAngle2D(k,info[j].y,info[j].z);k.c0=vec4f(min(0.,angle-k.param.y),max(0.,angle-k.param.z),0.,0.);}`),o}var
|
|
4586
|
+
}`),o=Sr(o," if (t == T_JOINT) { k.c0 = vec4f(jointC(k, info[j].y, info[j].z), 0.0); }",` if (t == T_JOINT) { k.c0 = vec4f(jointC(k, info[j].y, info[j].z), 0.0); }
|
|
4587
|
+
if(t==5){let angle=limitAngle2D(k,info[j].y,info[j].z);k.c0=vec4f(min(0.,angle-k.param.y),max(0.,angle-k.param.z),0.,0.);}`),o}var Zn=`// Analytic circles and capsules, finite two-sided segments and solid half-space planes.
|
|
4499
4588
|
// Kind 4 stores bounding radius, vertex-record offset and vertex count.
|
|
4500
4589
|
@group(0) @binding(7) var<storage,read> geometry:array<vec4f>;
|
|
4501
4590
|
struct Face2D { a:vec2f, b:vec2f, feature:u32 }
|
|
@@ -4648,7 +4737,7 @@ fn collideShapes2D(a:u32,b:u32)->Collision {
|
|
|
4648
4737
|
}
|
|
4649
4738
|
out.count=count;return out;
|
|
4650
4739
|
}
|
|
4651
|
-
`;var
|
|
4740
|
+
`;var ra=new WeakMap,tr=(o,e,t=!1)=>{if(!Number.isFinite(o)||(t?o<0:o<=0))throw Error(`${e} must be ${t?"nonnegative":"positive"} and finite`);return o},Is=(o,e)=>{if(!o||o.length!==2||!Array.from(o).every(Number.isFinite))throw Error(`${e} requires two finite components`);return Array.from(o)},kr=o=>ra.get(o);function Rs(o){let e=Array.from(o??[]),t=typeof e[0]=="number"?e:e.flatMap(x=>Is(x,"Hull point"));if(t.length<6||t.length%2||!t.every(Number.isFinite))throw Error("A 2D hull requires finite xy pairs spanning an area");let i=[];for(let x=0;x<t.length;x+=2)i.push([t[x],t[x+1]]);i.sort((x,w)=>x[0]-w[0]||x[1]-w[1]);let r=i.filter((x,w)=>!w||x[0]!==i[w-1][0]||x[1]!==i[w-1][1]),s=(x,w,E)=>(w[0]-x[0])*(E[1]-x[1])-(w[1]-x[1])*(E[0]-x[0]),a=x=>{let w=[];for(let E of x){for(;w.length>1&&s(w.at(-2),w.at(-1),E)<=0;)w.pop();w.push(E)}return w.slice(0,-1)},n=[...a(r),...a([...r].reverse())];if(n.length<3||n.length>32)throw Error("A 2D hull needs 3\u201332 boundary vertices spanning an area");let l=n[0],c=n.map(x=>[x[0]-l[0],x[1]-l[1]]),f=0,u=0,d=0;for(let x=0;x<c.length;x++){let w=c[x],E=c[(x+1)%c.length],k=w[0]*E[1]-E[0]*w[1];f+=k,u+=(w[0]+E[0])*k,d+=(w[1]+E[1])*k}if(!(f>0)||!Number.isFinite(f))throw Error("Hull area must be positive and finite");u/=3*f,d/=3*f;let p=c.map(x=>[x[0]-u,x[1]-d]),m=0,h=0,b=0,y=0,v=[];for(let x=0;x<p.length;x++){let w=p[x],E=p[(x+1)%p.length],k=w[0]*E[1]-E[0]*w[1];m+=k*(w[0]*w[0]+w[0]*E[0]+E[0]*E[0]+w[1]*w[1]+w[1]*E[1]+E[1]*E[1])/12;let z=E[0]-w[0],M=E[1]-w[1],P=Math.hypot(z,M);v.push(w[0],w[1],M/P,-z/P),h=Math.max(h,Math.hypot(...w)),b=Math.max(b,Math.abs(w[0])),y=Math.max(y,Math.abs(w[1]))}let B=f/2,g=m/B;if(![B,g,h,b,y,...v].every(x=>Number.isFinite(Math.fround(x)))||Math.fround(B)<=0||Math.fround(g)<=0)throw Error("Hull geometry exceeds GPU floating-point range");let A=[4,h,0,p.length];return A.vertices=v,{geometry:A,size:[2*b,2*y],area:B,momentPerMass:g,radius:h}}function Os(o){let e=tr(o,"radius");return{geometry:[1,e,0,0],size:[2*e,2*e],area:Math.PI*e*e,momentPerMass:e*e/2,radius:e}}function js(o,e){let t=tr(o,"radius");if(tr(e,"length"),e<2*t)throw Error("Capsule length must be at least twice its radius");return el((e-2*t)/2,t)}function el(o,e){let t=2*o,i=2*e*t,r=Math.PI*e*e,s=i+r,a=i*(t*t+4*e*e)/12+r*(t*t/4+e*e/2+4*t*e/(3*Math.PI));return{geometry:[2,e,o,0],size:[t+2*e,Math.max(2*e,1e-6)],area:s,momentPerMass:s?a/s:0,radius:o+e}}function Ts(o,e,t={}){let i=Is(o,"start"),r=Is(e,"end"),s=r[0]-i[0],a=r[1]-i[1],n=Math.hypot(s,a),l=tr(t.radius??0,"radius",!0);if(tr(n,"segment length"),t.position!==void 0||t.angle!==void 0)throw Error("Segment position and angle come from its endpoints");if(l===0&&(t.density??0)!==0)throw Error("A zero-thickness segment must be static; give it a radius for a dynamic capsule");return{...el(n/2,l),options:{...t,density:t.density??0,position:[(i[0]+r[0])/2,(i[1]+r[1])/2],angle:Math.atan2(a,s)}}}function Ds(o,e=0,t={}){let i=Is(o,"normal"),r=tr(Math.hypot(...i),"normal length");if(!Number.isFinite(e))throw Error("Plane offset must be finite");if((t.density??0)!==0)throw Error("An infinite plane must be static");if(t.position!==void 0||t.angle!==void 0)throw Error("Plane position and angle come from its normal and offset");let s=i[0]/r,a=i[1]/r;return{geometry:[3,0,0,0],size:[1,1],area:0,momentPerMass:0,radius:0,options:{...t,density:0,position:[s*e,a*e],angle:Math.atan2(-s,a)}}}function Gs(o,e,t,i){let r=ra.get(o);r||ra.set(o,r=new Map),r.set(e,t.geometry);let s=t.area*i,a=e*4;o.shape[a+2]=s,o.shape[a+3]=s*t.momentPerMass,o.props[a+1]=t.radius,o.dynamic[e]=+(s>0)}var tl=`struct Body {pose:vec4f,initial:vec4f,inertial:vec4f,velocity:vec4f,previous:vec4f,shape:vec4f}
|
|
4652
4741
|
struct Command { header:vec4u, value:vec4f, point:vec4f }
|
|
4653
4742
|
@group(0) @binding(0) var<storage,read_write> bodies:array<Body>;
|
|
4654
4743
|
@group(0) @binding(1) var<storage,read> commands:array<Command>;
|
|
@@ -4684,11 +4773,11 @@ fn edit(@builtin(global_invocation_id) id:vec3u) {
|
|
|
4684
4773
|
bodies[index]=b;
|
|
4685
4774
|
}
|
|
4686
4775
|
\r
|
|
4687
|
-
`;function xt(o,e){let t=o&&typeof o.x=="number"?[o.x,o.y]:Array.isArray(o)||ArrayBuffer.isView(o)&&!(o instanceof DataView)?o:Array.from(o??[]);if(t.length!==2||!t.every(Number.isFinite))throw Error(`${e} requires two finite components`);return t}var
|
|
4688
|
-
`+this.shader})}}),(!this.group||this.boundBody!==this.solver.bodyBuffer||this.boundCommands!==this.commands||this.boundRanges!==this.ranges||this.boundRangeBytes!==n)&&(this.group=t.createBindGroup({layout:this.pipeline.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:this.solver.bodyBuffer}},{binding:1,resource:{buffer:this.commands}},{binding:2,resource:{buffer:this.ranges,size:n}}]}),this.boundBody=this.solver.bodyBuffer,this.boundCommands=this.commands,this.boundRanges=this.ranges,this.boundRangeBytes=n);let c=e??t.createCommandEncoder(),f=c.beginComputePass();f.setPipeline(this.pipeline),f.setBindGroup(0,this.group);let u=Math.ceil(i/64),d=t.limits.maxComputeWorkgroupsPerDimension;f.dispatchWorkgroups(Math.min(u,d),Math.ceil(u/d)),f.end(),this.encodeAfterEdits(c,i),e||t.queue.submit([c.finish()]),this.lastBatch={bodies:i,commands:r,requestedCommands:this.requested,uploadedBytes:a+n,path:"ordered-commands",submissions:e?0:1}}for(let r of this.pending.values())this.freeRanges.push(r);this.pending.clear(),this.queue.count=0,this.requested=0,this.linearOnly=!0,this.angularOnly=!0,this.motionOnly=!0,this.hasTeleports=!1}encodeAfterEdits(){}destroy(){this.commands?.destroy(),this.ranges?.destroy(),this.solver.velocityBatch?.destroy(),this.solver.angularVelocityBatch?.destroy(),this.motionBatch?.destroy(),this.freeRanges.length=0,this.pending.clear(),this.queue=this.upload=this.next=this.linearIndices=this.linearValues=this.rangeData=this.motionData=this.motionFloats=null,this.group=null}};var
|
|
4689
|
-
fn narrowphase`,
|
|
4776
|
+
`;function xt(o,e){let t=o&&typeof o.x=="number"?[o.x,o.y]:Array.isArray(o)||ArrayBuffer.isView(o)&&!(o instanceof DataView)?o:Array.from(o??[]);if(t.length!==2||!t.every(Number.isFinite))throw Error(`${e} requires two finite components`);return t}var xi=class{constructor(){this.count=0,this.capacity=0}reserve(e){if(e<=this.capacity)return;let t=Math.max(e,this.capacity*2,64),i=new ArrayBuffer(t*48),r=new Float32Array(i),s=new Uint32Array(i);this.u32&&s.set(this.u32.subarray(0,this.count*12)),this.words=r,this.u32=s,this.capacity=t}append(e,t,i,r,s=!1){this.reserve(this.count+1),il(this.words,this.u32,this.count++*12,e,t,i,r,s)}};function il(o,e,t,i,r,s,a,n){e[t]=i,e[t+1]=r,e[t+2]=Number(n),e[t+3]=0;for(let l=0;l<4;l++)o[t+4+l]=s[l]??0,o[t+8+l]=a?.[l]??0}var ir=class{constructor(e,t=tl,i=2){this.solver=e,this.shader=t,this.dimension=i,this.pending=new Map,this.queue=new xi,this.requested=0,this.linearOnly=!0,this.angularOnly=!0,this.hasTeleports=!1,this.motionOnly=!0,this.freeRanges=[]}slot(e,t){this.requested++,this.linearOnly&&=t===0,this.angularOnly&&=t===1,this.motionOnly&&=t===0||t===1,this.hasTeleports||=t===4;let i=this.pending.get(e);if(i&&(t===0||t===1)&&this.queue.u32[i.tail*12+1]===t)return i.tail;if(this.queue.reserve(this.queue.count+1),!this.next||this.next.length<this.queue.capacity){let s=new Int32Array(this.queue.capacity);this.next&&s.set(this.next),this.next=s}let r=this.queue.count++;return this.next[r]=-1,i?(this.next[i.tail]=r,i.tail=r,i.length++):(i=this.freeRanges.pop()??{},i.head=i.tail=r,i.length=1,this.pending.set(e,i)),r}enqueue(e,t,i,r,s=!1){let a=this.slot(e,t);il(this.queue.words,this.queue.u32,a*12,e,t,i,r,s)}enqueueValidated(e){for(let t=0;t<e.count;t++){let i=t*12,r=this.slot(e.u32[i],e.u32[i+1])*12;for(let s=0;s<12;s++)this.queue.u32[r+s]=e.u32[i+s]}}flush(e){if(!this.pending.size)return;let t=this.solver.device,i=this.pending.size;if(this.linearOnly||this.angularOnly){let r=this.angularOnly&&this.dimension===2?1:this.dimension;if(!this.linearIndices||this.linearIndices.length<i){let l=Math.max(i,(this.linearIndices?.length??0)*2,64);this.linearIndices=new Uint32Array(l),this.linearValues=new Float32Array(l*this.dimension)}let s=0;for(let[l,c]of this.pending){this.linearIndices[s]=l;for(let f=0;f<r;f++)this.linearValues[s*r+f]=this.queue.words[c.tail*12+4+f];s++}let a=this.angularOnly?"angularVelocityBatch":"velocityBatch",n=this.solver[a]??=new Lt(this.solver,this.dimension,this.angularOnly?"angular":"linear");n.submitValidated(this.linearIndices.subarray(0,i),this.linearValues.subarray(0,i*r),e),this.lastBatch={bodies:i,commands:this.queue.count,requestedCommands:this.requested,uploadedBytes:n.lastBatch.uploadedBytes,path:this.angularOnly?"packed-angular-velocities":"packed-velocities",submissions:e?0:1}}else if(this.motionOnly){let r=this.motionBatch??=new Ht(this.solver,this.dimension),s=r.wordsPerBody;(!this.motionData||this.motionData.length<i*s)&&(this.motionData=new Uint32Array(Math.max(i*s,(this.motionData?.length??0)*2,64*s)),this.motionFloats=new Float32Array(this.motionData.buffer));let a=0;for(let[n,l]of this.pending){let c=a++*s;this.motionData[c]=n;let f=0;for(let u=l.head;u!==-1;u=this.next[u]){let d=this.queue.u32[u*12+1];f|=1<<d;let p=c+(d===0?2:2+this.dimension),m=d===0||this.dimension===3?this.dimension:1;for(let h=0;h<m;h++)this.motionFloats[p+h]=this.queue.words[u*12+4+h]}this.motionData[c+1]=f}r.submitValidated(this.motionData.subarray(0,i*s),e),this.lastBatch={bodies:i,commands:this.queue.count,requestedCommands:this.requested,uploadedBytes:r.lastBatch.uploadedBytes,path:"packed-motion",submissions:e?0:1}}else{this.upload??=new xi,this.upload.count=0,this.upload.reserve(this.queue.count),(!this.rangeData||this.rangeData.length<i*2)&&(this.rangeData=new Uint32Array(Math.max(i*2,(this.rangeData?.length??0)*2,128)));let r=0,s=0;for(let p of this.pending.values()){this.rangeData[s++]=r,this.rangeData[s++]=p.length;for(let m=p.head;m!==-1;m=this.next[m]){for(let h=0;h<12;h++)this.upload.u32[r*12+h]=this.queue.u32[m*12+h];r++}}let a=r*48,n=i*8,l=Math.min(t.limits.maxStorageBufferBindingSize,t.limits.maxBufferSize);if(a>l||n>l)throw Error("Body command batch exceeds GPU buffer limits");for(let[p,m]of[["commands",a],["ranges",n]])(!this[p]||this[p].size<m)&&(this[p]?.destroy(),this[p]=t.createBuffer({size:Math.min(l,Math.max(m*2,16)),usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST}));t.queue.writeBuffer(this.commands,0,this.upload.words.buffer,0,a),t.queue.writeBuffer(this.ranges,0,this.rangeData.buffer,0,n),this.pipeline??=t.createComputePipeline({layout:"auto",compute:{entryPoint:"edit",module:t.createShaderModule({code:"const DISPATCH_STRIDE = "+t.limits.maxComputeWorkgroupsPerDimension*64+`u;
|
|
4777
|
+
`+this.shader})}}),(!this.group||this.boundBody!==this.solver.bodyBuffer||this.boundCommands!==this.commands||this.boundRanges!==this.ranges||this.boundRangeBytes!==n)&&(this.group=t.createBindGroup({layout:this.pipeline.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:this.solver.bodyBuffer}},{binding:1,resource:{buffer:this.commands}},{binding:2,resource:{buffer:this.ranges,size:n}}]}),this.boundBody=this.solver.bodyBuffer,this.boundCommands=this.commands,this.boundRanges=this.ranges,this.boundRangeBytes=n);let c=e??t.createCommandEncoder(),f=c.beginComputePass();f.setPipeline(this.pipeline),f.setBindGroup(0,this.group);let u=Math.ceil(i/64),d=t.limits.maxComputeWorkgroupsPerDimension;f.dispatchWorkgroups(Math.min(u,d),Math.ceil(u/d)),f.end(),this.encodeAfterEdits(c,i),e||t.queue.submit([c.finish()]),this.lastBatch={bodies:i,commands:r,requestedCommands:this.requested,uploadedBytes:a+n,path:"ordered-commands",submissions:e?0:1}}for(let r of this.pending.values())this.freeRanges.push(r);this.pending.clear(),this.queue.count=0,this.requested=0,this.linearOnly=!0,this.angularOnly=!0,this.motionOnly=!0,this.hasTeleports=!1}encodeAfterEdits(){}destroy(){this.commands?.destroy(),this.ranges?.destroy(),this.solver.velocityBatch?.destroy(),this.solver.angularVelocityBatch?.destroy(),this.motionBatch?.destroy(),this.freeRanges.length=0,this.pending.clear(),this.queue=this.upload=this.next=this.linearIndices=this.linearValues=this.rangeData=this.motionData=this.motionFloats=null,this.group=null}};var Fs=class extends Ls{writePassConstants(e,t){as.call(this,e,t)}createPipelines(){let e=this.layouts;this.compile(Ar,[e.broad],["beginFrame","gridCount","gridScatter","findPairs"]),this.compile(wr,[e.contacts],["hashInsert","narrowphase"]),this.compile(nr,[e.topo],["degreeJoints","degreeContacts","fillJoints","fillContacts","sortAdjacency","colorCompact","colorMark","colorRoundAB","colorRoundBA","colorCount","colorStarts","colorScatter"]),this.compile(Br,[e.solve,e.pass],["warmStartJoints","warmStartBodies","primal","primalScan","dual","refreshStick","updateVelocities"]),this.compile(Fr,[e.args],["argsPrev","argsPairs","argsContacts","argsColors"])}constructor(e,t,i={}){i.sleeping!==void 0&&i.sleeping!==!1&&zs(i.sleeping),super(e,t,i),this.sleepEligible=new Map(t.avbdSleepEligible??[]),Qn(this),kr(t)?.size&&this.enableShapes(),(i.sleeping||[...this.sleepEligible.values()].some(r=>r===!0))&&this.enableSleeping(i.sleeping||{})}enableShapes(){this.shapeBuffer||(this.syncShapeGeometry(),this.shapeContactLayout=this.makeLayout(["uniform","read-only-storage","read-only-storage","storage","read-only-storage","storage","storage","read-only-storage"]),this.compileBroadphase(),this.compileContacts(),this.bindContacts(),this.staticsDirty=!0)}geometryBytes(e=0){let t=(this.geometryRecords??this.bodyCapacity)*4+e;if(this.geometryRecords===void 0)for(let r of kr(this.topology)?.values()??[])t+=r.vertices?.length??0;let i=t*4;if(i>Math.min(this.device.limits.maxStorageBufferBindingSize,this.device.limits.maxBufferSize,16777216*16))throw Error("2D hull geometry exceeds this GPU's storage capacity");return i}syncShapeGeometry(){let e=this.geometryBytes(),t=new Float32Array(e/4);this.packedShapes=new Map;let i=this.bodyCapacity;for(let[r,s]of kr(this.topology)??[]){let a=Array.from(s);s.vertices&&(a[2]=i,t.set(s.vertices,i*4),i+=s.vertices.length/4),t.set(a,r*4),this.packedShapes.set(r,a)}this.geometryRecords=i,this.shapeBuffer=this.createShapeBuffer(e),this.device.queue.writeBuffer(this.shapeBuffer,0,t)}createShapeBuffer(e){let t=Math.min(this.device.limits.maxStorageBufferBindingSize,this.device.limits.maxBufferSize,268435456);return this.device.createBuffer({label:"2D collider geometry",size:Math.min(t,Math.max(e,Math.ceil(e*1.5/16)*16)),usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST|GPUBufferUsage.COPY_SRC})}appendShapeGeometry(e,t){let i=this.geometryBytes(t.vertices?.length??0);if(this.shapeBuffer.size<i){let s=this.shapeBuffer;this.shapeBuffer=this.createShapeBuffer(i);let a=this.device.createCommandEncoder();a.copyBufferToBuffer(s,0,this.shapeBuffer,0,this.geometryRecords*16),this.device.queue.submit([a.finish()]),s.destroy(),this.bindFilters(),this.bindContacts()}let r=Array.from(t);t.vertices&&(r[2]=this.geometryRecords,this.device.queue.writeBuffer(this.shapeBuffer,this.geometryRecords*16,new Float32Array(t.vertices)),this.geometryRecords+=t.vertices.length/4),this.packedShapes.set(e,r),this.device.queue.writeBuffer(this.shapeBuffer,e*16,new Float32Array(r))}makeLayout(e){return this.device.createBindGroupLayout({entries:e.map((t,i)=>({binding:i,visibility:GPUShaderStage.COMPUTE,buffer:{type:t}}))})}contactSource(){let e=wr;return this.shapeBuffer&&(e=e.replace(`@compute @workgroup_size(64)
|
|
4778
|
+
fn narrowphase`,Zn+`
|
|
4690
4779
|
@compute @workgroup_size(64)
|
|
4691
|
-
fn narrowphase`).replace("let col = collideBoxes(A.pose.xyz, A.shape.xy * 0.5, B.pose.xyz, B.shape.xy * 0.5);","let col = collideShapes2D(a,b);")),this.sensorsEnabled&&(e=e.replace("rec.ids = vec4u(a, b, o.feature, 0u);","rec.ids = vec4u(a,b,o.feature,select(0u,0x80000000u,A.initial.w!=0.||B.initial.w!=0.));").replace("if (j >= 0) {","if (j >= 0 && rec.ids.w==0u && (prevContacts[j].ids.w&0x80000000u)==0u) {")),this.bodyCommands&&(e=e.replace("if (j >= 0","if (A.prevVel.w==0. && B.prevVel.w==0. && j >= 0")),e}compileContacts(){this.compile(this.contactSource(),[this.shapeContactLayout??this.layouts.contacts],["hashInsert","narrowphase"])}bindContacts(){this.shapeBuffer&&(this.groups.contacts=this.contactBuffers.map((e,t)=>this.device.createBindGroup({layout:this.shapeContactLayout,entries:[this.paramsBuffer,this.bodyBuffer,this.pairBuffer,e,this.contactBuffers[1-t],this.tableBuffer,this.counterBuffer,this.shapeBuffer].map((i,r)=>({binding:r,resource:{buffer:i}}))})))}compileBroadphase(){let e=["uniform","read-only-storage","storage","storage","storage","read-only-storage","read-only-storage"],t=
|
|
4780
|
+
fn narrowphase`).replace("let col = collideBoxes(A.pose.xyz, A.shape.xy * 0.5, B.pose.xyz, B.shape.xy * 0.5);","let col = collideShapes2D(a,b);")),this.sensorsEnabled&&(e=e.replace("rec.ids = vec4u(a, b, o.feature, 0u);","rec.ids = vec4u(a,b,o.feature,select(0u,0x80000000u,A.initial.w!=0.||B.initial.w!=0.));").replace("if (j >= 0) {","if (j >= 0 && rec.ids.w==0u && (prevContacts[j].ids.w&0x80000000u)==0u) {")),this.bodyCommands&&(e=e.replace("if (j >= 0","if (A.prevVel.w==0. && B.prevVel.w==0. && j >= 0")),e}compileContacts(){this.compile(this.contactSource(),[this.shapeContactLayout??this.layouts.contacts],["hashInsert","narrowphase"])}bindContacts(){this.shapeBuffer&&(this.groups.contacts=this.contactBuffers.map((e,t)=>this.device.createBindGroup({layout:this.shapeContactLayout,entries:[this.paramsBuffer,this.bodyBuffer,this.pairBuffer,e,this.contactBuffers[1-t],this.tableBuffer,this.counterBuffer,this.shapeBuffer].map((i,r)=>({binding:r,resource:{buffer:i}}))})))}compileBroadphase(){let e=["uniform","read-only-storage","storage","storage","storage","read-only-storage","read-only-storage"],t=Ar;if(this.shapeBuffer&&(e.push("read-only-storage"),t=t.replace(`fn radius(i: u32) -> f32 {
|
|
4692
4781
|
return 0.5 * length(bodies[i].shape.xy);
|
|
4693
4782
|
}`,`@group(0) @binding(7) var<storage,read> geometry:array<vec4f>;
|
|
4694
4783
|
fn radius(i:u32)->f32{let g=geometry[i];if(g.x==4.){return g.y;}if(g.x==1.||g.x==2.){return g.y+g.z;}return .5*length(bodies[i].shape.xy);}`).replace("return radius(i) > params.maxSmallRadius;","return geometry[i].x==3. || radius(i) > params.maxSmallRadius;").replace("if (dot(d, d) > r * r) { return; }",`if(geometry[a].x==3.||geometry[b].x==3.) {
|
|
@@ -4696,13 +4785,13 @@ let plane=select(b,a,geometry[a].x==3.);let other=select(a,b,geometry[a].x==3.);
|
|
|
4696
4785
|
if(dot(bodies[other].pose.xy-bodies[plane].pose.xy,normal)>radius(other)){return;}
|
|
4697
4786
|
} else if(dot(d,d)>r*r){return;}`)),this.filters){let i=e.length;e.push("read-only-storage"),t=t.replace("fn ignored(hi: u32, lo: u32) -> bool {",`@group(0) @binding(${i}) var<storage,read> filters:array<vec2u>;
|
|
4698
4787
|
fn ignored(hi:u32,lo:u32)->bool{
|
|
4699
|
-
if((filters[hi].x&filters[lo].y)==0u || (filters[lo].x&filters[hi].y)==0u){return true;}`)}this.filterLayout=this.makeLayout(e),this.compile(t,[this.filterLayout],["beginFrame","gridCount","gridScatter","findPairs"]),this.bindFilters()}uploadBodies(e=0,t=this.topology.bodyCount-e){this.flushPropertyEdits(),super.uploadBodies(e,t);for(let s=e;s<e+t;s++)this.sleeping?.register(s,this.sleepEligible?.get(s)!==!1);if(!this.shapeBuffer&&!this.triggers?.size)return;let i=this.shapeBuffer&&t>0?new Float32Array(t*4):null,r=this.packedShapes;for(let s=e;s<e+t;s++){let a=r?.get(s);i&&a&&i.set(a,(s-e)*4),this.triggers?.has(s)&&this.device.queue.writeBuffer(this.bodyBuffer,s*96+28,new Float32Array([1]))}i&&this.device.queue.writeBuffer(this.shapeBuffer,e*16,i)}uploadStatics(){if(!this.shapeBuffer)return super.uploadStatics();let e=this.topology,t=Br(e),i=[];for(let u=0;u<this.bodyCount;u++)t?.get(u)?.[0]!==3&&i.push(e.props[u*4+1]);i.sort((u,d)=>u-d);let r=i[i.length>>1]??1,s=0,a=1/0;for(let u of i)u<=4*r&&(s=Math.max(s,u));for(let u of i)u>s&&(a=Math.min(a,u));let n=a===1/0?s*1.5:(s+a)/2;this.maxSmallRadius=n,this.cellSize=Math.max(2*s*(1+1e-4),.001);let l=[],c=[];for(let u=0;u<this.bodyCount;u++)(t?.get(u)?.[0]===3||e.props[u*4+1]>n)&&l.push(u);for(let u=0;u<e.jointCount;u++){let d=e.info[u*4+1],h=e.info[u*4+2];d>=0&&c.push([Math.max(d,h),Math.min(d,h),u])}for(let u of e.ignoredPairs()){let d=Math.floor(u/2097152);c.push([d,u-d*2097152,4294967295])}c.sort((u,d)=>u[0]-d[0]||u[1]-d[1]),this.largeCount=l.length,this.noCollideCount=c.length;let f=new Uint32Array(Math.max(l.length+3*c.length,4));f.set(l),c.forEach((u,d)=>f.set(u,l.length+3*d)),this.staticBuffer.size<f.byteLength&&(this.staticBuffer.destroy(),this.staticBuffer=this.device.createBuffer({label:"2D boundaries",size:f.byteLength,usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST}),this.rebuildBindings()),this.device.queue.writeBuffer(this.staticBuffer,0,f),this.staticsDirty=!1}async raycast(e,t,i={}){let[r]=await this.raycastAll([{origin:e,direction:t,maxDistance:i.maxDistance}],i);return r}raycastAll(e,t={}){return this.flushEdits(),this.shapeQueries??=new Dt(this,2),this.shapeQueries.cast(e.map(i=>({...i,radius:0})),t)}async circleCast(e,t,i,r={}){let[s]=await this.circleCastAll([{origin:e,radius:t,direction:i,maxDistance:r.maxDistance}],r);return s}circleCastAll(e,t={}){return this.flushEdits(),this.shapeQueries??=new Dt(this,2),this.shapeQueries.cast(e,t)}liveIndex(e){if(this.destroyed)throw Error("The 2D solver has been destroyed");if(!Number.isInteger(e)||e<0||e>=this.bodyCount)throw Error("A live 2D body index is required")}queueBodyCommand(e,t,i,r,s=!1){return this.liveIndex(e),this.prepareBodyCommands().enqueue(e,t,i,r,s),this}prepareBodyCommands(){return this.wakeAll(),this.bodyCommands||(this.bodyCommands=new Qi(this),this.compileContacts()),this.bodyCommands}setLinearVelocity(e,t){return this.queueBodyCommand(e,0,xt(t,"velocity"))}setAngularVelocity(e,t){if(!Number.isFinite(t))throw Error("Angular velocity must be finite");return this.queueBodyCommand(e,1,[t,0,0,0])}applyImpulse(e,t,i){return this.queueBodyCommand(e,2,xt(t,"impulse"),i===void 0?void 0:xt(i,"point"),i!==void 0)}applyForce(e,t,i){return this.queueBodyCommand(e,3,[...xt(t,"force"),0,this.params.dt],i===void 0?void 0:xt(i,"point"),i!==void 0)}applyAngularImpulse(e,t){if(!Number.isFinite(t))throw Error("Angular impulse must be finite");return this.queueBodyCommand(e,5,[t,0,0,0])}applyTorque(e,t){if(!Number.isFinite(t))throw Error("Torque must be finite");return this.queueBodyCommand(e,6,[t,0,0,this.params.dt])}teleport(e,t,i){if(i!==void 0&&!Number.isFinite(i))throw Error("Angle must be finite");return this.queueBodyCommand(e,4,[...xt(t,"position"),i??0,0],void 0,i!==void 0)}readBodies(){return this.flushEdits(),super.readBodies()}async readBodyState(e){this.liveIndex(e),this.flushEdits();let t=this.device,i=t.createBuffer({size:96,usage:GPUBufferUsage.COPY_DST|GPUBufferUsage.MAP_READ});try{let r=t.createCommandEncoder();r.copyBufferToBuffer(this.bodyBuffer,e*96,i,0,96),t.queue.submit([r.finish()]),await i.mapAsync(GPUMapMode.READ);let s=new Float32Array(i.getMappedRange());return{position:[s[0],s[1]],angle:s[2],linearVelocity:[s[12],s[13]],angularVelocity:s[14],mass:s[22],moment:s[23],sleeping:s[15]!==0}}finally{i.destroy()}}addBox(e,t={}){return this.addShape({size:Array.from(e)},t)}addCircle(e,t={}){return this.addShape(Ls(e),t)}addHull(e,t={}){return this.addShape(Ps(e),t)}addCapsule(e,t,i={}){return this.addShape(_s(e,t),i)}addSegment(e,t,i={}){return this.addShape(Es(e,t,i))}addPlane(e=[0,1],t=0,i={}){return this.addShape(zs(e,t,i))}addShape(e,t={}){t=e.options??t;let{density:i=1,friction:r=.6,position:s=[0,0],angle:a=0,velocity:n=[0,0,0],restitution:l=0,isTrigger:c=!1,group:f=4294967295,collidesWith:u=4294967295,allowSleep:d}=t;if(this.destroyed)throw Error("The 2D solver has been destroyed");if(d!==void 0&&typeof d!="boolean")throw Error("allowSleep must be boolean");if(this.bodyCount>=this.bodyCapacity)throw Error("2D body capacity reached; reserve bodyCapacity when creating the solver");if(e.size.length!==2||!e.size.every(p=>Number.isFinite(p)&&p>0)||!Number.isFinite(i)||i<0||!Number.isFinite(r)||r<0||!Number.isFinite(a))throw Error("Body dimensions must be positive, density and friction nonnegative, and angle finite");if(n.length!==3||!Array.from(n).every(Number.isFinite))throw Error("Velocity requires [x, y, angular] finite components");if(typeof c!="boolean"||!Number.isFinite(l)||l<0||l>1)throw Error("isTrigger must be boolean and restitution between zero and one");if([f,u].some(p=>!Number.isInteger(p)||p<0||p>4294967295))throw Error("Collision masks must be unsigned 32-bit integers");let h=xt(s,"position");e.geometry&&this.geometryBytes(e.geometry.vertices?.length??0);let m=super.addBody(e.size,i,r,[...h,a],Array.from(n));return e.geometry&&(Ms(this.topology,m,e,i),this.shapeBuffer?this.appendShapeGeometry(m,e.geometry):this.enableShapes(),this.uploadBodies(m,1)),l&&this.setRestitution(m,l),c&&this.setSensor(m,!0),(f!==4294967295||u!==4294967295)&&this.setFilters([m],[f],[u]),this.contactWatch?.setWatched([m],[!this.watchedIndices||this.watchedIndices.has(m)]),this.sleepEligible.set(m,d??!0),d===!0&&!this.sleeping&&this.enableSleeping(),this.sleeping?.register(m,d!==!1),this.wakeAll(),m}setRestitution(e,t){if(this.liveIndex(e),!Number.isInteger(e)||e<0||e>=this.bodyCount||!Number.isFinite(t)||t<0||t>1)throw Error("Restitution requires a live body index and a coefficient in 0..1");t>0&&!this.restitution&&(this.restitution=new Bs(this)),this.restitution?.set(e,t),this.wakeAll()}constraintSlot(e,t){if(this.destroyed)throw Error("The 2D solver has been destroyed");if(!Number.isInteger(e)||e<0||e>=this.jointCount||this.topology.handles[e]?.disposed)throw Error("A live 2D constraint slot is required");if(t!==void 0&&this.topology.info[e*D]!==t)throw Error("The constraint has a different type");return e}setMotor(e,{speed:t,maxTorque:i}={}){if(this.constraintSlot(e,ys),t!==void 0&&!Number.isFinite(t)||i!==void 0&&(!Number.isFinite(i)||i<0))throw Error("Motor speed must be finite and maximum torque nonnegative");let r=e*T,s=e*36;t!==void 0&&(this.topology.data[r+ge]=t,Q(this).float(this.jointBuffer,s+32,t)),i!==void 0&&(this.topology.data[r+ft]=-i,this.topology.data[r+dt]=i,Q(this).float(this.jointBuffer,s+12,-i),Q(this).float(this.jointBuffer,s+16,i)),this.wakeAll()}setAngleLimits(e,t){this.constraintSlot(e,Cs);let i=Xi(t);this.topology.data[e*T+_e]=i.minAngle,this.topology.data[e*T+vt]=i.maxAngle,Q(this).float(this.jointBuffer,e*36+32+1,i.minAngle),Q(this).float(this.jointBuffer,e*36+32+2,i.maxAngle);for(let r=4;r<8;r++)Q(this).float(this.jointBuffer,e*36+r,0);this.wakeAll()}setWorldAnchor(e,t,i){if(this.constraintSlot(e,Vt),this.topology.info[e*D+1]!==-1||!Number.isFinite(t)||!Number.isFinite(i))throw Error("A world joint and finite xy anchor are required");Q(this).float(this.jointBuffer,e*36+28,t),Q(this).float(this.jointBuffer,e*36+28+1,i),this.wakeAll()}disableConstraint(e){if(this.topology.handles[e]?.disposed)return;this.constraintSlot(e),this.flushPropertyEdits(),super.disableConstraint(e),this.wakeAll();let t=this.topology.handles[e];t&&(t.alive=!1,t.disposed=!0)}appendJoint(e,t,i,r,s,a=1/0){if(e!==-1&&this.liveIndex(e),this.liveIndex(t),e===t)throw Error("Constraint endpoints must differ");let n=xt(i,"anchorA"),l=xt(r,"anchorB");if(!s||s.length!==3||Array.from(s).some(f=>f!==1/0&&(!Number.isFinite(f)||f<0))||a!==1/0&&(!Number.isFinite(a)||a<0))throw Error("Joint stiffness and break force must be nonnegative or Infinity");this.flushPropertyEdits();let c=super.appendJoint(e,t,n,l,Array.from(s),a);return this.wakeAll(),c}setFilters(e,t,i){if(this.destroyed)throw Error("The 2D solver has been destroyed");if(e.length!==t.length||e.length!==i.length)throw Error("Each body index needs a group and collision mask");let r=n=>{if(!Number.isInteger(n)||n<0||n>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");return n},s=Array.from(e,(n,l)=>(this.liveIndex(n),[n,r(t[l]),r(i[l])]));if(this.wakeAll(),!this.filters){let n=this.device;this.filters=n.createBuffer({size:this.bodyCapacity*8,usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST}),n.queue.writeBuffer(this.filters,0,new Uint32Array(this.bodyCapacity*2).fill(4294967295)),this.compileBroadphase()}let a=Q(this);for(let[n,l,c]of s)a.uint(this.filters,n*2,l),a.uint(this.filters,n*2+1,c)}bindFilters(){this.filterLayout&&(this.groups.broad=this.device.createBindGroup({layout:this.filterLayout,entries:[this.paramsBuffer,this.bodyBuffer,this.gridBuffer,this.pairBuffer,this.counterBuffer,this.staticBuffer,this.jointBuffer,...this.shapeBuffer?[this.shapeBuffer]:[],...this.filters?[this.filters]:[]].map((e,t)=>({binding:t,resource:{buffer:e}}))}))}rebuildBindings(){super.rebuildBindings(),this.bindFilters(),this.bindContacts()}setSensor(e,t){if(this.liveIndex(e),typeof t!="boolean")throw Error("Sensor flag must be boolean");if(this.wakeAll(),t&&!this.sensorsEnabled){this.sensorsEnabled=!0;let i=this.device,r=i.createComputePipeline({layout:"auto",compute:{module:i.createShaderModule({code:"@group(0) @binding(0) var<storage,read_write> data:array<vec4f>; @compute @workgroup_size(64) fn clear(@builtin(global_invocation_id) id:vec3u){if(id.x*6u+1u<arrayLength(&data)){data[id.x*6u+1u].w=0.;}}"}),entryPoint:"clear"}}),s=i.createBindGroup({layout:r.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:this.bodyBuffer}}]}),a=i.createCommandEncoder(),n=a.beginComputePass();n.setPipeline(r),n.setBindGroup(0,s),n.dispatchWorkgroups(Math.ceil(this.bodyCount/64)),n.end(),i.queue.submit([a.finish()]),this.compileContacts();let l=vr.replace("b.initial = b.pose;","b.initial = vec4f(b.pose.xyz,b.initial.w);").replace("fn addContact(acc: ptr<function, Acc>, c: u32, alpha: f32, i: u32) {",`fn addContact(acc: ptr<function, Acc>, c: u32, alpha: f32, i: u32) {
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if((filters[hi].x&filters[lo].y)==0u || (filters[lo].x&filters[hi].y)==0u){return true;}`)}this.filterLayout=this.makeLayout(e),this.compile(t,[this.filterLayout],["beginFrame","gridCount","gridScatter","findPairs"]),this.bindFilters()}uploadBodies(e=0,t=this.topology.bodyCount-e){this.flushPropertyEdits(),super.uploadBodies(e,t);for(let s=e;s<e+t;s++)this.sleeping?.register(s,this.sleepEligible?.get(s)!==!1);if(!this.shapeBuffer&&!this.triggers?.size)return;let i=this.shapeBuffer&&t>0?new Float32Array(t*4):null,r=this.packedShapes;for(let s=e;s<e+t;s++){let a=r?.get(s);i&&a&&i.set(a,(s-e)*4),this.triggers?.has(s)&&this.device.queue.writeBuffer(this.bodyBuffer,s*96+28,new Float32Array([1]))}i&&this.device.queue.writeBuffer(this.shapeBuffer,e*16,i)}uploadStatics(){if(!this.shapeBuffer)return super.uploadStatics();let e=this.topology,t=kr(e),i=[];for(let u=0;u<this.bodyCount;u++)t?.get(u)?.[0]!==3&&i.push(e.props[u*4+1]);i.sort((u,d)=>u-d);let r=i[i.length>>1]??1,s=0,a=1/0;for(let u of i)u<=4*r&&(s=Math.max(s,u));for(let u of i)u>s&&(a=Math.min(a,u));let n=a===1/0?s*1.5:(s+a)/2;this.maxSmallRadius=n,this.cellSize=Math.max(2*s*(1+1e-4),.001);let l=[],c=[];for(let u=0;u<this.bodyCount;u++)(t?.get(u)?.[0]===3||e.props[u*4+1]>n)&&l.push(u);for(let u=0;u<e.jointCount;u++){let d=e.info[u*4+1],p=e.info[u*4+2];d>=0&&c.push([Math.max(d,p),Math.min(d,p),u])}for(let u of e.ignoredPairs()){let d=Math.floor(u/2097152);c.push([d,u-d*2097152,4294967295])}c.sort((u,d)=>u[0]-d[0]||u[1]-d[1]),this.largeCount=l.length,this.noCollideCount=c.length;let f=new Uint32Array(Math.max(l.length+3*c.length,4));f.set(l),c.forEach((u,d)=>f.set(u,l.length+3*d)),this.staticBuffer.size<f.byteLength&&(this.staticBuffer.destroy(),this.staticBuffer=this.device.createBuffer({label:"2D boundaries",size:f.byteLength,usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST}),this.rebuildBindings()),this.device.queue.writeBuffer(this.staticBuffer,0,f),this.staticsDirty=!1}async raycast(e,t,i={}){let[r]=await this.raycastAll([{origin:e,direction:t,maxDistance:i.maxDistance}],i);return r}raycastAll(e,t={}){return this.flushEdits(),this.shapeQueries??=new Nt(this,2),this.shapeQueries.cast(e.map(i=>({...i,radius:0})),t)}async circleCast(e,t,i,r={}){let[s]=await this.circleCastAll([{origin:e,radius:t,direction:i,maxDistance:r.maxDistance}],r);return s}circleCastAll(e,t={}){return this.flushEdits(),this.shapeQueries??=new Nt(this,2),this.shapeQueries.cast(e,t)}liveIndex(e){if(this.destroyed)throw Error("The 2D solver has been destroyed");if(!Number.isInteger(e)||e<0||e>=this.bodyCount)throw Error("A live 2D body index is required")}queueBodyCommand(e,t,i,r,s=!1){return this.liveIndex(e),this.prepareBodyCommands().enqueue(e,t,i,r,s),this}prepareBodyCommands(){return this.wakeAll(),this.bodyCommands||(this.bodyCommands=new ir(this),this.compileContacts()),this.bodyCommands}setLinearVelocity(e,t){return this.queueBodyCommand(e,0,xt(t,"velocity"))}setAngularVelocity(e,t){if(!Number.isFinite(t))throw Error("Angular velocity must be finite");return this.queueBodyCommand(e,1,[t,0,0,0])}applyImpulse(e,t,i){return this.queueBodyCommand(e,2,xt(t,"impulse"),i===void 0?void 0:xt(i,"point"),i!==void 0)}applyForce(e,t,i){return this.queueBodyCommand(e,3,[...xt(t,"force"),0,this.params.dt],i===void 0?void 0:xt(i,"point"),i!==void 0)}applyAngularImpulse(e,t){if(!Number.isFinite(t))throw Error("Angular impulse must be finite");return this.queueBodyCommand(e,5,[t,0,0,0])}applyTorque(e,t){if(!Number.isFinite(t))throw Error("Torque must be finite");return this.queueBodyCommand(e,6,[t,0,0,this.params.dt])}teleport(e,t,i){if(i!==void 0&&!Number.isFinite(i))throw Error("Angle must be finite");return this.queueBodyCommand(e,4,[...xt(t,"position"),i??0,0],void 0,i!==void 0)}readBodies(){return this.flushEdits(),super.readBodies()}async readBodyState(e){this.liveIndex(e),this.flushEdits();let t=this.device,i=t.createBuffer({size:96,usage:GPUBufferUsage.COPY_DST|GPUBufferUsage.MAP_READ});try{let r=t.createCommandEncoder();r.copyBufferToBuffer(this.bodyBuffer,e*96,i,0,96),t.queue.submit([r.finish()]),await i.mapAsync(GPUMapMode.READ);let s=new Float32Array(i.getMappedRange());return{position:[s[0],s[1]],angle:s[2],linearVelocity:[s[12],s[13]],angularVelocity:s[14],mass:s[22],moment:s[23],sleeping:s[15]!==0}}finally{i.destroy()}}addBox(e,t={}){return this.addShape({size:Array.from(e)},t)}addCircle(e,t={}){return this.addShape(Os(e),t)}addHull(e,t={}){return this.addShape(Rs(e),t)}addCapsule(e,t,i={}){return this.addShape(js(e,t),i)}addSegment(e,t,i={}){return this.addShape(Ts(e,t,i))}addPlane(e=[0,1],t=0,i={}){return this.addShape(Ds(e,t,i))}addShape(e,t={}){t=e.options??t;let{density:i=1,friction:r=.6,position:s=[0,0],angle:a=0,velocity:n=[0,0,0],restitution:l=0,isTrigger:c=!1,group:f=4294967295,collidesWith:u=4294967295,allowSleep:d}=t;if(this.destroyed)throw Error("The 2D solver has been destroyed");if(d!==void 0&&typeof d!="boolean")throw Error("allowSleep must be boolean");if(this.bodyCount>=this.bodyCapacity)throw Error("2D body capacity reached; reserve bodyCapacity when creating the solver");if(e.size.length!==2||!e.size.every(h=>Number.isFinite(h)&&h>0)||!Number.isFinite(i)||i<0||!Number.isFinite(r)||r<0||!Number.isFinite(a))throw Error("Body dimensions must be positive, density and friction nonnegative, and angle finite");if(n.length!==3||!Array.from(n).every(Number.isFinite))throw Error("Velocity requires [x, y, angular] finite components");if(typeof c!="boolean"||!Number.isFinite(l)||l<0||l>1)throw Error("isTrigger must be boolean and restitution between zero and one");if([f,u].some(h=>!Number.isInteger(h)||h<0||h>4294967295))throw Error("Collision masks must be unsigned 32-bit integers");let p=xt(s,"position");e.geometry&&this.geometryBytes(e.geometry.vertices?.length??0);let m=super.addBody(e.size,i,r,[...p,a],Array.from(n));return e.geometry&&(Gs(this.topology,m,e,i),this.shapeBuffer?this.appendShapeGeometry(m,e.geometry):this.enableShapes(),this.uploadBodies(m,1)),l&&this.setRestitution(m,l),c&&this.setSensor(m,!0),(f!==4294967295||u!==4294967295)&&this.setFilters([m],[f],[u]),this.contactWatch?.setWatched([m],[!this.watchedIndices||this.watchedIndices.has(m)]),this.sleepEligible.set(m,d??!0),d===!0&&!this.sleeping&&this.enableSleeping(),this.sleeping?.register(m,d!==!1),this.wakeAll(),m}setRestitution(e,t){if(this.liveIndex(e),!Number.isInteger(e)||e<0||e>=this.bodyCount||!Number.isFinite(t)||t<0||t>1)throw Error("Restitution requires a live body index and a coefficient in 0..1");t>0&&!this.restitution&&(this.restitution=new _s(this)),this.restitution?.set(e,t),this.wakeAll()}constraintSlot(e,t){if(this.destroyed)throw Error("The 2D solver has been destroyed");if(!Number.isInteger(e)||e<0||e>=this.jointCount||this.topology.handles[e]?.disposed)throw Error("A live 2D constraint slot is required");if(t!==void 0&&this.topology.info[e*D]!==t)throw Error("The constraint has a different type");return e}setMotor(e,{speed:t,maxTorque:i}={}){if(this.constraintSlot(e,Ss),t!==void 0&&!Number.isFinite(t)||i!==void 0&&(!Number.isFinite(i)||i<0))throw Error("Motor speed must be finite and maximum torque nonnegative");let r=e*T,s=e*36;t!==void 0&&(this.topology.data[r+ye]=t,Q(this).float(this.jointBuffer,s+32,t)),i!==void 0&&(this.topology.data[r+ft]=-i,this.topology.data[r+dt]=i,Q(this).float(this.jointBuffer,s+12,-i),Q(this).float(this.jointBuffer,s+16,i)),this.wakeAll()}setAngleLimits(e,t){this.constraintSlot(e,Ms);let i=er(t);this.topology.data[e*T+Ee]=i.minAngle,this.topology.data[e*T+vt]=i.maxAngle,Q(this).float(this.jointBuffer,e*36+32+1,i.minAngle),Q(this).float(this.jointBuffer,e*36+32+2,i.maxAngle);for(let r=4;r<8;r++)Q(this).float(this.jointBuffer,e*36+r,0);this.wakeAll()}setWorldAnchor(e,t,i){if(this.constraintSlot(e,Qt),this.topology.info[e*D+1]!==-1||!Number.isFinite(t)||!Number.isFinite(i))throw Error("A world joint and finite xy anchor are required");Q(this).float(this.jointBuffer,e*36+28,t),Q(this).float(this.jointBuffer,e*36+28+1,i),this.wakeAll()}disableConstraint(e){if(this.topology.handles[e]?.disposed)return;this.constraintSlot(e),this.flushPropertyEdits(),super.disableConstraint(e),this.wakeAll();let t=this.topology.handles[e];t&&(t.alive=!1,t.disposed=!0)}appendJoint(e,t,i,r,s,a=1/0){if(e!==-1&&this.liveIndex(e),this.liveIndex(t),e===t)throw Error("Constraint endpoints must differ");let n=xt(i,"anchorA"),l=xt(r,"anchorB");if(!s||s.length!==3||Array.from(s).some(f=>f!==1/0&&(!Number.isFinite(f)||f<0))||a!==1/0&&(!Number.isFinite(a)||a<0))throw Error("Joint stiffness and break force must be nonnegative or Infinity");this.flushPropertyEdits();let c=super.appendJoint(e,t,n,l,Array.from(s),a);return this.wakeAll(),c}setFilters(e,t,i){if(this.destroyed)throw Error("The 2D solver has been destroyed");if(e.length!==t.length||e.length!==i.length)throw Error("Each body index needs a group and collision mask");let r=n=>{if(!Number.isInteger(n)||n<0||n>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");return n},s=Array.from(e,(n,l)=>(this.liveIndex(n),[n,r(t[l]),r(i[l])]));if(this.wakeAll(),!this.filters){let n=this.device;this.filters=n.createBuffer({size:this.bodyCapacity*8,usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST}),n.queue.writeBuffer(this.filters,0,new Uint32Array(this.bodyCapacity*2).fill(4294967295)),this.compileBroadphase()}let a=Q(this);for(let[n,l,c]of s)a.uint(this.filters,n*2,l),a.uint(this.filters,n*2+1,c)}bindFilters(){this.filterLayout&&(this.groups.broad=this.device.createBindGroup({layout:this.filterLayout,entries:[this.paramsBuffer,this.bodyBuffer,this.gridBuffer,this.pairBuffer,this.counterBuffer,this.staticBuffer,this.jointBuffer,...this.shapeBuffer?[this.shapeBuffer]:[],...this.filters?[this.filters]:[]].map((e,t)=>({binding:t,resource:{buffer:e}}))}))}rebuildBindings(){super.rebuildBindings(),this.bindFilters(),this.bindContacts()}setSensor(e,t){if(this.liveIndex(e),typeof t!="boolean")throw Error("Sensor flag must be boolean");if(this.wakeAll(),t&&!this.sensorsEnabled){this.sensorsEnabled=!0;let i=this.device,r=i.createComputePipeline({layout:"auto",compute:{module:i.createShaderModule({code:"@group(0) @binding(0) var<storage,read_write> data:array<vec4f>; @compute @workgroup_size(64) fn clear(@builtin(global_invocation_id) id:vec3u){if(id.x*6u+1u<arrayLength(&data)){data[id.x*6u+1u].w=0.;}}"}),entryPoint:"clear"}}),s=i.createBindGroup({layout:r.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:this.bodyBuffer}}]}),a=i.createCommandEncoder(),n=a.beginComputePass();n.setPipeline(r),n.setBindGroup(0,s),n.dispatchWorkgroups(Math.ceil(this.bodyCount/64)),n.end(),i.queue.submit([a.finish()]),this.compileContacts();let l=Br.replace("b.initial = b.pose;","b.initial = vec4f(b.pose.xyz,b.initial.w);").replace("fn addContact(acc: ptr<function, Acc>, c: u32, alpha: f32, i: u32) {",`fn addContact(acc: ptr<function, Acc>, c: u32, alpha: f32, i: u32) {
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4700
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if((contacts[c].ids.w&0x80000000u)!=0u){return;}`).replace("fn dualContact(c: u32) {",`fn dualContact(c: u32) {
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4701
4790
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if((contacts[c].ids.w&0x80000000u)!=0u){return;}`).replace(` let k = contacts[c];
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4702
4791
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let bound`,` let k = contacts[c];
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4703
4792
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if((k.ids.w&0x80000000u)!=0u){return;}
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-
let bound`);this.compile(l,[this.layouts.solve,this.layouts.pass],["warmStartJoints","warmStartBodies","primal","primalScan","dual","refreshStick","updateVelocities"]);let c=
|
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4705
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-
if((contacts[gid.x].ids.w&0x80000000u)!=0u){return;}`);this.compile(c,[this.layouts.topo],["degreeContacts","fillContacts"])}this.sensorsEnabled&&Q(this).float(this.bodyBuffer,e*24+7,t?1:0),this.triggers??=new Set,t?this.triggers.add(e):this.triggers.delete(e)}compile(e,t,i){e.includes("fn warmStartBodies(")&&(e=Ln(zn(On(e)))),e.includes("fn dynamicBody(")&&(e=Mn(e)),e.includes("fn colorCount(")&&(e=_n(e));let r=this.device,s=r.createShaderModule({code:e}),a=r.createPipelineLayout({bindGroupLayouts:t});for(let n of i)this.pipes[n]=r.createComputePipeline({layout:a,compute:{module:s,entryPoint:n}})}watchContacts({maxPairs:e=8192,maxEvents:t=4096,indices:i}={}){if(this.destroyed)throw Error("The 2D solver has been destroyed");if(i!==void 0){if(!Array.isArray(i))throw Error("Watched indices must be an array of live body indices");for(let r of i)this.liveIndex(r)}for(let r of[e,t])if(!Number.isInteger(r)||r<1)throw Error("Contact capacities must be positive integers");return this.contactWatch||(this.contactWatch=new Nt(this.device,this.bodyBuffer,this.bodyCapacity,e,t,2),i===void 0&&this.contactWatch.setWatched(Array.from({length:this.bodyCount},(r,s)=>s),Array(this.bodyCount).fill(!0))),i!==void 0&&(this.watchedIndices=new Set(i),this.contactWatch.setWatched(Array.from({length:this.bodyCount},(r,s)=>s),Array.from({length:this.bodyCount},(r,s)=>this.watchedIndices.has(s)))),this}async readContactEvents(){this.watchContacts();let e=await this.contactWatch.read();return{...e,events:e.events.map(t=>({...t,type:t.kind===Ut?"begin":"end",isTrigger:!!(this.triggers?.has(t.a)||this.triggers?.has(t.b))}))}}step(){if(this.destroyed)throw Error("The 2D solver has been destroyed");this.sleeping||this.restitution?.active.size||this.bodyCommands?.pending.size||this.propertyEdits?.pending?In.call(this):super.step(),this.contactWatch&&this.contactWatch.run({manifolds:this.contactBuffers[1-this.parity],contacts:this.contactBuffers[1-this.parity],counters:this.counterBuffer},this.contactCapacity,this.eventStep=(this.eventStep??0)+1,this.params.dt)}encodeStepPrelude(e){this.flushPropertyEdits(e),this.sleeping?.before(e),this.bodyCommands?.flush(e),this.restitution?.before(e)}encodeStepPostlude(e){this.restitution?.after(e),this.sleeping?.after(e)}destroy(){this.passConstantCache=null,this.propertyEdits?.destroy(),!this.destroyed&&(this.detachFromScene(),this.shapeQueries?.destroy(),this.restitution?.destroy(),this.filters?.destroy(),this.shapeBuffer?.destroy(),this.bodyCommands?.destroy(),this.contactWatch?.destroy(),this.sleeping?.destroy(),super.destroy())}enableSleeping(e={}){if(this.destroyed)throw Error("The 2D solver has been destroyed");return this.sleeping?this.sleeping.options=Ss(e):this.sleeping=new ws(this,e),this}disableSleeping(){if(this.destroyed)throw Error("The 2D solver has been destroyed");return this.sleeping&&(this.sleeping.wakeRequested=!0,this.sleeping.before(),this.sleeping.destroy(),this.sleeping=null),this}setSleepEnabled(e,t){if(this.liveIndex(e),typeof t!="boolean")throw Error("Sleep flag must be boolean");return this.sleepEligible.set(e,t),t&&!this.sleeping&&this.enableSleeping(),this.sleeping?.register(e,t),this.wakeAll(),this}wakeAll(){return this.sleeping&&(this.sleeping.wakeRequested=!0),this}wakeUp(e){return this.liveIndex(e),this.wakeAll()}async readSleepStats(){return this.sleeping?this.sleeping.readStats():{sleeping:0,wakeRequested:!1}}flushEdits(){this.flushPropertyEdits(),this.sleeping?.wakeRequested&&this.sleeping.before(),this.bodyCommands?.flush()}flushPropertyEdits(e){this.propertyEdits?.flush(e)}readJoints(){return this.flushPropertyEdits(),super.readJoints()}attachToScene(e,{maxSubSteps:t=6,maxFrameTime:i=.05,afterStep:r}={}){if(this.destroyed)throw Error("The 2D solver has been destroyed");if(!e?.onBeforeRenderObservable?.add||!e?.onDisposeObservable?.addOnce||!e?.getEngine)throw Error("A Babylon scene is required");if(!Number.isInteger(t)||t<1||!Number.isFinite(i)||i<=0||r!==void 0&&typeof r!="function")throw Error("Scene stepping requires positive frame limits and an optional afterStep function");if(this.sceneBinding){if(this.sceneBinding.scene===e)return this;throw Error("The 2D solver is already attached to another scene")}let s=0,a=e.onBeforeRenderObservable.add(()=>{let l=this.params.dt;if(!(l>0)||!Number.isFinite(l))throw Error("Simulation timestep must be positive and finite");let c=e.getEngine().getDeltaTime()/1e3;s=Math.min(t*l,s+Math.min(i,Math.max(0,c)));for(let f=0;s+1e-12>=l&&f<t&&(this.step(),s=Math.max(0,s-l),r?.(this),!(!this.sceneBinding||this.destroyed));f++);}),n=e.onDisposeObservable.addOnce(()=>this.destroy());return this.sceneBinding={scene:e,before:a,dispose:n},this}detachFromScene(){let e=this.sceneBinding;return e&&(e.scene.onBeforeRenderObservable.remove(e.before),e.scene.onDisposeObservable.remove(e.dispose),this.sceneBinding=null),this}};var Rs=o=>{if(!Number.isInteger(o)||o<0||o>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");return o};function Be(o,e,t){let i=o&&typeof o.x=="number"?[o.x,o.y,...e>=3?[o.z]:[],...e===4?[o.w]:[]]:Array.isArray(o)||ArrayBuffer.isView(o)&&!(o instanceof DataView)?o:Array.from(o??[]);if(i.length!==e||!i.every(Number.isFinite))throw Error(`${t} requires ${e} finite components`);return i}var Fn=["linearVelocity","angularVelocity","impulse","force","","angularImpulse","torque"];function pc(o,e){if(this.destroyed)throw Error("The solver has been destroyed");let t=this.editInProgress,i=t?new mi:this.editStaging??=new mi;this.editInProgress=!0;try{return mc.call(this,o,e,i)}finally{this.editInProgress=t}}function mc(o,e,t){t.count=0;let i,r=(s,a)=>{if(e===3)return Be(s,3,a);if(!Number.isFinite(s))throw Error(`${a} must be finite`);return[s,0,0]};for(let s of o){let a=this.bodyIndex(s.body),{isTrigger:n,restitution:l,group:c,collidesWith:f,allowSleep:u}=s;if(n!==void 0||l!==void 0||c!==void 0||f!==void 0||u!==void 0){if(n!==void 0&&typeof n!="boolean")throw Error("isTrigger must be a boolean");if(u!==void 0&&typeof u!="boolean")throw Error("allowSleep must be a boolean");if(l!==void 0&&(!Number.isFinite(l)||l<0||l>1))throw Error("restitution must be between 0 and 1");if(f!==void 0&&c===void 0)throw Error("A collision-mask edit requires group as well");c!==void 0&&Rs(c),f!==void 0&&Rs(f),(i??=[]).push({index:a,isTrigger:n,restitution:l,group:c,collidesWith:f??4294967295,allowSleep:u})}let d=s.worldPoint===void 0?void 0:Be(s.worldPoint,e,"worldPoint");if(s.position!==void 0){let h=Be(s.position,e,"position"),m;if(s.rotation!==void 0){if(m=e===3?Be(s.rotation,4,"rotation"):[s.rotation],e===3){let p=Math.hypot(...m);if(!p)throw Error("rotation must be nonzero");m=m.map(b=>b/p)}else if(!Number.isFinite(s.rotation))throw Error("angle must be finite")}t.append(a,4,h,e===3?m:void 0,m!==void 0),e===2&&(t.words[(t.count-1)*12+6]=m?.[0]??0)}else if(s.rotation!==void 0)throw Error("A rotation edit requires position; use teleport for a full pose");for(let h=0;h<Fn.length;h++){if(h===4)continue;let m=Fn[h];if(s[m]===void 0)continue;let b=h===1||h>=5?r(s[m],m):Be(s[m],e,m);t.append(a,h,b,h===2||h===3?d:void 0,(h===2||h===3)&&d!==void 0),(h===3||h===6)&&(t.words[(t.count-1)*12+7]=this.params.dt)}}if(this.destroyed)throw Error("The solver was destroyed while reading body edits");t.count&&this.prepareBodyCommands().enqueueValidated(t);for(let s of i??[])s.isTrigger!==void 0&&this.setSensor(s.index,s.isTrigger),s.restitution!==void 0&&this.setRestitution(s.index,s.restitution),s.group!==void 0&&this.setFilters([s.index],[s.group],[s.collidesWith]),s.allowSleep!==void 0&&this.setSleepEnabled(s.index,s.allowSleep);return this}var Os=class{constructor(e,t){this.solver=e,this.index=t}get gpuIndex(){return this.solver.liveIndex(this.index),this.index}setLinearVelocity(e){return this.solver.setLinearVelocity(this.gpuIndex,e),this}setAngularVelocity(e){return this.solver.setAngularVelocity(this.gpuIndex,e),this}applyImpulse(e,t){return this.solver.applyImpulse(this.gpuIndex,e,t),this}applyForce(e,t){return this.solver.applyForce(this.gpuIndex,e,t),this}applyAngularImpulse(e){return this.solver.applyAngularImpulse(this.gpuIndex,e),this}applyTorque(e){return this.solver.applyTorque(this.gpuIndex,e),this}teleport(e,t){return this.solver.teleport(this.gpuIndex,e,t),this}setTrigger(e){return this.solver.setSensor(this.gpuIndex,e),this.solver.wakeAll(),this}setRestitution(e){return this.solver.setRestitution(this.gpuIndex,e),this.solver.wakeAll(),this}setCollisionGroups(e,t=4294967295){return this.solver.setFilters([this.gpuIndex],[Rs(e)],[Rs(t)]),this.solver.wakeAll(),this}setSleepEnabled(e){return this.solver.setSleepEnabled(this.gpuIndex,e),this}wakeUp(){return this.solver.liveIndex(this.index),this.solver.wakeAll(),this}readState(){return this.solver.readBodyState(this.gpuIndex)}};function Nn(o,{maxSubSteps:e=6,maxFrameTime:t=.05}={}){if(!Number.isInteger(e)||e<1||!Number.isFinite(t)||t<=0)throw Error("Stepping limits must be positive");let i=o.params.dt;if(!Number.isFinite(i)||i<=0)throw Error("Simulation timestep must be positive and finite");return{dt:i,maxSubSteps:e,maxFrameTime:t}}function Un(o,e,t,i){if(o.destroyed)throw Error("The solver has been destroyed");if(!Number.isFinite(e)||e<0)throw Error("elapsed must be finite nonnegative seconds");let{dt:r,maxSubSteps:s,maxFrameTime:a}=Nn(o,t);o.timeAccumulator=Math.min(s*r,(o.timeAccumulator??0)+Math.min(a,e));let n=0;for(;o.timeAccumulator+1e-12>=r&&n<s;)o.step(),o.timeAccumulator=Math.max(0,o.timeAccumulator-r),n++,i?.(o);return n}function bc(o,e){return Un(this,o,e)}function qn(o,{afterStep:e,...t}={}){if(this.destroyed)throw Error("The solver has been destroyed");if(!o?.onBeforeRenderObservable?.add||!o?.onDisposeObservable?.addOnce||!o?.getEngine)throw Error("A Babylon scene is required");if(e!==void 0&&typeof e!="function")throw Error("afterStep must be a function");if(Nn(this,t),this.sceneBinding){if(this.sceneBinding.scene===o)return this;throw Error("The solver is already attached to another scene")}let i=o.onBeforeRenderObservable.add(()=>{Un(this,Math.max(0,o.getEngine().getDeltaTime()/1e3),t,e)}),r=o.onDisposeObservable.addOnce(()=>this.destroy());return this.sceneBinding={scene:o,before:i,dispose:r},this}function Vn(){let o=this.sceneBinding;return o&&(o.scene.onBeforeRenderObservable.remove(o.before),o.scene.onDisposeObservable.remove(o.dispose),this.sceneBinding=null,this.timeAccumulator=0),this}function js(o,e,t){o.advance=bc;let i,r;o.bodyIndex=function(a){if(this.destroyed)throw Error("The solver has been destroyed");let n=a;if(a instanceof Os){if(a.solver!==this)throw Error("Body belongs to another solver");return a.gpuIndex}return typeof n!="number"&&t===3&&(r||(r=new WeakMap,e.bodies.forEach((l,c)=>r.set(l,this.gpuIndex(c)))),n=r.get(a)),this.liveIndex(n),n},o.body=function(a){let n=this.bodyIndex(a);return i??=new Map,i.has(n)||i.set(n,new Os(this,n)),i.get(n)},o.editBodies=function(a){return pc.call(this,a,t)},o.setLinearVelocities=function(a,n){if(this.destroyed)throw Error("The solver has been destroyed");return this.velocityBatch??=new Ct(this,t),this.velocityBatch.set(a,n),this},o.setVelocities=function(a,n){if(this.destroyed)throw Error("The solver has been destroyed");return n?.angular===void 0&&n?.linear!==void 0?this.setLinearVelocities(a,n.linear):n?.linear===void 0&&n?.angular!==void 0?this.setAngularVelocities(a,n.angular):(this.motionBatch??=new Gt(this,t),this.motionBatch.set(a,n),this)},o.setAngularVelocities=function(a,n){if(this.destroyed)throw Error("The solver has been destroyed");return this.angularVelocityBatch??=new Ct(this,t,"angular"),this.angularVelocityBatch.set(a,n),this};let s=o.destroy;return o.destroy=function(){this.destroyed||(this.velocityBatch?.destroy(),this.angularVelocityBatch?.destroy(),this.motionBatch?.destroy(),this.bodyReadback?.destroy(),this.editStaging=null,s.call(this),i?.clear(),r=null,e=null)},t===2&&(o.readSelectedBodies=function(a,{posesOnly:n=!1}={}){let l=a instanceof Uint32Array?a:Array.from(a);return l.forEach(c=>this.liveIndex(c)),this.flushEdits(),this.bodyReadback??=new Ft(this.device),this.bodyReadback.read(this.bodyBuffer,l,n,6)}),o}var Ts=class extends Is{constructor(e,t,i){super(e,t,i),js(this,null,2)}};var Ho=`struct Body { pos:vec4f, rot:vec4f, initialPos:vec4f, initialRot:vec4f, size:vec4f, moment:vec4f, inertialPos:vec4f, inertialRot:vec4f, velocity:vec4f, angular:vec4f }
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4793
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let bound`);this.compile(l,[this.layouts.solve,this.layouts.pass],["warmStartJoints","warmStartBodies","primal","primalScan","dual","refreshStick","updateVelocities"]);let c=nr.replaceAll("if (gid.x >= topoCount()) { return; }",`if (gid.x >= topoCount()) { return; }
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4794
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+
if((contacts[gid.x].ids.w&0x80000000u)!=0u){return;}`);this.compile(c,[this.layouts.topo],["degreeContacts","fillContacts"])}this.sensorsEnabled&&Q(this).float(this.bodyBuffer,e*24+7,t?1:0),this.triggers??=new Set,t?this.triggers.add(e):this.triggers.delete(e)}compile(e,t,i){e.includes("fn warmStartBodies(")&&(e=Wn($n(Kn(e)))),e.includes("fn dynamicBody(")&&(e=Xn(e)),e.includes("fn colorCount(")&&(e=Hn(e));let r=this.device,s=r.createShaderModule({code:e}),a=r.createPipelineLayout({bindGroupLayouts:t});for(let n of i)this.pipes[n]=r.createComputePipeline({layout:a,compute:{module:s,entryPoint:n}})}watchContacts({maxPairs:e=8192,maxEvents:t=4096,indices:i}={}){if(this.destroyed)throw Error("The 2D solver has been destroyed");if(i!==void 0){if(!Array.isArray(i))throw Error("Watched indices must be an array of live body indices");for(let r of i)this.liveIndex(r)}for(let r of[e,t])if(!Number.isInteger(r)||r<1)throw Error("Contact capacities must be positive integers");return this.contactWatch||(this.contactWatch=new $t(this.device,this.bodyBuffer,this.bodyCapacity,e,t,2),i===void 0&&this.contactWatch.setWatched(Array.from({length:this.bodyCount},(r,s)=>s),Array(this.bodyCount).fill(!0))),i!==void 0&&(this.watchedIndices=new Set(i),this.contactWatch.setWatched(Array.from({length:this.bodyCount},(r,s)=>s),Array.from({length:this.bodyCount},(r,s)=>this.watchedIndices.has(s)))),this}async readContactEvents(){this.watchContacts();let e=await this.contactWatch.read();return{...e,events:e.events.map(t=>({...t,type:t.kind===Xt?"begin":"end",isTrigger:!!(this.triggers?.has(t.a)||this.triggers?.has(t.b))}))}}step(){if(this.destroyed)throw Error("The 2D solver has been destroyed");this.sleeping||this.restitution?.active.size||this.bodyCommands?.pending.size||this.propertyEdits?.pending?Yn.call(this):super.step(),this.contactWatch&&this.contactWatch.run({manifolds:this.contactBuffers[1-this.parity],contacts:this.contactBuffers[1-this.parity],counters:this.counterBuffer},this.contactCapacity,this.eventStep=(this.eventStep??0)+1,this.params.dt)}encodeStepPrelude(e){this.flushPropertyEdits(e),this.sleeping?.before(e),this.bodyCommands?.flush(e),this.restitution?.before(e)}encodeStepPostlude(e){this.restitution?.after(e),this.sleeping?.after(e)}destroy(){this.passConstantCache=null,this.propertyEdits?.destroy(),!this.destroyed&&(this.detachFromScene(),this.shapeQueries?.destroy(),this.restitution?.destroy(),this.filters?.destroy(),this.shapeBuffer?.destroy(),this.bodyCommands?.destroy(),this.contactWatch?.destroy(),this.sleeping?.destroy(),super.destroy())}enableSleeping(e={}){if(this.destroyed)throw Error("The 2D solver has been destroyed");return this.sleeping?this.sleeping.options=zs(e):this.sleeping=new Es(this,e),this}disableSleeping(){if(this.destroyed)throw Error("The 2D solver has been destroyed");return this.sleeping&&(this.sleeping.wakeRequested=!0,this.sleeping.before(),this.sleeping.destroy(),this.sleeping=null),this}setSleepEnabled(e,t){if(this.liveIndex(e),typeof t!="boolean")throw Error("Sleep flag must be boolean");return this.sleepEligible.set(e,t),t&&!this.sleeping&&this.enableSleeping(),this.sleeping?.register(e,t),this.wakeAll(),this}wakeAll(){return this.sleeping&&(this.sleeping.wakeRequested=!0),this}wakeUp(e){return this.liveIndex(e),this.wakeAll()}async readSleepStats(){return this.sleeping?this.sleeping.readStats():{sleeping:0,wakeRequested:!1}}flushEdits(){this.flushPropertyEdits(),this.sleeping?.wakeRequested&&this.sleeping.before(),this.bodyCommands?.flush()}flushPropertyEdits(e){this.propertyEdits?.flush(e)}readJoints(){return this.flushPropertyEdits(),super.readJoints()}attachToScene(e,{maxSubSteps:t=6,maxFrameTime:i=.05,afterStep:r}={}){if(this.destroyed)throw Error("The 2D solver has been destroyed");if(!e?.onBeforeRenderObservable?.add||!e?.onDisposeObservable?.addOnce||!e?.getEngine)throw Error("A Babylon scene is required");if(!Number.isInteger(t)||t<1||!Number.isFinite(i)||i<=0||r!==void 0&&typeof r!="function")throw Error("Scene stepping requires positive frame limits and an optional afterStep function");if(this.sceneBinding){if(this.sceneBinding.scene===e)return this;throw Error("The 2D solver is already attached to another scene")}let s=0,a=e.onBeforeRenderObservable.add(()=>{let l=this.params.dt;if(!(l>0)||!Number.isFinite(l))throw Error("Simulation timestep must be positive and finite");let c=e.getEngine().getDeltaTime()/1e3;s=Math.min(t*l,s+Math.min(i,Math.max(0,c)));for(let f=0;s+1e-12>=l&&f<t&&(this.step(),s=Math.max(0,s-l),r?.(this),!(!this.sceneBinding||this.destroyed));f++);}),n=e.onDisposeObservable.addOnce(()=>this.destroy());return this.sceneBinding={scene:e,before:a,dispose:n},this}detachFromScene(){let e=this.sceneBinding;return e&&(e.scene.onBeforeRenderObservable.remove(e.before),e.scene.onDisposeObservable.remove(e.dispose),this.sceneBinding=null),this}};var Us=o=>{if(!Number.isInteger(o)||o<0||o>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");return o};function Be(o,e,t){let i=o&&typeof o.x=="number"?[o.x,o.y,...e>=3?[o.z]:[],...e===4?[o.w]:[]]:Array.isArray(o)||ArrayBuffer.isView(o)&&!(o instanceof DataView)?o:Array.from(o??[]);if(i.length!==e||!i.every(Number.isFinite))throw Error(`${t} requires ${e} finite components`);return i}var rl=["linearVelocity","angularVelocity","impulse","force","","angularImpulse","torque"];function Dc(o,e){if(this.destroyed)throw Error("The solver has been destroyed");let t=this.editInProgress,i=t?new xi:this.editStaging??=new xi;this.editInProgress=!0;try{return Gc.call(this,o,e,i)}finally{this.editInProgress=t}}function Gc(o,e,t){t.count=0;let i,r=(s,a)=>{if(e===3)return Be(s,3,a);if(!Number.isFinite(s))throw Error(`${a} must be finite`);return[s,0,0]};for(let s of o){let a=this.bodyIndex(s.body),{isTrigger:n,restitution:l,group:c,collidesWith:f,allowSleep:u}=s;if(n!==void 0||l!==void 0||c!==void 0||f!==void 0||u!==void 0){if(n!==void 0&&typeof n!="boolean")throw Error("isTrigger must be a boolean");if(u!==void 0&&typeof u!="boolean")throw Error("allowSleep must be a boolean");if(l!==void 0&&(!Number.isFinite(l)||l<0||l>1))throw Error("restitution must be between 0 and 1");if(f!==void 0&&c===void 0)throw Error("A collision-mask edit requires group as well");c!==void 0&&Us(c),f!==void 0&&Us(f),(i??=[]).push({index:a,isTrigger:n,restitution:l,group:c,collidesWith:f??4294967295,allowSleep:u})}let d=s.worldPoint===void 0?void 0:Be(s.worldPoint,e,"worldPoint");if(s.position!==void 0){let p=Be(s.position,e,"position"),m;if(s.rotation!==void 0){if(m=e===3?Be(s.rotation,4,"rotation"):[s.rotation],e===3){let h=Math.hypot(...m);if(!h)throw Error("rotation must be nonzero");m=m.map(b=>b/h)}else if(!Number.isFinite(s.rotation))throw Error("angle must be finite")}t.append(a,4,p,e===3?m:void 0,m!==void 0),e===2&&(t.words[(t.count-1)*12+6]=m?.[0]??0)}else if(s.rotation!==void 0)throw Error("A rotation edit requires position; use teleport for a full pose");for(let p=0;p<rl.length;p++){if(p===4)continue;let m=rl[p];if(s[m]===void 0)continue;let b=p===1||p>=5?r(s[m],m):Be(s[m],e,m);t.append(a,p,b,p===2||p===3?d:void 0,(p===2||p===3)&&d!==void 0),(p===3||p===6)&&(t.words[(t.count-1)*12+7]=this.params.dt)}}if(this.destroyed)throw Error("The solver was destroyed while reading body edits");t.count&&this.prepareBodyCommands().enqueueValidated(t);for(let s of i??[])s.isTrigger!==void 0&&this.setSensor(s.index,s.isTrigger),s.restitution!==void 0&&this.setRestitution(s.index,s.restitution),s.group!==void 0&&this.setFilters([s.index],[s.group],[s.collidesWith]),s.allowSleep!==void 0&&this.setSleepEnabled(s.index,s.allowSleep);return this}var Ns=class{constructor(e,t){this.solver=e,this.index=t}get gpuIndex(){return this.solver.liveIndex(this.index),this.index}setLinearVelocity(e){return this.solver.setLinearVelocity(this.gpuIndex,e),this}setAngularVelocity(e){return this.solver.setAngularVelocity(this.gpuIndex,e),this}applyImpulse(e,t){return this.solver.applyImpulse(this.gpuIndex,e,t),this}applyForce(e,t){return this.solver.applyForce(this.gpuIndex,e,t),this}applyAngularImpulse(e){return this.solver.applyAngularImpulse(this.gpuIndex,e),this}applyTorque(e){return this.solver.applyTorque(this.gpuIndex,e),this}teleport(e,t){return this.solver.teleport(this.gpuIndex,e,t),this}setTrigger(e){return this.solver.setSensor(this.gpuIndex,e),this.solver.wakeAll(),this}setRestitution(e){return this.solver.setRestitution(this.gpuIndex,e),this.solver.wakeAll(),this}setCollisionGroups(e,t=4294967295){return this.solver.setFilters([this.gpuIndex],[Us(e)],[Us(t)]),this.solver.wakeAll(),this}setSleepEnabled(e){return this.solver.setSleepEnabled(this.gpuIndex,e),this}wakeUp(){return this.solver.liveIndex(this.index),this.solver.wakeAll(),this}readState(){return this.solver.readBodyState(this.gpuIndex)}};function sl(o,{maxSubSteps:e=6,maxFrameTime:t=.05}={}){if(!Number.isInteger(e)||e<1||!Number.isFinite(t)||t<=0)throw Error("Stepping limits must be positive");let i=o.params.dt;if(!Number.isFinite(i)||i<=0)throw Error("Simulation timestep must be positive and finite");return{dt:i,maxSubSteps:e,maxFrameTime:t}}function ol(o,e,t,i){if(o.destroyed)throw Error("The solver has been destroyed");if(!Number.isFinite(e)||e<0)throw Error("elapsed must be finite nonnegative seconds");let{dt:r,maxSubSteps:s,maxFrameTime:a}=sl(o,t);o.timeAccumulator=Math.min(s*r,(o.timeAccumulator??0)+Math.min(a,e));let n=0;for(;o.timeAccumulator+1e-12>=r&&n<s;)o.step(),o.timeAccumulator=Math.max(0,o.timeAccumulator-r),n++,i?.(o);return n}function Fc(o,e){return ol(this,o,e)}function al(o,{afterStep:e,...t}={}){if(this.destroyed)throw Error("The solver has been destroyed");if(!o?.onBeforeRenderObservable?.add||!o?.onDisposeObservable?.addOnce||!o?.getEngine)throw Error("A Babylon scene is required");if(e!==void 0&&typeof e!="function")throw Error("afterStep must be a function");if(sl(this,t),this.sceneBinding){if(this.sceneBinding.scene===o)return this;throw Error("The solver is already attached to another scene")}let i=o.onBeforeRenderObservable.add(()=>{ol(this,Math.max(0,o.getEngine().getDeltaTime()/1e3),t,e)}),r=o.onDisposeObservable.addOnce(()=>this.destroy());return this.sceneBinding={scene:o,before:i,dispose:r},this}function nl(){let o=this.sceneBinding;return o&&(o.scene.onBeforeRenderObservable.remove(o.before),o.scene.onDisposeObservable.remove(o.dispose),this.sceneBinding=null,this.timeAccumulator=0),this}function qs(o,e,t){o.advance=Fc;let i,r;o.bodyIndex=function(a){if(this.destroyed)throw Error("The solver has been destroyed");let n=a;if(a instanceof Ns){if(a.solver!==this)throw Error("Body belongs to another solver");return a.gpuIndex}return typeof n!="number"&&t===3&&(r||(r=new WeakMap,e.bodies.forEach((l,c)=>r.set(l,this.gpuIndex(c)))),n=r.get(a)),this.liveIndex(n),n},o.body=function(a){let n=this.bodyIndex(a);return i??=new Map,i.has(n)||i.set(n,new Ns(this,n)),i.get(n)},o.editBodies=function(a){return Dc.call(this,a,t)},o.setLinearVelocities=function(a,n){if(this.destroyed)throw Error("The solver has been destroyed");return this.velocityBatch??=new Lt(this,t),this.velocityBatch.set(a,n),this},o.setVelocities=function(a,n){if(this.destroyed)throw Error("The solver has been destroyed");return n?.angular===void 0&&n?.linear!==void 0?this.setLinearVelocities(a,n.linear):n?.linear===void 0&&n?.angular!==void 0?this.setAngularVelocities(a,n.angular):(this.motionBatch??=new Ht(this,t),this.motionBatch.set(a,n),this)},o.setAngularVelocities=function(a,n){if(this.destroyed)throw Error("The solver has been destroyed");return this.angularVelocityBatch??=new Lt(this,t,"angular"),this.angularVelocityBatch.set(a,n),this};let s=o.destroy;return o.destroy=function(){this.destroyed||(this.velocityBatch?.destroy(),this.angularVelocityBatch?.destroy(),this.motionBatch?.destroy(),this.bodyReadback?.destroy(),this.editStaging=null,s.call(this),i?.clear(),r=null,e=null)},t===2&&(o.readSelectedBodies=function(a,{posesOnly:n=!1}={}){let l=a instanceof Uint32Array?a:Array.from(a);return l.forEach(c=>this.liveIndex(c)),this.flushEdits(),this.bodyReadback??=new Jt(this.device),this.bodyReadback.read(this.bodyBuffer,l,n,6)}),o}var Vs=class extends Fs{constructor(e,t,i){super(e,t,i),qs(this,null,2)}};var sa=`struct Body { pos:vec4f, rot:vec4f, initialPos:vec4f, initialRot:vec4f, size:vec4f, moment:vec4f, inertialPos:vec4f, inertialRot:vec4f, velocity:vec4f, angular:vec4f }
|
|
4706
4795
|
struct Command { header:vec4u, value:vec4f, point:vec4f }
|
|
4707
4796
|
struct Manifold { ids:vec4u, geo:vec4f }
|
|
4708
4797
|
@group(0) @binding(0) var<storage,read_write> bodies:array<Body>;
|
|
@@ -4755,26 +4844,26 @@ fn angularImpulse(b:Body,impulse:vec3f)->vec3f {
|
|
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4755
4844
|
let index=commands[ranges[i].x].header.x;
|
|
4756
4845
|
if(bodies[index].initialPos.w<0.){bodies[index].initialPos.w=-bodies[index].initialPos.w-1.;}
|
|
4757
4846
|
}
|
|
4758
|
-
`;var
|
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4759
|
-
${
|
|
4847
|
+
`;var oa=class extends ir{constructor(e){super(e,sa,3)}encodeAfterEdits(e,t){if(!this.hasTeleports)return;let i=this.solver,r=i.device;if(!this.invalidate){let c=r.createShaderModule({code:`const DISPATCH_STRIDE = ${r.limits.maxComputeWorkgroupsPerDimension*64}u;
|
|
4848
|
+
${sa}`});this.invalidate=r.createComputePipeline({layout:"auto",compute:{module:c,entryPoint:"invalidate"}}),this.clearMarkers=r.createComputePipeline({layout:"auto",compute:{module:c,entryPoint:"clearMarkers"}})}(this.invalidateBody!==i.bodyBuffer||this.invalidateManifolds!==i.contactStorage.manifolds)&&(this.invalidateGroup=r.createBindGroup({layout:this.invalidate.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:i.bodyBuffer}},{binding:3,resource:{buffer:i.contactStorage.manifolds}}]}),this.invalidateBody=i.bodyBuffer,this.invalidateManifolds=i.contactStorage.manifolds);let s=e.beginComputePass();s.setPipeline(this.invalidate),s.setBindGroup(0,this.invalidateGroup);let a=Math.ceil(i.manifoldCapacity/64),n=r.limits.maxComputeWorkgroupsPerDimension;s.dispatchWorkgroups(Math.min(a,n),Math.ceil(a/n)),s.end(),(this.markerBody!==i.bodyBuffer||this.markerCommands!==this.commands||this.markerRanges!==this.ranges||this.markerBytes!==t*8)&&(this.markerGroup=r.createBindGroup({layout:this.clearMarkers.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:i.bodyBuffer}},{binding:1,resource:{buffer:this.commands}},{binding:2,resource:{buffer:this.ranges,size:t*8}}]}),this.markerBody=i.bodyBuffer,this.markerCommands=this.commands,this.markerRanges=this.ranges,this.markerBytes=t*8),s=e.beginComputePass(),s.setPipeline(this.clearMarkers),s.setBindGroup(0,this.markerGroup);let l=Math.ceil(t/64);s.dispatchWorkgroups(Math.min(l,n),Math.ceil(l/n)),s.end()}},Ws=class extends Vt{constructor(e,t,i){super(e,t,i),this.nativeRef=t,qs(this,{bodies:t.bodies},3)}rigidAt(e){return this.nativeBodies||(this.nativeBodies=[],this.nativeRef.bodies.forEach((t,i)=>this.nativeBodies[this.gpuIndex(i)]=t)),this.nativeBodies[e]}rewriteBodies(e,t){if(super.rewriteBodies(e,t),this.nativeBodies)for(let i=0;i<e.length;i++)this.nativeBodies[e[i]]=t[i]}liveIndex(e){if(this.destroyed)throw Error("The 3D solver has been destroyed");if(!Number.isInteger(e)||e<0||e>=this.bodyCount)throw Error("A live 3D GPU body index is required")}queueBodyCommand(e,t,i,r,s=!1){return this.liveIndex(e),this.prepareBodyCommands(),this.bodyCommands.enqueue(e,t,i,r,s),this}prepareBodyCommands(){return this.wakeAll(),this.bodyCommands??=new oa(this)}setLinearVelocity(e,t){return this.queueBodyCommand(e,0,Be(t,3,"velocity"))}setAngularVelocity(e,t){return this.queueBodyCommand(e,1,Be(t,3,"angular velocity"))}applyImpulse(e,t,i){return this.queueBodyCommand(e,2,Be(t,3,"impulse"),i===void 0?void 0:Be(i,3,"point"),i!==void 0)}applyForce(e,t,i){return this.queueBodyCommand(e,3,[...Be(t,3,"force"),this.params.dt],i===void 0?void 0:Be(i,3,"point"),i!==void 0)}applyAngularImpulse(e,t){return this.queueBodyCommand(e,5,Be(t,3,"angular impulse"))}applyTorque(e,t){return this.queueBodyCommand(e,6,[...Be(t,3,"torque"),this.params.dt])}teleport(e,t,i){let r=Be(t,3,"position"),s;if(i!==void 0){s=Be(i,4,"rotation");let a=Math.hypot(...s);if(!a)throw Error("rotation must be nonzero");s=s.map(n=>n/a)}return this.queueBodyCommand(e,4,r,s,s!==void 0)}flushEdits(){if(this.destroyed)throw Error("The 3D solver has been destroyed");this.flushPropertyEdits(),this.sleeping?.wakeRequested&&this.sleeping.before(),this.bodyCommands?.flush()}readBodies(){return this.flushEdits(),super.readBodies()}readSelectedBodies(e,{posesOnly:t=!1}={}){let i=e instanceof Uint32Array?e:Array.from(e);return i.forEach(r=>this.liveIndex(r)),this.flushEdits(),this.bodyReadback??=new Jt(this.device),this.bodyReadback.read(this.bodyBuffer,i,t)}async readBodyState(e){let t=await this.readSelectedBodies([e]),i=this.rigidAt(e)?.mass??t[19];return{position:Array.from(t.subarray(0,3)),rotation:Array.from(t.subarray(4,8)),linearVelocity:Array.from(t.subarray(32,35)),angularVelocity:Array.from(t.subarray(36,39)),mass:i,effectiveMass:t[19],sleeping:i>0&&t[19]===0}}raycastAll(...e){return this.flushEdits(),super.raycastAll(...e)}sphereCastAll(...e){return this.flushEdits(),super.sphereCastAll(...e)}watchContacts({maxPairs:e=8192,maxEvents:t=4096,indices:i}={}){if(this.destroyed)throw Error("The 3D solver has been destroyed");if(i!==void 0){if(!Array.isArray(i))throw Error("Watched indices must be an array");i.forEach(r=>this.liveIndex(r))}for(let r of[e,t])if(!Number.isInteger(r)||r<1)throw Error("Contact capacities must be positive integers");if(this.contactWatch||(this.contactWatch=new $t(this.device,this.bodyBuffer,this.bodyCapacity,e,t),i===void 0&&(i=Array.from({length:this.bodyCount},(r,s)=>s))),i!==void 0){let r=new Set(i);this.contactWatch.setWatched(Array.from({length:this.bodyCount},(s,a)=>a),Array.from({length:this.bodyCount},(s,a)=>r.has(a)))}return this}async readContactEvents(){this.watchContacts();let e=await this.contactWatch.read();return{...e,events:e.events.map(t=>({...t,type:t.kind===Xt?"begin":"end",isTrigger:!!(this.triggers?.has(t.a)||this.triggers?.has(t.b))}))}}setSensor(e,t){super.setSensor(e,t),this.triggers??=new Set,t?this.triggers.add(e):this.triggers.delete(e)}setSleepEnabled(e,t){if(this.liveIndex(e),typeof t!="boolean")throw Error("Sleep flag must be boolean");let i=this.rigidAt(e);if(!i)throw Error("Sleep eligibility requires a scene body");return i.allowSleep=t,t&&!this.sleeping&&this.enableSleeping(),this.sleeping?.register(e,i.mass,t),this.wakeAll(),this}enableSleeping(e={},t={}){let i=e.bodies?e:this.nativeRef;return super.enableSleeping(i,e.bodies?t:e),this}disableSleeping(){return this.flushEdits(),this.sleeping&&(this.sleeping.wakeRequested=!0,this.sleeping.before(),this.sleeping.dispose(),this.sleeping=null),this}attachToScene(e,t){return al.call(this,e,t)}detachFromScene(){return nl.call(this)}step(){if(this.destroyed)throw Error("The 3D solver has been destroyed");super.step(),this.contactWatch?.run(this.contactStorage,this.manifoldCapacity,this.stepCount,this.params.dt)}destroy(){this.destroyed||(this.detachFromScene(),this.bodyCommands?.destroy(),this.contactWatch?.destroy(),super.destroy(),this.destroyed=!0)}};function Pr(o,e,t){if(o.split(e).length!==2)throw Error("Pinned solver changed; review the cloth kernel integration");return o.replace(e,t)}var Et=Pr(be," if (j >= params.jointCount || info[j].x != T_JOINT) { return; }",` if (j >= params.jointCount) { return; }
|
|
4760
4849
|
if (info[j].x == T_SPRING) {
|
|
4761
4850
|
// Finite material stiffness: Eq. 16, with no hard-constraint multiplier.
|
|
4762
4851
|
joints[j].penLin.x = min(joints[j].penLin.w, max(PENALTY_MIN, joints[j].penLin.x * params.gamma));
|
|
4763
4852
|
return;
|
|
4764
4853
|
}
|
|
4765
|
-
if (info[j].x != T_JOINT) { return; }`);
|
|
4854
|
+
if (info[j].x != T_JOINT) { return; }`);Et=Pr(Et," let stiffness = k.penLin.w;"," let stiffness = k.penLin.x;");Et=Pr(Et," addRow(acc, n * sg, cross(r, n) * sg, stiffness, stiffness * (len - k.rA.w));",` let force = stiffness * (len - k.rA.w);
|
|
4766
4855
|
addRow(acc, n * sg, cross(r, n) * sg, stiffness, force);
|
|
4767
4856
|
// Eq. 17: positive diagonal lumping of the geometric Hessian's column
|
|
4768
4857
|
// norms. For C=|xA-xB|-L, G=(force/len)(I-n*n^T).
|
|
4769
4858
|
let g = abs(force / len) * sqrt(max(vec3f(0.0), vec3f(1.0) - n*n));
|
|
4770
|
-
(*acc).lin += mat3x3f(vec3f(g.x,0.0,0.0), vec3f(0.0,g.y,0.0), vec3f(0.0,0.0,g.z));`);
|
|
4859
|
+
(*acc).lin += mat3x3f(vec3f(g.x,0.0,0.0), vec3f(0.0,g.y,0.0), vec3f(0.0,0.0,g.z));`);Et=Pr(Et," if (t != T_JOINT) { return; }",` if (t == T_SPRING) {
|
|
4771
4860
|
let a = info[j].y;
|
|
4772
4861
|
let b = info[j].z;
|
|
4773
4862
|
let C = length(anchorA(joints[j], a) - (qrotate(bodies[b].rot, joints[j].rB.xyz) + bodies[b].pos.xyz)) - joints[j].rA.w;
|
|
4774
4863
|
joints[j].penLin.x = min(joints[j].penLin.w, joints[j].penLin.x + params.betaLin * abs(C));
|
|
4775
4864
|
return;
|
|
4776
4865
|
}
|
|
4777
|
-
if (t != T_JOINT) { return; }`);
|
|
4866
|
+
if (t != T_JOINT) { return; }`);Et=Pr(Et,"fn finishBody(i: u32, acc: Acc) {",`fn finishBody(i: u32, acc: Acc) {
|
|
4778
4867
|
if (all(bodies[i].moment.xyz == vec3f(0.0))) {
|
|
4779
4868
|
// LDL^T of the point's 3x3 SPD system, using the same pivot floor as
|
|
4780
4869
|
// rigid bodies. Contact friction moves the point; it cannot spin it.
|
|
@@ -4792,4 +4881,4 @@ ${Ho}`});this.invalidate=r.createComputePipeline({layout:"auto",compute:{module:
|
|
|
4792
4881
|
let v1 = y1/d1 - l21*v2 - l31*v3;
|
|
4793
4882
|
bodies[i].pos = vec4f(bodies[i].pos.xyz - vec3f(v1,v2,v3), bodies[i].pos.w);
|
|
4794
4883
|
return;
|
|
4795
|
-
}`);var Hn=Pt;var J=(o,e,t)=>{let i=Array.from(o);if(i.length!==e||!i.every(Number.isFinite))throw Error(`${t} requires ${e} finite components`);return i},V=(o,e,t=!1)=>{if(!Number.isFinite(o)||(t?o<0:o<=0))throw Error(`${e} must be ${t?"nonnegative":"positive"} and finite`);return o},Wn=o=>{if(!Number.isInteger(o)||o<0||o>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");return o};function Gs(o){for(let t of["allowSleep","isTrigger"])if(o[t]!==void 0&&typeof o[t]!="boolean")throw Error(`${t} must be a boolean`);let e=o.restitution??0;if(!Number.isFinite(e)||e<0||e>1)throw Error("restitution must be between 0 and 1");if(o.mass!==void 0&&(V(o.mass,"mass",!0),o.mass>0&&o.density===0))throw Error("A positive mass needs positive density");for(let t of["velocity","angularVelocity"])o[t]!==void 0&&J(o[t],3,t);if(o.rotation!==void 0&&!Math.hypot(...J(o.rotation,4,"rotation")))throw Error("rotation must be nonzero");Wn(o.group??4294967295),Wn(o.collidesWith??4294967295)}function Jn(o,e){if(e.timeStep!==void 0&&(o.dt=V(e.timeStep,"timeStep")),e.iterations!==void 0){if(V(e.iterations,"iterations"),!Number.isInteger(e.iterations))throw Error("iterations must be an integer");o.iterations=e.iterations}if(e.gravity!==void 0){if(!Number.isFinite(e.gravity))throw Error("gravity must be finite");o.gravity=e.gravity}}var Jo=class{constructor(e={}){if(this.ref=new Pi,Jn(this.ref,e),this.up=J(e.up??[0,1,0],3,"up"),Math.abs(Math.hypot(...this.up)-1)>1e-5)throw Error("up must be a unit vector");this.points=!1,this.handles=new Map,this.bodySet=new Set}get bodies(){return this.ref.bodies}get constraints(){return[...this.handles.values()]}assertEditable(){if(this.created)throw Error("Build this scene before createSolver; use the solver's GPU edit methods afterwards")}addBox(e,t={}){this.assertEditable(),Gs(t);let i=J(e,3,"size");i.forEach(s=>V(s,"size"));let r=new at(this.ref,i,V(t.density??1,"density",!0),V(t.friction??.6,"friction",!0),J(t.position??[0,0,0],3,"position"));return this.configure(r,t)}addSphere(e,t={}){return this.assertEditable(),Gs(t),this.configure(Rr(this.ref,V(e,"radius"),V(t.density??1,"density",!0),V(t.friction??.6,"friction",!0),J(t.position??[0,0,0],3,"position")),t)}addHull(e,t={}){if(this.assertEditable(),Gs(t),e.length%3||!Array.from(e).every(Number.isFinite))throw Error("Hull points must contain finite xyz triples");let i=er(e);if(!i)throw Error("A convex hull requires finite points spanning a volume");return this.hulls=!0,this.configure(Or(this.ref,i,V(t.density??1,"density",!0),V(t.friction??.6,"friction",!0),J(t.position??[0,0,0],3,"position")),t)}addCapsule(e,t,i={}){return this.assertEditable(),Gs(i),this.configure(ts(this.ref,e,t,V(i.density??1,"density",!0),V(i.friction??.6,"friction",!0),J(i.position??[0,0,0],3,"position")),i)}configure(e,t){if(t.allowSleep!==void 0&&typeof t.allowSleep!="boolean")throw Error("allowSleep must be a boolean");e.allowSleep=t.allowSleep??!0,this.sleepOptIn||=t.allowSleep===!0;let i=t.restitution??0;if(!Number.isFinite(i)||i<0||i>1)throw Error("restitution must be between 0 and 1");if(e.restitution=i,t.isTrigger!==void 0&&typeof t.isTrigger!="boolean")throw Error("isTrigger must be a boolean");if(e.isTrigger=t.isTrigger??!1,e.group=t.group??4294967295,e.collidesWith=t.collidesWith??4294967295,t.mass!==void 0){let r=V(t.mass,"mass",!0);if(e.mass===0&&r>0)throw Error("A positive mass needs positive density");let s=e.mass>0?r/e.mass:0;e.mass=r,e.moment.forEach((a,n)=>e.moment[n]=a*s)}if(t.rotation){let r=J(t.rotation,4,"rotation"),s=Math.hypot(...r);if(!s)throw Error("rotation must be nonzero");e.positionAng.set(r.map(a=>a/s))}return t.velocity&&e.velocityLin.set(J(t.velocity,3,"velocity")),t.angularVelocity&&e.velocityAng.set(J(t.angularVelocity,3,"angularVelocity")),this.bodySet.add(e),e}addPoint(e,{mass:t=.02,radius:i=.05,friction:r=.5}={}){let s=this.addSphere(i,{position:e,mass:t,friction:r});return s.moment.fill(0),this.points=!0,s}addFabric({columns:e=16,rows:t=16,spacing:i=.2,origin:r=[0,3,0],mass:s=.02,stiffness:a=1e3,anchorStiffness:n=a,materialAt:l,breakStrain:c=1/0,breakForce:f=1/0,bendingStiffness:u=Number.isFinite(c)||Number.isFinite(f)?0:a/50,pinCorners:d=!1,pinEdges:h=!d}={}){for(let[M,P]of Object.entries({columns:e,rows:t}))if(!Number.isInteger(P)||P<2)throw Error(`${M} must be an integer >= 2`);if(V(i,"spacing"),V(s,"mass"),V(a,"stiffness"),V(n,"anchorStiffness"),l!==void 0&&typeof l!="function")throw Error("materialAt must be a function");if(V(u,"bendingStiffness",!0),typeof d!="boolean"||typeof h!="boolean")throw Error("Fabric pin options must be boolean");let m=St({breakStrain:c,breakForce:f}),p=J(r,3,"origin"),b=(M,P)=>`${Math.min(M,P)},${Math.max(M,P)}`;function*y(){for(let M=0;M<t;M++)for(let P=0;P<e;P++){let _=M*e+P;P&&(yield[_,_-1,a]),M&&(yield[_,_-e,a]),P&&M&&(yield[_,_-e-1,a/2],yield[_-1,_-e,a/2]),P>1&&u&&(yield[_,_-2,u]),M>1&&u&&(yield[_,_-2*e,u])}}let A=new Map;if(l)for(let[M,P]of y()){let _=l((M%e+P%e)/(2*(e-1)),(Math.floor(M/e)+Math.floor(P/e))/(2*(t-1)))??{};if(typeof _!="object"||Array.isArray(_))throw Error("materialAt must return a material object");A.set(b(M,P),{scale:V(_.stiffnessScale??1,"materialAt.stiffnessScale"),material:St({...m,..._})})}let w=Array.from({length:t},(M,P)=>Array.from({length:e},(_,S)=>this.addPoint([p[0]+(S-(e-1)/2)*i,p[1],p[2]+(P-(t-1)/2)*i],{mass:h&&(S===0||P===0||S===e-1||P===t-1)||d&&(S===0||S===e-1)&&(P===0||P===t-1)?0:s,radius:i/Math.SQRT2}))),g=w.flat(),x=new Map(g.map((M,P)=>[M,P])),v=[],B=new Map,E=(M,P,_)=>{(M.mass===0||P.mass===0)&&(_*=n/a);let S=x.get(M),C=x.get(P),R=A.get(b(S,C)),I=this.addSpring(M,P,[0,0,0],[0,0,0],{stiffness:_*(R?.scale??1),...R?.material??m});return B.set(b(x.get(M),x.get(P)),v.length),v.push(I),I};for(let[M,P,_]of y())E(g[M],g[P],_);let k=[];for(let M=0;M<t;M++)for(let P=0;P<e;P++)if(P&&M){let _=(M-1)*e+P-1,S=_+1,C=M*e+P-1,R=C+1;k.push(_,C,S,S,C,R)}let z=[];for(let M=0;M<k.length;M+=3){let[P,_,S]=k.slice(M,M+3);z.push(B.get(b(P,_)),B.get(b(_,S)),B.get(b(S,P)))}return{points:g,grid:w,indices:Uint32Array.from(k),connections:v,triangleConnections:Uint32Array.from(z)}}addRope({segments:e=12,length:t=12,origin:i=[0,12,0],width:r=.15,endMass:s=20}={}){if(!Number.isInteger(e)||e<1)throw Error("segments must be a positive integer");V(t,"length"),V(r,"width"),V(s,"endMass",!0);let a=J(i,3,"origin"),n=t/e,l=this.addBox([r,r,r],{mass:0,position:a}),c=[];for(let f=0;f<e;f++){let u=this.addBox([r,n,r],{mass:1,position:[a[0],a[1]-(f+.5)*n,a[2]]});this.addJoint(f?c[f-1]:l,u,[0,f?-n/2:0,0],[0,n/2,0]),c.push(u)}if(s){let f=this.addBox([.6,.6,.6],{mass:s,position:[a[0],a[1]-t-.3,a[2]]});this.addJoint(c.at(-1),f,[0,-n/2,0],[0,.3,0]),c.push(f)}return{anchor:l,links:c}}addRagdoll({origin:e=[0,2,0],mass:t=10}={}){let i=J(e,3,"origin");V(t,"mass");let r=(l,c)=>this.addBox(l,{mass:t/10,position:c.map((f,u)=>f+i[u])}),s=r([.7,1.2,.35],[0,2,0]),a=this.addSphere(.25,{mass:t/10,position:[i[0],i[1]+2.9,i[2]]}),n=[s,a];this.addJoint(s,a,[0,.6,0],[0,-.3,0]);for(let l of[-1,1]){let c=r([.3,.8,.3],[l*.5,1.95,0]),f=r([.26,.7,.26],[l*.5,1.2,0]);this.addJoint(s,c,[l*.35,.35,0],[-l*.15,.4,0]),this.addJoint(c,f,[0,-.4,0],[0,.35,0]);let u=r([.28,.8,.3],[l*.2,1,0]),d=r([.26,.75,.28],[l*.2,.225,0]);this.addJoint(s,u,[l*.2,-.6,0],[0,.4,0]),this.addJoint(u,d,[0,-.4,0],[0,.375,0]),n.push(c,f,u,d)}return{torso:s,head:a,bodies:n}}addJoint(e,t,i=[0,0,0],r=[0,0,0],{linearStiffness:s=1/0,angularStiffness:a=0,breakForce:n=1/0,breakOnPull:l=!1}={}){this.assertEditable(),this.checkBodies(e,t);for(let c of[s,a,n])c!==1/0&&V(c,"joint stiffness/breakForce",!0);return this.handle(new Ae(this.ref,e,t,J(i,3,"anchorA"),J(r,3,"anchorB"),s,a,l&&n!==1/0?-n:n))}addSpring(e,t,i=[0,0,0],r=[0,0,0],{stiffness:s=1e3,rest:a=-1,breakStrain:n=1/0,breakForce:l=1/0}={}){if(this.assertEditable(),this.checkBodies(e,t),!e)throw Error("A spring requires two bodies");V(s,"stiffness",!0),a!==-1&&V(a,"rest",!0);let c=St({breakStrain:n,breakForce:l}),f=new ct(this.ref,e,t,J(i,3,"anchorA"),J(r,3,"anchorB"),s,a);return Yr(f,c),this.handle(f)}checkBodies(e,t){if(!t||e===t||!this.bodySet.has(t)||e&&!this.bodySet.has(e))throw Error("Constraint endpoints must be distinct bodies in this scene")}addMotor(e,t,i={}){this.assertEditable(),this.checkBodies(e,t);let r=gt({...i,type:"motor"}),s=new Ae(this.ref,e,t,[0,0,0],[0,0,0],1/0,0);return Fi(s,r),this.handle(s)}addHinge(e,t,i={}){this.assertEditable(),this.checkBodies(e,t);let r=gt({...i,type:"limit"}),s=V(i.span??1,"span"),a=J(i.anchorA??[0,0,0],3,"anchorA"),n=J(i.anchorB??[0,0,0],3,"anchorB"),l=[-1,1].map(u=>this.addJoint(e,t,a.map((d,h)=>d+u*s*.5*r.axisA[h]),n.map((d,h)=>d+u*s*.5*r.axisB[h]))),c,f;if(i.minAngle!==void 0||i.maxAngle!==void 0){let u=new Ae(this.ref,e,t,[0,0,0],[0,0,0],1/0,0);Fi(u,r),c=this.handle(u)}return i.motor&&(f=this.addMotor(e,t,{axisA:r.axisA,axisB:r.axisB,...i.motor})),{joints:l,limit:c,motor:f,dispose(){for(let u of[...l,c,f])u?.dispose()}}}handle(e){let t={slot:-1,disposed:!1,dispose:()=>{t.disposed||(this.gpu?this.gpu.destroyed||this.gpu.releaseJoints([t.slot]):e.destroy(),this.handles.delete(e),t.disposed=!0)}};return t.destroy=t.dispose,this.handles.set(e,t),t}createSolver(e,t={}){if(this.assertEditable(),this.hulls&&e.limits.maxStorageBuffersPerShaderStage<9)throw Error("Hull collisions require nine storage buffer bindings");let i=new Ds(e,this.ref,rs(this.ref,{...t,...this.points?{shaders:{...t.shaders,solve:Hn}}:{}})),r=[];this.ref.forces.forEach((l,c)=>{this.handles.get(l).slot=c,l instanceof Ae&&l.stiffnessAng>0&&r.push({slot:c})}),i.captureConstraintFrames(r),i.params.up=[...this.up];let s=[],a=[],n=[];for(let[l,c]of this.ref.bodies.entries())(c.group!==4294967295||c.collidesWith!==4294967295)&&(s.push(i.gpuIndex(l)),a.push(c.group),n.push(c.collidesWith)),c.isTrigger&&i.setSensor(i.gpuIndex(l),!0),c.restitution>0&&i.setRestitution(i.gpuIndex(l),c.restitution);return s.length&&i.setFilters(s,a,n),(t.sleeping||this.sleepOptIn)&&i.enableSleeping(this.ref,t.sleeping===!0?{}:t.sleeping),this.gpu=i,this.created=!0,i}},$o=class{constructor(e={}){if(this.topology=new vs,Object.assign(this.topology.params,ps()),Jn(this.topology.params,e),e.alpha!==void 0){if(!Number.isFinite(e.alpha)||e.alpha<0||e.alpha>1)throw Error("alpha must be between zero and one");this.topology.params.alpha=e.alpha}for(let t of["postStabilize","matchNearest"])if(e[t]!==void 0){if(typeof e[t]!="boolean")throw Error(`${t} must be boolean`);this.topology.params[t]=e[t]}}assertEditable(){if(this.created)throw Error("Build this scene before createSolver; use GPU edit methods afterwards")}get bodyCount(){return this.topology.bodyCount}addShape(e,t={}){let i=e.options??t,r=this.addBox(e.size,i);return Ms(this.topology,r,e,i.density??1),r}addCircle(e,t={}){return this.addShape(Ls(e),t)}addHull(e,t={}){return this.addShape(Ps(e),t)}addCapsule(e,t,i={}){return this.addShape(_s(e,t),i)}addSegment(e,t,i={}){return this.addShape(Es(e,t,i))}addPlane(e=[0,1],t=0,i={}){return this.addShape(zs(e,t,i))}addBox(e,{density:t=1,friction:i=.6,position:r=[0,0],angle:s=0,velocity:a=[0,0,0],restitution:n=0,isTrigger:l=!1,group:c=4294967295,collidesWith:f=4294967295,allowSleep:u}={}){if(this.assertEditable(),u!==void 0&&typeof u!="boolean")throw Error("allowSleep must be boolean");let d=J(e,2,"size");d.forEach(p=>V(p,"size"));let h=J(r,2,"position");if(!Number.isFinite(s))throw Error("angle must be finite");if(!Number.isFinite(n)||n<0||n>1)throw Error("restitution must be between 0 and 1");if(typeof l!="boolean")throw Error("isTrigger must be boolean");for(let p of[c,f])if(!Number.isInteger(p)||p<0||p>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");let m=this.topology.addBody(d,V(t,"density",!0),V(i,"friction",!0),[...h,s],J(a,3,"velocity"));return this.restitution??=new Map,n>0&&this.restitution.set(m,n),this.sensors??=new Set,l&&this.sensors.add(m),this.filters??=new Map,(c!==4294967295||f!==4294967295)&&this.filters.set(m,[c,f]),this.topology.avbdSleepEligible??=new Map,u!==void 0&&this.topology.avbdSleepEligible.set(m,u),m}checkBodies(e,t){if(!Number.isInteger(e)||!Number.isInteger(t)||e<-1||e>=this.bodyCount||t<0||t>=this.bodyCount||e===t)throw Error("Invalid 2D constraint endpoints")}addJoint(e,t,i=[0,0],r=[0,0],{stiffness:s=[1/0,1/0,0],breakForce:a=1/0}={}){if(this.assertEditable(),this.checkBodies(e,t),!s||s.length!==3||Array.from(s).some(l=>l!==1/0&&(!Number.isFinite(l)||l<0))||a!==1/0&&(!Number.isFinite(a)||a<0))throw Error("Joint stiffness and break force must be nonnegative or Infinity");let n=this.topology.addJoint(e,t,J(i,2,"anchorA"),J(r,2,"anchorB"),s,a);return this.constraintHandle(n.slot,n)}constraintHandle(e,t={}){return Object.assign(t,{slot:e,alive:!0,disposed:!1}),t.dispose=()=>{t.disposed||(this.gpu&&!this.gpu.destroyed?this.gpu.disableConstraint(e):this.gpu||this.topology.data.fill(0,e*T+$,e*T+$+3),t.alive=!1,t.disposed=!0)},t.destroy=t.dispose,this.topology.handles[e]=t,t}addSpring(e,t,i=[0,0],r=[0,0],{stiffness:s=1e3,rest:a=1}={}){if(this.assertEditable(),this.checkBodies(e,t),e<0)throw Error("A spring requires two bodies");let n=this.topology.jointCount;return this.topology.addSpring(e,t,J(i,2,"anchorA"),J(r,2,"anchorB"),V(s,"stiffness",!0),V(a,"rest",!0)),this.constraintHandle(n)}addMotor(e,t,{speed:i=1,maxTorque:r=100}={}){if(this.assertEditable(),this.checkBodies(e,t),!Number.isFinite(i))throw Error("speed must be finite");let s=this.topology.jointCount;return this.topology.addMotor(e,t,i,V(r,"maxTorque",!0)),this.constraintHandle(s)}addAngularLimit(e,t,i={}){this.assertEditable(),this.checkBodies(e,t);let r=Xi(i),s=this.topology.addJoint(e,t,[0,0],[0,0],[0,0,0]);qo(this.topology,s.slot,r);let a=this.constraintHandle(s.slot,s);return a.setLimits=n=>{if(a.disposed)throw Error("The angular limit has been disposed");return this.gpu?this.gpu.setAngleLimits(a.slot,n):qo(this.topology,a.slot,Xi(n)),a},a}addHinge(e,t,i=[0,0],r=[0,0],s={}){this.assertEditable(),this.checkBodies(e,t);let a=J(i,2,"anchorA"),n=J(r,2,"anchorB"),l=s.minAngle!==void 0||s.maxAngle!==void 0?Xi(s):null,c=s.motor;if(c){if(!Number.isFinite(c.speed??1))throw Error("speed must be finite");V(c.maxTorque??100,"maxTorque",!0)}let f=this.addJoint(e,t,a,n),u=l?this.addAngularLimit(e,t,l):null,d=c?this.addMotor(e,t,c):null;return{joint:f,limits:u,motor:d,disposed:!1,dispose(){this.disposed||(this.joint.dispose(),this.limits?.dispose(),this.motor?.dispose(),this.disposed=!0)},destroy(){this.dispose()}}}createSolver(e,t={}){this.assertEditable();let i=new Ts(e,this.topology,t);for(let[r,s]of this.restitution??[])i.setRestitution(r,s);for(let r of this.sensors??[])i.setSensor(r,!0);for(let[r,s]of this.filters??[])i.setFilters([r],[s[0]],[s[1]]);return this.gpu=i,this.created=!0,i}};export{as as AvbdPhysics,ns as AvbdPhysicsAggregate,ls as AvbdPhysicsBody,fr as AvbdPhysicsConstraint,dr as AvbdPhysicsHinge,$o as AvbdScene2D,Jo as AvbdScene3D,$e as AvbdShapeType,jo as createWebGPUDevice};
|
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4884
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+
}`);var ll=Et;var J=(o,e,t)=>{let i=Array.from(o);if(i.length!==e||!i.every(Number.isFinite))throw Error(`${t} requires ${e} finite components`);return i},V=(o,e,t=!1)=>{if(!Number.isFinite(o)||(t?o<0:o<=0))throw Error(`${e} must be ${t?"nonnegative":"positive"} and finite`);return o},cl=o=>{if(!Number.isInteger(o)||o<0||o>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");return o};function Hs(o){for(let t of["allowSleep","isTrigger"])if(o[t]!==void 0&&typeof o[t]!="boolean")throw Error(`${t} must be a boolean`);let e=o.restitution??0;if(!Number.isFinite(e)||e<0||e>1)throw Error("restitution must be between 0 and 1");if(o.mass!==void 0&&(V(o.mass,"mass",!0),o.mass>0&&o.density===0))throw Error("A positive mass needs positive density");for(let t of["velocity","angularVelocity"])o[t]!==void 0&&J(o[t],3,t);if(o.rotation!==void 0&&!Math.hypot(...J(o.rotation,4,"rotation")))throw Error("rotation must be nonzero");cl(o.group??4294967295),cl(o.collidesWith??4294967295)}function ul(o,e){if(e.timeStep!==void 0&&(o.dt=V(e.timeStep,"timeStep")),e.iterations!==void 0){if(V(e.iterations,"iterations"),!Number.isInteger(e.iterations))throw Error("iterations must be an integer");o.iterations=e.iterations}if(e.gravity!==void 0){if(!Number.isFinite(e.gravity))throw Error("gravity must be finite");o.gravity=e.gravity}}var aa=class{constructor(e={}){if(this.ref=new jt,ul(this.ref,e),this.up=J(e.up??[0,1,0],3,"up"),Math.abs(Math.hypot(...this.up)-1)>1e-5)throw Error("up must be a unit vector");this.points=!1,this.handles=new Map,this.bodySet=new Set}get bodies(){return this.ref.bodies}get constraints(){return[...this.handles.values()]}assertEditable(){if(this.created)throw Error("Build this scene before createSolver; use the solver's GPU edit methods afterwards")}addBox(e,t={}){this.assertEditable(),Hs(t);let i=J(e,3,"size");i.forEach(s=>V(s,"size"));let r=new De(this.ref,i,V(t.density??1,"density",!0),V(t.friction??.6,"friction",!0),J(t.position??[0,0,0],3,"position"));return this.configure(r,t)}addSphere(e,t={}){return this.assertEditable(),Hs(t),this.configure(Mi(this.ref,V(e,"radius"),V(t.density??1,"density",!0),V(t.friction??.6,"friction",!0),J(t.position??[0,0,0],3,"position")),t)}addHull(e,t={}){if(this.assertEditable(),Hs(t),e.length%3||!Array.from(e).every(Number.isFinite))throw Error("Hull points must contain finite xyz triples");let i=or(e);if(!i)throw Error("A convex hull requires finite points spanning a volume");return this.hulls=!0,this.configure(Gr(this.ref,i,V(t.density??1,"density",!0),V(t.friction??.6,"friction",!0),J(t.position??[0,0,0],3,"position")),t)}addCapsule(e,t,i={}){return this.assertEditable(),Hs(i),this.configure(Hi(this.ref,e,t,V(i.density??1,"density",!0),V(i.friction??.6,"friction",!0),J(i.position??[0,0,0],3,"position")),i)}configure(e,t){if(t.allowSleep!==void 0&&typeof t.allowSleep!="boolean")throw Error("allowSleep must be a boolean");e.allowSleep=t.allowSleep??!0,this.sleepOptIn||=t.allowSleep===!0;let i=t.restitution??0;if(!Number.isFinite(i)||i<0||i>1)throw Error("restitution must be between 0 and 1");if(e.restitution=i,t.isTrigger!==void 0&&typeof t.isTrigger!="boolean")throw Error("isTrigger must be a boolean");if(e.isTrigger=t.isTrigger??!1,e.group=t.group??4294967295,e.collidesWith=t.collidesWith??4294967295,t.mass!==void 0){let r=V(t.mass,"mass",!0);if(e.mass===0&&r>0)throw Error("A positive mass needs positive density");let s=e.mass>0?r/e.mass:0;e.mass=r,e.moment.forEach((a,n)=>e.moment[n]=a*s)}if(t.rotation){let r=J(t.rotation,4,"rotation"),s=Math.hypot(...r);if(!s)throw Error("rotation must be nonzero");e.positionAng.set(r.map(a=>a/s))}return t.velocity&&e.velocityLin.set(J(t.velocity,3,"velocity")),t.angularVelocity&&e.velocityAng.set(J(t.angularVelocity,3,"angularVelocity")),this.bodySet.add(e),e}addPoint(e,{mass:t=.02,radius:i=.05,friction:r=.5}={}){let s=this.addSphere(i,{position:e,mass:t,friction:r});return s.moment.fill(0),this.points=!0,s}addFabric({columns:e=16,rows:t=16,spacing:i=.2,origin:r=[0,3,0],mass:s=.02,stiffness:a=1e3,anchorStiffness:n=a,materialAt:l,breakStrain:c=1/0,breakForce:f=1/0,bendingStiffness:u=Number.isFinite(c)||Number.isFinite(f)?0:a/50,pinCorners:d=!1,pinEdges:p=!d}={}){for(let[M,P]of Object.entries({columns:e,rows:t}))if(!Number.isInteger(P)||P<2)throw Error(`${M} must be an integer >= 2`);if(V(i,"spacing"),V(s,"mass"),V(a,"stiffness"),V(n,"anchorStiffness"),l!==void 0&&typeof l!="function")throw Error("materialAt must be a function");if(V(u,"bendingStiffness",!0),typeof d!="boolean"||typeof p!="boolean")throw Error("Fabric pin options must be boolean");let m=Pt({breakStrain:c,breakForce:f}),h=J(r,3,"origin"),b=(M,P)=>`${Math.min(M,P)},${Math.max(M,P)}`;function*y(){for(let M=0;M<t;M++)for(let P=0;P<e;P++){let _=M*e+P;P&&(yield[_,_-1,a]),M&&(yield[_,_-e,a]),P&&M&&(yield[_,_-e-1,a/2],yield[_-1,_-e,a/2]),P>1&&u&&(yield[_,_-2,u]),M>1&&u&&(yield[_,_-2*e,u])}}let v=new Map;if(l)for(let[M,P]of y()){let _=l((M%e+P%e)/(2*(e-1)),(Math.floor(M/e)+Math.floor(P/e))/(2*(t-1)))??{};if(typeof _!="object"||Array.isArray(_))throw Error("materialAt must return a material object");v.set(b(M,P),{scale:V(_.stiffnessScale??1,"materialAt.stiffnessScale"),material:Pt({...m,..._})})}let B=Array.from({length:t},(M,P)=>Array.from({length:e},(_,C)=>this.addPoint([h[0]+(C-(e-1)/2)*i,h[1],h[2]+(P-(t-1)/2)*i],{mass:p&&(C===0||P===0||C===e-1||P===t-1)||d&&(C===0||C===e-1)&&(P===0||P===t-1)?0:s,radius:i/Math.SQRT2}))),g=B.flat(),A=new Map(g.map((M,P)=>[M,P])),x=[],w=new Map,E=(M,P,_)=>{(M.mass===0||P.mass===0)&&(_*=n/a);let C=A.get(M),S=A.get(P),R=v.get(b(C,S)),I=this.addSpring(M,P,[0,0,0],[0,0,0],{stiffness:_*(R?.scale??1),...R?.material??m});return w.set(b(A.get(M),A.get(P)),x.length),x.push(I),I};for(let[M,P,_]of y())E(g[M],g[P],_);let k=[];for(let M=0;M<t;M++)for(let P=0;P<e;P++)if(P&&M){let _=(M-1)*e+P-1,C=_+1,S=M*e+P-1,R=S+1;k.push(_,S,C,C,S,R)}let z=[];for(let M=0;M<k.length;M+=3){let[P,_,C]=k.slice(M,M+3);z.push(w.get(b(P,_)),w.get(b(_,C)),w.get(b(C,P)))}return{points:g,grid:B,indices:Uint32Array.from(k),connections:x,triangleConnections:Uint32Array.from(z)}}addRope({segments:e=12,length:t=12,origin:i=[0,12,0],width:r=.15,endMass:s=20}={}){if(!Number.isInteger(e)||e<1)throw Error("segments must be a positive integer");V(t,"length"),V(r,"width"),V(s,"endMass",!0);let a=J(i,3,"origin"),n=t/e,l=this.addBox([r,r,r],{mass:0,position:a}),c=[];for(let f=0;f<e;f++){let u=this.addBox([r,n,r],{mass:1,position:[a[0],a[1]-(f+.5)*n,a[2]]});this.addJoint(f?c[f-1]:l,u,[0,f?-n/2:0,0],[0,n/2,0]),c.push(u)}if(s){let f=this.addBox([.6,.6,.6],{mass:s,position:[a[0],a[1]-t-.3,a[2]]});this.addJoint(c.at(-1),f,[0,-n/2,0],[0,.3,0]),c.push(f)}return{anchor:l,links:c}}addRagdoll({origin:e=[0,2,0],mass:t=10}={}){let i=J(e,3,"origin");V(t,"mass");let r=(l,c)=>this.addBox(l,{mass:t/10,position:c.map((f,u)=>f+i[u])}),s=r([.7,1.2,.35],[0,2,0]),a=this.addSphere(.25,{mass:t/10,position:[i[0],i[1]+2.9,i[2]]}),n=[s,a];this.addJoint(s,a,[0,.6,0],[0,-.3,0]);for(let l of[-1,1]){let c=r([.3,.8,.3],[l*.5,1.95,0]),f=r([.26,.7,.26],[l*.5,1.2,0]);this.addJoint(s,c,[l*.35,.35,0],[-l*.15,.4,0]),this.addJoint(c,f,[0,-.4,0],[0,.35,0]);let u=r([.28,.8,.3],[l*.2,1,0]),d=r([.26,.75,.28],[l*.2,.225,0]);this.addJoint(s,u,[l*.2,-.6,0],[0,.4,0]),this.addJoint(u,d,[0,-.4,0],[0,.375,0]),n.push(c,f,u,d)}return{torso:s,head:a,bodies:n}}addJoint(e,t,i=[0,0,0],r=[0,0,0],{linearStiffness:s=1/0,angularStiffness:a=0,breakForce:n=1/0,breakOnPull:l=!1}={}){this.assertEditable(),this.checkBodies(e,t);for(let c of[s,a,n])c!==1/0&&V(c,"joint stiffness/breakForce",!0);return this.handle(new we(this.ref,e,t,J(i,3,"anchorA"),J(r,3,"anchorB"),s,a,l&&n!==1/0?-n:n))}addSpring(e,t,i=[0,0,0],r=[0,0,0],{stiffness:s=1e3,rest:a=-1,breakStrain:n=1/0,breakForce:l=1/0}={}){if(this.assertEditable(),this.checkBodies(e,t),!e)throw Error("A spring requires two bodies");V(s,"stiffness",!0),a!==-1&&V(a,"rest",!0);let c=Pt({breakStrain:n,breakForce:l}),f=new ct(this.ref,e,t,J(i,3,"anchorA"),J(r,3,"anchorB"),s,a);return ts(f,c),this.handle(f)}checkBodies(e,t){if(!t||e===t||!this.bodySet.has(t)||e&&!this.bodySet.has(e))throw Error("Constraint endpoints must be distinct bodies in this scene")}addMotor(e,t,i={}){this.assertEditable(),this.checkBodies(e,t);let r=gt({...i,type:"motor"}),s=new we(this.ref,e,t,[0,0,0],[0,0,0],1/0,0);return Wi(s,r),this.handle(s)}addHinge(e,t,i={}){this.assertEditable(),this.checkBodies(e,t);let r=gt({...i,type:"limit"}),s=V(i.span??1,"span"),a=J(i.anchorA??[0,0,0],3,"anchorA"),n=J(i.anchorB??[0,0,0],3,"anchorB"),l=[-1,1].map(u=>this.addJoint(e,t,a.map((d,p)=>d+u*s*.5*r.axisA[p]),n.map((d,p)=>d+u*s*.5*r.axisB[p]))),c,f;if(i.minAngle!==void 0||i.maxAngle!==void 0){let u=new we(this.ref,e,t,[0,0,0],[0,0,0],1/0,0);Wi(u,r),c=this.handle(u)}return i.motor&&(f=this.addMotor(e,t,{axisA:r.axisA,axisB:r.axisB,...i.motor})),{joints:l,limit:c,motor:f,dispose(){for(let u of[...l,c,f])u?.dispose()}}}handle(e){let t={slot:-1,disposed:!1,dispose:()=>{t.disposed||(this.gpu?this.gpu.destroyed||this.gpu.releaseJoints([t.slot]):e.destroy(),this.handles.delete(e),t.disposed=!0)}};return t.destroy=t.dispose,this.handles.set(e,t),t}createSolver(e,t={}){if(this.assertEditable(),this.hulls&&e.limits.maxStorageBuffersPerShaderStage<9)throw Error("Hull collisions require nine storage buffer bindings");let i=new Ws(e,this.ref,us(this.ref,{...t,...this.points?{shaders:{...t.shaders,solve:ll}}:{}})),r=[];this.ref.forces.forEach((l,c)=>{this.handles.get(l).slot=c,l instanceof we&&l.stiffnessAng>0&&r.push({slot:c})}),i.captureConstraintFrames(r),i.params.up=[...this.up];let s=[],a=[],n=[];for(let[l,c]of this.ref.bodies.entries())(c.group!==4294967295||c.collidesWith!==4294967295)&&(s.push(i.gpuIndex(l)),a.push(c.group),n.push(c.collidesWith)),c.isTrigger&&i.setSensor(i.gpuIndex(l),!0),c.restitution>0&&i.setRestitution(i.gpuIndex(l),c.restitution);return s.length&&i.setFilters(s,a,n),(t.sleeping||this.sleepOptIn)&&i.enableSleeping(this.ref,t.sleeping===!0?{}:t.sleeping),this.gpu=i,this.created=!0,i}},na=class{constructor(e={}){if(this.topology=new ks,Object.assign(this.topology.params,As()),ul(this.topology.params,e),e.alpha!==void 0){if(!Number.isFinite(e.alpha)||e.alpha<0||e.alpha>1)throw Error("alpha must be between zero and one");this.topology.params.alpha=e.alpha}for(let t of["postStabilize","matchNearest"])if(e[t]!==void 0){if(typeof e[t]!="boolean")throw Error(`${t} must be boolean`);this.topology.params[t]=e[t]}}assertEditable(){if(this.created)throw Error("Build this scene before createSolver; use GPU edit methods afterwards")}get bodyCount(){return this.topology.bodyCount}addShape(e,t={}){let i=e.options??t,r=this.addBox(e.size,i);return Gs(this.topology,r,e,i.density??1),r}addCircle(e,t={}){return this.addShape(Os(e),t)}addHull(e,t={}){return this.addShape(Rs(e),t)}addCapsule(e,t,i={}){return this.addShape(js(e,t),i)}addSegment(e,t,i={}){return this.addShape(Ts(e,t,i))}addPlane(e=[0,1],t=0,i={}){return this.addShape(Ds(e,t,i))}addBox(e,{density:t=1,friction:i=.6,position:r=[0,0],angle:s=0,velocity:a=[0,0,0],restitution:n=0,isTrigger:l=!1,group:c=4294967295,collidesWith:f=4294967295,allowSleep:u}={}){if(this.assertEditable(),u!==void 0&&typeof u!="boolean")throw Error("allowSleep must be boolean");let d=J(e,2,"size");d.forEach(h=>V(h,"size"));let p=J(r,2,"position");if(!Number.isFinite(s))throw Error("angle must be finite");if(!Number.isFinite(n)||n<0||n>1)throw Error("restitution must be between 0 and 1");if(typeof l!="boolean")throw Error("isTrigger must be boolean");for(let h of[c,f])if(!Number.isInteger(h)||h<0||h>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");let m=this.topology.addBody(d,V(t,"density",!0),V(i,"friction",!0),[...p,s],J(a,3,"velocity"));return this.restitution??=new Map,n>0&&this.restitution.set(m,n),this.sensors??=new Set,l&&this.sensors.add(m),this.filters??=new Map,(c!==4294967295||f!==4294967295)&&this.filters.set(m,[c,f]),this.topology.avbdSleepEligible??=new Map,u!==void 0&&this.topology.avbdSleepEligible.set(m,u),m}checkBodies(e,t){if(!Number.isInteger(e)||!Number.isInteger(t)||e<-1||e>=this.bodyCount||t<0||t>=this.bodyCount||e===t)throw Error("Invalid 2D constraint endpoints")}addJoint(e,t,i=[0,0],r=[0,0],{stiffness:s=[1/0,1/0,0],breakForce:a=1/0}={}){if(this.assertEditable(),this.checkBodies(e,t),!s||s.length!==3||Array.from(s).some(l=>l!==1/0&&(!Number.isFinite(l)||l<0))||a!==1/0&&(!Number.isFinite(a)||a<0))throw Error("Joint stiffness and break force must be nonnegative or Infinity");let n=this.topology.addJoint(e,t,J(i,2,"anchorA"),J(r,2,"anchorB"),s,a);return this.constraintHandle(n.slot,n)}constraintHandle(e,t={}){return Object.assign(t,{slot:e,alive:!0,disposed:!1}),t.dispose=()=>{t.disposed||(this.gpu&&!this.gpu.destroyed?this.gpu.disableConstraint(e):this.gpu||this.topology.data.fill(0,e*T+$,e*T+$+3),t.alive=!1,t.disposed=!0)},t.destroy=t.dispose,this.topology.handles[e]=t,t}addSpring(e,t,i=[0,0],r=[0,0],{stiffness:s=1e3,rest:a=1}={}){if(this.assertEditable(),this.checkBodies(e,t),e<0)throw Error("A spring requires two bodies");let n=this.topology.jointCount;return this.topology.addSpring(e,t,J(i,2,"anchorA"),J(r,2,"anchorB"),V(s,"stiffness",!0),V(a,"rest",!0)),this.constraintHandle(n)}addMotor(e,t,{speed:i=1,maxTorque:r=100}={}){if(this.assertEditable(),this.checkBodies(e,t),!Number.isFinite(i))throw Error("speed must be finite");let s=this.topology.jointCount;return this.topology.addMotor(e,t,i,V(r,"maxTorque",!0)),this.constraintHandle(s)}addAngularLimit(e,t,i={}){this.assertEditable(),this.checkBodies(e,t);let r=er(i),s=this.topology.addJoint(e,t,[0,0],[0,0],[0,0,0]);ia(this.topology,s.slot,r);let a=this.constraintHandle(s.slot,s);return a.setLimits=n=>{if(a.disposed)throw Error("The angular limit has been disposed");return this.gpu?this.gpu.setAngleLimits(a.slot,n):ia(this.topology,a.slot,er(n)),a},a}addHinge(e,t,i=[0,0],r=[0,0],s={}){this.assertEditable(),this.checkBodies(e,t);let a=J(i,2,"anchorA"),n=J(r,2,"anchorB"),l=s.minAngle!==void 0||s.maxAngle!==void 0?er(s):null,c=s.motor;if(c){if(!Number.isFinite(c.speed??1))throw Error("speed must be finite");V(c.maxTorque??100,"maxTorque",!0)}let f=this.addJoint(e,t,a,n),u=l?this.addAngularLimit(e,t,l):null,d=c?this.addMotor(e,t,c):null;return{joint:f,limits:u,motor:d,disposed:!1,dispose(){this.disposed||(this.joint.dispose(),this.limits?.dispose(),this.motor?.dispose(),this.disposed=!0)},destroy(){this.dispose()}}}createSolver(e,t={}){this.assertEditable();let i=new Vs(e,this.topology,t);for(let[r,s]of this.restitution??[])i.setRestitution(r,s);for(let r of this.sensors??[])i.setSensor(r,!0);for(let[r,s]of this.filters??[])i.setFilters([r],[s[0]],[s[1]]);return this.gpu=i,this.created=!0,i}};export{hs as AvbdPhysics,ps as AvbdPhysicsAggregate,ms as AvbdPhysicsBody,mr as AvbdPhysicsConstraint,br as AvbdPhysicsHinge,na as AvbdScene2D,aa as AvbdScene3D,Xe as AvbdShapeType,Xo as createWebGPUDevice,cs as prepareWebGPUDevice3D};
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