avbd-babylon 0.3.0 → 0.4.1
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 +3366 -2795
- package/dist/avbd.d.ts +1 -0
- package/dist/avbd.global.js +675 -143
- package/dist/avbd.js +675 -143
- package/dist/babylonAvbd.d.ts +31 -6
- package/dist/native.js +1 -1
- package/dist/nativeScenes.d.ts +83 -8
- package/dist/utilities.d.ts +161 -0
- package/dist/utilities.js +1 -0
- package/docs/BABYLON_API.md +48 -5
- package/docs/HPLOC.md +119 -115
- package/docs/README.md +503 -465
- package/docs/RELEASE.md +191 -176
- package/package.json +149 -124
- package/tests/README.md +341 -218
package/dist/avbd.js
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var C=(s=0,e=0,t=0)=>Float64Array.of(s,e,t),jt=(s=0,e=0,t=0,i=1)=>Float64Array.of(s,e,t,i),oe=()=>new Float64Array(9);var us=s=>s<0?-1:s>0?1:0,xt=(s,e)=>s<e?s:e,Lc=(s,e)=>s>e?s:e,ce=(s,e,t)=>Lc(e,xt(t,s)),V=(s,e)=>s[0]*e[0]+s[1]*e[1]+s[2]*e[2],Ge=s=>V(s,s),ir=s=>Math.sqrt(Ge(s));function at(s,e,t,i){return s[0]=e,s[1]=t,s[2]=i,s}var ki=(s,e,t)=>at(s,e[0]+t[0],e[1]+t[1],e[2]+t[2]),$=(s,e,t)=>at(s,e[0]-t[0],e[1]-t[1],e[2]-t[2]),ne=(s,e,t)=>at(s,e[0]*t,e[1]*t,e[2]*t),_t=(s,e,t)=>at(s,e[0]/t,e[1]/t,e[2]/t),ee=(s,e)=>at(s,-e[0],-e[1],-e[2]),Xo=(s,e)=>at(s,Math.abs(e[0]),Math.abs(e[1]),Math.abs(e[2])),D=(s,e,t,i)=>at(s,e[0]+t[0]*i,e[1]+t[1]*i,e[2]+t[2]*i),_c=(s,e)=>_t(s,e,ir(e)),Dt=(s,e,t)=>at(s,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 tr(s,e,t,i,r){return s[0]=e,s[1]=t,s[2]=i,s[3]=r,s}function Or(s,e,t){let i=e[0],r=e[1],o=e[2],n=e[3],a=t[0],l=t[1],c=t[2],u=t[3];return tr(s,n*a+i*u+r*c-o*l,n*l-i*c+r*u+o*a,n*c+i*l-r*a+o*u,n*u-i*a-r*l-o*c)}var 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Et=1,Ue=1e10,ps=.01,va=1e-5,Ze=class{solver;forces=[];positionLin;positionAng=jt();initialLin=C();initialAng=jt();inertialLin=C();inertialAng=jt();velocityLin;velocityAng=C();prevVelocityLin;size;mass;moment;friction;radius;constructor(e,t,i,r,o,n=[0,0,0]){this.solver=e,this.size=C(t[0],t[1],t[2]),this.friction=r,this.positionLin=C(o[0],o[1],o[2]),this.velocityLin=C(n[0],n[1],n[2]),this.prevVelocityLin=C(n[0],n[1],n[2]);let[a,l,c]=this.size;this.mass=a*l*c*i,this.moment=C((l*l+c*c)/12*this.mass,(a*a+c*c)/12*this.mass,(a*a+l*l)/12*this.mass),this.radius=ir([a*.5,l*.5,c*.5]),e.bodies.push(this)}constrainedTo(e){for(let t of this.forces)if(t.bodyA===this&&t.bodyB===e||t.bodyA===e&&t.bodyB===this)return!0;return!1}},ms=()=>({lhsLin:oe(),lhsAng:oe(),lhsCross:oe(),rhsLin:C(),rhsAng:C()}),Gt=class{solver;bodyA;bodyB;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 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i=V(t,s.axis[e])>=0?1:-1,r=ne(C(),s.axis[e],i),o=D(C(),s.center,r,s.half[e]);return{normal:r,center:o,...ka(s,e)}}function Rc(s,e){let t=0,i=-en;for(let r=0;r<3;r++){let o=_i(s.axis[r],e);o>i&&(i=o,t=r)}return t}function Oc(s,e,t){let i=V(s.axis[e],t)>0?-1:1,r=ne(C(),s.axis[e],i),o=D(C(),s.center,r,s.half[e]),{u:n,v:a,extentU:l,extentV:c}=ka(s,e),u=(f,d)=>{let p=D(C(),o,n,f*l);return D(p,p,a,d*c)};return[u(1,1),u(-1,1),u(-1,-1),u(1,-1)]}function Tc(s,e,t){let i=[];if(s.length===0)return i;let r=s[s.length-1],o=V(e,r)-t;for(let n of s){let a=V(e,n)-t,l=o<=Zo,c=a<=Zo;if(l!==c){let u=0,f=o-a;Math.abs(f)>Ei&&(u=ce(o/f,0,1)),i.length<Aa&&i.push(D(C(),r,$(C(),n,r),u))}c&&i.length<Aa&&i.push(n),r=n,o=a}return i}var vs=class{contacts=[];midpoints=[];bodyA;bodyB;constructor(e,t){this.bodyA=e,this.bodyB=t}add(e,t,i){let r=ne(C(),ki(C(),e,t),.5);for(let a of this.midpoints)if(Ge($(C(),r,a))<zc)return;if(this.contacts.length>=Ca)return;let{bodyA:o,bodyB:n}=this;this.contacts.push({feature:i,rA:Te(C(),o.positionAng,$(C(),e,o.positionLin)),rB:Te(C(),n.positionAng,$(C(),t,n.positionLin))}),this.midpoints.push(r)}};function Ko(s,e,t,i,r,o,n,a){let l=Ge(i);if(l<Ei)return!0;let c=1/Math.sqrt(l),u=ne(C(),i,c);V(u,t)<0&&ee(u,u);let f=Math.abs(V(t,u)),d=s.half[0]*_i(u,s.axis[0])+s.half[1]*_i(u,s.axis[1])+s.half[2]*_i(u,s.axis[2]),p=e.half[0]*_i(u,e.axis[0])+e.half[1]*_i(u,e.axis[1])+e.half[2]*_i(u,e.axis[2]),g=f-(d+p);return g>0?!1:((!a.valid||g>a.separation)&&(a.valid=!0,a.type=r,a.indexA=o,a.indexB=n,a.separation=g,a.normalAB=u),!0)}function wa(s,e,t){let i=(e+1)%3,r=(e+2)%3,o=V(t,s.axis[i])>=0?1:-1,n=V(t,s.axis[r])>=0?1:-1,a=D(C(),s.center,s.axis[i],s.half[i]*o);D(a,a,s.axis[r],s.half[r]*n);let l=ne(C(),s.axis[e],s.half[e]);return[$(C(),a,l),ki(C(),a,l)]}function jc(s,e,t,i){let 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vs(s,e),g=bs<<24|(r&255)<<8|o&255;return p.add(f,d,g),p.contacts.length||p.add(ys(t,n),ys(i,ee(C(),n)),g),p.contacts}function Pa(s,e,t){let i=xa(s),r=xa(e),o=$(C(),r.center,i.center),n={type:gs,indexA:0,indexB:0,separation:-en,normalAB:C(),valid:!1},a={type:bs,indexA:0,indexB:0,separation:-en,normalAB:C(),valid:!1};for(let u=0;u<3;u++)if(!Ko(i,r,o,i.axis[u],gs,u,-1,n))return[];for(let u=0;u<3;u++)if(!Ko(i,r,o,r.axis[u],Sa,-1,u,n))return[];let l=C();for(let u=0;u<3;u++)for(let f=0;f<3;f++)if(Dt(l,i.axis[u],r.axis[f]),!Ko(i,r,o,l,bs,u,f,a))return[];if(!n.valid)return[];let c=n;return a.valid&&.95*a.separation>n.separation+.01&&(c=a),ds(t,ee(C(),c.normalAB)),c.type===bs?Dc(s,e,i,r,c.indexA,c.indexB,c.normalAB):c.type===gs?Ba(s,e,i,r,!0,c.indexA,c.normalAB):Ba(s,e,i,r,!1,c.indexB,c.normalAB)}var La=C(),_a=C(),Ea=C(),Ma=C(),za=C(),Ia=C(),As=oe(),tn=oe(),rn=oe(),xs=oe(),sn=oe(),on=oe(),nn=oe(),ws=oe(),Ee=C(),je=C(),Mi=C(),si=C(),Ra=C(),Oa=C(),rr=0,Tr=0;function Ta(s,e,t){for(let i=0;i<3;i++)si[0]=t[i*3],si[1]=t[i*3+1],si[2]=t[i*3+2],Dt(si,e,si),s[i*3]=si[0],s[i*3+1]=si[1],s[i*3+2]=si[2];return s}var oi=class extends Gt{contacts=[];basis=oe();friction=0;constructor(e,t,i){super(e,t,i)}get numContacts(){return this.contacts.length}initialize(){let e=this.bodyA,t=this.bodyB,{solver:i}=this;this.friction=Math.sqrt(e.friction*t.friction);let r=this.contacts;this.contacts=Pa(e,t,this.basis).map(o=>{let n=r.find(a=>a.feature===o.feature);return n?{feature:o.feature,rA:n.stick?n.rA:o.rA,rB:n.stick?n.rB:o.rB,C0:C(),penalty:n.penalty.slice(),lambda:n.lambda.slice(),stick:n.stick}:{feature:o.feature,rA:o.rA,rB:o.rB,C0:C(),penalty:C(),lambda:C(),stick:!1}});for(let o of this.contacts){Ft(Ra,e.positionLin,e.positionAng,o.rA),Ft(Oa,t.positionLin,t.positionAng,o.rB),ue(o.C0,this.basis,$(Mi,Ra,Oa)),o.C0[0]+=ps;for(let n=0;n<3;n++)o.lambda[n]=o.lambda[n]*i.alpha*i.gamma,o.penalty[n]=ce(o.penalty[n]*i.gamma,Et,Ue)}return this.contacts.length>0}evaluate(e,t){let i=this.bodyA,r=this.bodyB,o=this.basis;ae(za,i.positionAng,e.rA),ae(Ia,r.positionAng,e.rB),ba(As,o),Ta(tn,za,o),Ta(rn,Ia,As),Ce(xs,e.penalty[0],e.penalty[1],e.penalty[2]),ne(Ee,e.C0,1-t),D(Ee,Ee,ue(Mi,o,La),1),D(Ee,Ee,ue(Mi,As,Ea),1),D(Ee,Ee,ue(Mi,tn,_a),1),D(Ee,Ee,ue(Mi,rn,Ma),1),ue(je,xs,Ee),D(je,je,e.lambda,1),je[0]=xt(je[0],0),Tr=Math.abs(je[0])*this.friction,rr=Math.sqrt(je[1]*je[1]+je[2]*je[2]),rr>Tr&&rr>0&&(je[1]*=Tr/rr,je[2]*=Tr/rr)}computeDisplacements(){let e=this.bodyA,t=this.bodyB;$(La,e.positionLin,e.initialLin),lt(_a,e.positionAng,e.initialAng),$(Ea,t.positionLin,t.initialLin),lt(Ma,t.positionAng,t.initialAng)}updatePrimal(e,t,i){this.computeDisplacements();let r=e===this.bodyA;for(let o of this.contacts){this.evaluate(o,t);let n=r?this.basis:As,a=r?tn:rn;Pi(sn,n),Pi(on,a),Ke(nn,on,xs),Ne(i.lhsLin,Ke(ws,Ke(ws,sn,xs),n)),Ne(i.lhsAng,Ke(ws,nn,a)),Ne(i.lhsCross,Ke(ws,nn,n)),D(i.rhsLin,i.rhsLin,ue(Mi,sn,je),1),D(i.rhsAng,i.rhsAng,ue(Mi,on,je),1)}}updateDual(e){let{solver:t}=this;this.computeDisplacements();for(let i of this.contacts)this.evaluate(i,e),i.lambda.set(je),je[0]<0&&(i.penalty[0]=xt(i.penalty[0]+t.betaLin*Math.abs(Ee[0]),Ue)),rr<=Tr&&(i.penalty[1]=xt(i.penalty[1]+t.betaLin*Math.abs(Ee[1]),Ue),i.penalty[2]=xt(i.penalty[2]+t.betaLin*Math.abs(Ee[2]),Ue),i.stick=Math.sqrt(Ee[1]*Ee[1]+Ee[2]*Ee[2])<va)}};var an=()=>({dt:1/60,gravity:-10,iterations:10,betaLin:1e4,betaAng:100,alpha:.99,gamma:.999}),ni=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,an())}clear(){this.forces=[],this.bodies=[]}pick(e,t){let r=null,o=C(),n=C();for(let a=this.bodies.length-1;a>=0;a--){let l=this.bodies[a];if(l.mass<=0)continue;Te(o,l.positionAng,$(o,e,l.positionLin)),Te(n,l.positionAng,t);let c=0,u=1/0,f=!0;for(let p=0;p<3&&f;p++){let g=l.size[p]*.5;if(Math.abs(n[p])<1e-6){(o[p]<-g||o[p]>g)&&(f=!1);continue}let h=1/n[p],m=(-g-o[p])*h,b=(g-o[p])*h;m>b&&([m,b]=[b,m]),c=Math.max(c,m),u=Math.min(u,b),c>u&&(f=!1)}if(!f)continue;let d=c>=0?c:u;d<0||(!r||d<r.t)&&(r={body:l,local:D(C(),o,n,d),t:d})}return r}sys=ms();dxLin=C();dxAng=C();dp=C();accel=C();step(){let{dt:e,gravity:t,bodies:i,sys:r,dp:o}=this;for(let a=i.length-1;a>=0;a--){let l=i[a];for(let c=a-1;c>=0;c--){let u=i[c];$(o,l.positionLin,u.positionLin);let f=l.radius+u.radius;V(o,o)<=f*f&&!l.constrainedTo(u)&&new oi(this,l,u)}}let n=[];for(let a of this.forces)a.initialize()?n.push(a):a.unlinkFromBodies();this.forces=n;for(let a=i.length-1;a>=0;a--){let l=i[a];D(l.inertialLin,l.positionLin,l.velocityLin,e),l.mass>0&&(l.inertialLin[2]+=t*(e*e)),ri(l.inertialAng,l.positionAng,ja(l.velocityAng,e)),_t(this.accel,$(this.accel,l.velocityLin,l.prevVelocityLin),e);let c=this.accel[2]*us(t),u=ce(c/Math.abs(t),0,1);Number.isFinite(u)||(u=0),l.initialLin.set(l.positionLin),l.initialAng.set(l.positionAng),l.mass>0&&(D(l.positionLin,l.positionLin,l.velocityLin,e),l.positionLin[2]+=t*(u*e*e),ri(l.positionAng,l.positionAng,ja(l.velocityAng,e)))}for(let a=0;a<this.iterations;a++){for(let l=i.length-1;l>=0;l--){let c=i[l];if(c.mass<=0)continue;let u=c.mass,f=c.moment;Ce(r.lhsLin,u/(e*e),u/(e*e),u/(e*e)),Ce(r.lhsAng,f[0]/(e*e),f[1]/(e*e),f[2]/(e*e)),r.lhsCross.fill(0),ue(r.rhsLin,r.lhsLin,$(o,c.positionLin,c.inertialLin)),ue(r.rhsAng,r.lhsAng,lt(o,c.positionAng,c.inertialAng));let d=c.forces;for(let p=d.length-1;p>=0;p--)d[p].updatePrimal(c,this.alpha,r);hs(r.lhsLin,r.lhsAng,r.lhsCross,ee(r.rhsLin,r.rhsLin),ee(r.rhsAng,r.rhsAng),this.dxLin,this.dxAng),D(c.positionLin,c.positionLin,this.dxLin,1),ri(c.positionAng,c.positionAng,this.dxAng)}for(let l of this.forces)l.updateDual(this.alpha)}for(let a of i)a.prevVelocityLin.set(a.velocityLin),a.mass>0&&(_t(a.velocityLin,$(a.velocityLin,a.positionLin,a.initialLin),e),_t(a.velocityAng,lt(a.velocityAng,a.positionAng,a.initialAng),e))}},Fc=C(),ja=(s,e)=>ne(Fc,s,e);var ve=(s,e)=>[s[0]-e[0],s[1]-e[1],s[2]-e[2]],Mt=(s,e)=>s[0]*e[0]+s[1]*e[1]+s[2]*e[2],zi=(s,e)=>[s[1]*e[2]-s[2]*e[1],s[2]*e[0]-s[0]*e[2],s[0]*e[1]-s[1]*e[0]],et=s=>Math.sqrt(Mt(s,s));function jr(s){let e=Da(s);return!e||e.vertices.length/3<=32?e:Da(Gc(e,32))}function Gc(s,e){let[t,i,r,o]=s.rotation,n=f=>{let d=[2*(i*f[2]-r*f[1]),2*(r*f[0]-t*f[2]),2*(t*f[1]-i*f[0])];return[f[0]+o*d[0]+(i*d[2]-r*d[1])+s.center[0],f[1]+o*d[1]+(r*d[0]-t*d[2])+s.center[1],f[2]+o*d[2]+(t*d[1]-i*d[0])+s.center[2]]},a=[];for(let f=0;f<s.vertices.length;f+=3)a.push(n([s.vertices[f],s.vertices[f+1],s.vertices[f+2]]));let l=0;a.forEach((f,d)=>{et(ve(f,s.center))>et(ve(a[l],s.center))&&(l=d)});let c=[l],u=a.map(f=>et(ve(f,a[l])));for(;c.length<e;){let f=0;u.forEach((d,p)=>{d>u[f]&&(f=p)}),c.push(f),a.forEach((d,p)=>{u[p]=Math.min(u[p],et(ve(d,a[f])))})}return c.flatMap(f=>a[f])}function Da(s){let e=0;for(let y=0;y<s.length;y++)e=Math.max(e,Math.abs(s[y]));let t=Math.max(e,1e-9)*1e-6,i=new Set,r=[];for(let y=0;y+2<s.length;y+=3){let A=[s[y],s[y+1],s[y+2]],x=A.map(B=>Math.round(B/t)).join(",");i.has(x)||(i.add(x),r.push(A))}if(r.length<4)return null;let o=Math.max(e,1e-9)*1e-10,n=0;for(let y=1;y<r.length;y++)r[y][0]<r[n][0]&&(n=y);let a=-1,l=0;for(let y=0;y<r.length;y++){let A=et(ve(r[y],r[n]));A>l&&(l=A,a=y)}if(a<0||l<o)return null;let c=-1;l=0;let u=ve(r[a],r[n]);for(let y=0;y<r.length;y++){let A=et(zi(u,ve(r[y],r[n])));A>l&&(l=A,c=y)}if(c<0||l<o*et(u))return null;let f=zi(u,ve(r[c],r[n])),d=-1;l=0;for(let y=0;y<r.length;y++){let A=Math.abs(Mt(f,ve(r[y],r[n])));A>l&&(l=A,d=y)}if(d<0||l<o*et(f))return null;let p=[],g=(y,A,x)=>{let B=zi(ve(r[A],r[y]),ve(r[x],r[y])),E=et(B)||1,L=[B[0]/E,B[1]/E,B[2]/E];return{v:[y,A,x],n:L,d:Mt(L,r[y])}},m=Mt(f,ve(r[d],r[n]))>0?[n,c,a]:[n,a,c];p.push(g(m[0],m[1],m[2])),p.push(g(m[0],d,m[1])),p.push(g(m[1],d,m[2])),p.push(g(m[2],d,m[0]));let b=new Set([n,a,c,d]),v=r.map((y,A)=>A).filter(y=>!b.has(y)),w=[n,a,c,d].reduce((y,A)=>[y[0]+r[A][0]/4,y[1]+r[A][1]/4,y[2]+r[A][2]/4],[0,0,0]);v.sort((y,A)=>et(ve(r[A],w))-et(ve(r[y],w)));for(let y of v){let A=p.filter(_=>Mt(_.n,r[y])-_.d>o);if(!A.length)continue;let x=new Map;for(let _ of p)for(let k=0;k<3;k++)x.set(`${_.v[k]},${_.v[(k+1)%3]}`,_);let B=new Set(A),E=[...A];for(;E.length;){let _=E.pop();for(let k=0;k<3;k++){let S=x.get(`${_.v[(k+1)%3]},${_.v[k]}`);S&&!B.has(S)&&Mt(S.n,r[y])-S.d>-o&&(B.add(S),E.push(S))}}let L=[...B],M=new Set;for(let _ of L)for(let k=0;k<3;k++)M.add(`${_.v[k]},${_.v[(k+1)%3]}`);let z=[];for(let _ of L)for(let k=0;k<3;k++){let S=_.v[k],P=_.v[(k+1)%3];M.has(`${P},${S}`)||z.push([S,P])}for(let _ of L)p.splice(p.indexOf(_),1);for(let[_,k]of z)p.push(g(_,k,y))}return Nc(r.flat(),p.flatMap(y=>y.v))}function Nc(s,e){let t=[];for(let S=0;S+2<s.length;S+=3)t.push([s[S],s[S+1],s[S+2]]);let i=0;for(let S of t)i=Math.max(i,Math.abs(S[0]),Math.abs(S[1]),Math.abs(S[2]));let r=Math.max(i,1e-9)*1e-5,o=[];for(let S=0;S+2<e.length;S+=3){let P=[e[S],e[S+1],e[S+2]],I=zi(ve(t[P[1]],t[P[0]]),ve(t[P[2]],t[P[0]])),R=et(I);if(!(R>0))continue;let F=[I[0]/R,I[1]/R,I[2]/R];o.push({v:P,n:F,d:Mt(F,t[P[0]])})}let n=new Map;o.forEach((S,P)=>{for(let I=0;I<3;I++)n.set(`${S.v[I]},${S.v[(I+1)%3]}`,P)});let a=new Array(o.length).fill(-1),l=[];o.forEach((S,P)=>{if(a[P]>=0)return;let I=[P];a[P]=l.length;for(let R=0;R<I.length;R++){let F=o[I[R]];for(let X=0;X<3;X++){let W=n.get(`${F.v[(X+1)%3]},${F.v[X]}`);if(W===void 0||a[W]>=0)continue;let N=o[W];Mt(S.n,N.n)>1-1e-5&&N.v.every(H=>Math.abs(Mt(S.n,t[H])-S.d)<=r)&&(a[W]=l.length,I.push(W))}}l.push(I)});let c=[];for(let S of l){let P=new Set;for(let N of S)for(let H=0;H<3;H++)P.add(`${o[N].v[H]},${o[N].v[(H+1)%3]}`);let I=new Map;for(let N of S)for(let H=0;H<3;H++){let Z=o[N].v[H],he=o[N].v[(H+1)%3];if(!P.has(`${he},${Z}`)){if(I.has(Z))return null;I.set(Z,he)}}let R=[0,0,0];for(let N of S){let H=o[N],Z=zi(ve(t[H.v[1]],t[H.v[0]]),ve(t[H.v[2]],t[H.v[0]]));R[0]+=Z[0],R[1]+=Z[1],R[2]+=Z[2]}let F=et(R)||1,X=I.keys().next().value,W=[X];for(let N=I.get(X);N!==X&&W.length<=I.size;N=I.get(N))W.push(N);if(W.length!==I.size)return null;c.push({n:[R[0]/F,R[1]/F,R[2]/F],verts:W})}let u=new Map,f=[];for(let S of c)for(let P of S.verts)u.has(P)||(u.set(P,f.length),f.push(t[P]));for(let S of c)S.verts=S.verts.map(P=>u.get(P));let d=new Set,p=0;for(let S of c)S.verts.forEach((P,I)=>{d.add(`${P},${S.verts[(I+1)%S.verts.length]}`),p++});if(d.size!==p||![...d].every(S=>{let[P,I]=S.split(",");return d.has(`${I},${P}`)})||f.length-d.size/2+c.length!==2)return null;let g=0,h=[0,0,0],m=[0,0,0,0,0,0];for(let S of c){let P=f[S.verts[0]];for(let I=1;I+1<S.verts.length;I++){let R=f[S.verts[I]],F=f[S.verts[I+1]],X=Mt(P,zi(R,F));g+=X/6;for(let N=0;N<3;N++)h[N]+=X/24*(P[N]+R[N]+F[N]);let W=(N,H)=>X/120*(P[N]*P[H]+R[N]*R[H]+F[N]*F[H]+(P[N]+R[N]+F[N])*(P[H]+R[H]+F[H]));m[0]+=W(0,0),m[1]+=W(1,1),m[2]+=W(2,2),m[3]+=W(0,1),m[4]+=W(0,2),m[5]+=W(1,2)}}if(!(g>0))return null;for(let S=0;S<3;S++)h[S]/=g;m[0]-=g*h[0]*h[0],m[1]-=g*h[1]*h[1],m[2]-=g*h[2]*h[2],m[3]-=g*h[0]*h[1],m[4]-=g*h[0]*h[2],m[5]-=g*h[1]*h[2];let b=m[0]+m[1]+m[2],v=[[b-m[0],-m[3],-m[4]],[-m[3],b-m[1],-m[5]],[-m[4],-m[5],b-m[2]]],{values:w,vectors:y}=Uc(v),A=y,x=S=>{let P=ve(S,h);return[A[0][0]*P[0]+A[1][0]*P[1]+A[2][0]*P[2],A[0][1]*P[0]+A[1][1]*P[1]+A[2][1]*P[2],A[0][2]*P[0]+A[1][2]*P[1]+A[2][2]*P[2]]},B=f.map(x),E=new Float32Array(B.flat()),L=c.map(S=>{let P=S.n,I=[A[0][0]*P[0]+A[1][0]*P[1]+A[2][0]*P[2],A[0][1]*P[0]+A[1][1]*P[1]+A[2][1]*P[2],A[0][2]*P[0]+A[1][2]*P[1]+A[2][2]*P[2]],R=-1/0;for(let F of S.verts)R=Math.max(R,Mt(I,B[F]));return{normal:I,d:R,verts:S.verts}}),M=new Map;L.forEach((S,P)=>S.verts.forEach((I,R)=>M.set(`${I},${S.verts[(R+1)%S.verts.length]}`,P)));let z=[];L.forEach((S,P)=>S.verts.forEach((I,R)=>{let F=S.verts[(R+1)%S.verts.length],X=M.get(`${F},${I}`);I<F&&X!==void 0&&z.push([I,F,P,X])}));let _=[0,0,0],k=0;for(let S of B){for(let P=0;P<3;P++)_[P]=Math.max(_[P],2*Math.abs(S[P]));k=Math.max(k,et(S))}return{vertices:E,faces:L,edges:z,volume:g,moments:[w[0],w[1],w[2]],size:_,radius:k,center:h,rotation:qc(A)}}function Uc(s){let e=s.map(a=>[...a]),t=[[1,0,0],[0,1,0],[0,0,1]];for(let a=0;a<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));a++)for(let c=0;c<3;c++)for(let u=c+1;u<3;u++){if(Math.abs(e[c][u])<1e-300)continue;let f=(e[u][u]-e[c][c])/(2*e[c][u]),d=Math.sign(f||1)/(Math.abs(f)+Math.sqrt(f*f+1)),p=1/Math.sqrt(d*d+1),g=d*p;for(let h=0;h<3;h++){let m=e[h][c],b=e[h][u];e[h][c]=p*m-g*b,e[h][u]=g*m+p*b}for(let h=0;h<3;h++){let m=e[c][h],b=e[u][h];e[c][h]=p*m-g*b,e[u][h]=g*m+p*b}for(let h=0;h<3;h++){let m=t[h][c],b=t[h][u];t[h][c]=p*m-g*b,t[h][u]=g*m+p*b}}let i=[t[0][0],t[1][0],t[2][0]],r=[t[0][1],t[1][1],t[2][1]],o=zi(i,r),n=[[i[0],r[0],o[0]],[i[1],r[1],o[1]],[i[2],r[2],o[2]]];return{values:[e[0][0],e[1][1],e[2][2]],vectors:n}}function qc(s){let e=s[0][0]+s[1][1]+s[2][2],t,i,r,o;if(e>0){let a=.5/Math.sqrt(e+1);o=.25/a,t=(s[2][1]-s[1][2])*a,i=(s[0][2]-s[2][0])*a,r=(s[1][0]-s[0][1])*a}else if(s[0][0]>s[1][1]&&s[0][0]>s[2][2]){let a=2*Math.sqrt(1+s[0][0]-s[1][1]-s[2][2]);o=(s[2][1]-s[1][2])/a,t=.25*a,i=(s[0][1]+s[1][0])/a,r=(s[0][2]+s[2][0])/a}else if(s[1][1]>s[2][2]){let a=2*Math.sqrt(1+s[1][1]-s[0][0]-s[2][2]);o=(s[0][2]-s[2][0])/a,t=(s[0][1]+s[1][0])/a,i=.25*a,r=(s[1][2]+s[2][1])/a}else{let a=2*Math.sqrt(1+s[2][2]-s[0][0]-s[1][1]);o=(s[1][0]-s[0][1])/a,t=(s[0][2]+s[2][0])/a,i=(s[1][2]+s[2][1])/a,r=.25*a}let n=Math.hypot(t,i,r,o);return[t/n,i/n,r/n,o/n]}var Ga=new WeakSet,De=s=>Ga.has(s),Vc=new WeakSet;var sr=s=>Vc.has(s);function or(s,e,t,i,r,o=[0,0,0]){let n=new Ze(s,[2*e,2*e,2*e],t,i,r,o);n.mass=t>0?4/3*Math.PI*e*e*e*t:0;let a=.4*n.mass*e*e;return n.moment.set([a,a,a]),n.radius=e,Ga.add(n),n}var Na=new WeakMap,wt=s=>Na.get(s);function Bs(s,e,t,i,r,o=[0,0,0,1],n=[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 a=new Ze(s,e.size,t,i,r,n);return a.positionAng.set([o[0],o[1],o[2],o[3]]),a.mass=t>0?e.volume*t:0,a.moment.set(e.moments.map(l=>l*Math.max(t,0))),a.radius=e.radius,Na.set(a,e),a}var ln=`
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1
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+
var S=(s=0,e=0,t=0)=>Float64Array.of(s,e,t),jt=(s=0,e=0,t=0,i=1)=>Float64Array.of(s,e,t,i),ae=()=>new Float64Array(9);var Ps=s=>s<0?-1:s>0?1:0,Bt=(s,e)=>s<e?s:e,Su=(s,e)=>s>e?s:e,ce=(s,e,t)=>Su(e,Bt(t,s)),V=(s,e)=>s[0]*e[0]+s[1]*e[1]+s[2]*e[2],Ne=s=>V(s,s),rr=s=>Math.sqrt(Ne(s));function lt(s,e,t,i){return s[0]=e,s[1]=t,s[2]=i,s}var Li=(s,e,t)=>lt(s,e[0]+t[0],e[1]+t[1],e[2]+t[2]),J=(s,e,t)=>lt(s,e[0]-t[0],e[1]-t[1],e[2]-t[2]),ne=(s,e,t)=>lt(s,e[0]*t,e[1]*t,e[2]*t),_t=(s,e,t)=>lt(s,e[0]/t,e[1]/t,e[2]/t),ee=(s,e)=>lt(s,-e[0],-e[1],-e[2]),ya=(s,e)=>lt(s,Math.abs(e[0]),Math.abs(e[1]),Math.abs(e[2])),D=(s,e,t,i)=>lt(s,e[0]+t[0]*i,e[1]+t[1]*i,e[2]+t[2]*i),ku=(s,e)=>_t(s,e,rr(e)),Dt=(s,e,t)=>lt(s,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 ir(s,e,t,i,r){return s[0]=e,s[1]=t,s[2]=i,s[3]=r,s}function Gr(s,e,t){let i=e[0],r=e[1],o=e[2],a=e[3],n=t[0],l=t[1],c=t[2],u=t[3];return ir(s,a*n+i*u+r*c-o*l,a*l-i*c+r*u+o*n,a*c+i*l-r*n+o*u,a*u-i*n-r*l-o*c)}var Pu=(s,e)=>ir(s,-e[0],-e[1],-e[2],e[3]),Xn=s=>Ne(s)+s[3]*s[3];function va(s,e){let t=Xn(e);return ir(s,-e[0]/t,-e[1]/t,-e[2]/t,e[3]/t)}function Lu(s,e){let t=Math.sqrt(Xn(e));return ir(s,e[0]/t,e[1]/t,e[2]/t,e[3]/t)}var tr=new Float64Array(4),Pi=new Float64Array(4);function ct(s,e,t){return Gr(tr,e,va(tr,t)),lt(s,tr[0]*2,tr[1]*2,tr[2]*2)}function si(s,e,t){return ir(Pi,t[0],t[1],t[2],0),Gr(Pi,Pi,e),Lu(s,ir(s,e[0]+Pi[0]*.5,e[1]+Pi[1]*.5,e[2]+Pi[2]*.5,e[3]+Pi[3]*.5))}function le(s,e,t){let i=e[0],r=e[1],o=e[2],a=e[3],n=(r*t[2]-o*t[1])*2,l=(o*t[0]-i*t[2])*2,c=(i*t[1]-r*t[0])*2;return lt(s,t[0]+n*a+(r*c-o*l),t[1]+l*a+(o*n-i*c),t[2]+c*a+(i*l-r*n))}var Jn=new Float64Array(3);function Gt(s,e,t,i){return le(Jn,t,i),Li(s,Jn,e)}function Te(s,e,t){return le(s,Pu(tr,e),t)}function Ce(s,e,t,i){return s.fill(0),s[0]=e,s[4]=t,s[8]=i,s}function xa(s,e){return s[0]=0,s[1]=-e[2],s[2]=e[1],s[3]=e[2],s[4]=0,s[5]=-e[0],s[6]=-e[1],s[7]=e[0],s[8]=0,s}function _i(s,e){let t=e[1],i=e[2],r=e[5];return s[0]=e[0],s[1]=e[3],s[2]=e[6],s[3]=t,s[4]=e[4],s[5]=e[7],s[6]=i,s[7]=r,s[8]=e[8],s}function Ke(s,e,t){let i=e[0],r=e[1],o=e[2],a=e[3],n=e[4],l=e[5],c=e[6],u=e[7],f=e[8],d=t[0],p=t[1],m=t[2],h=t[3],g=t[4],b=t[5],y=t[6],A=t[7],v=t[8];return s[0]=i*d+r*h+o*y,s[1]=i*p+r*g+o*A,s[2]=i*m+r*b+o*v,s[3]=a*d+n*h+l*y,s[4]=a*p+n*g+l*A,s[5]=a*m+n*b+l*v,s[6]=c*d+u*h+f*y,s[7]=c*p+u*g+f*A,s[8]=c*m+u*b+f*v,s}function ue(s,e,t){let i=t[0],r=t[1],o=t[2];return lt(s,e[0]*i+e[1]*r+e[2]*o,e[3]*i+e[4]*r+e[5]*o,e[6]*i+e[7]*r+e[8]*o)}function qe(s,e){for(let t=0;t<9;t++)s[t]+=e[t];return s}function Ei(s,e,t){for(let i=0;i<9;i++)s[i]=e[i]*t;return s}function Yn(s,e){for(let t=0;t<9;t++)s[t]=-e[t];return s}function Ls(s,e,t){for(let i=0;i<3;i++)for(let r=0;r<3;r++)s[i*3+r]=t[r]*e[i];return s}function Qn(s,e){let t=Math.sqrt(e[0]*e[0]+e[3]*e[3]+e[6]*e[6]),i=Math.sqrt(e[1]*e[1]+e[4]*e[4]+e[7]*e[7]),r=Math.sqrt(e[2]*e[2]+e[5]*e[5]+e[8]*e[8]);return Ce(s,t,i,r)}function _s(s,e){let t=Math.abs(e[0])>Math.abs(e[2])?S(-e[1],e[0],0):S(0,-e[2],e[1]);ku(t,t);let i=Dt(S(),e,t);return s[0]=e[0],s[1]=e[1],s[2]=e[2],s.set(t,3),s.set(i,6),s}function Es(s,e,t,i,r,o,a){let n=s[0],l=s[3],c=s[4],u=s[6],f=s[7],d=s[8],p=t[0],m=t[1],h=t[2],g=e[0],b=t[3],y=t[4],A=t[5],v=e[3],x=e[4],w=t[6],B=t[7],L=t[8],M=e[6],I=e[7],E=e[8],k=l/n,P=u/n,C=p/n,_=b/n,z=w/n,R=n,G=c-k*k*R,X=(f-k*P*R)/G,W=(m-k*C*R)/G,U=(y-k*_*R)/G,H=(B-k*z*R)/G,Z=d-(P*P*R+X*X*G),he=(h-P*C*R-X*W*G)/Z,we=(A-P*_*R-X*U*G)/Z,Oe=(L-P*z*R-X*H*G)/Z,$=g-(C*C*R+W*W*G+he*he*Z),Je=(v-C*_*R-W*U*G-he*we*Z)/$,Xe=(M-C*z*R-W*H*G-he*Oe*Z)/$,Be=x-(_*_*R+U*U*G+we*we*Z+Je*Je*$),ot=(I-_*z*R-U*H*G-we*Oe*Z-Je*Xe*$)/Be,ri=E-(z*z*R+H*H*G+Oe*Oe*Z+Xe*Xe*$+ot*ot*Be),Ye=i[0],at=i[1]-k*Ye,Qe=i[2]-P*Ye-X*at,nt=r[0]-C*Ye-W*at-he*Qe,wt=r[1]-_*Ye-U*at-we*Qe-Je*nt,Qi=r[2]-z*Ye-H*at-Oe*Qe-Xe*nt-ot*wt,Ki=Ye/R,Zi=at/G,er=Qe/Z,Wt=nt/$,Bu=wt/Be,Cu=Qi/ri;a[2]=Cu,a[1]=Bu-ot*a[2],a[0]=Wt-Je*a[1]-Xe*a[2],o[2]=er-he*a[0]-we*a[1]-Oe*a[2],o[1]=Zi-X*o[2]-W*a[0]-U*a[1]-H*a[2],o[0]=Ki-k*o[1]-P*o[2]-C*a[0]-_*a[1]-z*a[2]}var Et=1,Ve=1e10,Ms=.01,Kn=1e-5,Ze=class{solver;forces=[];positionLin;positionAng=jt();initialLin=S();initialAng=jt();inertialLin=S();inertialAng=jt();velocityLin;velocityAng=S();prevVelocityLin;size;mass;moment;friction;radius;constructor(e,t,i,r,o,a=[0,0,0]){this.solver=e,this.size=S(t[0],t[1],t[2]),this.friction=r,this.positionLin=S(o[0],o[1],o[2]),this.velocityLin=S(a[0],a[1],a[2]),this.prevVelocityLin=S(a[0],a[1],a[2]);let[n,l,c]=this.size;this.mass=n*l*c*i,this.moment=S((l*l+c*c)/12*this.mass,(n*n+c*c)/12*this.mass,(n*n+l*l)/12*this.mass),this.radius=rr([n*.5,l*.5,c*.5]),e.bodies.push(this)}constrainedTo(e){for(let t of this.forces)if(t.bodyA===this&&t.bodyB===e||t.bodyA===e&&t.bodyB===this)return!0;return!1}},zs=()=>({lhsLin:ae(),lhsAng:ae(),lhsCross:ae(),rhsLin:S(),rhsAng:S()}),Ft=class{solver;bodyA;bodyB;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)}}};var rl=8,Zn=16,zi=1e-6,wa=1e-5,_u=1e-6,Ba=34028234663852886e22,Is=0,sl=1,Rs=2;function el(s){let e=s.positionAng;return{center:s.positionLin,half:ne(S(),s.size,.5),axis:[le(S(),e,[1,0,0]),le(S(),e,[0,1,0]),le(S(),e,[0,0,1])]}}var Mi=(s,e)=>Math.abs(V(s,e));function Os(s,e){let t=V(e,s.axis[0])>=0?1:-1,i=V(e,s.axis[1])>=0?1:-1,r=V(e,s.axis[2])>=0?1:-1,o=D(S(),s.center,s.axis[0],s.half[0]*t);return D(o,o,s.axis[1],s.half[1]*i),D(o,o,s.axis[2],s.half[2]*r)}function ol(s,e){return e===0?{u:s.axis[1],v:s.axis[2],extentU:s.half[1],extentV:s.half[2]}:e===1?{u:s.axis[0],v:s.axis[2],extentU:s.half[0],extentV:s.half[2]}:{u:s.axis[0],v:s.axis[1],extentU:s.half[0],extentV:s.half[1]}}function Eu(s,e,t){let i=V(t,s.axis[e])>=0?1:-1,r=ne(S(),s.axis[e],i),o=D(S(),s.center,r,s.half[e]);return{normal:r,center:o,...ol(s,e)}}function Mu(s,e){let t=0,i=-Ba;for(let r=0;r<3;r++){let o=Mi(s.axis[r],e);o>i&&(i=o,t=r)}return t}function zu(s,e,t){let i=V(s.axis[e],t)>0?-1:1,r=ne(S(),s.axis[e],i),o=D(S(),s.center,r,s.half[e]),{u:a,v:n,extentU:l,extentV:c}=ol(s,e),u=(f,d)=>{let p=D(S(),o,a,f*l);return D(p,p,n,d*c)};return[u(1,1),u(-1,1),u(-1,-1),u(1,-1)]}function Iu(s,e,t){let i=[];if(s.length===0)return i;let r=s[s.length-1],o=V(e,r)-t;for(let a of s){let n=V(e,a)-t,l=o<=wa,c=n<=wa;if(l!==c){let u=0,f=o-n;Math.abs(f)>zi&&(u=ce(o/f,0,1)),i.length<Zn&&i.push(D(S(),r,J(S(),a,r),u))}c&&i.length<Zn&&i.push(a),r=a,o=n}return i}var Ts=class{contacts=[];midpoints=[];bodyA;bodyB;constructor(e,t){this.bodyA=e,this.bodyB=t}add(e,t,i){let r=ne(S(),Li(S(),e,t),.5);for(let n of this.midpoints)if(Ne(J(S(),r,n))<_u)return;if(this.contacts.length>=rl)return;let{bodyA:o,bodyB:a}=this;this.contacts.push({feature:i,rA:Te(S(),o.positionAng,J(S(),e,o.positionLin)),rB:Te(S(),a.positionAng,J(S(),t,a.positionLin))}),this.midpoints.push(r)}};function Aa(s,e,t,i,r,o,a,n){let l=Ne(i);if(l<zi)return!0;let c=1/Math.sqrt(l),u=ne(S(),i,c);V(u,t)<0&&ee(u,u);let f=Math.abs(V(t,u)),d=s.half[0]*Mi(u,s.axis[0])+s.half[1]*Mi(u,s.axis[1])+s.half[2]*Mi(u,s.axis[2]),p=e.half[0]*Mi(u,e.axis[0])+e.half[1]*Mi(u,e.axis[1])+e.half[2]*Mi(u,e.axis[2]),m=f-(d+p);return m>0?!1:((!n.valid||m>n.separation)&&(n.valid=!0,n.type=r,n.indexA=o,n.indexB=a,n.separation=m,n.normalAB=u),!0)}function tl(s,e,t){let i=(e+1)%3,r=(e+2)%3,o=V(t,s.axis[i])>=0?1:-1,a=V(t,s.axis[r])>=0?1:-1,n=D(S(),s.center,s.axis[i],s.half[i]*o);D(n,n,s.axis[r],s.half[r]*a);let l=ne(S(),s.axis[e],s.half[e]);return[J(S(),n,l),Li(S(),n,l)]}function Ru(s,e,t,i){let r=J(S(),e,s),o=J(S(),i,t),a=J(S(),s,t),n=V(r,r),l=V(o,o),c=V(o,a),u=0,f=0;if(n<=zi&&l<=zi)return[s,t];if(n<=zi)f=ce(c/l,0,1);else{let d=V(r,a);if(l<=zi)u=ce(-d/n,0,1);else{let p=V(r,o),m=n*l-p*p;Math.abs(m)>zi&&(u=ce((p*c-d*l)/m,0,1)),f=(p*u+c)/l,f<0?(f=0,u=ce(-d/n,0,1)):f>1&&(f=1,u=ce((p-d)/n,0,1))}}return[D(S(),s,r,u),D(S(),t,o,f)]}function il(s,e,t,i,r,o,a){let n=r?t:i,l=r?i:t,c=r?a:ee(S(),a),u=Eu(n,o,c),f=Mu(l,u.normal),d=zu(l,f,u.normal),p=[[u.u,u.extentU],[ee(S(),u.u),u.extentU],[u.v,u.extentV],[ee(S(),u.v),u.extentV]];for(let[g,b]of p)if(d=Iu(d,g,V(g,u.center)+b),!d.length)return[];let m=new Ts(s,e),h=(r?Is:sl)<<24|(o&255)<<16|(f&255)<<8;for(let g=0;g<d.length&&m.contacts.length<rl;g++){let b=d[g],y=V(J(S(),b,u.center),u.normal);if(y>wa)continue;let A=D(S(),b,u.normal,-y),v=r?A:b,x=r?b:A;m.add(v,x,h|g&255)}return m.contacts.length||m.add(Os(t,a),Os(i,ee(S(),a)),h),m.contacts}function Ou(s,e,t,i,r,o,a){let[n,l]=tl(t,r,a),[c,u]=tl(i,o,ee(S(),a)),[f,d]=Ru(n,l,c,u),p=new Ts(s,e),m=Rs<<24|(r&255)<<8|o&255;return p.add(f,d,m),p.contacts.length||p.add(Os(t,a),Os(i,ee(S(),a)),m),p.contacts}function al(s,e,t){let i=el(s),r=el(e),o=J(S(),r.center,i.center),a={type:Is,indexA:0,indexB:0,separation:-Ba,normalAB:S(),valid:!1},n={type:Rs,indexA:0,indexB:0,separation:-Ba,normalAB:S(),valid:!1};for(let u=0;u<3;u++)if(!Aa(i,r,o,i.axis[u],Is,u,-1,a))return[];for(let u=0;u<3;u++)if(!Aa(i,r,o,r.axis[u],sl,-1,u,a))return[];let l=S();for(let u=0;u<3;u++)for(let f=0;f<3;f++)if(Dt(l,i.axis[u],r.axis[f]),!Aa(i,r,o,l,Rs,u,f,n))return[];if(!a.valid)return[];let c=a;return n.valid&&.95*n.separation>a.separation+.01&&(c=n),_s(t,ee(S(),c.normalAB)),c.type===Rs?Ou(s,e,i,r,c.indexA,c.indexB,c.normalAB):c.type===Is?il(s,e,i,r,!0,c.indexA,c.normalAB):il(s,e,i,r,!1,c.indexB,c.normalAB)}var nl=S(),ll=S(),cl=S(),ul=S(),fl=S(),dl=S(),js=ae(),Ca=ae(),Sa=ae(),Ds=ae(),ka=ae(),Pa=ae(),La=ae(),Gs=ae(),Me=S(),je=S(),Ii=S(),oi=S(),hl=S(),pl=S(),sr=0,Fr=0;function ml(s,e,t){for(let i=0;i<3;i++)oi[0]=t[i*3],oi[1]=t[i*3+1],oi[2]=t[i*3+2],Dt(oi,e,oi),s[i*3]=oi[0],s[i*3+1]=oi[1],s[i*3+2]=oi[2];return s}var ai=class extends Ft{contacts=[];basis=ae();friction=0;constructor(e,t,i){super(e,t,i)}get numContacts(){return this.contacts.length}initialize(){let e=this.bodyA,t=this.bodyB,{solver:i}=this;this.friction=Math.sqrt(e.friction*t.friction);let r=this.contacts;this.contacts=al(e,t,this.basis).map(o=>{let a=r.find(n=>n.feature===o.feature);return a?{feature:o.feature,rA:a.stick?a.rA:o.rA,rB:a.stick?a.rB:o.rB,C0:S(),penalty:a.penalty.slice(),lambda:a.lambda.slice(),stick:a.stick}:{feature:o.feature,rA:o.rA,rB:o.rB,C0:S(),penalty:S(),lambda:S(),stick:!1}});for(let o of this.contacts){Gt(hl,e.positionLin,e.positionAng,o.rA),Gt(pl,t.positionLin,t.positionAng,o.rB),ue(o.C0,this.basis,J(Ii,hl,pl)),o.C0[0]+=Ms;for(let a=0;a<3;a++)o.lambda[a]=o.lambda[a]*i.alpha*i.gamma,o.penalty[a]=ce(o.penalty[a]*i.gamma,Et,Ve)}return this.contacts.length>0}evaluate(e,t){let i=this.bodyA,r=this.bodyB,o=this.basis;le(fl,i.positionAng,e.rA),le(dl,r.positionAng,e.rB),Yn(js,o),ml(Ca,fl,o),ml(Sa,dl,js),Ce(Ds,e.penalty[0],e.penalty[1],e.penalty[2]),ne(Me,e.C0,1-t),D(Me,Me,ue(Ii,o,nl),1),D(Me,Me,ue(Ii,js,cl),1),D(Me,Me,ue(Ii,Ca,ll),1),D(Me,Me,ue(Ii,Sa,ul),1),ue(je,Ds,Me),D(je,je,e.lambda,1),je[0]=Bt(je[0],0),Fr=Math.abs(je[0])*this.friction,sr=Math.sqrt(je[1]*je[1]+je[2]*je[2]),sr>Fr&&sr>0&&(je[1]*=Fr/sr,je[2]*=Fr/sr)}computeDisplacements(){let e=this.bodyA,t=this.bodyB;J(nl,e.positionLin,e.initialLin),ct(ll,e.positionAng,e.initialAng),J(cl,t.positionLin,t.initialLin),ct(ul,t.positionAng,t.initialAng)}updatePrimal(e,t,i){this.computeDisplacements();let r=e===this.bodyA;for(let o of this.contacts){this.evaluate(o,t);let a=r?this.basis:js,n=r?Ca:Sa;_i(ka,a),_i(Pa,n),Ke(La,Pa,Ds),qe(i.lhsLin,Ke(Gs,Ke(Gs,ka,Ds),a)),qe(i.lhsAng,Ke(Gs,La,n)),qe(i.lhsCross,Ke(Gs,La,a)),D(i.rhsLin,i.rhsLin,ue(Ii,ka,je),1),D(i.rhsAng,i.rhsAng,ue(Ii,Pa,je),1)}}updateDual(e){let{solver:t}=this;this.computeDisplacements();for(let i of this.contacts)this.evaluate(i,e),i.lambda.set(je),je[0]<0&&(i.penalty[0]=Bt(i.penalty[0]+t.betaLin*Math.abs(Me[0]),Ve)),sr<=Fr&&(i.penalty[1]=Bt(i.penalty[1]+t.betaLin*Math.abs(Me[1]),Ve),i.penalty[2]=Bt(i.penalty[2]+t.betaLin*Math.abs(Me[2]),Ve),i.stick=Math.sqrt(Me[1]*Me[1]+Me[2]*Me[2])<Kn)}};var _a=()=>({dt:1/60,gravity:-10,iterations:10,betaLin:1e4,betaAng:100,alpha:.99,gamma:.999}),ni=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,_a())}clear(){this.forces=[],this.bodies=[]}pick(e,t){let r=null,o=S(),a=S();for(let n=this.bodies.length-1;n>=0;n--){let l=this.bodies[n];if(l.mass<=0)continue;Te(o,l.positionAng,J(o,e,l.positionLin)),Te(a,l.positionAng,t);let c=0,u=1/0,f=!0;for(let p=0;p<3&&f;p++){let m=l.size[p]*.5;if(Math.abs(a[p])<1e-6){(o[p]<-m||o[p]>m)&&(f=!1);continue}let h=1/a[p],g=(-m-o[p])*h,b=(m-o[p])*h;g>b&&([g,b]=[b,g]),c=Math.max(c,g),u=Math.min(u,b),c>u&&(f=!1)}if(!f)continue;let d=c>=0?c:u;d<0||(!r||d<r.t)&&(r={body:l,local:D(S(),o,a,d),t:d})}return r}sys=zs();dxLin=S();dxAng=S();dp=S();accel=S();step(){let{dt:e,gravity:t,bodies:i,sys:r,dp:o}=this;for(let n=i.length-1;n>=0;n--){let l=i[n];for(let c=n-1;c>=0;c--){let u=i[c];J(o,l.positionLin,u.positionLin);let f=l.radius+u.radius;V(o,o)<=f*f&&!l.constrainedTo(u)&&new ai(this,l,u)}}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];D(l.inertialLin,l.positionLin,l.velocityLin,e),l.mass>0&&(l.inertialLin[2]+=t*(e*e)),si(l.inertialAng,l.positionAng,gl(l.velocityAng,e)),_t(this.accel,J(this.accel,l.velocityLin,l.prevVelocityLin),e);let c=this.accel[2]*Ps(t),u=ce(c/Math.abs(t),0,1);Number.isFinite(u)||(u=0),l.initialLin.set(l.positionLin),l.initialAng.set(l.positionAng),l.mass>0&&(D(l.positionLin,l.positionLin,l.velocityLin,e),l.positionLin[2]+=t*(u*e*e),si(l.positionAng,l.positionAng,gl(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 u=c.mass,f=c.moment;Ce(r.lhsLin,u/(e*e),u/(e*e),u/(e*e)),Ce(r.lhsAng,f[0]/(e*e),f[1]/(e*e),f[2]/(e*e)),r.lhsCross.fill(0),ue(r.rhsLin,r.lhsLin,J(o,c.positionLin,c.inertialLin)),ue(r.rhsAng,r.lhsAng,ct(o,c.positionAng,c.inertialAng));let d=c.forces;for(let p=d.length-1;p>=0;p--)d[p].updatePrimal(c,this.alpha,r);Es(r.lhsLin,r.lhsAng,r.lhsCross,ee(r.rhsLin,r.rhsLin),ee(r.rhsAng,r.rhsAng),this.dxLin,this.dxAng),D(c.positionLin,c.positionLin,this.dxLin,1),si(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&&(_t(n.velocityLin,J(n.velocityLin,n.positionLin,n.initialLin),e),_t(n.velocityAng,ct(n.velocityAng,n.positionAng,n.initialAng),e))}},Tu=S(),gl=(s,e)=>ne(Tu,s,e);var xe=(s,e)=>[s[0]-e[0],s[1]-e[1],s[2]-e[2]],Mt=(s,e)=>s[0]*e[0]+s[1]*e[1]+s[2]*e[2],Ri=(s,e)=>[s[1]*e[2]-s[2]*e[1],s[2]*e[0]-s[0]*e[2],s[0]*e[1]-s[1]*e[0]],et=s=>Math.sqrt(Mt(s,s));function Ur(s){let e=Ea(s);return!e||e.vertices.length/3<=32?e:Ea(bl(e,32))}function bl(s,e){let[t,i,r,o]=s.rotation,a=f=>{let d=[2*(i*f[2]-r*f[1]),2*(r*f[0]-t*f[2]),2*(t*f[1]-i*f[0])];return[f[0]+o*d[0]+(i*d[2]-r*d[1])+s.center[0],f[1]+o*d[1]+(r*d[0]-t*d[2])+s.center[1],f[2]+o*d[2]+(t*d[1]-i*d[0])+s.center[2]]},n=[];for(let f=0;f<s.vertices.length;f+=3)n.push(a([s.vertices[f],s.vertices[f+1],s.vertices[f+2]]));let l=0;n.forEach((f,d)=>{et(xe(f,s.center))>et(xe(n[l],s.center))&&(l=d)});let c=[l],u=n.map(f=>et(xe(f,n[l])));for(;c.length<e;){let f=0;u.forEach((d,p)=>{d>u[f]&&(f=p)}),c.push(f),n.forEach((d,p)=>{u[p]=Math.min(u[p],et(xe(d,n[f])))})}return c.flatMap(f=>n[f])}function Ea(s){let e=0;for(let v=0;v<s.length;v++)e=Math.max(e,Math.abs(s[v]));let t=Math.max(e,1e-9)*1e-6,i=new Set,r=[];for(let v=0;v+2<s.length;v+=3){let x=[s[v],s[v+1],s[v+2]],w=x.map(B=>Math.round(B/t)).join(",");i.has(w)||(i.add(w),r.push(x))}if(r.length<4)return null;let o=Math.max(e,1e-9)*1e-10,a=0;for(let v=1;v<r.length;v++)r[v][0]<r[a][0]&&(a=v);let n=-1,l=0;for(let v=0;v<r.length;v++){let x=et(xe(r[v],r[a]));x>l&&(l=x,n=v)}if(n<0||l<o)return null;let c=-1;l=0;let u=xe(r[n],r[a]);for(let v=0;v<r.length;v++){let x=et(Ri(u,xe(r[v],r[a])));x>l&&(l=x,c=v)}if(c<0||l<o*et(u))return null;let f=Ri(u,xe(r[c],r[a])),d=-1;l=0;for(let v=0;v<r.length;v++){let x=Math.abs(Mt(f,xe(r[v],r[a])));x>l&&(l=x,d=v)}if(d<0||l<o*et(f))return null;let p=[],m=(v,x,w)=>{let B=Ri(xe(r[x],r[v]),xe(r[w],r[v])),L=et(B)||1,M=[B[0]/L,B[1]/L,B[2]/L];return{v:[v,x,w],n:M,d:Mt(M,r[v])}},g=Mt(f,xe(r[d],r[a]))>0?[a,c,n]:[a,n,c];p.push(m(g[0],g[1],g[2])),p.push(m(g[0],d,g[1])),p.push(m(g[1],d,g[2])),p.push(m(g[2],d,g[0]));let b=new Set([a,n,c,d]),y=r.map((v,x)=>x).filter(v=>!b.has(v)),A=[a,n,c,d].reduce((v,x)=>[v[0]+r[x][0]/4,v[1]+r[x][1]/4,v[2]+r[x][2]/4],[0,0,0]);y.sort((v,x)=>et(xe(r[x],A))-et(xe(r[v],A)));for(let v of y){let x=p.filter(k=>Mt(k.n,r[v])-k.d>o);if(!x.length)continue;let w=new Map;for(let k of p)for(let P=0;P<3;P++)w.set(`${k.v[P]},${k.v[(P+1)%3]}`,k);let B=new Set(x),L=[...x];for(;L.length;){let k=L.pop();for(let P=0;P<3;P++){let C=w.get(`${k.v[(P+1)%3]},${k.v[P]}`);C&&!B.has(C)&&Mt(C.n,r[v])-C.d>-o&&(B.add(C),L.push(C))}}let M=[...B],I=new Set;for(let k of M)for(let P=0;P<3;P++)I.add(`${k.v[P]},${k.v[(P+1)%3]}`);let E=[];for(let k of M)for(let P=0;P<3;P++){let C=k.v[P],_=k.v[(P+1)%3];I.has(`${_},${C}`)||E.push([C,_])}for(let k of M)p.splice(p.indexOf(k),1);for(let[k,P]of E)p.push(m(k,P,v))}return yl(r.flat(),p.flatMap(v=>v.v))}function Ma(s,e){let t=yl(s,e);return t&&t.vertices.length/3>32?Ea(bl(t,32)):t}function yl(s,e){let t=[];for(let C=0;C+2<s.length;C+=3)t.push([s[C],s[C+1],s[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,o=[];for(let C=0;C+2<e.length;C+=3){let _=[e[C],e[C+1],e[C+2]],z=Ri(xe(t[_[1]],t[_[0]]),xe(t[_[2]],t[_[0]])),R=et(z);if(!(R>0))continue;let G=[z[0]/R,z[1]/R,z[2]/R];o.push({v:_,n:G,d:Mt(G,t[_[0]])})}let a=new Map;o.forEach((C,_)=>{for(let z=0;z<3;z++)a.set(`${C.v[z]},${C.v[(z+1)%3]}`,_)});let n=new Array(o.length).fill(-1),l=[];o.forEach((C,_)=>{if(n[_]>=0)return;let z=[_];n[_]=l.length;for(let R=0;R<z.length;R++){let G=o[z[R]];for(let X=0;X<3;X++){let W=a.get(`${G.v[(X+1)%3]},${G.v[X]}`);if(W===void 0||n[W]>=0)continue;let U=o[W];Mt(C.n,U.n)>1-1e-5&&U.v.every(H=>Math.abs(Mt(C.n,t[H])-C.d)<=r)&&(n[W]=l.length,z.push(W))}}l.push(z)});let c=[];for(let C of l){let _=new Set;for(let U of C)for(let H=0;H<3;H++)_.add(`${o[U].v[H]},${o[U].v[(H+1)%3]}`);let z=new Map;for(let U of C)for(let H=0;H<3;H++){let Z=o[U].v[H],he=o[U].v[(H+1)%3];if(!_.has(`${he},${Z}`)){if(z.has(Z))return null;z.set(Z,he)}}let R=[0,0,0];for(let U of C){let H=o[U],Z=Ri(xe(t[H.v[1]],t[H.v[0]]),xe(t[H.v[2]],t[H.v[0]]));R[0]+=Z[0],R[1]+=Z[1],R[2]+=Z[2]}let G=et(R)||1,X=z.keys().next().value,W=[X];for(let U=z.get(X);U!==X&&W.length<=z.size;U=z.get(U))W.push(U);if(W.length!==z.size)return null;c.push({n:[R[0]/G,R[1]/G,R[2]/G],verts:W})}let u=new Map,f=[];for(let C of c)for(let _ of C.verts)u.has(_)||(u.set(_,f.length),f.push(t[_]));for(let C of c)C.verts=C.verts.map(_=>u.get(_));let d=new Set,p=0;for(let C of c)C.verts.forEach((_,z)=>{d.add(`${_},${C.verts[(z+1)%C.verts.length]}`),p++});if(d.size!==p||![...d].every(C=>{let[_,z]=C.split(",");return d.has(`${z},${_}`)})||f.length-d.size/2+c.length!==2)return null;let m=0,h=[0,0,0],g=[0,0,0,0,0,0];for(let C of c){let _=f[C.verts[0]];for(let z=1;z+1<C.verts.length;z++){let R=f[C.verts[z]],G=f[C.verts[z+1]],X=Mt(_,Ri(R,G));m+=X/6;for(let U=0;U<3;U++)h[U]+=X/24*(_[U]+R[U]+G[U]);let W=(U,H)=>X/120*(_[U]*_[H]+R[U]*R[H]+G[U]*G[H]+(_[U]+R[U]+G[U])*(_[H]+R[H]+G[H]));g[0]+=W(0,0),g[1]+=W(1,1),g[2]+=W(2,2),g[3]+=W(0,1),g[4]+=W(0,2),g[5]+=W(1,2)}}if(!(m>0))return null;for(let C=0;C<3;C++)h[C]/=m;g[0]-=m*h[0]*h[0],g[1]-=m*h[1]*h[1],g[2]-=m*h[2]*h[2],g[3]-=m*h[0]*h[1],g[4]-=m*h[0]*h[2],g[5]-=m*h[1]*h[2];let b=g[0]+g[1]+g[2],y=[[b-g[0],-g[3],-g[4]],[-g[3],b-g[1],-g[5]],[-g[4],-g[5],b-g[2]]],{values:A,vectors:v}=ju(y),x=v,w=C=>{let _=xe(C,h);return[x[0][0]*_[0]+x[1][0]*_[1]+x[2][0]*_[2],x[0][1]*_[0]+x[1][1]*_[1]+x[2][1]*_[2],x[0][2]*_[0]+x[1][2]*_[1]+x[2][2]*_[2]]},B=f.map(w),L=new Float32Array(B.flat()),M=c.map(C=>{let _=C.n,z=[x[0][0]*_[0]+x[1][0]*_[1]+x[2][0]*_[2],x[0][1]*_[0]+x[1][1]*_[1]+x[2][1]*_[2],x[0][2]*_[0]+x[1][2]*_[1]+x[2][2]*_[2]],R=-1/0;for(let G of C.verts)R=Math.max(R,Mt(z,B[G]));return{normal:z,d:R,verts:C.verts}}),I=new Map;M.forEach((C,_)=>C.verts.forEach((z,R)=>I.set(`${z},${C.verts[(R+1)%C.verts.length]}`,_)));let E=[];M.forEach((C,_)=>C.verts.forEach((z,R)=>{let G=C.verts[(R+1)%C.verts.length],X=I.get(`${G},${z}`);z<G&&X!==void 0&&E.push([z,G,_,X])}));let k=[0,0,0],P=0;for(let C of B){for(let _=0;_<3;_++)k[_]=Math.max(k[_],2*Math.abs(C[_]));P=Math.max(P,et(C))}return{vertices:L,faces:M,edges:E,volume:m,moments:[A[0],A[1],A[2]],size:k,radius:P,center:h,rotation:Du(x)}}function ju(s){let e=s.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 u=c+1;u<3;u++){if(Math.abs(e[c][u])<1e-300)continue;let f=(e[u][u]-e[c][c])/(2*e[c][u]),d=Math.sign(f||1)/(Math.abs(f)+Math.sqrt(f*f+1)),p=1/Math.sqrt(d*d+1),m=d*p;for(let h=0;h<3;h++){let g=e[h][c],b=e[h][u];e[h][c]=p*g-m*b,e[h][u]=m*g+p*b}for(let h=0;h<3;h++){let g=e[c][h],b=e[u][h];e[c][h]=p*g-m*b,e[u][h]=m*g+p*b}for(let h=0;h<3;h++){let g=t[h][c],b=t[h][u];t[h][c]=p*g-m*b,t[h][u]=m*g+p*b}}let i=[t[0][0],t[1][0],t[2][0]],r=[t[0][1],t[1][1],t[2][1]],o=Ri(i,r),a=[[i[0],r[0],o[0]],[i[1],r[1],o[1]],[i[2],r[2],o[2]]];return{values:[e[0][0],e[1][1],e[2][2]],vectors:a}}function Du(s){let e=s[0][0]+s[1][1]+s[2][2],t,i,r,o;if(e>0){let n=.5/Math.sqrt(e+1);o=.25/n,t=(s[2][1]-s[1][2])*n,i=(s[0][2]-s[2][0])*n,r=(s[1][0]-s[0][1])*n}else if(s[0][0]>s[1][1]&&s[0][0]>s[2][2]){let n=2*Math.sqrt(1+s[0][0]-s[1][1]-s[2][2]);o=(s[2][1]-s[1][2])/n,t=.25*n,i=(s[0][1]+s[1][0])/n,r=(s[0][2]+s[2][0])/n}else if(s[1][1]>s[2][2]){let n=2*Math.sqrt(1+s[1][1]-s[0][0]-s[2][2]);o=(s[0][2]-s[2][0])/n,t=(s[0][1]+s[1][0])/n,i=.25*n,r=(s[1][2]+s[2][1])/n}else{let n=2*Math.sqrt(1+s[2][2]-s[0][0]-s[1][1]);o=(s[1][0]-s[0][1])/n,t=(s[0][2]+s[2][0])/n,i=(s[1][2]+s[2][1])/n,r=.25*n}let a=Math.hypot(t,i,r,o);return[t/a,i/a,r/a,o/a]}var xl=new WeakSet,De=s=>xl.has(s),Gu=new WeakSet;var or=s=>Gu.has(s);function ar(s,e,t,i,r,o=[0,0,0]){let a=new Ze(s,[2*e,2*e,2*e],t,i,r,o);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,xl.add(a),a}var Al=new WeakMap,Ct=s=>Al.get(s);function nr(s,e,t,i,r,o=[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 ${32} vertices, 255 faces and edges)`);let n=new Ze(s,e.size,t,i,r,a);return n.positionAng.set([o[0],o[1],o[2],o[3]]),n.mass=t>0?e.volume*t:0,n.moment.set(e.moments.map(l=>l*Math.max(t,0))),n.radius=e.radius,Al.set(n,e),n}var za=`
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const MAX_COLORS = 64u;
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`,Ut=`
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// Shared by every 2D module (layout.ts)
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${
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${za}
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@@ -185,7 +185,7 @@ fn argsColors(@builtin(local_invocation_id) lid: vec3u) {
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setArgs(IA_COLOR + 3u * c, colorThreads(color[params.colorStartOffset + c + 1u] - color[params.colorStartOffset + c]));
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`,Fs=Nr(Ut),Se=["collision","adjacency","coloring","solve"];var Fu=`
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struct ScanParams {
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n: u32, // elements in the range
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if (base < sp.n) { data[sp.offset + base] += add; }
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`,tt=class{levels=[];buffers=[];scanPipeline;addPipeline;constructor(e,t,i,r){let o=e.createShaderModule({label:"prefix scan",code:
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+
`,tt=class{levels=[];buffers=[];scanPipeline;addPipeline;constructor(e,t,i,r){let o=e.createShaderModule({label:"prefix scan",code:Fu}),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:o,entryPoint:"scanBlocks"}}),this.addPipeline=e.createComputePipeline({label:"addBlocks",layout:n,compute:{module:o,entryPoint:"addBlocks"}});let l=t,c=i,u=r;for(;;){let f=Math.max(1,Math.ceil(u/512)),d=e.createBuffer({label:`scan sums ${this.levels.length}`,size:Math.max(f,4)*4,usage:GPUBufferUsage.STORAGE}),p=e.createBuffer({size:16,usage:GPUBufferUsage.UNIFORM,mappedAtCreation:!0});new Uint32Array(p.getMappedRange()).set([c,u,0,0]),p.unmap(),this.buffers.push(d,p);let m=e.createBindGroup({layout:a,entries:[{binding:0,resource:{buffer:p}},{binding:1,resource:{buffer:l}},{binding:2,resource:{buffer:d}}]});if(this.levels.push({n:u,blocks:f,group:m}),f===1)break;l=d,c=0,u=f}}encode(e){e.setPipeline(this.scanPipeline);for(let t of this.levels)e.setBindGroup(0,t.group),e.dispatchWorkgroups(t.blocks);e.setPipeline(this.addPipeline);for(let t=this.levels.length-2;t>=0;t--)e.setBindGroup(0,this.levels[t].group),e.dispatchWorkgroups(this.levels[t].blocks)}destroy(){for(let e of this.buffers)e.destroy()}};var Uu=`
|
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237
237
|
alias TopoItem = Contact;
|
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238
238
|
|
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239
239
|
fn topoCount() -> u32 {
|
|
@@ -254,7 +254,7 @@ fn jointActive(j: u32) -> bool {
|
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254
254
|
let s = joints[j].stiff;
|
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255
255
|
return info[j].x != T_NONE && (s.x != 0.0 || s.y != 0.0 || s.z != 0.0);
|
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256
256
|
}
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-
`,
|
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257
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+
`,Ti=(s,e)=>`
|
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258
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${s}
|
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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
|
-
`,
|
|
535
|
+
`,qr=Ti(Ut,Uu);var Nu=jt(),zt=ae(),Us=ae(),ji=ae(),Ia=ae(),lr=ae(),Ra=ae(),ut=ae(),Ns=ae(),Vr=ae(),ye=S(),ze=S(),ve=S(),li=S(),cr=S();function Oa(s,e,t){return Ce(s,-t[e],-t[e],-t[e]),s[e]+=t[0],s[3+e]+=t[1],s[6+e]+=t[2],s}var qs=(s,e,t)=>lt(s,Bt(e[0],t),Bt(e[1],t),Bt(e[2],t)),ke=class extends Ft{rA;rB;C0Lin=S();C0Ang=S();penaltyLin=S();penaltyAng=S();lambdaLin=S();lambdaAng=S();stiffnessLin;stiffnessAng;fracture;torqueArm;broken=!1;constructor(e,t,i,r,o,a=1/0,n=0,l=1/0){super(e,t,i),this.rA=S(r[0],r[1],r[2]),this.rB=S(o[0],o[1],o[2]),this.stiffnessLin=a,this.stiffnessAng=n,this.fracture=l;let c=t?t.size:[0,0,0];this.torqueArm=Ne([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?Gt(li,t.positionLin,t.positionAng,this.rA):li.set(this.rA),J(e,li,Gt(cr,i.positionLin,i.positionAng,this.rB))}evaluateAng(e){return ct(e,this.bodyA?this.bodyA.positionAng:Nu,this.bodyB.positionAng),ne(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]=ce(this.penaltyLin[t]*e.gamma,Et,Ve),this.penaltyAng[t]=ce(this.penaltyAng[t]*e.gamma,Et,Ve);return qs(this.penaltyLin,this.penaltyLin,this.stiffnessLin),qs(this.penaltyAng,this.penaltyAng,this.stiffnessAng),!this.broken}updatePrimal(e,t,i){let r=e===this.bodyA;if(Ne(this.penaltyLin)>0){Ce(zt,this.penaltyLin[0],this.penaltyLin[1],this.penaltyLin[2]),this.evaluateLin(ye),this.stiffnessLin===1/0&&D(ye,ye,this.C0Lin,-t),ue(ze,zt,ye),D(ze,ze,this.lambdaLin,1);let o=r?1:-1;Ce(Us,o,o,o),r?xa(ji,ee(ve,le(ve,this.bodyA.positionAng,this.rA))):xa(ji,le(ve,this.bodyB.positionAng,this.rB)),_i(Ia,Us),_i(lr,ji),Ke(Ra,lr,zt),qe(i.lhsLin,Ke(ut,Ke(ut,Ia,zt),Us)),qe(i.lhsAng,Ke(ut,Ra,ji)),qe(i.lhsCross,Ke(ut,Ra,Us)),r?le(ve,this.bodyA.positionAng,this.rA):ee(ve,le(ve,this.bodyB.positionAng,this.rB)),Ei(Ns,Oa(Vr,0,ve),ze[0]),qe(Ns,Ei(Vr,Oa(Vr,1,ve),ze[1])),qe(Ns,Ei(Vr,Oa(Vr,2,ve),ze[2])),qe(i.lhsAng,Qn(ut,Ns)),D(i.rhsLin,i.rhsLin,ue(ve,Ia,ze),1),D(i.rhsAng,i.rhsAng,ue(ve,lr,ze),1)}if(Ne(this.penaltyAng)>0){Ce(zt,this.penaltyAng[0],this.penaltyAng[1],this.penaltyAng[2]),this.evaluateAng(ye),this.stiffnessAng===1/0&&D(ye,ye,this.C0Ang,-t),ue(ze,zt,ye),D(ze,ze,this.lambdaAng,1);let o=(r?1:-1)*this.torqueArm;Ce(ji,o,o,o),_i(lr,ji),qe(i.lhsAng,Ke(ut,Ke(ut,lr,zt),ji)),D(i.rhsAng,i.rhsAng,ue(ve,lr,ze),1)}}updateDual(e){let{solver:t}=this;Ne(this.penaltyLin)>0&&(Ce(zt,this.penaltyLin[0],this.penaltyLin[1],this.penaltyLin[2]),this.evaluateLin(ye),this.stiffnessLin===1/0&&(D(ye,ye,this.C0Lin,-e),ue(ze,zt,ye),D(this.lambdaLin,ze,this.lambdaLin,1)),D(this.penaltyLin,this.penaltyLin,ya(ve,ye),t.betaLin),qs(this.penaltyLin,this.penaltyLin,Bt(this.stiffnessLin,Ve))),Ne(this.penaltyAng)>0&&(Ce(zt,this.penaltyAng[0],this.penaltyAng[1],this.penaltyAng[2]),this.evaluateAng(ye),this.stiffnessAng===1/0&&(D(ye,ye,this.C0Ang,-e),ue(ze,zt,ye),D(this.lambdaAng,ze,this.lambdaAng,1)),D(this.penaltyAng,this.penaltyAng,ya(ve,ye),t.betaAng),qs(this.penaltyAng,this.penaltyAng,Bt(this.stiffnessAng,Ve))),Ne(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)}},ft=class extends Ft{rA;rB;rest;stiffness;constructor(e,t,i,r,o,a,n=-1){super(e,t,i),this.rA=S(r[0],r[1],r[2]),this.rB=S(o[0],o[1],o[2]),this.stiffness=a,this.rest=n,this.rest<0&&(Gt(li,t.positionLin,t.positionAng,this.rA),Gt(cr,i.positionLin,i.positionAng,this.rB),this.rest=rr(J(ye,li,cr)))}initialize(){return!0}updatePrimal(e,t,i){let r=this.bodyA,o=this.bodyB;Gt(li,r.positionLin,r.positionAng,this.rA),Gt(cr,o.positionLin,o.positionAng,this.rB);let a=J(ye,li,cr),n=rr(a);if(n<=1e-6)return;let l=_t(ze,a,n),c=n-this.rest,u=this.stiffness*c,f=li,d=cr;e===r?(le(ve,r.positionAng,this.rA),f.set(l),Dt(d,ve,l)):(le(ve,o.positionAng,this.rB),ee(f,l),ee(d,Dt(d,ve,l))),qe(i.lhsLin,Ei(ut,Ls(ut,f,f),this.stiffness)),qe(i.lhsAng,Ei(ut,Ls(ut,d,d),this.stiffness)),qe(i.lhsCross,Ei(ut,Ls(ut,d,f),this.stiffness)),D(i.rhsLin,i.rhsLin,ne(ve,f,u),1),D(i.rhsAng,i.rhsAng,ne(ve,d,u),1)}updateDual(){}},Vs=class extends Ft{initialize(){return!0}updatePrimal(){}updateDual(){}};var We=40,ur=0,Wr=4,wl=8,Bl=12,Ta=16,ja=20,Cl=24,Sl=28,Da=32,Ga=36,pe=32,ci=0,Hr=4,fr=8,dr=12,kl=16,Pl=20,ui=24,hr=28,Nt=8;var Ws=4,Ht=16,pr=0,Hs=4,$s=8,Js=12,$r=2147483648,mr=6,qu=7,Ll=0,Fa=1,Ua=2,Xs=3,Jr=1,gr=2,Xr=1,Yr=2,Qr=4,Kr=8,Zr=16,Vu=.1,_l=.002,El=.002,Wu=.05,es=44,ge=`
|
|
536
536
|
// Shared by every 3D module (avbd3d/gpu/layout.ts)
|
|
537
|
-
${
|
|
538
|
-
const T_JOINT = ${
|
|
539
|
-
const T_SPRING = ${
|
|
537
|
+
${za}
|
|
538
|
+
const T_JOINT = ${Jr};
|
|
539
|
+
const T_SPRING = ${gr};
|
|
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 = ${Fa}.0;
|
|
549
|
+
const SHAPE_SAIL = ${Ua}.0;
|
|
550
|
+
const SHAPE_HULL = ${Xs}.0;
|
|
551
|
+
const STICK_BIT = ${$r}u;
|
|
552
|
+
const C_MANIFOLDS = ${mr}u;
|
|
553
|
+
const C_PREV_MANIFOLDS = ${qu}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 = ${Xr}u;
|
|
558
|
+
const FLAG_FACE_BIAS = ${Yr}u;
|
|
559
|
+
const FLAG_REUSE_CONTACTS = ${Qr}u;
|
|
560
|
+
const FLAG_START_AT_REST = ${Kr}u;
|
|
561
|
+
const FLAG_MASS_PENALTY = ${Zr}u;
|
|
562
|
+
const REST_SPEED = ${Vu};
|
|
563
|
+
const NEAREST_FRACTION = ${Wu};
|
|
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
|
+
`,br=`
|
|
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
|
+
`,Na=`
|
|
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
|
+
`,Ys={counter:"C_MANIFOLDS",prevCounter:"C_PREV_MANIFOLDS",capacity:"params.manifoldCapacity",colorThreads:Na};var Ml=`
|
|
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 Qs=`
|
|
1099
|
+
${ge}
|
|
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) > ${_l}
|
|
1120
|
+
|| length(qsub(rot, last.rot)) > ${El};
|
|
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
|
+
`,fi=`
|
|
1127
|
+
${ge}
|
|
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
|
+
`,yr=s=>`
|
|
1335
|
+
${ge}
|
|
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
|
-
${s?
|
|
1750
|
+
${s?Ml:"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
|
+
`,zl=yr(!1),Il=yr(!0);var Ge=`
|
|
1880
|
+
${ge}
|
|
1881
|
+
${Na}
|
|
1882
1882
|
|
|
1883
1883
|
// Per-dispatch constants, selected with a dynamic uniform offset
|
|
1884
1884
|
struct PassConstants {
|
|
@@ -2418,11 +2418,11 @@ fn updateVelocities(@builtin(global_invocation_id) gid: vec3u) {
|
|
|
2418
2418
|
bodies[i].vel.w = prevUp;
|
|
2419
2419
|
}
|
|
2420
2420
|
}
|
|
2421
|
-
`;function Os(s,e){let t=0,i=s.length-1;for(;t<i;){let r=s[e],o=t,n=i;do{for(;s[o]<r;)o++;for(;r<s[n];)n--;if(o<=n){let a=s[o];s[o]=s[n],s[n]=a,o++,n--}}while(o<=n);n<e&&(t=o),e<o&&(i=n)}return s[e]}function kn(s){let e=s.length,t=e>0?Os(s,e>>1):1,i=0;for(let r=0;r<e;r++)s[r]<=2*t&&(i=Math.max(i,s[r]));return e>64&&(i=Math.max(i,Os(s,e-64-1))),i}var Jt=s=>s===1/0?3e38:s===-1/0?-3e38:s,ft=s=>Math.ceil(s/64),il=s=>2**Math.ceil(Math.log2(Math.max(s,2))),Qc=s=>Math.max(s,1)*qe*4,Kc=8,Ts=3,Zc=8,eu=1.6,tu=.8,iu=2,ru=[0,0,1],su=()=>({...an(),matchNearest:!0,faceBias:!0,reuseContacts:!0,startAtRest:!0,massPenalty:!0,windSpeed:0,windAngle:0,windGust:.4,windPressure:.72,up:[0,1,0]});function ou(s,e){let t=s.vertices.length/3,i=s.faces.length,r=s.faces.reduce((g,h)=>g+h.verts.length,0),o=Math.ceil(r/4),n=s.edges.length,a=new Float32Array((2+t+2*i+o+n)*4),l=new Uint32Array(a.buffer),c=e+2,u=c+t,f=u+2*i,d=f+o;l.set([c,t,u,i,d,n,f,0],0);for(let g=0;g<t;g++)a.set(s.vertices.subarray(g*3,g*3+3),(2+g)*4);let p=0;return s.faces.forEach((g,h)=>{let m=(2+t+2*h)*4;a.set(g.normal,m),a[m+3]=g.d,l[m+4]=p,l[m+5]=g.verts.length;for(let b of g.verts)l[(2+t+2*i)*4+p++]=b}),s.edges.forEach((g,h)=>l.set(g,(2+t+2*i+o+h)*4)),a}var Pn=.001;function nu(s,e){let t=s.length,i=s.map(m=>[0,1,2].map(b=>{let v=[0,0,0];return v[b]=1,ae(C(),m.positionAng,v)})),r=s.map((m,b)=>{if(De(m))return[m.radius,m.radius,m.radius];let v=[0,0,0];for(let w=0;w<3;w++)for(let y=0;y<3;y++)v[y]+=m.size[w]*.5*Math.abs(i[b][w][y]);return v}),o=kn(Float64Array.from(s,m=>m.radius)),n=Math.max(2*o,.001),a=(m,b)=>{let v=s[m],w=s[b];if(v.mass<=0&&w.mass<=0)return!1;let y=[0,1,2].map(x=>v.positionLin[x]-w.positionLin[x]),A=v.radius+w.radius;return y[0]*y[0]+y[1]*y[1]+y[2]*y[2]>A*A?!1:y.every((x,B)=>Math.abs(x)<=r[m][B]+r[b][B])},l=(m,b)=>m[0]*b[0]+m[1]*b[1]+m[2]*b[2],c=(m,b)=>{let v=s[m],w=s[b],y=[0,1,2].map(L=>w.positionLin[L]-v.positionLin[L]),[A,x]=[De(v),De(w)];if(A&&x)return Math.hypot(y[0],y[1],y[2])<=v.radius+w.radius+Pn;if(A||x){let[L,M,z]=A?[b,v.radius,-1]:[m,w.radius,1],_=0;for(let k=0;k<3;k++){let S=Math.abs(z*l(y,i[L][k]))-s[L].size[k]*.5;S>0&&(_+=S*S)}return _<=(M+Pn)**2}let B=(L,M)=>s[L].size[0]*.5*Math.abs(l(i[L][0],M))+s[L].size[1]*.5*Math.abs(l(i[L][1],M))+s[L].size[2]*.5*Math.abs(l(i[L][2],M)),E=L=>{let M=Math.hypot(L[0],L[1],L[2]);return M<1e-6?!1:Math.abs(l(y,L))-B(m,L)-B(b,L)>Pn*M};for(let L=0;L<3;L++)if(E(i[m][L])||E(i[b][L]))return!1;for(let L of i[m])for(let M of i[b])if(E([L[1]*M[2]-L[2]*M[1],L[2]*M[0]-L[0]*M[2],L[0]*M[1]-L[1]*M[0]]))return!1;return!0},u=new Set,f=new Map,d=(m,b,v)=>(m*73856093^b*19349663^v*83492791)>>>0,p=m=>[0,1,2].map(b=>Math.floor(s[m].positionLin[b]/n));for(let m=0;m<t;m++){if(s[m].radius>o){u.add(m);continue}let[b,v,w]=p(m),y=d(b,v,w),A=f.get(y);A?A.push(m):f.set(y,[m])}let g=0,h=0;for(let m=0;m<t;m++){if(u.has(m))continue;let[b,v,w]=p(m);for(let y=-1;y<=1;y++)for(let A=-1;A<=1;A++)for(let x=-1;x<=1;x++)for(let B of f.get(d(b+x,v+A,w+y))??[])B<m&&a(m,B)&&(g++,c(m,B)&&(h++,e[m]++,e[B]++))}for(let m of u)for(let b=0;b<t;b++)b!==m&&(!u.has(b)||b<m)&&a(m,b)&&(g++,c(m,b)&&(h++,e[m]++,e[b]++));return{pairs:g,touching:h}}function au(s){let e=[1/0,1/0,1/0],t=[-1/0,-1/0,-1/0];for(let o of s)for(let n=0;n<3;n++)e[n]=Math.min(e[n],o.positionLin[n]),t[n]=Math.max(t[n],o.positionLin[n]);let i=o=>{let n=o&1023;return n=(n|n<<16)&50331903,n=(n|n<<8)&50393103,n=(n|n<<4)&51130563,n=(n|n<<2)&153391689,n},r=s.map(o=>{let n=[0,1,2].map(a=>Math.min(1023,Math.floor((o.positionLin[a]-e[a])/Math.max(t[a]-e[a],1e-9)*1024)));return(i(n[0])|i(n[1])<<1|i(n[2])<<2)>>>0});return s.map((o,n)=>n).sort((o,n)=>r[o]-r[n]||o-n)}var Pe=()=>GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_SRC|GPUBufferUsage.COPY_DST,js=class{device;params=su();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:o,iterations:n,alpha:a,betaLin:l,betaAng:c,gamma:u}=t;if(Object.assign(this.params,{dt:r,gravity:o,iterations:n,alpha:a,betaLin:l,betaAng:c,gamma:u,up:ru}),this.bodyCount=t.bodies.length,this.colorRounds=i.colorRounds??16,this.ownsBodyBuffer=!i.bodyBuffer,this.bodyCapacity=i.bodyBuffer?Math.floor(i.bodyBuffer.size/(qe*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:Qc(this.bodyCapacity),usage:Pe()}),this.filterBuffer=e.createBuffer({label:"collision filters",size:Math.max(this.bodyCapacity,1)*8,usage:Pe()}),e.queue.writeBuffer(this.filterBuffer,0,new Uint32Array(Math.max(this.bodyCapacity,1)*2).fill(4294967295));let f=this.bodyCapacity;this.tableSize=il(2*f),this.gridBuffer=e.createBuffer({label:"grid 3d",size:(2*this.tableSize+1+4*f)*4,usage:Pe()}),this.counterBuffer=e.createBuffer({label:"counters",size:64,usage:Pe()}),this.argsBuffer=e.createBuffer({label:"indirect args",size:816,usage:Pe()|GPUBufferUsage.INDIRECT}),this.colorGroups=Math.ceil(f/256),this.colorBuffer=e.createBuffer({label:"colours",size:(3*f+65+64*this.colorGroups+1)*4,usage:Pe()}),this.paramsBuffer=e.createBuffer({label:"params 3d",size:Cn*4,usage:GPUBufferUsage.UNIFORM|GPUBufferUsage.COPY_DST}),this.refBuffer=e.createBuffer({label:"reference poses",size:f*32,usage:Pe()}),this.hulls=(i.hulls??!0)&&e.limits.maxStorageBuffersPerShaderStage>=9,this.hullBuffer=e.createBuffer({label:"hulls",size:this.hullCapacity*16,usage:Pe()}),e.queue.writeBuffer(this.colorBuffer,0,new Uint32Array(f).fill(255));let d=2*Se.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 tt(e,this.gridBuffer,0,this.tableSize+1),this.colorHistScan=new tt(e,this.colorBuffer,this.colorHistOffset,64*this.colorGroups+1);let p=i.spatialSort===!1?t.bodies.map((x,B)=>B):au(t.bodies);this.refToGpu=new Int32Array(p.length),p.forEach((x,B)=>this.refToGpu[x]=B);let g=new Map(t.bodies.map((x,B)=>[x,this.refToGpu[B]])),h=t.forces.filter(x=>x instanceof ke||x instanceof ut);for(let x of t.forces){if(!(x instanceof Ls))continue;let B=g.get(x.bodyA),E=g.get(x.bodyB);this.pendingEntries.push([Math.max(B,E),Math.min(B,E),4294967295])}this.allocateJoints(Math.max(h.length+256,i.capacity?.joints??0));for(let x of h)this.writeJoint(this.jointCount++,x,g);let m=new Int32Array(t.bodies.length),{pairs:b,touching:v}=nu(t.bodies,m),w=new Map(t.bodies.map((x,B)=>[x,B]));for(let x of h)x.bodyA&&m[w.get(x.bodyA)]++,m[w.get(x.bodyB)]++;let y=0;t.bodies.forEach((x,B)=>{x.mass>0&&(y=Math.max(y,m[B]))}),this.colorCap=Math.min(64,Math.max(Zc,y+1+Ts,i.capacity?.colors??0));let A=i.capacity??{};this.allocateContacts(Math.max(8192,4*f,Kc*v,A.contacts??0),Math.max(4096,4*f,2*b,A.pairs??0),Math.max(4096,f,eu*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=(n,a)=>e.createBindGroupLayout({label:n,entries:a.map((l,c)=>({binding:c,visibility:GPUShaderStage.COMPUTE,buffer:{type:l}}))}),i="read-only-storage",r="storage",o="uniform";return{broad:t("broadphase 3d",[o,i,r,r,r,i,i,i]),contacts:t("contacts 3d",[o,i,i,r,i,r,i,r,r,...this.hulls?[i]:[]]),topo:t("topology 3d",[o,i,i,i,i,r,r,r]),solve:t("solve 3d",[o,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",[o,i,i,r]),refs:t("refs 3d",[o,r,r])}}createPipelines(e){let t=this.device,i=(o,n,a)=>{let l=t.createShaderModule({code:o}),c=t.createPipelineLayout({bindGroupLayouts:n});for(let u of a)this.pipes[u]=t.createComputePipeline({label:u,layout:c,compute:{module:l,entryPoint:u}})},r=this.layouts;i(ui,[r.broad],["beginFrame","gridCount","gridScatter","findPairs"]),i(Rs,[r.refs],["updateRefs"]),i(e.contacts??Za,[r.contacts],["hashInsert","narrowphase"]),this.contactShaders={make:o=>i(o,[r.contacts],["hashInsert","narrowphase"]),custom:!!e.contacts},i(Ri(Ae,mr),[r.topo],["degreeJoints","degreeContacts","fillJoints","fillContacts","sortAdjacency","colorCompact","colorMark","colorRoundAB","colorRoundBA","colorCount","colorStarts","colorScatter"]),i(e.solve??ze,[r.solve,r.pass],["warmStartJoints","warmStartBodies","primal","dual","updateVelocities"]),i(cn(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)*pe*4,usage:Pe()}),r=t.createBuffer({label:"joint info",size:Math.max(e,1)*16,usage:Pe()});if(this.jointBuffer){let n=t.createCommandEncoder();n.copyBufferToBuffer(this.jointBuffer,0,i,0,this.jointCapacity*pe*4),n.copyBufferToBuffer(this.infoBuffer,0,r,0,this.jointCapacity*16),t.queue.submit([n.finish()]),this.jointBuffer.destroy(),this.infoBuffer.destroy()}let o=new Int32Array(e*4);o.set(this.info.subarray(0,Math.min(this.info.length,o.length))),this.info=o,this.jointBuffer=i,this.infoBuffer=r,this.jointCapacity=e,this.contactBuffers&&this.rebuildBindings()}allocateContacts(e,t,i){let r=this.device,o=r.limits.maxStorageBufferBindingSize,n=Math.min(Math.ceil(e),Math.floor(o/(Ht*4))),a=Math.min(Math.ceil(t),Math.floor(o/8)),l=Math.min(Math.ceil(i),a,Math.floor(o/(Ut*4))),c={contacts:this.contactBuffers,manifolds:this.manifoldBuffers,contactCapacity:this.contactCapacity,manifoldCapacity:this.manifoldCapacity};for(let u of[this.pairBuffer,this.tableBuffer])u?.destroy();if(this.contactCapacity=n,this.pairCapacity=a,this.manifoldCapacity=l,this.hashSize=il(2*l),this.pairBuffer=r.createBuffer({label:"pairs",size:a*8,usage:Pe()}),this.tableBuffer=r.createBuffer({label:"manifold hash",size:this.hashSize*4,usage:Pe()}),this.contactBuffers=[0,1].map(u=>r.createBuffer({label:`contacts 3d ${u}`,size:n*Ht*4,usage:Pe()})),this.manifoldBuffers=[0,1].map(u=>r.createBuffer({label:`manifolds 3d ${u}`,size:l*Ut*4,usage:Pe()})),c.contacts){let u=r.createCommandEncoder(),f=Math.min(c.contactCapacity,n)*Ht*4,d=Math.min(c.manifoldCapacity,l)*Ut*4;c.contacts.forEach((p,g)=>u.copyBufferToBuffer(p,0,this.contactBuffers[g],0,f)),c.manifolds.forEach((p,g)=>u.copyBufferToBuffer(p,0,this.manifoldBuffers[g],0,d)),r.queue.submit([u.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:Pe()}),this.adjScan?.destroy(),this.adjScan=new tt(e,this.adjBuffer,0,this.bodyCount+1),this.staticBuffer??=e.createBuffer({label:"statics",size:16,usage:Pe()});let i=(d,p)=>e.createBindGroup({layout:d,entries:p.map((g,h)=>({binding:h,resource:{buffer:g}}))}),r=this.paramsBuffer,[o,n]=this.contactBuffers,[a,l]=this.manifoldBuffers,c=this.adjBuffer,u=this.tableBuffer,f=this.counterBuffer;this.groups={broad:i(this.layouts.broad,[r,this.bodyBuffer,this.gridBuffer,this.pairBuffer,f,this.staticBuffer,this.jointBuffer,this.filterBuffer]),contacts:[i(this.layouts.contacts,[r,this.bodyBuffer,this.pairBuffer,o,n,a,l,u,f,...this.hulls?[this.hullBuffer]:[]]),i(this.layouts.contacts,[r,this.bodyBuffer,this.pairBuffer,n,o,l,a,u,f,...this.hulls?[this.hullBuffer]:[]])],topo:[a,l].map(d=>i(this.layouts.topo,[r,this.bodyBuffer,this.jointBuffer,this.infoBuffer,d,f,c,this.colorBuffer])),solve:[0,1].map(d=>i(this.layouts.solve,[r,this.bodyBuffer,this.jointBuffer,this.infoBuffer,[o,n][d],c,this.colorBuffer,f,[a,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)*qe);t.forEach((r,o)=>{let n=this.pack(r,i,o*qe,this.bodies[e+o]?.hull);this.bodies[e+o]?.radius!==n.radius&&(this.radiiDirty=!0),this.bodies[e+o]=n}),this.device.queue.writeBuffer(this.bodyBuffer,e*qe*4,i,0,t.length*qe)}rewriteFixed(e,t,i,r,o){if(!e.length)return;let n=new Float32Array(qe),a={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(a,n,0);for(let c=0;c<e.length;){let u=c+1;for(;u<e.length&&e[u]===e[u-1]+1;)u++;let f=new Float32Array((u-c)*qe);for(let d=c;d<u;d++){let p=(d-c)*qe;f.set(n,p);for(let h=0;h<3;h++)f[p+lr+h]=t[3*d+h];if(o)for(let h=0;h<4;h++)f[p+Gr+h]=o[4*d+h];let g=this.bodies[e[d]];g?.radius!==l.radius&&(this.radiiDirty=!0),g?.hull&&this.releaseHull(g.hull),this.bodies[e[d]]={...l,size:[...l.size]}}this.device.queue.writeBuffer(this.bodyBuffer,e[c]*qe*4,f),this.device.queue.writeBuffer(this.colorBuffer,e[c]*4,new Uint32Array(u-c).fill(255)),c=u}}pack(e,t,i,r){{t.set(e.positionLin,i+lr),t[i+lr+3]=e.friction,t.set(e.positionAng,i+Gr),t.set(e.size,i+hn),t[i+hn+3]=e.mass,t.set(e.moment,i+pn),t[i+pn+3]=e.radius,t.set(e.initialLin,i+Ua),t.set(e.initialAng,i+qa),t.set(e.inertialLin,i+Va),t.set(e.inertialAng,i+Wa),t.set(e.velocityLin,i+mn);let o=this.params.up;t[i+mn+3]=e.prevVelocityLin[0]*o[0]+e.prevVelocityLin[1]*o[1]+e.prevVelocityLin[2]*o[2],t.set(e.velocityAng,i+gn);let n=De(e),a=this.hulls?wt(e):void 0;r&&r!==a&&this.releaseHull(r);let l=a?r===a?this.hullSlots.get(a).offset:this.acquireHull(a):-1;return t[i+gn+3]=n?bn:l>=0?Is+l:sr(e)?yn:$a,{radius:e.radius,dynamic:e.mass>0,sphere:n,size:[e.size[0],e.size[1],e.size[2]],hull:a}}}writeJoint(e,t,i){let r=new Float32Array(pe),o=t.bodyA?i.get(t.bodyA):-1,n=i.get(t.bodyB);t instanceof ke?(r.set(t.penaltyLin,li),r[li+3]=Jt(t.broken?0:t.stiffnessLin),r.set(t.penaltyAng,Nr),r[Nr+3]=Jt(t.broken?0:t.stiffnessAng),r.set(t.lambdaLin,cr),r[cr+3]=Jt(t.fracture),r.set(t.lambdaAng,ur),r[ur+3]=t.torqueArm,r.set(t.C0Lin,Ha),r.set(t.C0Ang,Ja),r.set(t.rA,ci),r.set(t.rB,fr)):(r[li+3]=t.stiffness,r.set(t.rA,ci),r[ci+3]=t.rest,r.set(t.rB,fr)),this.info.set([t instanceof ke?qr:pr,o,n,0],e*4),this.device.queue.writeBuffer(this.jointBuffer,e*pe*4,r),this.device.queue.writeBuffer(this.infoBuffer,e*16,this.info,e*4,4),this.noCollide(o,n,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,o=new Float64Array(r);for(let c=0;c<r;c++)o[c]=this.bodies[c].radius;let n=kn(o),a=1/0;for(let c=0;c<r;c++)o[c]>n&&(a=Math.min(a,o[c]));let l=a===1/0?n*1.5:(n+a)/2;this.maxSmallRadius=l,this.cellSize=Math.max(2*n*(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],o=this.releasedSlots.size?this.entries.filter(l=>!this.releasedSlots.has(l[2])):this.entries;this.releasedSlots.clear();let n=this.pendingEntries.sort(r);this.pendingEntries=[];let a=[];for(let l=0,c=0;l<o.length||c<n.length;)c>=n.length||l<o.length&&r(o[l],n[c])<=0?a.push(o[l++]):a.push(n[c++]);this.entries=a,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,o)=>i.set(r,e.length+3*o)),this.staticBuffer.size<i.byteLength&&(this.staticBuffer.destroy(),this.staticBuffer=this.device.createBuffer({label:"statics",size:i.byteLength,usage:Pe()}),this.rebuildBindings()),this.device.queue.writeBuffer(this.staticBuffer,0,i)}seedFrom(e){if(this.refToGpu.some((g,h)=>g!==h))throw new Error("seedFrom needs spatialSort: false");let t=new Map(e.bodies.map((g,h)=>[g,h]));this.writeBodies(0,e.bodies);let i=0;for(let g of e.forces)(g instanceof ke||g instanceof ut)&&this.writeJoint(i++,g,t);if(i!==this.jointCount)throw new Error("seedFrom: joints differ from the reference");let r=e.forces.filter(g=>g instanceof oi),o=r.reduce((g,h)=>g+h.contacts.length,0);if(o>this.contactCapacity||r.length>this.manifoldCapacity)throw new Error("seedFrom: too many contacts");let n=new ArrayBuffer(Math.max(o,1)*Ht*4),a=new Uint32Array(n),l=new Float32Array(n),c=new ArrayBuffer(Math.max(r.length,1)*Ut*4),u=new Uint32Array(c),f=new Float32Array(c),d=0;r.forEach((g,h)=>{u.set([t.get(g.bodyA),t.get(g.bodyB),d,g.contacts.length],h*Ut),f.set([g.basis[0],g.basis[1],g.basis[2],g.friction],h*Ut+_s);for(let m of g.contacts){let b=d++*Ht;l.set(m.rA,b+dr),a[b+dr+3]=m.feature>>>0|(m.stick?Ur:0),l.set([...m.rB,m.C0[0]],b+Es),l.set([...m.penalty,m.C0[1]],b+Ms),l.set([...m.lambda,m.C0[2]],b+zs)}}),this.device.queue.writeBuffer(this.contactBuffers[1-this.parity],0,n),this.device.queue.writeBuffer(this.manifoldBuffers[1-this.parity],0,c);let p=new Uint32Array(16);p[1]=o,p[hr]=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(el),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((n,a)=>n+a.verts.length,0)/4)+e.edges.length,r=-1,o=this.hullFree.findIndex(n=>n.size>=i);if(o>=0){let n=this.hullFree[o];r=n.offset,n.size===i?this.hullFree.splice(o,1):Object.assign(n,{offset:n.offset+i,size:n.size-i})}else r=this.hullTop,this.hullTop+=i,this.hullTop>this.hullCapacity&&this.growHulls(this.hullTop);if(r+Is>=2**24)throw new Error("hull buffer beyond 2^24 vec4s");return this.device.queue.writeBuffer(this.hullBuffer,r*16,ou(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,o)=>r.offset-o.offset);let i=[];for(let r of this.hullFree){let o=i[i.length-1];o&&o.offset+o.size===r.offset?o.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:Pe()}),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 tt(this.device,this.adjBuffer,0,this.bodyCount+1),i}appendJoint(e,t,i,r,o,n){let a=this.jointCount;a>=this.jointCapacity&&this.allocateJoints(this.jointCapacity*2),this.jointCount++;let l=new Float32Array(pe);l[li+3]=Jt(o),l[Nr+3]=Jt(n),l[cr+3]=3e38,l.set([i[0],i[1],i[2]],ci),l.set([r[0],r[1],r[2]],fr);let c=e>=0?this.bodies[e].size:[0,0,0],u=this.bodies[t].size;return l[ur+3]=(c[0]+u[0])**2+(c[1]+u[1])**2+(c[2]+u[2])**2,this.info.set([qr,e,t,0],a*4),this.device.queue.writeBuffer(this.jointBuffer,a*pe*4,l),this.device.queue.writeBuffer(this.infoBuffer,a*16,this.info,a*4,4),this.noCollide(e,t,a),a}appendJoints(e,t,i=!1){return this.appendConstraints(e.length,(r,o)=>{let{a:n,b:a,rA:l,rB:c,angular:u}=e[r];o[li+3]=3e38,o[Nr+3]=u===void 0?3e38:Jt(u),o[cr+3]=i?-Jt(t):Jt(t),o.set([l[0],l[1],l[2]],ci),o.set([c[0],c[1],c[2]],fr);let[f,d]=[this.bodies[n].size,this.bodies[a].size];return o[ur+3]=(f[0]+d[0])**2+(f[1]+d[1])**2+(f[2]+d[2])**2,[qr,n,a]})}appendSprings(e){return this.appendConstraints(e.length,(t,i)=>{let{a:r,b:o,rA:n,rB:a,stiffness:l,rest:c}=e[t];return i[li+3]=Jt(l),i.set([n[0],n[1],n[2],c],ci),i.set([a[0],a[1],a[2]],fr),[pr,r,o]})}appendConstraints(e,t){let i=[];if(this.freeSlots.length)for(this.freeSlots.sort((a,l)=>l-a);i.length<e&&this.freeSlots.length;)i.push(this.freeSlots.pop());let r=e-i.length,o=this.jointCapacity;for(;this.jointCount+r>o;)o*=2;o>this.jointCapacity&&this.allocateJoints(o);for(let a=0;a<r;a++)i.push(this.jointCount++);let n=new Float32Array(e*pe);for(let a=0;a<e;a++){let[l,c,u]=t(a,n.subarray(a*pe,(a+1)*pe));this.info.set([l,c,u,0],i[a]*4),this.releasedSlots.delete(i[a]),this.noCollide(c,u,i[a])}for(let a=0;a<e;){let l=a+1;for(;l<e&&i[l]===i[l-1]+1;)l++;this.device.queue.writeBuffer(this.jointBuffer,i[a]*pe*4,n,a*pe,(l-a)*pe),this.device.queue.writeBuffer(this.infoBuffer,i[a]*16,this.info,i[a]*4,(l-a)*4),a=l}return i}releaseJoints(e){let t=[...new Set(Array.from(e))].filter(r=>r<this.jointCount&&this.info[r*4]!==0).sort((r,o)=>r-o);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 o=r+1;for(;o<t.length&&t[o]===t[o-1]+1;)o++;i.length<(o-r)*pe&&(i=new Float32Array((o-r)*pe)),this.device.queue.writeBuffer(this.jointBuffer,t[r]*pe*4,i,0,(o-r)*pe),this.device.queue.writeBuffer(this.infoBuffer,t[r]*16,this.info,t[r]*4,(o-r)*4),r=o}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 o=r+1;for(;o<e.length&&e[o]===e[o-1]+1;)o++;let n=new Uint32Array(2*(o-r));for(let a=r;a<o;a++)n.set([t[a]>>>0,i[a]>>>0],2*(a-r));this.device.queue.writeBuffer(this.filterBuffer,e[r]*8,n),r=o}}setWorldAnchor(e,t){this.device.queue.writeBuffer(this.jointBuffer,(e*pe+ci)*4,new Float32Array([t[0],t[1],t[2]]))}disableConstraint(e){this.device.queue.writeBuffer(this.jointBuffer,(e*pe+li)*4,new Float32Array(8)),this.device.queue.writeBuffer(this.jointBuffer,(e*pe+cr)*4,new Float32Array(3)),this.device.queue.writeBuffer(this.jointBuffer,(e*pe+ur)*4,new Float32Array(3))}profileNextStep(e){this.timing&&!this.timingBusy&&(this.timingCallback=e)}writeParams(){let e=this.params,t=this.bodyCapacity,i=new ArrayBuffer(Cn*4),r=new Float32Array(i),o=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,o[6]=(e.matchNearest?vn:0)|(e.faceBias?An:0)|(e.reuseContacts?xn:0)|(e.startAtRest?wn:0)|(e.massPenalty?Bn:0),o[7]=this.bodyCount,o[8]=this.jointCount,o[9]=this.colorCap,r[10]=this.cellSize,o[11]=this.tableSize-1,r[12]=this.maxSmallRadius,o[13]=this.largeCount,o[14]=this.noCollideCount,o[15]=this.pairCapacity,o[16]=this.contactCapacity,o[17]=this.hashSize-1,o[18]=t+1,o[19]=2*t+1,o[20]=this.tableSize+1,o[21]=2*this.tableSize+1,o[22]=2*this.tableSize+1+t,o[23]=t,o[24]=this.colorHistOffset,o[25]=2*t,o[26]=this.colorGroups,o[27]=2*t+65,o[28]=this.colorRounds,o[29]=this.manifoldCapacity,o[30]=this.stepCount;let n=a=>Math.min(31,Math.max(0,Math.round(Math.log2(a))));o[31]=n(this.primalLanes[0])|n(this.primalLanes[1])<<8|n(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 o=new ArrayBuffer(r*256),n=new Uint32Array(o),a=new Float32Array(o);for(let l=0;l<e;l++)for(let c=0;c<=this.colorCap;c++){let u=(l*i+c)*256/4;n[u]=c,a[u+1]=t}this.device.queue.writeBuffer(this.passBuffer,0,o)}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,o=this.jointCount,n=this.device.createCommandEncoder({label:"avbd3d step"});n.clearBuffer(this.gridBuffer,0,(2*this.tableSize+1)*4),n.clearBuffer(this.tableBuffer),n.clearBuffer(this.adjBuffer,0,(2*i+1)*4);let a=this.timingCallback!==null&&this.timing!==null,l,c=0,u=a||this.splitPasses,f=()=>{l&&!u||(l?.end(),l=n.beginComputePass({label:u?Se[c]:"avbd3d step",timestampWrites:a?{querySet:this.timing.querySet,beginningOfPassWriteIndex:2*c,endOfPassWriteIndex:2*c+1}:void 0}),c++)},d=this.groups,p=(v,w,y)=>{y<=0||(l.setPipeline(this.pipes[v]),l.setBindGroup(0,w),l.dispatchWorkgroups(y))},g=(v,w,y)=>{l.setPipeline(this.pipes[v]),l.setBindGroup(0,w),l.dispatchWorkgroupsIndirect(this.argsBuffer,y*4)};if(f(),p("beginFrame",d.broad,1),e.reuseContacts&&p("updateRefs",d.refs,ft(r)),p("argsPrev",d.args,1),g("hashInsert",d.contacts[t],6),p("gridCount",d.broad,ft(r)),this.gridScan.encode(l),p("gridScatter",d.broad,ft(r)),p("findPairs",d.broad,ft(r)),p("argsPairs",d.args,1),g("narrowphase",d.contacts[t],0),p("argsContacts",d.args,1),f(),p("degreeJoints",d.topo[t],ft(o)),g("degreeContacts",d.topo[t],3),this.adjScan.encode(l),p("fillJoints",d.topo[t],ft(o)),g("fillContacts",d.topo[t],3),p("sortAdjacency",d.topo[t],ft(r)),f(),!this.fixedColors){p("colorCompact",d.topo[t],ft(r)),p("colorMark",d.topo[t],ft(r));for(let v=0;v<this.colorRounds;v++)p(v%2===0?"colorRoundAB":"colorRoundBA",d.topo[t],ft(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),f();let h=this.colorCap+1,m=v=>l.setBindGroup(1,this.passGroup,[v*256]);l.setBindGroup(0,d.solve[t]),m(0),o>0&&(l.setPipeline(this.pipes.warmStartJoints),l.dispatchWorkgroups(ft(o))),l.setPipeline(this.pipes.warmStartBodies),l.dispatchWorkgroups(ft(r));for(let v=0;v<e.iterations;v++){l.setPipeline(this.pipes.primal);for(let w=0;w<this.colorCap;w++)m(v*h+w),l.dispatchWorkgroupsIndirect(this.argsBuffer,(12+3*w)*4);m(v*h+this.colorCap),l.setPipeline(this.pipes.dual),l.dispatchWorkgroupsIndirect(this.argsBuffer,36)}l.setPipeline(this.pipes.updateVelocities),l.dispatchWorkgroups(ft(r)),l.end();let b=2*Se.length;if(a){let{querySet:v,resolve:w,read:y}=this.timing;n.resolveQuerySet(v,0,b,w,0),n.copyBufferToBuffer(w,0,y,0,b*8)}if(this.device.queue.submit([n.finish()]),this.parity=1-t,a){let v=this.timingCallback;this.timingCallback=null,this.timingBusy=!0;let w=this.timing.read;w.mapAsync(GPUMapMode.READ).then(()=>{let y=new BigUint64Array(w.getMappedRange()).slice();if(w.unmap(),this.timingBusy=!1,this.destroyed)return this.releaseTiming();let A=(B,E)=>Number(y[E]-y[B])/1e6,x={total:A(0,b-1)};Se.forEach((B,E)=>x[B]=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*qe*4))}async readJoints(){return new Float32Array(await this.read(this.jointBuffer,this.jointCount*pe*4))}async readCounters(){let e=new Uint32Array(await this.read(this.counterBuffer,64));return{pairs:e[0],contacts:e[1],manifolds:e[hr],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,[o,n]=await Promise.all([this.read(this.manifoldBuffers[r],t*Ut*4),this.read(this.contactBuffers[r],i*Ht*4)]),a=new Uint32Array(o),l=new Float32Array(o),c=new Uint32Array(n),u=new Float32Array(n),f=[];for(let d=0;d<t;d++){let p=d*Ut,g=[...l.subarray(p+_s,p+_s+3)];for(let h=a[p+2];h<a[p+2]+(a[p+3]&15);h++){let m=h*Ht,b=c[m+dr+3];f.push({a:a[p],b:a[p+1],feature:(b&~Ur)>>>0,stick:(b&Ur)!==0,rA:[...u.subarray(m+dr,m+dr+3)],rB:[...u.subarray(m+Es,m+Es+3)],pen:[...u.subarray(m+Ms,m+Ms+3)],lam:[...u.subarray(m+zs,m+zs+3)],normal:g})}}return f}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+Ts+2,this.colorCap+4)),this.shrinkVotes=0):t+Ts+2<this.colorCap||this.colorRounds>4?++this.shrinkVotes>=3&&(this.colorCap=Math.min(64,t+Ts),this.colorRounds=Math.max(4,this.colorRounds-4),this.shrinkVotes=0):this.shrinkVotes=0;let i=(a,l,c)=>(e.overflow&c)!==0||a>tu*l?Math.max(iu*a,1.25*l):l,r=i(e.contacts,this.contactCapacity,2),o=i(e.pairs,this.pairCapacity,1),n=i(e.manifolds,this.manifoldCapacity,4);this.capacityCanGrow(r,o,n)&&this.allocateContacts(r,o,n)}capacityCanGrow(e,t,i){let r=this.device.limits.maxStorageBufferBindingSize;return Math.min(e,r/(Ht*4))>this.contactCapacity||Math.min(t,r/8)>this.pairCapacity||Math.min(i,t,r/(Ut*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 o=i.getMappedRange().slice(0);return i.unmap(),i.destroy(),o}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 rl=` e.C = vec3f(
|
|
2421
|
+
`;function Ks(s,e){let t=0,i=s.length-1;for(;t<i;){let r=s[e],o=t,a=i;do{for(;s[o]<r;)o++;for(;r<s[a];)a--;if(o<=a){let n=s[o];s[o]=s[a],s[a]=n,o++,a--}}while(o<=a);a<e&&(t=o),e<o&&(i=a)}return s[e]}function qa(s){let e=s.length,t=e>0?Ks(s,e>>1):1,i=0;for(let r=0;r<e;r++)s[r]<=2*t&&(i=Math.max(i,s[r]));return e>64&&(i=Math.max(i,Ks(s,e-64-1))),i}var $t=s=>s===1/0?3e38:s===-1/0?-3e38:s,dt=s=>Math.ceil(s/64),Ol=s=>2**Math.ceil(Math.log2(Math.max(s,2))),Hu=s=>Math.max(s,1)*We*4,$u=8,Zs=3,Ju=8,Xu=1.6,Yu=.8,Qu=2,Ku=[0,0,1],Zu=()=>({..._a(),matchNearest:!0,faceBias:!0,reuseContacts:!0,startAtRest:!0,massPenalty:!0,windSpeed:0,windAngle:0,windGust:.4,windPressure:.72,up:[0,1,0]});function ef(s,e){let t=s.vertices.length/3,i=s.faces.length,r=s.faces.reduce((m,h)=>m+h.verts.length,0),o=Math.ceil(r/4),a=s.edges.length,n=new Float32Array((2+t+2*i+o+a)*4),l=new Uint32Array(n.buffer),c=e+2,u=c+t,f=u+2*i,d=f+o;l.set([c,t,u,i,d,a,f,0],0);for(let m=0;m<t;m++)n.set(s.vertices.subarray(m*3,m*3+3),(2+m)*4);let p=0;return s.faces.forEach((m,h)=>{let g=(2+t+2*h)*4;n.set(m.normal,g),n[g+3]=m.d,l[g+4]=p,l[g+5]=m.verts.length;for(let b of m.verts)l[(2+t+2*i)*4+p++]=b}),s.edges.forEach((m,h)=>l.set(m,(2+t+2*i+o+h)*4)),n}var Va=.001;function tf(s,e){let t=s.length,i=s.map(y=>{let A=y;return[A.group??4294967295,A.collidesWith??4294967295]}),r=i.map(([y,A])=>y!==0&&A!==0),o=s.map(y=>[0,1,2].map(A=>{let v=[0,0,0];return v[A]=1,le(S(),y.positionAng,v)})),a=s.map((y,A)=>{if(De(y))return[y.radius,y.radius,y.radius];let v=[0,0,0];for(let x=0;x<3;x++)for(let w=0;w<3;w++)v[w]+=y.size[x]*.5*Math.abs(o[A][x][w]);return v}),n=qa(Float64Array.from(s,y=>y.radius)),l=Math.max(2*n,.001),c=(y,A)=>{let v=s[y],x=s[A];if(v.mass<=0&&x.mass<=0||!(i[y][0]&i[A][1])||!(i[A][0]&i[y][1]))return!1;let w=v.positionLin[0]-x.positionLin[0],B=v.positionLin[1]-x.positionLin[1],L=v.positionLin[2]-x.positionLin[2];if(!(Math.abs(w)<=a[y][0]+a[A][0]&&Math.abs(B)<=a[y][1]+a[A][1]&&Math.abs(L)<=a[y][2]+a[A][2]))return!1;let M=v.radius+x.radius;return w*w+B*B+L*L<=M*M},u=(y,A)=>y[0]*A[0]+y[1]*A[1]+y[2]*A[2],f=(y,A)=>{let v=s[y],x=s[A],w=[0,1,2].map(E=>x.positionLin[E]-v.positionLin[E]),[B,L]=[De(v),De(x)];if(B&&L)return Math.hypot(w[0],w[1],w[2])<=v.radius+x.radius+Va;if(B||L){let[E,k,P]=B?[A,v.radius,-1]:[y,x.radius,1],C=0;for(let _=0;_<3;_++){let z=Math.abs(P*u(w,o[E][_]))-s[E].size[_]*.5;z>0&&(C+=z*z)}return C<=(k+Va)**2}let M=(E,k)=>s[E].size[0]*.5*Math.abs(u(o[E][0],k))+s[E].size[1]*.5*Math.abs(u(o[E][1],k))+s[E].size[2]*.5*Math.abs(u(o[E][2],k)),I=E=>{let k=Math.hypot(E[0],E[1],E[2]);return k<1e-6?!1:Math.abs(u(w,E))-M(y,E)-M(A,E)>Va*k};for(let E=0;E<3;E++)if(I(o[y][E])||I(o[A][E]))return!1;for(let E of o[y])for(let k of o[A])if(I([E[1]*k[2]-E[2]*k[1],E[2]*k[0]-E[0]*k[2],E[0]*k[1]-E[1]*k[0]]))return!1;return!0},d=new Set,p=new Map,m=(y,A,v)=>(y*73856093^A*19349663^v*83492791)>>>0,h=y=>[0,1,2].map(A=>Math.floor(s[y].positionLin[A]/l));for(let y=0;y<t;y++){if(!r[y])continue;if(s[y].radius>n){d.add(y);continue}let[A,v,x]=h(y),w=m(A,v,x),B=p.get(w);B?B.push(y):p.set(w,[y])}let g=0,b=0;for(let y=0;y<t;y++){if(!r[y]||d.has(y))continue;let[A,v,x]=h(y);for(let w=-1;w<=1;w++)for(let B=-1;B<=1;B++)for(let L=-1;L<=1;L++)for(let M of p.get(m(A+L,v+B,x+w))??[])M<y&&c(y,M)&&(g++,f(y,M)&&(b++,e[y]++,e[M]++))}for(let y of d)for(let A=0;A<t;A++)r[A]&&A!==y&&(!d.has(A)||A<y)&&c(y,A)&&(g++,f(y,A)&&(b++,e[y]++,e[A]++));return{pairs:g,touching:b}}function rf(s){let e=[1/0,1/0,1/0],t=[-1/0,-1/0,-1/0];for(let o of s)for(let a=0;a<3;a++)e[a]=Math.min(e[a],o.positionLin[a]),t[a]=Math.max(t[a],o.positionLin[a]);let i=o=>{let a=o&1023;return a=(a|a<<16)&50331903,a=(a|a<<8)&50393103,a=(a|a<<4)&51130563,a=(a|a<<2)&153391689,a},r=s.map(o=>{let a=[0,1,2].map(n=>Math.min(1023,Math.floor((o.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 s.map((o,a)=>a).sort((o,a)=>r[o]-r[a]||o-a)}var Pe=()=>GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_SRC|GPUBufferUsage.COPY_DST,eo=class{device;params=Zu();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:o,iterations:a,alpha:n,betaLin:l,betaAng:c,gamma:u}=t;if(Object.assign(this.params,{dt:r,gravity:o,iterations:a,alpha:n,betaLin:l,betaAng:c,gamma:u,up:Ku}),this.bodyCount=t.bodies.length,this.colorRounds=i.colorRounds??16,this.ownsBodyBuffer=!i.bodyBuffer,this.bodyCapacity=i.bodyBuffer?Math.floor(i.bodyBuffer.size/(We*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:Hu(this.bodyCapacity),usage:Pe()}),this.filterBuffer=e.createBuffer({label:"collision filters",size:Math.max(this.bodyCapacity,1)*8,usage:Pe()}),e.queue.writeBuffer(this.filterBuffer,0,new Uint32Array(Math.max(this.bodyCapacity,1)*2).fill(4294967295));let f=this.bodyCapacity;this.tableSize=Ol(2*f),this.gridBuffer=e.createBuffer({label:"grid 3d",size:(2*this.tableSize+1+4*f)*4,usage:Pe()}),this.counterBuffer=e.createBuffer({label:"counters",size:64,usage:Pe()}),this.argsBuffer=e.createBuffer({label:"indirect args",size:816,usage:Pe()|GPUBufferUsage.INDIRECT}),this.colorGroups=Math.ceil(f/256),this.colorBuffer=e.createBuffer({label:"colours",size:(3*f+65+64*this.colorGroups+1)*4,usage:Pe()}),this.paramsBuffer=e.createBuffer({label:"params 3d",size:es*4,usage:GPUBufferUsage.UNIFORM|GPUBufferUsage.COPY_DST}),this.refBuffer=e.createBuffer({label:"reference poses",size:f*32,usage:Pe()}),this.hulls=(i.hulls??!0)&&e.limits.maxStorageBuffersPerShaderStage>=9,this.hullBuffer=e.createBuffer({label:"hulls",size:this.hullCapacity*16,usage:Pe()}),e.queue.writeBuffer(this.colorBuffer,0,new Uint32Array(f).fill(255));let d=2*Se.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 tt(e,this.gridBuffer,0,this.tableSize+1),this.colorHistScan=new tt(e,this.colorBuffer,this.colorHistOffset,64*this.colorGroups+1);let p=i.spatialSort===!1?t.bodies.map((w,B)=>B):rf(t.bodies);this.refToGpu=new Int32Array(p.length),p.forEach((w,B)=>this.refToGpu[w]=B);let m=new Map(t.bodies.map((w,B)=>[w,this.refToGpu[B]])),h=t.forces.filter(w=>w instanceof ke||w instanceof ft);for(let w of t.forces){if(!(w instanceof Vs))continue;let B=m.get(w.bodyA),L=m.get(w.bodyB);this.pendingEntries.push([Math.max(B,L),Math.min(B,L),4294967295])}this.allocateJoints(Math.max(h.length+256,i.capacity?.joints??0));for(let w of h)this.writeJoint(this.jointCount++,w,m);let g=new Int32Array(t.bodies.length),{pairs:b,touching:y}=tf(t.bodies,g),A=new Map(t.bodies.map((w,B)=>[w,B]));for(let w of h)w.bodyA&&g[A.get(w.bodyA)]++,g[A.get(w.bodyB)]++;let v=0;t.bodies.forEach((w,B)=>{w.mass>0&&(v=Math.max(v,g[B]))}),this.colorCap=Math.min(64,Math.max(Ju,v+1+Zs,i.capacity?.colors??0));let x=i.capacity??{};this.allocateContacts(Math.max(8192,4*f,$u*y,x.contacts??0),Math.max(4096,4*f,2*b,x.pairs??0),Math.max(4096,f,Xu*y,x.manifolds??0)),this.writeBodies(0,p.map(w=>t.bodies[w]))}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",o="uniform";return{broad:t("broadphase 3d",[o,i,r,r,r,i,i,i]),contacts:t("contacts 3d",[o,i,i,r,i,r,i,r,r,...this.hulls?[i]:[]]),topo:t("topology 3d",[o,i,i,i,i,r,r,r]),solve:t("solve 3d",[o,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",[o,i,i,r]),refs:t("refs 3d",[o,r,r])}}createPipelines(e){let t=this.device,i=(o,a,n)=>{let l=t.createShaderModule({code:o}),c=t.createPipelineLayout({bindGroupLayouts:a});for(let u of n)this.pipes[u]=t.createComputePipeline({label:u,layout:c,compute:{module:l,entryPoint:u}})},r=this.layouts;i(fi,[r.broad],["beginFrame","gridCount","gridScatter","findPairs"]),i(e.refs??Qs,[r.refs],["updateRefs"]),i(e.contacts??zl,[r.contacts],["hashInsert","narrowphase"]),this.contactShaders={make:o=>i(o,[r.contacts],["hashInsert","narrowphase"]),custom:!!e.contacts},i(e.topology??Ti(ge,br),[r.topo],["degreeJoints","degreeContacts","fillJoints","fillContacts","sortAdjacency","colorCompact","colorMark","colorRoundAB","colorRoundBA","colorCount","colorStarts","colorScatter"]),i(e.solve??Ge,[r.solve,r.pass],["warmStartJoints","warmStartBodies","primal","dual","updateVelocities"]),i(Nr(ge,Ys),[r.args],["argsPrev","argsPairs","argsContacts","argsColors"])}allocateJoints(e){let t=this.device,i=t.createBuffer({label:"joints 3d",size:Math.max(e,1)*pe*4,usage:Pe()}),r=t.createBuffer({label:"joint info",size:Math.max(e,1)*16,usage:Pe()});if(this.jointBuffer){let a=t.createCommandEncoder();a.copyBufferToBuffer(this.jointBuffer,0,i,0,this.jointCapacity*pe*4),a.copyBufferToBuffer(this.infoBuffer,0,r,0,this.jointCapacity*16),t.queue.submit([a.finish()]),this.jointBuffer.destroy(),this.infoBuffer.destroy()}let o=new Int32Array(e*4);o.set(this.info.subarray(0,Math.min(this.info.length,o.length))),this.info=o,this.jointBuffer=i,this.infoBuffer=r,this.jointCapacity=e,this.contactBuffers&&this.rebuildBindings()}allocateContacts(e,t,i){let r=this.device,o=r.limits.maxStorageBufferBindingSize,a=Math.min(Math.ceil(e),Math.floor(o/(Ht*4))),n=Math.min(Math.ceil(t),Math.floor(o/8)),l=Math.min(Math.ceil(i),n,Math.floor(o/(Nt*4))),c={contacts:this.contactBuffers,manifolds:this.manifoldBuffers,contactCapacity:this.contactCapacity,manifoldCapacity:this.manifoldCapacity};for(let u of[this.pairBuffer,this.tableBuffer])u?.destroy();if(this.contactCapacity=a,this.pairCapacity=n,this.manifoldCapacity=l,this.hashSize=Ol(2*l),this.pairBuffer=r.createBuffer({label:"pairs",size:n*8,usage:Pe()}),this.tableBuffer=r.createBuffer({label:"manifold hash",size:this.hashSize*4,usage:Pe()}),this.contactBuffers=[0,1].map(u=>r.createBuffer({label:`contacts 3d ${u}`,size:a*Ht*4,usage:Pe()})),this.manifoldBuffers=[0,1].map(u=>r.createBuffer({label:`manifolds 3d ${u}`,size:l*Nt*4,usage:Pe()})),c.contacts){let u=r.createCommandEncoder(),f=Math.min(c.contactCapacity,a)*Ht*4,d=Math.min(c.manifoldCapacity,l)*Nt*4;c.contacts.forEach((p,m)=>u.copyBufferToBuffer(p,0,this.contactBuffers[m],0,f)),c.manifolds.forEach((p,m)=>u.copyBufferToBuffer(p,0,this.manifoldBuffers[m],0,d)),r.queue.submit([u.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:Pe()}),this.adjScan?.destroy(),this.adjScan=new tt(e,this.adjBuffer,0,this.bodyCount+1),this.staticBuffer??=e.createBuffer({label:"statics",size:16,usage:Pe()});let i=(d,p)=>e.createBindGroup({layout:d,entries:p.map((m,h)=>({binding:h,resource:{buffer:m}}))}),r=this.paramsBuffer,[o,a]=this.contactBuffers,[n,l]=this.manifoldBuffers,c=this.adjBuffer,u=this.tableBuffer,f=this.counterBuffer;this.groups={broad:i(this.layouts.broad,[r,this.bodyBuffer,this.gridBuffer,this.pairBuffer,f,this.staticBuffer,this.jointBuffer,this.filterBuffer]),contacts:[i(this.layouts.contacts,[r,this.bodyBuffer,this.pairBuffer,o,a,n,l,u,f,...this.hulls?[this.hullBuffer]:[]]),i(this.layouts.contacts,[r,this.bodyBuffer,this.pairBuffer,a,o,l,n,u,f,...this.hulls?[this.hullBuffer]:[]])],topo:[n,l].map(d=>i(this.layouts.topo,[r,this.bodyBuffer,this.jointBuffer,this.infoBuffer,d,f,c,this.colorBuffer])),solve:[0,1].map(d=>i(this.layouts.solve,[r,this.bodyBuffer,this.jointBuffer,this.infoBuffer,[o,a][d],c,this.colorBuffer,f,[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)*We);t.forEach((r,o)=>{let a=this.pack(r,i,o*We,this.bodies[e+o]?.hull);this.bodies[e+o]?.radius!==a.radius&&(this.radiiDirty=!0),this.bodies[e+o]=a}),this.device.queue.writeBuffer(this.bodyBuffer,e*We*4,i,0,t.length*We)}rewriteFixed(e,t,i,r,o){if(!e.length)return;let a=new Float32Array(We),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 u=c+1;for(;u<e.length&&e[u]===e[u-1]+1;)u++;let f=new Float32Array((u-c)*We);for(let d=c;d<u;d++){let p=(d-c)*We;f.set(a,p);for(let h=0;h<3;h++)f[p+ur+h]=t[3*d+h];if(o)for(let h=0;h<4;h++)f[p+Wr+h]=o[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]*We*4,f),this.device.queue.writeBuffer(this.colorBuffer,e[c]*4,new Uint32Array(u-c).fill(255)),c=u}}pack(e,t,i,r){{t.set(e.positionLin,i+ur),t[i+ur+3]=e.friction,t.set(e.positionAng,i+Wr),t.set(e.size,i+Ta),t[i+Ta+3]=e.mass,t.set(e.moment,i+ja),t[i+ja+3]=e.radius,t.set(e.initialLin,i+wl),t.set(e.initialAng,i+Bl),t.set(e.inertialLin,i+Cl),t.set(e.inertialAng,i+Sl),t.set(e.velocityLin,i+Da);let o=this.params.up;t[i+Da+3]=e.prevVelocityLin[0]*o[0]+e.prevVelocityLin[1]*o[1]+e.prevVelocityLin[2]*o[2],t.set(e.velocityAng,i+Ga);let a=De(e),n=this.hulls?Ct(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+Ga+3]=a?Fa:l>=0?Xs+l:or(e)?Ua:Ll,{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(pe),o=t.bodyA?i.get(t.bodyA):-1,a=i.get(t.bodyB);t instanceof ke?(r.set(t.penaltyLin,ci),r[ci+3]=$t(t.broken?0:t.stiffnessLin),r.set(t.penaltyAng,Hr),r[Hr+3]=$t(t.broken?0:t.stiffnessAng),r.set(t.lambdaLin,fr),r[fr+3]=$t(t.fracture),r.set(t.lambdaAng,dr),r[dr+3]=t.torqueArm,r.set(t.C0Lin,kl),r.set(t.C0Ang,Pl),r.set(t.rA,ui),r.set(t.rB,hr)):(r[ci+3]=t.stiffness,r.set(t.rA,ui),r[ui+3]=t.rest,r.set(t.rB,hr)),this.info.set([t instanceof ke?Jr:gr,o,a,0],e*4),this.device.queue.writeBuffer(this.jointBuffer,e*pe*4,r),this.device.queue.writeBuffer(this.infoBuffer,e*16,this.info,e*4,4),this.noCollide(o,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,o=new Float64Array(r);for(let c=0;c<r;c++)o[c]=this.bodies[c].radius;let a=qa(o),n=1/0;for(let c=0;c<r;c++)o[c]>a&&(n=Math.min(n,o[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],o=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<o.length||c<a.length;)c>=a.length||l<o.length&&r(o[l],a[c])<=0?n.push(o[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,o)=>i.set(r,e.length+3*o)),this.staticBuffer.size<i.byteLength&&(this.staticBuffer.destroy(),this.staticBuffer=this.device.createBuffer({label:"statics",size:i.byteLength,usage:Pe()}),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 ke||m instanceof ft)&&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 ai),o=r.reduce((m,h)=>m+h.contacts.length,0);if(o>this.contactCapacity||r.length>this.manifoldCapacity)throw new Error("seedFrom: too many contacts");let a=new ArrayBuffer(Math.max(o,1)*Ht*4),n=new Uint32Array(a),l=new Float32Array(a),c=new ArrayBuffer(Math.max(r.length,1)*Nt*4),u=new Uint32Array(c),f=new Float32Array(c),d=0;r.forEach((m,h)=>{u.set([t.get(m.bodyA),t.get(m.bodyB),d,m.contacts.length],h*Nt),f.set([m.basis[0],m.basis[1],m.basis[2],m.friction],h*Nt+Ws);for(let g of m.contacts){let b=d++*Ht;l.set(g.rA,b+pr),n[b+pr+3]=g.feature>>>0|(g.stick?$r:0),l.set([...g.rB,g.C0[0]],b+Hs),l.set([...g.penalty,g.C0[1]],b+$s),l.set([...g.lambda,g.C0[2]],b+Js)}}),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]=o,p[mr]=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 ${64}`);return e}acquireHull(e){!this.hullShaders&&!this.contactShaders.custom&&(this.contactShaders.make(Il),this.hullShaders=!0);let t=this.hullSlots.get(e);if(t)return t.refs++,t.offset;let i=2+e.vertices.length/3+2*e.faces.length+Math.ceil(e.faces.reduce((a,n)=>a+n.verts.length,0)/4)+e.edges.length,r=-1,o=this.hullFree.findIndex(a=>a.size>=i);if(o>=0){let a=this.hullFree[o];r=a.offset,a.size===i?this.hullFree.splice(o,1):Object.assign(a,{offset:a.offset+i,size:a.size-i})}else r=this.hullTop,this.hullTop+=i,this.hullTop>this.hullCapacity&&this.growHulls(this.hullTop);if(r+Xs>=2**24)throw new Error("hull buffer beyond 2^24 vec4s");return this.device.queue.writeBuffer(this.hullBuffer,r*16,ef(e,r)),this.hullSlots.set(e,{offset:r,size:i,refs:1}),r}releaseHull(e){let t=this.hullSlots.get(e);if(!t||--t.refs>0)return;this.hullSlots.delete(e),this.hullFree.push({offset:t.offset,size:t.size}),this.hullFree.sort((r,o)=>r.offset-o.offset);let i=[];for(let r of this.hullFree){let o=i[i.length-1];o&&o.offset+o.size===r.offset?o.size+=r.size:i.push({...r})}this.hullFree=i}growHulls(e){let t=this.hullCapacity;for(;t<e;)t*=2;let i=this.device.createBuffer({label:"hulls",size:t*16,usage:Pe()}),r=this.device.createCommandEncoder();r.copyBufferToBuffer(this.hullBuffer,0,i,0,this.hullCapacity*16),this.device.queue.submit([r.finish()]),this.hullBuffer.destroy(),this.hullBuffer=i,this.hullCapacity=t,this.contactBuffers&&this.rebuildBindings()}addBody(e){return this.addBodies([e])}addBodies(e){let t=Math.min(e.length,this.bodyCapacity-this.bodyCount);if(t<=0)return-1;let i=this.bodyCount;return this.bodyCount+=t,this.writeBodies(i,e.slice(0,t)),this.device.queue.writeBuffer(this.colorBuffer,i*4,new Uint32Array(t).fill(255)),this.adjScan.destroy(),this.adjScan=new tt(this.device,this.adjBuffer,0,this.bodyCount+1),i}appendJoint(e,t,i,r,o,a){let n=this.jointCount;n>=this.jointCapacity&&this.allocateJoints(this.jointCapacity*2),this.jointCount++;let l=new Float32Array(pe);l[ci+3]=$t(o),l[Hr+3]=$t(a),l[fr+3]=3e38,l.set([i[0],i[1],i[2]],ui),l.set([r[0],r[1],r[2]],hr);let c=e>=0?this.bodies[e].size:[0,0,0],u=this.bodies[t].size;return l[dr+3]=(c[0]+u[0])**2+(c[1]+u[1])**2+(c[2]+u[2])**2,this.info.set([Jr,e,t,0],n*4),this.device.queue.writeBuffer(this.jointBuffer,n*pe*4,l),this.device.queue.writeBuffer(this.infoBuffer,n*16,this.info,n*4,4),this.noCollide(e,t,n),n}appendJoints(e,t,i=!1){return this.appendConstraints(e.length,(r,o)=>{let{a,b:n,rA:l,rB:c,angular:u}=e[r];o[ci+3]=3e38,o[Hr+3]=u===void 0?3e38:$t(u),o[fr+3]=i?-$t(t):$t(t),o.set([l[0],l[1],l[2]],ui),o.set([c[0],c[1],c[2]],hr);let[f,d]=[this.bodies[a].size,this.bodies[n].size];return o[dr+3]=(f[0]+d[0])**2+(f[1]+d[1])**2+(f[2]+d[2])**2,[Jr,a,n]})}appendSprings(e){return this.appendConstraints(e.length,(t,i)=>{let{a:r,b:o,rA:a,rB:n,stiffness:l,rest:c}=e[t];return i[ci+3]=$t(l),i.set([a[0],a[1],a[2],c],ui),i.set([n[0],n[1],n[2]],hr),[gr,r,o]})}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,o=this.jointCapacity;for(;this.jointCount+r>o;)o*=2;o>this.jointCapacity&&this.allocateJoints(o);for(let n=0;n<r;n++)i.push(this.jointCount++);let a=new Float32Array(e*pe);for(let n=0;n<e;n++){let[l,c,u]=t(n,a.subarray(n*pe,(n+1)*pe));this.info.set([l,c,u,0],i[n]*4),this.releasedSlots.delete(i[n]),this.noCollide(c,u,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]*pe*4,a,n*pe,(l-n)*pe),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,o)=>r-o);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 o=r+1;for(;o<t.length&&t[o]===t[o-1]+1;)o++;i.length<(o-r)*pe&&(i=new Float32Array((o-r)*pe)),this.device.queue.writeBuffer(this.jointBuffer,t[r]*pe*4,i,0,(o-r)*pe),this.device.queue.writeBuffer(this.infoBuffer,t[r]*16,this.info,t[r]*4,(o-r)*4),r=o}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 o=r+1;for(;o<e.length&&e[o]===e[o-1]+1;)o++;let a=new Uint32Array(2*(o-r));for(let n=r;n<o;n++)a.set([t[n]>>>0,i[n]>>>0],2*(n-r));this.device.queue.writeBuffer(this.filterBuffer,e[r]*8,a),r=o}}setWorldAnchor(e,t){this.device.queue.writeBuffer(this.jointBuffer,(e*pe+ui)*4,new Float32Array([t[0],t[1],t[2]]))}disableConstraint(e){this.device.queue.writeBuffer(this.jointBuffer,(e*pe+ci)*4,new Float32Array(8)),this.device.queue.writeBuffer(this.jointBuffer,(e*pe+fr)*4,new Float32Array(3)),this.device.queue.writeBuffer(this.jointBuffer,(e*pe+dr)*4,new Float32Array(3))}profileNextStep(e){this.timing&&!this.timingBusy&&(this.timingCallback=e)}writeParams(){let e=this.params,t=this.bodyCapacity,i=new ArrayBuffer(es*4),r=new Float32Array(i),o=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,o[6]=(e.matchNearest?Xr:0)|(e.faceBias?Yr:0)|(e.reuseContacts?Qr:0)|(e.startAtRest?Kr:0)|(e.massPenalty?Zr:0),o[7]=this.bodyCount,o[8]=this.jointCount,o[9]=this.colorCap,r[10]=this.cellSize,o[11]=this.tableSize-1,r[12]=this.maxSmallRadius,o[13]=this.largeCount,o[14]=this.noCollideCount,o[15]=this.pairCapacity,o[16]=this.contactCapacity,o[17]=this.hashSize-1,o[18]=t+1,o[19]=2*t+1,o[20]=this.tableSize+1,o[21]=2*this.tableSize+1,o[22]=2*this.tableSize+1+t,o[23]=t,o[24]=this.colorHistOffset,o[25]=2*t,o[26]=this.colorGroups,o[27]=2*t+65,o[28]=this.colorRounds,o[29]=this.manifoldCapacity,o[30]=this.stepCount;let a=n=>Math.min(31,Math.max(0,Math.round(Math.log2(n))));o[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 o=new ArrayBuffer(r*256),a=new Uint32Array(o),n=new Float32Array(o);for(let l=0;l<e;l++)for(let c=0;c<=this.colorCap;c++){let u=(l*i+c)*256/4;a[u]=c,n[u+1]=t}this.device.queue.writeBuffer(this.passBuffer,0,o)}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(y=>y===255?0:y+1))),this.stepCount++,this.writeParams(),this.writePassConstants(e.iterations,e.alpha);let t=this.parity,i=this.bodyCapacity,r=this.bodyCount,o=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,u=n||this.splitPasses,f=()=>{l&&!u||(l?.end(),l=a.beginComputePass({label:u?Se[c]:"avbd3d step",timestampWrites:n?{querySet:this.timing.querySet,beginningOfPassWriteIndex:2*c,endOfPassWriteIndex:2*c+1}:void 0}),c++)},d=this.groups,p=(y,A,v)=>{v<=0||(l.setPipeline(this.pipes[y]),l.setBindGroup(0,A),l.dispatchWorkgroups(v))},m=(y,A,v)=>{l.setPipeline(this.pipes[y]),l.setBindGroup(0,A),l.dispatchWorkgroupsIndirect(this.argsBuffer,v*4)};if(f(),p("beginFrame",d.broad,1),e.reuseContacts&&p("updateRefs",d.refs,dt(r)),p("argsPrev",d.args,1),m("hashInsert",d.contacts[t],6),p("gridCount",d.broad,dt(r)),this.gridScan.encode(l),p("gridScatter",d.broad,dt(r)),p("findPairs",d.broad,dt(r)),p("argsPairs",d.args,1),m("narrowphase",d.contacts[t],0),p("argsContacts",d.args,1),f(),p("degreeJoints",d.topo[t],dt(o)),m("degreeContacts",d.topo[t],3),this.adjScan.encode(l),p("fillJoints",d.topo[t],dt(o)),m("fillContacts",d.topo[t],3),p("sortAdjacency",d.topo[t],dt(r)),f(),!this.fixedColors){p("colorCompact",d.topo[t],dt(r)),p("colorMark",d.topo[t],dt(r));for(let y=0;y<this.colorRounds;y++)p(y%2===0?"colorRoundAB":"colorRoundBA",d.topo[t],dt(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),f();let h=this.colorCap+1,g=y=>l.setBindGroup(1,this.passGroup,[y*256]);l.setBindGroup(0,d.solve[t]),g(0),o>0&&(l.setPipeline(this.pipes.warmStartJoints),l.dispatchWorkgroups(dt(o))),l.setPipeline(this.pipes.warmStartBodies),l.dispatchWorkgroups(dt(r));for(let y=0;y<e.iterations;y++){l.setPipeline(this.pipes.primal);for(let A=0;A<this.colorCap;A++)g(y*h+A),l.dispatchWorkgroupsIndirect(this.argsBuffer,(12+3*A)*4);g(y*h+this.colorCap),l.setPipeline(this.pipes.dual),l.dispatchWorkgroupsIndirect(this.argsBuffer,36)}l.setPipeline(this.pipes.updateVelocities),l.dispatchWorkgroups(dt(r)),l.end();let b=2*Se.length;if(n){let{querySet:y,resolve:A,read:v}=this.timing;a.resolveQuerySet(y,0,b,A,0),a.copyBufferToBuffer(A,0,v,0,b*8)}if(this.device.queue.submit([a.finish()]),this.parity=1-t,n){let y=this.timingCallback;this.timingCallback=null,this.timingBusy=!0;let A=this.timing.read;A.mapAsync(GPUMapMode.READ).then(()=>{let v=new BigUint64Array(A.getMappedRange()).slice();if(A.unmap(),this.timingBusy=!1,this.destroyed)return this.releaseTiming();let x=(B,L)=>Number(v[L]-v[B])/1e6,w={total:x(0,b-1)};Se.forEach((B,L)=>w[B]=x(2*L,2*L+1)),y(w)},()=>{this.timingBusy=!1,this.destroyed&&this.releaseTiming()})}}async readBodies(){return new Float32Array(await this.read(this.bodyBuffer,this.bodyCount*We*4))}async readJoints(){return new Float32Array(await this.read(this.jointBuffer,this.jointCount*pe*4))}async readCounters(){let e=new Uint32Array(await this.read(this.counterBuffer,64));return{pairs:e[0],contacts:e[1],manifolds:e[mr],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,[o,a]=await Promise.all([this.read(this.manifoldBuffers[r],t*Nt*4),this.read(this.contactBuffers[r],i*Ht*4)]),n=new Uint32Array(o),l=new Float32Array(o),c=new Uint32Array(a),u=new Float32Array(a),f=[];for(let d=0;d<t;d++){let p=d*Nt,m=[...l.subarray(p+Ws,p+Ws+3)];for(let h=n[p+2];h<n[p+2]+(n[p+3]&15);h++){let g=h*Ht,b=c[g+pr+3];f.push({a:n[p],b:n[p+1],feature:(b&~$r)>>>0,stick:(b&$r)!==0,rA:[...u.subarray(g+pr,g+pr+3)],rB:[...u.subarray(g+Hs,g+Hs+3)],pen:[...u.subarray(g+$s,g+$s+3)],lam:[...u.subarray(g+Js,g+Js+3)],normal:m})}}return f}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+Zs+2,this.colorCap+4)),this.shrinkVotes=0):t+Zs+2<this.colorCap||this.colorRounds>4?++this.shrinkVotes>=3&&(this.colorCap=Math.min(64,t+Zs),this.colorRounds=Math.max(4,this.colorRounds-4),this.shrinkVotes=0):this.shrinkVotes=0;let i=(n,l,c)=>(e.overflow&c)!==0||n>Yu*l?Math.max(Qu*n,1.25*l):l,r=i(e.contacts,this.contactCapacity,2),o=i(e.pairs,this.pairCapacity,1),a=i(e.manifolds,this.manifoldCapacity,4);this.capacityCanGrow(r,o,a)&&this.allocateContacts(r,o,a)}capacityCanGrow(e,t,i){let r=this.device.limits.maxStorageBufferBindingSize;return Math.min(e,r/(Ht*4))>this.contactCapacity||Math.min(t,r/8)>this.pairCapacity||Math.min(i,t,r/(Nt*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 o=i.getMappedRange().slice(0);return i.unmap(),i.destroy(),o}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 Tl=` 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 St(s,e,t){if(s.split(e).length!==2)throw Error("Pinned solve layout changed; review the app kernel variant");return s.replace(e,t)}var
|
|
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(Ge.split(Tl).length!==2)throw Error("Pinned contact evaluation changed; review the app kernel variant");var is=Ge.replace(Tl,` 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 St(s,e,t){if(s.split(e).length!==2)throw Error("Pinned solve layout changed; review the app kernel variant");return s.replace(e,t)}var to=(()=>{let s=St(is," var e = adj[i] + lane;",` let begin = adj[i];
|
|
2426
2426
|
var e = begin;`);return s=St(s,` if (c == cEnd) {
|
|
2427
2427
|
`,` if (c >= cEnd) {
|
|
2428
2428
|
`),s=St(s,` e += lanes;
|
|
@@ -2435,19 +2435,19 @@ fn updateVelocities(@builtin(global_invocation_id) gid: vec3u) {
|
|
|
2435
2435
|
if (c >= cEnd) { continue; }
|
|
2436
2436
|
isA = i == mf.ids.x;`),s=St(s,` c = mf.ids.z;
|
|
2437
2437
|
cEnd = mf.ids.z + pairCount(mf);
|
|
2438
|
-
if (c == cEnd) { continue; }`,""),s=St(s," c++;"," c += lanes;"),s})();function
|
|
2438
|
+
if (c == cEnd) { continue; }`,""),s=St(s," c++;"," c += lanes;"),s})();function Qa(s=Ge){s=St(s,"fn manifoldCount() -> u32 {",`fn solverStepValid() -> bool {
|
|
2439
2439
|
return counters[C_OVERFLOW] == 0u && counters[C_CLASHES] == 0u;
|
|
2440
2440
|
}
|
|
2441
2441
|
|
|
2442
2442
|
|
|
2443
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) {`;s=St(s,i,`${i}
|
|
2444
|
-
if (!solverStepValid()) { return; }`)}return St(s," let live = k < count;"," let live = k < count && solverStepValid();")}function
|
|
2444
|
+
if (!solverStepValid()) { return; }`)}return St(s," let live = k < count;"," let live = k < count && solverStepValid();")}function Ka(s){return s=St(s," 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;`),s=St(s,"k.c0Lin = vec4f(jointLinC(k, a, b), 0.0);","k.c0Lin = vec4f(jointLinC(k, a, b), k.c0Lin.w);"),St(s,"k.c0Ang = vec4f(jointAngC(k, a, b), 0.0);","k.c0Ang = vec4f(jointAngC(k, a, b), k.c0Ang.w);")}var
|
|
2450
|
+
return qsub(restTarget, bodies[b].rot) * k.lamAng.w;`),s=St(s,"k.c0Lin = vec4f(jointLinC(k, a, b), 0.0);","k.c0Lin = vec4f(jointLinC(k, a, b), k.c0Lin.w);"),St(s,"k.c0Ang = vec4f(jointAngC(k, a, b), 0.0);","k.c0Ang = vec4f(jointAngC(k, a, b), k.c0Ang.w);")}var jl=`// 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
|
+
`;function hi(s){let e=new ArrayBuffer(s*4);return{f:new Float32Array(e),u:new Uint32Array(e),previous:new Uint32Array(s),buffer:null,uploads:0,bytes:0}}function Qt(s,e,t){let{u:i,previous:r}=t,o=0,a=i.length-1;if(t.buffer===e){for(;o<=a&&i[o]===r[o];)o++;for(;a>=o&&i[a]===r[a];)a--;if(o>a)return}s.queue.writeBuffer(e,o*4,i,o,a-o+1),r.set(i),t.buffer=e,t.uploads++,t.bytes+=(a-o+1)*4}var Dl=`// 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 }
|
|
@@ -2487,23 +2487,25 @@ struct Params { count:u32,joints:u32,manifolds:u32,forceWake:u32,speed:f32,delay
|
|
|
2487
2487
|
@group(0) @binding(5) var<storage,read_write> globals:array<atomic<u32>>;
|
|
2488
2488
|
@group(0) @binding(6) var<uniform> params:Params;
|
|
2489
2489
|
fn speed(i:u32)->f32 {return length(bodies[i].velocity.xyz)+length(bodies[i].angular.xyz)*bodies[i].moment.w;}
|
|
2490
|
-
fn wake(i:u32) {if(states[i].mass>0.){bodies[i].size.w=states[i].mass;states[i].asleep=0u;states[i].quiet=0.;}}
|
|
2490
|
+
fn wake(i:u32) {if(states[i].mass>0.){bodies[i].size.w=states[i].mass;states[i].asleep=0u;states[i].quiet=0.;states[i].pad2=0u;}}
|
|
2491
2491
|
@compute @workgroup_size(64) fn before(@builtin(global_invocation_id) id:vec3u) {
|
|
2492
2492
|
let i=id.x;if(i>=params.count){return;}
|
|
2493
|
-
if(params.forceWake!=0u||atomicLoad(&globals[0])!=0u){wake(i);}
|
|
2493
|
+
if(params.forceWake!=0u||atomicLoad(&globals[0])!=0u||(states[i].pad2&2u)!=0u){wake(i);}
|
|
2494
2494
|
atomicStore(&states[i].support,0u);
|
|
2495
2495
|
}
|
|
2496
2496
|
@compute @workgroup_size(1) fn clear() {atomicStore(&globals[0],0u);atomicStore(&globals[1],0u);}
|
|
2497
2497
|
fn impact(a:u32,b:u32) {
|
|
2498
2498
|
if(states[a].asleep!=0u && states[b].asleep==0u && speed(b)>2.*params.speed){atomicStore(&globals[0],1u);}
|
|
2499
2499
|
}
|
|
2500
|
+
fn signalWake(i:u32){atomicStore(&globals[0],1u);}
|
|
2500
2501
|
@compute @workgroup_size(64) fn contacts(@builtin(global_invocation_id) id:vec3u) {
|
|
2501
2502
|
let i=id.x;if(i>=min(counters[6],params.manifolds)){return;}
|
|
2502
2503
|
let m=manifolds[i];if((m.ids.w&15u)==0u || (m.ids.w&0x80000000u)!=0u){return;}
|
|
2503
|
-
let a=m.ids.x;let b=m.ids.y;
|
|
2504
|
+
let a=m.ids.x;let b=m.ids.y;
|
|
2505
|
+
manifoldImpact(m);
|
|
2504
2506
|
let up=dot(m.geo.xyz,params.up.xyz);
|
|
2505
|
-
if(
|
|
2506
|
-
if(
|
|
2507
|
+
if(up>0.3){support(a,b);}
|
|
2508
|
+
if(up < -0.3){support(b,a);}
|
|
2507
2509
|
}
|
|
2508
2510
|
@compute @workgroup_size(64) fn joints(@builtin(global_invocation_id) id:vec3u) {
|
|
2509
2511
|
let i=id.x;if(i>=params.joints){return;}let j=info[i];if(j.x==0||j.y<0){return;}
|
|
@@ -2513,6 +2515,7 @@ fn impact(a:u32,b:u32) {
|
|
|
2513
2515
|
let i=id.x;if(i>=params.count||states[i].mass<=0.){return;}
|
|
2514
2516
|
if(states[i].eligible==0u){wake(i);return;}
|
|
2515
2517
|
if(atomicLoad(&globals[0])!=0u || counters[3]!=0u || counters[4]!=0u){wake(i);return;}
|
|
2518
|
+
states[i].pad2=select(0u,1u,speed(i)<=params.speed && (params.gravity==0. || atomicLoad(&states[i].support)!=0u));
|
|
2516
2519
|
if(states[i].asleep==0u){
|
|
2517
2520
|
if(speed(i)<=params.speed && (params.gravity==0. || atomicLoad(&states[i].support)!=0u)) {states[i].quiet+=params.dt;}
|
|
2518
2521
|
else {states[i].quiet=0.;}
|
|
@@ -2522,13 +2525,201 @@ fn impact(a:u32,b:u32) {
|
|
|
2522
2525
|
}
|
|
2523
2526
|
if(states[i].asleep!=0u){atomicAdd(&globals[1],1u);}
|
|
2524
2527
|
}
|
|
2525
|
-
`;var
|
|
2528
|
+
`;var Gl=`struct Body { pos:vec4f,rot:vec4f,initialPos:vec4f,initialRot:vec4f,size:vec4f,moment:vec4f,inertialPos:vec4f,inertialRot:vec4f,velocity:vec4f,angular:vec4f }\r
|
|
2529
|
+
struct State { mass:f32, quiet:f32, asleep:u32, support:atomic<u32>, eligible:u32, parent:atomic<u32>, wake:atomic<u32>, pad2:u32 }\r
|
|
2530
|
+
struct Manifold { ids:vec4u, geo:vec4f }\r
|
|
2531
|
+
struct Params { count:u32,joints:u32,manifolds:u32,forceWake:u32,speed:f32,delay:f32,dt:f32,gravity:f32,up:vec4f }\r
|
|
2532
|
+
@group(0) @binding(0) var<storage,read_write> bodies:array<Body>;\r
|
|
2533
|
+
@group(0) @binding(1) var<storage,read_write> states:array<State>;\r
|
|
2534
|
+
@group(0) @binding(2) var<storage,read> info:array<vec4i>;\r
|
|
2535
|
+
@group(0) @binding(3) var<storage,read> manifolds:array<Manifold>;\r
|
|
2536
|
+
@group(0) @binding(4) var<storage,read> counters:array<u32>;\r
|
|
2537
|
+
@group(0) @binding(5) var<storage,read_write> globals:array<atomic<u32>>;\r
|
|
2538
|
+
@group(0) @binding(6) var<uniform> params:Params;\r
|
|
2539
|
+
fn speed(i:u32)->f32 {return length(bodies[i].velocity.xyz)+length(bodies[i].angular.xyz)*bodies[i].moment.w;}\r
|
|
2540
|
+
fn wake(i:u32) {if(states[i].mass>0.){bodies[i].size.w=states[i].mass;states[i].asleep=0u;states[i].quiet=0.;states[i].pad2=0u;}}\r
|
|
2541
|
+
@compute @workgroup_size(64) fn before(@builtin(global_invocation_id) id:vec3u) {\r
|
|
2542
|
+
let i=id.x;if(i>=params.count){return;}\r
|
|
2543
|
+
if((params.forceWake&1u)!=0u||atomicLoad(&globals[0])!=0u){wake(i);atomicStore(&states[i].parent,i);}\r
|
|
2544
|
+
else if((states[i].pad2&2u)!=0u){wake(i);states[i].pad2|=2u;}\r
|
|
2545
|
+
// Rebuild live connectivity after bodies wake or separate. Only sleeping\r
|
|
2546
|
+
// subtrees need history, since their static/static contact pairs are omitted.\r
|
|
2547
|
+
if(states[i].asleep==0u){atomicStore(&states[i].parent,i);}\r
|
|
2548
|
+
if((params.forceWake&2u)!=0u && speed(i)<=params.speed && states[i].eligible!=0u){states[i].pad2|=4u;}\r
|
|
2549
|
+
atomicStore(&states[i].wake,0u);\r
|
|
2550
|
+
atomicStore(&states[i].support,0u);\r
|
|
2551
|
+
}\r
|
|
2552
|
+
@compute @workgroup_size(1) fn clear() {atomicStore(&globals[0],0u);atomicStore(&globals[1],0u);}\r
|
|
2553
|
+
fn impact(a:u32,b:u32) {\r
|
|
2554
|
+
if(states[a].asleep!=0u && states[b].asleep==0u && speed(b)>2.*params.speed){signalWake(a);}\r
|
|
2555
|
+
}\r
|
|
2556
|
+
fn signalWake(i:u32){let r=root(i);if(r<params.count){atomicOr(&states[r].wake,1u);}else{atomicStore(&globals[0],1u);}}\r
|
|
2557
|
+
@compute @workgroup_size(64) fn contacts(@builtin(global_invocation_id) id:vec3u) {\r
|
|
2558
|
+
let i=id.x;if(i>=min(counters[6],params.manifolds)){return;}\r
|
|
2559
|
+
let m=manifolds[i];if((m.ids.w&15u)==0u || (m.ids.w&0x80000000u)!=0u){return;}\r
|
|
2560
|
+
let a=m.ids.x;let b=m.ids.y;\r
|
|
2561
|
+
manifoldImpact(m);\r
|
|
2562
|
+
let up=dot(m.geo.xyz,params.up.xyz);\r
|
|
2563
|
+
if(up>0.3){support(a,b);}\r
|
|
2564
|
+
if(up < -0.3){support(b,a);}\r
|
|
2565
|
+
if((params.forceWake&2u)!=0u){\r
|
|
2566
|
+
if(states[b].mass<=0. && speed(b)<=params.speed && up>0.3 && states[a].mass>0.){atomicOr(&states[root(a)].wake,2u);}\r
|
|
2567
|
+
if(states[a].mass<=0. && speed(a)<=params.speed && up< -0.3 && states[b].mass>0.){atomicOr(&states[root(b)].wake,2u);}\r
|
|
2568
|
+
}\r
|
|
2569
|
+
}\r
|
|
2570
|
+
@compute @workgroup_size(64) fn joints(@builtin(global_invocation_id) id:vec3u) {\r
|
|
2571
|
+
let i=id.x;if(i>=params.joints){return;}let j=info[i];if(j.x==0||j.y<0){return;}\r
|
|
2572
|
+
impact(u32(j.y),u32(j.z));impact(u32(j.z),u32(j.y));\r
|
|
2573
|
+
}\r
|
|
2574
|
+
@compute @workgroup_size(64) fn rest(@builtin(global_invocation_id) id:vec3u) {\r
|
|
2575
|
+
let i=id.x;if(i>=params.count||states[i].mass<=0.){return;}\r
|
|
2576
|
+
if(states[i].eligible==0u){wake(i);return;}\r
|
|
2577
|
+
let r=root(i);\r
|
|
2578
|
+
let flags=atomicLoad(&states[min(r,params.count-1u)].wake);\r
|
|
2579
|
+
if(r>=params.count || (flags&1u)!=0u || atomicLoad(&globals[0])!=0u || counters[3]!=0u || counters[4]!=0u){wake(i);return;}\r
|
|
2580
|
+
let initiallyQuiet=(states[i].pad2&4u)!=0u;\r
|
|
2581
|
+
let held=(states[i].pad2&2u)!=0u;\r
|
|
2582
|
+
states[i].pad2=select(0u,1u,speed(i)<=params.speed && (params.gravity==0. || atomicLoad(&states[i].support)!=0u));\r
|
|
2583
|
+
if(states[i].asleep==0u){\r
|
|
2584
|
+
if(speed(i)<=params.speed && (params.gravity==0. || atomicLoad(&states[i].support)!=0u)) {states[i].quiet+=params.dt;}\r
|
|
2585
|
+
else {states[i].quiet=0.;}\r
|
|
2586
|
+
if(!held && ((states[i].quiet>=params.delay && (flags&4u)==0u) || ((params.forceWake&2u)!=0u && initiallyQuiet && (flags&6u)==2u))){\r
|
|
2587
|
+
states[i].asleep=1u;bodies[i].size.w=0.;bodies[i].velocity=vec4f(0.);bodies[i].angular=vec4f(vec3f(0.),bodies[i].angular.w);\r
|
|
2588
|
+
}\r
|
|
2589
|
+
}\r
|
|
2590
|
+
if(states[i].asleep!=0u){atomicAdd(&globals[1],1u);}\r
|
|
2591
|
+
}\r
|
|
2592
|
+
// Startup sleep is restricted to contact islands connected to stationary solid\r
|
|
2593
|
+
// support, with no moving or sleep-excluded member. Floating groups stay awake.\r
|
|
2594
|
+
@compute @workgroup_size(64) fn activity(@builtin(global_invocation_id) id:vec3u){\r
|
|
2595
|
+
let i=id.x;if(i>=params.count||states[i].mass<=0.){return;}\r
|
|
2596
|
+
var busy=false;\r
|
|
2597
|
+
if((params.forceWake&2u)!=0u){busy=(states[i].pad2&4u)==0u;}\r
|
|
2598
|
+
else if(states[i].asleep==0u){\r
|
|
2599
|
+
busy=speed(i)>params.speed;\r
|
|
2600
|
+
if(states[i].eligible!=0u && (states[i].pad2&2u)==0u){\r
|
|
2601
|
+
busy=busy || states[i].quiet+params.dt<params.delay || (params.gravity!=0. && atomicLoad(&states[i].support)==0u);\r
|
|
2602
|
+
}\r
|
|
2603
|
+
}\r
|
|
2604
|
+
if(busy){let r=root(i);if(r<params.count){atomicOr(&states[r].wake,4u);}}\r
|
|
2605
|
+
}\r
|
|
2606
|
+
\r
|
|
2607
|
+
// Dynamic connectivity is conservative: unions persist while asleep because\r
|
|
2608
|
+
// collision detection intentionally omits pairs of sleeping bodies. The\r
|
|
2609
|
+
// awake bodies rebuild their links each step. Shared static ground never joins\r
|
|
2610
|
+
// otherwise independent piles. No thread waits for another workgroup.\r
|
|
2611
|
+
fn root(index:u32)->u32 {\r
|
|
2612
|
+
var i=index;\r
|
|
2613
|
+
for(var attempt=0u;attempt<256u;attempt++) {\r
|
|
2614
|
+
if(i>=params.count){atomicStore(&globals[0],1u);return params.count;}\r
|
|
2615
|
+
let p=atomicLoad(&states[i].parent);\r
|
|
2616
|
+
if(p==i){return i;}\r
|
|
2617
|
+
if(p>i){atomicStore(&globals[0],1u);return params.count;}\r
|
|
2618
|
+
let gp=atomicLoad(&states[p].parent);\r
|
|
2619
|
+
atomicMin(&states[i].parent,gp);\r
|
|
2620
|
+
i=gp;\r
|
|
2621
|
+
}\r
|
|
2622
|
+
// Excessive depth is a safe wake-all fallback, never a cross-group wait.\r
|
|
2623
|
+
atomicStore(&globals[0],1u);return params.count;\r
|
|
2624
|
+
}\r
|
|
2625
|
+
fn connect(a:u32,b:u32) {\r
|
|
2626
|
+
if(a>=params.count || b>=params.count || states[a].mass<=0. || states[b].mass<=0.){return;}\r
|
|
2627
|
+
for(var attempt=0u;attempt<256u;attempt++) {\r
|
|
2628
|
+
let ra=root(a);let rb=root(b);\r
|
|
2629
|
+
if(ra==rb || ra>=params.count || rb>=params.count){return;}\r
|
|
2630
|
+
let hi=max(ra,rb);let lo=min(ra,rb);\r
|
|
2631
|
+
let result=atomicCompareExchangeWeak(&states[hi].parent,hi,lo);\r
|
|
2632
|
+
if(result.exchanged){return;}\r
|
|
2633
|
+
}\r
|
|
2634
|
+
atomicStore(&globals[0],1u);\r
|
|
2635
|
+
}\r
|
|
2636
|
+
@compute @workgroup_size(64) fn connectContacts(@builtin(global_invocation_id) id:vec3u){\r
|
|
2637
|
+
let i=id.x;if(i>=min(counters[6],params.manifolds)){return;}\r
|
|
2638
|
+
let m=manifolds[i];if((m.ids.w&15u)==0u || (m.ids.w&0x80000000u)!=0u){return;}\r
|
|
2639
|
+
connect(m.ids.x,m.ids.y);\r
|
|
2640
|
+
}\r
|
|
2641
|
+
@compute @workgroup_size(64) fn connectJoints(@builtin(global_invocation_id) id:vec3u){\r
|
|
2642
|
+
let i=id.x;if(i>=params.joints){return;}let j=info[i];\r
|
|
2643
|
+
if(j.x!=0 && j.y>=0 && j.z>=0){connect(u32(j.y),u32(j.z));}\r
|
|
2644
|
+
}\r
|
|
2645
|
+
`;var Fl=`struct Contact {rA:vec3f,key:u32,rB:vec3f,c0x:f32,pen:vec3f,c0y:f32,lam:vec3f,c0z:f32}
|
|
2646
|
+
@group(0) @binding(7) var<storage,read> contactPoints:array<Contact>;
|
|
2647
|
+
fn rotated(q:vec4f,r:vec3f)->vec3f {return r+2.*cross(q.xyz,cross(q.xyz,r)+q.w*r);}
|
|
2648
|
+
fn contactVelocity(i:u32,r:vec3f,previous:bool)->vec3f {
|
|
2649
|
+
var v=bodies[i].velocity.xyz;
|
|
2650
|
+
var w=bodies[i].angular.xyz;
|
|
2651
|
+
var q=bodies[i].rot;
|
|
2652
|
+
if(previous){
|
|
2653
|
+
// The inertial target retains the incoming velocity after the solve. Remove
|
|
2654
|
+
// this step's gravity increment so resting contacts do not count as impacts.
|
|
2655
|
+
v=(bodies[i].inertialPos.xyz-bodies[i].initialPos.xyz)/params.dt;
|
|
2656
|
+
if(bodies[i].size.w>0.){v-=params.up.xyz*(params.gravity*params.dt);}
|
|
2657
|
+
let a=bodies[i].inertialRot;let b=bodies[i].initialRot;
|
|
2658
|
+
w=2.*(-a.w*b.xyz+b.w*a.xyz-cross(a.xyz,b.xyz))/(dot(b,b)*params.dt);
|
|
2659
|
+
q=b;
|
|
2660
|
+
}
|
|
2661
|
+
return v+cross(w,rotated(q,r));
|
|
2662
|
+
}
|
|
2663
|
+
fn manifoldImpact(m:Manifold){
|
|
2664
|
+
let a=m.ids.x;let b=m.ids.y;
|
|
2665
|
+
if(states[a].asleep==states[b].asleep){return;}
|
|
2666
|
+
// A rotating face can approach at one corner while its first contact recedes.
|
|
2667
|
+
for(var k=0u;k<(m.ids.w&15u);k++){
|
|
2668
|
+
let c=contactPoints[m.ids.z+k];
|
|
2669
|
+
contactImpact(a,b,m.geo.xyz,c.rA,c.rB);contactImpact(b,a,-m.geo.xyz,c.rB,c.rA);
|
|
2670
|
+
}
|
|
2671
|
+
}
|
|
2672
|
+
fn contactImpact(a:u32,b:u32,n:vec3f,rA:vec3f,rB:vec3f) {
|
|
2673
|
+
if(states[a].asleep==0u || states[b].asleep!=0u){return;}
|
|
2674
|
+
let incoming=dot(contactVelocity(b,rB,true)-contactVelocity(a,rA,true),n);
|
|
2675
|
+
let outgoing=dot(contactVelocity(b,rB,false)-contactVelocity(a,rA,false),n);
|
|
2676
|
+
if(max(incoming,outgoing)>2.*params.speed){signalWake(a);}
|
|
2677
|
+
}
|
|
2678
|
+
fn support(a:u32,b:u32) {
|
|
2679
|
+
// Grounded, quiet awake bodies can support the next course. This lets a stack
|
|
2680
|
+
// accumulate quiet time together instead of stopping one course at a time.
|
|
2681
|
+
if(states[b].mass<=0. || states[b].asleep!=0u || ((states[b].pad2&1u)!=0u && speed(b)<=params.speed)) {
|
|
2682
|
+
atomicStore(&states[a].support,1u);
|
|
2683
|
+
}
|
|
2684
|
+
}
|
|
2685
|
+
`;var Za=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,o=0,a=0,n=0;for(let[l,c]of this.targets){let u=c.pending.size;if(!u)continue;(!c.data||c.data.length<u*2)&&(c.data=new Uint32Array(Math.max(u*2,(c.data?.length??0)*2,128)));let f=Array.from(c.pending.keys()),d=!0;for(let m=1;m<u;m++)if(f[m]<f[m-1]){d=!1;break}d||f.sort((m,h)=>m-h);let p=1;for(let m=1;m<u;m++)f[m]!==f[m-1]+1&&p++;if(p<=4||u<=8){for(let m=0;m<u;m++)c.data[m]=c.pending.get(f[m]);for(let m=0;m<u;){let h=m+1;for(;h<u&&f[h]===f[h-1]+1;)h++;t.queue.writeBuffer(l,f[m]*4,c.data.buffer,m*4,(h-m)*4),r++,m=h}n+=u*4}else{let m=u*8,h=Math.min(t.limits.maxBufferSize,t.limits.maxStorageBufferBindingSize);if(m>h)throw Error("Property batch exceeds GPU buffer limits");for(let A=0;A<u;A++)c.data[A*2]=f[A],c.data[A*2+1]=c.pending.get(f[A]);(!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
2686
|
@group(0) @binding(0) var<storage,read_write> outputWords:array<u32>;
|
|
2527
2687
|
@group(0) @binding(1) var<storage,read> edits:array<vec2u>;
|
|
2528
2688
|
@compute @workgroup_size(64) fn applyEdits(@builtin(global_invocation_id) id:vec3u){
|
|
2529
2689
|
let i=id.x+id.y*${t.limits.maxComputeWorkgroupsPerDimension*64}u;
|
|
2530
2690
|
if(i>=arrayLength(&edits)){return;}let edit=edits[i];outputWords[edit.x]=edit.y;
|
|
2531
|
-
}`})}}),(!c.group||c.bytes!==
|
|
2691
|
+
}`})}}),(!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 g=i.beginComputePass();g.setPipeline(this.pipeline),g.setBindGroup(0,c.group);let b=Math.ceil(u/64),y=t.limits.maxComputeWorkgroupsPerDimension;g.dispatchWorkgroups(Math.min(b,y),Math.ceil(b/y)),g.end(),r++,o++,n+=m}a+=u,c.pending.clear()}!e&&i&&t.queue.submit([i.finish()]),a&&(this.lastBatch={words:a,writes:r,dispatches:o,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 oe(s){return s.propertyEdits??=new Za(s.device)}var Fi=class{constructor(e,t={}){if(this.world=e,this.device=e.device,this.speed=t.speedThreshold??.03,this.delay=t.timeThreshold??.5,t.startAsleep!==void 0&&typeof t.startAsleep!="boolean")throw Error("startAsleep must be a boolean");if(t.islands!==void 0&&typeof t.islands!="boolean")throw Error("Sleep islands must be a boolean");if(this.islands=t.islands??(e.gpu.bodyCount>=4096&&!e.gpu.portableContactMath&&!e.gpu.dispatchIsolation),this.initializing=!!t.startAsleep&&this.islands,!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 o=i.createShaderModule({code:`${this.islands?Gl:Dl}
|
|
2692
|
+
${Fl}`});this.layout=i.createBindGroupLayout({entries:["storage","storage","read-only-storage","read-only-storage","read-only-storage","storage","uniform","read-only-storage"].map((c,u)=>({binding:u,visibility:GPUShaderStage.COMPUTE,buffer:{type:c}}))});let a=i.createPipelineLayout({bindGroupLayouts:[this.layout]});this.pipelines=Object.fromEntries(["before","clear",...this.islands?["connectContacts","connectJoints","activity"]:[],"contacts","joints","rest"].map(c=>[c,i.createComputePipeline({layout:a,compute:{module:o,entryPoint:c}})]));let n=new Float32Array(e.capacity*8),l=new Uint32Array(n.buffer);for(let c of e.aggregates)if(!c.disposed){let u=(c.gpuSlot??e.gpu.gpuIndex(c.index))*8;n[u]=c.rigid.mass,l[u+4]=c.allowSleep===!1||c.rigid.allowSleep===!1?0:1,this.islands&&(l[u+5]=u/8)}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,this.islands&&(new Uint32Array(r.buffer)[5]=e);let o=new Uint32Array(r.buffer),a=oe(this.world.gpu);for(let n=0;n<8;n++)a.uint(this.state,e*8+n,o[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,t.contacts],r=this.groups?.find(o=>o.buffers.every((a,n)=>a===i[n]));r||(r={buffers:i,group:this.device.createBindGroup({layout:this.layout,entries:i.map((o,a)=>({binding:a,resource:{buffer:o}}))})},this.groups=[...(this.groups??[]).slice(-1),r]),this.group=r.group}before(e){this.world.gpu.flushPropertyEdits(e);let{gpu:t}=this.world,i=this.paramData??=hi(12),{u:r,f:o}=i;r[0]=t.bodyCount,r[1]=t.jointCount,r[2]=t.manifoldCapacity,r[3]=Number(this.wakeRequested)|(this.initializing?2:0),o[4]=this.speed,o[5]=this.delay,o[6]=t.params.dt,o[7]=t.params.gravity,o[8]=t.params.up[0],o[9]=t.params.up[1],o[10]=t.params.up[2],Qt(this.device,this.params,i),this.wakeRequested=!1,this.bindContacts(),this.run([["before",t.bodyCount],["clear",1]],e)}wakeBody(e){if(!Number.isInteger(e)||e<0||e>=this.world.gpu.bodyCount)throw Error("Sleeping wake requires a live GPU body index");oe(this.world.gpu).uint(this.state,e*8+7,2)}after(e){let t=this.world.gpu;this.bindContacts(),this.run([...this.islands?[["connectContacts",t.manifoldCapacity],["connectJoints",t.jointCount]]:[],["contacts",t.manifoldCapacity],["joints",t.jointCount],...this.islands?[["activity",t.bodyCount]]:[],["rest",t.bodyCount]],e),this.initializing=!1}run(e,t){let i=t??this.device.createCommandEncoder(),r=i.beginComputePass();r.setBindGroup(0,this.group);for(let[o,a]of e)a&&(r.setPipeline(this.pipelines[o]),r.dispatchWorkgroups(o==="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()}};function lf(s){s=s.replaceAll("bodies[","localBodies["),s=s.replace("var<storage, read_write> bodies: array<Body>;","var<storage, read_write> globalBodies: array<Body>;");let e=s.indexOf(`@compute @workgroup_size(64)
|
|
2693
|
+
fn primal(`),t=s.indexOf(`
|
|
2694
|
+
/**`,e);if(e<0||t<e)throw Error("Review small-group primal integration");let i=s.slice(e,t).replace(`@compute @workgroup_size(64)
|
|
2695
|
+
`,"").replace("fn primal(@builtin(local_invocation_id) lid: vec3u, @builtin(workgroup_id) wid: vec3u)","fn localPrimal(lid: vec3u, wid: vec3u, col: u32)").replaceAll("pc.color","col");return s.slice(0,e)+i+s.slice(t)+`
|
|
2696
|
+
var<workgroup> localBodies: array<Body,32>;
|
|
2697
|
+
var<workgroup> bucketBlocks: u32;
|
|
2698
|
+
@compute @workgroup_size(64)
|
|
2699
|
+
fn smallGroup(@builtin(local_invocation_id) lid: vec3u) {
|
|
2700
|
+
if(lid.x<params.bodyCount){localBodies[lid.x]=globalBodies[lid.x];}
|
|
2701
|
+
workgroupBarrier();
|
|
2702
|
+
for(var it=0u;it<pc.pad0;it++) {
|
|
2703
|
+
for(var col=0u;col<params.colorCap;col++) {
|
|
2704
|
+
if(lid.x==0u){
|
|
2705
|
+
let start=color[params.colorStartOffset+col];
|
|
2706
|
+
let count=color[params.colorStartOffset+col+1u]-start;
|
|
2707
|
+
let perBlock=64u/lanesFor(count);
|
|
2708
|
+
bucketBlocks=(count+perBlock-1u)/perBlock;
|
|
2709
|
+
}
|
|
2710
|
+
let blocks=workgroupUniformLoad(&bucketBlocks);
|
|
2711
|
+
for(var block=0u;block<blocks;block++) {
|
|
2712
|
+
localPrimal(lid,vec3u(block,0u,0u),col);
|
|
2713
|
+
workgroupBarrier();
|
|
2714
|
+
}
|
|
2715
|
+
}
|
|
2716
|
+
for(var m=lid.x;m<manifoldCount();m+=64u){dualManifold(m);}
|
|
2717
|
+
storageBarrier();
|
|
2718
|
+
workgroupBarrier();
|
|
2719
|
+
}
|
|
2720
|
+
if(lid.x<params.bodyCount){globalBodies[lid.x]=localBodies[lid.x];}
|
|
2721
|
+
}
|
|
2722
|
+
`}function Ul(s){if(!(s.smallGroups!==!1&&s.bodyCount>0&&s.bodyCount<=32&&s.jointCount===0&&s.solverDecision.selected==="standard"&&!s.scalarPrimal&&!s.portableContactMath&&!s.dispatchIsolation)){s.smallGroupPipeline=null;return}let t=`${s.sensorsEnabled?1:0}`;if(s.smallGroupPipelines??=new Map,!s.smallGroupPipelines.has(t)){let i=lf(s.solveSource(Ge,"standard"));s.smallGroupPipelines.set(t,s.device.createComputePipeline({label:"AVBD closed small group",layout:s.device.createPipelineLayout({bindGroupLayouts:[s.layouts.solve,s.layouts.pass]}),compute:{module:s.device.createShaderModule({code:i}),entryPoint:"smallGroup"}}))}s.smallGroupPipeline=s.smallGroupPipelines.get(t)}var en=new WeakMap;function It(s={}){let e={};for(let t of["breakStrain","breakForce"]){let i=s[t]??1/0;if(i!==1/0&&(!Number.isFinite(i)||i<=0))throw Error(`${t} must be positive or Infinity`);e[t]=i}return e}function vr(s,e){let t=It(e);Number.isFinite(t.breakStrain)||Number.isFinite(t.breakForce)?en.set(s,t):en.delete(s)}var Ui=s=>en.get(s);function io(s){let e="fn dualJoint(j: u32) {";if(s.split(e).length!==2)throw Error("Review spring fracture kernel integration");return s.replace(e,`${e}
|
|
2532
2723
|
if (info[j].x == T_SPRING) {
|
|
2533
2724
|
var material = joints[j];
|
|
2534
2725
|
let strainLimit = material.lamLin.w;
|
|
@@ -2550,7 +2741,7 @@ fn impact(a:u32,b:u32) {
|
|
|
2550
2741
|
}
|
|
2551
2742
|
}
|
|
2552
2743
|
}
|
|
2553
|
-
`)}var
|
|
2744
|
+
`)}var cf=["auto","standard","optimized","points"];function xr({requested:s="auto",bodyCount:e,constraintCount:t=0,contactScheduling:i="manifolds",custom:r=!1}){if(!cf.includes(s))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&&s!=="auto")throw Error("A scene-specific solve shader cannot be replaced with a rigid-body solver mode");let o=r?"custom":s!=="auto"?s:t>0||e<5e4?"standard":i==="points"?"points":"optimized",a=r?"This scene supplies its own solver. Automatic keeps that implementation.":s!=="auto"?"Explicit implementation override (developer setting).":t>0?"Work layout selected for joints and springs.":e<5e4?"Work layout selected for smaller rigid scenes.":o==="points"?"Large rigid scene with a measured shared-contact-points layout.":"Work layout selected for large rigid scenes.";return{requested:s,selected:o,reason:a,bodyCount:e,constraintCount:t}}var ro=`// Portable hierarchical PLOC: Morton ordering and independent SAH treelets.
|
|
2554
2745
|
// Dispatch boundaries publish each hierarchy level; no cross-workgroup spin waits.
|
|
2555
2746
|
struct Node {
|
|
2556
2747
|
lo: vec3f,
|
|
@@ -2593,6 +2784,17 @@ fn bodyHalf(i: u32) -> vec3f {
|
|
|
2593
2784
|
+ abs(qrotate(b.rot, vec3f(0, 0, 1))) * h.z;
|
|
2594
2785
|
}
|
|
2595
2786
|
|
|
2787
|
+
// Refit only consumes leaf bounds. Scene bounds and their workgroup reductions
|
|
2788
|
+
// are needed when Morton ordering is rebuilt, not on intervening steps.
|
|
2789
|
+
@compute @workgroup_size(128)
|
|
2790
|
+
fn refitLeaves(@builtin(global_invocation_id) gid: vec3u) {
|
|
2791
|
+
let i = gid.x;
|
|
2792
|
+
if (i >= build.count) { return; }
|
|
2793
|
+
let h = bodyHalf(i);
|
|
2794
|
+
let p = inputBodies[i].pos.xyz;
|
|
2795
|
+
nodes[i] = Node(p - h, i, p + h, END);
|
|
2796
|
+
}
|
|
2797
|
+
|
|
2596
2798
|
@compute @workgroup_size(128)
|
|
2597
2799
|
fn leaves(
|
|
2598
2800
|
@builtin(global_invocation_id) gid: vec3u,
|
|
@@ -2806,8 +3008,8 @@ fn ropes(@builtin(global_invocation_id) gid: vec3u) {
|
|
|
2806
3008
|
at = p;
|
|
2807
3009
|
}
|
|
2808
3010
|
links[build.escapeOffset + id] = escape;
|
|
2809
|
-
}
|
|
2810
|
-
`;var
|
|
3011
|
+
}
|
|
3012
|
+
`;var Nl=`// Stable 4-bit GPU radix sort; PrefixScan scans digit-major block counts.
|
|
2811
3013
|
struct SortSettings { count: u32, blocks: u32, shift: u32, _pad: u32 }
|
|
2812
3014
|
@group(0) @binding(0) var<uniform> sort: SortSettings;
|
|
2813
3015
|
@group(0) @binding(1) var<storage, read> input: array<vec2u>;
|
|
@@ -2855,15 +3057,16 @@ fn scatterDigits(
|
|
|
2855
3057
|
}
|
|
2856
3058
|
output[hist[digit * sort.blocks + wid.x] + rank] = value;
|
|
2857
3059
|
}\r
|
|
2858
|
-
`;var
|
|
2859
|
-
fn gridCount`),
|
|
2860
|
-
fn findPairs`);if(
|
|
2861
|
-
${
|
|
3060
|
+
`;var df=()=>GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST|GPUBufferUsage.COPY_SRC,Rt=(s,e=128)=>Math.max(1,Math.ceil(s/e)),hf=4294967295,tn=fi.indexOf(`@compute @workgroup_size(64)
|
|
3061
|
+
fn gridCount`),rn=fi.indexOf("/** Binary search"),ql=fi.indexOf(`@compute @workgroup_size(64)
|
|
3062
|
+
fn findPairs`);if(tn<0||rn<tn||ql<rn)throw Error("Pinned broadphase changed; review H-PLOC integration");var pf=ro.slice(0,ro.indexOf("@group(0)")),mf=(fi.slice(0,tn)+fi.slice(rn,ql)).replace("var<storage, read_write> grid: array<atomic<u32>>;","var<storage, read_write> tree: array<Node>;")+`
|
|
3063
|
+
${pf}
|
|
2862
3064
|
@group(1) @binding(0) var<uniform> build: BuildSettings;
|
|
2863
3065
|
@group(1) @binding(1) var<storage,read> links: array<u32>;
|
|
2864
3066
|
@compute @workgroup_size(64)
|
|
2865
3067
|
fn findTreePairs(@builtin(global_invocation_id) gid:vec3u) {
|
|
2866
3068
|
let i=gid.x; if(i>=params.bodyCount || build.root==0xffffffffu){return;}
|
|
3069
|
+
let collisionFilter=filters[i];if(collisionFilter.x==0u || collisionFilter.y==0u){return;}
|
|
2867
3070
|
let P=probeOf(i);
|
|
2868
3071
|
// Static/kinematic leaves are found from dynamic queries. Traversing a
|
|
2869
3072
|
// scene-wide ground slab would otherwise serialize an entire tree in one lane.
|
|
@@ -2880,11 +3083,52 @@ fn findTreePairs(@builtin(global_invocation_id) gid:vec3u) {
|
|
|
2880
3083
|
at=links[build.escapeOffset+at];
|
|
2881
3084
|
} else {at=node.left;}
|
|
2882
3085
|
}
|
|
2883
|
-
}`,
|
|
3086
|
+
}`,so=class{constructor(e,t,{rebuildInterval:i=64}={}){if(!Number.isInteger(i)||i<1)throw Error("BVH rebuildInterval must be a positive integer");if(this.device=e,this.capacity=t.bodyCapacity,this.capacity>16*e.limits.maxComputeWorkgroupsPerDimension)throw Error("H-PLOC capacity exceeds the adapter dispatch limit; select the grid");this.bodyBuffer=t.bodyBuffer,this.rebuildInterval=i,this.nodeCapacity=2*this.capacity+16*Math.ceil(Math.log2(Math.max(2,this.capacity)))+32,this.buffers=[],this.uniforms=[],this.stats={builds:0,refits:0,nodes:0,extraBytes:0};let r=(u,f,d=df())=>{if(d&GPUBufferUsage.STORAGE&&f>e.limits.maxStorageBufferBindingSize)throw Error(`${u} exceeds the adapter storage binding limit`);let p=e.createBuffer({label:u,size:Math.max(16,f),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",(Rt(this.capacity)*2+256)*16),this.sortBlocks=Rt(this.capacity),this.hist=r("Morton radix counts",this.sortBlocks*16*4),this.scan=new tt(e,this.hist,0,this.sortBlocks*16);let o=(u,f)=>({binding:u,visibility:GPUShaderStage.COMPUTE,buffer:{type:f}});this.layout=e.createBindGroupLayout({entries:[o(0,"uniform"),o(1,"read-only-storage"),...Array.from({length:5},(u,f)=>o(f+2,"storage"))]}),this.extraLayout=e.createBindGroupLayout({entries:[o(0,"uniform"),o(1,"read-only-storage")]});let a=e.createShaderModule({label:"portable H-PLOC",code:ge+ro+`
|
|
2884
3087
|
@compute @workgroup_size(128)
|
|
2885
3088
|
fn initializeLinks(@builtin(global_invocation_id) gid:vec3u){if(gid.x<build.escapeOffset){links[gid.x]=0xffffffffu;}}
|
|
2886
|
-
`}),
|
|
2887
|
-
|
|
3089
|
+
`}),n=e.createPipelineLayout({bindGroupLayouts:[this.layout]});this.pipes=Object.fromEntries(["leaves","refitLeaves","reduceBounds","mortonCodes","seedClusters","miniHploc","refitTreelets","ropes","initializeLinks"].map(u=>[u,e.createComputePipeline({layout:n,compute:{module:a,entryPoint:u}})]));let l=e.createShaderModule({label:"stable Morton radix",code:Nl});this.sortLayout=e.createBindGroupLayout({entries:[o(0,"uniform"),o(1,"read-only-storage"),o(2,"storage"),o(3,"storage")]});let c=e.createPipelineLayout({bindGroupLayouts:[this.sortLayout]});this.sortPipes=Object.fromEntries(["countDigits","scatterDigits"].map(u=>[u,e.createComputePipeline({layout:c,compute:{module:l,entryPoint:u}})])),this.traverse=e.createComputePipeline({label:"H-PLOC collision traversal",layout:e.createPipelineLayout({bindGroupLayouts:[t.layouts.broad,this.extraLayout]}),compute:{module:e.createShaderModule({code:mf}),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,o=0,a=e,n=e===0?hf:0;for(;i>1;){let d=Math.ceil(i/16);t.push({inputCount:i,nodeBase:r,inputOffset:o,outputOffset:a,blocks:d}),d===1&&(n=r+i-2),r+=d*15,o=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,g)=>({binding:g,resource:{buffer:h}}))}),buffer:p}};this.base=l(),this.levels=t.map(d=>({...d,...l(d)})),this.reductions=[];let c=Rt(e),u=0,f=c*2;for(;c>1;){let d=Rt(c);this.reductions.push({blocks:d,...l({inputCount:c,inputOffset:u,outputOffset:f})}),u=f,f+=d*2,c=d}this.morton=l({boundsOffset:u}),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,g)=>({binding:g,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,o,a)=>{e.setPipeline(this.pipes[r]),e.setBindGroup(0,o),e.dispatchWorkgroups(a)},i=!this.built||this.stepsSinceBuild>=this.rebuildInterval;if(this.lastRebuilt=i,t(i?"leaves":"refitLeaves",this.base.group,Rt(this.count)),i){t("initializeLinks",this.base.group,Rt(this.nodeCapacity));for(let r of this.reductions)t("reduceBounds",r.group,r.blocks);t("mortonCodes",this.morton.group,Rt(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,Rt(this.count));for(let r of this.levels)t("miniHploc",r.group,r.blocks);t("ropes",this.base.group,Rt(this.nodeCapacity)),this.built=!0,this.stepsSinceBuild=0,this.stats.builds++}else{for(let r of this.levels)t("refitTreelets",r.group,Rt(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,o)=>r!==this.broadBuffers[o]))&&(this.broadBuffers=i,this.broad=this.device.createBindGroup({layout:t.layouts.broad,entries:i.map((r,o)=>({binding:o,resource:{buffer:r}}))})),e.setPipeline(this.traverse),e.setBindGroup(0,this.broad),e.setBindGroup(1,this.extra),e.dispatchWorkgroups(Rt(this.count,64))}destroy(){this.scan.destroy();for(let e of[...this.buffers,...this.uniforms])e.destroy()}};function Vl(s,e={}){let t,i,r=!0,o=new Map,a=l=>{if(!i&&!l)return;let c=e.timestampWrites,u=s.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){u.setPipeline(i.pipeline);for(let[f,d]of i.bindings)u.setBindGroup(f,...d);u[i.method](...i.args)}u.end(),i=null,r=!1},n=(l,c)=>{a(!1),i={pipeline:t,bindings:new Map(o),method:l,args:c}};return{setPipeline(l){t=l},setBindGroup(l,c,u){o.set(l,u===void 0?[c]:[c,[...u]])},dispatchWorkgroups(...l){n("dispatchWorkgroups",l)},dispatchWorkgroupsIndirect(...l){n("dispatchWorkgroupsIndirect",l)},end(){a(!0)}}}var pt=s=>Math.ceil(s/64);function Wl(s){(s.radiiDirty||s.noCollideDirty)&&s.uploadStatics();let e=s.params;s.fixedColors&&(s.device.queue.writeBuffer(s.colorBuffer,0,s.fixedColors),s.colorCap=Math.max(1,...s.fixedColors.map(k=>k===255?0:k+1))),s.stepCount++,s.writeParams(),s.writePassConstants(e.iterations,e.alpha);let t=s.parity,i=s.bodyCapacity,r=s.bodyCount,o=s.jointCount,a=s.groups,n=s.device.createCommandEncoder({label:"AVBD app step"});s.encodeStepPrelude?.(n),s.bvh||n.clearBuffer(s.gridBuffer,0,(2*s.tableSize+1)*4),n.clearBuffer(s.tableBuffer),n.clearBuffer(s.adjBuffer,0,(2*i+1)*4);let l=!!s.detailCallback,c=l||s.timingCallback!==null&&s.timing!==null,u=c||s.splitPasses,f=l?s.detailTiming:s.timing,d=[],p,m,h,g=(k,P)=>{if(p&&!l&&(m===P||!u))return;p?.end(),m=P;let C=l?d.length:Se.indexOf(P);d.push({name:k,aggregate:P});let _={label:k,timestampWrites:c?{querySet:f.querySet,beginningOfPassWriteIndex:C*2,endOfPassWriteIndex:C*2+1}:void 0};p=s.dispatchIsolation?Vl(n,_):n.beginComputePass(_),h=void 0},b=k=>{h!==k&&(p.setBindGroup(0,k),h=k)},y=(k,P,C)=>{C<=0||(p.setPipeline(s.pipes[k]),b(P),p.dispatchWorkgroups(C))},A=(k,P,C)=>{p.setPipeline(s.pipes[k]),b(P),p.dispatchWorkgroupsIndirect(s.argsBuffer,C*4)};if(g("contactCache","collision"),y("beginFrame",a.broad,1),e.reuseContacts&&y("updateRefs",a.refs,pt(r)),y("argsPrev",a.args,1),A("hashInsert",a.contacts[t],6),g("broadphaseBuild","collision"),s.bvh?(s.bvh.configure(r),s.bvh.encodeBuild(p),h=void 0):(y("gridCount",a.broad,pt(r)),s.gridScan.encode(p),h=void 0,y("gridScatter",a.broad,pt(r))),g("broadphasePairs","collision"),s.bvh?(s.bvh.encodePairs(p,s),h=void 0):y("findPairs",a.broad,pt(r)),g("narrowphase","collision"),y("argsPairs",a.args,1),A("narrowphase",a.contacts[t],0),y("argsContacts",a.args,1),g("adjacency","adjacency"),y("degreeJoints",a.topo[t],pt(o)),A("degreeContacts",a.topo[t],3),s.adjScan.encode(p),h=void 0,y("fillJoints",a.topo[t],pt(o)),A("fillContacts",a.topo[t],3),y("sortAdjacency",a.topo[t],pt(r)),g("coloring","coloring"),!s.fixedColors){y("colorCompact",a.topo[t],pt(r)),y("colorMark",a.topo[t],pt(r));for(let k=0;k<s.colorRounds;k++)y(k%2===0?"colorRoundAB":"colorRoundBA",a.topo[t],pt(r))}y("colorCount",a.topo[t],s.colorGroups),s.colorHistScan.encode(p),h=void 0,y("colorStarts",a.topo[t],1),y("argsColors",a.args,1),y("colorScatter",a.topo[t],s.colorGroups);let v=s.passOffsets??=[0],x,w,B,L=k=>{w===p&&B===k||(v[0]=k*256,p.setBindGroup(1,s.passGroup,v),w=p,B=k)},M=()=>{x!==p&&(p.setBindGroup(0,a.solve[t]),x=p)};if(g("warmStart","solve"),M(),L(0),o>0&&(p.setPipeline(s.pipes.warmStartJoints),p.dispatchWorkgroups(pt(o))),p.setPipeline(s.pipes.warmStartBodies),r&&p.dispatchWorkgroups(pt(r)),s.smallGroupPipeline)g("smallGroupSolve","solve"),M(),L(0),p.setPipeline(s.smallGroupPipeline),p.dispatchWorkgroups(1);else for(let k=0;k<e.iterations;k++){g("bodySolve","solve"),M(),p.setPipeline(s.pipes.primal);for(let P=0;P<s.colorCap;P++)L(k*(s.colorCap+1)+P),p.dispatchWorkgroupsIndirect(s.argsBuffer,(12+3*P)*4);g("contactUpdate","solve"),M(),L(k*(s.colorCap+1)+s.colorCap),p.setPipeline(s.pipes.dual),p.dispatchWorkgroupsIndirect(s.argsBuffer,36)}g("velocities","solve"),M(),L(0),p.setPipeline(s.pipes.updateVelocities),r&&p.dispatchWorkgroups(pt(r)),p.end();let I=2*(l?d.length:Se.length);if(c&&(n.resolveQuerySet(f.querySet,0,I,f.resolve,0),n.copyBufferToBuffer(f.resolve,0,f.read,0,I*8)),s.parity=1-t,s.encodeStepPostlude?.(n),s.device.queue.submit([n.finish()]),!c)return;let E=l?s.detailCallback:s.timingCallback;l?s.detailCallback=null:s.timingCallback=null,s.timingBusy=!0,f.read.mapAsync(GPUMapMode.READ).then(()=>{let k=new BigUint64Array(f.read.getMappedRange()).slice();if(f.read.unmap(),s.timingBusy=!1,s.destroyed){s.releaseAppTiming(),s.releaseTiming();return}let P=(_,z)=>Number(k[z]-k[_])/1e6,C={total:P(0,I-1),broadphase:s.broadphase,bvhRebuilt:s.bvh?.lastRebuilt??!1};if(l){C.details={};for(let[_,z]of d.entries()){let R=P(_*2,_*2+1);C[z.aggregate]=(C[z.aggregate]??0)+R,C.details[z.name]=(C.details[z.name]??0)+R}}else Se.forEach((_,z)=>C[_]=P(z*2,z*2+1));E(C)},k=>{s.timingBusy=!1,s.profileErrors.push(k.message),s.destroyed&&(s.releaseAppTiming(),s.releaseTiming())})}function oo(s){let e=s.indexOf(`@compute @workgroup_size(256)
|
|
3090
|
+
fn colorCount(`),t=s.indexOf(`
|
|
3091
|
+
// 5.`,e);if(e<0||t<e)throw Error("Pinned color buckets changed; review the bitset rank kernel");return s.slice(0,e).replace(`var<workgroup> hist: array<atomic<u32>, 64>;
|
|
3092
|
+
var<workgroup> chunkColors: array<u32, 256>;
|
|
3093
|
+
`,"")+`
|
|
3094
|
+
var<workgroup> colorBits:array<atomic<u32>,512>;
|
|
3095
|
+
@compute @workgroup_size(256)
|
|
3096
|
+
fn colorCount(@builtin(global_invocation_id) gid:vec3u,
|
|
3097
|
+
@builtin(local_invocation_id) lid:vec3u,
|
|
3098
|
+
@builtin(workgroup_id) wid:vec3u) {
|
|
3099
|
+
atomicStore(&colorBits[lid.x],0u);
|
|
3100
|
+
atomicStore(&colorBits[lid.x+256u],0u);
|
|
3101
|
+
workgroupBarrier();
|
|
3102
|
+
let b=gid.x;
|
|
3103
|
+
var col=NO_COLOR;
|
|
3104
|
+
if(b<params.bodyCount && dynamicBody(i32(b))) {
|
|
3105
|
+
let s=state(0u,b);
|
|
3106
|
+
col=s&0xffu;
|
|
3107
|
+
if((s&PENDING)!=0u){atomicAdd(&counters[C_CLASHES],1u);}
|
|
3108
|
+
if (col == NO_COLOR) { col = params.colorCap - 1u; }
|
|
3109
|
+
atomicStore(&color[b],col);
|
|
3110
|
+
atomicMax(&counters[C_NUM_COLORS],col+1u);
|
|
3111
|
+
}
|
|
3112
|
+
let word=lid.x>>5u;
|
|
3113
|
+
let bit=lid.x&31u;
|
|
3114
|
+
if(col!=NO_COLOR){atomicOr(&colorBits[col*8u+word],1u<<bit);}
|
|
3115
|
+
workgroupBarrier();
|
|
3116
|
+
if(col!=NO_COLOR){
|
|
3117
|
+
var rank=0u;
|
|
3118
|
+
for(var k=0u;k<word;k++){rank+=countOneBits(atomicLoad(&colorBits[col*8u+k]));}
|
|
3119
|
+
rank+=countOneBits(atomicLoad(&colorBits[col*8u+word])&((1u<<bit)-1u));
|
|
3120
|
+
atomicStore(&color[params.stateBOffset+b],rank);
|
|
3121
|
+
}
|
|
3122
|
+
if(lid.x<MAX_COLORS){
|
|
3123
|
+
var count=0u;
|
|
3124
|
+
for(var k=0u;k<8u;k++){count+=countOneBits(atomicLoad(&colorBits[lid.x*8u+k]));}
|
|
3125
|
+
atomicStore(&color[params.colorHistOffset+lid.x*params.colorGroups+wid.x],count);
|
|
3126
|
+
}
|
|
3127
|
+
if(gid.x==0u){atomicStore(&color[params.colorHistOffset+MAX_COLORS*params.colorGroups],0u);}
|
|
3128
|
+
}
|
|
3129
|
+
|
|
3130
|
+
`+s.slice(t)}function ao(s,e){let t=s.bodyCount>=1024;if(s.bitsetColorBuckets===t)return;let i=s.colorBucketPipelines??={scan:s.pipes.colorCount};t&&!i.bitset&&(i.bitset=s.device.createComputePipeline({label:"Stable bitset color buckets",layout:s.device.createPipelineLayout({bindGroupLayouts:[s.layouts.topo]}),compute:{module:s.device.createShaderModule({code:e}),entryPoint:"colorCount"}})),s.pipes.colorCount=t?i.bitset:i.scan,s.bitsetColorBuckets=t}var Hl=` let list = params.adjListOffset;
|
|
3131
|
+
for (var i = lo + 1u; i < hi; i++) {`,sn=Ti(ge,br),$l=oo(sn);if(sn.split(Hl).length!==2)throw Error("Pinned adjacency sort changed; review the cached-key variant");var Jl=sn.replace(Hl,`
|
|
2888
3132
|
let list = params.adjListOffset;
|
|
2889
3133
|
let count = hi - lo;
|
|
2890
3134
|
if (count <= 16u) {
|
|
@@ -2913,13 +3157,13 @@ fn initializeLinks(@builtin(global_invocation_id) gid:vec3u){if(gid.x<build.esca
|
|
|
2913
3157
|
}
|
|
2914
3158
|
return;
|
|
2915
3159
|
}
|
|
2916
|
-
for (var i = lo + 1u; i < hi; i++) {`);function
|
|
2917
|
-
if ((contacts[gid.x].ids.w & 0x80000000u) != 0u) { return; }`)}function
|
|
3160
|
+
for (var i = lo + 1u; i < hi; i++) {`);function on(s){return s.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 no(s){return s.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 an(s=Ti(ge,br)){return s.replaceAll("if (gid.x >= topoCount()) { return; }",`if (gid.x >= topoCount()) { return; }
|
|
3161
|
+
if ((contacts[gid.x].ids.w & 0x80000000u) != 0u) { return; }`)}function nn(s){let e=s.device,t=e.createShaderModule({code:`
|
|
2918
3162
|
@group(0) @binding(0) var<storage,read_write> records:array<vec4f>;
|
|
2919
3163
|
@compute @workgroup_size(64) fn clear(@builtin(global_invocation_id) id:vec3u){
|
|
2920
3164
|
if(id.x*10u+2u>=arrayLength(&records)){return;}
|
|
2921
3165
|
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:s.bodyBuffer}}]}),o=e.createCommandEncoder(),
|
|
3166
|
+
}`}),i=e.createComputePipeline({layout:"auto",compute:{module:t,entryPoint:"clear"}}),r=e.createBindGroup({layout:i.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:s.bodyBuffer}}]}),o=e.createCommandEncoder(),a=o.beginComputePass();a.setPipeline(i),a.setBindGroup(0,r),a.dispatchWorkgroups(Math.ceil(s.bodyCount/64)),a.end(),e.queue.submit([o.finish()])}var gf=`
|
|
2923
3167
|
fn contactGeneration(value: f32) -> u32 {
|
|
2924
3168
|
return select(0u, bitcast<u32>(value) ^ 0x3f800000u, value != 0.0);
|
|
2925
3169
|
}
|
|
@@ -2927,9 +3171,9 @@ fn contactMovedAfter(value: f32, generated: u32) -> bool {
|
|
|
2927
3171
|
let age = (contactGeneration(value) - generated) & 0x07ffffffu;
|
|
2928
3172
|
return age != 0u && age < 0x04000000u;
|
|
2929
3173
|
}
|
|
2930
|
-
`;function
|
|
2931
|
-
if (count == 0u || generated < moved) { return false; }`;if(!s.includes(e))throw Error("Contact cache layout changed");return
|
|
2932
|
-
if (count == 0u || contactMovedAfter(bodies[a].inertialPos.w, generation) || contactMovedAfter(bodies[b].inertialPos.w, generation)) { return false; }`)}var
|
|
3174
|
+
`;function Xl(s){let e="bodies[i].inertialPos.w = bitcast<f32>(params.step);";if(!s.includes(e))throw Error("Contact reference layout changed");return s.replace(e,"bodies[i].inertialPos.w = bitcast<f32>((params.step & 0x07ffffffu) ^ 0x3f800000u);")}function Yl(s){let e=` let moved = max(bitcast<u32>(bodies[a].inertialPos.w), bitcast<u32>(bodies[b].inertialPos.w));
|
|
3175
|
+
if (count == 0u || generated < moved) { return false; }`;if(!s.includes(e))throw Error("Contact cache layout changed");return gf+s.replace(e,` let generation = generated & 0x07ffffffu;
|
|
3176
|
+
if (count == 0u || contactMovedAfter(bodies[a].inertialPos.w, generation) || contactMovedAfter(bodies[b].inertialPos.w, generation)) { return false; }`)}var bf=["captureIncoming"],yf=["captureSolved","initialize",...Array.from({length:12},()=>["pairs","apply"]).flat(),"writeBack"],vf=`${ge}
|
|
2933
3177
|
struct Config { count:u32, joints:u32, capacity:u32, list:u32, threshold:f32, dt:f32, pad0:u32, pad1:u32 }
|
|
2934
3178
|
struct Velocity { incoming:vec4f, incomingAngular:vec4f, linear:vec4f, angular:vec4f }
|
|
2935
3179
|
struct Bounce { impulse:f32, delta:f32, reboundSpeed:f32, inverseMass:f32, rA:vec4f, rB:vec4f }
|
|
@@ -3005,7 +3249,7 @@ fn pointVelocity(i:u32,r:vec3f,incoming:bool)->vec3f {
|
|
|
3005
3249
|
let i=id.x;if(i>=cfg.count || bodies[i].size.w<=0.){return;}
|
|
3006
3250
|
bodies[i].vel=velocities[i].linear;bodies[i].angVel=velocities[i].angular;
|
|
3007
3251
|
}
|
|
3008
|
-
`;var
|
|
3252
|
+
`;var Ar=class{constructor(e,{code:t=vf,dimension:i=3}={}){this.solver=e,this.dimension=i,this.device=e.device,this.active=new Set;let r=this.device,o=GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST;this.materials=r.createBuffer({size:e.bodyCapacity*4,usage:o}),this.velocities=r.createBuffer({size:e.bodyCapacity*64,usage:o}),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),oe(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 o=[this.params,e.bodyBuffer,this.velocities,this.materials,i.manifolds,i.contacts,e.adjBuffer,i.counters,this.bounce];(!this.buffers||o.some((c,u)=>c!==this.buffers[u]))&&(this.buffers=o,this.group=t.createBindGroup({layout:this.layout,entries:o.map((c,u)=>({binding:u,resource:{buffer:c}}))}));let a=this.paramData??=hi(8),{u:n,f:l}=a;n[0]=e.bodyCount,n[1]=e.jointCount,n[2]=r,n[3]=2*e.bodyCapacity+1,l[4]=1,l[5]=e.params.dt,Qt(t,this.params,a)}run(e,t){this.bind();let i=t??this.device.createCommandEncoder(),r=i.beginComputePass();r.setBindGroup(0,this.group);for(let o of e)r.setPipeline(this.pipes[o]),r.dispatchWorkgroups(Math.max(1,Math.ceil((o==="initialize"||o==="pairs"?this.capacity:this.solver.bodyCount)/64)));r.end(),t||this.device.queue.submit([i.finish()])}before(e){this.active.size&&this.run(bf,e)}after(e){this.active.size&&this.run(yf,e)}destroy(){for(let e of["materials","velocities","params","bounce"])this[e]?.destroy()}};var Ql=new WeakMap,rs=s=>Ql.get(s);function wr(s,e){Ql.set(s,e)}var ln=(s,e,t)=>{if(s.split(e).length!==2)throw Error("Pinned angular solver layout changed");return s.replace(e,t)};function cn(s){return s=ln(s,"fn addJoint(acc: ptr<function, Acc>, j: u32, alpha: f32, i: u32) {",`
|
|
3009
3253
|
fn angularFrame(k:Joint,a:i32,b:i32)->mat3x3f {
|
|
3010
3254
|
let qa=rotA(a);let axis=qrotate(qa,k.rA.xyz);
|
|
3011
3255
|
let ta=qrotate(qa,k.c0Lin.xyz);let tb=qrotate(bodies[b].rot,k.c0Ang.xyz);
|
|
@@ -3056,10 +3300,10 @@ fn dualAngular(j:u32){
|
|
|
3056
3300
|
}
|
|
3057
3301
|
`+`
|
|
3058
3302
|
fn addJoint(acc: ptr<function, Acc>, j: u32, alpha: f32, i: u32) {
|
|
3059
|
-
if(info[j].x==3 || info[j].x==4){if(joints[j].penLin.w!=0.){addAngular(acc,j,alpha,i);}return;}`),s=
|
|
3303
|
+
if(info[j].x==3 || info[j].x==4){if(joints[j].penLin.w!=0.){addAngular(acc,j,alpha,i);}return;}`),s=ln(s," if (j >= params.jointCount || info[j].x != T_JOINT) { return; }",` if(j>=params.jointCount){return;}
|
|
3060
3304
|
if(info[j].x==3 || info[j].x==4){warmAngular(j);return;}
|
|
3061
|
-
if(info[j].x!=T_JOINT){return;}`),
|
|
3062
|
-
if(info[j].x==3 || info[j].x==4){dualAngular(j);return;}`)}function kt({type:s,axisA:e=[0,1,0],axisB:t=[0,1,0],speed:i=1,maxTorque:r=100,minAngle:o=-Math.PI,maxAngle:
|
|
3305
|
+
if(info[j].x!=T_JOINT){return;}`),ln(s,"fn dualJoint(j: u32) {",`fn dualJoint(j: u32) {
|
|
3306
|
+
if(info[j].x==3 || info[j].x==4){dualAngular(j);return;}`)}function kt({type:s,axisA:e=[0,1,0],axisB:t=[0,1,0],speed:i=1,maxTorque:r=100,minAngle:o=-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),u=Math.hypot(...c);if(c.length!==3||!c.every(Number.isFinite)||u<1e-8)throw Error("Angular axis requires three finite, nonzero components");return c.map(f=>f/u)};if(s!=="motor"&&s!=="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(o)||!Number.isFinite(a)||o<-Math.PI||a>Math.PI||o>a)throw Error("Hinge angles must be ordered within -PI..PI radians");return{type:s,axisA:n(e),axisB:n(t),speed:i,maxTorque:r,minAngle:o,maxAngle:a}}var Kl=`struct Body { pos:vec4f,rot:vec4f,initialPos:vec4f,initialRot:vec4f,size:vec4f,moment:vec4f,inertialPos:vec4f,inertialRot:vec4f,velocity:vec4f,angular:vec4f }
|
|
3063
3307
|
struct Joint {penLin:vec4f,penAng:vec4f,lamLin:vec4f,lamAng:vec4f,c0Lin:vec4f,c0Ang:vec4f,rA:vec4f,rB:vec4f}
|
|
3064
3308
|
@group(0) @binding(0) var<storage,read> bodies:array<Body>;
|
|
3065
3309
|
@group(0) @binding(1) var<storage,read_write> joints:array<Joint>;
|
|
@@ -3077,7 +3321,7 @@ fn rotate(q:vec4f,v:vec3f)->vec3f{let t=2.*cross(q.xyz,v);return v+q.w*t+cross(q
|
|
|
3077
3321
|
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));}
|
|
3078
3322
|
joints[j].c0Lin=vec4f(tangent,0.);joints[j].c0Ang=vec4f(normalize(tangentB),0.);
|
|
3079
3323
|
}
|
|
3080
|
-
`;var
|
|
3324
|
+
`;var Zl=new WeakSet,Fe=s=>Zl.has(s);function Br(s,e,t,i=1,r=.6,o=[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 Ze(s,[2*e,t,2*e],i,r,o),n=t-2*e,l=Math.PI*e*e*n*i,c=4/3*Math.PI*e**3*i;a.mass=l+c;let u=l*e**2/2+c*2*e**2/5,f=l*(n**2/12+e**2/4)+c*(2*e**2/5+n**2/4+3*n*e/8);return a.moment.set([f,u,f]),a.radius=t/2,Zl.add(a),a}var ec=`// Exact rounded capsule geometry. Shape -1: radius=size.x/2, segment along Y,
|
|
3081
3325
|
// half-length=size.y/2-radius. No tessellation, endpoint-only collision test,
|
|
3082
3326
|
// shape storage buffer or iterative support search for capsule/sphere/box.
|
|
3083
3327
|
struct Capsule {a:vec3f,b:vec3f,r:f32}
|
|
@@ -3161,16 +3405,16 @@ fn capsuleBox(A:Capsule,B:Box,q:vec4f,sat:ptr<function,Sat>)->Found{
|
|
|
3161
3405
|
if(ends.count==2u){return ends;}
|
|
3162
3406
|
addFound(&found,B.c+qrotate(q,center)+n*A.r,B.c+qrotate(q,onBox),4u<<24u);return found;
|
|
3163
3407
|
}
|
|
3164
|
-
`;function
|
|
3165
|
-
fn narrowphase`;if(!s.includes(e))throw Error("Pinned capsule narrowphase layout changed");let t=s.includes("struct Poly");t&&(s=s.replace(e,
|
|
3166
|
-
`+e)),s=s.replace(e,
|
|
3408
|
+
`;function un(s){if(s.includes("fn capsuleOf"))throw Error("Capsule collision kernel installed twice");let e=`@compute @workgroup_size(64)
|
|
3409
|
+
fn narrowphase`;if(!s.includes(e))throw Error("Pinned capsule narrowphase layout changed");let t=s.includes("struct Poly");t&&(s=s.replace(e,wf+`
|
|
3410
|
+
`+e)),s=s.replace(e,ec+`
|
|
3167
3411
|
`+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 s.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.;
|
|
3168
3412
|
if(capsuleA || capsuleB){
|
|
3169
3413
|
if(capsuleA && capsuleB){found=capsuleCapsule(capsuleOf(a),capsuleOf(b),&sat);}
|
|
3170
3414
|
else if(capsuleA){if(sphereB){found=capsuleSphere(capsuleOf(a),B.c,B.h.x,&sat);}${i} else{found=capsuleBox(capsuleOf(a),B,bodies[b].rot,&sat);}}
|
|
3171
3415
|
else{if(sphereA){found=capsuleSphere(capsuleOf(b),A.c,A.h.x,&sat);}${r} else{found=capsuleBox(capsuleOf(b),A,bodies[a].rot,&sat);}
|
|
3172
3416
|
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;}}
|
|
3173
|
-
} else if (sphereA && sphereB) {`)}var
|
|
3417
|
+
} else if (sphereA && sphereB) {`)}var wf=`
|
|
3174
3418
|
fn capPolyAxis(A:Capsule,P:Poly,axis:vec3f,best:ptr<function,f32>,normal:ptr<function,vec3f>)->bool{
|
|
3175
3419
|
let l=length(axis);if(l<1.e-8){return true;}let n=axis/l;
|
|
3176
3420
|
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;
|
|
@@ -3202,7 +3446,7 @@ fn capsulePoly(A:Capsule,P:Poly,sat:ptr<function,Sat>)->Found{
|
|
|
3202
3446
|
}
|
|
3203
3447
|
(*sat).n=n;addFound(&found,points.a+n*A.r,points.b,4u<<24u);return found;
|
|
3204
3448
|
}
|
|
3205
|
-
`;var
|
|
3449
|
+
`;var fn=`// GPU queries against current poses. Rounded box/hull sweeps test offset faces
|
|
3206
3450
|
// and rounded edges, so expanding a bounding box cannot create corner hits.
|
|
3207
3451
|
struct Query { origin:vec4f, direction:vec4f }
|
|
3208
3452
|
struct Params { head:vec4u, flags:vec4u, ignored:array<vec4u,4> }
|
|
@@ -3356,7 +3600,42 @@ fn nearest(@builtin(global_invocation_id) id:vec3u){if(id.x>=params.head.x||igno
|
|
|
3356
3600
|
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);}}
|
|
3357
3601
|
@compute @workgroup_size(64)
|
|
3358
3602
|
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.);}
|
|
3359
|
-
`;var
|
|
3603
|
+
`;var pi=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?fn.replace("const DIM=3u;","const DIM=2u;").replace("const STRIDE=10u;","const STRIDE=6u;"):fn});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 o=i.createPipelineLayout({bindGroupLayouts:[this.layout]});this.pipes=Object.fromEntries(["nearest","owner","finish"].map(a=>[a,i.createComputePipeline({layout:o,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[o,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[o]?.destroy(),i[o]=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,maxDistance:o}={}){if(this.destroyed)throw Error("GPU queries have been destroyed");let a=this.solver,n=a.device,l=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(d=>!Number.isInteger(d)||d<0||d>=a.bodyCount))throw Error("Queries can ignore up to 16 live body indices");if(e.length>Math.min(65535,n.limits.maxComputeWorkgroupsPerDimension))throw Error("Too many queries in one batch");let c=e.map(d=>{let p=Array.from(d.origin),m=Array.from(d.direction),h=d.radius??0,g=d.maxDistance??o??3e38;if(p.length!==l||m.length!==l||![...p,...m].every(Number.isFinite)||Math.hypot(...m)===0)throw Error(`A query requires ${l} finite components and a nonzero direction`);if(!Number.isFinite(h)||h<0||!Number.isFinite(g)||g<0)throw Error("Query radius and maximum distance must be finite and nonnegative");let b=Math.hypot(...m);return{origin:p,direction:m.map(y=>y/b),radius:h,maxDistance:g}});if(!c.length)return[];let u=c.length,f=this.acquire(u);try{let d=f.data;c.forEach((I,E)=>{d.set([...I.origin,...Array(3-l).fill(0),I.maxDistance,...I.direction,...Array(3-l).fill(0),I.radius],E*8)});let p=f.params;p.fill(0),p.set([a.bodyCount,u,t.length,i,r?0:1,l===3||a.filters?1:0,a.sensorsEnabled?1:0,l===2&&a.shapeBuffer?1:0]),p.set(t,8);let m=f.initial;for(let I=0;I<u;I++)m.set([2139095040,4294967295],I*2);let{queryBuffer:h,best:g,hits:b,uniform:y,read:A}=f;n.queue.writeBuffer(h,0,d.buffer,0,u*32),n.queue.writeBuffer(g,0,m.buffer,0,u*8),n.queue.writeBuffer(y,0,p);let v=[a.bodyBuffer,l===3?a.hullStorage:a.shapeBuffer??this.dummy,h,g,b,y,l===3?a.filterStorage:a.filters??this.dummy];(!f.buffers||v.some((I,E)=>I!==f.buffers[E]))&&(f.group=n.createBindGroup({layout:this.layout,entries:v.map((I,E)=>({binding:E,resource:{buffer:I}}))}),f.buffers=v);let x=n.createCommandEncoder(),w=x.beginComputePass();w.setBindGroup(0,f.group);for(let I of["nearest","owner"])w.setPipeline(this.pipes[I]),w.dispatchWorkgroups(Math.ceil(a.bodyCount/64),u);w.setPipeline(this.pipes.finish),w.dispatchWorkgroups(Math.ceil(u/64)),w.end(),x.copyBufferToBuffer(b,0,A,0,u*32),n.queue.submit([x.finish()]),await A.mapAsync(GPUMapMode.READ,0,u*32);let B=A.getMappedRange(0,u*32),L=new Float32Array(B),M=new Uint32Array(B);return c.map((I,E)=>{let k=L[E*8+3];if(k<0)return null;let P=Array.from(L.slice(E*8,E*8+l)),C=I.origin.map((_,z)=>_+k*I.direction[z]);return{index:M[E*8+4],distance:k,normal:P,center:C,point:C.map((_,z)=>_-I.radius*P[z])}})}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 lo(s,e){let t=this.passConstantCache??={alphas:[]},i=t.iterations!==s||t.colors!==this.colorCap||t.buffer!==this.passBuffer||!this.passGroup;for(let n=0;n<s;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,o=Math.max(s*r,1),a=o*256;(o>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=o,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)),t.u32[2]=s;for(let n=0;n<s;n++)for(let l=0;l<=this.colorCap;l++){let c=(n*r+l)*256/4;t.u32[c]=l,t.u32[c+2]=s,t.f32[c+1]=t.alphas[n]}this.device.queue.writeBuffer(this.passBuffer,0,t.data,0,a),t.iterations=s,t.colors=this.colorCap,t.buffer=this.passBuffer,t.uploads=(t.uploads??0)+1}function oc(s,e){return s.stepParamsCache??=hi(e)}function ac(s,e,t){let i=s.bodyCapacity;t[7]=s.bodyCount,t[8]=s.jointCount,t[9]=s.colorCap,e[10]=s.cellSize,t[11]=s.tableSize-1,e[12]=s.maxSmallRadius,t[13]=s.largeCount,t[14]=s.noCollideCount,t[15]=s.pairCapacity,t[16]=s.contactCapacity,t[17]=s.hashSize-1,t[18]=i+1,t[19]=2*i+1,t[20]=s.tableSize+1,t[21]=2*s.tableSize+1,t[22]=2*s.tableSize+1+i,t[23]=i,t[24]=s.colorHistOffset,t[25]=2*i,t[26]=s.colorGroups,t[27]=2*i+65,t[28]=s.colorRounds}function nc(s,e){let t=oc(this,32),{f:i,u:r}=t,o=this.params;i[0]=o.dt,i[1]=o.gravity,i[2]=o.beta,i[3]=o.gamma,i[4]=s,i[5]=o.vbdStiffness,r[6]=(o.vbd?1:0)|(o.stiffnessRescale?2:0)|(e?4:0)|(o.matchNearest?8:0),ac(this,i,r),Qt(this.device,this.paramsBuffer,t)}function lc(){let s=oc(this,es),{f:e,u:t}=s,i=this.params;e[0]=i.dt,e[1]=i.gravity,e[2]=i.betaLin,e[3]=i.betaAng,e[4]=i.gamma,e[5]=i.alpha,t[6]=(i.matchNearest?Xr:0)|(i.faceBias?Yr:0)|(i.reuseContacts?Qr:0)|(i.startAtRest?Kr:0)|(i.massPenalty?Zr:0),ac(this,e,t),t[29]=this.manifoldCapacity,t[30]=this.stepCount;let r=o=>Math.min(31,Math.max(0,Math.round(Math.log2(o))));t[31]=r(this.primalLanes[0])|r(this.primalLanes[1])<<8|r(this.primalLanes[2])<<16,e[32]=i.windSpeed*Math.cos(i.windAngle),e[33]=i.windSpeed*Math.sin(i.windAngle),e[34]=0,e[35]=i.windPressure,e[36]=i.windGust,e[40]=i.up[0],e[41]=i.up[1],e[42]=i.up[2],e[43]=0,Qt(this.device,this.paramsBuffer,s)}function cc(s){let e=(i,r)=>{if(s.split(i).length!==2)throw Error("Review packed Newton accumulator integration");s=s.replace(i,r)};e(` lin: mat3x3f,
|
|
3604
|
+
ang: mat3x3f,`,` lin: mat2x3f,
|
|
3605
|
+
ang: mat2x3f,`),e("fn addRow(acc:",`fn symmetricOuter(v: vec3f) -> mat2x3f {
|
|
3606
|
+
return mat2x3f(v * v, vec3f(v.y * v.x, v.z * v.x, v.z * v.y));
|
|
3607
|
+
}
|
|
3608
|
+
|
|
3609
|
+
fn addRow(acc:`),e("outer(l, l) * k","symmetricOuter(l) * k"),e("outer(a, a) * k","symmetricOuter(a) * k"),e("mat3x3f(vec3f(g.x, 0.0, 0.0), vec3f(0.0, g.y, 0.0), vec3f(0.0, 0.0, g.z))","mat2x3f(g, vec3f(0.0))"),e("mat3x3f(vec3f(m, 0.0, 0.0), vec3f(0.0, m, 0.0), vec3f(0.0, 0.0, m))","mat2x3f(vec3f(m), vec3f(0.0))"),e("mat3x3f(vec3f(I.x, 0.0, 0.0), vec3f(0.0, I.y, 0.0), vec3f(0.0, 0.0, I.z))","mat2x3f(I, vec3f(0.0))");let t={"0][0":"0][0","0][1":"1][0","0][2":"1][1","1][1":"0][1","1][2":"1][2","2][2":"0][2"};return s=s.replace(/acc\.(lin|ang)\[(\d)\]\[(\d)\]/g,(i,r,o,a)=>{let n=t[`${o}][${a}`];if(!n)throw Error("Unexpected Newton accumulator entry");return`acc.${r}[${n}]`}),s}var hn=["pos","rot","initialPos","initialRot","size","moment","inertialPos","inertialRot","vel","angVel"],Cf=/bodies\[([^\]]+)\]\.([A-Za-z]+)/g;function Sf(s){let e=new Map;for(let t of s.matchAll(/\bfn (\w+)\(/g)){let i=t.index,r=s.indexOf("{",i),o=1,a=r+1;for(;o&&a<s.length;a++)s[a]==="{"&&o++,s[a]==="}"&&o--;if(o)throw Error("Review compact body function boundaries");e.set(t[1],{start:i,brace:r,end:a,text:s.slice(i,a),body:s.slice(r+1,a-1)})}return e}function pn(s){let e=Sf(s),t=m=>{let h=e.get(m);if(!h)throw Error(`Review compact body integration: ${m}`);return h},i=(m,h)=>m.replace(Cf,(g,b,y)=>{let A=hn.indexOf(y);if(A<0)throw Error(`Review compact body field: ${y}`);return h?`bodies[compactBodySlot(u32(${b}), ${A}u)]`:`bodies[u32(${b}) * 10u + ${A}u]`}),r=m=>[...m.matchAll(/\b(\w+)\s*\(/g)].map(h=>h[1]).filter(h=>e.has(h)),o=new Set([...e].filter(([,m])=>m.body.includes("bodies[")).map(([m])=>m)),a;do{a=!1;for(let[m,h]of e)!o.has(m)&&r(h.body).some(g=>o.has(g))&&(o.add(m),a=!0)}while(a);let n=new Set,l=m=>{for(let h of r(t(m).body))!o.has(h)||n.has(h)||(n.add(h),l(h))};l("warmStartJoints"),l("warmStartBodies");let c=m=>m.replace(/\b(\w+)(?=\s*\()/g,h=>n.has(h)?`${h}BodyRecords`:h),u=[...n].map(m=>c(i(t(m).text,!1))).join(`
|
|
3610
|
+
|
|
3611
|
+
`),f=(m,h)=>{let g=t(m).body;for(let y of[" if (!solverStepValid()) { return; }"," let i = gid.x;"," if (i >= params.bodyCount) { return; }"]){if(g.split(y).length!==2)throw Error(`Review compact body entry: ${m}`);g=g.replace(y,"")}g=g.replace(/bodies\[i\]\.([A-Za-z]+)/g,"value.$1"),h||(g=c(g));let b=(y,A)=>A?`compactBodySlot(i, ${y}u)`:`i * 10u + ${y}u`;return`fn ${m}(@builtin(global_invocation_id) gid: vec3u) {
|
|
3612
|
+
let i = gid.x;
|
|
3613
|
+
let allocated = i < params.stateBOffset;
|
|
3614
|
+
var value: Body;
|
|
3615
|
+
if (allocated) { value = Body(${hn.map((y,A)=>`bodies[${b(A,h)}]`).join(", ")}); }
|
|
3616
|
+
if (i < params.bodyCount && solverStepValid()) { ${g} }
|
|
3617
|
+
// All threads finish reading their tile before any thread overwrites it.
|
|
3618
|
+
// Inactive and unused records participate, including a partial final tile.
|
|
3619
|
+
storageBarrier();
|
|
3620
|
+
if (allocated) { ${hn.map((y,A)=>`bodies[${b(A,!h)}] = value.${y};`).join(`
|
|
3621
|
+
`)} }
|
|
3622
|
+
}`},d=[[t("warmStartJoints"),c(i(t("warmStartJoints").text,!1))],[t("warmStartBodies"),f("warmStartBodies",!1)],[t("updateVelocities"),f("updateVelocities",!0)]].sort(([m],[h])=>h.start-m.start);for(let[m,h]of d)s=s.slice(0,m.start)+h+s.slice(m.end);let p="var<storage, read_write> bodies: array<Body>;";if(s.split(p).length!==2)throw Error("Review compact body storage binding");return s=s.replace(p,"var<storage, read_write> bodies: array<vec4f>;"),i(s,!0)+`
|
|
3623
|
+
${u}
|
|
3624
|
+
fn compactBodySlot(i: u32, field: u32) -> u32 {
|
|
3625
|
+
let tile = i / 64u * 64u;
|
|
3626
|
+
let width = min(64u, params.stateBOffset - tile);
|
|
3627
|
+
if (field < 4u) { return tile * 10u + (i % 64u) * 4u + field; }
|
|
3628
|
+
return tile * 10u + width * 4u + (i % 64u) * 6u + field - 4u;
|
|
3629
|
+
}
|
|
3630
|
+
`}var co=256;function uc(s){let e=(t,i)=>{if(s.split(t).length!==2)throw Error("Review parallel dual integration");s=s.replace(t,i)};return e("fn dualManifold(m: u32) {","fn dualManifold(m: u32, lane: u32) {"),e("for (var c = mf.ids.z; c < end; c++) {","for (var c = mf.ids.z + lane; c < end; c += 4u) {"),e(` let id = gid.x;
|
|
3631
|
+
if (id < params.jointCount) { dualJoint(id); }
|
|
3632
|
+
else if (id - params.jointCount < manifoldCount()) { dualManifold(id - params.jointCount); }`,` let id = (gid.x + gid.y * ${co*64}u) / 4u;
|
|
3633
|
+
let lane = gid.x % 4u;
|
|
3634
|
+
if (id < params.jointCount) { if (lane == 0u) { dualJoint(id); } }
|
|
3635
|
+
else if (id - params.jointCount < manifoldCount()) { dualManifold(id - params.jointCount, lane); }`),s}function mn(s,e){let t=s.dualArgPipelines??={serial:s.pipes.argsContacts};if(e&&!t.parallel){let i=Nr(ge,Ys),r="setArgs(IA_CONSTRAINTS, params.jointCount + items);";if(i.split(r).length!==2)throw Error("Review parallel contact dispatch sizing");let o=i.replace(r,`let blocks = groupsFor((params.jointCount + items) * 4u);
|
|
3636
|
+
args[IA_CONSTRAINTS] = min(blocks, ${co}u);
|
|
3637
|
+
args[IA_CONSTRAINTS + 1u] = max(1u, (blocks + ${co-1}u) / ${co}u);
|
|
3638
|
+
args[IA_CONSTRAINTS + 2u] = 1u;`);t.parallel=s.device.createComputePipeline({layout:s.device.createPipelineLayout({bindGroupLayouts:[s.layouts.args]}),compute:{module:s.device.createShaderModule({code:o}),entryPoint:"argsContacts"}})}s.pipes.argsContacts=e?t.parallel:t.serial,s.parallelDual=e}var gn=new WeakMap;function uo(s){return gn.get(s)}function fc(s,e){e?gn.set(s,Object.freeze({...e})):gn.delete(s)}function bn(s){let e=s.indexOf("/** A partial system per body slot handed between lanes (primal). */"),t=s.indexOf("fn accumulate(",e),i=s.lastIndexOf("/**",t);if(e<0||t<0||i<=e)throw Error("3D primal layout changed; review the compatibility kernel");return s.slice(0,e)+`
|
|
3360
3639
|
@compute @workgroup_size(64)
|
|
3361
3640
|
fn primal(@builtin(global_invocation_id) gid: vec3u) {
|
|
3362
3641
|
let start = color[params.colorStartOffset + pc.color];
|
|
@@ -3366,18 +3645,18 @@ fn primal(@builtin(global_invocation_id) gid: vec3u) {
|
|
|
3366
3645
|
finishBody(i, accumulate(i, 0u, 1u));
|
|
3367
3646
|
}
|
|
3368
3647
|
|
|
3369
|
-
`+s.slice(i)}function
|
|
3648
|
+
`+s.slice(i)}function mi(s,e,t){if(s.split(e).length!==2)throw Error("3D contact layout changed; review the compatibility kernel");return s.replace(e,t)}function fo(s,e,t){let i=new RegExp(`struct ${e} \\{[^}]*\\}`,"g");if([...s.matchAll(i)].length!==1)throw Error(`Expected one 3D ${e} layout`);return s.replace(i,t)}function dc(s,e,t){let i=`fn ${e}(`;if(s.split(i).length!==2)throw Error(`Expected one 3D ${e} function`);let r=s.indexOf(i),a=s.indexOf("{",r)+1,n=1;for(;a<s.length&&n;a++)s[a]==="{"&&n++,s[a]==="}"&&n--;if(n)throw Error(`Incomplete 3D ${e} function`);return s.slice(0,r)+t(s.slice(r,a))+s.slice(a)}function yn(s){s=fo(s,"PairBody",`struct PairBody {
|
|
3370
3649
|
ids: vec4u,
|
|
3371
3650
|
rot: vec4f,
|
|
3372
3651
|
dLin: vec4f,
|
|
3373
3652
|
dAng: vec4f,
|
|
3374
|
-
}`),s=
|
|
3653
|
+
}`),s=mi(s,"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));"),s=s.replace(/\b(A|B)\.index\b/g,"$1.ids.x").replace(/\b(A|B)\.(dLin|dAng)\b/g,"$1.$2.xyz"),s=fo(s,"Contact",`struct Contact {
|
|
3375
3654
|
anchorA: vec4u, // xyz: float bits, w: integer feature key
|
|
3376
3655
|
anchorB: vec4f, // xyz: anchor, w: normal error
|
|
3377
3656
|
penalty: vec4f, // xyz: penalties, w: first tangent error
|
|
3378
3657
|
force: vec4f, // xyz: forces, w: second tangent error
|
|
3379
|
-
}`);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"])s=
|
|
3380
|
-
`,""),t=
|
|
3658
|
+
}`);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"])s=dc(s,t,i=>i.replace(/\bk\.(rA|rB|key|c0x|c0y|c0z|pen|lam)\b/g,(r,o)=>e[o]));return s=mi(s,"contacts[c].lam = e.F;","contacts[c].force = vec4f(e.F, k.force.w);"),s=mi(s,"contacts[c].key =","contacts[c].anchorA.w ="),s=mi(s,"contacts[c].pen = pen;","contacts[c].penalty = vec4f(pen, k.penalty.w);"),s=dc(s,"evalContact",t=>{t=mi(t,` var e: ContactEval;
|
|
3659
|
+
`,""),t=mi(t," e.rAW ="," let rAW ="),t=mi(t," e.rBW ="," let rBW ="),t=t.replaceAll("e.rAW","rAW").replaceAll("e.rBW","rBW"),t=mi(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;
|
|
3381
3660
|
let normalForce = select(0.0, raw.x, raw.x < 0.0);
|
|
3382
3661
|
let bounds = abs(normalForce) * friction;
|
|
3383
3662
|
let frictionScale = length(raw.yz);
|
|
@@ -3388,13 +3667,13 @@ fn primal(@builtin(global_invocation_id) gid: vec3u) {
|
|
|
3388
3667
|
let force = vec3f(normalForce, raw.yz * scale);
|
|
3389
3668
|
return ContactEval(vec4f(rAW, 0.0), vec4f(rBW, 0.0),
|
|
3390
3669
|
vec4f(C, 0.0), vec4f(force, 0.0), vec4f(frictionScale, bounds, 0.0, 0.0));
|
|
3391
|
-
}`}),s=
|
|
3670
|
+
}`}),s=fo(s,"ContactEval",`struct ContactEval {
|
|
3392
3671
|
rAW: vec4f,
|
|
3393
3672
|
rBW: vec4f,
|
|
3394
3673
|
C: vec4f,
|
|
3395
3674
|
F: vec4f,
|
|
3396
3675
|
limits: vec4f, // x: tangent force length, y: Coulomb bound
|
|
3397
|
-
}`),s=s.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"),s=
|
|
3676
|
+
}`),s=s.replace(/\b(ev|e)\.(rAW|rBW|C|F)\b/g,"$1.$2.xyz").replace(/\be\.frictionScale\b/g,"e.limits.x").replace(/\be\.bounds\b/g,"e.limits.y"),s=fo(s,"PassConstants","struct PassConstants { data: vec4u, }"),s.replaceAll("pc.color","pc.data.x").replaceAll("pc.alpha","bitcast<f32>(pc.data.y)")}function hc(s){if(!s.includes("struct Poly"))return s;let e=`@compute @workgroup_size(64)
|
|
3398
3677
|
fn narrowphase(@builtin(global_invocation_id) gid: vec3u)`;if(s.split(e).length!==2)throw Error("3D hull narrowphase changed; review the compatibility kernel");return s.replace(e,"fn narrowphasePair(gid: vec3u)")+`
|
|
3399
3678
|
@compute @workgroup_size(32)
|
|
3400
3679
|
fn narrowphase(@builtin(global_invocation_id) gid: vec3u) {
|
|
@@ -3402,9 +3681,9 @@ fn narrowphase(@builtin(global_invocation_id) gid: vec3u) {
|
|
|
3402
3681
|
narrowphasePair(vec3u(gid.x * 2u + offset, 0u, 0u));
|
|
3403
3682
|
}
|
|
3404
3683
|
}
|
|
3405
|
-
`}var
|
|
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${
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${sl.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 o=this.device,n=(this.captureUploads??={})[e]??={};(!n.buffer||n.buffer.size<i.byteLength)&&(n.buffer?.destroy(),n.buffer=o.createBuffer({size:i.byteLength*2,usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST}),n.buffers=null),o.queue.writeBuffer(n.buffer,0,i);let a=[this.bodyBuffer,this.jointBuffer,this.infoBuffer,n.buffer];(!n.buffers||a.some((d,p)=>d!==n.buffers[p])||n.bytes!==i.byteLength)&&(n.group=o.createBindGroup({layout:t.getBindGroupLayout(0),entries:a.map((d,p)=>({binding:p,resource:{buffer:d,...p===3?{size:i.byteLength}:{}}}))}),n.buffers=a,n.bytes=i.byteLength);let l=o.createCommandEncoder(),c=l.beginComputePass();c.setPipeline(t),c.setBindGroup(0,n.group);let u=Math.ceil(r/64),f=o.limits.maxComputeWorkgroupsPerDimension;c.dispatchWorkgroups(Math.min(u,f),Math.ceil(u/f)),c.end(),o.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]!==pr)throw Error("Spring material requires an active spring slot");let i=It(t);!this.springFracture&&(Number.isFinite(i.breakStrain)||Number.isFinite(i.breakForce))&&(this.springFracture=!0,this.rebuildSolvePipelines());for(let[r,o]of[["breakStrain",11],["breakForce",15]])le(this).float(this.jointBuffer,e*32+o,i[r]===1/0?0:i[r]);this.wakeAll()}appendConstraints(...e){return this.flushPropertyEdits(),super.appendConstraints(...e)}appendJoint(e,t,i,r,o,n){let a=c=>c===1/0?3e38:c,[l]=this.appendConstraints(1,(c,u)=>{u[3]=a(o),u[7]=a(n),u[11]=3e38,u.set(i,24),u.set(r,28);let f=e>=0?this.bodies[e].size:[0,0,0],d=this.bodies[t].size;return u[15]=f.reduce((p,g,h)=>p+(g+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 Fi({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++)He(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++)He(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++)le(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 o=0;o<e.length;o++){if(!Number.isInteger(e[o])||e[o]<0||e[o]>=this.bodyCount)throw Error("Collision filters require live body indices");for(let n of[t[o],i[o]])if(!Number.isInteger(n)||n<0||n>4294967295)throw Error("Collision masks must be unsigned 32-bit integers")}let r=le(this);for(let o=0;o<e.length;o++)r.uint(this.filterBuffer,e[o]*2,t[o]),r.uint(this.filterBuffer,e[o]*2+1,i[o]);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:dl}),entryPoint:"sortAdjacency"}})),this.pipes.sortAdjacency=e?this.adjacencyPipelines.cached:this.adjacencyPipelines.original,this.adjacencyCached=e)}};var Xn=new WeakMap,Cl=[{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 Sl(s){return Xn.has(s)||Xn.set(s,Bu(s)),Xn.get(s)}async function Bu(s,e){let t=[];for(let i of Cl){let r=await Lu(s,i,e);if(t.push(r),!!r.passed)return wl(s,{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!==Cl[0].name,attempts:t}}return{...t[0],selected:null,compatibility:!1,attempts:t}}function Cu(s){let e=new ni;return e.iterations=5,s||(e.gravity=0),new Ze(e,[16,.25,16],0,.6,[0,-.125,0]),new Ze(e,[1,1,1],1,.6,[-2,s?2:.45,0]),or(e,.5,1,.6,[0,s?2.3:.45,0]),Ar(e,.25,1.6,1,.6,[2,s?2.5:.75,0]),e}async function mi(s,e,t=e.size){let i=s.createBuffer({size:t,usage:GPUBufferUsage.MAP_READ|GPUBufferUsage.COPY_DST});try{let r=s.createCommandEncoder();return r.copyBufferToBuffer(e,0,i,0,t),s.queue.submit([r.finish()]),await i.mapAsync(GPUMapMode.READ),i.getMappedRange().slice(0)}finally{i.destroy()}}async function Su(s){s.step();let e=await s.readCounters(),t=new Uint32Array(await mi(s.device,s.argsBuffer)),i=await Pu(s),r=new Uint32Array(i),o=new Float32Array(i),n=new Uint32Array(await mi(s.device,s.adjBuffer)),a=new Uint32Array(await mi(s.device,s.colorBuffer)),{manifolds:l,contacts:c}=s.contactStorage,u=await mi(s.device,l,Math.max(32,e.manifolds*32)),f=new Uint32Array(u),d=new Float32Array(u),p=new Float32Array(await mi(s.device,c,Math.max(64,e.contacts*64))),g=await s.readBodies(),h=e.manifolds>=3?await ku(s):[],m=h.some(({contactEvaluation:b})=>b.returnedForce===0&&b.independentForce<-1e-5);return{expectedFloorPairs:3,counters:e,pairs:e.pairs?Array.from(await s.readPairs()):[],narrowphaseWorkgroups:Array.from(t.subarray(0,3)),solver:{scalarPrimal:s.scalarPrimal,portableContactMath:s.portableContactMath,lanes:[...s.primalLanes],contactWorkgroups:Array.from(t.subarray(3,6)),dualWorkgroups:Array.from(t.subarray(9,12)),colorWorkgroups:Array.from(t.subarray(12,12+3*s.colorCap)),adjacencyStarts:Array.from(n.subarray(0,5)),adjacencyEntries:Array.from(n.subarray(2*s.bodyCapacity+1,2*s.bodyCapacity+1+n[4])),colorStarts:Array.from(a.subarray(2*s.bodyCapacity,2*s.bodyCapacity+s.colorCap+1)),colorBodies:Array.from(a.subarray(2*s.bodyCapacity+65,2*s.bodyCapacity+68)),positionsAfterOverlap:[1,2,3].map(b=>Array.from(g.subarray(b*40,b*40+3))),manifolds:Array.from({length:e.manifolds},(b,v)=>({ids:Array.from(f.subarray(v*8,v*8+4)),normalAndFriction:Array.from(d.subarray(v*8+4,v*8+8))})),contacts:Array.from({length:e.contacts},(b,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:m?"contact-evaluation":null},filters:Array.from(new Uint32Array(await mi(s.device,s.filterBuffer))),params:{bodyCount:r[0],largeCount:r[1],noCollideCount:r[2],pairCapacity:r[3],contactCapacity:r[4],dt:o[5],cellSize:o[6],maxSmallRadius:o[7],up:Array.from(o.subarray(8,11)),alpha:o[11]},stage:e.pairs<3?"collision-pairs":e.manifolds<3?"contact-generation":"contacts-created"}}async function ku(s){let e=s.portableContactMath?"bitcast<f32>(pc.data.y)":"pc.alpha",t=s.portableContactMath?"k.anchorB.w":"k.c0x",i=s.portableContactMath?"k.penalty.x":"k.pen.x",r=s.portableContactMath?"k.force.x":"k.lam.x",o=s.device.createShaderModule({code:s.solveSource(ze)+`
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+
`}function pc(s,e){return e==="points"&&(s=cc(s)),(e==="points"||e==="optimized")&&(s=uc(s)),s}var gi=class extends eo{writeParams(){lc.call(this)}writePassConstants(e,t){lo.call(this,e,t)}constructor(e,t,i={}){if(i.smallGroups!==void 0&&typeof i.smallGroups!="boolean")throw Error("smallGroups must be a boolean");let r=uo(e),o=i.scalarPrimal??r?.scalarPrimal??!1,a=i.portableContactMath??r?.portableContactMath??!1,n=t.forces.some(v=>rs(v)),l=t.forces.some(v=>{let x=Ui(v);return x&&(Number.isFinite(x.breakStrain)||Number.isFinite(x.breakForce))}),c={requested:i.solverMode??"auto",contactScheduling:i.contactScheduling??"manifolds",custom:!!i.shaders?.solve},u=xr({...c,bodyCount:t.bodies.length,constraintCount:t.forces.filter(v=>v instanceof ke||v instanceof ft).length}),f=u.selected==="custom"?i.shaders.solve:u.selected==="optimized"?is:u.selected==="points"?to: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[v,x]of[["minimumColors",64],["minimumColorRounds",32]]){let w=i[v]??0;if(!Number.isInteger(w)||w<0||w>x)throw Error(`${v} must be an integer between 0 and ${x}`);if(v==="minimumColorRounds"&&w%2)throw Error("minimumColorRounds must be even")}let m=pc(f??Ge,u.selected),h=Qa(Ka(n?cn(l?io(m):m):l?io(m):m));o&&(h=bn(h)),a&&(h=yn(h)),u.selected==="points"&&!o&&!a&&!r?.dispatchIsolation&&(h=pn(h));let g=!i.shaders?.contacts&&i.hulls!==!1&&e.limits.maxStorageBuffersPerShaderStage>=9&&t.bodies.some(v=>Ct(v)),b=!i.shaders?.contacts&&t.bodies.some(v=>Fe(v)),y=!i.shaders?.contacts&&t.bodies.some(v=>v.isTrigger);y&&(h=on(h));let A=v=>(b&&(v=un(v)),y&&(v=no(v)),v=Yl(v),a?hc(v):v);if(super(e,t,{...i,shaders:{...i.shaders,contacts:i.shaders?.contacts??A(yr(g)),solve:h,refs:i.shaders?.refs??(i.shaders?.contacts?void 0:Xl(Qs)),topology:i.shaders?.topology??(y?an():void 0)}}),this.solverPolicy=c,this.scalarPrimal=o,this.portableContactMath=a,y&&(this.sensorsEnabled=!0,nn(this)),o&&(this.primalLanes=[1,1,1]),this.dispatchIsolation=r?.dispatchIsolation??!1,!i.shaders?.contacts){this.contactShaders.custom=!1,this.hullShaders=g,this.capsulesEnabled=b;let v=this.contactShaders.make;this.contactShaders.make=x=>v(A(x))}this.springFracture=l,this.angularConstraints=n,this.customSolveSource=i.shaders?.solve,t.forces.forEach((v,x)=>{let w=Ui(v);w&&this.setSpringMaterial(x,w)}),this.adaptiveScheduling=o?!1:i.adaptiveScheduling??!0,this.defaultPrimalLanes=[...this.primalLanes],this.cacheAdjacencyKeys=i.cacheAdjacencyKeys,this.smallGroups=i.smallGroups,this.adjacencyPipelines={original:this.pipes.sortAdjacency},this.selectAdjacencyPipeline(),this.solverDecision=u,this.solvePipelineCache=new Map([[u.selected,Object.fromEntries(["warmStartJoints","warmStartBodies","primal","dual","updateVelocities"].map(v=>[v,this.pipes[v]]))]]),mn(this,u.selected==="points"||u.selected==="optimized"),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((v,x)=>{let w=rs(v);w&&this.setAngularConstraint(x,w)}),t.bodies.forEach((v,x)=>{Fe(v)&&this.installCapsule(this.gpuIndex(x))})}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(un(i)),this.contactShaders.make(yr(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 pi(this),this.shapeQueries.cast(e.map(i=>({...i,radius:0})),t)}async sphereCast(e,t,i,r={}){let[o]=await this.sphereCastAll([{origin:e,radius:t,direction:i,maxDistance:r.maxDistance}],r);return o}sphereCastAll(e,t={}){return this.flushPropertyEdits(),this.shapeQueries??=new pi(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,g]=p.size,b=Math.min(m,h,g),y=Math.max(m,h,g),A=m+h+g-b-y;!p.sphere&&!p.hull&&b<=.4*A&&A>=.5*y&&r++}}let o=t?Ks(e.subarray(0,t),t>>1):1,a=this.cellSize/(2*o),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,u=n>=this.bodyCount&&l>=.25,f=c&&this.bodyCount>=1e4&&(a>=4||u);this.broadphase=f?"hploc":"grid",this.broadphaseDecision={requested:"auto",selected:this.broadphase,bodyCount:this.bodyCount,cellRatio:a,constraintCount:n,thinPlateFraction:l,reason:c?f?u?"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(){ao(this,$l),this.selectAdjacencyPipeline(),this.selectSolver(),Ul(this),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 so(this.device,this,this.bvhOptions)),this.dispatchIsolation||this.smallGroupPipeline||this.bvh||this.detailCallback||this.sleeping||this.restitution?.active.size||this.bodyCommands?.pending.size||this.propertyEdits?.pending||this.externalBeforeStep?Wl(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 Ar(this)),this.restitution?.set(e,t),this.wakeAll()}setSolverMode(e){return xr({...this.solverPolicy,requested:e,bodyCount:this.bodyCount}),this.solverPolicy.requested=e,this.selectSolver(),this.solverDecision}solveSource(e,t=this.solverDecision.selected){return e=pc(e,t),this.springFracture&&(e=io(e)),this.angularConstraints&&(e=cn(e)),this.sensorsEnabled&&(e=on(e)),e=Qa(Ka(e)),this.scalarPrimal&&(e=bn(e)),this.portableContactMath&&(e=yn(e)),t==="points"&&!this.scalarPrimal&&!this.portableContactMath&&!this.dispatchIsolation&&(e=pn(e)),e}setAngularConstraint(e,t){if(!Number.isInteger(e)||e<0||e>=this.jointCount)throw Error("Angular constraint needs a live slot");let i=kt(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;
|
|
3685
|
+
${Kl.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&&oe(this).float(this.jointBuffer,e*32+27,t),i!==void 0&&oe(this).float(this.jointBuffer,e*32+31,i),this.wakeAll()}rebuildSolvePipelines(){this.solvePipelineCache.clear(),this.smallGroupPipelines?.clear(),this.smallGroupPipeline=null;let e=this.solverDecision.selected,t=e==="custom"?this.customSolveSource:e==="optimized"?is:e==="points"?to:Ge,i=this.device.createShaderModule({code:this.solveSource(t)}),r=this.device.createPipelineLayout({bindGroupLayouts:[this.layouts.solve,this.layouts.pass]}),o=Object.fromEntries(["warmStartJoints","warmStartBodies","primal","dual","updateVelocities"].map(a=>[a,this.device.createComputePipeline({layout:r,compute:{module:i,entryPoint:a}})]));Object.assign(this.pipes,o),this.solvePipelineCache.set(e,o)}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,nn(this),this.rebuildSolvePipelines(),this.contactShaders.make(no(yr(this.hullShaders??!1)));let i=this.contactShaders.make;this.contactShaders.make=a=>i(no(a));let r=this.device.createShaderModule({code:an()}),o=this.device.createPipelineLayout({bindGroupLayouts:[this.layouts.topo]});for(let a of["degreeContacts","fillContacts"])this.pipes[a]=this.device.createComputePipeline({layout:o,compute:{module:r,entryPoint:a}})}this.sensorsEnabled&&oe(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=xr({...this.solverPolicy,bodyCount:this.bodyCount,constraintCount:e});if(i.selected!==t.selected){let r=this.solvePipelineCache.get(i.selected);if(!r){let o=i.selected==="optimized"?is:i.selected==="points"?to:void 0,a=this.device.createShaderModule({code:this.solveSource(o??Ge,i.selected)}),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,mn(this,i.selected==="points"||i.selected==="optimized")}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;
|
|
3686
|
+
${jl.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 o=this.device,a=(this.captureUploads??={})[e]??={};(!a.buffer||a.buffer.size<i.byteLength)&&(a.buffer?.destroy(),a.buffer=o.createBuffer({size:i.byteLength*2,usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST}),a.buffers=null),o.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=o.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=o.createCommandEncoder(),c=l.beginComputePass();c.setPipeline(t),c.setBindGroup(0,a.group);let u=Math.ceil(r/64),f=o.limits.maxComputeWorkgroupsPerDimension;c.dispatchWorkgroups(Math.min(u,f),Math.ceil(u/f)),c.end(),o.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]!==gr)throw Error("Spring material requires an active spring slot");let i=It(t);!this.springFracture&&(Number.isFinite(i.breakStrain)||Number.isFinite(i.breakForce))&&(this.springFracture=!0,this.rebuildSolvePipelines());for(let[r,o]of[["breakStrain",11],["breakForce",15]])oe(this).float(this.jointBuffer,e*32+o,i[r]===1/0?0:i[r]);this.wakeAll()}appendConstraints(...e){return this.flushPropertyEdits(),super.appendConstraints(...e)}appendJoint(e,t,i,r,o,a){let n=c=>c===1/0?3e38:c,[l]=this.appendConstraints(1,(c,u)=>{u[3]=n(o),u[7]=n(a),u[11]=3e38,u.set(i,24),u.set(r,28);let f=e>=0?this.bodies[e].size:[0,0,0],d=this.bodies[t].size;return u[15]=f.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 Fi({device:this.device,gpu:this,capacity:this.bodyCapacity,aggregates:e.bodies.map((i,r)=>({rigid:i,index:r}))},t),this.sleeping.initializing&&this.step())}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++)Fe(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++)Fe(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++)oe(this).float(this.jointBuffer,e*32+24+i,t[i]);this.sleeping?.wakeBody(this.info[e*4+2])}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 o=0;o<e.length;o++){if(!Number.isInteger(e[o])||e[o]<0||e[o]>=this.bodyCount)throw Error("Collision filters require live body indices");for(let a of[t[o],i[o]])if(!Number.isInteger(a)||a<0||a>4294967295)throw Error("Collision masks must be unsigned 32-bit integers")}let r=oe(this);for(let o=0;o<e.length;o++)r.uint(this.filterBuffer,e[o]*2,t[o]),r.uint(this.filterBuffer,e[o]*2+1,i[o]);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:Jl}),entryPoint:"sortAdjacency"}})),this.pipes.sortAdjacency=e?this.adjacencyPipelines.cached:this.adjacencyPipelines.original,this.adjacencyCached=e)}};var vn=new WeakMap,mc=[{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 gc(s){return vn.has(s)||vn.set(s,kf(s)),vn.get(s)}async function kf(s,e){let t=[];for(let i of mc){let r=await Mf(s,i,e);if(t.push(r),!!r.passed)return fc(s,{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!==mc[0].name,attempts:t}}return{...t[0],selected:null,compatibility:!1,attempts:t}}function Pf(s){let e=new ni;return e.iterations=5,s||(e.gravity=0),new Ze(e,[16,.25,16],0,.6,[0,-.125,0]),new Ze(e,[1,1,1],1,.6,[-2,s?2:.45,0]),ar(e,.5,1,.6,[0,s?2.3:.45,0]),Br(e,.25,1.6,1,.6,[2,s?2.5:.75,0]),e}async function bi(s,e,t=e.size){let i=s.createBuffer({size:t,usage:GPUBufferUsage.MAP_READ|GPUBufferUsage.COPY_DST});try{let r=s.createCommandEncoder();return r.copyBufferToBuffer(e,0,i,0,t),s.queue.submit([r.finish()]),await i.mapAsync(GPUMapMode.READ),i.getMappedRange().slice(0)}finally{i.destroy()}}async function Lf(s){s.step();let e=await s.readCounters(),t=new Uint32Array(await bi(s.device,s.argsBuffer)),i=await Ef(s),r=new Uint32Array(i),o=new Float32Array(i),a=new Uint32Array(await bi(s.device,s.adjBuffer)),n=new Uint32Array(await bi(s.device,s.colorBuffer)),{manifolds:l,contacts:c}=s.contactStorage,u=await bi(s.device,l,Math.max(32,e.manifolds*32)),f=new Uint32Array(u),d=new Float32Array(u),p=new Float32Array(await bi(s.device,c,Math.max(64,e.contacts*64))),m=await s.readBodies(),h=e.manifolds>=3?await _f(s):[],g=h.some(({contactEvaluation:b})=>b.returnedForce===0&&b.independentForce<-1e-5);return{expectedFloorPairs:3,counters:e,pairs:e.pairs?Array.from(await s.readPairs()):[],narrowphaseWorkgroups:Array.from(t.subarray(0,3)),solver:{scalarPrimal:s.scalarPrimal,portableContactMath:s.portableContactMath,lanes:[...s.primalLanes],contactWorkgroups:Array.from(t.subarray(3,6)),dualWorkgroups:Array.from(t.subarray(9,12)),colorWorkgroups:Array.from(t.subarray(12,12+3*s.colorCap)),adjacencyStarts:Array.from(a.subarray(0,5)),adjacencyEntries:Array.from(a.subarray(2*s.bodyCapacity+1,2*s.bodyCapacity+1+a[4])),colorStarts:Array.from(n.subarray(2*s.bodyCapacity,2*s.bodyCapacity+s.colorCap+1)),colorBodies:Array.from(n.subarray(2*s.bodyCapacity+65,2*s.bodyCapacity+68)),positionsAfterOverlap:[1,2,3].map(b=>Array.from(m.subarray(b*40,b*40+3))),manifolds:Array.from({length:e.manifolds},(b,y)=>({ids:Array.from(f.subarray(y*8,y*8+4)),normalAndFriction:Array.from(d.subarray(y*8+4,y*8+8))})),contacts:Array.from({length:e.contacts},(b,y)=>({anchorA:Array.from(p.subarray(y*16,y*16+3)),anchorB:Array.from(p.subarray(y*16+4,y*16+7)),gap:p[y*16+7],penalty:Array.from(p.subarray(y*16+8,y*16+11)),force:Array.from(p.subarray(y*16+12,y*16+15))})),serialSystems:h,failure:g?"contact-evaluation":null},filters:Array.from(new Uint32Array(await bi(s.device,s.filterBuffer))),params:{bodyCount:r[0],largeCount:r[1],noCollideCount:r[2],pairCapacity:r[3],contactCapacity:r[4],dt:o[5],cellSize:o[6],maxSmallRadius:o[7],up:Array.from(o.subarray(8,11)),alpha:o[11]},stage:e.pairs<3?"collision-pairs":e.manifolds<3?"contact-generation":"contacts-created"}}async function _f(s){let e=s.portableContactMath?"bitcast<f32>(pc.data.y)":"pc.alpha",t=s.portableContactMath?"k.anchorB.w":"k.c0x",i=s.portableContactMath?"k.penalty.x":"k.pen.x",r=s.portableContactMath?"k.force.x":"k.lam.x",o=s.device.createShaderModule({code:s.solveSource(Ge)+`
|
|
3408
3687
|
@compute @workgroup_size(1) fn inspectSystems(@builtin(global_invocation_id) gid: vec3u) {
|
|
3409
3688
|
let acc = accumulate(gid.x + 1u, 0u, 1u);
|
|
3410
3689
|
joints[gid.x].penLin = vec4f(acc.lin[0][0], acc.lin[1][1], acc.lin[2][2], 0.0);
|
|
@@ -3428,7 +3707,7 @@ ${sl.replaceAll("id.x","(id.x+id.y*DISPATCH_STRIDE)")}`}),entryPoint:"capture"}}
|
|
|
3428
3707
|
let raw = ${i} * expectedC + ${r};
|
|
3429
3708
|
joints[gid.x].rA = vec4f(${t}, ${e}, result.C.x, result.F.x);
|
|
3430
3709
|
joints[gid.x].rB = vec4f(${i}, ${r}, expectedC, min(raw, 0.0));
|
|
3431
|
-
}`}),
|
|
3710
|
+
}`}),a=s.device.createComputePipeline({layout:s.device.createPipelineLayout({bindGroupLayouts:[s.layouts.solve,s.layouts.pass]}),compute:{module:o,entryPoint:"inspectSystems"}}),n=s.device.createCommandEncoder(),l=n.beginComputePass();l.setPipeline(a),l.setBindGroup(0,s.groups.solve[1-s.parity]),l.setBindGroup(1,s.passGroup,[0]),l.dispatchWorkgroups(3),l.end(),s.device.queue.submit([n.finish()]);let c=new Float32Array(await bi(s.device,s.jointBuffer,384));return[0,1,2].map(u=>({linearDiagonal:Array.from(c.subarray(u*32,u*32+3)),angularDiagonal:Array.from(c.subarray(u*32+4,u*32+7)),linearForce:Array.from(c.subarray(u*32+16,u*32+19)),angularForce:Array.from(c.subarray(u*32+20,u*32+23)),contactEvaluation:{inputGap:c[u*32+24],passAlpha:c[u*32+25],returnedError:c[u*32+26],returnedForce:c[u*32+27],inputPenalty:c[u*32+28],inputForce:c[u*32+29],independentError:c[u*32+30],independentForce:c[u*32+31]}}))}async function Ef(s){let{device:e}=s,t=e.createBuffer({size:48,usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_SRC});try{let i=e.createComputePipeline({layout:"auto",compute:{module:e.createShaderModule({code:ge+`
|
|
3432
3711
|
@group(0) @binding(0) var<uniform> p: Params;
|
|
3433
3712
|
@group(0) @binding(1) var<storage,read_write> out: array<u32>;
|
|
3434
3713
|
@compute @workgroup_size(1) fn inspectParams() {
|
|
@@ -3437,7 +3716,7 @@ ${sl.replaceAll("id.x","(id.x+id.y*DISPATCH_STRIDE)")}`}),entryPoint:"capture"}}
|
|
|
3437
3716
|
out[5]=bitcast<u32>(p.dt); out[6]=bitcast<u32>(p.cellSize); out[7]=bitcast<u32>(p.maxSmallRadius);
|
|
3438
3717
|
out[8]=bitcast<u32>(p.up.x); out[9]=bitcast<u32>(p.up.y); out[10]=bitcast<u32>(p.up.z);
|
|
3439
3718
|
out[11]=bitcast<u32>(p.alpha);
|
|
3440
|
-
}`}),entryPoint:"inspectParams"}}),r=e.createBindGroup({layout:i.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:s.paramsBuffer}},{binding:1,resource:{buffer:t}}]}),o=e.createCommandEncoder(),
|
|
3719
|
+
}`}),entryPoint:"inspectParams"}}),r=e.createBindGroup({layout:i.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:s.paramsBuffer}},{binding:1,resource:{buffer:t}}]}),o=e.createCommandEncoder(),a=o.beginComputePass();return a.setPipeline(i),a.setBindGroup(0,r),a.dispatchWorkgroups(1),a.end(),e.queue.submit([o.finish()]),await bi(e,t)}finally{t.destroy()}}async function Mf(s,e,t){let i={mode:e.name,passed:!1,steps:180,cases:[],errors:[],contactCache:"normal-float-generations-v1",diagnosticVersion:4,limits:{storageBindings:s.limits.maxStorageBuffersPerShaderStage,workgroupStorageBytes:s.limits.maxComputeWorkgroupStorageSize,workgroupInvocations:s.limits.maxComputeInvocationsPerWorkgroup,storageBindingBytes:s.limits.maxStorageBufferBindingSize}},r,o=a=>{let n=new gi(s,Pf(a),{spatialSort:!1,bodyCapacity:4,smallGroups:!1,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};s.pushErrorScope("validation");try{if(r=o(!1),i.pipeline=await Lf(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=o(!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,[u,f,d,p]=n.subarray(c+4,c+8),m=l===1?.5*(Math.abs(2*(u*f+p*d))+Math.abs(1-2*(u*u+d*d))+Math.abs(2*(f*d-p*u))):l===2?.5:.25+.55*Math.abs(1-2*(u*u+d*d)),h=n[c+1]-m,g=n.subarray(c,c+40).every(Number.isFinite);i.cases.push({shape:["floor","box","sphere","capsule"][l],passed:g&&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 s.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 ss(s={}){if(!globalThis.navigator?.gpu)throw Error("WebGPU needs a supported browser on localhost or HTTPS");let e=await navigator.gpu.requestAdapter({powerPreference:s.powerPreference??"high-performance"});if(!e)throw Error("No WebGPU adapter is available");let t={};for(let[r,o]of Object.entries(s.preferredLimits??{})){if(!r.startsWith("max")||e.limits[r]===void 0||!Number.isSafeInteger(o)||o<0)throw Error(`Invalid preferred GPU limit: ${r}`);t[r]=Math.min(o,e.limits[r])}for(let[r,o]of Object.entries(s.requiredLimits??{})){if(e.limits[r]===void 0||!Number.isSafeInteger(o)||o<0)throw Error(`Invalid required GPU limit: ${r}`);let a=e.limits[r];if(r.startsWith("min")&&o<a||!r.startsWith("min")&&o>a)throw Error(`GPU limit ${r} requires ${o}; this adapter supports ${a}`);t[r]=o}let i=await e.requestDevice({requiredLimits:t,requiredFeatures:e.features.has("timestamp-query")?["timestamp-query"]:[]});if(s.validate3D)try{await Cr(i)}catch(r){throw i.destroy(),r}return{adapter:e,device:i}}async function Cr(s){if(uo(s))return s;let e=await gc(s);if(!e.passed)throw Error(`GPU 3D contact check failed: ${e.reason??e.errors.join("; ")}`);return s}var bc=`struct Body { pos:vec4f,rot:vec4f,initialPos:vec4f,initialRot:vec4f,size:vec4f,moment:vec4f,inertialPos:vec4f,inertialRot:vec4f,velocity:vec4f,angular:vec4f }
|
|
3441
3720
|
struct Command { index:u32,mask:u32,pad0:u32,pad1:u32,velocity:vec4f,angular:vec4f,impulse:vec4f,torque:vec4f,position:vec4f,rotation:vec4f,pointImpulse:vec4f }
|
|
3442
3721
|
@group(0) @binding(0) var<storage,read_write> bodies:array<Body>;
|
|
3443
3722
|
@group(0) @binding(1) var<storage,read> commands:array<Command>;
|
|
@@ -3455,22 +3734,28 @@ fn rotate(q:vec4f,v:vec3f)->vec3f {let t=2.*cross(q.xyz,v);return v+q.w*t+cross(
|
|
|
3455
3734
|
let local=rotate(vec4f(-b.rot.xyz,b.rot.w),torque);
|
|
3456
3735
|
b.angular=vec4f(b.angular.xyz+rotate(b.rot,local/max(b.moment.xyz,vec3f(1.e-10))),b.angular.w);
|
|
3457
3736
|
}
|
|
3458
|
-
if((c.mask&8u)!=0u){
|
|
3737
|
+
if((c.mask&8u)!=0u){
|
|
3738
|
+
if((c.mask&32u)!=0u){
|
|
3739
|
+
// Position-only teleports preserve the live orientation, including the
|
|
3740
|
+
// principal-frame offset of meshes whose origin is not their mass centre.
|
|
3741
|
+
b.pos=vec4f(c.position.xyz+rotate(b.rot,c.rotation.xyz),b.pos.w);
|
|
3742
|
+
}else{b.pos=vec4f(c.position.xyz,b.pos.w);b.rot=c.rotation;}
|
|
3743
|
+
}
|
|
3459
3744
|
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);}
|
|
3460
3745
|
bodies[c.index]=b;
|
|
3461
3746
|
}
|
|
3462
|
-
`;var
|
|
3747
|
+
`;var Kt=class{constructor(e,t,i="linear"){this.solver=e,this.dimension=t,this.components=i==="angular"&&t===2?1:t;let r=e.device,o=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:`
|
|
3463
3748
|
@group(0) @binding(0) var<storage,read_write> bodies:array<vec4f>;
|
|
3464
3749
|
@group(0) @binding(1) var<storage,read> indices:array<u32>;
|
|
3465
3750
|
@group(0) @binding(2) var<storage,read> velocities:array<f32>;
|
|
3466
3751
|
@compute @workgroup_size(64) fn setVelocities(@builtin(global_invocation_id) id:vec3u) {
|
|
3467
3752
|
let i=id.x+id.y*${r.limits.maxComputeWorkgroupsPerDimension*64}u;
|
|
3468
3753
|
if(i>=arrayLength(&indices)){return;}
|
|
3469
|
-
let base=indices[i]*${o}u+${
|
|
3754
|
+
let base=indices[i]*${o}u+${a}u;
|
|
3470
3755
|
var v=bodies[base];
|
|
3471
3756
|
${this.components===1?"v.z=velocities[i];":`v.x=velocities[i*${t}u];v.y=velocities[i*${t}u+1u];${t===3?"v.z=velocities[i*3u+2u];":""}`}
|
|
3472
3757
|
bodies[base]=v;
|
|
3473
|
-
}`})}})}set(e,t){let i=this.solver,r=i.device,o=e instanceof Uint32Array?e:Uint32Array.from(e),
|
|
3758
|
+
}`})}})}set(e,t){let i=this.solver,r=i.device,o=e instanceof Uint32Array?e:Uint32Array.from(e),a=t instanceof Float32Array?t:Float32Array.from(t);if(a.length!==o.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(o.byteLength>l||a.byteLength>l)throw Error("Velocity batch exceeds GPU buffer limits");o.length&&(i.wakeAll(),i.flushEdits(),this.submitValidated(o,a))}submitValidated(e,t,i){if(!e.length)return;let r=this.solver,o=r.device,a=Math.min(o.limits.maxStorageBufferBindingSize,o.limits.maxBufferSize);if(e.byteLength>a||t.byteLength>a)throw Error("Velocity batch exceeds GPU buffer limits");for(let[f,d]of[["indices",e],["values",t]])(!this[f]||this[f].size<d.byteLength)&&(this[f]?.destroy(),this[f]=o.createBuffer({size:Math.min(a,d.byteLength*2),usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST})),o.queue.writeBuffer(this[f],0,d);let n=i??o.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=o.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),u=o.limits.maxComputeWorkgroupsPerDimension;l.dispatchWorkgroups(Math.min(c,u),Math.ceil(c/u)),l.end(),i||o.queue.submit([n.finish()]),this.lastBatch={bodies:e.length,uploadedBytes:e.byteLength+t.byteLength}}destroy(){this.indices?.destroy(),this.values?.destroy()}},yi=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,o=this.dimension,a=o===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*o)throw Error(`Provide ${o} linear components per body`);if(c&&c.length!==n.length*a)throw Error(`Provide ${a} angular components per body`);let u=-1;for(let p=0;p<e.length;p++){if(r.liveIndex(e[p]),e[p]<=u)throw Error("Velocity batch indices must be unique and ascending GPU slots");u=e[p]}for(let p of[l,c])if(p){for(let m of p)if(!Number.isFinite(m))throw Error("Velocities must be finite Float32 values")}let f=n.length*this.wordsPerBody,d=Math.min(r.device.limits.maxStorageBufferBindingSize,r.device.limits.maxBufferSize);if(f*4>d)throw Error("Motion batch exceeds GPU buffer limits");if(f){(!this.data||this.data.length<f)&&(this.data=new Uint32Array(Math.max(f,(this.data?.length??0)*2)),this.floats=new Float32Array(this.data.buffer));for(let p=0;p<n.length;p++){let m=p*this.wordsPerBody;if(this.data[m]=n[p],this.data[m+1]=(l?1:0)|(c?2:0),l)for(let h=0;h<o;h++)this.floats[m+2+h]=l[p*o+h];if(c)for(let h=0;h<a;h++)this.floats[m+2+o+h]=c[p*a+h]}r.wakeAll(),r.flushEdits(),this.submitValidated(this.data.subarray(0,f))}}submitValidated(e,t){if(!e.length)return;let i=this.solver,r=i.device,o=this.wordsPerBody,a=Math.min(r.limits.maxStorageBufferBindingSize,r.limits.maxBufferSize);if(e.byteLength>a)throw Error("Motion batch exceeds GPU buffer limits");(!this.buffer||this.buffer.size<e.byteLength)&&(this.buffer?.destroy(),this.buffer=r.createBuffer({size:Math.min(a,e.byteLength*2),usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST})),r.queue.writeBuffer(this.buffer,0,e),this.pipeline??=r.createComputePipeline({layout:"auto",compute:{entryPoint:"edit",module:r.createShaderModule({code:`
|
|
3474
3759
|
@group(0) @binding(0) var<storage,read_write> bodies:array<vec4f>;
|
|
3475
3760
|
@group(0) @binding(1) var<storage,read> commands:array<u32>;
|
|
3476
3761
|
@compute @workgroup_size(64) fn edit(@builtin(global_invocation_id) id:vec3u) {
|
|
@@ -3482,14 +3767,14 @@ fn rotate(q:vec4f,v:vec3f)->vec3f {let t=2.*cross(q.xyz,v);return v+q.w*t+cross(
|
|
|
3482
3767
|
if((mask&1u)!=0u){v.x=bitcast<f32>(commands[o+2u]);v.y=bitcast<f32>(commands[o+3u]);${this.dimension===3?"v.z=bitcast<f32>(commands[o+4u]);":""}}
|
|
3483
3768
|
${this.dimension===2?"if((mask&2u)!=0u){v.z=bitcast<f32>(commands[o+4u]);}":"if((mask&2u)!=0u){var a=bodies[b+9u];a.xyz=vec3f(bitcast<f32>(commands[o+5u]),bitcast<f32>(commands[o+6u]),bitcast<f32>(commands[o+7u]));bodies[b+9u]=a;}"}
|
|
3484
3769
|
bodies[b+${this.dimension===3?8:3}u]=v;
|
|
3485
|
-
}`})}}),(!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
|
|
3770
|
+
}`})}}),(!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/o/64),u=r.limits.maxComputeWorkgroupsPerDimension;l.dispatchWorkgroups(Math.min(c,u),Math.ceil(c/u)),l.end(),t||r.queue.submit([n.finish()]),this.lastBatch={bodies:e.length/o,uploadedBytes:e.byteLength}}destroy(){this.buffer?.destroy(),this.binding=null,this.data=this.floats=null}};function ho(s,e={}){return xr({...e,requested:e.solverMode??"auto",bodyCount:s.bodies.length,custom:!!e.shaders?.solve}),{...e,solverMode:e.solverMode??"auto"}}function Sr(s,e){let t=s&&typeof s.x=="number"?[s.x,s.y,s.z]:Array.from(s);if(t.length!==3||!t.every(Number.isFinite))throw Error(`${e} requires three finite components`);return t}function po(s,e){if(s!==1/0&&(!Number.isFinite(s)||s<0))throw Error(`${e} must be nonnegative or Infinity`);return s}function yc(s,e){let t=Sr(e,"anchor");if(!s)return t;let i=s.aggregate,r=i.mesh.position.constructor;return new r(...t).subtract(i.localCenter).applyRotationQuaternion(i.localRotation.conjugate()).asArray()}var os=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 o=r.type??"ball";if(!["ball","fixed","spring","motor","limit"].includes(o))throw Error("Constraint type must be ball, fixed, spring, motor or limit");if(o==="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=o,o==="motor"||o==="limit"){let a=(n,l)=>n?new n.aggregate.mesh.position.constructor(...Sr(l,"axis")).applyRotationQuaternion(n.aggregate.localRotation.conjugate()).asArray():Sr(l,"axis");this.angularMaterial=kt({...r,type:o,axisA:a(t,r.axisA??[0,1,0]),axisB:a(i,r.axisB??[0,1,0])})}if(this.anchorA=yc(t,r.anchorA??[0,0,0]),this.anchorB=yc(i,r.anchorB??[0,0,0]),this.linear=po(o==="spring"?r.stiffness??1e3:r.stiffness??1/0,"stiffness"),this.angular=o==="fixed"?po(r.angularStiffness??1/0,"angularStiffness"):0,this.breakForce=po(r.breakForce??1/0,"breakForce"),this.breakForce===0)throw Error("breakForce must be positive");if(this.material=It({breakForce:this.breakForce,breakStrain:r.breakStrain}),o!=="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(o==="spring"&&!Number.isFinite(this.linear))throw Error("Spring stiffness must be finite");e.gpu?(e.flushCommands(),this.attach()):this.force=o==="spring"?new ft(e.ref,t.aggregate.rigid,i.aggregate.rigid,this.anchorA,this.anchorB,this.linear,this.rest??-1):new ke(e.ref,t?.aggregate.rigid??null,i.aggregate.rigid,this.anchorA,this.anchorB,this.linear,this.angular,this.breakForce),this.force&&o==="spring"&&vr(this.force,this.material),this.force&&this.angularMaterial&&wr(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=Sr(e,"world anchor"),this.world.gpu?this.world.gpu.setWorldAnchor(this.slot,this.anchorA):this.force.rA.set(this.anchorA),this.world.sleepManager?.wakeBody(this.bodyB.gpuIndex),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 o=new Float32Array(i.getMappedRange().slice(0));return{broken:o[3]===0&&o[7]===0,linearForce:Array.from(o.subarray(8,11)),angularForce:Array.from(o.subarray(12,15))}}finally{i.destroy()}}setMotor(e){if(this.assertAlive(),this.type!=="motor")throw Error("setMotor requires a motor constraint");return this.angularMaterial=kt({...this.angularMaterial,...e}),this.world.gpu?this.world.gpu.setMotor(this.slot,e):wr(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)}},as=class{constructor(e,t,i,r={}){let o=kt({...r,type:"limit"}),a=r.span??1;if(!Number.isFinite(a)||a<=0)throw Error("Hinge span must be positive");let n=Sr(r.anchorA??[0,0,0],"anchorA"),l=Sr(r.anchorB??[0,0,0],"anchorB");r.motor&&kt({...r.motor,type:"motor",axisA:o.axisA,axisB:o.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((u,f)=>u+c*a*.5*o.axisA[f]),anchorB:l.map((u,f)=>u+c*a*.5*o.axisB[f]),stiffness:r.stiffness??1/0})),(r.minAngle!==void 0||r.maxAngle!==void 0)&&(this.limit=e.addConstraint(t,i,{...o,type:"limit"})),r.motor&&(this.motor=e.addMotor(t,i,{axisA:o.axisA,axisB:o.axisB,...r.motor}))}dispose(){if(!this.disposed){for(let e of[...this.joints,this.limit,this.motor])e?.dispose();this.disposed=!0}}};var vi=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),o=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]])(!o[a]||o[a].size<n)&&(o[a]?.destroy(),o[a]=i.createBuffer({size:n,usage:l}));return this.jobs.add(o),o}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 o=i?r===6?1:2:r,a=this.device,n=a.limits.maxComputeWorkgroupsPerDimension,l=`${r}:${o}`,c=this.pipelines.get(l);c||(c=a.createComputePipeline({layout:"auto",compute:{entryPoint:"gather",module:a.createShaderModule({code:`
|
|
3486
3771
|
@group(0) @binding(0) var<storage,read> bodies:array<vec4f>;
|
|
3487
3772
|
@group(0) @binding(1) var<storage,read> indices:array<u32>;
|
|
3488
3773
|
@group(0) @binding(2) var<storage,read_write> selected:array<vec4f>;
|
|
3489
3774
|
@compute @workgroup_size(64) fn gather(@builtin(global_invocation_id) id:vec3u) {
|
|
3490
|
-
let i=id.x+id.y*${
|
|
3775
|
+
let i=id.x+id.y*${n*64}u; if(i>=arrayLength(&selected)){return;}
|
|
3491
3776
|
selected[i]=bodies[indices[i/${o}u]*${r}u+i%${o}u];
|
|
3492
|
-
}`})}}),this.pipelines.set(l,c));let u=t.length*o*16,f=this.acquire(t.length*4,u),{selection:d,selected:p,staging:
|
|
3777
|
+
}`})}}),this.pipelines.set(l,c));let u=t.length*o*16,f=this.acquire(t.length*4,u),{selection:d,selected:p,staging:m}=f;try{a.queue.writeBuffer(d,0,t instanceof Uint32Array?t:Uint32Array.from(t)),(!f.group||f.body!==e||f.pipeline!==c||f.boundSelection!==d||f.boundSelected!==p||f.indexBytes!==t.length*4||f.bytes!==u)&&(f.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:u}}]}),f.body=e,f.pipeline=c,f.boundSelection=d,f.boundSelected=p,f.indexBytes=t.length*4,f.bytes=u);let h=a.createCommandEncoder(),g=h.beginComputePass();g.setPipeline(c),g.setBindGroup(0,f.group);let b=Math.ceil(t.length*o/64);return g.dispatchWorkgroups(Math.min(b,n),Math.ceil(b/n)),g.end(),h.copyBufferToBuffer(p,0,m,0,u),a.queue.submit([h.finish()]),await m.mapAsync(GPUMapMode.READ,0,u),new Float32Array(m.getMappedRange(0,u).slice(0))}finally{this.release(f)}}};var xn=4,kr=3,Ai=1,If=2,ns=`
|
|
3493
3778
|
struct Manifold { ids: vec4u, geo: vec4f } // a, b (a > b), first contact, count (low 4 bits); normal (b to a)
|
|
3494
3779
|
struct Contact { rA: vec3f, key: u32, rB: vec3f, c0x: f32, pen: vec3f, c0y: f32, lam: vec3f, c0z: f32 }
|
|
3495
3780
|
struct Params { prev: u32, now: u32, mask: u32, capacity: u32, pairs: u32, step: u32, dt: f32, pad: u32 }
|
|
@@ -3503,7 +3788,7 @@ struct Params { prev: u32, now: u32, mask: u32, capacity: u32, pairs: u32, step:
|
|
|
3503
3788
|
@group(0) @binding(6) var<storage, read_write> events: array<vec4f>;
|
|
3504
3789
|
@group(0) @binding(7) var<uniform> params: Params;
|
|
3505
3790
|
|
|
3506
|
-
const STRIDE = ${
|
|
3791
|
+
const STRIDE = ${We/4}u;
|
|
3507
3792
|
|
|
3508
3793
|
fn hash32(x0: u32) -> u32 {
|
|
3509
3794
|
var x = x0;
|
|
@@ -3518,7 +3803,7 @@ fn turn(q: vec4f, v: vec3f) -> vec3f {
|
|
|
3518
3803
|
}
|
|
3519
3804
|
|
|
3520
3805
|
fn slotOf(base: u32, h: u32) -> u32 {
|
|
3521
|
-
return ${
|
|
3806
|
+
return ${xn}u + 2u * (base + h);
|
|
3522
3807
|
}
|
|
3523
3808
|
|
|
3524
3809
|
fn insert(base: u32, a: u32, b: u32) {
|
|
@@ -3551,16 +3836,16 @@ fn has(base: u32, a: u32, b: u32) -> bool {
|
|
|
3551
3836
|
fn emit(kind: u32, a: u32, b: u32, point: vec3f, impulse: f32, normal: vec3f) {
|
|
3552
3837
|
let e = atomicAdd(&table[0], 1u);
|
|
3553
3838
|
if (e >= params.capacity) { return; }
|
|
3554
|
-
events[${
|
|
3555
|
-
events[${
|
|
3556
|
-
events[${
|
|
3839
|
+
events[${kr}u * e] = bitcast<vec4f>(vec4u(kind, a, b, params.step));
|
|
3840
|
+
events[${kr}u * e + 1u] = vec4f(point, impulse);
|
|
3841
|
+
events[${kr}u * e + 2u] = vec4f(normal, 0.0);
|
|
3557
3842
|
}
|
|
3558
3843
|
|
|
3559
3844
|
/** Per pair this step: into this step's set, and a begin if it wasn't in last step's. */
|
|
3560
3845
|
@compute @workgroup_size(64)
|
|
3561
3846
|
fn touching(@builtin(global_invocation_id) id: vec3u) {
|
|
3562
3847
|
let m = id.x;
|
|
3563
|
-
if (m >= min(counters[${
|
|
3848
|
+
if (m >= min(counters[${mr}u], params.pairs)) { return; }
|
|
3564
3849
|
let mf = manifolds[m];
|
|
3565
3850
|
let count = mf.ids.w & 15u;
|
|
3566
3851
|
let a = mf.ids.x;
|
|
@@ -3569,8 +3854,8 @@ fn touching(@builtin(global_invocation_id) id: vec3u) {
|
|
|
3569
3854
|
insert(params.now, a, b);
|
|
3570
3855
|
if (has(params.prev, a, b)) { return; }
|
|
3571
3856
|
// Where (the points' average, on a) and how hard (the normal force over the step)
|
|
3572
|
-
let pA = bodies[a * STRIDE + ${
|
|
3573
|
-
let qA = bodies[a * STRIDE + ${
|
|
3857
|
+
let pA = bodies[a * STRIDE + ${ur/4}u].xyz;
|
|
3858
|
+
let qA = bodies[a * STRIDE + ${Wr/4}u];
|
|
3574
3859
|
var point = vec3f(0.0);
|
|
3575
3860
|
var force = 0.0;
|
|
3576
3861
|
for (var i = 0u; i < count; i++) {
|
|
@@ -3578,7 +3863,7 @@ fn touching(@builtin(global_invocation_id) id: vec3u) {
|
|
|
3578
3863
|
point += turn(qA, k.rA) + pA;
|
|
3579
3864
|
force += k.lam.x;
|
|
3580
3865
|
}
|
|
3581
|
-
emit(${
|
|
3866
|
+
emit(${Ai}u, a, b, point / f32(count), abs(force) * params.dt, mf.geo.xyz);
|
|
3582
3867
|
}
|
|
3583
3868
|
|
|
3584
3869
|
/** Per slot of last step's set: an end if the pair isn't in this step's. */
|
|
@@ -3589,10 +3874,10 @@ fn ended(@builtin(global_invocation_id) id: vec3u) {
|
|
|
3589
3874
|
let k = atomicLoad(&table[s]);
|
|
3590
3875
|
if (k == 0u) { return; }
|
|
3591
3876
|
let b = atomicLoad(&table[s + 1u]);
|
|
3592
|
-
if (!has(params.now, k - 1u, b)) { emit(${
|
|
3877
|
+
if (!has(params.now, k - 1u, b)) { emit(${If}u, k - 1u, b, vec3f(0.0), 0.0, vec3f(0.0)); }
|
|
3593
3878
|
}
|
|
3594
|
-
`,
|
|
3595
|
-
fn touching`),
|
|
3879
|
+
`,Rf=ns.replace("struct Manifold { ids: vec4u, geo: vec4f }","struct Manifold { ids:vec4u, pl:vec4f, anchors:vec4f, geo:vec4f, misc:vec4f }").replace(`const STRIDE = ${We/4}u;`,"const STRIDE = 6u;").replace(ns.slice(ns.indexOf(`@compute @workgroup_size(64)
|
|
3880
|
+
fn touching`),ns.indexOf("/** Per slot of last step")),`
|
|
3596
3881
|
@compute @workgroup_size(64) fn touching(@builtin(global_invocation_id) id:vec3u){
|
|
3597
3882
|
let m=id.x;let count=min(counters[1u],params.pairs);if(m>=count){return;}
|
|
3598
3883
|
let c=manifolds[m];let a=c.ids.x;let b=c.ids.y;
|
|
@@ -3601,12 +3886,12 @@ fn touching`),Yr.indexOf("/** Per slot of last step")),`
|
|
|
3601
3886
|
insert(params.now,a,b);if(has(params.prev,a,b)){return;}
|
|
3602
3887
|
let pose=bodies[a*STRIDE];let cs=cos(pose.z);let sn=sin(pose.z);
|
|
3603
3888
|
let r=c.anchors.xy;let point=pose.xy+vec2f(cs*r.x-sn*r.y,sn*r.x+cs*r.y);
|
|
3604
|
-
emit(${
|
|
3889
|
+
emit(${Ai}u,a,b,vec3f(point,0.),abs(c.pl.z)*params.dt,vec3f(c.geo.zw,0.));
|
|
3605
3890
|
}
|
|
3606
3891
|
|
|
3607
|
-
`),yi=class{device;pipelines;layout;watch;table;events;params;setSlots;capacity;group=null;bound=[];flip=0;bodies;constructor(e,t,i,r,o,n=3){this.device=e,this.bodies=t,this.capacity=o,this.setSlots=2**Math.ceil(Math.log2(Math.max(64,2*r)));let a=e.createShaderModule({label:"contact events",code:n===2?Mu:Yr}),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]}),u=d=>e.createComputePipeline({label:`contact events ${d}`,layout:c,compute:{module:a,entryPoint:d}});this.pipelines={touching:u("touching"),ended:u("ended")};let f=GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST|GPUBufferUsage.COPY_SRC;this.watch=e.createBuffer({label:"contact watch",size:Math.max(16,i*4),usage:f}),this.table=e.createBuffer({label:"contact sets",size:(Yn+4*this.setSlots)*4,usage:f}),this.events=e.createBuffer({label:"contact events",size:o*Br*16,usage:f}),this.params=e.createBuffer({label:"contact params",size:32,usage:GPUBufferUsage.UNIFORM|GPUBufferUsage.COPY_DST})}setWatched(e,t){let i=e.map((r,o)=>[r,t[o]?1:0]).sort((r,o)=>r[0]-o[0]);for(let r=0;r<i.length;){let o=r+1;for(;o<i.length&&i[o][0]===i[o-1][0]+1;)o++;this.device.queue.writeBuffer(this.watch,i[r][0]*4,Uint32Array.from(i.slice(r,o),n=>n[1])),r=o}}run(e,t,i,r){let o=this.device,n=[this.bodies,e.manifolds,e.contacts,e.counters,this.watch,this.table,this.events,this.params];(!this.group||n.some((d,p)=>d!==this.bound[p]))&&(this.bound=n,this.group=o.createBindGroup({layout:this.layout,entries:n.map((d,p)=>({binding:p,resource:{buffer:d}}))})),this.flip=1-this.flip;let[a,l]=this.flip?[0,this.setSlots]:[this.setSlots,0],c=new Uint32Array([a,l,this.setSlots-1,this.capacity,t,i,0,0]);new Float32Array(c.buffer)[6]=r,o.queue.writeBuffer(this.params,0,c);let u=o.createCommandEncoder({label:"contact events"});u.clearBuffer(this.table,(Yn+2*l)*4,2*this.setSlots*4);let f=u.beginComputePass({label:"contact events"});f.setBindGroup(0,this.group),f.setPipeline(this.pipelines.touching),f.dispatchWorkgroups(Math.max(1,Math.ceil(t/64))),f.setPipeline(this.pipelines.ended),f.dispatchWorkgroups(Math.ceil(this.setSlots/64)),f.end(),o.queue.submit([u.finish()])}async read(){let e=this.device,t=16+this.capacity*Br*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 o=i.getMappedRange().slice(0);i.unmap(),i.destroy();let n=new Uint32Array(o),a=new Float32Array(o),l=Math.min(n[0],this.capacity),c=[];for(let u=0;u<l;u++){let f=4+u*Br*4;c.push({kind:n[f],a:n[f+1],b:n[f+2],step:n[f+3],point:[a[f+4],a[f+5],a[f+6]],impulse:a[f+7],normal:[a[f+8],a[f+9],a[f+10]]})}return c.sort((u,f)=>u.step-f.step),{events:c,dropped:n[0]-l,full:n[1]!==0}}destroy(){for(let e of[this.watch,this.table,this.events,this.params])e.destroy()}};var ht=Object.freeze({BOX:"box",SPHERE:"sphere",CAPSULE:"capsule",CYLINDER:"cylinder",CONVEX_HULL:"convex-hull"}),Je=s=>s&&typeof s.x=="number"?[s.x,s.y,s.z,...typeof s.w=="number"?[s.w]:[]]:Array.from(s),Qr=new WeakMap,Cr=s=>{if(!Number.isInteger(s)||s<0||s>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");return s},Js=(s,e,t=!1)=>{if(!Number.isFinite(s)||(t?s<0:s<=0))throw Error(`${e} must be ${t?"nonnegative":"positive"} and finite`);return s},$s=class s{static async create({device:e,...t}={}){if(t.scene&&Qr.has(t.scene))throw Error("This scene already has an AVBD world");let i=!e;e||({device:e}=await Jr({preferredLimits:{maxStorageBuffersPerShaderStage:9,maxStorageBufferBindingSize:512*1024*1024,maxBufferSize:1024*1024*1024}}));let r;try{return await xr(e),r=new s(e,t),r.ownsDevice=i,r.scene&&r.autoAttach&&r.attachToScene(),r}catch(o){throw r?r.dispose():i&&e.destroy(),o}}constructor(e,{scene:t,gravity:i=[0,-10,0],timeStep:r=1/60,iterations:o=10,capacity:n=4096,syncMeshes:a=!0,maxSyncedBodies:l=2048,broadphase:c="auto",solverMode:u="auto",bvh:f={},autoAttach:d=!0,maxContactPairs:p=8192,maxContactEvents:g=4096,sleeping:h=!1}={}){if(this.device=e,this.scene=t,this.autoAttach=d,this.syncEnabled=a,this.maxSyncedBodies=l,!Number.isInteger(n)||n<1||!Number.isInteger(l)||l<0)throw Error("capacity and maxSyncedBodies must be valid integer counts");if(this.capacity=n,this.collisionOptions={broadphase:c,bvh:f,solverMode:u},this.ref=new ni,this.ref.dt=Js(r,"timeStep"),!Number.isInteger(o)||o<1)throw Error("iterations must be a positive integer");this.ref.iterations=o,this.aggregates=[],this.constraints=new Set,this.contactListeners=new Set;for(let[b,v]of Object.entries({maxContactPairs:p,maxContactEvents:g}))if(!Number.isInteger(v)||v<1)throw Error(`${b} must be a positive integer`);if(this.contactOptions={maxContactPairs:p,maxContactEvents:g},this.bodyReadback=new bi(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 m=new WeakRef(this);e.lost.then(b=>{let v=m.deref();!v||v.disposed||(v.deviceLost={reason:b.reason,message:b.message},v.errors.push(`WebGPU device lost: ${b.message||b.reason}`),v.dispose())}),this.setGravity(i),this.errorListener=b=>this.errors.push(b.error.message),e.addEventListener("uncapturederror",this.errorListener),t&&Qr.set(t,this)}setGravity(e){let t=Je(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 pi(this.device,this.ref,Ws(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 o=e.get(r);o&&(o.attach(i++,!1),(o.type==="fixed"||o.type==="spring"&&o.rest===void 0)&&t.push({slot:o.slot,spring:o.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 Fi(this,this.sleepOptions===!0?{}:this.sleepOptions))}addAggregate(e,t,i={}){return new Xs(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 $r(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 Fi(this,e)),this}addMotor(e,t,i={}){return this.addConstraint(e,t,{...i,type:"motor"})}addHinge(e,t,i={}){return new Xr(this,e,t,i)}initializeContacts(){if(this.contactWatch)return;let{maxContactPairs:e,maxContactEvents:t}=this.contactOptions;this.contactWatch=new yi(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===vi?"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[o]=await this.sphereCastAll([{origin:e,radius:t,direction:i,maxDistance:r.maxDistance}],r);return o}async sphereCastAll(e,{ignore:t=[],collidesWith:i=4294967295,includeTriggers:r=!0}={}){this.assertAlive(),Cr(i),this.initialize(),this.flushCommands();for(let n of t)if(n.aggregate.world!==this||n.disposed)throw Error("Ignored cast bodies must belong to this world and be alive");return(await this.gpu.sphereCastAll(e.map(n=>({...n,origin:Je(n.origin),direction:Je(n.direction)})),{ignore:t.map(n=>n.gpuIndex),collidesWith:i,includeTriggers:r})).map(n=>n?{...n,body:this.byGpuIndex.get(n.index)??null}:null)}async raycastAll(e,{ignore:t=[],collidesWith:i=4294967295,includeTriggers:r=!0}={}){Cr(i),this.initialize(),this.flushCommands();let o=e.map(a=>{let l=Je(a.origin),c=Je(a.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 a.maxDistance!==void 0&&Js(a.maxDistance,"maxDistance",!0),{...a,origin:l,direction:c}});for(let a of t)if(a.aggregate.world!==this)throw Error("Ignored ray bodies must belong to this world");return(await this.gpu.raycastAll(o,{ignore:t.map(a=>a.gpuIndex),collidesWith:i,includeTriggers:r})).map(a=>a?{...a,body:this.byGpuIndex.get(a.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 o=Je(r);if(o.length!==(i==="rotation"?4:3)||!o.every(Number.isFinite))throw Error(`${i} requires ${i==="rotation"?4:3} finite components`);let n=this.commands.get(e);return n||this.commands.set(e,n={mask:0}),n.mask|=t,n[i]=o,this.wakeAll(),n}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,w]of this.commands)this.velocityIndices[h]=v.aggregate.gpuSlot??this.gpu.gpuIndex(v.aggregate.index),this.velocityValues.set(i===2?w.angular:w.velocity,h++*3);let m=i===2?"angularVelocityBatch":"velocityBatch",b=this[m]??=new Qt(this.gpu,3,i===2?"angular":"linear");b.solver=this.gpu,b.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[m,b]of this.commands){let v=h++*8;this.motionData[v]=m.aggregate.gpuSlot??this.gpu.gpuIndex(m.aggregate.index),this.motionData[v+1]=b.mask,b.velocity&&this.motionFloats.set(b.velocity,v+2),b.angular&&this.motionFloats.set(b.angular,v+5)}this.motionBatch??=new gi(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 o=t*128,n=Math.min(this.device.limits.maxStorageBufferBindingSize,this.device.limits.maxBufferSize);if(o>n)throw Error("Body command batch exceeds GPU buffer limits");(!this.commandData||this.commandData.byteLength<o)&&(this.commandData=new ArrayBuffer(Math.min(n,Math.max(o,(this.commandData?.byteLength??0)*2,128))));let a=this.commandData,l=new Float32Array(a),c=new Uint32Array(a);l.fill(0,0,t*32);let u=0;for(let[h,m]of this.commands){let b=u++*32;c[b]=h.aggregate.gpuSlot??this.gpu.gpuIndex(h.aggregate.index),c[b+1]=m.mask;for(let[v,w]of[["velocity",4],["angular",8],["impulse",12],["torque",16],["position",20],["rotation",24],["pointImpulse",28]])m[v]&&l.set(m[v],b+w)}this.commands.clear(),(!this.commandBuffer||this.commandBuffer.size<o)&&(this.commandBuffer?.destroy(),this.commandBuffer=this.device.createBuffer({size:Math.min(n,Math.max(o*2,128)),usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST})),this.device.queue.writeBuffer(this.commandBuffer,0,a,0,o),this.commandPipeline??=this.device.createComputePipeline({layout:"auto",compute:{module:this.device.createShaderModule({code:`const DISPATCH_STRIDE = ${this.device.limits.maxComputeWorkgroupsPerDimension*64}u;
|
|
3608
|
-
${kl}`,label:"AVBD body commands"}),entryPoint:"applyCommands"}}),(!this.commandBinding||this.boundCommandBody!==this.gpu.bodyBuffer||this.boundCommandBuffer!==this.commandBuffer||this.boundCommandBytes!==o)&&(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:o}}]}),this.boundCommandBody=this.gpu.bodyBuffer,this.boundCommandBuffer=this.commandBuffer,this.boundCommandBytes=o);let f=e??this.device.createCommandEncoder(),d=f.beginComputePass();d.setPipeline(this.commandPipeline),d.setBindGroup(0,this.commandBinding);let p=Math.ceil(u/64),g=this.device.limits.maxComputeWorkgroupsPerDimension;d.dispatchWorkgroups(Math.min(p,g),Math.ceil(p/g)),d.end(),e||this.device.queue.submit([f.finish()]),this.lastCommandBatch={bodies:t,path:"aggregate-commands",uploadedBytes:o}}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 o of this.contactListeners)o(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&&Qr.get(this.scene)===this&&Qr.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}},Xs=class{constructor(e,t,{mass:i=1,friction:r=.6,restitution:o=0,allowSleep:n,isTrigger:a=!1,sync:l=!0,group:c=4294967295,collidesWith:u=4294967295}={},f){if(f=f instanceof $s?f:Qr.get(f??e.getScene()),!f)throw Error("Create an AVBD world for this scene before adding aggregates");if(f.assertAlive(),typeof t=="number"&&(t=[ht.SPHERE,ht.CAPSULE,ht.CYLINDER,ht.BOX,ht.CONVEX_HULL][t]),Js(i,"mass",!0),Js(r,"friction",!0),!Number.isFinite(o)||o<0||o>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(ht).includes(t))throw Error(`Unsupported AVBD shape: ${t}`);if(f.aggregates.length>=f.capacity)throw Error("AVBD body capacity exceeded");if(this.world=f,this.mesh=e,this.sync=l,this.type=t,n!==void 0&&typeof n!="boolean")throw Error("allowSleep must be a boolean");if(this.allowSleep=n??!0,typeof a!="boolean")throw Error("isTrigger must be a boolean");if(this.isTrigger=a,this.restitution=o,n===!0&&!f.sleepOptions&&f.enableSleeping(),this.group=Cr(c),this.collidesWith=Cr(u),f.gpu&&f.syncEnabled&&l&&f.aggregates.filter(y=>y.sync&&!y.disposed).length>=f.maxSyncedBodies)throw Error("For large scenes use syncMeshes:false and draw the GPU body buffer directly");if(![ht.BOX,ht.SPHERE,ht.CAPSULE].includes(t)&&f.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(y=>y<=0))throw Error("Bake negative or zero mesh scaling before creating an aggregate");let g=d.maximum.subtract(d.minimum).multiply(p),h=d.center.multiply(p),m=e.rotationQuaternion?.clone()||e.rotation.toQuaternion();this.localCenter=h,this.localRotation=m.constructor.Identity();let b;if(t===ht.BOX)b=new Ze(f.ref,Je(g),1,r,[0,0,0]);else if(t===ht.SPHERE){if(Math.max(g.x,g.y,g.z)-Math.min(g.x,g.y,g.z)>1e-4)throw Error("Sphere aggregate requires uniform dimensions");b=or(f.ref,g.x/2,1,r,[0,0,0])}else if(t===ht.CAPSULE){if(Math.abs(g.x-g.z)>1e-4)throw Error("Capsule aggregate requires equal X and Z diameters; bake an upright Y-axis capsule mesh");b=Ar(f.ref,g.x/2,g.y,1,r,[0,0,0])}else{let y=e.getVerticesData("position");if(!y)throw Error("Hull aggregate requires mesh positions");let A=Float32Array.from(y,(B,E)=>B*[p.x,p.y,p.z][E%3]),x=jr(A);if(!x)throw Error("Hull aggregate requires a closed shape with nonzero volume");this.localCenter=new e.position.constructor(...x.center),this.localRotation=m.constructor.FromArray(x.rotation),b=Bs(f.ref,x,1,r,[0,0,0])}let v=i/b.mass;b.mass=i,b.moment.forEach((y,A)=>b.moment[A]=y*v);let w=e.position.add(this.localCenter.applyRotationQuaternion(m));if(b.positionLin.set(Je(w)),b.positionAng.set(m.multiply(this.localRotation).asArray()),this.rigid=b,this.index=f.aggregates.length,this.body=new Ys(this),f.aggregates.push(this),e.rotationQuaternion=m,f.gpu){if(this.gpuSlot=f.gpu.addBody(b),this.gpuSlot<0)throw Error("AVBD body capacity exceeded");f.byGpuIndex.set(this.gpuSlot,this.body),f.gpu.setFilters([this.gpuSlot],[this.group],[this.collidesWith]),(this.isTrigger||f.gpu.sensorsEnabled)&&f.gpu.setSensor(this.gpuSlot,this.isTrigger),this.restitution>0&&f.gpu.setRestitution(this.gpuSlot,this.restitution),f.contactWatch?.setWatched([this.gpuSlot],[!0]),f.sleepManager?.register(this.gpuSlot,b.mass,this.allowSleep),f.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?.()}},Ys=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?Je(t):null;if(i&&(i.length!==3||!i.every(Number.isFinite)))throw Error("Impulse point requires three finite components");let r=this.aggregate.world,o=Je(e),n=r.commands.get(this),a=o.map((c,u)=>c+(n?.impulse?.[u]||0)),l=r.queue(this,4,"impulse",a);if(t){let c=[i[1]*o[2]-i[2]*o[1],i[2]*o[0]-i[0]*o[2],i[0]*o[1]-i[1]*o[0]],u=l.torque||[0,0,0];l.torque=Je(c).map((f,d)=>f+u[d]),l.pointImpulse=o.map((f,d)=>f+(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",Je(e).map((r,o)=>r+i[o])),this}applyForce(e,t){return this.applyImpulse(Je(e).map(i=>i*this.aggregate.world.ref.dt),t)}applyTorque(e){return this.applyAngularImpulse(Je(e).map(t=>t*this.aggregate.world.ref.dt))}setCollisionGroups(e,t=4294967295){this.assertAlive();let i=this.aggregate,r=Cr(e),o=Cr(t);return i.group=r,i.collidesWith=o,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",Je(e.add(r.localCenter.applyRotationQuaternion(i)))),r.world.queue(this,8,"rotation",i.multiply(r.localRotation).asArray()),this}};var Ni=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 Ll=s=>s<0?-1:s>0?1:0,Sr=(s,e)=>s<e?s:e,zu=(s,e)=>s>e?s:e,kr=(s,e,t)=>zu(e,Sr(t,s));function Kr(s,e,t){let i=Math.cos(s),r=Math.sin(s);return[i*e-r*t,r*e+i*t]}function Ui(s,e,t){let i=Math.cos(s[2]),r=Math.sin(s[2]);return[i*e-r*t+s[0],r*e+i*t+s[1]]}function Kt(s,e,t,i,r){s[e*3]=t,s[e*3+1]=i,s[e*3+2]=r}var Qs=class extends Ni{rA;rB;C0=new Float64Array(3);torqueArm;restAngle;constructor(e,t,i,r,o,n=[1/0,1/0,1/0],a=1/0){super(e,t,i),this.rA=[r[0],r[1]],this.rB=[o[0],o[1]],this.stiffness[0]=n[0],this.stiffness[1]=n[1],this.stiffness[2]=n[2],this.fmax[2]=a,this.fmin[2]=-a,this.fracture[2]=a,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=Kr(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=Kr(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]}}},Ks=class extends Ni{rA;rB;rest;constructor(e,t,i,r,o,n,a=-1){if(super(e,t,i),this.rA=[r[0],r[1]],this.rB=[o[0],o[1]],this.stiffness[0]=n,this.rest=a,this.rest<0){let l=Ui(t.position,r[0],r[1]),c=Ui(i.position,o[0],o[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),o=t[0]/r,n=t[1]/r,a=(1-o*o)/r,l=(0-o*n)/r,c=(0-n*o)/r,u=(1-n*n)/r,f=e===this.bodyA,d=f?this.rA:this.rB,p=Kr(e.position[2],-d[1],d[0]),g=Kr(e.position[2],d[0],d[1]),h=a*p[0]+l*p[1],m=c*p[0]+u*p[1],b=o*g[0]+n*g[1],v=o*p[0]+n*p[1];f?Kt(this.J,0,o,n,v):Kt(this.J,0,-o,-n,-v);let w=f?-b-b:b+b,y=this.H;y[0]=a,y[1]=l,y[2]=h,y[3]=c,y[4]=u,y[5]=m,y[6]=h,y[7]=m,y[8]=w}},Zs=class extends Ni{rows(){return 0}initialize(){return!0}computeConstraint(){}computeDerivatives(){}},eo=class extends Ni{speed;constructor(e,t,i,r,o){super(e,t,i),this.speed=r,this.fmax[0]=o,this.fmin[0]=-o}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 to=()=>({dt:1/60,gravity:-10,iterations:10,beta:1e5,alpha:.99,gamma:.99,postStabilize:!0,stiffnessRescale:!1,vbd:!1,vbdStiffness:1e6,matchNearest:!1}),io=()=>({...to(),postStabilize:!1,alpha:.95,matchNearest:!0});var Pr=(s,e)=>s>e?s*2097152+e:e*2097152+s;function Iu(s,e,t){let i=0,r=e;for(;i<r;){let o=i+r>>>1;s[o]<t?i=o+1:r=o}return i}function Qn(s,e,t){let i=Iu(s,e,t);return i<e&&s[i]===t}var ro=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},(a,l)=>t[l*4+1]).sort(),r=e>0?i[e>>1]:1,o=0;for(let a=0;a<e;a++)i[a]<=4*r&&(o=Math.max(o,i[a]));this.cellSize=Math.max(2*o,.001),this.isLarge=new Uint8Array(e);let n=[];for(let a=0;a<e;a++)t[a*4+1]>o&&(this.isLarge[a]=1,n.push(a));for(this.large=Int32Array.from(n),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,o,n){e!==this.configuredFor&&this.configure(e,i),this.pairCount=0;let{cellX:a,cellY:l,isLarge:c,bucketStart:u,sorted:f}=this,d=1/this.cellSize;u.fill(0);for(let h=0;h<e;h++)c[h]||(a[h]=Math.floor(t[h*4]*d),l[h]=Math.floor(t[h*4+1]*d),u[this.hash(a[h],l[h])+1]++);for(let h=0;h<this.tableSize;h++)u[h+1]+=u[h];let p=u.slice(0,this.tableSize);for(let h=0;h<e;h++)c[h]||(f[p[this.hash(a[h],l[h])]++]=h);let g=(h,m)=>{if(!r[h]&&!r[m])return;let b=t[h*4]-t[m*4],v=t[h*4+1]-t[m*4+1],w=i[h*4+1]+i[m*4+1];if(b*b+v*v>w*w)return;let y=Pr(h,m);if(!Qn(o,n,y)){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++]=y}};for(let h=0;h<e;h++){if(c[h])continue;let m=a[h],b=l[h];for(let v=-1;v<=1;v++)for(let w=-1;w<=1;w++){let y=this.hash(m+w,b+v);for(let A=u[y];A<u[y+1];A++){let x=f[A];x>=h||a[x]!==m+w||l[x]!==b+v||g(h,x)}}}for(let h of this.large)for(let m=0;m<e;m++)m===h||c[m]&&m>h||g(h,m);this.pairs.subarray(0,this.pairCount).sort()}};var pt=new Float64Array(12),_l=new Float64Array(12),qi=new Float64Array(12);function qt(s,e,t,i,r,o,n,a){let l=e*6;s[l]=t,s[l+1]=i,s[l+2]=r,s[l+3]=o,s[l+4]=n,s[l+5]=a}function El(s,e,t,i,r,o){let n=0,a=t*e[0]+i*e[1]-r,l=t*e[6]+i*e[7]-r;if(a<=0){for(let c=0;c<6;c++)s[n*6+c]=e[c];n++}if(l<=0){for(let c=0;c<6;c++)s[n*6+c]=e[6+c];n++}if(a*l<0){let c=a/(a-l),u=e[0]+(e[6]-e[0])*c,f=e[1]+(e[7]-e[1])*c;a>0?qt(s,n,u,f,o,e[3],0,e[5]):qt(s,n,u,f,e[8],o,e[10],0),n++}return n}function so(s,e,t,i,r,o,n,a){let l=-(r*n+o*a),c=-(-o*n+r*a);Math.abs(l)>Math.abs(c)?l>0?(qt(pt,0,s,-e,0,0,3,4),qt(pt,1,s,e,0,0,4,1)):(qt(pt,0,-s,e,0,0,1,2),qt(pt,1,-s,-e,0,0,2,3)):c>0?(qt(pt,0,s,e,0,0,4,1),qt(pt,1,-s,e,0,0,1,2)):(qt(pt,0,-s,-e,0,0,2,3),qt(pt,1,s,-e,0,0,3,4));for(let u=0;u<2;u++){let f=u*6,d=pt[f],p=pt[f+1];pt[f]=t+r*d-o*p,pt[f+1]=i+o*d+r*p}}function oo(s,e,t,i,r,o,n,a,l,c,u){let f=Math.cos(t),d=Math.sin(t),p=Math.cos(a),g=Math.sin(a),h=o-s,m=n-e,b=f*h+d*m,v=-d*h+f*m,w=p*h+g*m,y=-g*h+p*m,A=Math.abs(f*p+d*g),x=Math.abs(f*-g+d*p),B=Math.abs(-d*p+f*g),E=Math.abs(-d*-g+f*p),L=Math.abs(b)-i-(A*l+x*c),M=Math.abs(v)-r-(B*l+E*c);if(L>0||M>0)return 0;let z=Math.abs(w)-(A*i+B*r)-l,_=Math.abs(y)-(x*i+E*r)-c;if(z>0||_>0)return 0;let k=0,S=L,P=b>0?f:-f,I=b>0?d:-d;M>.95*S+.01*r&&(k=1,S=M,P=v>0?-d:d,I=v>0?f:-f),z>.95*S+.01*l&&(k=2,S=z,P=w>0?p:-p,I=w>0?g:-g),_>.95*S+.01*c&&(k=3,S=_,P=y>0?-g:g,I=y>0?p:-p);let R,F,X,W,N,H,Z,he,we;if(k===0){R=P,F=I,X=s*R+e*F+i,W=-d,N=f;let J=s*W+e*N;H=-J+r,Z=J+r,he=3,we=1,so(l,c,o,n,p,g,R,F)}else if(k===1){R=P,F=I,X=s*R+e*F+r,W=f,N=d;let J=s*W+e*N;H=-J+i,Z=J+i,he=2,we=4,so(l,c,o,n,p,g,R,F)}else if(k===2){R=-P,F=-I,X=o*R+n*F+l,W=-g,N=p;let J=o*W+n*N;H=-J+c,Z=J+c,he=3,we=1,so(i,r,s,e,f,d,R,F)}else{R=-P,F=-I,X=o*R+n*F+c,W=p,N=g;let J=o*W+n*N;H=-J+l,Z=J+l,he=2,we=4,so(i,r,s,e,f,d,R,F)}if(El(_l,pt,-W,-N,H,he)<2||El(qi,_l,W,N,Z,we)<2)return 0;let Oe=0;for(let J=0;J<2;J++){let $e=J*6,Xe=qi[$e],Be=qi[$e+1],st=R*Xe+F*Be-X;if(st>0)continue;let ii=Xe-R*st,Ye=Be-F*st,ot=qi[$e+2],Qe=qi[$e+3],nt=qi[$e+4],At=qi[$e+5],Yi,Qi,Ki,Zi;k>=2?([ot,Qe,nt,At]=[nt,At,ot,Qe],Yi=Xe-s,Qi=Be-e,Ki=ii-o,Zi=Ye-n):(Yi=ii-s,Qi=Ye-e,Ki=Xe-o,Zi=Be-n);let Wt=Oe*7;u[Wt+0]=ot&255|(Qe&255)<<8|(nt&255)<<16|(At&255)<<24,u[Wt+1]=f*Yi+d*Qi,u[Wt+1+1]=-d*Yi+f*Qi,u[Wt+3]=p*Ki+g*Zi,u[Wt+3+1]=-g*Ki+p*Zi,u[Wt+5]=-P,u[Wt+5+1]=-I,Oe++}return Oe}var Ml=s=>31-Math.clz32(s&-s);function Ru(s){let e=s+2654435769;return e^=e>>>16,e=Math.imul(e,2146121005),e^=e>>>15,e=Math.imul(e,2221713035),e^=e>>>16,e>>>0}var Kn=(s,e,t,i)=>s>t||s===t&&e>i,no=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)=>Ru(r))}run(e,t,i,r,o,n){this.resize(e);let{colors:a,next:l,pending:c,prio:u}=this,f=(y,A)=>{let x=o[y*4+1],B=x===A?o[y*4+2]:x;return B>=0&&t[B]?B:-1},d=(y,A)=>{let x=0,B=0;for(let E=i[y];E<i[y+1];E++){let L=f(r[E],y);if(L<0||A&&c[L])continue;let M=a[L];M<0||(M<32?x|=1<<M:B|=1<<M-32)}return~x!==0?Ml(~x):~B!==0?32+Ml(~B):63};for(let y=0;y<e;y++){if(l[y]=a[y],!t[y]||a[y]<0)continue;let A=!0;for(let x=i[y];x<i[y+1]&&A;x++){let B=f(r[x],y);B>=0&&!Kn(u[y],y,u[B],B)&&(A=!1)}A&&(l[y]=Math.min(a[y],d(y,!1)))}a.set(l);let p=()=>{let y=0;for(let A=0;A<e;A++)if(c[A]=0,!!t[A]){if(a[A]<0)c[A]=1;else for(let x=i[A];x<i[A+1];x++){let B=f(r[x],A);if(B>=0&&a[B]===a[A]&&Kn(u[B],B,u[A],A)){c[A]=1;break}}y+=c[A]}return y},g=p(),h=0;for(;g>0&&h<n;){h++;for(let y=0;y<e;y++){if(l[y]=-2,!c[y])continue;let A=!0;for(let x=i[y];x<i[y+1]&&A;x++){let B=f(r[x],y);B>=0&&c[B]&&!Kn(u[y],y,u[B],B)&&(A=!1)}A&&(l[y]=d(y,!0))}for(let y=0;y<e;y++)l[y]!==-2&&(a[y]=l[y],c[y]=0,g--)}let m=0;if(g>0){for(let y=0;y<e;y++)c[y]&&a[y]<0&&(a[y]=0);m=p()}let b=this.colorStart;b.fill(0);let v=0;for(let y=0;y<e;y++)t[y]&&(b[a[y]+1]++,v=Math.max(v,a[y]+1));for(let y=0;y<64;y++)b[y+1]+=b[y];let w=b.slice(0,64);for(let y=0;y<e;y++)t[y]&&(this.colorBodies[w[a[y]]++]=y);return{numColors:v,conflicts:m,rounds:h}}};var zl=0,xi=1,Il=2,uo=3,Zr=4,Rl=[0,3,1,1,2],ea=.05,j=4,O=32,se=0,te=3,Q=6,Le=9,xe=12,Pt=15,fe=18,U=21,Y=23,re=25,ge=26,Fe=27,Vi=28,Lr=class{params=to();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 ro;coloring=new no;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,o=[0,0,0]){let n=this.bodyCount++,a=this.bodyCount*4;this.pose=this.grow(this.pose,a),this.initial=this.grow(this.initial,a),this.inertial=this.grow(this.inertial,a),this.velocity=this.grow(this.velocity,a),this.prevVelocity=this.grow(this.prevVelocity,a),this.shape=this.grow(this.shape,a),this.props=this.grow(this.props,a),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],n*4),this.velocity.set([o[0],o[1],o[2]??0,0],n*4),this.prevVelocity.set(this.velocity.subarray(n*4,n*4+4),n*4),this.shape.set([e[0],e[1],l,l*(e[0]*e[0]+e[1]*e[1])/12],n*4),this.props.set([i,Math.hypot(e[0]*.5,e[1]*.5),0,0],n*4),this.dynamic[n]=l>0?1:0,n}allocConstraint(){let e=this.jointCount++,t=this.jointCount+this.contactCount;this.info=this.grow(this.info,t*j),this.data=this.grow(this.data,t*O),this.contactCount>0&&(this.info.copyWithin((e+1)*j,e*j,(t-1)*j),this.data.copyWithin((e+1)*O,e*O,(t-1)*O)),this.data.fill(0,e*O,e*O+O);for(let i=0;i<3;i++)this.data[e*O+Q+i]=1/0,this.data[e*O+Le+i]=-1/0,this.data[e*O+xe+i]=1/0,this.data[e*O+Pt+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*j)}addJoint(e,t,i,r,o=[1/0,1/0,1/0],n=1/0){let a=this.allocConstraint();this.setInfo(a,xi,e,t);let l=this.data,c=a*O;l.set(o,c+Q),l[c+xe+2]=n,l[c+Le+2]=-n,l[c+Pt+2]=n,l.set(i,c+U),l.set(r,c+Y),l[c+re]=(e>=0?this.pose[e*4+2]:0)-this.pose[t*4+2];let u=(e>=0?this.shape[e*4]:0)+this.shape[t*4],f=(e>=0?this.shape[e*4+1]:0)+this.shape[t*4+1];l[c+ge]=u*u+f*f;let d={slot:a,alive:!0};return this.handles[a]=d,d}setJointWorldAnchor(e,t,i){e.alive&&(this.data[e.slot*O+U]=t,this.data[e.slot*O+U+1]=i)}removeJoint(e){e.alive&&(this.disable(e.slot),e.alive=!1)}addSpring(e,t,i,r,o,n){let a=this.allocConstraint();this.setInfo(a,Il,e,t);let l=a*O;this.data[l+Q]=o,this.data.set(i,l+U),this.data.set(r,l+Y),this.data[l+re]=n}addMotor(e,t,i,r){let o=this.allocConstraint();this.setInfo(o,uo,e,t);let n=o*O;this.data[n+xe]=r,this.data[n+Le]=-r,this.data[n+re]=i}ignoredPairs(){return this.ignorePairs}addIgnoreCollision(e,t){this.ignorePairs.push(Pr(e,t)),this.noCollideDirty=!0}loadFromReference(e){this.clear();let t=Object.keys(to());Object.assign(this.params,Object.fromEntries(t.map(r=>[r,e[r]])));let i=new Map(e.bodies.map((r,o)=>[r,o]));for(let r of e.bodies){let o=this.addBody(r.size,0,r.friction,r.position,r.velocity);this.shape[o*4+2]=r.mass,this.shape[o*4+3]=r.moment,this.dynamic[o]=r.mass>0?1:0}for(let r of e.forces){let o=r.bodyA?i.get(r.bodyA):-1,n=i.get(r.bodyB);if(r instanceof Qs){let a=this.addJoint(o,n,r.rA,r.rB,[r.stiffness[0],r.stiffness[1],r.stiffness[2]],r.fracture[2]);this.data[a.slot*O+re]=r.restAngle,this.data[a.slot*O+ge]=r.torqueArm}else r instanceof Ks?this.addSpring(o,n,r.rA,r.rB,r.stiffness[0],r.rest):r instanceof eo?this.addMotor(o,n,r.speed,r.fmax[0]):r instanceof Zs&&this.addIgnoreCollision(o,n)}}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 o=0;o<r;o++){let n=t?o<e.iterations?1:0:i;this.primal(n),this.mark("primal"),o<e.iterations&&this.dual(n),o===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*j),this.prevData=new Float64Array(e*2*O));for(let i=0;i<e;i++){let r=t+i;this.prevKeys[i]=Pr(this.info[r*j+1],this.info[r*j+2])}this.prevInfo.set(this.info.subarray(t*j,(t+e)*j)),this.prevData.set(this.data.subarray(t*O,(t+e)*O)),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*j+1],r=this.info[t*j+2];this.info[t*j]!==zl&&i>=0&&e.push(Pr(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 o=0;o<this.jointCount;o++){let n=o*O;if(e[o*j]===xi){if(t[n+Q]===0&&t[n+Q+1]===0&&t[n+Q+2]===0){let u=this.handles[o];u&&(u.alive=!1);continue}let l=e[o*j+1],c=e[o*j+2];this.jointC(l,c,n,i,t,n+fe)}r!==o&&(e.copyWithin(r*j,o*j,(o+1)*j),t.copyWithin(r*O,n,n+O),this.handles[r]=this.handles[o],this.handles[r]&&(this.handles[r].slot=r)),r++}if(r!==this.jointCount){for(let o=r;o<this.jointCount;o++)this.handles[o]=null;this.jointCount=r,this.noCollideDirty=!0}}jointC(e,t,i,r,o,n,a=o){let l,c,u;if(e>=0){let h=Math.cos(r[e*4+2]),m=Math.sin(r[e*4+2]),b=o[i+U],v=o[i+U+1];l=h*b-m*v+r[e*4],c=m*b+h*v+r[e*4+1],u=r[e*4+2]}else l=o[i+U],c=o[i+U+1],u=0;let f=Math.cos(r[t*4+2]),d=Math.sin(r[t*4+2]),p=o[i+Y],g=o[i+Y+1];a[n]=l-(f*p-d*g+r[t*4]),a[n+1]=c-(d*p+f*g+r[t*4+1]),a[n+2]=(u-r[t*4+2]-o[i+re])*o[i+ge]}narrowphase(){let{pose:e,shape:t,props:i}=this,r=this.broadphase.pairs,o=this.contactOut;for(let n=0;n<this.broadphase.pairCount;n++){let a=r[n],l=Math.floor(a/2097152),c=a-l*2097152,u=oo(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,o);if(u===0)continue;let f=0,d=this.prevCount;for(;f<d;){let h=f+d>>>1;this.prevKeys[h]<a?f=h+1:d=h}let p=f,g=Math.sqrt(i[l*4]*i[c*4]);for(let h=0;h<u;h++){let m=this.jointCount+this.contactCount++;this.info=this.grow(this.info,(m+1)*j),this.data=this.grow(this.data,(m+1)*O);let b=this.data,v=m*O,w=h*7,y=o[w+0];this.info.set([Zr,l,c,y],m*j),b.fill(0,v,v+O),b[v+Q]=b[v+Q+1]=1/0,b[v+Le]=-1/0,b[v+xe]=0,b[v+Pt]=b[v+Pt+1]=1/0,b[v+U]=o[w+1],b[v+U+1]=o[w+1+1],b[v+Y]=o[w+3],b[v+Y+1]=o[w+3+1],b[v+re]=g,b[v+ge]=o[w+5],b[v+Fe]=o[w+5+1];let A=-1;for(let S=p;S<this.prevCount&&this.prevKeys[S]===a;S++)this.prevInfo[S*j+3]===y&&(A=S);if(A<0&&this.params.matchNearest){let S=ea*Math.min(t[l*4],t[l*4+1],t[c*4],t[c*4+1]);for(let P=p;P<this.prevCount&&this.prevKeys[P]===a;P++){let I=Math.hypot(this.prevData[P*O+U]-b[v+U],this.prevData[P*O+U+1]-b[v+U+1]);I<=S&&(S=I,A=P)}}if(A>=0){let S=A*O;b[v+se]=this.prevData[S+se],b[v+se+1]=this.prevData[S+se+1],b[v+te]=this.prevData[S+te],b[v+te+1]=this.prevData[S+te+1],this.prevData[S+Vi]&&(b[v+U]=this.prevData[S+U],b[v+U+1]=this.prevData[S+U+1],b[v+Y]=this.prevData[S+Y],b[v+Y+1]=this.prevData[S+Y+1])}let[x,B]=Ai(e[l*4+2],b[v+U],b[v+U+1]),[E,L]=Ai(e[c*4+2],b[v+Y],b[v+Y+1]),M=b[v+ge],z=b[v+Fe],_=e[l*4]+x-e[c*4]-E,k=e[l*4+1]+B-e[c*4+1]-L;b[v+fe]=M*_+z*k+5e-4,b[v+fe+1]=z*_-M*k}}}warmStartConstraints(e,t){let i=this.params,r=this.data,o=this.jointCount+this.contactCount;for(let n=0;n<o;n++){let a=Rl[this.info[n*j]],l=n*O;for(let c=0;c<a;c++){if(i.vbd){r[l+se+c]=Sr(r[l+Q+c],i.vbdStiffness);continue}e||(r[l+te+c]=r[l+te+c]*t*i.gamma),r[l+se+c]=Sr(kr(r[l+se+c]*i.gamma,1,1e9),r[l+Q+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 o=0;o<t;o++)for(let n=1;n<=2;n++){let a=this.info[o*j+n];a>=0&&this.dynamic[a]&&i[a+1]++}for(let o=0;o<e;o++)i[o+1]+=i[o];let r=i.slice(0,e);for(let o=0;o<t;o++)for(let n=1;n<=2;n++){let a=this.info[o*j+n];a>=0&&this.dynamic[a]&&(this.adjList[r[a]++]=o)}}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:o,inertial:n,prevVelocity:a}=this;for(let l=0;l<this.bodyCount;l++){let c=l*4;r[c+2]=kr(r[c+2],-50,50),n[c]=i[c]+r[c]*e,n[c+1]=i[c+1]+r[c+1]*e,n[c+2]=i[c+2]+r[c+2]*e,this.dynamic[l]&&(n[c+1]+=t*e*e);let u=(r[c+1]-a[c+1])/e*Ll(t),f=kr(u/Math.abs(t),0,1);Number.isFinite(f)||(f=0),o[c]=i[c],o[c+1]=i[c+1],o[c+2]=i[c+2],i[c]=i[c]+r[c]*e,i[c+1]=i[c+1]+r[c+1]*e+t*f*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:o,pose:n,initial:a}=this,l=r[e*j],c=r[e*j+1],u=r[e*j+2],f=e*O,{eC:d,eMin:p,eMax:g,eJ:h,eG:m}=this,b=Rl[l];for(let w=0;w<b;w++)p[w]=o[f+Le+w],g[w]=o[f+xe+w];let v=i===c;if(m.fill(0),l===xi){this.jointC(c,u,f,n,o,0,d);for(let w=0;w<3;w++)o[f+Q+w]===1/0&&(d[w]-=o[f+fe+w]*t);if(i>=0){let w=n[i*4+2],[y,A]=Ai(w,o[f+(v?U:Y)],o[f+(v?U:Y)+1]),x=v?1:-1;h[0]=x,h[1]=0,h[2]=-x*A,h[3]=0,h[4]=x,h[5]=x*y,h[6]=0,h[7]=0,h[8]=x*o[f+ge],m[2]=Math.abs(y),m[5]=Math.abs(A)}}else if(l===Il){let[w,y]=Ol(n,c,o[f+U],o[f+U+1]),[A,x]=Ol(n,u,o[f+Y],o[f+Y+1]),B=w-A,E=y-x,L=B*B+E*E,M=Math.sqrt(L);if(d[0]=M-o[f+re],i>=0&&L!==0){let z=B/M,_=E/M,k=(1-z*z)/M,S=-z*_/M,P=(1-_*_)/M,I=n[i*4+2],R=v?U:Y,[F,X]=Ai(I,-o[f+R+1],o[f+R]),[W,N]=Ai(I,o[f+R],o[f+R+1]),H=k*F+S*X,Z=S*F+P*X,he=z*W+_*N,we=z*F+_*X,Oe=v?1:-1;h[0]=Oe*z,h[1]=Oe*_,h[2]=Oe*we;let J=v?-he-he:he+he;m[0]=Math.hypot(k,S,H),m[1]=Math.hypot(S,P,Z),m[2]=Math.hypot(H,Z,J)}else i>=0&&h.fill(0,0,3)}else if(l===uo){let w=c>=0?n[c*4+2]-a[c*4+2]:0,y=n[u*4+2]-a[u*4+2];d[0]=w-y-o[f+re]*this.params.dt,i>=0&&(h[0]=0,h[1]=0,h[2]=v?1:-1)}else if(l===Zr){let w=o[f+ge],y=o[f+Fe],A=y,x=-w,[B,E]=Ai(a[c*4+2],o[f+U],o[f+U+1]),[L,M]=Ai(a[u*4+2],o[f+Y],o[f+Y+1]),z=B*y-E*w,_=-(L*y-M*w),k=B*x-E*A,S=-(L*x-M*A),P=n[c*4]-a[c*4],I=n[c*4+1]-a[c*4+1],R=n[c*4+2]-a[c*4+2],F=n[u*4]-a[u*4],X=n[u*4+1]-a[u*4+1],W=n[u*4+2]-a[u*4+2];d[0]=o[f+fe]*(1-t)+w*P+y*I+z*R+-w*F+-y*X+_*W,d[1]=o[f+fe+1]*(1-t)+A*P+x*I+k*R+-A*F+-x*X+S*W;let N=Math.abs(o[f+te])*o[f+re];g[1]=N,p[1]=-N,i>=0&&(v?(h[0]=w,h[1]=y,h[2]=z,h[3]=A,h[4]=x,h[5]=k):(h[0]=-w,h[1]=-y,h[2]=_,h[3]=-A,h[4]=-x,h[5]=S))}return b}solveBody(e,t){let i=this.params,{shape:r,pose:o,inertial:n,data:a}=this,l=i.dt*i.dt,c=r[e*4+2]/l,u=r[e*4+3]/l,f=c,d=0,p=c,g=0,h=0,m=u,b=c*(o[e*4]-n[e*4]),v=c*(o[e*4+1]-n[e*4+1]),w=u*(o[e*4+2]-n[e*4+2]),{eC:y,eMin:A,eMax:x,eJ:B,eG:E}=this,L=this.adjStart,M=this.adjList;for(let H=L[e+1]-1;H>=L[e];H--){let Z=M[H],he=this.evalConstraint(Z,t,e),we=Z*O,Oe=!i.vbd;for(let J=0;J<he;J++){let $e=a[we+Q+J],Xe=Oe&&$e===1/0?a[we+te+J]:0,Be=a[we+se+J],st=y[J],ii=Be*st+Xe,Ye=kr(ii,A[J],x[J]),ot=Math.abs(Ye);i.stiffnessRescale&&st!==0&&(ii<A[J]?Be=Math.abs((A[J]-Xe)/st):ii>x[J]&&(Be=Math.abs((x[J]-Xe)/st)));let Qe=B[J*3],nt=B[J*3+1],At=B[J*3+2];b+=Qe*Ye,v+=nt*Ye,w+=At*Ye,f+=Qe*Qe*Be+E[J*3]*ot,d+=nt*Qe*Be,p+=nt*nt*Be+E[J*3+1]*ot,g+=At*Qe*Be,h+=At*nt*Be,m+=At*At*Be+E[J*3+2]*ot}}let z=f,_=d/f,k=g/f,S=p-_*_*z,P=(h-_*k*z)/S,I=m-(k*k*z+P*P*S),R=v-_*b,X=(w-k*b-P*R)/I,W=R/S-P*X,N=b/z-_*W-k*X;this.dxBuf[e*3]=N,this.dxBuf[e*3+1]=W,this.dxBuf[e*3+2]=X}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 o=t[r];o<t[r+1];o++)this.solveBody(i[o],e);for(let o=t[r];o<t[r+1];o++)this.applyDx(i[o])}}dual(e){let t=this.params,i=this.data,{eC:r,eMin:o,eMax:n}=this,a=this.jointCount+this.contactCount;for(let l=0;l<a;l++){let c=this.info[l*j];if(c===zl)continue;let u=this.evalConstraint(l,e,-1),f=l*O;c===Zr&&(i[f+Vi]=Math.abs(i[f+te+1])<n[1]&&Math.abs(i[f+fe+1])<.01?1:0);for(let d=0;d<u;d++){let p=i[f+Q+d],g=!t.vbd&&p===1/0?i[f+te+d]:0,h=kr(i[f+se+d]*r[d]+g,o[d],n[d]);i[f+te+d]=h,Math.abs(h)>=i[f+Pt+d]&&this.disable(l),!t.vbd&&h>o[d]&&h<n[d]&&(i[f+se+d]=Sr(i[f+se+d]+t.beta*Math.abs(r[d]),Sr(1e9,i[f+Q+d])))}}}refreshStick(){let e=this.data;for(let t=0;t<this.contactCount;t++){let i=(this.jointCount+t)*O,r=Math.abs(e[i+te])*e[i+re];e[i+Vi]=Math.abs(e[i+te+1])<r&&Math.abs(e[i+fe+1])<.01?1:0}}disable(e){let t=e*O;this.data.fill(0,t+se,t+se+3),this.data.fill(0,t+te,t+te+3),this.data.fill(0,t+Q,t+Q+3)}updateVelocities(){let{dt:e}=this.params,{pose:t,initial:i,velocity:r,prevVelocity:o}=this;for(let n=0;n<this.bodyCount;n++){let a=n*4;o[a]=r[a],o[a+1]=r[a+1],o[a+2]=r[a+2],this.dynamic[n]&&(r[a]=(t[a]-i[a])/e,r[a+1]=(t[a+1]-i[a+1])/e,r[a+2]=(t[a+2]-i[a+2])/e)}}pick(e,t){for(let i=this.bodyCount-1;i>=0;i--){let[r,o]=Ai(-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(o)<=this.shape[i*4+1]*.5)return{body:i,local:[r,o]}}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*j]!==xi)continue;let r=i*O;this.jointC(this.info[i*j+1],this.info[i*j+2],r,this.pose,this.data,0,t);for(let o=0;o<2;o++)this.data[r+Q+o]===1/0&&(e=Math.max(e,Math.abs(t[o])))}return e}isContactPairIgnored(e,t){return Qn(this.noCollide,this.noCollideCount,Pr(e,t))}};function Ai(s,e,t){let i=Math.cos(s),r=Math.sin(s);return[i*e-r*t,r*e+i*t]}function Ol(s,e,t,i){let r=Math.cos(s[e*4+2]),o=Math.sin(s[e*4+2]);return[r*t-o*i+s[e*4],o*t+r*i+s[e*4+1]]}var es=`
|
|
3609
|
-
${
|
|
3892
|
+
`),xi=class{device;pipelines;layout;watch;table;events;params;setSlots;capacity;group=null;bound=[];flip=0;bodies;constructor(e,t,i,r,o,a=3){this.device=e,this.bodies=t,this.capacity=o,this.setSlots=2**Math.ceil(Math.log2(Math.max(64,2*r)));let n=e.createShaderModule({label:"contact events",code:a===2?Rf:ns}),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]}),u=d=>e.createComputePipeline({label:`contact events ${d}`,layout:c,compute:{module:n,entryPoint:d}});this.pipelines={touching:u("touching"),ended:u("ended")};let f=GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST|GPUBufferUsage.COPY_SRC;this.watch=e.createBuffer({label:"contact watch",size:Math.max(16,i*4),usage:f}),this.table=e.createBuffer({label:"contact sets",size:(xn+4*this.setSlots)*4,usage:f}),this.events=e.createBuffer({label:"contact events",size:o*kr*16,usage:f}),this.params=e.createBuffer({label:"contact params",size:32,usage:GPUBufferUsage.UNIFORM|GPUBufferUsage.COPY_DST})}setWatched(e,t){let i=e.map((r,o)=>[r,t[o]?1:0]).sort((r,o)=>r[0]-o[0]);for(let r=0;r<i.length;){let o=r+1;for(;o<i.length&&i[o][0]===i[o-1][0]+1;)o++;this.device.queue.writeBuffer(this.watch,i[r][0]*4,Uint32Array.from(i.slice(r,o),a=>a[1])),r=o}}run(e,t,i,r){let o=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=o.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,o.queue.writeBuffer(this.params,0,c);let u=o.createCommandEncoder({label:"contact events"});u.clearBuffer(this.table,(xn+2*l)*4,2*this.setSlots*4);let f=u.beginComputePass({label:"contact events"});f.setBindGroup(0,this.group),f.setPipeline(this.pipelines.touching),f.dispatchWorkgroups(Math.max(1,Math.ceil(t/64))),f.setPipeline(this.pipelines.ended),f.dispatchWorkgroups(Math.ceil(this.setSlots/64)),f.end(),o.queue.submit([u.finish()])}async read(){let e=this.device,t=16+this.capacity*kr*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 o=i.getMappedRange().slice(0);i.unmap(),i.destroy();let a=new Uint32Array(o),n=new Float32Array(o),l=Math.min(a[0],this.capacity),c=[];for(let u=0;u<l;u++){let f=4+u*kr*4;c.push({kind:a[f],a:a[f+1],b:a[f+2],step:a[f+3],point:[n[f+4],n[f+5],n[f+6]],impulse:n[f+7],normal:[n[f+8],n[f+9],n[f+10]]})}return c.sort((u,f)=>u.step-f.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 vc=[0,1,2,3,5,4,0,3,4,0,4,1,1,4,5,1,5,2,2,5,3,2,3,0],Pr=vc.slice();for(let s=0;s<Pr.length;s+=3)[Pr[s+1],Pr[s+2]]=[Pr[s+2],Pr[s+1]];var mo=(s,e,t)=>{let i=Array.from(s??[]);if(i.length!==e||!i.every(Number.isFinite))throw Error(`${t} requires ${e} finite values`);return i},xc=(s,e)=>{if(!Number.isFinite(s)||s<=0)throw Error(`${e} must be positive and finite`);return s};function Ac(s){let e=[0,1,2].map(u=>s.reduce((f,d)=>f+d[u],0)/s.length),[t,i,r,o]=s,a=i.map((u,f)=>u-t[f]),n=r.map((u,f)=>u-t[f]),l=(a[1]*n[2]-a[2]*n[1])*(t[0]-o[0])+(a[2]*n[0]-a[0]*n[2])*(t[1]-o[1])+(a[0]*n[1]-a[1]*n[0])*(t[2]-o[2]),c=Ma(s.flatMap(u=>u.map((f,d)=>f-e[d])),l>0?vc:Pr);if(!c)throw Error("Terrain contains a degenerate collision piece");return{shape:c,position:c.center.map((u,f)=>u+e[f]),rotation:c.rotation}}function ls({heights:s,columns:e,rows:t,spacing:i=1,origin:r=[0,0,0],upAxis:o=1,baseHeight:a,holes:n}={}){for(let[g,b]of Object.entries({columns:e,rows:t}))if(!Number.isInteger(b)||b<2)throw Error(`${g} must be an integer >= 2`);let l=mo(s,e*t,"heights"),c=mo(r,3,"origin");if(![0,1,2].includes(o))throw Error("upAxis must be 0, 1 or 2");let u=typeof i=="number"?[i,i]:mo(i,2,"spacing");u.forEach(g=>xc(g,"spacing"));let f=a??l.reduce((g,b)=>Math.min(g,b),1/0)-2;if(!Number.isFinite(f)||l.some(g=>g<=f))throw Error("baseHeight must be below every terrain height");let d=(e-1)*(t-1);if(n&&n.length!==d)throw Error("holes requires one value per terrain cell");let p=[0,1,2].filter(g=>g!==o),m=[],h=(g,b)=>{let y=[...c];return y[p[0]]+=g*u[0],y[p[1]]+=b*u[1],y[o]+=l[b*e+g],y};for(let g=0;g<t-1;g++)for(let b=0;b<e-1;b++){if(n?.[g*(e-1)+b])continue;let y=h(b,g),A=h(b+1,g),v=h(b,g+1),x=h(b+1,g+1);for(let w of[[y,A,v],[A,x,v]])m.push(Ac([...w,...w.map(B=>{let L=[...B];return L[o]=c[o]+f,L})]))}return{kind:"heightfield",pieces:m,triangleCount:m.length}}function cs({positions:s,indices:e,thickness:t=.1}={}){if(!s||s.length%3)throw Error("positions requires xyz triples");let i=mo(s,s.length,"positions"),r=i.length/3;if(e===void 0&&r%3)throw Error("Nonindexed positions require three vertices per triangle");let o=e===void 0?Array.from({length:r},(n,l)=>l):Array.from(e);if(!o.length||o.length%3||!o.every(n=>Number.isInteger(n)&&n>=0&&n<r))throw Error("indices requires valid triangle vertex indices");xc(t,"thickness");let a=[];for(let n=0;n<o.length;n+=3){let l=o.slice(n,n+3).map(g=>i.slice(g*3,g*3+3)),[c,u,f]=l,d=u.map((g,b)=>g-c[b]),p=f.map((g,b)=>g-c[b]),m=[d[1]*p[2]-d[2]*p[1],d[2]*p[0]-d[0]*p[2],d[0]*p[1]-d[1]*p[0]],h=Math.hypot(...m);h!==0&&a.push(Ac([...l,...l.map(g=>g.map((b,y)=>b-m[y]*t/h))]))}if(!a.length)throw Error("Static mesh requires at least one nondegenerate triangle");return{kind:"static-mesh",pieces:a,triangleCount:a.length}}function go(s,e,t={}){if(t.mass!==void 0&&t.mass!==0)throw Error("Terrain is static and requires zero mass");let i=t.friction??.6,r=t.restitution??0;if(!Number.isFinite(i)||i<0)throw Error("friction must be nonnegative and finite");if(!Number.isFinite(r)||r<0||r>1)throw Error("restitution must be between 0 and 1");for(let o of["group","collidesWith"]){let a=t[o]??4294967295;if(!Number.isInteger(a)||a<0||a>4294967295)throw Error(`${o} must be an unsigned 32-bit integer`)}if(!e?.pieces?.length)throw Error("Terrain requires collision pieces");return e.pieces.map(o=>{let a=nr(s,o.shape,0,i,o.position,o.rotation);return Object.assign(a,{allowSleep:!1,isTrigger:!1,restitution:r,group:t.group??4294967295,collidesWith:t.collidesWith??4294967295}),a})}var mt=Object.freeze({BOX:"box",SPHERE:"sphere",CAPSULE:"capsule",CYLINDER:"cylinder",CONVEX_HULL:"convex-hull"}),Le=s=>s&&typeof s.x=="number"?[s.x,s.y,s.z,...typeof s.w=="number"?[s.w]:[]]:Array.from(s),us=new WeakMap,Lr=s=>{if(!Number.isInteger(s)||s<0||s>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");return s},bo=(s,e,t=!1)=>{if(!Number.isFinite(s)||(t?s<0:s<=0))throw Error(`${e} must be ${t?"nonnegative":"positive"} and finite`);return s},yo=class s{static async create({device:e,...t}={}){if(t.scene&&us.has(t.scene))throw Error("This scene already has an AVBD world");let i=!e;e||({device:e}=await ss({preferredLimits:{maxStorageBuffersPerShaderStage:9,maxStorageBufferBindingSize:512*1024*1024,maxBufferSize:1024*1024*1024}}));let r;try{return await Cr(e),r=new s(e,t),r.ownsDevice=i,r.scene&&r.autoAttach&&r.attachToScene(),r}catch(o){throw r?r.dispose():i&&e.destroy(),o}}constructor(e,{scene:t,gravity:i=[0,-10,0],timeStep:r=1/60,iterations:o=10,capacity:a=4096,syncMeshes:n=!0,maxSyncedBodies:l=2048,broadphase:c="auto",solverMode:u="auto",smallGroups:f,bvh:d={},autoAttach:p=!0,maxContactPairs:m=8192,maxContactEvents:h=4096,sleeping:g=!1}={}){if(this.device=e,this.scene=t,this.autoAttach=p,this.syncEnabled=n,this.maxSyncedBodies=l,!Number.isInteger(a)||a<1||!Number.isInteger(l)||l<0)throw Error("capacity and maxSyncedBodies must be valid integer counts");if(this.capacity=a,this.collisionOptions={broadphase:c,bvh:d,solverMode:u,smallGroups:f},this.ref=new ni,this.ref.dt=bo(r,"timeStep"),!Number.isInteger(o)||o<1)throw Error("iterations must be a positive integer");this.ref.iterations=o,this.aggregates=[],this.constraints=new Set,this.contactListeners=new Set;for(let[y,A]of Object.entries({maxContactPairs:m,maxContactEvents:h}))if(!Number.isInteger(A)||A<1)throw Error(`${y} must be a positive integer`);if(this.contactOptions={maxContactPairs:m,maxContactEvents:h},this.bodyReadback=new vi(e),this.sleepOptions=g,g!==!1&&g!==!0&&(typeof g!="object"||g===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&&us.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 gi(this.device,this.ref,ho(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 o=e.get(r);o&&(o.attach(i++,!1),(o.type==="fixed"||o.type==="spring"&&o.rest===void 0)&&t.push({slot:o.slot,spring:o.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 Fi(this,this.sleepOptions===!0?{}:this.sleepOptions))}addAggregate(e,t,i={}){return new vo(e,t,i,this)}addAggregates(e){return e.map(({mesh:t,type:i,options:r})=>this.addAggregate(t,i,r))}addHeightfield(e){return this.addTerrain(ls(e),e)}addStaticMesh(e,t={}){e.computeWorldMatrix(!0);let i=e.getVerticesData("position"),r=e.getWorldMatrix().m;if(!i)throw Error("Static mesh requires vertex positions");let o=new Float64Array(i.length);for(let u=0;u<i.length;u+=3){let f=i[u],d=i[u+1],p=i[u+2];for(let m=0;m<3;m++)o[u+m]=r[m]*f+r[4+m]*d+r[8+m]*p+r[12+m]}let a=e.getIndices(),n=a?.length?Uint32Array.from(a):Uint32Array.from({length:i.length/3},(u,f)=>f),l=e.getVerticesData("normal"),c=e.getWorldMatrix().determinant()<0;for(let u=0;u<n.length;u+=3){let f=n[u]*3,d=n[u+1]*3,p=n[u+2]*3,m=[0,1,2].map(b=>i[d+b]-i[f+b]),h=[0,1,2].map(b=>i[p+b]-i[f+b]),g=!1;l?.length===i.length&&(g=[m[1]*h[2]-m[2]*h[1],m[2]*h[0]-m[0]*h[2],m[0]*h[1]-m[1]*h[0]].reduce((y,A,v)=>y+A*(l[f+v]+l[d+v]+l[p+v]),0)<0),g!==c&&([n[u+1],n[u+2]]=[n[u+2],n[u+1]])}return this.addTerrain(cs({positions:o,indices:n,thickness:t.thickness}),t)}addTerrain(e,t={}){if(this.assertAlive(),this.gpu)throw Error("Add static terrain before initializing the physics world");if(this.device.limits.maxStorageBuffersPerShaderStage<9)throw Error("Terrain collisions require nine storage buffer bindings");if(this.aggregates.length+(e?.pieces?.length??0)>this.capacity)throw Error("AVBD terrain exceeds body capacity; reserve space for its collision pieces");let r=go(this.ref,e,t).map(a=>new An(this,a)),o=!1;return{bodies:r.map(a=>a.body),triangleCount:e.triangleCount,kind:e.kind,dispose:()=>{if(o)return;o=!0;let a=new Set(r.map(n=>n.body));for(let n of[...this.constraints])(a.has(n.bodyA)||a.has(n.bodyB))&&n.dispose();if(this.gpu&&!this.disposed){let n=r.map(c=>c.body.gpuIndex),l=new Uint32Array(n.length);this.gpu.setFilters(n,l,l)}for(let n of r)n.disposed=n.body.disposed=!0,n.group=n.collidesWith=0,this.commands.delete(n.body);this.wakeAll()}}}addConstraint(e,t,i={}){return new os(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 Fi(this,e)),this}disableSleeping(){return this.assertAlive(),this.sleepOptions=!1,this.gpu?(this.flushCommands(),this.sleepManager&&(this.sleepManager.wakeRequested=!0,this.sleepManager.before(),this.sleepManager.dispose(),this.sleepManager=null),this):this}addMotor(e,t,i={}){return this.addConstraint(e,t,{...i,type:"motor"})}addHinge(e,t,i={}){return new as(this,e,t,i)}initializeContacts(){if(this.contactWatch)return;let{maxContactPairs:e,maxContactEvents:t}=this.contactOptions;this.contactWatch=new xi(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===Ai?"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[o]=await this.sphereCastAll([{origin:e,radius:t,direction:i,maxDistance:r.maxDistance}],r);return o}async sphereCastAll(e,{ignore:t=[],collidesWith:i=4294967295,includeTriggers:r=!0}={}){this.assertAlive(),Lr(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}={}){Lr(i),this.initialize(),this.flushCommands();let o=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&&bo(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(o,{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 o=Le(r);if(o.length!==(i==="rotation"?4:3)||!o.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]=o,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 y=Math.max(t,(this.velocityIndices?.length??0)*2,64);this.velocityIndices=new Uint32Array(y),this.velocityValues=new Float32Array(y*3)}let h=0;for(let[y,A]of this.commands)this.velocityIndices[h]=y.aggregate.gpuSlot??this.gpu.gpuIndex(y.aggregate.index),this.velocityValues.set(i===2?A.angular:A.velocity,h++*3);let g=i===2?"angularVelocityBatch":"velocityBatch",b=this[g]??=new Kt(this.gpu,3,i===2?"angular":"linear");b.solver=this.gpu,b.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[g,b]of this.commands){let y=h++*8;this.motionData[y]=g.aggregate.gpuSlot??this.gpu.gpuIndex(g.aggregate.index),this.motionData[y+1]=b.mask,b.velocity&&this.motionFloats.set(b.velocity,y+2),b.angular&&this.motionFloats.set(b.angular,y+5)}this.motionBatch??=new yi(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 o=t*128,a=Math.min(this.device.limits.maxStorageBufferBindingSize,this.device.limits.maxBufferSize);if(o>a)throw Error("Body command batch exceeds GPU buffer limits");(!this.commandData||this.commandData.byteLength<o)&&(this.commandData=new ArrayBuffer(Math.min(a,Math.max(o,(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 u=0;for(let[h,g]of this.commands){let b=u++*32;c[b]=h.aggregate.gpuSlot??this.gpu.gpuIndex(h.aggregate.index),c[b+1]=g.mask;for(let[y,A]of[["velocity",4],["angular",8],["impulse",12],["torque",16],["position",20],["rotation",24],["pointImpulse",28]])g[y]&&l.set(g[y],b+A)}this.commands.clear(),(!this.commandBuffer||this.commandBuffer.size<o)&&(this.commandBuffer?.destroy(),this.commandBuffer=this.device.createBuffer({size:Math.min(a,Math.max(o*2,128)),usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST})),this.device.queue.writeBuffer(this.commandBuffer,0,n,0,o),this.commandPipeline??=this.device.createComputePipeline({layout:"auto",compute:{module:this.device.createShaderModule({code:`const DISPATCH_STRIDE = ${this.device.limits.maxComputeWorkgroupsPerDimension*64}u;
|
|
3893
|
+
${bc}`,label:"AVBD body commands"}),entryPoint:"applyCommands"}}),(!this.commandBinding||this.boundCommandBody!==this.gpu.bodyBuffer||this.boundCommandBuffer!==this.commandBuffer||this.boundCommandBytes!==o)&&(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:o}}]}),this.boundCommandBody=this.gpu.bodyBuffer,this.boundCommandBuffer=this.commandBuffer,this.boundCommandBytes=o);let f=e??this.device.createCommandEncoder(),d=f.beginComputePass();d.setPipeline(this.commandPipeline),d.setBindGroup(0,this.commandBinding);let p=Math.ceil(u/64),m=this.device.limits.maxComputeWorkgroupsPerDimension;d.dispatchWorkgroups(Math.min(p,m),Math.ceil(p/m)),d.end(),e||this.device.queue.submit([f.finish()]),this.lastCommandBatch={bodies:t,path:"aggregate-commands",uploadedBytes:o}}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 o of this.contactListeners)o(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&&us.get(this.scene)===this&&us.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}},vo=class{constructor(e,t,{mass:i=1,friction:r=.6,restitution:o=0,allowSleep:a,isTrigger:n=!1,sync:l=!0,group:c=4294967295,collidesWith:u=4294967295}={},f){if(f=f instanceof yo?f:us.get(f??e.getScene()),!f)throw Error("Create an AVBD world for this scene before adding aggregates");if(f.assertAlive(),typeof t=="number"&&(t=[mt.SPHERE,mt.CAPSULE,mt.CYLINDER,mt.BOX,mt.CONVEX_HULL][t]),bo(i,"mass",!0),bo(r,"friction",!0),!Number.isFinite(o)||o<0||o>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(mt).includes(t))throw Error(`Unsupported AVBD shape: ${t}`);if(f.aggregates.length>=f.capacity)throw Error("AVBD body capacity exceeded");if(this.world=f,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=o,a===!0&&!f.sleepOptions&&f.enableSleeping(),this.group=Lr(c),this.collidesWith=Lr(u),f.gpu&&f.syncEnabled&&l&&f.aggregates.filter(v=>v.sync&&!v.disposed).length>=f.maxSyncedBodies)throw Error("For large scenes use syncMeshes:false and draw the GPU body buffer directly");if(![mt.BOX,mt.SPHERE,mt.CAPSULE].includes(t)&&f.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(v=>v<=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),g=e.rotationQuaternion?.clone()||e.rotation.toQuaternion();this.localCenter=h,this.localRotation=g.constructor.Identity();let b;if(t===mt.BOX)b=new Ze(f.ref,Le(m),1,r,[0,0,0]);else if(t===mt.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");b=ar(f.ref,m.x/2,1,r,[0,0,0])}else if(t===mt.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");b=Br(f.ref,m.x/2,m.y,1,r,[0,0,0])}else{let v=e.getVerticesData("position");if(!v)throw Error("Hull aggregate requires mesh positions");let x=Float32Array.from(v,(B,L)=>B*[p.x,p.y,p.z][L%3]),w=Ur(x);if(!w)throw Error("Hull aggregate requires a closed shape with nonzero volume");this.localCenter=new e.position.constructor(...w.center),this.localRotation=g.constructor.FromArray(w.rotation),b=nr(f.ref,w,1,r,[0,0,0])}let y=i/b.mass;b.mass=i,b.moment.forEach((v,x)=>b.moment[x]=v*y);let A=e.position.add(this.localCenter.applyRotationQuaternion(g));if(b.positionLin.set(Le(A)),b.positionAng.set(g.multiply(this.localRotation).asArray()),this.rigid=b,this.index=f.aggregates.length,this.body=new fs(this),f.aggregates.push(this),e.rotationQuaternion=g,f.gpu){if(this.gpuSlot=f.gpu.addBody(b),this.gpuSlot<0)throw Error("AVBD body capacity exceeded");f.byGpuIndex.set(this.gpuSlot,this.body),f.gpu.setFilters([this.gpuSlot],[this.group],[this.collidesWith]),(this.isTrigger||f.gpu.sensorsEnabled)&&f.gpu.setSensor(this.gpuSlot,this.isTrigger),this.restitution>0&&f.gpu.setRestitution(this.gpuSlot,this.restitution),f.contactWatch?.setWatched([this.gpuSlot],[!0]),f.sleepManager?.register(this.gpuSlot,b.mass,this.allowSleep),f.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(){wc(this)}},An=class{constructor(e,t){Object.assign(this,{world:e,rigid:t,index:e.aggregates.length,sync:!1,allowSleep:!1,isTrigger:!1,restitution:t.restitution,group:t.group,collidesWith:t.collidesWith,staticTerrain:!0}),this.body=new fs(this),e.aggregates.push(this)}dispose(){wc(this)}};function wc(s){if(s.disposed)return;let e=s.world;for(let t of[...e.constraints])(t.bodyA===s.body||t.bodyB===s.body)&&t.dispose();if(e.gpu){let t=s.body.gpuIndex;e.queue(s.body,16,"velocity",[0,0,0]),e.gpu.setFilters([t],[0],[0]),e.gpu.setRestitution(t,0)}s.rigid.mass=0,s.rigid.moment.fill(0),s.sync=!1,s.disposed=s.body.disposed=!0,e.sleepManager?.register(s.gpuSlot??e.gpu?.gpuIndex(s.index)??s.index,0),e.wakeAll?.()}var fs=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,o=Le(e),a=r.commands.get(this),n=o.map((c,u)=>c+(a?.impulse?.[u]||0)),l=r.queue(this,4,"impulse",n);if(t){let c=[i[1]*o[2]-i[2]*o[1],i[2]*o[0]-i[0]*o[2],i[0]*o[1]-i[1]*o[0]],u=l.torque||[0,0,0];l.torque=Le(c).map((f,d)=>f+u[d]),l.pointImpulse=o.map((f,d)=>f+(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,o)=>r+i[o])),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=Lr(e),o=Lr(t);return i.group=r,i.collidesWith=o,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){if(this.assertAlive(),this.aggregate.staticTerrain)throw Error("Terrain is static; set its geometry transform before registration");let i=this.aggregate;if(t===void 0){let a=i.world.commands.get(this);if(a&&(a.mask&8)!==0&&(a.mask&32)===0){let n=i.mesh.rotationQuaternion.clone();n.copyFromFloats(...a.rotation);let l=i.localCenter.applyRotationQuaternion(i.localRotation.conjugate());i.world.queue(this,8,"position",Le(e.add(l.applyRotationQuaternion(n))))}else{let n=i.localCenter.applyRotationQuaternion(i.localRotation.conjugate());i.world.queue(this,40,"position",Le(e)),i.world.queue(this,40,"rotation",[...Le(n),0])}return this}let r=t.clone().normalize();i.world.queue(this,8,"position",Le(e.add(i.localCenter.applyRotationQuaternion(r))));let o=i.world.queue(this,8,"rotation",r.multiply(i.localRotation).asArray());return o.mask&=-33,this}};var Ni=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 Bc=s=>s<0?-1:s>0?1:0,_r=(s,e)=>s<e?s:e,Of=(s,e)=>s>e?s:e,Er=(s,e,t)=>Of(e,_r(t,s));function ds(s,e,t){let i=Math.cos(s),r=Math.sin(s);return[i*e-r*t,r*e+i*t]}function qi(s,e,t){let i=Math.cos(s[2]),r=Math.sin(s[2]);return[i*e-r*t+s[0],r*e+i*t+s[1]]}function Zt(s,e,t,i,r){s[e*3]=t,s[e*3+1]=i,s[e*3+2]=r}var xo=class extends Ni{rA;rB;C0=new Float64Array(3);torqueArm;restAngle;constructor(e,t,i,r,o,a=[1/0,1/0,1/0],n=1/0){super(e,t,i),this.rA=[r[0],r[1]],this.rB=[o[0],o[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?qi(this.bodyA.position,this.rA[0],this.rA[1]):this.rA,i=qi(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=ds(e.position[2],this.rA[0],this.rA[1]);Zt(t,0,1,0,-r[1]),Zt(t,1,0,1,r[0]),Zt(t,2,0,0,this.torqueArm),i[8]=-r[0],i[17]=-r[1]}else{let r=ds(e.position[2],this.rB[0],this.rB[1]);Zt(t,0,-1,0,r[1]),Zt(t,1,0,-1,-r[0]),Zt(t,2,0,0,-this.torqueArm),i[8]=r[0],i[17]=r[1]}}},Ao=class extends Ni{rA;rB;rest;constructor(e,t,i,r,o,a,n=-1){if(super(e,t,i),this.rA=[r[0],r[1]],this.rB=[o[0],o[1]],this.stiffness[0]=a,this.rest=n,this.rest<0){let l=qi(t.position,r[0],r[1]),c=qi(i.position,o[0],o[1]);this.rest=Math.hypot(l[0]-c[0],l[1]-c[1])}}rows(){return 1}initialize(){return!0}delta(){let e=qi(this.bodyA.position,this.rA[0],this.rA[1]),t=qi(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),o=t[0]/r,a=t[1]/r,n=(1-o*o)/r,l=(0-o*a)/r,c=(0-a*o)/r,u=(1-a*a)/r,f=e===this.bodyA,d=f?this.rA:this.rB,p=ds(e.position[2],-d[1],d[0]),m=ds(e.position[2],d[0],d[1]),h=n*p[0]+l*p[1],g=c*p[0]+u*p[1],b=o*m[0]+a*m[1],y=o*p[0]+a*p[1];f?Zt(this.J,0,o,a,y):Zt(this.J,0,-o,-a,-y);let A=f?-b-b:b+b,v=this.H;v[0]=n,v[1]=l,v[2]=h,v[3]=c,v[4]=u,v[5]=g,v[6]=h,v[7]=g,v[8]=A}},wo=class extends Ni{rows(){return 0}initialize(){return!0}computeConstraint(){}computeDerivatives(){}},Bo=class extends Ni{speed;constructor(e,t,i,r,o){super(e,t,i),this.speed=r,this.fmax[0]=o,this.fmin[0]=-o}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){Zt(this.J,0,0,0,e===this.bodyA?1:-1),this.H.fill(0,0,9)}};var Co=()=>({dt:1/60,gravity:-10,iterations:10,beta:1e5,alpha:.99,gamma:.99,postStabilize:!0,stiffnessRescale:!1,vbd:!1,vbdStiffness:1e6,matchNearest:!1}),So=()=>({...Co(),postStabilize:!1,alpha:.95,matchNearest:!0});var Mr=(s,e)=>s>e?s*2097152+e:e*2097152+s;function Tf(s,e,t){let i=0,r=e;for(;i<r;){let o=i+r>>>1;s[o]<t?i=o+1:r=o}return i}function wn(s,e,t){let i=Tf(s,e,t);return i<e&&s[i]===t}var ko=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,o=0;for(let n=0;n<e;n++)i[n]<=4*r&&(o=Math.max(o,i[n]));this.cellSize=Math.max(2*o,.001),this.isLarge=new Uint8Array(e);let a=[];for(let n=0;n<e;n++)t[n*4+1]>o&&(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,o,a){e!==this.configuredFor&&this.configure(e,i),this.pairCount=0;let{cellX:n,cellY:l,isLarge:c,bucketStart:u,sorted:f}=this,d=1/this.cellSize;u.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),u[this.hash(n[h],l[h])+1]++);for(let h=0;h<this.tableSize;h++)u[h+1]+=u[h];let p=u.slice(0,this.tableSize);for(let h=0;h<e;h++)c[h]||(f[p[this.hash(n[h],l[h])]++]=h);let m=(h,g)=>{if(!r[h]&&!r[g])return;let b=t[h*4]-t[g*4],y=t[h*4+1]-t[g*4+1],A=i[h*4+1]+i[g*4+1];if(b*b+y*y>A*A)return;let v=Mr(h,g);if(!wn(o,a,v)){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++]=v}};for(let h=0;h<e;h++){if(c[h])continue;let g=n[h],b=l[h];for(let y=-1;y<=1;y++)for(let A=-1;A<=1;A++){let v=this.hash(g+A,b+y);for(let x=u[v];x<u[v+1];x++){let w=f[x];w>=h||n[w]!==g+A||l[w]!==b+y||m(h,w)}}}for(let h of this.large)for(let g=0;g<e;g++)g===h||c[g]&&g>h||m(h,g);this.pairs.subarray(0,this.pairCount).sort()}};var gt=new Float64Array(12),Cc=new Float64Array(12),Vi=new Float64Array(12);function qt(s,e,t,i,r,o,a,n){let l=e*6;s[l]=t,s[l+1]=i,s[l+2]=r,s[l+3]=o,s[l+4]=a,s[l+5]=n}function Sc(s,e,t,i,r,o){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++)s[a*6+c]=e[c];a++}if(l<=0){for(let c=0;c<6;c++)s[a*6+c]=e[6+c];a++}if(n*l<0){let c=n/(n-l),u=e[0]+(e[6]-e[0])*c,f=e[1]+(e[7]-e[1])*c;n>0?qt(s,a,u,f,o,e[3],0,e[5]):qt(s,a,u,f,e[8],o,e[10],0),a++}return a}function Po(s,e,t,i,r,o,a,n){let l=-(r*a+o*n),c=-(-o*a+r*n);Math.abs(l)>Math.abs(c)?l>0?(qt(gt,0,s,-e,0,0,3,4),qt(gt,1,s,e,0,0,4,1)):(qt(gt,0,-s,e,0,0,1,2),qt(gt,1,-s,-e,0,0,2,3)):c>0?(qt(gt,0,s,e,0,0,4,1),qt(gt,1,-s,e,0,0,1,2)):(qt(gt,0,-s,-e,0,0,2,3),qt(gt,1,s,-e,0,0,3,4));for(let u=0;u<2;u++){let f=u*6,d=gt[f],p=gt[f+1];gt[f]=t+r*d-o*p,gt[f+1]=i+o*d+r*p}}function Lo(s,e,t,i,r,o,a,n,l,c,u){let f=Math.cos(t),d=Math.sin(t),p=Math.cos(n),m=Math.sin(n),h=o-s,g=a-e,b=f*h+d*g,y=-d*h+f*g,A=p*h+m*g,v=-m*h+p*g,x=Math.abs(f*p+d*m),w=Math.abs(f*-m+d*p),B=Math.abs(-d*p+f*m),L=Math.abs(-d*-m+f*p),M=Math.abs(b)-i-(x*l+w*c),I=Math.abs(y)-r-(B*l+L*c);if(M>0||I>0)return 0;let E=Math.abs(A)-(x*i+B*r)-l,k=Math.abs(v)-(w*i+L*r)-c;if(E>0||k>0)return 0;let P=0,C=M,_=b>0?f:-f,z=b>0?d:-d;I>.95*C+.01*r&&(P=1,C=I,_=y>0?-d:d,z=y>0?f:-f),E>.95*C+.01*l&&(P=2,C=E,_=A>0?p:-p,z=A>0?m:-m),k>.95*C+.01*c&&(P=3,C=k,_=v>0?-m:m,z=v>0?p:-p);let R,G,X,W,U,H,Z,he,we;if(P===0){R=_,G=z,X=s*R+e*G+i,W=-d,U=f;let $=s*W+e*U;H=-$+r,Z=$+r,he=3,we=1,Po(l,c,o,a,p,m,R,G)}else if(P===1){R=_,G=z,X=s*R+e*G+r,W=f,U=d;let $=s*W+e*U;H=-$+i,Z=$+i,he=2,we=4,Po(l,c,o,a,p,m,R,G)}else if(P===2){R=-_,G=-z,X=o*R+a*G+l,W=-m,U=p;let $=o*W+a*U;H=-$+c,Z=$+c,he=3,we=1,Po(i,r,s,e,f,d,R,G)}else{R=-_,G=-z,X=o*R+a*G+c,W=p,U=m;let $=o*W+a*U;H=-$+l,Z=$+l,he=2,we=4,Po(i,r,s,e,f,d,R,G)}if(Sc(Cc,gt,-W,-U,H,he)<2||Sc(Vi,Cc,W,U,Z,we)<2)return 0;let Oe=0;for(let $=0;$<2;$++){let Je=$*6,Xe=Vi[Je],Be=Vi[Je+1],ot=R*Xe+G*Be-X;if(ot>0)continue;let ri=Xe-R*ot,Ye=Be-G*ot,at=Vi[Je+2],Qe=Vi[Je+3],nt=Vi[Je+4],wt=Vi[Je+5],Qi,Ki,Zi,er;P>=2?([at,Qe,nt,wt]=[nt,wt,at,Qe],Qi=Xe-s,Ki=Be-e,Zi=ri-o,er=Ye-a):(Qi=ri-s,Ki=Ye-e,Zi=Xe-o,er=Be-a);let Wt=Oe*7;u[Wt+0]=at&255|(Qe&255)<<8|(nt&255)<<16|(wt&255)<<24,u[Wt+1]=f*Qi+d*Ki,u[Wt+1+1]=-d*Qi+f*Ki,u[Wt+3]=p*Zi+m*er,u[Wt+3+1]=-m*Zi+p*er,u[Wt+5]=-_,u[Wt+5+1]=-z,Oe++}return Oe}var kc=s=>31-Math.clz32(s&-s);function jf(s){let e=s+2654435769;return e^=e>>>16,e=Math.imul(e,2146121005),e^=e>>>15,e=Math.imul(e,2221713035),e^=e>>>16,e>>>0}var Bn=(s,e,t,i)=>s>t||s===t&&e>i,_o=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)=>jf(r))}run(e,t,i,r,o,a){this.resize(e);let{colors:n,next:l,pending:c,prio:u}=this,f=(v,x)=>{let w=o[v*4+1],B=w===x?o[v*4+2]:w;return B>=0&&t[B]?B:-1},d=(v,x)=>{let w=0,B=0;for(let L=i[v];L<i[v+1];L++){let M=f(r[L],v);if(M<0||x&&c[M])continue;let I=n[M];I<0||(I<32?w|=1<<I:B|=1<<I-32)}return~w!==0?kc(~w):~B!==0?32+kc(~B):63};for(let v=0;v<e;v++){if(l[v]=n[v],!t[v]||n[v]<0)continue;let x=!0;for(let w=i[v];w<i[v+1]&&x;w++){let B=f(r[w],v);B>=0&&!Bn(u[v],v,u[B],B)&&(x=!1)}x&&(l[v]=Math.min(n[v],d(v,!1)))}n.set(l);let p=()=>{let v=0;for(let x=0;x<e;x++)if(c[x]=0,!!t[x]){if(n[x]<0)c[x]=1;else for(let w=i[x];w<i[x+1];w++){let B=f(r[w],x);if(B>=0&&n[B]===n[x]&&Bn(u[B],B,u[x],x)){c[x]=1;break}}v+=c[x]}return v},m=p(),h=0;for(;m>0&&h<a;){h++;for(let v=0;v<e;v++){if(l[v]=-2,!c[v])continue;let x=!0;for(let w=i[v];w<i[v+1]&&x;w++){let B=f(r[w],v);B>=0&&c[B]&&!Bn(u[v],v,u[B],B)&&(x=!1)}x&&(l[v]=d(v,!0))}for(let v=0;v<e;v++)l[v]!==-2&&(n[v]=l[v],c[v]=0,m--)}let g=0;if(m>0){for(let v=0;v<e;v++)c[v]&&n[v]<0&&(n[v]=0);g=p()}let b=this.colorStart;b.fill(0);let y=0;for(let v=0;v<e;v++)t[v]&&(b[n[v]+1]++,y=Math.max(y,n[v]+1));for(let v=0;v<64;v++)b[v+1]+=b[v];let A=b.slice(0,64);for(let v=0;v<e;v++)t[v]&&(this.colorBodies[A[n[v]]++]=v);return{numColors:y,conflicts:g,rounds:h}}};var Pc=0,Bi=1,Lc=2,Io=3,hs=4,_c=[0,3,1,1,2],Sn=.05,j=4,O=32,se=0,te=3,Q=6,_e=9,Ae=12,Pt=15,fe=18,N=21,Y=23,re=25,be=26,Ue=27,Wi=28,zr=class{params=Co();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 ko;coloring=new _o;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,o=[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([o[0],o[1],o[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*j),this.data=this.grow(this.data,t*O),this.contactCount>0&&(this.info.copyWithin((e+1)*j,e*j,(t-1)*j),this.data.copyWithin((e+1)*O,e*O,(t-1)*O)),this.data.fill(0,e*O,e*O+O);for(let i=0;i<3;i++)this.data[e*O+Q+i]=1/0,this.data[e*O+_e+i]=-1/0,this.data[e*O+Ae+i]=1/0,this.data[e*O+Pt+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*j)}addJoint(e,t,i,r,o=[1/0,1/0,1/0],a=1/0){let n=this.allocConstraint();this.setInfo(n,Bi,e,t);let l=this.data,c=n*O;l.set(o,c+Q),l[c+Ae+2]=a,l[c+_e+2]=-a,l[c+Pt+2]=a,l.set(i,c+N),l.set(r,c+Y),l[c+re]=(e>=0?this.pose[e*4+2]:0)-this.pose[t*4+2];let u=(e>=0?this.shape[e*4]:0)+this.shape[t*4],f=(e>=0?this.shape[e*4+1]:0)+this.shape[t*4+1];l[c+be]=u*u+f*f;let d={slot:n,alive:!0};return this.handles[n]=d,d}setJointWorldAnchor(e,t,i){e.alive&&(this.data[e.slot*O+N]=t,this.data[e.slot*O+N+1]=i)}removeJoint(e){e.alive&&(this.disable(e.slot),e.alive=!1)}addSpring(e,t,i,r,o,a){let n=this.allocConstraint();this.setInfo(n,Lc,e,t);let l=n*O;this.data[l+Q]=o,this.data.set(i,l+N),this.data.set(r,l+Y),this.data[l+re]=a}addMotor(e,t,i,r){let o=this.allocConstraint();this.setInfo(o,Io,e,t);let a=o*O;this.data[a+Ae]=r,this.data[a+_e]=-r,this.data[a+re]=i}ignoredPairs(){return this.ignorePairs}addIgnoreCollision(e,t){this.ignorePairs.push(Mr(e,t)),this.noCollideDirty=!0}loadFromReference(e){this.clear();let t=Object.keys(Co());Object.assign(this.params,Object.fromEntries(t.map(r=>[r,e[r]])));let i=new Map(e.bodies.map((r,o)=>[r,o]));for(let r of e.bodies){let o=this.addBody(r.size,0,r.friction,r.position,r.velocity);this.shape[o*4+2]=r.mass,this.shape[o*4+3]=r.moment,this.dynamic[o]=r.mass>0?1:0}for(let r of e.forces){let o=r.bodyA?i.get(r.bodyA):-1,a=i.get(r.bodyB);if(r instanceof xo){let n=this.addJoint(o,a,r.rA,r.rB,[r.stiffness[0],r.stiffness[1],r.stiffness[2]],r.fracture[2]);this.data[n.slot*O+re]=r.restAngle,this.data[n.slot*O+be]=r.torqueArm}else r instanceof Ao?this.addSpring(o,a,r.rA,r.rB,r.stiffness[0],r.rest):r instanceof Bo?this.addMotor(o,a,r.speed,r.fmax[0]):r instanceof wo&&this.addIgnoreCollision(o,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 o=0;o<r;o++){let a=t?o<e.iterations?1:0:i;this.primal(a),this.mark("primal"),o<e.iterations&&this.dual(a),o===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*j),this.prevData=new Float64Array(e*2*O));for(let i=0;i<e;i++){let r=t+i;this.prevKeys[i]=Mr(this.info[r*j+1],this.info[r*j+2])}this.prevInfo.set(this.info.subarray(t*j,(t+e)*j)),this.prevData.set(this.data.subarray(t*O,(t+e)*O)),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*j+1],r=this.info[t*j+2];this.info[t*j]!==Pc&&i>=0&&e.push(Mr(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 o=0;o<this.jointCount;o++){let a=o*O;if(e[o*j]===Bi){if(t[a+Q]===0&&t[a+Q+1]===0&&t[a+Q+2]===0){let u=this.handles[o];u&&(u.alive=!1);continue}let l=e[o*j+1],c=e[o*j+2];this.jointC(l,c,a,i,t,a+fe)}r!==o&&(e.copyWithin(r*j,o*j,(o+1)*j),t.copyWithin(r*O,a,a+O),this.handles[r]=this.handles[o],this.handles[r]&&(this.handles[r].slot=r)),r++}if(r!==this.jointCount){for(let o=r;o<this.jointCount;o++)this.handles[o]=null;this.jointCount=r,this.noCollideDirty=!0}}jointC(e,t,i,r,o,a,n=o){let l,c,u;if(e>=0){let h=Math.cos(r[e*4+2]),g=Math.sin(r[e*4+2]),b=o[i+N],y=o[i+N+1];l=h*b-g*y+r[e*4],c=g*b+h*y+r[e*4+1],u=r[e*4+2]}else l=o[i+N],c=o[i+N+1],u=0;let f=Math.cos(r[t*4+2]),d=Math.sin(r[t*4+2]),p=o[i+Y],m=o[i+Y+1];n[a]=l-(f*p-d*m+r[t*4]),n[a+1]=c-(d*p+f*m+r[t*4+1]),n[a+2]=(u-r[t*4+2]-o[i+re])*o[i+be]}narrowphase(){let{pose:e,shape:t,props:i}=this,r=this.broadphase.pairs,o=this.contactOut;for(let a=0;a<this.broadphase.pairCount;a++){let n=r[a],l=Math.floor(n/2097152),c=n-l*2097152,u=Lo(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,o);if(u===0)continue;let f=0,d=this.prevCount;for(;f<d;){let h=f+d>>>1;this.prevKeys[h]<n?f=h+1:d=h}let p=f,m=Math.sqrt(i[l*4]*i[c*4]);for(let h=0;h<u;h++){let g=this.jointCount+this.contactCount++;this.info=this.grow(this.info,(g+1)*j),this.data=this.grow(this.data,(g+1)*O);let b=this.data,y=g*O,A=h*7,v=o[A+0];this.info.set([hs,l,c,v],g*j),b.fill(0,y,y+O),b[y+Q]=b[y+Q+1]=1/0,b[y+_e]=-1/0,b[y+Ae]=0,b[y+Pt]=b[y+Pt+1]=1/0,b[y+N]=o[A+1],b[y+N+1]=o[A+1+1],b[y+Y]=o[A+3],b[y+Y+1]=o[A+3+1],b[y+re]=m,b[y+be]=o[A+5],b[y+Ue]=o[A+5+1];let x=-1;for(let C=p;C<this.prevCount&&this.prevKeys[C]===n;C++)this.prevInfo[C*j+3]===v&&(x=C);if(x<0&&this.params.matchNearest){let C=Sn*Math.min(t[l*4],t[l*4+1],t[c*4],t[c*4+1]);for(let _=p;_<this.prevCount&&this.prevKeys[_]===n;_++){let z=Math.hypot(this.prevData[_*O+N]-b[y+N],this.prevData[_*O+N+1]-b[y+N+1]);z<=C&&(C=z,x=_)}}if(x>=0){let C=x*O;b[y+se]=this.prevData[C+se],b[y+se+1]=this.prevData[C+se+1],b[y+te]=this.prevData[C+te],b[y+te+1]=this.prevData[C+te+1],this.prevData[C+Wi]&&(b[y+N]=this.prevData[C+N],b[y+N+1]=this.prevData[C+N+1],b[y+Y]=this.prevData[C+Y],b[y+Y+1]=this.prevData[C+Y+1])}let[w,B]=wi(e[l*4+2],b[y+N],b[y+N+1]),[L,M]=wi(e[c*4+2],b[y+Y],b[y+Y+1]),I=b[y+be],E=b[y+Ue],k=e[l*4]+w-e[c*4]-L,P=e[l*4+1]+B-e[c*4+1]-M;b[y+fe]=I*k+E*P+5e-4,b[y+fe+1]=E*k-I*P}}}warmStartConstraints(e,t){let i=this.params,r=this.data,o=this.jointCount+this.contactCount;for(let a=0;a<o;a++){let n=_c[this.info[a*j]],l=a*O;for(let c=0;c<n;c++){if(i.vbd){r[l+se+c]=_r(r[l+Q+c],i.vbdStiffness);continue}e||(r[l+te+c]=r[l+te+c]*t*i.gamma),r[l+se+c]=_r(Er(r[l+se+c]*i.gamma,1,1e9),r[l+Q+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 o=0;o<t;o++)for(let a=1;a<=2;a++){let n=this.info[o*j+a];n>=0&&this.dynamic[n]&&i[n+1]++}for(let o=0;o<e;o++)i[o+1]+=i[o];let r=i.slice(0,e);for(let o=0;o<t;o++)for(let a=1;a<=2;a++){let n=this.info[o*j+a];n>=0&&this.dynamic[n]&&(this.adjList[r[n]++]=o)}}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:o,inertial:a,prevVelocity:n}=this;for(let l=0;l<this.bodyCount;l++){let c=l*4;r[c+2]=Er(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 u=(r[c+1]-n[c+1])/e*Bc(t),f=Er(u/Math.abs(t),0,1);Number.isFinite(f)||(f=0),o[c]=i[c],o[c+1]=i[c+1],o[c+2]=i[c+2],i[c]=i[c]+r[c]*e,i[c+1]=i[c+1]+r[c+1]*e+t*f*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:o,pose:a,initial:n}=this,l=r[e*j],c=r[e*j+1],u=r[e*j+2],f=e*O,{eC:d,eMin:p,eMax:m,eJ:h,eG:g}=this,b=_c[l];for(let A=0;A<b;A++)p[A]=o[f+_e+A],m[A]=o[f+Ae+A];let y=i===c;if(g.fill(0),l===Bi){this.jointC(c,u,f,a,o,0,d);for(let A=0;A<3;A++)o[f+Q+A]===1/0&&(d[A]-=o[f+fe+A]*t);if(i>=0){let A=a[i*4+2],[v,x]=wi(A,o[f+(y?N:Y)],o[f+(y?N:Y)+1]),w=y?1:-1;h[0]=w,h[1]=0,h[2]=-w*x,h[3]=0,h[4]=w,h[5]=w*v,h[6]=0,h[7]=0,h[8]=w*o[f+be],g[2]=Math.abs(v),g[5]=Math.abs(x)}}else if(l===Lc){let[A,v]=Ec(a,c,o[f+N],o[f+N+1]),[x,w]=Ec(a,u,o[f+Y],o[f+Y+1]),B=A-x,L=v-w,M=B*B+L*L,I=Math.sqrt(M);if(d[0]=I-o[f+re],i>=0&&M!==0){let E=B/I,k=L/I,P=(1-E*E)/I,C=-E*k/I,_=(1-k*k)/I,z=a[i*4+2],R=y?N:Y,[G,X]=wi(z,-o[f+R+1],o[f+R]),[W,U]=wi(z,o[f+R],o[f+R+1]),H=P*G+C*X,Z=C*G+_*X,he=E*W+k*U,we=E*G+k*X,Oe=y?1:-1;h[0]=Oe*E,h[1]=Oe*k,h[2]=Oe*we;let $=y?-he-he:he+he;g[0]=Math.hypot(P,C,H),g[1]=Math.hypot(C,_,Z),g[2]=Math.hypot(H,Z,$)}else i>=0&&h.fill(0,0,3)}else if(l===Io){let A=c>=0?a[c*4+2]-n[c*4+2]:0,v=a[u*4+2]-n[u*4+2];d[0]=A-v-o[f+re]*this.params.dt,i>=0&&(h[0]=0,h[1]=0,h[2]=y?1:-1)}else if(l===hs){let A=o[f+be],v=o[f+Ue],x=v,w=-A,[B,L]=wi(n[c*4+2],o[f+N],o[f+N+1]),[M,I]=wi(n[u*4+2],o[f+Y],o[f+Y+1]),E=B*v-L*A,k=-(M*v-I*A),P=B*w-L*x,C=-(M*w-I*x),_=a[c*4]-n[c*4],z=a[c*4+1]-n[c*4+1],R=a[c*4+2]-n[c*4+2],G=a[u*4]-n[u*4],X=a[u*4+1]-n[u*4+1],W=a[u*4+2]-n[u*4+2];d[0]=o[f+fe]*(1-t)+A*_+v*z+E*R+-A*G+-v*X+k*W,d[1]=o[f+fe+1]*(1-t)+x*_+w*z+P*R+-x*G+-w*X+C*W;let U=Math.abs(o[f+te])*o[f+re];m[1]=U,p[1]=-U,i>=0&&(y?(h[0]=A,h[1]=v,h[2]=E,h[3]=x,h[4]=w,h[5]=P):(h[0]=-A,h[1]=-v,h[2]=k,h[3]=-x,h[4]=-w,h[5]=C))}return b}solveBody(e,t){let i=this.params,{shape:r,pose:o,inertial:a,data:n}=this,l=i.dt*i.dt,c=r[e*4+2]/l,u=r[e*4+3]/l,f=c,d=0,p=c,m=0,h=0,g=u,b=c*(o[e*4]-a[e*4]),y=c*(o[e*4+1]-a[e*4+1]),A=u*(o[e*4+2]-a[e*4+2]),{eC:v,eMin:x,eMax:w,eJ:B,eG:L}=this,M=this.adjStart,I=this.adjList;for(let H=M[e+1]-1;H>=M[e];H--){let Z=I[H],he=this.evalConstraint(Z,t,e),we=Z*O,Oe=!i.vbd;for(let $=0;$<he;$++){let Je=n[we+Q+$],Xe=Oe&&Je===1/0?n[we+te+$]:0,Be=n[we+se+$],ot=v[$],ri=Be*ot+Xe,Ye=Er(ri,x[$],w[$]),at=Math.abs(Ye);i.stiffnessRescale&&ot!==0&&(ri<x[$]?Be=Math.abs((x[$]-Xe)/ot):ri>w[$]&&(Be=Math.abs((w[$]-Xe)/ot)));let Qe=B[$*3],nt=B[$*3+1],wt=B[$*3+2];b+=Qe*Ye,y+=nt*Ye,A+=wt*Ye,f+=Qe*Qe*Be+L[$*3]*at,d+=nt*Qe*Be,p+=nt*nt*Be+L[$*3+1]*at,m+=wt*Qe*Be,h+=wt*nt*Be,g+=wt*wt*Be+L[$*3+2]*at}}let E=f,k=d/f,P=m/f,C=p-k*k*E,_=(h-k*P*E)/C,z=g-(P*P*E+_*_*C),R=y-k*b,X=(A-P*b-_*R)/z,W=R/C-_*X,U=b/E-k*W-P*X;this.dxBuf[e*3]=U,this.dxBuf[e*3+1]=W,this.dxBuf[e*3+2]=X}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 o=t[r];o<t[r+1];o++)this.solveBody(i[o],e);for(let o=t[r];o<t[r+1];o++)this.applyDx(i[o])}}dual(e){let t=this.params,i=this.data,{eC:r,eMin:o,eMax:a}=this,n=this.jointCount+this.contactCount;for(let l=0;l<n;l++){let c=this.info[l*j];if(c===Pc)continue;let u=this.evalConstraint(l,e,-1),f=l*O;c===hs&&(i[f+Wi]=Math.abs(i[f+te+1])<a[1]&&Math.abs(i[f+fe+1])<.01?1:0);for(let d=0;d<u;d++){let p=i[f+Q+d],m=!t.vbd&&p===1/0?i[f+te+d]:0,h=Er(i[f+se+d]*r[d]+m,o[d],a[d]);i[f+te+d]=h,Math.abs(h)>=i[f+Pt+d]&&this.disable(l),!t.vbd&&h>o[d]&&h<a[d]&&(i[f+se+d]=_r(i[f+se+d]+t.beta*Math.abs(r[d]),_r(1e9,i[f+Q+d])))}}}refreshStick(){let e=this.data;for(let t=0;t<this.contactCount;t++){let i=(this.jointCount+t)*O,r=Math.abs(e[i+te])*e[i+re];e[i+Wi]=Math.abs(e[i+te+1])<r&&Math.abs(e[i+fe+1])<.01?1:0}}disable(e){let t=e*O;this.data.fill(0,t+se,t+se+3),this.data.fill(0,t+te,t+te+3),this.data.fill(0,t+Q,t+Q+3)}updateVelocities(){let{dt:e}=this.params,{pose:t,initial:i,velocity:r,prevVelocity:o}=this;for(let a=0;a<this.bodyCount;a++){let n=a*4;o[n]=r[n],o[n+1]=r[n+1],o[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,o]=wi(-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(o)<=this.shape[i*4+1]*.5)return{body:i,local:[r,o]}}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*j]!==Bi)continue;let r=i*O;this.jointC(this.info[i*j+1],this.info[i*j+2],r,this.pose,this.data,0,t);for(let o=0;o<2;o++)this.data[r+Q+o]===1/0&&(e=Math.max(e,Math.abs(t[o])))}return e}isContactPairIgnored(e,t){return wn(this.noCollide,this.noCollideCount,Mr(e,t))}};function wi(s,e,t){let i=Math.cos(s),r=Math.sin(s);return[i*e-r*t,r*e+i*t]}function Ec(s,e,t,i){let r=Math.cos(s[e*4+2]),o=Math.sin(s[e*4+2]);return[r*t-o*i+s[e*4],o*t+r*i+s[e*4+1]]}var ps=`
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3894
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${Ut}
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@group(0) @binding(0) var<uniform> params: Params;
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3612
3897
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@group(0) @binding(1) var<storage, read> bodies: array<Body>;
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@@ -3745,8 +4030,8 @@ fn findPairs(@builtin(global_invocation_id) gid: vec3u) {
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3745
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testPair(l, i);
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}
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}
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-
`,
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-
${
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`,ms=`
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${Ut}
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@group(0) @binding(0) var<uniform> params: Params;
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@group(0) @binding(1) var<storage, read> bodies: array<Body>;
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@@ -4072,8 +4357,8 @@ fn narrowphase(@builtin(global_invocation_id) gid: vec3u) {
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contacts[k] = rec;
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}
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}
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-
`;var
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${
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4360
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`;var gs=`
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4361
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${Ut}
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4362
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// Per-dispatch constants, selected with a dynamic uniform offset
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4079
4364
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struct PassConstants {
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@@ -4445,7 +4730,7 @@ fn updateVelocities(@builtin(global_invocation_id) gid: vec3u) {
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4445
4730
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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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4446
4731
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bodies[i] = b;
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}
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4448
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-
`;var fo=s=>s===1/0?3e38:s===-1/0?-3e38:s,mt=s=>Math.ceil(s/64),Fl=s=>2**Math.ceil(Math.log2(Math.max(s,2))),Wu=s=>Math.max(s,1)*24*4,Hu=4,gt=()=>GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_SRC|GPUBufferUsage.COPY_DST,ho=class{device;params=io();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:Wu(this.bodyCapacity),usage:gt()});let r=this.bodyCapacity;this.tableSize=Fl(2*r),this.gridBuffer=e.createBuffer({label:"grid",size:(2*this.tableSize+1+3*r)*4,usage:gt()}),this.counterBuffer=e.createBuffer({label:"counters",size:64,usage:gt()}),this.argsBuffer=e.createBuffer({label:"indirect args",size:816,usage:gt()|GPUBufferUsage.INDIRECT}),this.colorGroups=Math.ceil(r/256),this.colorBuffer=e.createBuffer({label:"colours",size:(3*r+65+64*this.colorGroups+1)*4,usage:gt()}),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 o=2*Se.length;this.timing=e.features.has("timestamp-query")?{querySet:e.createQuerySet({type:"timestamp",count:o}),resolve:e.createBuffer({size:o*8,usage:GPUBufferUsage.QUERY_RESOLVE|GPUBufferUsage.COPY_SRC}),read:e.createBuffer({size:o*8,usage:GPUBufferUsage.MAP_READ|GPUBufferUsage.COPY_DST})}:null,this.layouts=this.createLayouts(),this.createPipelines(),this.gridScan=new tt(e,this.gridBuffer,0,this.tableSize+1),this.colorHistScan=new tt(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=(n,a)=>e.createBindGroupLayout({label:n,entries:a.map((l,c)=>({binding:c,visibility:GPUShaderStage.COMPUTE,buffer:{type:l}}))}),i="read-only-storage",r="storage",o="uniform";return{broad:t("broadphase",[o,i,r,r,r,i,i]),contacts:t("contacts",[o,i,i,r,i,r,r]),topo:t("topology",[o,i,i,i,i,r,r,r]),solve:t("solve",[o,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",[o,i,i,r])}}createPipelines(){let e=this.device,t=(r,o,n)=>{let a=e.createShaderModule({code:r}),l=e.createPipelineLayout({bindGroupLayouts:o});for(let c of n)this.pipes[c]=e.createComputePipeline({label:c,layout:l,compute:{module:a,entryPoint:c}})},i=this.layouts;t(es,[i.broad],["beginFrame","gridCount","gridScatter","findPairs"]),t(ts,[i.contacts],["hashInsert","narrowphase"]),t(Dr,[i.topo],["degreeJoints","degreeContacts","fillJoints","fillContacts","sortAdjacency","colorCompact","colorMark","colorRoundAB","colorRoundBA","colorCount","colorStarts","colorScatter"]),t(is,[i.solve,i.pass],["warmStartJoints","warmStartBodies","primal","primalScan","dual","refreshStick","updateVelocities"]),t(Cs,[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:gt()}),r=t.createBuffer({label:"joint info",size:Math.max(e,1)*16,usage:gt()});if(this.jointBuffer){let o=t.createCommandEncoder();o.copyBufferToBuffer(this.jointBuffer,0,i,0,this.jointCapacity*36*4),o.copyBufferToBuffer(this.infoBuffer,0,r,0,this.jointCapacity*16),t.queue.submit([o.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,o=Math.min(e,Math.floor(r/80),Math.floor(r/16)),n=Math.min(t,Math.floor(r/8)),a=this.contactBuffers,l=this.contactCapacity;for(let c of[this.pairBuffer,this.tableBuffer])c?.destroy();if(this.contactCapacity=o,this.pairCapacity=n,this.hashSize=Fl(4*o),this.pairBuffer=i.createBuffer({label:"pairs",size:n*8,usage:gt()}),this.tableBuffer=i.createBuffer({label:"contact hash",size:this.hashSize*4,usage:gt()}),this.contactBuffers=[0,1].map(c=>i.createBuffer({label:`contacts ${c}`,size:o*20*4,usage:gt()})),a){let c=i.createCommandEncoder(),u=Math.min(l,o)*20*4;a.forEach((f,d)=>c.copyBufferToBuffer(f,0,this.contactBuffers[d],0,u)),i.queue.submit([c.finish()]),a.forEach(f=>f.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:gt()}),this.adjScan?.destroy(),this.adjScan=new tt(e,this.adjBuffer,0,this.bodyCount+1),this.staticBuffer??=e.createBuffer({label:"statics",size:16,usage:gt()});let i=(l,c)=>e.createBindGroup({layout:l,entries:c.map((u,f)=>({binding:f,resource:{buffer:u}}))}),r=this.paramsBuffer,[o,n]=this.contactBuffers,a=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,o,n,this.tableBuffer,this.counterBuffer]),i(this.layouts.contacts,[r,this.bodyBuffer,this.pairBuffer,n,o,this.tableBuffer,this.counterBuffer])],topo:[o,n].map(l=>i(this.layouts.topo,[r,this.bodyBuffer,this.jointBuffer,this.infoBuffer,l,this.counterBuffer,a,this.colorBuffer])),solve:[o,n].map(l=>i(this.layouts.solve,[r,this.bodyBuffer,this.jointBuffer,this.infoBuffer,l,a,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 o=0;o<t;o++){let n=e+o,a=o*24;r.set(i.pose.subarray(n*4,n*4+3),a),r[a+3]=i.props[n*4],r.set(i.initial.subarray(n*4,n*4+4),a+4),r.set(i.inertial.subarray(n*4,n*4+4),a+8),r.set(i.velocity.subarray(n*4,n*4+4),a+12),r.set(i.prevVelocity.subarray(n*4,n*4+4),a+16),r.set(i.shape.subarray(n*4,n*4+4),a+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 o=0;o<t;o++){let n=(e+o)*O,a=o*36;for(let l=0;l<3;l++)r[a+0+l]=i.data[n+se+l],r[a+4+l]=i.data[n+te+l],r[a+8+l]=fo(i.data[n+Q+l]),r[a+12+l]=fo(i.data[n+Le+l]),r[a+16+l]=fo(i.data[n+xe+l]),r[a+20+l]=fo(i.data[n+Pt+l]),r[a+24+l]=i.data[n+fe+l];r[a+28]=i.data[n+U],r[a+28+1]=i.data[n+U+1],r[a+28+2]=i.data[n+Y],r[a+28+3]=i.data[n+Y+1],r[a+32]=i.data[n+re],r[a+32+1]=i.data[n+ge]}this.device.queue.writeBuffer(this.jointBuffer,e*36*4,r),this.device.queue.writeBuffer(this.infoBuffer,e*16,i.info,e*j,t*j)}uploadStatics(){let e=this.topology,t=this.bodyCount,i=Float64Array.from({length:t},(f,d)=>e.props[d*4+1]).sort(),r=t>0?i[t>>1]:1,o=0;for(let f=0;f<t;f++)i[f]<=Hu*r&&(o=Math.max(o,i[f]));let n=1/0;for(let f=0;f<t;f++)i[f]>o&&(n=Math.min(n,i[f]));let a=n===1/0?o*1.5:(o+n)/2;this.maxSmallRadius=a,this.cellSize=Math.max(2*o*(1+1e-4),.001);let l=[];for(let f=0;f<t;f++)e.props[f*4+1]>a&&l.push(f);let c=[];for(let f=0;f<e.jointCount;f++){let d=e.info[f*j+1],p=e.info[f*j+2];d>=0&&c.push([Math.max(d,p),Math.min(d,p),f])}for(let f of e.ignoredPairs()){let d=Math.floor(f/2097152);c.push([d,f-d*2097152,4294967295])}c.sort((f,d)=>f[0]-d[0]||f[1]-d[1]),this.largeCount=l.length,this.noCollideCount=c.length;let u=new Uint32Array(Math.max(l.length+3*c.length,4));u.set(l,0),c.forEach((f,d)=>u.set(f,l.length+3*d)),this.staticBuffer.size<u.byteLength&&(this.staticBuffer.destroy(),this.staticBuffer=this.device.createBuffer({label:"statics",size:u.byteLength,usage:gt()}),this.rebuildBindings()),this.device.queue.writeBuffer(this.staticBuffer,0,u),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),o=new Float32Array(i);for(let l=0;l<t;l++){let c=e.jointCount+l,u=c*O,f=l*20;r[f]=e.info[c*j+1],r[f+1]=e.info[c*j+2],r[f+2]=e.info[c*j+3],r[f+3]=e.data[u+Vi]?1:0,o.set([e.data[u+se],e.data[u+se+1],e.data[u+te],e.data[u+te+1]],f+4),o.set([e.data[u+U],e.data[u+U+1],e.data[u+Y],e.data[u+Y+1]],f+8),o.set([e.data[u+fe],e.data[u+fe+1],e.data[u+ge],e.data[u+Fe]],f+12),o[f+16]=e.data[u+re]}this.device.queue.writeBuffer(this.contactBuffers[1-this.parity],0,i);let n=new Uint32Array(16);n[1]=t,this.device.queue.writeBuffer(this.counterBuffer,0,n);let a=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,a)}addBody(e,t,i,r,o){if(this.bodyCount>=this.bodyCapacity)return-1;let n=this.topology.addBody(e,t,i,r,o);return this.bodyCount=this.topology.bodyCount,this.uploadBodies(n,1),this.device.queue.writeBuffer(this.colorBuffer,n*4,new Uint32Array([255])),this.adjScan.destroy(),this.adjScan=new tt(this.device,this.adjBuffer,0,this.bodyCount+1),n}appendJoint(e,t,i,r,o,n=1/0){let a=this.topology;if(a.contactCount>0)throw new Error("appendJoint: the CPU mirror must not hold contacts");let l=a.addJoint(e,t,i,r,o,n).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*O+Q,e*O+Q+3)}profileNextStep(e){this.timing&&!this.timingBusy&&(this.timingCallback=e)}writeParams(e,t){let i=this.params,r=this.bodyCapacity,o=new ArrayBuffer(128),n=new Float32Array(o),a=new Uint32Array(o);n[0]=i.dt,n[1]=i.gravity,n[2]=i.beta,n[3]=i.gamma,n[4]=e,n[5]=i.vbdStiffness,a[6]=(i.vbd?1:0)|(i.stiffnessRescale?2:0)|(t?4:0)|(i.matchNearest?8:0),a[7]=this.bodyCount,a[8]=this.jointCount,a[9]=this.colorCap,n[10]=this.cellSize,a[11]=this.tableSize-1,n[12]=this.maxSmallRadius,a[13]=this.largeCount,a[14]=this.noCollideCount,a[15]=this.pairCapacity,a[16]=this.contactCapacity,a[17]=this.hashSize-1,a[18]=r+1,a[19]=2*r+1,a[20]=this.tableSize+1,a[21]=2*this.tableSize+1,a[22]=2*this.tableSize+1+r,a[23]=r,a[24]=this.colorHistOffset,a[25]=2*r,a[26]=this.colorGroups,a[27]=2*r+65,a[28]=this.colorRounds,this.device.queue.writeBuffer(this.paramsBuffer,0,o)}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 o=new ArrayBuffer(r*256),n=new Uint32Array(o),a=new Float32Array(o);for(let l=0;l<e;l++)for(let c=0;c<=this.colorCap;c++){let u=(l*i+c)*256/4;n[u]=c,a[u+1]=t(l)}this.device.queue.writeBuffer(this.passBuffer,0,o)}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 o=this.parity,n=this.bodyCapacity,a=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*n+1)*4);let u=this.timingCallback!==null&&this.timing!==null,f,d=0,p=u||this.splitPasses,g=()=>{f&&!p||(f?.end(),f=c.beginComputePass({label:p?Se[d]:"avbd2d step",timestampWrites:u?{querySet:this.timing.querySet,beginningOfPassWriteIndex:2*d,endOfPassWriteIndex:2*d+1}:void 0}),d++)},h=this.groups,m=(A,x,B)=>{B<=0||(f.setPipeline(this.pipes[A]),f.setBindGroup(0,x),f.dispatchWorkgroups(B))},b=(A,x,B)=>{f.setPipeline(this.pipes[A]),f.setBindGroup(0,x),f.dispatchWorkgroupsIndirect(this.argsBuffer,B*4)};g(),m("beginFrame",h.broad,1),m("argsPrev",h.args,1),b("hashInsert",h.contacts[o],6),m("gridCount",h.broad,mt(a)),this.gridScan.encode(f),m("gridScatter",h.broad,mt(a)),m("findPairs",h.broad,mt(a)),m("argsPairs",h.args,1),b("narrowphase",h.contacts[o],0),m("argsContacts",h.args,1),g(),m("degreeJoints",h.topo[o],mt(l)),b("degreeContacts",h.topo[o],3),this.adjScan.encode(f),m("fillJoints",h.topo[o],mt(l)),b("fillContacts",h.topo[o],3),m("sortAdjacency",h.topo[o],mt(a)),g(),m("colorCompact",h.topo[o],mt(a)),m("colorMark",h.topo[o],mt(a));for(let A=0;A<this.colorRounds;A++)m(A%2===0?"colorRoundAB":"colorRoundBA",h.topo[o],mt(a));m("colorCount",h.topo[o],this.colorGroups),this.colorHistScan.encode(f),m("colorStarts",h.topo[o],1),m("argsColors",h.args,1),m("colorScatter",h.topo[o],this.colorGroups),g();let v=this.colorCap+1,w=A=>f.setBindGroup(1,this.passGroup,[A*256]);f.setBindGroup(0,h.solve[o]),w(0),l>0&&(f.setPipeline(this.pipes.warmStartJoints),f.dispatchWorkgroups(mt(l))),f.setPipeline(this.pipes.warmStartBodies),f.dispatchWorkgroups(mt(a));for(let A=0;A<r;A++){let x=this.primalMode==="scan";f.setPipeline(x?this.pipes.primalScan:this.pipes.primal);for(let B=0;B<this.colorCap;B++)w(A*v+B),x?f.dispatchWorkgroups(mt(a)):f.dispatchWorkgroupsIndirect(this.argsBuffer,(12+3*B)*4);A<e.iterations&&(w(A*v+this.colorCap),f.setPipeline(this.pipes.dual),f.dispatchWorkgroupsIndirect(this.argsBuffer,36)),A===e.iterations-1&&(f.setPipeline(this.pipes.updateVelocities),f.dispatchWorkgroups(mt(a)))}t&&(f.setPipeline(this.pipes.refreshStick),f.dispatchWorkgroupsIndirect(this.argsBuffer,12)),f.end();let y=2*Se.length;if(u){let{querySet:A,resolve:x,read:B}=this.timing;c.resolveQuerySet(A,0,y,x,0),c.copyBufferToBuffer(x,0,B,0,y*8)}if(this.device.queue.submit([c.finish()]),this.parity=1-o,u){let A=this.timingCallback;this.timingCallback=null,this.timingBusy=!0;let x=this.timing.read;x.mapAsync(GPUMapMode.READ).then(()=>{let B=new BigUint64Array(x.getMappedRange()).slice();if(x.unmap(),this.timingBusy=!1,this.destroyed)return this.releaseTiming();let E=(M,z)=>Number(B[z]-B[M])/1e6,L={total:E(0,y-1)};Se.forEach((M,z)=>L[M]=E(2*z,2*z+1)),A(L)},()=>{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,o=this.contactCapacity*(i?2:1),n=this.pairCapacity*(r?2:1);(i||r)&&this.capacityCanGrow(o,n)&&this.allocateContacts(o,n)}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 u=c*24,f=t[u+22],d=t[u+12],p=t[u+13],g=t[u+14];f>0&&(r+=.5*f*(d*d+p*p)+.5*t[u+23]*g*g)}let o=0,n=0,a=this.topology.info,l=(c,u,f)=>{let d=c*24,p=Math.cos(t[d+2]),g=Math.sin(t[d+2]);return[p*u-g*f+t[d],g*u+p*f+t[d+1]]};for(let c=0;c<this.jointCount;c++){if(a[c*j]!==xi)continue;let u=c*36;if(i[u+8]===0&&i[u+8+1]===0&&i[u+8+2]===0)continue;n++;let f=a[c*j+1],d=a[c*j+2],p=f>=0?l(f,i[u+28],i[u+28+1]):[i[u+28],i[u+28+1]],g=l(d,i[u+28+2],i[u+28+3]);for(let h=0;h<2;h++)i[u+8+h]>=1e30&&(o=Math.max(o,Math.abs(p[h]-g[h])))}return{kineticEnergy:r,maxJointError:o,joints:n}}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 o=i.getMappedRange().slice(0);return i.unmap(),i.destroy(),o}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 Ju=`${Nt}
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4733
|
+
`;var Ro=s=>s===1/0?3e38:s===-1/0?-3e38:s,bt=s=>Math.ceil(s/64),Ic=s=>2**Math.ceil(Math.log2(Math.max(s,2))),Vf=s=>Math.max(s,1)*24*4,Wf=4,yt=()=>GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_SRC|GPUBufferUsage.COPY_DST,Oo=class{device;params=So();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:Vf(this.bodyCapacity),usage:yt()});let r=this.bodyCapacity;this.tableSize=Ic(2*r),this.gridBuffer=e.createBuffer({label:"grid",size:(2*this.tableSize+1+3*r)*4,usage:yt()}),this.counterBuffer=e.createBuffer({label:"counters",size:64,usage:yt()}),this.argsBuffer=e.createBuffer({label:"indirect args",size:816,usage:yt()|GPUBufferUsage.INDIRECT}),this.colorGroups=Math.ceil(r/256),this.colorBuffer=e.createBuffer({label:"colours",size:(3*r+65+64*this.colorGroups+1)*4,usage:yt()}),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 o=2*Se.length;this.timing=e.features.has("timestamp-query")?{querySet:e.createQuerySet({type:"timestamp",count:o}),resolve:e.createBuffer({size:o*8,usage:GPUBufferUsage.QUERY_RESOLVE|GPUBufferUsage.COPY_SRC}),read:e.createBuffer({size:o*8,usage:GPUBufferUsage.MAP_READ|GPUBufferUsage.COPY_DST})}:null,this.layouts=this.createLayouts(),this.createPipelines(),this.gridScan=new tt(e,this.gridBuffer,0,this.tableSize+1),this.colorHistScan=new tt(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",o="uniform";return{broad:t("broadphase",[o,i,r,r,r,i,i]),contacts:t("contacts",[o,i,i,r,i,r,r]),topo:t("topology",[o,i,i,i,i,r,r,r]),solve:t("solve",[o,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",[o,i,i,r])}}createPipelines(){let e=this.device,t=(r,o,a)=>{let n=e.createShaderModule({code:r}),l=e.createPipelineLayout({bindGroupLayouts:o});for(let c of a)this.pipes[c]=e.createComputePipeline({label:c,layout:l,compute:{module:n,entryPoint:c}})},i=this.layouts;t(ps,[i.broad],["beginFrame","gridCount","gridScatter","findPairs"]),t(ms,[i.contacts],["hashInsert","narrowphase"]),t(qr,[i.topo],["degreeJoints","degreeContacts","fillJoints","fillContacts","sortAdjacency","colorCompact","colorMark","colorRoundAB","colorRoundBA","colorCount","colorStarts","colorScatter"]),t(gs,[i.solve,i.pass],["warmStartJoints","warmStartBodies","primal","primalScan","dual","refreshStick","updateVelocities"]),t(Fs,[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:yt()}),r=t.createBuffer({label:"joint info",size:Math.max(e,1)*16,usage:yt()});if(this.jointBuffer){let o=t.createCommandEncoder();o.copyBufferToBuffer(this.jointBuffer,0,i,0,this.jointCapacity*36*4),o.copyBufferToBuffer(this.infoBuffer,0,r,0,this.jointCapacity*16),t.queue.submit([o.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,o=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=o,this.pairCapacity=a,this.hashSize=Ic(4*o),this.pairBuffer=i.createBuffer({label:"pairs",size:a*8,usage:yt()}),this.tableBuffer=i.createBuffer({label:"contact hash",size:this.hashSize*4,usage:yt()}),this.contactBuffers=[0,1].map(c=>i.createBuffer({label:`contacts ${c}`,size:o*20*4,usage:yt()})),n){let c=i.createCommandEncoder(),u=Math.min(l,o)*20*4;n.forEach((f,d)=>c.copyBufferToBuffer(f,0,this.contactBuffers[d],0,u)),i.queue.submit([c.finish()]),n.forEach(f=>f.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:yt()}),this.adjScan?.destroy(),this.adjScan=new tt(e,this.adjBuffer,0,this.bodyCount+1),this.staticBuffer??=e.createBuffer({label:"statics",size:16,usage:yt()});let i=(l,c)=>e.createBindGroup({layout:l,entries:c.map((u,f)=>({binding:f,resource:{buffer:u}}))}),r=this.paramsBuffer,[o,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,o,a,this.tableBuffer,this.counterBuffer]),i(this.layouts.contacts,[r,this.bodyBuffer,this.pairBuffer,a,o,this.tableBuffer,this.counterBuffer])],topo:[o,a].map(l=>i(this.layouts.topo,[r,this.bodyBuffer,this.jointBuffer,this.infoBuffer,l,this.counterBuffer,n,this.colorBuffer])),solve:[o,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 o=0;o<t;o++){let a=e+o,n=o*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 o=0;o<t;o++){let a=(e+o)*O,n=o*36;for(let l=0;l<3;l++)r[n+0+l]=i.data[a+se+l],r[n+4+l]=i.data[a+te+l],r[n+8+l]=Ro(i.data[a+Q+l]),r[n+12+l]=Ro(i.data[a+_e+l]),r[n+16+l]=Ro(i.data[a+Ae+l]),r[n+20+l]=Ro(i.data[a+Pt+l]),r[n+24+l]=i.data[a+fe+l];r[n+28]=i.data[a+N],r[n+28+1]=i.data[a+N+1],r[n+28+2]=i.data[a+Y],r[n+28+3]=i.data[a+Y+1],r[n+32]=i.data[a+re],r[n+32+1]=i.data[a+be]}this.device.queue.writeBuffer(this.jointBuffer,e*36*4,r),this.device.queue.writeBuffer(this.infoBuffer,e*16,i.info,e*j,t*j)}uploadStatics(){let e=this.topology,t=this.bodyCount,i=Float64Array.from({length:t},(f,d)=>e.props[d*4+1]).sort(),r=t>0?i[t>>1]:1,o=0;for(let f=0;f<t;f++)i[f]<=Wf*r&&(o=Math.max(o,i[f]));let a=1/0;for(let f=0;f<t;f++)i[f]>o&&(a=Math.min(a,i[f]));let n=a===1/0?o*1.5:(o+a)/2;this.maxSmallRadius=n,this.cellSize=Math.max(2*o*(1+1e-4),.001);let l=[];for(let f=0;f<t;f++)e.props[f*4+1]>n&&l.push(f);let c=[];for(let f=0;f<e.jointCount;f++){let d=e.info[f*j+1],p=e.info[f*j+2];d>=0&&c.push([Math.max(d,p),Math.min(d,p),f])}for(let f of e.ignoredPairs()){let d=Math.floor(f/2097152);c.push([d,f-d*2097152,4294967295])}c.sort((f,d)=>f[0]-d[0]||f[1]-d[1]),this.largeCount=l.length,this.noCollideCount=c.length;let u=new Uint32Array(Math.max(l.length+3*c.length,4));u.set(l,0),c.forEach((f,d)=>u.set(f,l.length+3*d)),this.staticBuffer.size<u.byteLength&&(this.staticBuffer.destroy(),this.staticBuffer=this.device.createBuffer({label:"statics",size:u.byteLength,usage:yt()}),this.rebuildBindings()),this.device.queue.writeBuffer(this.staticBuffer,0,u),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),o=new Float32Array(i);for(let l=0;l<t;l++){let c=e.jointCount+l,u=c*O,f=l*20;r[f]=e.info[c*j+1],r[f+1]=e.info[c*j+2],r[f+2]=e.info[c*j+3],r[f+3]=e.data[u+Wi]?1:0,o.set([e.data[u+se],e.data[u+se+1],e.data[u+te],e.data[u+te+1]],f+4),o.set([e.data[u+N],e.data[u+N+1],e.data[u+Y],e.data[u+Y+1]],f+8),o.set([e.data[u+fe],e.data[u+fe+1],e.data[u+be],e.data[u+Ue]],f+12),o[f+16]=e.data[u+re]}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,o){if(this.bodyCount>=this.bodyCapacity)return-1;let a=this.topology.addBody(e,t,i,r,o);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 tt(this.device,this.adjBuffer,0,this.bodyCount+1),a}appendJoint(e,t,i,r,o,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,o,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*O+Q,e*O+Q+3)}profileNextStep(e){this.timing&&!this.timingBusy&&(this.timingCallback=e)}writeParams(e,t){let i=this.params,r=this.bodyCapacity,o=new ArrayBuffer(128),a=new Float32Array(o),n=new Uint32Array(o);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,o)}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 o=new ArrayBuffer(r*256),a=new Uint32Array(o),n=new Float32Array(o);for(let l=0;l<e;l++)for(let c=0;c<=this.colorCap;c++){let u=(l*i+c)*256/4;a[u]=c,n[u+1]=t(l)}this.device.queue.writeBuffer(this.passBuffer,0,o)}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 o=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 u=this.timingCallback!==null&&this.timing!==null,f,d=0,p=u||this.splitPasses,m=()=>{f&&!p||(f?.end(),f=c.beginComputePass({label:p?Se[d]:"avbd2d step",timestampWrites:u?{querySet:this.timing.querySet,beginningOfPassWriteIndex:2*d,endOfPassWriteIndex:2*d+1}:void 0}),d++)},h=this.groups,g=(x,w,B)=>{B<=0||(f.setPipeline(this.pipes[x]),f.setBindGroup(0,w),f.dispatchWorkgroups(B))},b=(x,w,B)=>{f.setPipeline(this.pipes[x]),f.setBindGroup(0,w),f.dispatchWorkgroupsIndirect(this.argsBuffer,B*4)};m(),g("beginFrame",h.broad,1),g("argsPrev",h.args,1),b("hashInsert",h.contacts[o],6),g("gridCount",h.broad,bt(n)),this.gridScan.encode(f),g("gridScatter",h.broad,bt(n)),g("findPairs",h.broad,bt(n)),g("argsPairs",h.args,1),b("narrowphase",h.contacts[o],0),g("argsContacts",h.args,1),m(),g("degreeJoints",h.topo[o],bt(l)),b("degreeContacts",h.topo[o],3),this.adjScan.encode(f),g("fillJoints",h.topo[o],bt(l)),b("fillContacts",h.topo[o],3),g("sortAdjacency",h.topo[o],bt(n)),m(),g("colorCompact",h.topo[o],bt(n)),g("colorMark",h.topo[o],bt(n));for(let x=0;x<this.colorRounds;x++)g(x%2===0?"colorRoundAB":"colorRoundBA",h.topo[o],bt(n));g("colorCount",h.topo[o],this.colorGroups),this.colorHistScan.encode(f),g("colorStarts",h.topo[o],1),g("argsColors",h.args,1),g("colorScatter",h.topo[o],this.colorGroups),m();let y=this.colorCap+1,A=x=>f.setBindGroup(1,this.passGroup,[x*256]);f.setBindGroup(0,h.solve[o]),A(0),l>0&&(f.setPipeline(this.pipes.warmStartJoints),f.dispatchWorkgroups(bt(l))),f.setPipeline(this.pipes.warmStartBodies),f.dispatchWorkgroups(bt(n));for(let x=0;x<r;x++){let w=this.primalMode==="scan";f.setPipeline(w?this.pipes.primalScan:this.pipes.primal);for(let B=0;B<this.colorCap;B++)A(x*y+B),w?f.dispatchWorkgroups(bt(n)):f.dispatchWorkgroupsIndirect(this.argsBuffer,(12+3*B)*4);x<e.iterations&&(A(x*y+this.colorCap),f.setPipeline(this.pipes.dual),f.dispatchWorkgroupsIndirect(this.argsBuffer,36)),x===e.iterations-1&&(f.setPipeline(this.pipes.updateVelocities),f.dispatchWorkgroups(bt(n)))}t&&(f.setPipeline(this.pipes.refreshStick),f.dispatchWorkgroupsIndirect(this.argsBuffer,12)),f.end();let v=2*Se.length;if(u){let{querySet:x,resolve:w,read:B}=this.timing;c.resolveQuerySet(x,0,v,w,0),c.copyBufferToBuffer(w,0,B,0,v*8)}if(this.device.queue.submit([c.finish()]),this.parity=1-o,u){let x=this.timingCallback;this.timingCallback=null,this.timingBusy=!0;let w=this.timing.read;w.mapAsync(GPUMapMode.READ).then(()=>{let B=new BigUint64Array(w.getMappedRange()).slice();if(w.unmap(),this.timingBusy=!1,this.destroyed)return this.releaseTiming();let L=(I,E)=>Number(B[E]-B[I])/1e6,M={total:L(0,v-1)};Se.forEach((I,E)=>M[I]=L(2*E,2*E+1)),x(M)},()=>{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,o=this.contactCapacity*(i?2:1),a=this.pairCapacity*(r?2:1);(i||r)&&this.capacityCanGrow(o,a)&&this.allocateContacts(o,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 u=c*24,f=t[u+22],d=t[u+12],p=t[u+13],m=t[u+14];f>0&&(r+=.5*f*(d*d+p*p)+.5*t[u+23]*m*m)}let o=0,a=0,n=this.topology.info,l=(c,u,f)=>{let d=c*24,p=Math.cos(t[d+2]),m=Math.sin(t[d+2]);return[p*u-m*f+t[d],m*u+p*f+t[d+1]]};for(let c=0;c<this.jointCount;c++){if(n[c*j]!==Bi)continue;let u=c*36;if(i[u+8]===0&&i[u+8+1]===0&&i[u+8+2]===0)continue;a++;let f=n[c*j+1],d=n[c*j+2],p=f>=0?l(f,i[u+28],i[u+28+1]):[i[u+28],i[u+28+1]],m=l(d,i[u+28+2],i[u+28+3]);for(let h=0;h<2;h++)i[u+8+h]>=1e30&&(o=Math.max(o,Math.abs(p[h]-m[h])))}return{kineticEnergy:r,maxJointError:o,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 o=i.getMappedRange().slice(0);return i.unmap(),i.destroy(),o}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 Hf=`${Ut}
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4449
4734
|
struct Config { count:u32,joints:u32,capacity:u32,list:u32,threshold:f32,dt:f32,pad0:u32,pad1:u32 }
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|
4450
4735
|
struct Velocity { incoming:vec4f, incomingAngular:vec4f, linear:vec4f, angular:vec4f }
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4451
4736
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struct Bounce { impulse:f32,delta:f32,reboundSpeed:f32,inverseMass:f32,rA:vec4f,rB:vec4f }
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@@ -4491,9 +4776,9 @@ fn pointVelocity(i:u32,r:vec2f,incoming:bool)->vec2f{let v=select(velocities[i].
|
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4491
4776
|
velocities[i].linear+=vec4f(dv,0.);
|
|
4492
4777
|
}
|
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4493
4778
|
@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;}
|
|
4494
|
-
`;var
|
|
4495
|
-
if (counters[C_OVERFLOW] != 0u || counters[C_CLASHES] != 0u) { return; }`)}return s}function
|
|
4496
|
-
if (col >= params.colorCap) { atomicAdd(&counters[C_CLASHES], 1u); }`)}var
|
|
4779
|
+
`;var To=class extends Ar{constructor(e){super(e,{code:Hf,dimension:2})}};function Rc(s){for(let e of["warmStartJoints","warmStartBodies","primal","primalScan","dual","refreshStick","updateVelocities"]){let t=`fn ${e}(@builtin(global_invocation_id) gid: vec3u) {`;if(s.split(t).length!==2)throw Error(`Pinned 2D ${e} signature changed; review the step guard`);s=s.replace(t,`${t}
|
|
4780
|
+
if (counters[C_OVERFLOW] != 0u || counters[C_CLASHES] != 0u) { return; }`)}return s}function Ln(s){let e="if (col == NO_COLOR) { col = params.colorCap - 1u; }";if(s.split(e).length!==2)throw Error("Pinned 2D color-count layout changed; review the capacity guard");return s.replace(e,`${e}
|
|
4781
|
+
if (col >= params.colorCap) { atomicAdd(&counters[C_CLASHES], 1u); }`)}var Oc=`// Sleeping is scheduling metadata in velocity.w; physical mass and inertia stay intact.
|
|
4497
4782
|
struct Body {pose:vec4f,initial:vec4f,inertial:vec4f,vel:vec4f,prev:vec4f,shape:vec4f}
|
|
4498
4783
|
struct Joint {pen:vec4f,lam:vec4f,stiff:vec4f,fmin:vec4f,fmax:vec4f,frac:vec4f,c0:vec4f,anchors:vec4f,param:vec4f}
|
|
4499
4784
|
struct Contact {ids:vec4u,pl:vec4f,anchors:vec4f,geo:vec4f,misc:vec4f}
|
|
@@ -4564,10 +4849,10 @@ fn rotate(angle:f32,p:vec2f)->vec2f{let c=cos(angle);let s=sin(angle);return vec
|
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|
4564
4849
|
}
|
|
4565
4850
|
if(asleep(i)){atomicAdd(&globals[1],1u);}
|
|
4566
4851
|
}
|
|
4567
|
-
`;function
|
|
4852
|
+
`;function Do(s={}){if(s!==!0&&(typeof s!="object"||s===null))throw Error("sleeping must be a boolean or options object");let e=s.speedThreshold??.03,t=s.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 Tc(s){for(let e of["warmStartBodies","updateVelocities"])s=s.replace(`fn ${e}(@builtin(global_invocation_id) gid: vec3u) {`,`fn ${e}(@builtin(global_invocation_id) gid: vec3u) {
|
|
4568
4853
|
if(gid.x<params.bodyCount && bodies[gid.x].vel.w!=0.){return;}`);return s.replace("fn solveBody(i: u32) {",`fn solveBody(i: u32) {
|
|
4569
|
-
if(bodies[i].vel.w!=0.){return;}`)}function
|
|
4570
|
-
case 5: { return 2u; }`),s=
|
|
4854
|
+
if(bodies[i].vel.w!=0.){return;}`)}function jc(s){return s.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 jo=class{constructor(e,t){this.gpu=e,this.device=e.device,this.options=Do(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 o=i.createShaderModule({code:Oc});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:o,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=oe(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(o=>o.buffers.every((a,n)=>a===i[n]));return r||(r={buffers:i,group:this.device.createBindGroup({layout:this.layout,entries:i.map((o,a)=>({binding:a,resource:{buffer:o}}))})},this.groups=[...(this.groups??[]).slice(-1),r]),r.group}dispatch(e,t,i){e.setBindGroup(0,this.group(t));for(let[r,o]of i)o&&(e.setPipeline(this.pipes[r]),e.dispatchWorkgroups(Math.ceil(o/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=this.paramData??=hi(8),{u:r,f:o}=i;r[0]=t.bodyCount,r[1]=t.jointCount,r[2]=t.contactCapacity,r[3]=Number(this.wakeRequested),o[4]=this.options.speedThreshold,o[5]=this.options.timeThreshold,o[6]=t.params.dt,o[7]=t.params.gravity,Qt(this.device,this.params,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 vt=s=>Math.ceil(s/64);function Dc(){this.staticsDirty&&this.uploadStatics();let s=this.params,e=s.postStabilize&&!s.vbd,t=s.vbd?0:s.alpha,i=s.iterations+(e?1:0);this.writeParams(t,e),this.writePassConstants(i,L=>e?L<s.iterations?1:0:t);let r=this.parity,o=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*o+1)*4);let c=this.timingCallback!==null&&this.timing!==null,u,f,d=0,p=c||this.splitPasses,m=()=>{u&&!p||(u?.end(),u=l.beginComputePass({label:p?Se[d]:"avbd2d step",timestampWrites:c?{querySet:this.timing.querySet,beginningOfPassWriteIndex:2*d,endOfPassWriteIndex:2*d+1}:void 0}),f=void 0,d++)},h=this.groups,g=L=>{f!==L&&(u.setBindGroup(0,L),f=L)},b=(L,M,I)=>{I<=0||(u.setPipeline(this.pipes[L]),g(M),u.dispatchWorkgroups(I))},y=(L,M,I)=>{u.setPipeline(this.pipes[L]),g(M),u.dispatchWorkgroupsIndirect(this.argsBuffer,I*4)};m(),b("beginFrame",h.broad,1),b("argsPrev",h.args,1),y("hashInsert",h.contacts[r],6),b("gridCount",h.broad,vt(a)),this.gridScan.encode(u),f=void 0,b("gridScatter",h.broad,vt(a)),b("findPairs",h.broad,vt(a)),b("argsPairs",h.args,1),y("narrowphase",h.contacts[r],0),b("argsContacts",h.args,1),this.sleeping?.encodeWake(u,r),f=void 0,m(),b("degreeJoints",h.topo[r],vt(n)),y("degreeContacts",h.topo[r],3),this.adjScan.encode(u),f=void 0,b("fillJoints",h.topo[r],vt(n)),y("fillContacts",h.topo[r],3),b("sortAdjacency",h.topo[r],vt(a)),m(),b("colorCompact",h.topo[r],vt(a)),b("colorMark",h.topo[r],vt(a));for(let L=0;L<this.colorRounds;L++)b(L%2===0?"colorRoundAB":"colorRoundBA",h.topo[r],vt(a));b("colorCount",h.topo[r],this.colorGroups),this.colorHistScan.encode(u),f=void 0,b("colorStarts",h.topo[r],1),b("argsColors",h.args,1),b("colorScatter",h.topo[r],this.colorGroups),m();let A=this.colorCap+1,v=this.passOffsets??=[0],x=-1,w=L=>{L!==x&&(v[0]=L*256,u.setBindGroup(1,this.passGroup,v),x=L)};u.setBindGroup(0,h.solve[r]),w(0),n>0&&(u.setPipeline(this.pipes.warmStartJoints),u.dispatchWorkgroups(vt(n))),u.setPipeline(this.pipes.warmStartBodies),u.dispatchWorkgroups(vt(a));for(let L=0;L<i;L++){let M=this.primalMode==="scan";u.setPipeline(M?this.pipes.primalScan:this.pipes.primal);for(let I=0;I<this.colorCap;I++)w(L*A+I),M?u.dispatchWorkgroups(vt(a)):u.dispatchWorkgroupsIndirect(this.argsBuffer,(12+3*I)*4);L<s.iterations&&(w(L*A+this.colorCap),u.setPipeline(this.pipes.dual),u.dispatchWorkgroupsIndirect(this.argsBuffer,36)),L===s.iterations-1&&(u.setPipeline(this.pipes.updateVelocities),u.dispatchWorkgroups(vt(a)))}e&&(u.setPipeline(this.pipes.refreshStick),u.dispatchWorkgroupsIndirect(this.argsBuffer,12)),u.end();let B=2*Se.length;if(c){let{querySet:L,resolve:M,read:I}=this.timing;l.resolveQuerySet(L,0,B,M,0),l.copyBufferToBuffer(M,0,I,0,B*8)}if(this.parity=1-r,this.encodeStepPostlude?.(l),this.device.queue.submit([l.finish()]),c){let L=this.timingCallback;this.timingCallback=null,this.timingBusy=!0;let M=this.timing.read;M.mapAsync(GPUMapMode.READ).then(()=>{let I=new BigUint64Array(M.getMappedRange()).slice();if(M.unmap(),this.timingBusy=!1,this.destroyed)return this.releaseTiming();let E=(P,C)=>Number(I[C]-I[P])/1e6,k={total:E(0,B-1)};Se.forEach((P,C)=>k[P]=E(2*C,2*C+1)),L(k)},()=>{this.timingBusy=!1,this.destroyed&&this.releaseTiming()})}}var Go=5;function ki({minAngle:s=-Math.PI,maxAngle:e=Math.PI}={}){if(!Number.isFinite(s)||!Number.isFinite(e)||s>e)throw Error("Angle limits require finite minAngle <= maxAngle, in radians");return{minAngle:s,maxAngle:e}}function vs(s,e,t){let i=e*O;s.info[e*j]=Go,s.data.set([1/0,1/0,0],i+Q),s.data.set([-1/0,0,0],i+_e),s.data.set([0,1/0,0],i+Ae),s.data[i+be]=t.minAngle,s.data[i+Ue]=t.maxAngle}function Gc(s){let e=s.topology;for(let t=0;t<e.jointCount;t++)e.info[t*j]===Go&&s.device.queue.writeBuffer(s.jointBuffer,(t*36+32)*4,new Float32Array([e.data[t*O+re],e.data[t*O+be],e.data[t*O+Ue],0]))}var ys=(s,e,t)=>{if(s.split(e).length!==2)throw Error("Pinned 2D angular layout changed");return s.replace(e,t)};function Fc(s){return s=ys(s,"case T_JOINT: { return 3u; }",`case T_JOINT: { return 3u; }
|
|
4855
|
+
case 5: { return 2u; }`),s=ys(s,"fn jointRowsC(j: u32, alpha: f32) -> vec3f {",`
|
|
4571
4856
|
fn limitAngle2D(k:Joint,a:i32,b:i32)->f32 {
|
|
4572
4857
|
var angleA=0.;if(a>=0){angleA=bodies[a].pose.z;}
|
|
4573
4858
|
return angleA-bodies[b].pose.z-k.param.x;
|
|
@@ -4577,10 +4862,10 @@ fn limitRows2D(k:Joint,a:i32,b:i32,alpha:f32)->vec3f {
|
|
|
4577
4862
|
return vec3f(angle-k.param.y,angle-k.param.z,0.)-alpha*k.c0.xyz;
|
|
4578
4863
|
}
|
|
4579
4864
|
`+`
|
|
4580
|
-
fn jointRowsC(j: u32, alpha: f32) -> vec3f {`),s=
|
|
4865
|
+
fn jointRowsC(j: u32, alpha: f32) -> vec3f {`),s=ys(s,` if (t == T_JOINT) {
|
|
4581
4866
|
// Hard rows`,` if(t==5){return limitRows2D(k,a,b,alpha);}
|
|
4582
4867
|
if (t == T_JOINT) {
|
|
4583
|
-
// Hard rows`),s=
|
|
4868
|
+
// Hard rows`),s=ys(s," let C = jointRowsC(j, alpha);",` let C = jointRowsC(j, alpha);
|
|
4584
4869
|
if(t==5){
|
|
4585
4870
|
// Unilateral rows only contribute while their force is active. Inside the
|
|
4586
4871
|
// interval a hinge has no angular stiffness and remains free to rotate.
|
|
@@ -4588,8 +4873,8 @@ fn jointRowsC(j: u32, alpha: f32) -> vec3f {`),s=ss(s,` if (t == T_JOINT) {
|
|
|
4588
4873
|
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);}
|
|
4589
4874
|
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);}
|
|
4590
4875
|
return;
|
|
4591
|
-
}`),s=
|
|
4592
|
-
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.);}`),s}var
|
|
4876
|
+
}`),s=ys(s," 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); }
|
|
4877
|
+
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.);}`),s}var Uc=`// Analytic circles and capsules, finite two-sided segments and solid half-space planes.
|
|
4593
4878
|
// Kind 4 stores bounding radius, vertex-record offset and vertex count.
|
|
4594
4879
|
@group(0) @binding(7) var<storage,read> geometry:array<vec4f>;
|
|
4595
4880
|
struct Face2D { a:vec2f, b:vec2f, feature:u32 }
|
|
@@ -4742,7 +5027,7 @@ fn collideShapes2D(a:u32,b:u32)->Collision {
|
|
|
4742
5027
|
}
|
|
4743
5028
|
out.count=count;return out;
|
|
4744
5029
|
}
|
|
4745
|
-
`;var
|
|
5030
|
+
`;var _n=new WeakMap,Ir=(s,e,t=!1)=>{if(!Number.isFinite(s)||(t?s<0:s<=0))throw Error(`${e} must be ${t?"nonnegative":"positive"} and finite`);return s},Fo=(s,e)=>{if(!s||s.length!==2||!Array.from(s).every(Number.isFinite))throw Error(`${e} requires two finite components`);return Array.from(s)},ei=s=>_n.get(s);function Uo(s){let e=Array.from(s??[]),t=typeof e[0]=="number"?e:e.flatMap(w=>Fo(w,"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 w=0;w<t.length;w+=2)i.push([t[w],t[w+1]]);i.sort((w,B)=>w[0]-B[0]||w[1]-B[1]);let r=i.filter((w,B)=>!B||w[0]!==i[B-1][0]||w[1]!==i[B-1][1]),o=(w,B,L)=>(B[0]-w[0])*(L[1]-w[1])-(B[1]-w[1])*(L[0]-w[0]),a=w=>{let B=[];for(let L of w){for(;B.length>1&&o(B.at(-2),B.at(-1),L)<=0;)B.pop();B.push(L)}return B.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(w=>[w[0]-l[0],w[1]-l[1]]),u=0,f=0,d=0;for(let w=0;w<c.length;w++){let B=c[w],L=c[(w+1)%c.length],M=B[0]*L[1]-L[0]*B[1];u+=M,f+=(B[0]+L[0])*M,d+=(B[1]+L[1])*M}if(!(u>0)||!Number.isFinite(u))throw Error("Hull area must be positive and finite");f/=3*u,d/=3*u;let p=c.map(w=>[w[0]-f,w[1]-d]),m=0,h=0,g=0,b=0,y=[];for(let w=0;w<p.length;w++){let B=p[w],L=p[(w+1)%p.length],M=B[0]*L[1]-L[0]*B[1];m+=M*(B[0]*B[0]+B[0]*L[0]+L[0]*L[0]+B[1]*B[1]+B[1]*L[1]+L[1]*L[1])/12;let I=L[0]-B[0],E=L[1]-B[1],k=Math.hypot(I,E);y.push(B[0],B[1],E/k,-I/k),h=Math.max(h,Math.hypot(...B)),g=Math.max(g,Math.abs(B[0])),b=Math.max(b,Math.abs(B[1]))}let A=u/2,v=m/A;if(![A,v,h,g,b,...y].every(w=>Number.isFinite(Math.fround(w)))||Math.fround(A)<=0||Math.fround(v)<=0)throw Error("Hull geometry exceeds GPU floating-point range");let x=[4,h,0,p.length];return x.vertices=y,{geometry:x,size:[2*g,2*b],area:A,momentPerMass:v,radius:h}}function No(s){let e=Ir(s,"radius");return{geometry:[1,e,0,0],size:[2*e,2*e],area:Math.PI*e*e,momentPerMass:e*e/2,radius:e}}function qo(s,e){let t=Ir(s,"radius");if(Ir(e,"length"),e<2*t)throw Error("Capsule length must be at least twice its radius");return Nc((e-2*t)/2,t)}function Nc(s,e){let t=2*s,i=2*e*t,r=Math.PI*e*e,o=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,s,0],size:[t+2*e,Math.max(2*e,1e-6)],area:o,momentPerMass:o?a/o:0,radius:s+e}}function Vo(s,e,t={}){let i=Fo(s,"start"),r=Fo(e,"end"),o=r[0]-i[0],a=r[1]-i[1],n=Math.hypot(o,a),l=Ir(t.radius??0,"radius",!0);if(Ir(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{...Nc(n/2,l),options:{...t,density:t.density??0,position:[(i[0]+r[0])/2,(i[1]+r[1])/2],angle:Math.atan2(a,o)}}}function Wo(s,e=0,t={}){let i=Fo(s,"normal"),r=Ir(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 o=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:[o*e,a*e],angle:Math.atan2(-o,a)}}}function Rr(s,e,t,i){let r=_n.get(s);r||_n.set(s,r=new Map),r.set(e,t.geometry);let o=t.area*i,a=e*4;s.shape[a+2]=o,s.shape[a+3]=o*t.momentPerMass,s.props[a+1]=t.radius,s.dynamic[e]=+(o>0)}var qc=`struct Body {pose:vec4f,initial:vec4f,inertial:vec4f,velocity:vec4f,previous:vec4f,shape:vec4f}
|
|
4746
5031
|
struct Command { header:vec4u, value:vec4f, point:vec4f }
|
|
4747
5032
|
@group(0) @binding(0) var<storage,read_write> bodies:array<Body>;
|
|
4748
5033
|
@group(0) @binding(1) var<storage,read> commands:array<Command>;
|
|
@@ -4778,11 +5063,11 @@ fn edit(@builtin(global_invocation_id) id:vec3u) {
|
|
|
4778
5063
|
bodies[index]=b;
|
|
4779
5064
|
}
|
|
4780
5065
|
\r
|
|
4781
|
-
`;function Vt(s,e){let t=s&&typeof s.x=="number"?[s.x,s.y]:Array.isArray(s)||ArrayBuffer.isView(s)&&!(s instanceof DataView)?s:Array.from(s??[]);if(t.length!==2||!t.every(Number.isFinite))throw Error(`${e} requires two finite components`);return t}var
|
|
4782
|
-
`+this.shader})}}),(!this.group||this.boundBody!==this.solver.bodyBuffer||this.boundCommands!==this.commands||this.boundRanges!==this.ranges||this.boundRangeBytes!==
|
|
4783
|
-
fn narrowphase
|
|
5066
|
+
`;function Vt(s,e){let t=s&&typeof s.x=="number"?[s.x,s.y]:Array.isArray(s)||ArrayBuffer.isView(s)&&!(s instanceof DataView)?s:Array.from(s??[]);if(t.length!==2||!t.every(Number.isFinite))throw Error(`${e} requires two finite components`);return t}var ti=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),o=new Uint32Array(i);this.u32&&o.set(this.u32.subarray(0,this.count*12)),this.words=r,this.u32=o,this.capacity=t}append(e,t,i,r,o=!1){this.reserve(this.count+1),Vc(this.words,this.u32,this.count++*12,e,t,i,r,o)}};function Vc(s,e,t,i,r,o,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++)s[t+4+l]=o[l]??0,s[t+8+l]=a?.[l]??0}var Or=class{constructor(e,t=qc,i=2){this.solver=e,this.shader=t,this.dimension=i,this.pending=new Map,this.queue=new ti,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 o=new Int32Array(this.queue.capacity);this.next&&o.set(this.next),this.next=o}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,o=!1){let a=this.slot(e,t);Vc(this.queue.words,this.queue.u32,a*12,e,t,i,r,o)}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 o=0;o<12;o++)this.queue.u32[r+o]=e.u32[i+o]}}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 o=0;for(let[l,c]of this.pending){this.linearIndices[o]=l;for(let u=0;u<r;u++)this.linearValues[o*r+u]=this.queue.words[c.tail*12+4+u];o++}let a=this.angularOnly?"angularVelocityBatch":"velocityBatch",n=this.solver[a]??=new Kt(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 yi(this.solver,this.dimension),o=r.wordsPerBody;(!this.motionData||this.motionData.length<i*o)&&(this.motionData=new Uint32Array(Math.max(i*o,(this.motionData?.length??0)*2,64*o)),this.motionFloats=new Float32Array(this.motionData.buffer));let a=0;for(let[n,l]of this.pending){let c=a++*o;this.motionData[c]=n;let u=0;for(let f=l.head;f!==-1;f=this.next[f]){let d=this.queue.u32[f*12+1];u|=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[f*12+4+h]}this.motionData[c+1]=u}r.submitValidated(this.motionData.subarray(0,i*o),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 ti,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,o=0;for(let p of this.pending.values()){this.rangeData[o++]=r,this.rangeData[o++]=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;
|
|
5067
|
+
`+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(),u=c.beginComputePass();u.setPipeline(this.pipeline),u.setBindGroup(0,this.group);let f=Math.ceil(i/64),d=t.limits.maxComputeWorkgroupsPerDimension;u.dispatchWorkgroups(Math.min(f,d),Math.ceil(f/d)),u.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 Ho=class extends Oo{writeParams(e,t){nc.call(this,e,t)}writePassConstants(e,t){lo.call(this,e,t)}createPipelines(){let e=this.layouts;this.compile(ps,[e.broad],["beginFrame","gridCount","gridScatter","findPairs"]),this.compile(ms,[e.contacts],["hashInsert","narrowphase"]),this.compile(qr,[e.topo],["degreeJoints","degreeContacts","fillJoints","fillContacts","sortAdjacency","colorCompact","colorMark","colorRoundAB","colorRoundBA","colorCount","colorStarts","colorScatter"]),this.compile(gs,[e.solve,e.pass],["warmStartJoints","warmStartBodies","primal","primalScan","dual","refreshStick","updateVelocities"]),this.compile(Fs,[e.args],["argsPrev","argsPairs","argsContacts","argsColors"])}constructor(e,t,i={}){if(i.minimumColors!==void 0&&(!Number.isInteger(i.minimumColors)||i.minimumColors<4||i.minimumColors>64))throw Error("minimumColors must be an integer from 4 to 64");i.sleeping!==void 0&&i.sleeping!==!1&&Do(i.sleeping),super(e,t,i),this.minimumColors=i.minimumColors??4,this.colorCap=Math.max(this.colorCap,this.minimumColors),this.sleepEligible=new Map(t.avbdSleepEligible??[]),Gc(this),ei(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 ei(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,o]of ei(this.topology)??[]){let a=Array.from(o);o.vertices&&(a[2]=i,t.set(o.vertices,i*4),i+=o.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 o=this.shapeBuffer;this.shapeBuffer=this.createShapeBuffer(i);let a=this.device.createCommandEncoder();a.copyBufferToBuffer(o,0,this.shapeBuffer,0,this.geometryRecords*16),this.device.queue.submit([a.finish()]),o.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=ms;return this.shapeBuffer&&(e=e.replace(`@compute @workgroup_size(64)
|
|
5068
|
+
fn narrowphase`,Uc+`
|
|
4784
5069
|
@compute @workgroup_size(64)
|
|
4785
|
-
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=
|
|
5070
|
+
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=ps;if(this.shapeBuffer&&(e.push("read-only-storage"),t=t.replace(`fn radius(i: u32) -> f32 {
|
|
4786
5071
|
return 0.5 * length(bodies[i].shape.xy);
|
|
4787
5072
|
}`,`@group(0) @binding(7) var<storage,read> geometry:array<vec4f>;
|
|
4788
5073
|
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.) {
|
|
@@ -4790,13 +5075,13 @@ let plane=select(b,a,geometry[a].x==3.);let other=select(a,b,geometry[a].x==3.);
|
|
|
4790
5075
|
if(dot(bodies[other].pose.xy-bodies[plane].pose.xy,normal)>radius(other)){return;}
|
|
4791
5076
|
} 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>;
|
|
4792
5077
|
fn ignored(hi:u32,lo:u32)->bool{
|
|
4793
|
-
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 o=e;o<e+t;o++)this.sleeping?.register(o,this.sleepEligible?.get(o)!==!1);if(!this.shapeBuffer&&!this.triggers?.size)return;let i=this.shapeBuffer&&t>0?new Float32Array(t*4):null,r=this.packedShapes;for(let o=e;o<e+t;o++){let n=r?.get(o);i&&n&&i.set(n,(o-e)*4),this.triggers?.has(o)&&this.device.queue.writeBuffer(this.bodyBuffer,o*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=Zt(e),i=[];for(let f=0;f<this.bodyCount;f++)t?.get(f)?.[0]!==3&&i.push(e.props[f*4+1]);i.sort((f,d)=>f-d);let r=i[i.length>>1]??1,o=0,n=1/0;for(let f of i)f<=4*r&&(o=Math.max(o,f));for(let f of i)f>o&&(n=Math.min(n,f));let a=n===1/0?o*1.5:(o+n)/2;this.maxSmallRadius=a,this.cellSize=Math.max(2*o*(1+1e-4),.001);let l=[],c=[];for(let f=0;f<this.bodyCount;f++)(t?.get(f)?.[0]===3||e.props[f*4+1]>a)&&l.push(f);for(let f=0;f<e.jointCount;f++){let d=e.info[f*4+1],p=e.info[f*4+2];d>=0&&c.push([Math.max(d,p),Math.min(d,p),f])}for(let f of e.ignoredPairs()){let d=Math.floor(f/2097152);c.push([d,f-d*2097152,4294967295])}c.sort((f,d)=>f[0]-d[0]||f[1]-d[1]),this.largeCount=l.length,this.noCollideCount=c.length;let u=new Uint32Array(Math.max(l.length+3*c.length,4));u.set(l),c.forEach((f,d)=>u.set(f,l.length+3*d)),this.staticBuffer.size<u.byteLength&&(this.staticBuffer.destroy(),this.staticBuffer=this.device.createBuffer({label:"2D boundaries",size:u.byteLength,usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST}),this.rebuildBindings()),this.device.queue.writeBuffer(this.staticBuffer,0,u),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 di(this,2),this.shapeQueries.cast(e.map(i=>({...i,radius:0})),t)}async circleCast(e,t,i,r={}){let[o]=await this.circleCastAll([{origin:e,radius:t,direction:i,maxDistance:r.maxDistance}],r);return o}circleCastAll(e,t={}){return this.flushEdits(),this.shapeQueries??=new di(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,o=!1){return this.liveIndex(e),this.prepareBodyCommands().enqueue(e,t,i,r,o),this}prepareBodyCommands(){return this.wakeAll(),this.bodyCommands||(this.bodyCommands=new Mr(this),this.compileContacts()),this.bodyCommands}setLinearVelocity(e,t){return this.queueBodyCommand(e,0,Vt(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,Vt(t,"impulse"),i===void 0?void 0:Vt(i,"point"),i!==void 0)}applyForce(e,t,i){return this.queueBodyCommand(e,3,[...Vt(t,"force"),0,this.params.dt],i===void 0?void 0:Vt(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,[...Vt(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 o=new Float32Array(i.getMappedRange());return{position:[o[0],o[1]],angle:o[2],linearVelocity:[o[12],o[13]],angularVelocity:o[14],mass:o[22],moment:o[23],sleeping:o[15]!==0}}finally{i.destroy()}}addBox(e,t={}){return this.addShape({size:Array.from(e)},t)}addCircle(e,t={}){return this.addShape(Ao(e),t)}addHull(e,t={}){return this.addShape(vo(e),t)}addCapsule(e,t,i={}){return this.addShape(xo(e,t),i)}addSegment(e,t,i={}){return this.addShape(wo(e,t,i))}addPlane(e=[0,1],t=0,i={}){return this.addShape(Bo(e,t,i))}addShape(e,t={}){t=e.options??t;let{density:i=1,friction:r=.6,position:o=[0,0],angle:n=0,velocity:a=[0,0,0],restitution:l=0,isTrigger:c=!1,group:u=4294967295,collidesWith:f=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(n))throw Error("Body dimensions must be positive, density and friction nonnegative, and angle finite");if(a.length!==3||!Array.from(a).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([u,f].some(h=>!Number.isInteger(h)||h<0||h>4294967295))throw Error("Collision masks must be unsigned 32-bit integers");let p=Vt(o,"position");e.geometry&&this.geometryBytes(e.geometry.vertices?.length??0);let g=super.addBody(e.size,i,r,[...p,n],Array.from(a));return e.geometry&&(Er(this.topology,g,e,i),this.shapeBuffer?this.appendShapeGeometry(g,e.geometry):this.enableShapes(),this.uploadBodies(g,1)),l&&this.setRestitution(g,l),c&&this.setSensor(g,!0),(u!==4294967295||f!==4294967295)&&this.setFilters([g],[u],[f]),this.contactWatch?.setWatched([g],[!this.watchedIndices||this.watchedIndices.has(g)]),this.sleepEligible.set(g,d??!0),d===!0&&!this.sleeping&&this.enableSleeping(),this.sleeping?.register(g,d!==!1),this.wakeAll(),g}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 po(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*j]!==t)throw Error("The constraint has a different type");return e}setMotor(e,{speed:t,maxTorque:i}={}){if(this.constraintSlot(e,uo),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*O,o=e*36;t!==void 0&&(this.topology.data[r+re]=t,le(this).float(this.jointBuffer,o+32,t)),i!==void 0&&(this.topology.data[r+Le]=-i,this.topology.data[r+xe]=i,le(this).float(this.jointBuffer,o+12,-i),le(this).float(this.jointBuffer,o+16,i)),this.wakeAll()}setAngleLimits(e,t){this.constraintSlot(e,bo);let i=Ci(t);this.topology.data[e*O+ge]=i.minAngle,this.topology.data[e*O+Fe]=i.maxAngle,le(this).float(this.jointBuffer,e*36+32+1,i.minAngle),le(this).float(this.jointBuffer,e*36+32+2,i.maxAngle);for(let r=4;r<8;r++)le(this).float(this.jointBuffer,e*36+r,0);this.wakeAll()}setWorldAnchor(e,t,i){if(this.constraintSlot(e,xi),this.topology.info[e*j+1]!==-1||!Number.isFinite(t)||!Number.isFinite(i))throw Error("A world joint and finite xy anchor are required");le(this).float(this.jointBuffer,e*36+28,t),le(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,o,n=1/0){if(e!==-1&&this.liveIndex(e),this.liveIndex(t),e===t)throw Error("Constraint endpoints must differ");let a=Vt(i,"anchorA"),l=Vt(r,"anchorB");if(!o||o.length!==3||Array.from(o).some(u=>u!==1/0&&(!Number.isFinite(u)||u<0))||n!==1/0&&(!Number.isFinite(n)||n<0))throw Error("Joint stiffness and break force must be nonnegative or Infinity");this.flushPropertyEdits();let c=super.appendJoint(e,t,a,l,Array.from(o),n);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=a=>{if(!Number.isInteger(a)||a<0||a>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");return a},o=Array.from(e,(a,l)=>(this.liveIndex(a),[a,r(t[l]),r(i[l])]));if(this.wakeAll(),!this.filters){let a=this.device;this.filters=a.createBuffer({size:this.bodyCapacity*8,usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST}),a.queue.writeBuffer(this.filters,0,new Uint32Array(this.bodyCapacity*2).fill(4294967295)),this.compileBroadphase()}let n=le(this);for(let[a,l,c]of o)n.uint(this.filters,a*2,l),n.uint(this.filters,a*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"}}),o=i.createBindGroup({layout:r.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:this.bodyBuffer}}]}),n=i.createCommandEncoder(),a=n.beginComputePass();a.setPipeline(r),a.setBindGroup(0,o),a.dispatchWorkgroups(Math.ceil(this.bodyCount/64)),a.end(),i.queue.submit([n.finish()]),this.compileContacts();let l=is.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 o=e;o<e+t;o++)this.sleeping?.register(o,this.sleepEligible?.get(o)!==!1);if(!this.shapeBuffer&&!this.triggers?.size)return;let i=this.shapeBuffer&&t>0?new Float32Array(t*4):null,r=this.packedShapes;for(let o=e;o<e+t;o++){let a=r?.get(o);i&&a&&i.set(a,(o-e)*4),this.triggers?.has(o)&&this.device.queue.writeBuffer(this.bodyBuffer,o*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=ei(e),i=[];for(let f=0;f<this.bodyCount;f++)t?.get(f)?.[0]!==3&&i.push(e.props[f*4+1]);i.sort((f,d)=>f-d);let r=i[i.length>>1]??1,o=0,a=1/0;for(let f of i)f<=4*r&&(o=Math.max(o,f));for(let f of i)f>o&&(a=Math.min(a,f));let n=a===1/0?o*1.5:(o+a)/2;this.maxSmallRadius=n,this.cellSize=Math.max(2*o*(1+1e-4),.001);let l=[],c=[];for(let f=0;f<this.bodyCount;f++)(t?.get(f)?.[0]===3||e.props[f*4+1]>n)&&l.push(f);for(let f=0;f<e.jointCount;f++){let d=e.info[f*4+1],p=e.info[f*4+2];d>=0&&c.push([Math.max(d,p),Math.min(d,p),f])}for(let f of e.ignoredPairs()){let d=Math.floor(f/2097152);c.push([d,f-d*2097152,4294967295])}c.sort((f,d)=>f[0]-d[0]||f[1]-d[1]),this.largeCount=l.length,this.noCollideCount=c.length;let u=new Uint32Array(Math.max(l.length+3*c.length,4));u.set(l),c.forEach((f,d)=>u.set(f,l.length+3*d)),this.staticBuffer.size<u.byteLength&&(this.staticBuffer.destroy(),this.staticBuffer=this.device.createBuffer({label:"2D boundaries",size:u.byteLength,usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST}),this.rebuildBindings()),this.device.queue.writeBuffer(this.staticBuffer,0,u),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 pi(this,2),this.shapeQueries.cast(e.map(i=>({...i,radius:0})),t)}async circleCast(e,t,i,r={}){let[o]=await this.circleCastAll([{origin:e,radius:t,direction:i,maxDistance:r.maxDistance}],r);return o}circleCastAll(e,t={}){return this.flushEdits(),this.shapeQueries??=new pi(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,o=!1){return this.liveIndex(e),this.prepareBodyCommands().enqueue(e,t,i,r,o),this}prepareBodyCommands(){return this.wakeAll(),this.bodyCommands||(this.bodyCommands=new Or(this),this.compileContacts()),this.bodyCommands}setLinearVelocity(e,t){return this.queueBodyCommand(e,0,Vt(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,Vt(t,"impulse"),i===void 0?void 0:Vt(i,"point"),i!==void 0)}applyForce(e,t,i){return this.queueBodyCommand(e,3,[...Vt(t,"force"),0,this.params.dt],i===void 0?void 0:Vt(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,[...Vt(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 o=new Float32Array(i.getMappedRange());return{position:[o[0],o[1]],angle:o[2],linearVelocity:[o[12],o[13]],angularVelocity:o[14],mass:o[22],moment:o[23],sleeping:o[15]!==0}}finally{i.destroy()}}addBox(e,t={}){return this.addShape({size:Array.from(e)},t)}addCircle(e,t={}){return this.addShape(No(e),t)}addHull(e,t={}){return this.addShape(Uo(e),t)}addCapsule(e,t,i={}){return this.addShape(qo(e,t),i)}addSegment(e,t,i={}){return this.addShape(Vo(e,t,i))}addPlane(e=[0,1],t=0,i={}){return this.addShape(Wo(e,t,i))}addShape(e,t={}){t=e.options??t;let{density:i=1,friction:r=.6,position:o=[0,0],angle:a=0,velocity:n=[0,0,0],restitution:l=0,isTrigger:c=!1,group:u=4294967295,collidesWith:f=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([u,f].some(h=>!Number.isInteger(h)||h<0||h>4294967295))throw Error("Collision masks must be unsigned 32-bit integers");let p=Vt(o,"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&&(Rr(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),(u!==4294967295||f!==4294967295)&&this.setFilters([m],[u],[f]),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 To(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*j]!==t)throw Error("The constraint has a different type");return e}setMotor(e,{speed:t,maxTorque:i}={}){if(this.constraintSlot(e,Io),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*O,o=e*36;t!==void 0&&(this.topology.data[r+re]=t,oe(this).float(this.jointBuffer,o+32,t)),i!==void 0&&(this.topology.data[r+_e]=-i,this.topology.data[r+Ae]=i,oe(this).float(this.jointBuffer,o+12,-i),oe(this).float(this.jointBuffer,o+16,i)),this.wakeAll()}setAngleLimits(e,t){this.constraintSlot(e,Go);let i=ki(t);this.topology.data[e*O+be]=i.minAngle,this.topology.data[e*O+Ue]=i.maxAngle,oe(this).float(this.jointBuffer,e*36+32+1,i.minAngle),oe(this).float(this.jointBuffer,e*36+32+2,i.maxAngle);for(let r=4;r<8;r++)oe(this).float(this.jointBuffer,e*36+r,0);this.wakeAll()}setWorldAnchor(e,t,i){if(this.constraintSlot(e,Bi),this.topology.info[e*j+1]!==-1||!Number.isFinite(t)||!Number.isFinite(i))throw Error("A world joint and finite xy anchor are required");oe(this).float(this.jointBuffer,e*36+28,t),oe(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,o,a=1/0){if(e!==-1&&this.liveIndex(e),this.liveIndex(t),e===t)throw Error("Constraint endpoints must differ");let n=Vt(i,"anchorA"),l=Vt(r,"anchorB");if(!o||o.length!==3||Array.from(o).some(u=>u!==1/0&&(!Number.isFinite(u)||u<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(o),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},o=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=oe(this);for(let[n,l,c]of o)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"}}),o=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,o),n.dispatchWorkgroups(Math.ceil(this.bodyCount/64)),n.end(),i.queue.submit([a.finish()]),this.compileContacts();let l=gs.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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4794
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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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4795
5080
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if((contacts[c].ids.w&0x80000000u)!=0u){return;}`).replace(` let k = contacts[c];
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4796
5081
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let bound`,` let k = contacts[c];
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4797
5082
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if((k.ids.w&0x80000000u)!=0u){return;}
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4798
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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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4799
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if((contacts[gid.x].ids.w&0x80000000u)!=0u){return;}`);this.compile(c,[this.layouts.topo],["degreeContacts","fillContacts"])}this.sensorsEnabled&&le(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=Gl(ql(Jl(e)))),e.includes("fn dynamicBody(")&&(e=Vl(e)),e.includes("fn colorCount(")&&(e=Nl(e));let r=this.device,o=r.createShaderModule({code:e}),n=r.createPipelineLayout({bindGroupLayouts:t});for(let a of i)this.pipes[a]=r.createComputePipeline({layout:n,compute:{module:o,entryPoint:a}})}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 yi(this.device,this.bodyBuffer,this.bodyCapacity,e,t,2),i===void 0&&this.contactWatch.setWatched(Array.from({length:this.bodyCount},(r,o)=>o),Array(this.bodyCount).fill(!0))),i!==void 0&&(this.watchedIndices=new Set(i),this.contactWatch.setWatched(Array.from({length:this.bodyCount},(r,o)=>o),Array.from({length:this.bodyCount},(r,o)=>this.watchedIndices.has(o)))),this}async readContactEvents(){this.watchContacts();let e=await this.contactWatch.read();return{...e,events:e.events.map(t=>({...t,type:t.kind===vi?"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?Wl.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=go(e):this.sleeping=new mo(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 o=0,n=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;o=Math.min(t*l,o+Math.min(i,Math.max(0,c)));for(let u=0;o+1e-12>=l&&u<t&&(this.step(),o=Math.max(0,o-l),r?.(this),!(!this.sceneBinding||this.destroyed));u++);}),a=e.onDisposeObservable.addOnce(()=>this.destroy());return this.sceneBinding={scene:e,before:n,dispose:a},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 So=s=>{if(!Number.isInteger(s)||s<0||s>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");return s};function me(s,e,t){let i=s&&typeof s.x=="number"?[s.x,s.y,...e>=3?[s.z]:[],...e===4?[s.w]:[]]:Array.isArray(s)||ArrayBuffer.isView(s)&&!(s instanceof DataView)?s:Array.from(s??[]);if(i.length!==e||!i.every(Number.isFinite))throw Error(`${t} requires ${e} finite components`);return i}var Kl=["linearVelocity","angularVelocity","impulse","force","","angularImpulse","torque"];function Qu(s,e){if(this.destroyed)throw Error("The solver has been destroyed");let t=this.editInProgress,i=t?new ei:this.editStaging??=new ei;this.editInProgress=!0;try{return Ku.call(this,s,e,i)}finally{this.editInProgress=t}}function Ku(s,e,t){t.count=0;let i,r=(o,n)=>{if(e===3)return me(o,3,n);if(!Number.isFinite(o))throw Error(`${n} must be finite`);return[o,0,0]};for(let o of s){let n=this.bodyIndex(o.body),{isTrigger:a,restitution:l,group:c,collidesWith:u,allowSleep:f}=o;if(a!==void 0||l!==void 0||c!==void 0||u!==void 0||f!==void 0){if(a!==void 0&&typeof a!="boolean")throw Error("isTrigger must be a boolean");if(f!==void 0&&typeof f!="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(u!==void 0&&c===void 0)throw Error("A collision-mask edit requires group as well");c!==void 0&&So(c),u!==void 0&&So(u),(i??=[]).push({index:n,isTrigger:a,restitution:l,group:c,collidesWith:u??4294967295,allowSleep:f})}let d=o.worldPoint===void 0?void 0:me(o.worldPoint,e,"worldPoint");if(o.position!==void 0){let p=me(o.position,e,"position"),g;if(o.rotation!==void 0){if(g=e===3?me(o.rotation,4,"rotation"):[o.rotation],e===3){let h=Math.hypot(...g);if(!h)throw Error("rotation must be nonzero");g=g.map(m=>m/h)}else if(!Number.isFinite(o.rotation))throw Error("angle must be finite")}t.append(n,4,p,e===3?g:void 0,g!==void 0),e===2&&(t.words[(t.count-1)*12+6]=g?.[0]??0)}else if(o.rotation!==void 0)throw Error("A rotation edit requires position; use teleport for a full pose");for(let p=0;p<Kl.length;p++){if(p===4)continue;let g=Kl[p];if(o[g]===void 0)continue;let m=p===1||p>=5?r(o[g],g):me(o[g],e,g);t.append(n,p,m,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 o of i??[])o.isTrigger!==void 0&&this.setSensor(o.index,o.isTrigger),o.restitution!==void 0&&this.setRestitution(o.index,o.restitution),o.group!==void 0&&this.setFilters([o.index],[o.group],[o.collidesWith]),o.allowSleep!==void 0&&this.setSleepEnabled(o.index,o.allowSleep);return this}var ko=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],[So(e)],[So(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 Zl(s,{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=s.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 ec(s,e,t,i){if(s.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:o,maxFrameTime:n}=Zl(s,t);s.timeAccumulator=Math.min(o*r,(s.timeAccumulator??0)+Math.min(n,e));let a=0;for(;s.timeAccumulator+1e-12>=r&&a<o;)s.step(),s.timeAccumulator=Math.max(0,s.timeAccumulator-r),a++,i?.(s);return a}function Zu(s,e){return ec(this,s,e)}function Po(s,{afterStep:e,...t}={}){if(this.destroyed)throw Error("The solver has been destroyed");if(!s?.onBeforeRenderObservable?.add||!s?.onDisposeObservable?.addOnce||!s?.getEngine)throw Error("A Babylon scene is required");if(e!==void 0&&typeof e!="function")throw Error("afterStep must be a function");if(Zl(this,t),this.sceneBinding){if(this.sceneBinding.scene===s)return this;throw Error("The solver is already attached to another scene")}let i=s.onBeforeRenderObservable.add(()=>{ec(this,Math.max(0,s.getEngine().getDeltaTime()/1e3),t,e)}),r=s.onDisposeObservable.addOnce(()=>this.destroy());return this.sceneBinding={scene:s,before:i,dispose:r},this}function Lo(){let s=this.sceneBinding;return s&&(s.scene.onBeforeRenderObservable.remove(s.before),s.scene.onDisposeObservable.remove(s.dispose),this.sceneBinding=null,this.timeAccumulator=0),this}function zr(s,e,t,i={}){s.advance=Zu;let r,o;s.bodyIndex=function(a){if(this.destroyed)throw Error("The solver has been destroyed");let l=a;if(a instanceof ko){if(a.solver!==this)throw Error("Body belongs to another solver");return a.gpuIndex}return typeof l!="number"&&t===3&&(o||(o=new WeakMap,e.bodies.forEach((c,u)=>o.set(c,this.gpuIndex(u)))),l=o.get(a)),this.liveIndex(l),l},s.body=function(a){let l=this.bodyIndex(a);return r??=new Map,r.has(l)||r.set(l,new ko(this,l)),r.get(l)},s.editBodies=function(a){return Qu.call(this,a,t)},s.setLinearVelocities=function(a,l){if(this.destroyed)throw Error("The solver has been destroyed");return i.setVelocities?i.setVelocities.call(this,a,{linear:l}):(this.velocityBatch??=new Qt(this,t),this.velocityBatch.set(a,l),this)},s.setVelocities=function(a,l){if(this.destroyed)throw Error("The solver has been destroyed");return i.setVelocities?i.setVelocities.call(this,a,l):l?.angular===void 0&&l?.linear!==void 0?this.setLinearVelocities(a,l.linear):l?.linear===void 0&&l?.angular!==void 0?this.setAngularVelocities(a,l.angular):(this.motionBatch??=new gi(this,t),this.motionBatch.set(a,l),this)},s.setAngularVelocities=function(a,l){if(this.destroyed)throw Error("The solver has been destroyed");return i.setVelocities?i.setVelocities.call(this,a,{angular:l}):(this.angularVelocityBatch??=new Qt(this,t,"angular"),this.angularVelocityBatch.set(a,l),this)};let n=s.destroy;return s.destroy=function(){this.destroyed||(this.velocityBatch?.destroy(),this.angularVelocityBatch?.destroy(),this.motionBatch?.destroy(),this.bodyReadback?.destroy(),this.editStaging=null,n.call(this),r?.clear(),o=null,e=null)},i.readSelectedBodies?s.readSelectedBodies=i.readSelectedBodies:t===2&&(s.readSelectedBodies=function(a,{posesOnly:l=!1}={}){let c=a instanceof Uint32Array?a:Array.from(a);return c.forEach(u=>this.liveIndex(u)),this.flushEdits(),this.bodyReadback??=new bi(this.device),this.bodyReadback.read(this.bodyBuffer,c,l,6)}),s}var _o=class extends Co{constructor(e,t,i){super(e,t,i),zr(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 }
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5083
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let bound`);this.compile(l,[this.layouts.solve,this.layouts.pass],["warmStartJoints","warmStartBodies","primal","primalScan","dual","refreshStick","updateVelocities"]);let c=qr.replaceAll("if (gid.x >= topoCount()) { return; }",`if (gid.x >= topoCount()) { return; }
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+
if((contacts[gid.x].ids.w&0x80000000u)!=0u){return;}`);this.compile(c,[this.layouts.topo],["degreeContacts","fillContacts"])}this.sensorsEnabled&&oe(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=Rc(Tc(Fc(e)))),e.includes("fn dynamicBody(")&&(e=jc(e));let r=e.includes("fn colorCount(");r&&(this.colorBucketSource=Ln(oo(e)),e=Ln(e));let o=this.device,a=o.createShaderModule({code:e}),n=o.createPipelineLayout({bindGroupLayouts:t});for(let l of i)this.pipes[l]=o.createComputePipeline({layout:n,compute:{module:a,entryPoint:l}});r&&i.includes("colorCount")&&(this.colorBucketPipelines={scan:this.pipes.colorCount},this.bitsetColorBuckets=void 0)}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 xi(this.device,this.bodyBuffer,this.bodyCapacity,e,t,2),i===void 0&&this.contactWatch.setWatched(Array.from({length:this.bodyCount},(r,o)=>o),Array(this.bodyCount).fill(!0))),i!==void 0&&(this.watchedIndices=new Set(i),this.contactWatch.setWatched(Array.from({length:this.bodyCount},(r,o)=>o),Array.from({length:this.bodyCount},(r,o)=>this.watchedIndices.has(o)))),this}async readContactEvents(){this.watchContacts();let e=await this.contactWatch.read();return{...e,events:e.events.map(t=>({...t,type:t.kind===Ai?"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");ao(this,this.colorBucketSource),this.sleeping||this.restitution?.active.size||this.bodyCommands?.pending.size||this.propertyEdits?.pending||this.externalBeforeStep||this.externalAfterStep?Dc.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)}adapt(e){super.adapt(e),this.colorCap=Math.max(this.colorCap,this.minimumColors)}encodeStepPrelude(e){this.flushPropertyEdits(e),this.sleeping?.before(e),this.bodyCommands?.flush(e),this.restitution?.before(e),this.externalBeforeStep?.(e)}encodeStepPostlude(e){this.restitution?.after(e),this.sleeping?.after(e),this.externalAfterStep?.(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=Do(e):this.sleeping=new jo(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 o=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;o=Math.min(t*l,o+Math.min(i,Math.max(0,c)));for(let u=0;o+1e-12>=l&&u<t&&(this.step(),o=Math.max(0,o-l),r?.(this),!(!this.sceneBinding||this.destroyed));u++);}),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 $o=s=>{if(!Number.isInteger(s)||s<0||s>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");return s};function me(s,e,t){let i=s&&typeof s.x=="number"?[s.x,s.y,...e>=3?[s.z]:[],...e===4?[s.w]:[]]:Array.isArray(s)||ArrayBuffer.isView(s)&&!(s instanceof DataView)?s:Array.from(s??[]);if(i.length!==e||!i.every(Number.isFinite))throw Error(`${t} requires ${e} finite components`);return i}var Wc=["linearVelocity","angularVelocity","impulse","force","","angularImpulse","torque"];function Yf(s,e){if(this.destroyed)throw Error("The solver has been destroyed");let t=this.editInProgress,i=t?new ti:this.editStaging??=new ti;this.editInProgress=!0;try{return Qf.call(this,s,e,i)}finally{this.editInProgress=t}}function Qf(s,e,t){t.count=0;let i,r=(o,a)=>{if(e===3)return me(o,3,a);if(!Number.isFinite(o))throw Error(`${a} must be finite`);return[o,0,0]};for(let o of s){let a=this.bodyIndex(o.body),{isTrigger:n,restitution:l,group:c,collidesWith:u,allowSleep:f}=o;if(n!==void 0||l!==void 0||c!==void 0||u!==void 0||f!==void 0){if(n!==void 0&&typeof n!="boolean")throw Error("isTrigger must be a boolean");if(f!==void 0&&typeof f!="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(u!==void 0&&c===void 0)throw Error("A collision-mask edit requires group as well");c!==void 0&&$o(c),u!==void 0&&$o(u),(i??=[]).push({index:a,isTrigger:n,restitution:l,group:c,collidesWith:u??4294967295,allowSleep:f})}let d=o.worldPoint===void 0?void 0:me(o.worldPoint,e,"worldPoint");if(o.position!==void 0){let p=me(o.position,e,"position"),m;if(o.rotation!==void 0){if(m=e===3?me(o.rotation,4,"rotation"):[o.rotation],e===3){let h=Math.hypot(...m);if(!h)throw Error("rotation must be nonzero");m=m.map(g=>g/h)}else if(!Number.isFinite(o.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(o.rotation!==void 0)throw Error("A rotation edit requires position; use teleport for a full pose");for(let p=0;p<Wc.length;p++){if(p===4)continue;let m=Wc[p];if(o[m]===void 0)continue;let g=p===1||p>=5?r(o[m],m):me(o[m],e,m);t.append(a,p,g,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 o of i??[])o.isTrigger!==void 0&&this.setSensor(o.index,o.isTrigger),o.restitution!==void 0&&this.setRestitution(o.index,o.restitution),o.group!==void 0&&this.setFilters([o.index],[o.group],[o.collidesWith]),o.allowSleep!==void 0&&this.setSleepEnabled(o.index,o.allowSleep);return this}var Jo=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],[$o(e)],[$o(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 Hc(s,{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=s.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 $c(s,e,t,i){if(s.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:o,maxFrameTime:a}=Hc(s,t);s.timeAccumulator=Math.min(o*r,(s.timeAccumulator??0)+Math.min(a,e));let n=0;for(;s.timeAccumulator+1e-12>=r&&n<o;)s.step(),s.timeAccumulator=Math.max(0,s.timeAccumulator-r),n++,i?.(s);return n}function Kf(s,e){return $c(this,s,e)}function Xo(s,{afterStep:e,...t}={}){if(this.destroyed)throw Error("The solver has been destroyed");if(!s?.onBeforeRenderObservable?.add||!s?.onDisposeObservable?.addOnce||!s?.getEngine)throw Error("A Babylon scene is required");if(e!==void 0&&typeof e!="function")throw Error("afterStep must be a function");if(Hc(this,t),this.sceneBinding){if(this.sceneBinding.scene===s)return this;throw Error("The solver is already attached to another scene")}let i=s.onBeforeRenderObservable.add(()=>{$c(this,Math.max(0,s.getEngine().getDeltaTime()/1e3),t,e)}),r=s.onDisposeObservable.addOnce(()=>this.destroy());return this.sceneBinding={scene:s,before:i,dispose:r},this}function Yo(){let s=this.sceneBinding;return s&&(s.scene.onBeforeRenderObservable.remove(s.before),s.scene.onDisposeObservable.remove(s.dispose),this.sceneBinding=null,this.timeAccumulator=0),this}function Tr(s,e,t,i={}){s.advance=Kf;let r,o;s.bodyIndex=function(n){if(this.destroyed)throw Error("The solver has been destroyed");let l=n;if(n instanceof Jo){if(n.solver!==this)throw Error("Body belongs to another solver");return n.gpuIndex}return typeof l!="number"&&t===3&&(o||(o=new WeakMap,e.bodies.forEach((c,u)=>o.set(c,this.gpuIndex(u)))),l=o.get(n)),this.liveIndex(l),l},s.body=function(n){let l=this.bodyIndex(n);return r??=new Map,r.has(l)||r.set(l,new Jo(this,l)),r.get(l)},s.editBodies=function(n){return Yf.call(this,n,t)},s.setLinearVelocities=function(n,l){if(this.destroyed)throw Error("The solver has been destroyed");return i.setVelocities?i.setVelocities.call(this,n,{linear:l}):(this.velocityBatch??=new Kt(this,t),this.velocityBatch.set(n,l),this)},s.setVelocities=function(n,l){if(this.destroyed)throw Error("The solver has been destroyed");return i.setVelocities?i.setVelocities.call(this,n,l):l?.angular===void 0&&l?.linear!==void 0?this.setLinearVelocities(n,l.linear):l?.linear===void 0&&l?.angular!==void 0?this.setAngularVelocities(n,l.angular):(this.motionBatch??=new yi(this,t),this.motionBatch.set(n,l),this)},s.setAngularVelocities=function(n,l){if(this.destroyed)throw Error("The solver has been destroyed");return i.setVelocities?i.setVelocities.call(this,n,{angular:l}):(this.angularVelocityBatch??=new Kt(this,t,"angular"),this.angularVelocityBatch.set(n,l),this)};let a=s.destroy;return s.destroy=function(){this.destroyed||(this.velocityBatch?.destroy(),this.angularVelocityBatch?.destroy(),this.motionBatch?.destroy(),this.bodyReadback?.destroy(),this.editStaging=null,a.call(this),r?.clear(),o=null,e=null)},i.readSelectedBodies?s.readSelectedBodies=i.readSelectedBodies:t===2&&(s.readSelectedBodies=function(n,{posesOnly:l=!1}={}){let c=n instanceof Uint32Array?n:Array.from(n);return c.forEach(u=>this.liveIndex(u)),this.flushEdits(),this.bodyReadback??=new vi(this.device),this.bodyReadback.read(this.bodyBuffer,c,l,6)}),s}var Qo=class extends Ho{constructor(e,t,i){super(e,t,i),Tr(this,null,2)}};var En=`struct Body { pos:vec4f, rot:vec4f, initialPos:vec4f, initialRot:vec4f, size:vec4f, moment:vec4f, inertialPos:vec4f, inertialRot:vec4f, velocity:vec4f, angular:vec4f }
|
|
4800
5085
|
struct Command { header:vec4u, value:vec4f, point:vec4f }
|
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4801
5086
|
struct Manifold { ids:vec4u, geo:vec4f }
|
|
4802
5087
|
@group(0) @binding(0) var<storage,read_write> bodies:array<Body>;
|
|
@@ -4849,26 +5134,26 @@ fn angularImpulse(b:Body,impulse:vec3f)->vec3f {
|
|
|
4849
5134
|
let index=commands[ranges[i].x].header.x;
|
|
4850
5135
|
if(bodies[index].initialPos.w<0.){bodies[index].initialPos.w=-bodies[index].initialPos.w-1.;}
|
|
4851
5136
|
}
|
|
4852
|
-
`;var
|
|
4853
|
-
${
|
|
5137
|
+
`;var Mn=class extends Or{constructor(e){super(e,En,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;
|
|
5138
|
+
${En}`});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 o=e.beginComputePass();o.setPipeline(this.invalidate),o.setBindGroup(0,this.invalidateGroup);let a=Math.ceil(i.manifoldCapacity/64),n=r.limits.maxComputeWorkgroupsPerDimension;o.dispatchWorkgroups(Math.min(a,n),Math.ceil(a/n)),o.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),o=e.beginComputePass(),o.setPipeline(this.clearMarkers),o.setBindGroup(0,this.markerGroup);let l=Math.ceil(t/64);o.dispatchWorkgroups(Math.min(l,n),Math.ceil(l/n)),o.end()}},Ko=class extends gi{constructor(e,t,i){super(e,t,i),this.nativeRef=t,Tr(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,o=!1){return this.liveIndex(e),this.prepareBodyCommands(),this.bodyCommands.enqueue(e,t,i,r,o),this}prepareBodyCommands(){return this.wakeAll(),this.bodyCommands??=new Mn(this)}setLinearVelocity(e,t){return this.queueBodyCommand(e,0,me(t,3,"velocity"))}setAngularVelocity(e,t){return this.queueBodyCommand(e,1,me(t,3,"angular velocity"))}applyImpulse(e,t,i){return this.queueBodyCommand(e,2,me(t,3,"impulse"),i===void 0?void 0:me(i,3,"point"),i!==void 0)}applyForce(e,t,i){return this.queueBodyCommand(e,3,[...me(t,3,"force"),this.params.dt],i===void 0?void 0:me(i,3,"point"),i!==void 0)}applyAngularImpulse(e,t){return this.queueBodyCommand(e,5,me(t,3,"angular impulse"))}applyTorque(e,t){return this.queueBodyCommand(e,6,[...me(t,3,"torque"),this.params.dt])}teleport(e,t,i){let r=me(t,3,"position"),o;if(i!==void 0){o=me(i,4,"rotation");let a=Math.hypot(...o);if(!a)throw Error("rotation must be nonzero");o=o.map(n=>n/a)}return this.queueBodyCommand(e,4,r,o,o!==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 vi(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 xi(this.device,this.bodyBuffer,this.bodyCapacity,e,t),i===void 0&&(i=Array.from({length:this.bodyCount},(r,o)=>o))),i!==void 0){let r=new Set(i);this.contactWatch.setWatched(Array.from({length:this.bodyCount},(o,a)=>a),Array.from({length:this.bodyCount},(o,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===Ai?"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 Xo.call(this,e,t)}detachFromScene(){return Yo.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 xs(s,e,t){if(s.split(e).length!==2)throw Error("Pinned solver changed; review the cloth kernel integration");return s.replace(e,t)}var ii=xs(Ge," if (j >= params.jointCount || info[j].x != T_JOINT) { return; }",` if (j >= params.jointCount) { return; }
|
|
4854
5139
|
if (info[j].x == T_SPRING) {
|
|
4855
5140
|
// Finite material stiffness: Eq. 16, with no hard-constraint multiplier.
|
|
4856
5141
|
joints[j].penLin.x = min(joints[j].penLin.w, max(PENALTY_MIN, joints[j].penLin.x * params.gamma));
|
|
4857
5142
|
return;
|
|
4858
5143
|
}
|
|
4859
|
-
if (info[j].x != T_JOINT) { return; }`);
|
|
5144
|
+
if (info[j].x != T_JOINT) { return; }`);ii=xs(ii," let stiffness = k.penLin.w;"," let stiffness = k.penLin.x;");ii=xs(ii," addRow(acc, n * sg, cross(r, n) * sg, stiffness, stiffness * (len - k.rA.w));",` let force = stiffness * (len - k.rA.w);
|
|
4860
5145
|
addRow(acc, n * sg, cross(r, n) * sg, stiffness, force);
|
|
4861
5146
|
// Eq. 17: positive diagonal lumping of the geometric Hessian's column
|
|
4862
5147
|
// norms. For C=|xA-xB|-L, G=(force/len)(I-n*n^T).
|
|
4863
5148
|
let g = abs(force / len) * sqrt(max(vec3f(0.0), vec3f(1.0) - n*n));
|
|
4864
|
-
(*acc).lin += mat3x3f(vec3f(g.x,0.0,0.0), vec3f(0.0,g.y,0.0), vec3f(0.0,0.0,g.z));`);
|
|
5149
|
+
(*acc).lin += mat3x3f(vec3f(g.x,0.0,0.0), vec3f(0.0,g.y,0.0), vec3f(0.0,0.0,g.z));`);ii=xs(ii," if (t != T_JOINT) { return; }",` if (t == T_SPRING) {
|
|
4865
5150
|
let a = info[j].y;
|
|
4866
5151
|
let b = info[j].z;
|
|
4867
5152
|
let C = length(anchorA(joints[j], a) - (qrotate(bodies[b].rot, joints[j].rB.xyz) + bodies[b].pos.xyz)) - joints[j].rA.w;
|
|
4868
5153
|
joints[j].penLin.x = min(joints[j].penLin.w, joints[j].penLin.x + params.betaLin * abs(C));
|
|
4869
5154
|
return;
|
|
4870
5155
|
}
|
|
4871
|
-
if (t != T_JOINT) { return; }`);
|
|
5156
|
+
if (t != T_JOINT) { return; }`);ii=xs(ii,"fn finishBody(i: u32, acc: Acc) {",`fn finishBody(i: u32, acc: Acc) {
|
|
4872
5157
|
if (all(bodies[i].moment.xyz == vec3f(0.0))) {
|
|
4873
5158
|
// LDL^T of the point's 3x3 SPD system, using the same pivot floor as
|
|
4874
5159
|
// rigid bodies. Contact friction moves the point; it cannot spin it.
|
|
@@ -4886,4 +5171,251 @@ ${sa}`});this.invalidate=r.createComputePipeline({layout:"auto",compute:{module:
|
|
|
4886
5171
|
let v1 = y1/d1 - l21*v2 - l31*v3;
|
|
4887
5172
|
bodies[i].pos = vec4f(bodies[i].pos.xyz - vec3f(v1,v2,v3), bodies[i].pos.w);
|
|
4888
5173
|
return;
|
|
4889
|
-
}`);var tc=ti;var nc=8,ic=16,$i=1e-6,aa=1e-5,tf=1e-6,la=34028234663852886e22,Mo=0,ac=1,zo=2;function rc(s){let e=s.positionAng;return{center:s.positionLin,half:ne(C(),s.size,.5),axis:[ae(C(),e,[1,0,0]),ae(C(),e,[0,1,0]),ae(C(),e,[0,0,1])]}}var Ji=(s,e)=>Math.abs(V(s,e));function Io(s,e){let t=V(e,s.axis[0])>=0?1:-1,i=V(e,s.axis[1])>=0?1:-1,r=V(e,s.axis[2])>=0?1:-1,o=D(C(),s.center,s.axis[0],s.half[0]*t);return D(o,o,s.axis[1],s.half[1]*i),D(o,o,s.axis[2],s.half[2]*r)}function lc(s,e){return e===0?{u:s.axis[1],v:s.axis[2],extentU:s.half[1],extentV:s.half[2]}:e===1?{u:s.axis[0],v:s.axis[2],extentU:s.half[0],extentV:s.half[2]}:{u:s.axis[0],v:s.axis[1],extentU:s.half[0],extentV:s.half[1]}}function rf(s,e,t){let i=V(t,s.axis[e])>=0?1:-1,r=ne(C(),s.axis[e],i),o=D(C(),s.center,r,s.half[e]);return{normal:r,center:o,...lc(s,e)}}function sf(s,e){let t=0,i=-la;for(let r=0;r<3;r++){let o=Ji(s.axis[r],e);o>i&&(i=o,t=r)}return t}function of(s,e,t){let i=V(s.axis[e],t)>0?-1:1,r=ne(C(),s.axis[e],i),o=D(C(),s.center,r,s.half[e]),{u:n,v:a,extentU:l,extentV:c}=lc(s,e),u=(f,d)=>{let p=D(C(),o,n,f*l);return D(p,p,a,d*c)};return[u(1,1),u(-1,1),u(-1,-1),u(1,-1)]}function nf(s,e,t){let i=[];if(s.length===0)return i;let r=s[s.length-1],o=V(e,r)-t;for(let n of s){let a=V(e,n)-t,l=o<=aa,c=a<=aa;if(l!==c){let u=0,f=o-a;Math.abs(f)>$i&&(u=ce(o/f,0,1)),i.length<ic&&i.push(D(C(),r,$(C(),n,r),u))}c&&i.length<ic&&i.push(n),r=n,o=a}return i}var Ro=class{contacts=[];midpoints=[];bodyA;bodyB;constructor(e,t){this.bodyA=e,this.bodyB=t}add(e,t,i){let r=ne(C(),ki(C(),e,t),.5);for(let a of this.midpoints)if(Ge($(C(),r,a))<tf)return;if(this.contacts.length>=nc)return;let{bodyA:o,bodyB:n}=this;this.contacts.push({feature:i,rA:Te(C(),o.positionAng,$(C(),e,o.positionLin)),rB:Te(C(),n.positionAng,$(C(),t,n.positionLin))}),this.midpoints.push(r)}};function na(s,e,t,i,r,o,n,a){let l=Ge(i);if(l<$i)return!0;let c=1/Math.sqrt(l),u=ne(C(),i,c);V(u,t)<0&&ee(u,u);let f=Math.abs(V(t,u)),d=s.half[0]*Ji(u,s.axis[0])+s.half[1]*Ji(u,s.axis[1])+s.half[2]*Ji(u,s.axis[2]),p=e.half[0]*Ji(u,e.axis[0])+e.half[1]*Ji(u,e.axis[1])+e.half[2]*Ji(u,e.axis[2]),g=f-(d+p);return g>0?!1:((!a.valid||g>a.separation)&&(a.valid=!0,a.type=r,a.indexA=o,a.indexB=n,a.separation=g,a.normalAB=u),!0)}function sc(s,e,t){let i=(e+1)%3,r=(e+2)%3,o=V(t,s.axis[i])>=0?1:-1,n=V(t,s.axis[r])>=0?1:-1,a=D(C(),s.center,s.axis[i],s.half[i]*o);D(a,a,s.axis[r],s.half[r]*n);let l=ne(C(),s.axis[e],s.half[e]);return[$(C(),a,l),ki(C(),a,l)]}function af(s,e,t,i){let r=$(C(),e,s),o=$(C(),i,t),n=$(C(),s,t),a=V(r,r),l=V(o,o),c=V(o,n),u=0,f=0;if(a<=$i&&l<=$i)return[s,t];if(a<=$i)f=ce(c/l,0,1);else{let d=V(r,n);if(l<=$i)u=ce(-d/a,0,1);else{let p=V(r,o),g=a*l-p*p;Math.abs(g)>$i&&(u=ce((p*c-d*l)/g,0,1)),f=(p*u+c)/l,f<0?(f=0,u=ce(-d/a,0,1)):f>1&&(f=1,u=ce((p-d)/a,0,1))}}return[D(C(),s,r,u),D(C(),t,o,f)]}function oc(s,e,t,i,r,o,n){let a=r?t:i,l=r?i:t,c=r?n:ee(C(),n),u=rf(a,o,c),f=sf(l,u.normal),d=of(l,f,u.normal),p=[[u.u,u.extentU],[ee(C(),u.u),u.extentU],[u.v,u.extentV],[ee(C(),u.v),u.extentV]];for(let[m,b]of p)if(d=nf(d,m,V(m,u.center)+b),!d.length)return[];let g=new Ro(s,e),h=(r?Mo:ac)<<24|(o&255)<<16|(f&255)<<8;for(let m=0;m<d.length&&g.contacts.length<nc;m++){let b=d[m],v=V($(C(),b,u.center),u.normal);if(v>aa)continue;let w=D(C(),b,u.normal,-v),y=r?w:b,A=r?b:w;g.add(y,A,h|m&255)}return g.contacts.length||g.add(Io(t,n),Io(i,ee(C(),n)),h),g.contacts}function lf(s,e,t,i,r,o,n){let[a,l]=sc(t,r,n),[c,u]=sc(i,o,ee(C(),n)),[f,d]=af(a,l,c,u),p=new Ro(s,e),g=zo<<24|(r&255)<<8|o&255;return p.add(f,d,g),p.contacts.length||p.add(Io(t,n),Io(i,ee(C(),n)),g),p.contacts}function cc(s,e,t,i=!0){let r=rc(s),o=rc(e),n=$(C(),o.center,r.center),a={type:Mo,indexA:0,indexB:0,separation:-la,normalAB:C(),valid:!1},l={type:zo,indexA:0,indexB:0,separation:-la,normalAB:C(),valid:!1};for(let f=0;f<3;f++)if(!na(r,o,n,r.axis[f],Mo,f,-1,a))return[];for(let f=0;f<3;f++)if(!na(r,o,n,o.axis[f],ac,-1,f,a))return[];let c=C();for(let f=0;f<3;f++)for(let d=0;d<3;d++)if(Dt(c,r.axis[f],o.axis[d]),!na(r,o,n,c,zo,f,d,l))return[];if(!a.valid)return[];let u=a;return l.valid&&(i?l.separation>.95*a.separation+.01:.95*l.separation>a.separation+.01)&&(u=l),ds(t,ee(C(),u.normalAB)),u.type===zo?lf(s,e,r,o,u.indexA,u.indexB,u.normalAB):u.type===Mo?oc(s,e,r,o,!0,u.indexA,u.normalAB):oc(s,e,r,o,!1,u.indexB,u.normalAB)}var de=(s,e)=>s.map((t,i)=>t+e[i]),T=(s,e)=>s.map((t,i)=>t-e[i]),q=(s,e)=>s.map(t=>t*e),G=(s,e)=>s.reduce((t,i,r)=>t+i*e[r],0),yt=(s,e)=>[s[1]*e[2]-s[2]*e[1],s[2]*e[0]-s[0]*e[2],s[0]*e[1]-s[1]*e[0]],Tt=s=>q(s,1/(Math.hypot(...s)||1)),_e=(s,e)=>Array.from(ae(C(),s,e)),uc=(s,e)=>Te(C(),s.positionAng,T(e,s.positionLin)),Ot=(s,e)=>de(s.positionLin,_e(s.positionAng,e)),cf=[[1,3,7,5],[0,4,6,2],[2,6,7,3],[0,1,5,4],[4,5,7,6],[0,2,3,1]],uf=[[1,0,0],[-1,0,0],[0,1,0],[0,-1,0],[0,0,1],[0,0,-1]];function Ir(s){if(De(s)||He(s)){let n=(De(s),s.size[0]/2),a=He(s)?Math.max(0,s.size[1]/2-n):0;return{body:s,radius:n,spine:[Ot(s,[0,-a,0]),Ot(s,[0,a,0])]}}let e=wt(s),t=e?Array.from({length:e.vertices.length/3},(n,a)=>Ot(s,e.vertices.slice(a*3,a*3+3))):Array.from({length:8},(n,a)=>Ot(s,s.size.map((l,c)=>l/2*(a>>c&1?1:-1)))),i=e?e.faces.map(n=>({vertices:n.verts.map(a=>t[a]),normal:_e(s.positionAng,n.normal)})):cf.map((n,a)=>({vertices:n.map(l=>t[l]),normal:_e(s.positionAng,uf[a])})),r=[],o=new Set;for(let n of i)for(let a=0;a<n.vertices.length;a++){let l=n.vertices[a],c=n.vertices[(a+1)%n.vertices.length],u=t.indexOf(l),f=t.indexOf(c),d=`${Math.min(u,f)},${Math.max(u,f)}`;o.has(d)||(o.add(d),r.push([l,c]))}return{body:s,vertices:t,faces:i,edges:r}}function as(s,e){let t=s.spine??s.vertices,i=t[0];for(let r of t)G(r,e)>G(i,e)&&(i=r);return s.spine?de(i,q(e,s.radius)):i}function ff(s,e,t){let i=T(e,s);return de(s,q(i,Math.max(0,Math.min(1,G(T(t,s),i)/(G(i,i)||1)))))}function Oo([s,e],[t,i]){let r=T(e,s),o=T(i,t),n=T(s,t),a=G(r,r),l=G(o,o),c=G(o,n),u=0,f=0,d=p=>Math.max(0,Math.min(1,p));if(a<1e-16)f=l>1e-16?d(c/l):0;else{let p=G(r,n);if(l<1e-16)u=d(-p/a);else{let g=G(r,o),h=a*l-g*g;u=h>1e-12*a*l?d((g*c-p*l)/h):0,f=(g*u+c)/l,f<0?(f=0,u=d(-p/a)):f>1&&(f=1,u=d((g-p)/a))}}return[de(s,q(r,u)),de(t,q(o,f))]}function df(s,e,t){let i=[];for(let r=0;r<s.length;r++){let o=s[r],n=s[(r+1)%s.length],a=G(o,e)-t,l=G(n,e)-t;a<=1e-8&&i.push(o),a<0!=l<0&&i.push(de(o,q(T(n,o),a/(a-l))))}return i}function hf(s,e,t,i){let r=T(t,e),o=T(i,e),n=T(s,e),a=G(r,n),l=G(o,n);if(a<=0&&l<=0)return e;let c=T(s,t),u=G(r,c),f=G(o,c);if(u>=0&&f<=u)return t;let d=a*f-u*l;if(d<=0&&a>=0&&u<=0)return de(e,q(r,a/(a-u)));let p=T(s,i),g=G(r,p),h=G(o,p);if(h>=0&&g<=h)return i;let m=g*l-a*h;if(m<=0&&l>=0&&h<=0)return de(e,q(o,l/(l-h)));let b=u*h-g*f;if(b<=0&&f-u>=0&&g-h>=0)return de(t,q(T(i,t),(f-u)/(f-u+g-h)));let v=1/(b+m+d);return de(e,de(q(r,m*v),q(o,d*v)))}function pf(s,e){let t=null,i=1/0;for(let r of s.faces)for(let o=1;o<r.vertices.length-1;o++){let n=hf(e,r.vertices[0],r.vertices[o],r.vertices[o+1]),a=G(T(e,n),T(e,n));a<i&&(t=n,i=a)}return t}function fc(s,e,t,i,r){if(!De(s)&&!De(e)&&!He(s)&&!He(e)&&!wt(s)&&!wt(e))return cc(s,e,t,s.solver.faceBias!==!1);i??=Ir(s),r??=Ir(e);let o=-1/0,n=[0,0,1],a=null,l=(f,d=null)=>{if(Math.hypot(...f)<1e-9)return;let p=Tt(f),g=G(T(as(i,q(p,-1)),as(r,p)),p),h=G(T(as(r,q(p,-1)),as(i,p)),p);h>g&&(g=h,p=q(p,-1)),g>o+1e-7&&(o=g,n=p,a=d)};for(let f of[i,r])for(let d of f.faces??[])l(d.normal);if(i.edges&&r.edges)for(let f of i.edges)for(let d of r.edges)l(yt(T(f[1],f[0]),T(d[1],d[0])),[f,d]);if(i.spine&&r.spine){let f=Oo(i.spine,r.spine);l(T(...f))}for(let[f,d]of[[i,r],[r,i]])if(f.spine&&d.faces){for(let p of d.vertices)l(T(p,ff(...f.spine,p)));for(let p of d.edges){let g=Oo(f.spine,p);l(T(...g))}}if(o===-1/0&&l(T(s.positionLin,e.positionLin)),o>0)return[];o===-1/0&&(n=[0,0,1],o=-(i.radius+r.radius));let c=Tt(yt(n,Math.abs(n[0])<.7?[1,0,0]:[0,1,0]));t.set([...n,...c,...yt(n,c)]);let u=[];if(i.spine&&r.spine){let[f,d]=Oo(i.spine,r.spine);u=[[de(f,q(n,-i.radius)),de(d,q(n,r.radius))]]}else if(i.spine||r.spine){let f=i.spine?i:r,d=i.spine?r:i,p=i.spine?q(n,-1):n,g=as(f,p),h=pf(d,g);u=[i.spine?[g,h]:[h,g]]}else if(a)u=[Oo(...a)];else{let f=(w,y)=>w.faces.reduce((A,x)=>G(x.normal,y)>G(A.normal,y)?x:A,w.faces[0]),d=f(i,q(n,-1)),p=f(r,n),g=G(d.normal,q(n,-1))>=G(p.normal,n),h=g?d:p,b=f(g?r:i,q(h.normal,-1)).vertices,v=q(h.vertices.reduce((w,y)=>de(w,y),[0,0,0]),1/h.vertices.length);for(let w=0;w<h.vertices.length&&b.length;w++){let y=h.vertices[w],A=h.vertices[(w+1)%h.vertices.length],x=Tt(yt(T(A,y),h.normal));G(T(v,y),x)>0&&(x=q(x,-1)),b=df(b,x,G(y,x))}for(let w of b){let y=G(T(w,h.vertices[0]),h.normal);if(y<=1e-6){let A=T(w,q(h.normal,y));u.push(g?[A,w]:[w,A])}}}return u.slice(0,8).map(([f,d],p)=>({feature:p+1,rA:uc(s,f),rB:uc(e,d)}))}var To=(s,e,t)=>Math.max(e,Math.min(t,s)),mf=(s,e)=>[G(s.slice(0,3),e),G(s.slice(3,6),e),G(s.slice(6,9),e)];function fa(s,e=!1){if(e){s.rest=Math.hypot(...T(Ot(s.bodyA,s.rA),Ot(s.bodyB,s.rB)));return}let t=s.bodyA?.positionAng??[0,0,0,1];s.cpuRest=Or(jt(),Yo(jt(),t),s.bodyB.positionAng),s.evaluateAng=i=>{let r=Or(jt(),s.bodyA?.positionAng??[0,0,0,1],s.cpuRest);lt(i,r,s.bodyB.positionAng);for(let o=0;o<3;o++)i[o]*=s.torqueArm;return i}}var ca=class extends oi{initialize(){let e=this.bodyA,t=this.bodyB;if(!((e.group??4294967295)&(t.collidesWith??4294967295))||!((t.group??4294967295)&(e.collidesWith??4294967295)))return!1;let i=this.contacts,r=De(e)||De(t)||He(e)||He(t);this.friction=Math.sqrt(e.friction*t.friction),this.contacts=fc(e,t,this.basis,this.solver.cpuGeometry.get(e),this.solver.cpuGeometry.get(t)).map(o=>{let n=i.find(a=>a.feature===o.feature);return{feature:o.feature,rA:n?.stick&&!r?n.rA:o.rA,rB:n?.stick&&!r?n.rB:o.rB,C0:C(),penalty:n?n.penalty.slice():C(),lambda:n?n.lambda.slice():C(),stick:n?.stick??!1}});for(let o of this.contacts){o.C0.set(mf(this.basis,T(Ot(e,o.rA),Ot(t,o.rB)))),o.C0[0]+=ps;for(let n=0;n<3;n++)o.lambda[n]*=this.solver.alpha*this.solver.gamma,o.penalty[n]=To(o.penalty[n]*this.solver.gamma,Et,Ue);if(this.solver.massPenalty!==!1){let n=Math.min(e.mass>0?e.mass:1/0,t.mass>0?t.mass:1/0);o.penalty[0]=Math.max(o.penalty[0],To(n/this.solver.dt**2,Et,Ue))}}return this.contacts.length>0}updatePrimal(...e){!this.bodyA.isTrigger&&!this.bodyB.isTrigger&&super.updatePrimal(...e)}updateDual(...e){!this.bodyA.isTrigger&&!this.bodyB.isTrigger&&super.updateDual(...e)}},ua=class extends Gt{constructor(e,t,i){super(e,t.bodyA,t.bodyB),this.options={...i},this.pen=[Et,Et],this.lam=[0,0],this.source=t;let r=i.axisA;this.ta=Tt(Math.abs(r[0])>Math.abs(r[2])?[-r[1],r[0],0]:[0,-r[2],r[1]]);let o=this.bodyA?_e(this.bodyA.positionAng,this.ta):this.ta,n=Array.from(Te(C(),this.bodyB.positionAng,o));n=T(n,q(i.axisB,G(n,i.axisB))),this.tb=Tt(n)}frame(){let e=this.bodyA?_e(this.bodyA.positionAng,this.options.axisA):this.options.axisA,t=this.bodyA?_e(this.bodyA.positionAng,this.ta):this.ta,i=_e(this.bodyB.positionAng,this.tb);return{axis:e,angle:Math.atan2(G(e,yt(t,i)),G(t,i))}}initialize(){let e=this.frame().angle;this.c0=this.options.type==="motor"?[e,0]:[Math.min(0,e-this.options.minAngle),Math.max(0,e-this.options.maxAngle)];for(let t=0;t<2;t++)this.lam[t]*=this.solver.alpha*this.solver.gamma,this.pen[t]=To(this.pen[t]*this.solver.gamma,Et,Ue);return!this.source.broken}evaluate(e){let{angle:t}=this.frame(),i=this.options,r=i.type==="motor"?[Math.atan2(Math.sin(t-this.c0[0]),Math.cos(t-this.c0[0]))-i.speed*this.solver.dt,0]:[t-i.minAngle-e*this.c0[0],t-i.maxAngle-e*this.c0[1]],o=r.map((n,a)=>this.pen[a]*n+this.lam[a]);return{c:r,f:i.type==="motor"?[To(o[0],-i.maxTorque,i.maxTorque),0]:[Math.min(0,o[0]),Math.max(0,o[1])]}}updatePrimal(e,t,i){let{f:r}=this.evaluate(t),o=this.options;if(o.type==="motor"&&o.maxTorque===0)return;let n=q(this.frame().axis,e===this.bodyA?-1:1);for(let a=0;a<(o.type==="motor"?1:2);a++)if(!(o.type==="limit"&&r[a]===0))for(let l=0;l<3;l++){i.rhsAng[l]+=n[l]*r[a];for(let c=0;c<3;c++)i.lhsAng[l*3+c]+=n[l]*n[c]*this.pen[a]}}updateDual(e){let{c:t,f:i}=this.evaluate(e);this.lam=i;for(let r=0;r<2;r++)this.pen[r]=Math.min(Ue,this.pen[r]+this.solver.betaAng*(this.options.type==="motor"?Math.abs(t[r]):r===0?Math.max(0,-t[r]):Math.max(0,t[r])))}};function jo(s){if(!s.cpuPrepared){s.cpuPrepared=!0;for(let e of[...s.forces]){let t=Hr(e);if(t){e.unlinkFromBodies(),s.forces.splice(s.forces.indexOf(e),1),e.cpuAngular=new ua(s,e,t);continue}if(e instanceof ke&&e.stiffnessAng>0&&fa(e),e instanceof ut){let i=e.initialize.bind(e);e.initialize=()=>{if(e.broken)return!1;let r=Gi(e);if(r){let o=Math.max(0,Math.hypot(...T(Ot(e.bodyA,e.rA),Ot(e.bodyB,e.rB)))-e.rest);if(o/Math.max(e.rest,1e-6)>r.breakStrain||o*e.stiffness>r.breakForce)return e.broken=!0,!1}return i()}}}}}function dc(s){let e=s.bodies;s.cpuGeometry=new Map;for(let l of e)(De(l)||He(l)||wt(l))&&s.cpuGeometry.set(l,Ir(l));let t=e.filter(l=>l.mass>0).slice(0,1024).map(l=>l.radius).sort((l,c)=>l-c),i=Math.max(.1,(t[Math.floor(t.length/2)]??1)*2),r=new Map,o=[],n=new Set,a=(l,c)=>{if(l===c||e[l].mass<=0&&e[c].mass<=0)return;let u=Math.max(l,c),f=Math.min(l,c),d=u*e.length+f;if(n.has(d))return;n.add(d);let p=e[u],g=e[f];if(!((p.group??4294967295)&(g.collidesWith??4294967295))||!((g.group??4294967295)&(p.collidesWith??4294967295)))return;let h=p.radius+g.radius;G(T(p.positionLin,g.positionLin),T(p.positionLin,g.positionLin))<=h*h&&!p.constrainedTo(g)&&new ca(s,p,g)};for(let l=0;l<e.length;l++){let c=e[l],u=c.positionLin.map(d=>Math.floor((d-c.radius)/i)),f=c.positionLin.map(d=>Math.floor((d+c.radius)/i));if((f[0]-u[0]+1)*(f[1]-u[1]+1)*(f[2]-u[2]+1)>128){o.push(l);continue}for(let d=u[0];d<=f[0];d++)for(let p=u[1];p<=f[1];p++)for(let g=u[2];g<=f[2];g++){let h=`${d},${p},${g}`,m=r.get(h)??[];for(let b of m)a(l,b);m.push(l),r.set(h,m)}}for(let l of o)for(let c=0;c<e.length;c++)a(l,c)}function Do(s,e){if(!(e===3?s.bodies.some(r=>r.restitution>0):[...s.restitution.values()].some(r=>r>0)))return null;if(e===2)return Float64Array.from(s.velocity);let i=new Float64Array(s.bodies.length*6);return s.bodies.forEach((r,o)=>{i.set(r.velocityLin,o*6),i.set(r.velocityAng,o*6+3)}),i}function Fo(s,e,t){if(!t)return;let i=e===3?s.bodies.length:s.bodyCount,r=e===3?6:4,o=e===3?new Float64Array(i*r):s.velocity;e===3&&s.bodies.forEach((h,m)=>{o.set(h.velocityLin,m*r),o.set(h.velocityAng,m*r+3)});let n=h=>e===3?s.bodies[h].mass>0&&!s.bodies[h].sleeping?1/s.bodies[h].mass:0:s.dynamic[h]?1/s.shape[h*4+2]:0,a=(h,m)=>{if(!n(h))return e===3?[0,0,0]:0;if(e===2)return s.shape[h*4+3]>0?m/s.shape[h*4+3]:0;let b=s.bodies[h],v=b.positionAng,w=_e([-v[0],-v[1],-v[2],v[3]],m);return _e(v,w.map((y,A)=>b.moment[A]>0?y/b.moment[A]:0))},l=(h,m,b)=>{let v=m*r;return e===3?T(h.subarray(v,v+3),yt(b,h.subarray(v+3,v+6))):[h[v]-h[v+2]*b[1],h[v+1]+h[v+2]*b[0]]},c=(h,m)=>e===3?yt(h,m):h[0]*m[1]-h[1]*m[0],u=(h,m)=>e===3?G(h,m):h*m,f;if(e===3){let h=new Map(s.bodies.map((m,b)=>[m,b]));f=s.forces.filter(m=>m.contacts?.length&&!m.bodyA.isTrigger&&!m.bodyB.isTrigger).map(m=>{let b=(v,w)=>{let y=[0,0,0];for(let A of m.contacts){let x=_e(v.positionAng,A[w]);for(let B=0;B<3;B++)y[B]+=x[B]/m.contacts.length}return y};return{a:h.get(m.bodyA),b:h.get(m.bodyB),n:m.basis.slice(0,3),ra:b(m.bodyA,"rA"),rb:b(m.bodyB,"rB"),e:Math.max(m.bodyA.restitution??0,m.bodyB.restitution??0)}})}else{let h=(m,b)=>{let v=Math.cos(s.pose[m*4+2]),w=Math.sin(s.pose[m*4+2]);return[v*b[0]-w*b[1],w*b[0]+v*b[1]]};f=s.contactPairs.filter(m=>!s.sensors.has(m.a)&&!s.sensors.has(m.b)).map(m=>({...m,ra:h(m.a,m.ra),rb:h(m.b,m.rb),e:Math.max(s.restitution.get(m.a)??0,s.restitution.get(m.b)??0)}))}let d=new Uint32Array(i);if(e===3)s.bodies.forEach((h,m)=>{d[m]=h.forces.length});else for(let h=0;h<i;h++)d[h]=s.adjStart[h+1]-s.adjStart[h];let p=[];for(let h of f){if(h.e<=0)continue;let m=G(h.n,T(l(t,h.a,h.ra),l(t,h.b,h.rb)));if(m>=-1)continue;let b=c(h.ra,h.n),v=c(h.rb,h.n),w=a(h.a,b),y=a(h.b,v),A=n(h.a)+n(h.b)+u(b,w)+u(v,y);A>0&&p.push({...h,inertiaA:w,inertiaB:y,k:A,target:-h.e*m,impulse:0})}let g=new Float64Array(o.length);for(let h=0;h<12&&p.length;h++){g.fill(0);for(let m of p){let b=G(m.n,T(l(o,m.a,m.ra),l(o,m.b,m.rb))),v=Math.max(0,m.impulse+(m.target-b)/(m.k*Math.max(1,d[m.a],d[m.b]))),w=v-m.impulse;m.impulse=v;for(let[y,A,x]of[[m.a,1,m.inertiaA],[m.b,-1,m.inertiaB]]){let B=y*r,E=n(y);for(let L=0;L<e;L++)g[B+L]+=A*w*E*m.n[L];if(e===3)for(let L=0;L<3;L++)g[B+3+L]+=A*w*x[L];else g[B+2]+=A*w*x}}for(let m=0;m<o.length;m++)o[m]+=g[m]}e===3&&s.bodies.forEach((h,m)=>{h.velocityLin.set(o.subarray(m*r,m*r+3)),h.velocityAng.set(o.subarray(m*r+3,m*r+6))})}function hc(s,e,t){let i=e.windSpeed??0;if(!sr(s)||s.mass<=0||i===0)return null;let r=e.windAngle??0,o=[Math.cos(r),Math.sin(r),0],n=[-o[1],o[0],0],a=s.positionLin,l=t*e.dt,c=G(a,o),u=G(a,n),f=.5*Math.sin(1.1*l-.35*c+.2*u)+.3*Math.sin(2.9*l-.8*c+.6*a[2])+.2*Math.sin(6.1*l-1.7*c+1.3*a[2]+.9*u),d=.6*Math.sin(1.7*l-.6*c+.4*a[2])+.4*Math.sin(4.3*l-1.3*c-.7*a[2]),p=Math.sin(2.3*l-.9*c+1.1*u),g=e.windGust??.4,h=o.map((A,x)=>i*A*(1+g*f)+g*i*(n[x]*.25*d+(x===2?.1*p:0))-s.velocityLin[x]),m=_e(s.positionAng,[0,0,1]),b=(e.windPressure??.72)*s.size[0]*s.size[1]/s.mass,v=G(h,m),w=h.map((A,x)=>A-m[x]*v),y=b*v*Math.abs(v)/(1+2*e.dt*b*Math.abs(v));return m.map((A,x)=>A*y+w[x]*.06*b*Math.hypot(...w))}var gf=()=>({dt:1/60,gravity:-10,iterations:10,betaLin:1e4,betaAng:100,alpha:.99,gamma:.999}),Go=class{dt=1/60;gravity=-10;iterations=10;alpha=.99;betaLin=1e4;betaAng=100;gamma=.999;massPenalty=!0;faceBias=!0;up=[0,0,1];cpuStep=0;bodies=[];forces=[];constructor(){this.defaultParams()}defaultParams(){Object.assign(this,gf())}clear(){this.forces=[],this.bodies=[]}pick(e,t){let r=null,o=C(),n=C();for(let a=this.bodies.length-1;a>=0;a--){let l=this.bodies[a];if(l.mass<=0)continue;Te(o,l.positionAng,$(o,e,l.positionLin)),Te(n,l.positionAng,t);let c=0,u=1/0,f=!0;for(let p=0;p<3&&f;p++){let g=l.size[p]*.5;if(Math.abs(n[p])<1e-6){(o[p]<-g||o[p]>g)&&(f=!1);continue}let h=1/n[p],m=(-g-o[p])*h,b=(g-o[p])*h;m>b&&([m,b]=[b,m]),c=Math.max(c,m),u=Math.min(u,b),c>u&&(f=!1)}if(!f)continue;let d=c>=0?c:u;d<0||(!r||d<r.t)&&(r={body:l,local:D(C(),o,n,d),t:d})}return r}sys=ms();dxLin=C();dxAng=C();dp=C();accel=C();step(){let{dt:e,gravity:t,bodies:i,sys:r,dp:o}=this,n=Do(this,3);jo(this),dc(this);let a=[];for(let l of this.forces)l.initialize()?a.push(l):l.unlinkFromBodies();this.forces=a;for(let l=i.length-1;l>=0;l--){let c=i[l];D(c.inertialLin,c.positionLin,c.velocityLin,e),c.mass>0&&D(c.inertialLin,c.inertialLin,this.up,t*e*e);let u=hc(c,this,this.cpuStep);u&&D(c.inertialLin,c.inertialLin,u,e*e),ri(c.inertialAng,c.positionAng,pc(c.velocityAng,e)),_t(this.accel,$(this.accel,c.velocityLin,c.prevVelocityLin),e);let f=V(this.accel,this.up)*us(t),d=ce(f/Math.abs(t),0,1);Number.isFinite(d)||(d=0),c.initialLin.set(c.positionLin),c.initialAng.set(c.positionAng),c.mass>0&&!c.sleeping&&(D(c.positionLin,c.positionLin,c.velocityLin,e),D(c.positionLin,c.positionLin,this.up,t*d*e*e),ri(c.positionAng,c.positionAng,pc(c.velocityAng,e)))}for(let l=0;l<this.iterations;l++){for(let c=i.length-1;c>=0;c--){let u=i[c];if(u.mass<=0||u.sleeping)continue;let f=u.mass,d=u.moment;Ce(r.lhsLin,f/(e*e),f/(e*e),f/(e*e)),Ce(r.lhsAng,d[0]/(e*e),d[1]/(e*e),d[2]/(e*e)),r.lhsCross.fill(0),ue(r.rhsLin,r.lhsLin,$(o,u.positionLin,u.inertialLin)),ue(r.rhsAng,r.lhsAng,lt(o,u.positionAng,u.inertialAng));let p=u.forces;for(let h=p.length-1;h>=0;h--)p[h].updatePrimal(u,this.alpha,r);let g=u.moment.every(h=>h===0);g&&(Ce(r.lhsAng,1,1,1),r.lhsCross.fill(0),r.rhsAng.fill(0)),hs(r.lhsLin,r.lhsAng,r.lhsCross,ee(r.rhsLin,r.rhsLin),ee(r.rhsAng,r.rhsAng),this.dxLin,this.dxAng),D(u.positionLin,u.positionLin,this.dxLin,1),g||ri(u.positionAng,u.positionAng,this.dxAng)}for(let c of this.forces)c.updateDual(this.alpha)}for(let l of i)l.prevVelocityLin.set(l.velocityLin),l.mass>0&&!l.sleeping&&(_t(l.velocityLin,$(l.velocityLin,l.positionLin,l.initialLin),e),_t(l.velocityAng,lt(l.velocityAng,l.positionAng,l.initialAng),e));Fo(this,3,n),this.cpuStep++}},bf=C(),pc=(s,e)=>ne(bf,s,e);var cs=(s,e)=>s.map((t,i)=>t+e[i]),Re=(s,e)=>s.map((t,i)=>t-e[i]),Lt=(s,e)=>s.map(t=>t*e),rt=(s,e)=>s[0]*e[0]+s[1]*e[1],ls=(s,e)=>[Math.cos(s)*e[0]-Math.sin(s)*e[1],Math.sin(s)*e[0]+Math.cos(s)*e[1]],gc=s=>Math.max(0,Math.min(1,s)),mc=(s,e,t)=>cs(s,Lt(Re(e,s),gc(rt(Re(t,s),Re(e,s))/(rt(Re(e,s),Re(e,s))||1))));function No(s,e){let t=Zt(s)?.get(e)??[0,0,0,0],i=Array.from(s.pose.subarray(e*4,e*4+2)),r=s.pose[e*4+2],o=l=>cs(i,ls(r,l)),n=[s.shape[e*4]/2,s.shape[e*4+1]/2],a=t[0]===4?Array.from({length:t.vertices.length/4},(l,c)=>o(t.vertices.slice(c*4,c*4+2))):t[0]===0?[[-1,-1],[1,-1],[1,1],[-1,1]].map(l=>o([l[0]*n[0],l[1]*n[1]])):null;return{kind:t[0],p:i,angle:r,vertices:a,radius:t[1],spine:[o([-t[2]||0,0]),o([t[2]||0,0])]}}function Xi(s,e){if(s.vertices){let r=-1/0,o=[];for(let n of s.vertices){let a=rt(n,e);a>r+1e-7?(r=a,o=[n]):Math.abs(a-r)<1e-7&&o.push(n)}return[o[0],o.at(-1)]}let t=cs(s.spine[0],Lt(e,s.radius)),i=cs(s.spine[1],Lt(e,s.radius));return Math.abs(rt(t,e)-rt(i,e))<1e-7?[t,i]:rt(t,e)>rt(i,e)?[t,t]:[i,i]}function bc(s,e,t,i){let r=No(s,e),o=No(s,t),n=s.pose,a=s.shape;if(r.kind===0&&o.kind===0)return oo(...n.subarray(e*4,e*4+3),a[e*4]/2,a[e*4+1]/2,...n.subarray(t*4,t*4+3),a[t*4]/2,a[t*4+1]/2,i);let l=[];if(r.kind===3||o.kind===3){let u=r.kind===3,f=u?r:o,d=u?o:r;if(d.kind===3)return 0;let p=ls(f.angle,[0,1]),g=Xi(d,Lt(p,-1));for(let h of g){let m=rt(Re(h,f.p),p);if(m<=0){let b=Re(h,Lt(p,m));l.push({a:u?b:h,b:u?h:b,n:u?Lt(p,-1):p})}}}else{let u=-1/0,f=[0,1],d=A=>{let x=Math.hypot(...A);if(x<1e-9)return;let B=Lt(A,1/x),E=rt(Re(Xi(r,Lt(B,-1))[0],Xi(o,B)[0]),B),L=rt(Re(Xi(o,Lt(B,-1))[0],Xi(r,B)[0]),B);Math.max(E,L)>u+1e-7&&(u=Math.max(E,L),f=E>=L?B:Lt(B,-1))};for(let[A,x]of[[r,o],[o,r]])if(A.vertices)for(let B=0;B<A.vertices.length;B++){let E=Re(A.vertices[(B+1)%A.vertices.length],A.vertices[B]);d([E[1],-E[0]]),x.vertices||d(Re(A.vertices[B],mc(...x.spine,A.vertices[B])))}else if(d(ls(A.angle,[0,1])),!x.vertices)for(let B of A.spine)d(Re(B,mc(...x.spine,B)));if(u===-1/0&&d([0,1]),u>0)return 0;let p=Xi(r,Lt(f,-1)),g=Xi(o,f),h=[-f[1],f[0]],m=p.map(A=>rt(A,h)),b=g.map(A=>rt(A,h)),v=Math.max(Math.min(...m),Math.min(...b)),w=Math.min(Math.max(...m),Math.max(...b)),y=(A,x)=>{let B=rt(Re(A[1],A[0]),h);return Math.abs(B)<1e-9?A[0]:cs(A[0],Lt(Re(A[1],A[0]),gc((x-rt(A[0],h))/B)))};for(let A of w-v>1e-6?[v,w]:[(v+w)/2])l.push({a:y(p,A),b:y(g,A),n:f})}let c=0;for(let u of l){if(c&&Math.hypot(...Re(u.a,l[0].a))<1e-7)continue;let f=ls(-r.angle,Re(u.a,r.p)),d=ls(-o.angle,Re(u.b,o.p));if(i.set([268435456+c,...f,...d,...u.n],c*7),c++,c===2)break}return c}var yc=(s,e,t)=>[Math.cos(s)*e-Math.sin(s)*t,Math.sin(s)*e+Math.cos(s)*t],vc=function(){let{pose:s,shape:e,props:t}=this,i=this.broadphase.pairs,r=this.contactOut;for(let o=0;o<this.broadphase.pairCount;o++){let n=i[o],a=Math.floor(n/2097152),l=n-a*2097152,c=this.collideBodies(a,l,r);if(c===0)continue;let u=0,f=this.prevCount;for(;u<f;){let g=u+f>>>1;this.prevKeys[g]<n?u=g+1:f=g}let d=u,p=Math.sqrt(t[a*4]*t[l*4]);for(let g=0;g<c;g++){let h=this.jointCount+this.contactCount++;this.info=this.grow(this.info,(h+1)*j),this.data=this.grow(this.data,(h+1)*O);let m=this.data,b=h*O,v=g*7,w=r[v+0];this.info.set([Zr,a,l,w],h*j),m.fill(0,b,b+O),m[b+Q]=m[b+Q+1]=1/0,m[b+Le]=-1/0,m[b+xe]=0,m[b+Pt]=m[b+Pt+1]=1/0,m[b+U]=r[v+1],m[b+U+1]=r[v+1+1],m[b+Y]=r[v+3],m[b+Y+1]=r[v+3+1],m[b+re]=p,m[b+ge]=r[v+5],m[b+Fe]=r[v+5+1];let y=-1;for(let k=d;k<this.prevCount&&this.prevKeys[k]===n;k++)this.prevInfo[k*j+3]===w&&(y=k);if(y<0&&this.params.matchNearest){let k=ea*Math.min(e[a*4],e[a*4+1],e[l*4],e[l*4+1]);for(let S=d;S<this.prevCount&&this.prevKeys[S]===n;S++){let P=Math.hypot(this.prevData[S*O+U]-m[b+U],this.prevData[S*O+U+1]-m[b+U+1]);P<=k&&(k=P,y=S)}}if(y>=0){let k=y*O;m[b+se]=this.prevData[k+se],m[b+se+1]=this.prevData[k+se+1],m[b+te]=this.prevData[k+te],m[b+te+1]=this.prevData[k+te+1],this.prevData[k+Vi]&&(m[b+U]=this.prevData[k+U],m[b+U+1]=this.prevData[k+U+1],m[b+Y]=this.prevData[k+Y],m[b+Y+1]=this.prevData[k+Y+1])}let[A,x]=yc(s[a*4+2],m[b+U],m[b+U+1]),[B,E]=yc(s[l*4+2],m[b+Y],m[b+Y+1]),L=m[b+ge],M=m[b+Fe],z=s[a*4]+A-s[l*4]-B,_=s[a*4+1]+x-s[l*4+1]-E;m[b+fe]=L*z+M*_+5e-4,m[b+fe+1]=M*z-L*_}}};var Uo=class extends Lr{constructor(e,t,i){if(super({precision:i==="soa-colored"?"f32":"f64",order:i==="soa-colored"?"colored":"sequential"}),Object.assign(this,e),this.options={...this.options,precision:i==="soa-colored"?"f32":"f64",order:i==="soa-colored"?"colored":"sequential"},this.options.precision==="f64")for(let[r,o]of Object.entries(this))o instanceof Float32Array&&(this[r]=Float64Array.from(o));for(let[r,o]of Zt(e)??[]){let n=this.shape[r*4+2];Er(this,r,{geometry:o,area:n,momentPerMass:n>0?this.shape[r*4+3]/n:0,radius:this.props[r*4+1]},1)}this.filters=new Map(t?.filters??[]),this.sensors=new Set(t?.sensors??[]),this.restitution=new Map(t?.restitution??[]),this.contactPairs=[],t&&(t.topology=this)}narrowphase(){this.contactPairs=[],vc.call(this)}collideBodies(e,t,i){let r=this.filters.get(e)??[4294967295,4294967295],o=this.filters.get(t)??[4294967295,4294967295];if(!(r[0]&o[1])||!(o[0]&r[1]))return 0;let n=bc(this,e,t,i);if(n){let a=[i[5],i[6]],l=[0,0],c=[0,0];for(let p=0;p<n;p++)for(let g=0;g<2;g++)l[g]+=i[p*7+1+g]/n,c[g]+=i[p*7+3+g]/n;let u=this.pose[e*4+2],f=Math.cos(u),d=Math.sin(u);this.contactPairs.push({a:e,b:t,n:a,ra:l,rb:c,point:[this.pose[e*4]+f*l[0]-d*l[1],this.pose[e*4+1]+d*l[0]+f*l[1],0],impulse:0})}return this.sensors.has(e)||this.sensors.has(t)?0:n}initJoints(){for(let e=0;e<this.jointCount;e++){let t=e*O,i=this.info[e*j];if(this.data[t+Q]===0&&this.data[t+Q+1]===0&&this.data[t+Q+2]===0){i!==0&&(this.info[e*j]=0,this.noCollideDirty=!0,this.handles[e]&&(this.handles[e].alive=!1));continue}i===1&&this.jointC(this.info[e*j+1],this.info[e*j+2],t,this.pose,this.data,t+fe)}for(let e=0;e<this.jointCount;e++)if(this.info[e*j]===5){let t=e*O,i=this.info[e*j+1],r=this.info[e*j+2],o=(i<0?0:this.pose[i*4+2])-this.pose[r*4+2]-this.data[t+re];this.data[t+fe]=Math.min(0,o-this.data[t+ge]),this.data[t+fe+1]=Math.max(0,o-this.data[t+Fe])}}warmStartConstraints(e,t){let i=[];for(let r=0;r<this.jointCount;r++)this.info[r*j]===5&&(i.push(r),this.info[r*j]=4);super.warmStartConstraints(e,t);for(let r of i)this.info[r*j]=5}evalConstraint(e,t,i){if(this.info[e*j]!==5)return super.evalConstraint(e,t,i);let r=e*O,o=this.info[e*j+1],n=this.info[e*j+2],a=this.data,l=(o<0?0:this.pose[o*4+2])-this.pose[n*4+2]-a[r+re];this.eC[0]=l-a[r+ge]-t*a[r+fe],this.eC[1]=l-a[r+Fe]-t*a[r+fe+1],this.eG.fill(0),this.eJ.fill(0);for(let c=0;c<2;c++){this.eMin[c]=a[r+Le+c],this.eMax[c]=a[r+xe+c];let u=Math.max(this.eMin[c],Math.min(this.eMax[c],a[r+se+c]*this.eC[c]+a[r+te+c]));i>=0&&u!==0&&(this.eJ[c*3+2]=i===o?1:-1)}return 2}step(){let e=Do(this,2);super.step(),Fo(this,2,e);let t=new Map(this.contactPairs.map(i=>[`${i.a},${i.b}`,i]));for(let i=this.jointCount;i<this.jointCount+this.contactCount;i++){let r=t.get(`${this.info[i*j+1]},${this.info[i*j+2]}`);r&&(r.impulse+=Math.abs(this.data[i*O+te])*this.params.dt)}}};var Vo=(s,e,t)=>{let i=T(e,s);return de(s,q(i,Math.max(0,Math.min(1,G(T(t,s),i)/(G(i,i)||1)))))};function qo(s,e,t,i){let r=T(s,t),o=G(r,e),n=o*o-G(r,r)+i*i;if(n<0)return null;let a=-o-Math.sqrt(n);return a<0?null:{t:a,n:Tt(T(de(s,q(e,a)),t))}}function Rr(s,e){return e&&(!s||e.t<s.t)?e:s}function da(s,e,t,i,r){let o=T(i,t),n=T(s,t),a=G(o,o);if(a<1e-16)return qo(s,e,t,r);let l=G(o,e),c=G(o,n),u=G(n,e),f=a-l*l,d=a*u-c*l,p=a*G(n,n)-c*c-r*r*a,g=d*d-f*p,h=null;if(f>1e-12*a&&g>=0){let m=(-d-Math.sqrt(g))/f,b=c+m*l;m>=0&&b>=0&&b<=a&&(h={t:m,n:Tt(T(de(s,q(e,m)),de(t,q(o,b/a))))})}return Rr(Rr(h,qo(s,e,t,r)),qo(s,e,i,r))}function Ac(s,e){let t=q(e.vertices.reduce((i,r)=>de(i,r),[0,0,0]),1/e.vertices.length);for(let i=0;i<e.vertices.length;i++){let r=e.vertices[i],o=e.vertices[(i+1)%e.vertices.length],n=yt(T(o,r),e.normal);if(G(n,T(s,r))*(G(n,T(t,r))>=0?1:-1)<-1e-6)return!1}return!0}function yf(s,e,t,i){if(i===0){let a=-1/0,l=1/0,c=q(t,-1);for(let u of s.faces){let f=G(u.normal,t),d=G(u.normal,T(u.vertices[0],e));if(Math.abs(f)<1e-12){if(d<0)return null}else{let p=d/f;f<0?p>a&&(a=p,c=u.normal):l=Math.min(l,p)}if(a>l)return null}return l<0?null:{t:Math.max(0,a),n:a<=0?q(t,-1):c}}let r=!0,o=1/0,n=null;for(let a of s.faces){let l=G(a.normal,T(e,a.vertices[0]));l>0&&(r=!1),Ac(T(e,q(a.normal,l)),a)&&(o=Math.min(o,l*l));let c=G(a.normal,t);if(c<-1e-12){let u=(i-l)/c;u>=0&&Ac(T(de(e,q(t,u)),q(a.normal,i)),a)&&(n=Rr(n,{t:u,n:a.normal}))}}for(let[a,l]of s.edges){let c=T(e,Vo(a,l,e));o=Math.min(o,G(c,c)),n=Rr(n,da(e,t,a,l,i))}return r||o<=i*i?{t:0,n:q(t,-1)}:n}var vt=(s,e)=>s[0]*e[0]+s[1]*e[1];function vf(s,e,t,i){let r=!0,o=1/0,n=null;for(let a=0;a<s.vertices.length;a++){let l=s.vertices[a],c=s.vertices[(a+1)%s.vertices.length],u=T(c,l),f=Tt([u[1],-u[0]]),d=vt(T(e,l),f);d>0&&(r=!1);let p=T(e,Vo(l,c,e));o=Math.min(o,vt(p,p));let g=vt(t,f);if(g<-1e-12){let h=(i-d)/g,m=T(de(e,q(t,h)),q(f,i)),b=vt(T(m,l),u),v=1e-6*vt(u,u);h>=0&&b>=-v&&b<=vt(u,u)+v&&(n=Rr(n,{t:h,n:f}))}i>0&&(n=Rr(n,qo(e,t,l,i)))}return r||o<=i*i?{t:0,n:q(t,-1)}:n}function Af(s,e,t,i){if(s.vertices)return vf(s,e,t,i);if(s.kind===3){let p=[-Math.sin(s.angle),Math.cos(s.angle)],g=vt(T(e,s.p),p)-i,h=vt(t,p);return g<=0?{t:0,n:q(t,-1)}:h<-1e-12?{t:-g/h,n:p}:null}let r=s.kind===1?s.p:s.spine[0],o=s.kind===1?s.p:s.spine[1],n=i+s.radius,a=T(e,Vo(r,o,e));if(vt(a,a)<=n*n)return{t:0,n:q(t,-1)};if(n>0)return da(e,t,r,o,n);let l=T(o,r),c=t[0]*l[1]-t[1]*l[0];if(Math.abs(c)<1e-12){let p=T(e,r);if(Math.abs(p[0]*l[1]-p[1]*l[0])/Math.max(Math.hypot(...l),1e-20)>1e-6)return null;let h=Math.min(vt(T(r,e),t),vt(T(o,e),t));return Math.max(vt(T(r,e),t),vt(T(o,e),t))<0?null:{t:Math.max(0,h),n:q(t,-1)}}let u=T(r,e),f=(u[0]*l[1]-u[1]*l[0])/c,d=(u[0]*t[1]-u[1]*t[0])/c;return f>=0&&d>=0&&d<=1?{t:f,n:q(Tt([l[1],-l[0]]),c>0?-1:1)}:null}function xc(s,e,t,i,{maxDistance:r=1e30,ignore:o=[],collidesWith:n=4294967295,includeTriggers:a=!0}={}){let l=s.dimension,c=me(e,l,"origin"),u=me(i,l,"direction"),f=Math.hypot(...u);if(!f||!Number.isFinite(t)||t<0||!Number.isFinite(r)||r<0)throw Error("Provide a nonzero direction, finite nonnegative radius and distance");if(!Number.isInteger(n)||n<0||n>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");let d=new Set(o);for(let h of d)s.liveIndex(h);let p=u.map(h=>h/f),g=null;for(let h=0;h<s.bodyCount;h++){if(d.has(h))continue;let m=l===3?s.solver.bodies[h]:null,b=m?m.group??4294967295:s.solver.filters.get(h)?.[0]??4294967295,v=m?m.isTrigger:s.solver.sensors.has(h);if(!(b&n)||!a&&v)continue;let w;if(l===2)w=Af(No(s.solver,h),c,p,t);else{let A=Ir(m);if(A.spine){let x=A.radius+t,B=T(c,Vo(...A.spine,c));w=G(B,B)<=x*x?{t:0,n:q(p,-1)}:da(c,p,...A.spine,x)}else w=yf(A,c,p,t)}if(!w||w.t>r||g&&w.t>=g.distance)continue;let y=de(c,q(p,w.t));g={index:h,distance:w.t,normal:w.n,center:y,point:T(y,q(w.n,t))}}return g}var Wo=class{constructor(e,{speedThreshold:t=.08,timeThreshold:i=.6}={}){if(!Number.isFinite(t)||t<=0||!Number.isFinite(i)||i<=0)throw Error("Sleep thresholds must be positive and finite");this.world=e,this.speedThreshold=t,this.timeThreshold=i,this.time=new Float64Array(e.bodyCount),this.asleep=new Set}wake(){let e=this.world;for(let t of this.asleep)e.dimension===3?e.solver.bodies[t].sleeping=!1:e.solver.dynamic[t]=+(e.solver.shape[t*4+2]>0);this.asleep.clear(),this.time.fill(0)}after(){let e=this.world,t=e.solver,i=e.bodyCount,r=Int32Array.from({length:i},(d,p)=>p),o=new Set,n=[],a=d=>e.dimension===3?t.bodies[d].mass:t.shape[d*4+2],l=d=>{for(;r[d]!==d;)r[d]=r[r[d]],d=r[d];return d},c=(d,p)=>{if(d<0){o.add(p);return}a(d)<=0?o.add(p):a(p)<=0?o.add(d):r[l(d)]=l(p),n.push([d,p])};if(e.dimension===3){let d=new Map(t.bodies.map((p,g)=>[p,g]));for(let p of t.forces)!p.broken&&!p.bodyA?.isTrigger&&!p.bodyB?.isTrigger&&c(p.bodyA?d.get(p.bodyA):-1,d.get(p.bodyB))}else{for(let d of t.contactPairs)!t.sensors.has(d.a)&&!t.sensors.has(d.b)&&c(d.a,d.b);for(let d=0;d<t.jointCount;d++)(t.data[d*32+6]||t.data[d*32+7]||t.data[d*32+8])&&c(t.info[d*4+1],t.info[d*4+2])}let u=new Set([...o].map(l)),f=new Map;for(let d=0;d<i;d++)if(a(d)>0){let p=l(d),g=e.dimension===3?t.bodies[d]:null,h=g?g.allowSleep!==!1:t.avbdSleepEligible?.get(d)!==!1,m=g?Math.hypot(...g.velocityLin,...g.velocityAng):Math.hypot(...t.velocity.subarray(d*4,d*4+3));f.has(p)||f.set(p,u.has(p)),f.set(p,f.get(p)&&h&&m<=this.speedThreshold)}for(let d=0;d<i;d++)a(d)>0&&(this.time[d]=f.get(l(d))?this.time[d]+e.params.dt:0,this.time[d]>=this.timeThreshold&&(this.asleep.add(d),e.dimension===3?(t.bodies[d].sleeping=!0,t.bodies[d].velocityLin.fill(0),t.bodies[d].velocityAng.fill(0)):(t.dynamic[d]=0,t.velocity.fill(0,d*4,d*4+4))));n.some(([d,p])=>d>=0&&a(d)>0&&a(p)>0&&this.asleep.has(d)!==this.asleep.has(p))&&this.wake()}};var Ho=class{constructor(e,t,i={}){if(this.backend="cpu",this.dimension=t,this.scene=e,this.stepCount=0,this.pending=new ei,this.events=[],this.previous=new Map,this.watched=null,t===3){this.solver=Object.assign(new Go,e.ref),this.solver.up=[...e.up??[0,0,1]],this.nativeRef=e.ref,this.constraints=this.solver.forces.slice();for(let r of this.solver.bodies)r.solver=this.solver;for(let r of this.constraints)r.solver=this.solver;this.constraints.forEach((r,o)=>{let n=e.handles?.get(r);n&&(n.slot=o)}),jo(this.solver)}else this.solver=new Uo(e.topology,e,i.order==="colored"?"soa-colored":"soa-seq"),this.topology=this.solver,this.builder=Object.assign(Object.create(Object.getPrototypeOf(e)),{topology:this.solver,filters:this.solver.filters,sensors:this.solver.sensors,restitution:this.solver.restitution});this.params=t===3?this.solver:this.solver.params,zr(this,t===3?{bodies:this.solver.bodies}:null,t,{setVelocities:this.setPackedVelocities,readSelectedBodies:this.readSelectedBodies}),(i.sleeping||e.sleepOptIn||[...e.topology?.avbdSleepEligible?.values()??[]].some(Boolean))&&this.enableSleeping(i.sleeping===!0?{}:i.sleeping)}get bodyCount(){return this.dimension===3?this.solver.bodies.length:this.solver.bodyCount}get jointCount(){return this.dimension===3?this.constraints.length:this.solver.jointCount}gpuIndex(e){return this.liveIndex(e),e}liveIndex(e){if(this.assertLive(),!Number.isInteger(e)||e<0||e>=this.bodyCount)throw Error("A live body index is required")}assertLive(){if(this.destroyed)throw Error("The solver has been destroyed")}prepareBodyCommands(){return this.wakeAll(),{enqueueValidated:e=>{this.pending.reserve(this.pending.count+e.count),this.pending.u32.set(e.u32.subarray(0,e.count*12),this.pending.count*12),this.pending.count+=e.count}}}setLinearVelocity(e,t){return this.editBodies([{body:e,linearVelocity:t}])}setAngularVelocity(e,t){return this.editBodies([{body:e,angularVelocity:t}])}applyImpulse(e,t,i){return this.editBodies([{body:e,impulse:t,worldPoint:i}])}applyForce(e,t,i){return this.editBodies([{body:e,force:t,worldPoint:i}])}applyAngularImpulse(e,t){return this.editBodies([{body:e,angularImpulse:t}])}applyTorque(e,t){return this.editBodies([{body:e,torque:t}])}teleport(e,t,i){return this.editBodies([{body:e,position:t,rotation:i}])}setPackedVelocities(e,t){let i=Array.from(e),r=t?.linear,o=t?.angular,n=this.dimension,a=n===3?3:1;if(r===void 0&&o===void 0)throw Error("Provide linear or angular velocities");let l=-1;i.forEach(d=>{if(this.liveIndex(d),d<=l)throw Error("Velocity batch indices must be unique and ascending GPU slots");l=d});for(let[d,p]of[[r,n],[o,a]])if(d!==void 0&&(d.length!==i.length*p||!Array.from(d).every(g=>Number.isFinite(Math.fround(g)))))throw Error("Provide finite packed velocity components per body");let c=r===void 0?null:Array.from(r),u=o===void 0?null:Array.from(o),f=i.map((d,p)=>({body:d,...c===null?{}:{linearVelocity:c.slice(p*n,(p+1)*n)},...u===null?{}:{angularVelocity:n===3?u.slice(p*a,(p+1)*a):u[p]}}));return this.editBodies(f),this.flushEdits(),this}flushEdits(){if(this.destroyed)throw Error("The solver has been destroyed");let{words:e,u32:t,count:i}=this.pending,r=this.solver,o=this.dimension;for(let n=0;n<i;n++){let a=n*12,l=t[a],c=t[a+1],u=t[a+2]!==0,f=o===3?r.bodies[l]:null,d=f?.velocityLin??r.velocity.subarray(l*4,l*4+2),p=f?.mass??r.shape[l*4+2],g=f?.positionLin??r.pose.subarray(l*4,l*4+2),h=m=>{if(!(p<=0))if(o===2)r.velocity[l*4+2]+=m[0]/Math.max(1e-10,r.shape[l*4+3]);else{let b=f.positionAng,v=_e([-b[0],-b[1],-b[2],b[3]],m),w=_e(b,v.map((y,A)=>y/Math.max(1e-10,f.moment[A])));for(let y=0;y<3;y++)f.velocityAng[y]+=w[y]}};if(c===0)d.set(e.subarray(a+4,a+4+o));else if(c===1)f?f.velocityAng.set(e.subarray(a+4,a+7)):r.velocity[l*4+2]=e[a+4];else if(c===4)if(g.set(e.subarray(a+4,a+4+o)),f){u&&f.positionAng.set(e.subarray(a+8,a+12)),f.initialLin.set(g),f.inertialLin.set(g),f.initialAng.set(f.positionAng),f.inertialAng.set(f.positionAng);for(let m of[...f.forces])m.contacts&&m.destroy()}else u&&(r.pose[l*4+2]=e[a+6]),r.initial.set(r.pose.subarray(l*4,l*4+4),l*4),r.inertial.set(r.pose.subarray(l*4,l*4+4),l*4),r.prevCount=0;else if(c===2||c===3){if(p<=0)continue;let m=Array.from(e.subarray(a+4,a+4+o),b=>b*(c===3?e[a+7]:1));for(let b=0;b<o;b++)d[b]+=m[b]/p;if(u){let b=Array.from(e.subarray(a+8,a+8+o),(v,w)=>v-g[w]);h(o===3?yt(b,m):[b[0]*m[1]-b[1]*m[0]])}}else(c===5||c===6)&&h(Array.from(e.subarray(a+4,a+4+(o===3?3:1)),m=>m*(c===6?e[a+7]:1)))}this.pending.count=0}step(){this.flushEdits(),this.solver.step(),this.sleeping?.after(),this.stepCount++,this.captureEvents()}attachToScene(e,t){return Po.call(this,e,t)}detachFromScene(){return Lo.call(this)}setFilters(e,t,i){let r=Array.from(e),o=Array.from(t),n=Array.from(i);if(o.length!==r.length||n.length!==r.length)throw Error("Provide one group and mask per body");r.forEach(a=>this.liveIndex(a));for(let a of[...o,...n])if(!Number.isInteger(a)||a<0||a>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");r.forEach((a,l)=>{this.dimension===3?Object.assign(this.solver.bodies[a],{group:o[l],collidesWith:n[l]}):this.solver.filters.set(a,[o[l],n[l]])}),this.wakeAll()}setSensor(e,t){if(this.liveIndex(e),typeof t!="boolean")throw Error("Trigger flag must be boolean");this.dimension===3?this.solver.bodies[e].isTrigger=t:t?this.solver.sensors.add(e):this.solver.sensors.delete(e),this.wakeAll()}setRestitution(e,t){if(this.liveIndex(e),!Number.isFinite(t)||t<0||t>1)throw Error("restitution must be between 0 and 1");this.dimension===3?this.solver.bodies[e].restitution=t:this.solver.restitution.set(e,t),this.wakeAll()}setMotor(e,t){if(this.assertLive(),this.dimension===3){let i=this.constraints[e];if(!i?.cpuAngular)throw Error("A motor constraint is required");Object.assign(i.cpuAngular.options,kt({...i.cpuAngular.options,...t}))}else{let i=this.solver,r=e*O;if(!Number.isInteger(e)||e<0||e>=i.jointCount||i.info[e*4]!==3)throw Error("A motor constraint is required");let o=t.speed??i.data[r+re],n=t.maxTorque??i.data[r+xe];if(!Number.isFinite(o)||!Number.isFinite(n)||n<0)throw Error("Provide finite motor speed and nonnegative torque");i.data[r+re]=o,i.data[r+Le]=-n,i.data[r+xe]=n}this.wakeAll()}setAngleLimits(e,t){if(this.assertLive(),this.dimension!==2)throw Error("Use a 3D hinge constraint");if(this.solver.info[e*4]!==5)throw Error("An angular limit is required");os(this.solver,e,Ci(t)),this.wakeAll()}releaseJoints(e){for(let t of e)this.disableConstraint(t)}disableConstraint(e){if(this.assertLive(),!Number.isInteger(e)||e<0||e>=this.jointCount)throw Error("A live constraint slot is required");if(this.dimension===3){let t=this.constraints[e];t.broken=!0,(t.cpuAngular??t).destroy()}else this.solver.disable(e),this.solver.info[e*4]=0,this.solver.noCollideDirty=!0;this.wakeAll()}setWorldAnchor(e,t,i){if(this.assertLive(),this.dimension===2){let r=this.solver;if(!Number.isInteger(e)||e<0||e>=r.jointCount||r.info[e*4+1]!==-1)throw Error("A world-anchor constraint is required");r.data.set(me([t,i],2,"point"),e*O+21)}else{let r=this.constraints[e];if(!r||r.bodyA)throw Error("A world-anchor constraint is required");r.rA.set(me(t,3,"point"))}this.wakeAll()}addBox(...e){return this.addDynamic("addBox",e)}addCircle(...e){return this.addDynamic("addCircle",e)}addCapsule(...e){return this.addDynamic("addCapsule",e)}addHull(...e){return this.addDynamic("addHull",e)}addSegment(...e){return this.addDynamic("addSegment",e)}addPlane(...e){return this.addDynamic("addPlane",e)}addDynamic(e,t){if(this.destroyed)throw Error("The solver has been destroyed");if(this.dimension!==2)throw Error("Build 3D bodies before creating the solver");this.wakeAll();let i=this.sleeping?{speedThreshold:this.sleeping.speedThreshold,timeThreshold:this.sleeping.timeThreshold}:null,r=this.builder[e](...t);return i&&this.enableSleeping(i),r}appendJoint(e,t,i,r,o,n=1/0){if(this.assertLive(),this.dimension!==2)throw Error("Build 3D constraints before creating the solver");return this.wakeAll(),this.builder.addJoint(e,t,i,r,{stiffness:o,breakForce:n}).slot}captureConstraintFrames(e){if(this.assertLive(),this.dimension!==3)throw Error("Constraint frame capture requires a 3D world");let t=Array.from(e);for(let{slot:i,spring:r}of t){let o=this.constraints[i];if(!Number.isInteger(i)||!o||o.broken||o.cpuAngular||(r?o.rest===void 0:o.stiffnessAng===void 0))throw Error("A live spring or joint slot is required")}this.flushEdits();for(let{slot:i,spring:r}of t)fa(this.constraints[i],r);t.length&&this.wakeAll()}setSpringMaterial(e,t={}){this.assertLive();let i=this.constraints[e];if(!i||i.rest===void 0)throw Error("A spring constraint is required");gr(i,It(t)),this.wakeAll()}packBodyRecords(e,t=!1){let i=this.solver,r=this.dimension,o=t?r===3?8:4:r===3?40:24,n=e?.length??this.bodyCount,a=new Float32Array(n*o);for(let l=0;l<n;l++){let c=e?.[l]??l,u=l*o;if(t){if(r===3){let f=i.bodies[c];a.set(f.positionLin,u),a[u+3]=f.friction,a.set(f.positionAng,u+4)}else a.set(i.pose.subarray(c*4,c*4+4),u),a[u+3]=i.props[c*4];continue}if(r===3){let f=i.bodies[c];a.set(f.positionLin,u),a[u+3]=f.friction,a.set(f.positionAng,u+4),a.set(f.initialLin,u+8),a[u+11]=+!!f.isTrigger,a.set(f.initialAng,u+12),a.set(f.size,u+16),a[u+19]=f.sleeping?0:f.mass,a.set(f.moment,u+20),a[u+23]=f.radius,a.set(f.inertialLin,u+24),a.set(f.inertialAng,u+28),a.set(f.velocityLin,u+32),a[u+35]=f.prevVelocityLin.reduce((d,p,g)=>d+p*i.up[g],0),a.set(f.velocityAng,u+36),a[u+39]=De(f)?1:He(f)?-1:wt(f)?3:sr(f)?2:0}else a.set(i.pose.subarray(c*4,c*4+4),u),a[u+3]=i.props[c*4],a.set(i.initial.subarray(c*4,c*4+4),u+4),a.set(i.inertial.subarray(c*4,c*4+4),u+8),a.set(i.velocity.subarray(c*4,c*4+4),u+12),a.set(i.prevVelocity.subarray(c*4,c*4+4),u+16),a.set(i.shape.subarray(c*4,c*4+4),u+20)}return a}async readBodies(){return this.flushEdits(),this.packBodyRecords()}async readSelectedBodies(e,{posesOnly:t=!1}={}){let i=Array.from(e);return i.forEach(r=>this.liveIndex(r)),this.flushEdits(),this.packBodyRecords(i,t)}async readBodyState(e){this.liveIndex(e),this.flushEdits();let t=this.solver;if(this.dimension===3){let i=t.bodies[e],r=this.sleeping?.asleep.has(e)??!1;return{position:Array.from(i.positionLin),rotation:Array.from(i.positionAng),linearVelocity:Array.from(i.velocityLin),angularVelocity:Array.from(i.velocityAng),mass:i.mass,effectiveMass:r?0:i.mass,sleeping:r}}return{position:Array.from(t.pose.subarray(e*4,e*4+2)),angle:t.pose[e*4+2],linearVelocity:Array.from(t.velocity.subarray(e*4,e*4+2)),angularVelocity:t.velocity[e*4+2],mass:t.shape[e*4+2],moment:t.shape[e*4+3],sleeping:this.sleeping?.asleep.has(e)??!1}}async readJoints(){return this.flushEdits(),this.packJointRecords()}packJointRecords(){let e=this.dimension===3?32:36,t=new Float32Array(this.jointCount*e),i=r=>r===1/0?3e38:r===-1/0?-3e38:r;if(this.dimension===2){let r=this.solver.data;for(let o=0;o<this.jointCount;o++){let n=o*36,a=o*O;[se,te,Q,Le,xe,Pt,fe].forEach((l,c)=>{for(let u=0;u<3;u++)t[n+c*4+u]=i(r[a+l+u])}),t.set([r[a+U],r[a+U+1],r[a+Y],r[a+Y+1]],n+28),t.set([r[a+re],r[a+re+1],r[a+re+2],0],n+32)}}else this.constraints.forEach((r,o)=>{let n=o*32;if(r.cpuAngular){let a=r.cpuAngular,l=a.options;t.set(a.pen,n),t[n+3]=r.broken?0:1,t.set(a.lam,n+8),t.set(a.ta,n+16),t.set(a.tb,n+20),t.set(l.axisA,n+24),t.set(l.axisB,n+28),t[n+19]=a.c0?.[0]??0,t[n+23]=a.c0?.[1]??0,t[n+27]=l.type==="motor"?l.speed:l.minAngle,t[n+31]=l.type==="motor"?l.maxTorque:l.maxAngle;return}for(let[a,l]of[["penaltyLin",0],["penaltyAng",4],["lambdaLin",8],["lambdaAng",12],["C0Lin",16],["C0Ang",20],["rA",24],["rB",28]])r[a]&&t.set(r[a],n+l);if(t[n+3]=r.broken?0:i(r.stiffnessLin??r.stiffness??0),t[n+7]=r.broken?0:i(r.stiffnessAng??0),t[n+11]=i(r.fracture??0),t[n+15]=r.torqueArm??0,t[n+27]=r.rest??0,r.cpuRest&&(t[n+19]=r.cpuRest[0],t[n+23]=r.cpuRest[1],t[n+27]=r.cpuRest[2],t[n+31]=r.cpuRest[3]),r.rest!==void 0){let a=Gi(r);t[n+11]=Number.isFinite(a?.breakStrain)?a.breakStrain:0,t[n+15]=Number.isFinite(a?.breakForce)?a.breakForce:0}});return t}async readCounters(){this.assertLive();let e=this.dimension===2?this.solver.contactCount:this.solver.forces.reduce((i,r)=>i+(r.contacts?.length??0),0),t=this.dimension===2?this.solver.contactPairs.length:this.solver.forces.filter(i=>i.contacts?.length).length;return{pairs:t,contacts:e,manifolds:t,joints:this.jointCount,overflow:0,clashes:0,colors:0,sleeping:this.sleeping?.asleep.size??0}}adapt(){}watchContacts({indices:e,maxPairs:t=this.maxPairs??8192,maxEvents:i=this.maxEvents??4096}={}){if(this.assertLive(),!Number.isInteger(i)||i<1||!Number.isInteger(t)||t<1)throw Error("Contact capacities must be positive integers");return e!==void 0?(e.forEach(r=>this.liveIndex(r)),this.watched=new Set(e)):this.watched??=new Set(Array.from({length:this.bodyCount},(r,o)=>o)),this.maxEvents=i,this.maxPairs=t,this}captureEvents(){if(!this.watched)return;let e=this.dimension===3?new Map(this.solver.bodies.map((i,r)=>[i,r])):null,t=this.dimension===2?this.solver.contactPairs:this.solver.forces.filter(i=>i.contacts?.length).map(i=>{let r=Array.from(i.bodyA.positionLin);for(let o of i.contacts){let n=_e(i.bodyA.positionAng,o.rA);for(let a=0;a<3;a++)r[a]+=n[a]/i.contacts.length}return{a:e.get(i.bodyA),b:e.get(i.bodyB),point:r,normal:Array.from(i.basis.slice(0,3)),impulse:i.bodyA.isTrigger||i.bodyB.isTrigger?0:i.contacts.reduce((o,n)=>o+Math.abs(n.lambda[0])*this.params.dt,0)}});this.trackContactPairs(t)}trackContactPairs(e){let t=new Map,i=(n,a)=>{this.events.length<(this.maxEvents??4096)?this.events.push({...n,normal:n.normal??[...n.n,0],type:a,kind:a==="begin"?1:2,step:this.stepCount,isTrigger:n.isTrigger??(this.dimension===3?!!(this.solver.bodies[n.a].isTrigger||this.solver.bodies[n.b].isTrigger):this.solver.sensors.has(n.a)||this.solver.sensors.has(n.b))}):this.dropped=(this.dropped??0)+1},r=new Set,o=[];for(let n of e){if(!this.watched.has(n.a)&&!this.watched.has(n.b))continue;let a=`${Math.max(n.a,n.b)},${Math.min(n.a,n.b)}`;r.add(a),this.previous.has(a)&&t.size<this.maxPairs?t.set(a,n):o.push([a,n])}for(let[n,a]of o)if(!t.has(n)){if(t.size>=this.maxPairs){this.pairFull=!0;continue}t.set(n,a),this.previous.has(n)||i(a,"begin")}for(let[n,a]of this.previous)r.has(n)||i({...a,impulse:0},"end");this.previous=t}async readContactEvents(){this.watchContacts();let e={events:this.events,dropped:this.dropped??0,full:!!this.dropped||!!this.pairFull};return this.events=[],this.dropped=0,this.pairFull=!1,e}async raycast(e,t,i){return this.sphereCast(e,0,t,i)}async circleCast(e,t,i,r){return this.sphereCast(e,t,i,r)}async sphereCast(e,t,i,r){return this.flushEdits(),xc(this,e,t,i,r)}async raycastAll(e,t){return Promise.all(e.map(i=>this.raycast(i.origin,i.direction,{...t,maxDistance:i.maxDistance??t?.maxDistance})))}async sphereCastAll(e,t){return Promise.all(e.map(i=>this.sphereCast(i.origin,i.radius,i.direction,{...t,maxDistance:i.maxDistance??t?.maxDistance})))}async circleCastAll(e,t){return this.sphereCastAll(e,t)}setSleepEnabled(e,t){if(this.liveIndex(e),typeof t!="boolean")throw Error("Sleep flag must be boolean");return this.dimension===3?this.solver.bodies[e].allowSleep=t:(this.solver.avbdSleepEligible??=new Map,this.solver.avbdSleepEligible.set(e,t)),t&&!this.sleeping&&this.enableSleeping(),this.wakeAll(),this}enableSleeping(e={}){return this.assertLive(),this.disableSleeping(),this.sleeping=new Wo(this,e),this}disableSleeping(){return this.sleeping?.wake(),this.sleeping=null,this}async readSleepStats(){return this.assertLive(),{sleeping:this.sleeping?.asleep.size??0,wakeRequested:!1}}wakeUp(e){return this.liveIndex(e),this.wakeAll()}wakeAll(){return this.sleeping?.wake(),this}destroy(){this.destroyed||(this.detachFromScene(),this.disableSleeping(),this.pending.count=0,this.events=[],this.previous.clear(),this.destroyed=!0)}};var wc=new WeakSet,Jo=s=>s!==null&&typeof s=="object"&&wc.has(s),Bc=s=>wc.add(s);async function xf({backend:s="webgpu",device:e,gl:t,validate3D:i=!0,...r}={}){if(!["webgpu","cpu"].includes(s))throw Error(`Unsupported solver backend: ${s}`);if(s!=="webgpu"&&e!==void 0)throw Error("Only WebGPU initialization accepts a GPU device");if(t!==void 0)throw Error("Solver pipelines do not accept a WebGL context");let o,n=!1,a=!1;s==="webgpu"&&(e?i&&await xr(e):({device:e,adapter:o}=await Jr({...r,preferredLimits:{maxStorageBuffersPerShaderStage:9,maxStorageBufferBindingSize:512*1024*1024,maxBufferSize:1024*1024*1024,...r.preferredLimits},validate3D:i}),n=!0));let l=new Set,c={backend:s,device:e,adapter:o,createSolver(u,f={}){if(a)throw Error("The solver pipeline has been destroyed");if(!u||typeof u.assertEditable!="function"||!u.ref&&!u.topology)throw Error("An AVBD scene builder is required");u.assertEditable();let d;if(s==="webgpu")d=u.createSolver(e,f);else{let g=u.ref?3:u.topology?2:0;if(f.bodyBuffer!==void 0)throw Error("A GPU body buffer requires the WebGPU backend");d=new Ho(u,g,f),u.gpu=d,u.created=!0}Object.defineProperty(d,"backend",{value:s,configurable:!0}),l.add(d);let p=d.destroy;return d.destroy=function(){p.call(this),l.delete(this)},d},destroy(){if(!a){for(let u of l)u.destroy();l.clear(),n&&e.destroy(),a=!0}}};return Bc(c),c}var ie=(s,e,t)=>{let i=Array.from(s);if(i.length!==e||!i.every(Number.isFinite))throw Error(`${t} requires ${e} finite components`);return i},K=(s,e,t=!1)=>{if(!Number.isFinite(s)||(t?s<0:s<=0))throw Error(`${e} must be ${t?"nonnegative":"positive"} and finite`);return s},Cc=s=>{if(!Number.isInteger(s)||s<0||s>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");return s};function $o(s){for(let t of["allowSleep","isTrigger"])if(s[t]!==void 0&&typeof s[t]!="boolean")throw Error(`${t} must be a boolean`);let e=s.restitution??0;if(!Number.isFinite(e)||e<0||e>1)throw Error("restitution must be between 0 and 1");if(s.mass!==void 0&&(K(s.mass,"mass",!0),s.mass>0&&s.density===0))throw Error("A positive mass needs positive density");for(let t of["velocity","angularVelocity"])s[t]!==void 0&&ie(s[t],3,t);if(s.rotation!==void 0&&!Math.hypot(...ie(s.rotation,4,"rotation")))throw Error("rotation must be nonzero");Cc(s.group??4294967295),Cc(s.collidesWith??4294967295)}function Sc(s,e){if(e.timeStep!==void 0&&(s.dt=K(e.timeStep,"timeStep")),e.iterations!==void 0){if(K(e.iterations,"iterations"),!Number.isInteger(e.iterations))throw Error("iterations must be an integer");s.iterations=e.iterations}if(e.gravity!==void 0){if(!Number.isFinite(e.gravity))throw Error("gravity must be finite");s.gravity=e.gravity}}var ha=class{constructor(e={}){if(this.ref=new ni,Sc(this.ref,e),this.up=ie(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(),$o(t);let i=ie(e,3,"size");i.forEach(o=>K(o,"size"));let r=new Ze(this.ref,i,K(t.density??1,"density",!0),K(t.friction??.6,"friction",!0),ie(t.position??[0,0,0],3,"position"));return this.configure(r,t)}addSphere(e,t={}){return this.assertEditable(),$o(t),this.configure(or(this.ref,K(e,"radius"),K(t.density??1,"density",!0),K(t.friction??.6,"friction",!0),ie(t.position??[0,0,0],3,"position")),t)}addHull(e,t={}){if(this.assertEditable(),$o(t),e.length%3||!Array.from(e).every(Number.isFinite))throw Error("Hull points must contain finite xyz triples");let i=jr(e);if(!i)throw Error("A convex hull requires finite points spanning a volume");return this.hulls=!0,this.configure(Bs(this.ref,i,K(t.density??1,"density",!0),K(t.friction??.6,"friction",!0),ie(t.position??[0,0,0],3,"position")),t)}addCapsule(e,t,i={}){return this.assertEditable(),$o(i),this.configure(Ar(this.ref,e,t,K(i.density??1,"density",!0),K(i.friction??.6,"friction",!0),ie(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=K(t.mass,"mass",!0);if(e.mass===0&&r>0)throw Error("A positive mass needs positive density");let o=e.mass>0?r/e.mass:0;e.mass=r,e.moment.forEach((n,a)=>e.moment[a]=n*o)}if(t.rotation){let r=ie(t.rotation,4,"rotation"),o=Math.hypot(...r);if(!o)throw Error("rotation must be nonzero");e.positionAng.set(r.map(n=>n/o))}return t.velocity&&e.velocityLin.set(ie(t.velocity,3,"velocity")),t.angularVelocity&&e.velocityAng.set(ie(t.angularVelocity,3,"angularVelocity")),this.bodySet.add(e),e}addPoint(e,{mass:t=.02,radius:i=.05,friction:r=.5}={}){let o=this.addSphere(i,{position:e,mass:t,friction:r});return o.moment.fill(0),this.points=!0,o}addFabric({columns:e=16,rows:t=16,spacing:i=.2,origin:r=[0,3,0],mass:o=.02,stiffness:n=1e3,anchorStiffness:a=n,materialAt:l,breakStrain:c=1/0,breakForce:u=1/0,bendingStiffness:f=Number.isFinite(c)||Number.isFinite(u)?0:n/50,pinCorners:d=!1,pinEdges:p=!d}={}){for(let[z,_]of Object.entries({columns:e,rows:t}))if(!Number.isInteger(_)||_<2)throw Error(`${z} must be an integer >= 2`);if(K(i,"spacing"),K(o,"mass"),K(n,"stiffness"),K(a,"anchorStiffness"),l!==void 0&&typeof l!="function")throw Error("materialAt must be a function");if(K(f,"bendingStiffness",!0),typeof d!="boolean"||typeof p!="boolean")throw Error("Fabric pin options must be boolean");let g=It({breakStrain:c,breakForce:u}),h=ie(r,3,"origin"),m=(z,_)=>`${Math.min(z,_)},${Math.max(z,_)}`;function*b(){for(let z=0;z<t;z++)for(let _=0;_<e;_++){let k=z*e+_;_&&(yield[k,k-1,n]),z&&(yield[k,k-e,n]),_&&z&&(yield[k,k-e-1,n/2],yield[k-1,k-e,n/2]),_>1&&f&&(yield[k,k-2,f]),z>1&&f&&(yield[k,k-2*e,f])}}let v=new Map;if(l)for(let[z,_]of b()){let k=l((z%e+_%e)/(2*(e-1)),(Math.floor(z/e)+Math.floor(_/e))/(2*(t-1)))??{};if(typeof k!="object"||Array.isArray(k))throw Error("materialAt must return a material object");v.set(m(z,_),{scale:K(k.stiffnessScale??1,"materialAt.stiffnessScale"),material:It({...g,...k})})}let w=Array.from({length:t},(z,_)=>Array.from({length:e},(k,S)=>this.addPoint([h[0]+(S-(e-1)/2)*i,h[1],h[2]+(_-(t-1)/2)*i],{mass:p&&(S===0||_===0||S===e-1||_===t-1)||d&&(S===0||S===e-1)&&(_===0||_===t-1)?0:o,radius:i/Math.SQRT2}))),y=w.flat(),A=new Map(y.map((z,_)=>[z,_])),x=[],B=new Map,E=(z,_,k)=>{(z.mass===0||_.mass===0)&&(k*=a/n);let S=A.get(z),P=A.get(_),I=v.get(m(S,P)),R=this.addSpring(z,_,[0,0,0],[0,0,0],{stiffness:k*(I?.scale??1),...I?.material??g});return B.set(m(A.get(z),A.get(_)),x.length),x.push(R),R};for(let[z,_,k]of b())E(y[z],y[_],k);let L=[];for(let z=0;z<t;z++)for(let _=0;_<e;_++)if(_&&z){let k=(z-1)*e+_-1,S=k+1,P=z*e+_-1,I=P+1;L.push(k,P,S,S,P,I)}let M=[];for(let z=0;z<L.length;z+=3){let[_,k,S]=L.slice(z,z+3);M.push(B.get(m(_,k)),B.get(m(k,S)),B.get(m(S,_)))}return{points:y,grid:w,indices:Uint32Array.from(L),connections:x,triangleConnections:Uint32Array.from(M)}}addRope({segments:e=12,length:t=12,origin:i=[0,12,0],width:r=.15,endMass:o=20}={}){if(!Number.isInteger(e)||e<1)throw Error("segments must be a positive integer");K(t,"length"),K(r,"width"),K(o,"endMass",!0);let n=ie(i,3,"origin"),a=t/e,l=this.addBox([r,r,r],{mass:0,position:n}),c=[];for(let u=0;u<e;u++){let f=this.addBox([r,a,r],{mass:1,position:[n[0],n[1]-(u+.5)*a,n[2]]});this.addJoint(u?c[u-1]:l,f,[0,u?-a/2:0,0],[0,a/2,0]),c.push(f)}if(o){let u=this.addBox([.6,.6,.6],{mass:o,position:[n[0],n[1]-t-.3,n[2]]});this.addJoint(c.at(-1),u,[0,-a/2,0],[0,.3,0]),c.push(u)}return{anchor:l,links:c}}addRagdoll({origin:e=[0,2,0],mass:t=10}={}){let i=ie(e,3,"origin");K(t,"mass");let r=(l,c)=>this.addBox(l,{mass:t/10,position:c.map((u,f)=>u+i[f])}),o=r([.7,1.2,.35],[0,2,0]),n=this.addSphere(.25,{mass:t/10,position:[i[0],i[1]+2.9,i[2]]}),a=[o,n];this.addJoint(o,n,[0,.6,0],[0,-.3,0]);for(let l of[-1,1]){let c=r([.3,.8,.3],[l*.5,1.95,0]),u=r([.26,.7,.26],[l*.5,1.2,0]);this.addJoint(o,c,[l*.35,.35,0],[-l*.15,.4,0]),this.addJoint(c,u,[0,-.4,0],[0,.35,0]);let f=r([.28,.8,.3],[l*.2,1,0]),d=r([.26,.75,.28],[l*.2,.225,0]);this.addJoint(o,f,[l*.2,-.6,0],[0,.4,0]),this.addJoint(f,d,[0,-.4,0],[0,.375,0]),a.push(c,u,f,d)}return{torso:o,head:n,bodies:a}}addJoint(e,t,i=[0,0,0],r=[0,0,0],{linearStiffness:o=1/0,angularStiffness:n=0,breakForce:a=1/0,breakOnPull:l=!1}={}){this.assertEditable(),this.checkBodies(e,t);for(let c of[o,n,a])c!==1/0&&K(c,"joint stiffness/breakForce",!0);return this.handle(new ke(this.ref,e,t,ie(i,3,"anchorA"),ie(r,3,"anchorB"),o,n,l&&a!==1/0?-a:a))}addSpring(e,t,i=[0,0,0],r=[0,0,0],{stiffness:o=1e3,rest:n=-1,breakStrain:a=1/0,breakForce:l=1/0}={}){if(this.assertEditable(),this.checkBodies(e,t),!e)throw Error("A spring requires two bodies");K(o,"stiffness",!0),n!==-1&&K(n,"rest",!0);let c=It({breakStrain:a,breakForce:l}),u=new ut(this.ref,e,t,ie(i,3,"anchorA"),ie(r,3,"anchorB"),o,n);return gr(u,c),this.handle(u)}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=kt({...i,type:"motor"}),o=new ke(this.ref,e,t,[0,0,0],[0,0,0],1/0,0);return vr(o,r),this.handle(o)}addHinge(e,t,i={}){this.assertEditable(),this.checkBodies(e,t);let r=kt({...i,type:"limit"}),o=K(i.span??1,"span"),n=ie(i.anchorA??[0,0,0],3,"anchorA"),a=ie(i.anchorB??[0,0,0],3,"anchorB"),l=[-1,1].map(f=>this.addJoint(e,t,n.map((d,p)=>d+f*o*.5*r.axisA[p]),a.map((d,p)=>d+f*o*.5*r.axisB[p]))),c,u;if(i.minAngle!==void 0||i.maxAngle!==void 0){let f=new ke(this.ref,e,t,[0,0,0],[0,0,0],1/0,0);vr(f,r),c=this.handle(f)}return i.motor&&(u=this.addMotor(e,t,{axisA:r.axisA,axisB:r.axisB,...i.motor})),{joints:l,limit:c,motor:u,dispose(){for(let f of[...l,c,u])f?.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(Jo(e))return e.createSolver(this,t);if(this.assertEditable(),this.hulls&&e.limits.maxStorageBuffersPerShaderStage<9)throw Error("Hull collisions require nine storage buffer bindings");let i=new Eo(e,this.ref,Ws(this.ref,{...t,...this.points?{shaders:{...t.shaders,solve:tc}}:{}})),r=[];this.ref.forces.forEach((l,c)=>{this.handles.get(l).slot=c,l instanceof ke&&l.stiffnessAng>0&&r.push({slot:c})}),i.captureConstraintFrames(r),i.params.up=[...this.up];let o=[],n=[],a=[];for(let[l,c]of this.ref.bodies.entries())(c.group!==4294967295||c.collidesWith!==4294967295)&&(o.push(i.gpuIndex(l)),n.push(c.group),a.push(c.collidesWith)),c.isTrigger&&i.setSensor(i.gpuIndex(l),!0),c.restitution>0&&i.setRestitution(i.gpuIndex(l),c.restitution);return o.length&&i.setFilters(o,n,a),(t.sleeping||this.sleepOptIn)&&i.enableSleeping(this.ref,t.sleeping===!0?{}:t.sleeping),this.gpu=i,this.created=!0,i}},pa=class{constructor(e={}){if(this.topology=new Lr,Object.assign(this.topology.params,io()),Sc(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 Er(this.topology,r,e,i.density??1),r}addCircle(e,t={}){return this.addShape(Ao(e),t)}addHull(e,t={}){return this.addShape(vo(e),t)}addCapsule(e,t,i={}){return this.addShape(xo(e,t),i)}addSegment(e,t,i={}){return this.addShape(wo(e,t,i))}addPlane(e=[0,1],t=0,i={}){return this.addShape(Bo(e,t,i))}addBox(e,{density:t=1,friction:i=.6,position:r=[0,0],angle:o=0,velocity:n=[0,0,0],restitution:a=0,isTrigger:l=!1,group:c=4294967295,collidesWith:u=4294967295,allowSleep:f}={}){if(this.assertEditable(),f!==void 0&&typeof f!="boolean")throw Error("allowSleep must be boolean");let d=ie(e,2,"size");d.forEach(h=>K(h,"size"));let p=ie(r,2,"position");if(!Number.isFinite(o))throw Error("angle must be finite");if(!Number.isFinite(a)||a<0||a>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,u])if(!Number.isInteger(h)||h<0||h>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");let g=this.topology.addBody(d,K(t,"density",!0),K(i,"friction",!0),[...p,o],ie(n,3,"velocity"));return this.restitution??=new Map,a>0&&this.restitution.set(g,a),this.sensors??=new Set,l&&this.sensors.add(g),this.filters??=new Map,(c!==4294967295||u!==4294967295)&&this.filters.set(g,[c,u]),this.topology.avbdSleepEligible??=new Map,f!==void 0&&this.topology.avbdSleepEligible.set(g,f),g}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:o=[1/0,1/0,0],breakForce:n=1/0}={}){if(this.assertEditable(),this.checkBodies(e,t),!o||o.length!==3||Array.from(o).some(l=>l!==1/0&&(!Number.isFinite(l)||l<0))||n!==1/0&&(!Number.isFinite(n)||n<0))throw Error("Joint stiffness and break force must be nonnegative or Infinity");let a=this.topology.addJoint(e,t,ie(i,2,"anchorA"),ie(r,2,"anchorB"),o,n);return this.constraintHandle(a.slot,a)}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*O+Q,e*O+Q+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:o=1e3,rest:n=1}={}){if(this.assertEditable(),this.checkBodies(e,t),e<0)throw Error("A spring requires two bodies");let a=this.topology.jointCount;return this.topology.addSpring(e,t,ie(i,2,"anchorA"),ie(r,2,"anchorB"),K(o,"stiffness",!0),K(n,"rest",!0)),this.constraintHandle(a)}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 o=this.topology.jointCount;return this.topology.addMotor(e,t,i,K(r,"maxTorque",!0)),this.constraintHandle(o)}addAngularLimit(e,t,i={}){this.assertEditable(),this.checkBodies(e,t);let r=Ci(i),o=this.topology.addJoint(e,t,[0,0],[0,0],[0,0,0]);os(this.topology,o.slot,r);let n=this.constraintHandle(o.slot,o);return n.setLimits=a=>{if(n.disposed)throw Error("The angular limit has been disposed");return this.gpu?this.gpu.setAngleLimits(n.slot,a):os(this.topology,n.slot,Ci(a)),n},n}addHinge(e,t,i=[0,0],r=[0,0],o={}){this.assertEditable(),this.checkBodies(e,t);let n=ie(i,2,"anchorA"),a=ie(r,2,"anchorB"),l=o.minAngle!==void 0||o.maxAngle!==void 0?Ci(o):null,c=o.motor;if(c){if(!Number.isFinite(c.speed??1))throw Error("speed must be finite");K(c.maxTorque??100,"maxTorque",!0)}let u=this.addJoint(e,t,n,a),f=l?this.addAngularLimit(e,t,l):null,d=c?this.addMotor(e,t,c):null;return{joint:u,limits:f,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={}){if(Jo(e))return e.createSolver(this,t);this.assertEditable();let i=new _o(e,this.topology,t);for(let[r,o]of this.restitution??[])i.setRestitution(r,o);for(let r of this.sensors??[])i.setSensor(r,!0);for(let[r,o]of this.filters??[])i.setFilters([r],[o[0]],[o[1]]);return this.gpu=i,this.created=!0,i}};export{$s as AvbdPhysics,Xs as AvbdPhysicsAggregate,Ys as AvbdPhysicsBody,$r as AvbdPhysicsConstraint,Xr as AvbdPhysicsHinge,pa as AvbdScene2D,ha as AvbdScene3D,ht as AvbdShapeType,xf as createSolverPipeline,Jr as createWebGPUDevice,xr as prepareWebGPUDevice3D};
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5174
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+
}`);var Jc=ii;var Zc=8,Xc=16,Xi=1e-6,In=1e-5,ed=1e-6,Rn=34028234663852886e22,Zo=0,eu=1,ea=2;function Yc(s){let e=s.positionAng;return{center:s.positionLin,half:ne(S(),s.size,.5),axis:[le(S(),e,[1,0,0]),le(S(),e,[0,1,0]),le(S(),e,[0,0,1])]}}var Ji=(s,e)=>Math.abs(V(s,e));function ta(s,e){let t=V(e,s.axis[0])>=0?1:-1,i=V(e,s.axis[1])>=0?1:-1,r=V(e,s.axis[2])>=0?1:-1,o=D(S(),s.center,s.axis[0],s.half[0]*t);return D(o,o,s.axis[1],s.half[1]*i),D(o,o,s.axis[2],s.half[2]*r)}function tu(s,e){return e===0?{u:s.axis[1],v:s.axis[2],extentU:s.half[1],extentV:s.half[2]}:e===1?{u:s.axis[0],v:s.axis[2],extentU:s.half[0],extentV:s.half[2]}:{u:s.axis[0],v:s.axis[1],extentU:s.half[0],extentV:s.half[1]}}function td(s,e,t){let i=V(t,s.axis[e])>=0?1:-1,r=ne(S(),s.axis[e],i),o=D(S(),s.center,r,s.half[e]);return{normal:r,center:o,...tu(s,e)}}function id(s,e){let t=0,i=-Rn;for(let r=0;r<3;r++){let o=Ji(s.axis[r],e);o>i&&(i=o,t=r)}return t}function rd(s,e,t){let i=V(s.axis[e],t)>0?-1:1,r=ne(S(),s.axis[e],i),o=D(S(),s.center,r,s.half[e]),{u:a,v:n,extentU:l,extentV:c}=tu(s,e),u=(f,d)=>{let p=D(S(),o,a,f*l);return D(p,p,n,d*c)};return[u(1,1),u(-1,1),u(-1,-1),u(1,-1)]}function sd(s,e,t){let i=[];if(s.length===0)return i;let r=s[s.length-1],o=V(e,r)-t;for(let a of s){let n=V(e,a)-t,l=o<=In,c=n<=In;if(l!==c){let u=0,f=o-n;Math.abs(f)>Xi&&(u=ce(o/f,0,1)),i.length<Xc&&i.push(D(S(),r,J(S(),a,r),u))}c&&i.length<Xc&&i.push(a),r=a,o=n}return i}var ia=class{contacts=[];midpoints=[];bodyA;bodyB;constructor(e,t){this.bodyA=e,this.bodyB=t}add(e,t,i){let r=ne(S(),Li(S(),e,t),.5);for(let n of this.midpoints)if(Ne(J(S(),r,n))<ed)return;if(this.contacts.length>=Zc)return;let{bodyA:o,bodyB:a}=this;this.contacts.push({feature:i,rA:Te(S(),o.positionAng,J(S(),e,o.positionLin)),rB:Te(S(),a.positionAng,J(S(),t,a.positionLin))}),this.midpoints.push(r)}};function zn(s,e,t,i,r,o,a,n){let l=Ne(i);if(l<Xi)return!0;let c=1/Math.sqrt(l),u=ne(S(),i,c);V(u,t)<0&&ee(u,u);let f=Math.abs(V(t,u)),d=s.half[0]*Ji(u,s.axis[0])+s.half[1]*Ji(u,s.axis[1])+s.half[2]*Ji(u,s.axis[2]),p=e.half[0]*Ji(u,e.axis[0])+e.half[1]*Ji(u,e.axis[1])+e.half[2]*Ji(u,e.axis[2]),m=f-(d+p);return m>0?!1:((!n.valid||m>n.separation)&&(n.valid=!0,n.type=r,n.indexA=o,n.indexB=a,n.separation=m,n.normalAB=u),!0)}function Qc(s,e,t){let i=(e+1)%3,r=(e+2)%3,o=V(t,s.axis[i])>=0?1:-1,a=V(t,s.axis[r])>=0?1:-1,n=D(S(),s.center,s.axis[i],s.half[i]*o);D(n,n,s.axis[r],s.half[r]*a);let l=ne(S(),s.axis[e],s.half[e]);return[J(S(),n,l),Li(S(),n,l)]}function od(s,e,t,i){let r=J(S(),e,s),o=J(S(),i,t),a=J(S(),s,t),n=V(r,r),l=V(o,o),c=V(o,a),u=0,f=0;if(n<=Xi&&l<=Xi)return[s,t];if(n<=Xi)f=ce(c/l,0,1);else{let d=V(r,a);if(l<=Xi)u=ce(-d/n,0,1);else{let p=V(r,o),m=n*l-p*p;Math.abs(m)>Xi&&(u=ce((p*c-d*l)/m,0,1)),f=(p*u+c)/l,f<0?(f=0,u=ce(-d/n,0,1)):f>1&&(f=1,u=ce((p-d)/n,0,1))}}return[D(S(),s,r,u),D(S(),t,o,f)]}function Kc(s,e,t,i,r,o,a){let n=r?t:i,l=r?i:t,c=r?a:ee(S(),a),u=td(n,o,c),f=id(l,u.normal),d=rd(l,f,u.normal),p=[[u.u,u.extentU],[ee(S(),u.u),u.extentU],[u.v,u.extentV],[ee(S(),u.v),u.extentV]];for(let[g,b]of p)if(d=sd(d,g,V(g,u.center)+b),!d.length)return[];let m=new ia(s,e),h=(r?Zo:eu)<<24|(o&255)<<16|(f&255)<<8;for(let g=0;g<d.length&&m.contacts.length<Zc;g++){let b=d[g],y=V(J(S(),b,u.center),u.normal);if(y>In)continue;let A=D(S(),b,u.normal,-y),v=r?A:b,x=r?b:A;m.add(v,x,h|g&255)}return m.contacts.length||m.add(ta(t,a),ta(i,ee(S(),a)),h),m.contacts}function ad(s,e,t,i,r,o,a){let[n,l]=Qc(t,r,a),[c,u]=Qc(i,o,ee(S(),a)),[f,d]=od(n,l,c,u),p=new ia(s,e),m=ea<<24|(r&255)<<8|o&255;return p.add(f,d,m),p.contacts.length||p.add(ta(t,a),ta(i,ee(S(),a)),m),p.contacts}function iu(s,e,t,i=!0){let r=Yc(s),o=Yc(e),a=J(S(),o.center,r.center),n={type:Zo,indexA:0,indexB:0,separation:-Rn,normalAB:S(),valid:!1},l={type:ea,indexA:0,indexB:0,separation:-Rn,normalAB:S(),valid:!1};for(let f=0;f<3;f++)if(!zn(r,o,a,r.axis[f],Zo,f,-1,n))return[];for(let f=0;f<3;f++)if(!zn(r,o,a,o.axis[f],eu,-1,f,n))return[];let c=S();for(let f=0;f<3;f++)for(let d=0;d<3;d++)if(Dt(c,r.axis[f],o.axis[d]),!zn(r,o,a,c,ea,f,d,l))return[];if(!n.valid)return[];let u=n;return l.valid&&(i?l.separation>.95*n.separation+.01:.95*l.separation>n.separation+.01)&&(u=l),_s(t,ee(S(),u.normalAB)),u.type===ea?ad(s,e,r,o,u.indexA,u.indexB,u.normalAB):u.type===Zo?Kc(s,e,r,o,!0,u.indexA,u.normalAB):Kc(s,e,r,o,!1,u.indexB,u.normalAB)}var de=(s,e)=>s.map((t,i)=>t+e[i]),T=(s,e)=>s.map((t,i)=>t-e[i]),q=(s,e)=>s.map(t=>t*e),F=(s,e)=>s.reduce((t,i,r)=>t+i*e[r],0),xt=(s,e)=>[s[1]*e[2]-s[2]*e[1],s[2]*e[0]-s[0]*e[2],s[0]*e[1]-s[1]*e[0]],Tt=s=>q(s,1/(Math.hypot(...s)||1)),Ee=(s,e)=>Array.from(le(S(),s,e)),ru=(s,e)=>Te(S(),s.positionAng,T(e,s.positionLin)),Ot=(s,e)=>de(s.positionLin,Ee(s.positionAng,e)),nd=[[1,3,7,5],[0,4,6,2],[2,6,7,3],[0,1,5,4],[4,5,7,6],[0,2,3,1]],ld=[[1,0,0],[-1,0,0],[0,1,0],[0,-1,0],[0,0,1],[0,0,-1]];function jr(s){if(De(s)||Fe(s)){let a=(De(s),s.size[0]/2),n=Fe(s)?Math.max(0,s.size[1]/2-a):0;return{body:s,radius:a,spine:[Ot(s,[0,-n,0]),Ot(s,[0,n,0])]}}let e=Ct(s),t=e?Array.from({length:e.vertices.length/3},(a,n)=>Ot(s,e.vertices.slice(n*3,n*3+3))):Array.from({length:8},(a,n)=>Ot(s,s.size.map((l,c)=>l/2*(n>>c&1?1:-1)))),i=e?e.faces.map(a=>({vertices:a.verts.map(n=>t[n]),normal:Ee(s.positionAng,a.normal)})):nd.map((a,n)=>({vertices:a.map(l=>t[l]),normal:Ee(s.positionAng,ld[n])})),r=[],o=new Set;for(let a of i)for(let n=0;n<a.vertices.length;n++){let l=a.vertices[n],c=a.vertices[(n+1)%a.vertices.length],u=t.indexOf(l),f=t.indexOf(c),d=`${Math.min(u,f)},${Math.max(u,f)}`;o.has(d)||(o.add(d),r.push([l,c]))}return{body:s,vertices:t,faces:i,edges:r}}function As(s,e){let t=s.spine??s.vertices,i=t[0];for(let r of t)F(r,e)>F(i,e)&&(i=r);return s.spine?de(i,q(e,s.radius)):i}function cd(s,e,t){let i=T(e,s);return de(s,q(i,Math.max(0,Math.min(1,F(T(t,s),i)/(F(i,i)||1)))))}function ra([s,e],[t,i]){let r=T(e,s),o=T(i,t),a=T(s,t),n=F(r,r),l=F(o,o),c=F(o,a),u=0,f=0,d=p=>Math.max(0,Math.min(1,p));if(n<1e-16)f=l>1e-16?d(c/l):0;else{let p=F(r,a);if(l<1e-16)u=d(-p/n);else{let m=F(r,o),h=n*l-m*m;u=h>1e-12*n*l?d((m*c-p*l)/h):0,f=(m*u+c)/l,f<0?(f=0,u=d(-p/n)):f>1&&(f=1,u=d((m-p)/n))}}return[de(s,q(r,u)),de(t,q(o,f))]}function ud(s,e,t){let i=[];for(let r=0;r<s.length;r++){let o=s[r],a=s[(r+1)%s.length],n=F(o,e)-t,l=F(a,e)-t;n<=1e-8&&i.push(o),n<0!=l<0&&i.push(de(o,q(T(a,o),n/(n-l))))}return i}function fd(s,e,t,i){let r=T(t,e),o=T(i,e),a=T(s,e),n=F(r,a),l=F(o,a);if(n<=0&&l<=0)return e;let c=T(s,t),u=F(r,c),f=F(o,c);if(u>=0&&f<=u)return t;let d=n*f-u*l;if(d<=0&&n>=0&&u<=0)return de(e,q(r,n/(n-u)));let p=T(s,i),m=F(r,p),h=F(o,p);if(h>=0&&m<=h)return i;let g=m*l-n*h;if(g<=0&&l>=0&&h<=0)return de(e,q(o,l/(l-h)));let b=u*h-m*f;if(b<=0&&f-u>=0&&m-h>=0)return de(t,q(T(i,t),(f-u)/(f-u+m-h)));let y=1/(b+g+d);return de(e,de(q(r,g*y),q(o,d*y)))}function dd(s,e){let t=null,i=1/0;for(let r of s.faces)for(let o=1;o<r.vertices.length-1;o++){let a=fd(e,r.vertices[0],r.vertices[o],r.vertices[o+1]),n=F(T(e,a),T(e,a));n<i&&(t=a,i=n)}return t}function su(s,e,t,i,r){if(!De(s)&&!De(e)&&!Fe(s)&&!Fe(e)&&!Ct(s)&&!Ct(e))return iu(s,e,t,s.solver.faceBias!==!1);i??=jr(s),r??=jr(e);let o=-1/0,a=[0,0,1],n=null,l=(f,d=null)=>{if(Math.hypot(...f)<1e-9)return;let p=Tt(f),m=F(T(As(i,q(p,-1)),As(r,p)),p),h=F(T(As(r,q(p,-1)),As(i,p)),p);h>m&&(m=h,p=q(p,-1)),m>o+1e-7&&(o=m,a=p,n=d)};for(let f of[i,r])for(let d of f.faces??[])l(d.normal);if(i.edges&&r.edges)for(let f of i.edges)for(let d of r.edges)l(xt(T(f[1],f[0]),T(d[1],d[0])),[f,d]);if(i.spine&&r.spine){let f=ra(i.spine,r.spine);l(T(...f))}for(let[f,d]of[[i,r],[r,i]])if(f.spine&&d.faces){for(let p of d.vertices)l(T(p,cd(...f.spine,p)));for(let p of d.edges){let m=ra(f.spine,p);l(T(...m))}}if(o===-1/0&&l(T(s.positionLin,e.positionLin)),o>0)return[];o===-1/0&&(a=[0,0,1],o=-(i.radius+r.radius));let c=Tt(xt(a,Math.abs(a[0])<.7?[1,0,0]:[0,1,0]));t.set([...a,...c,...xt(a,c)]);let u=[];if(i.spine&&r.spine){let[f,d]=ra(i.spine,r.spine);u=[[de(f,q(a,-i.radius)),de(d,q(a,r.radius))]]}else if(i.spine||r.spine){let f=i.spine?i:r,d=i.spine?r:i,p=i.spine?q(a,-1):a,m=As(f,p),h=dd(d,m);u=[i.spine?[m,h]:[h,m]]}else if(n)u=[ra(...n)];else{let f=(A,v)=>A.faces.reduce((x,w)=>F(w.normal,v)>F(x.normal,v)?w:x,A.faces[0]),d=f(i,q(a,-1)),p=f(r,a),m=F(d.normal,q(a,-1))>=F(p.normal,a),h=m?d:p,b=f(m?r:i,q(h.normal,-1)).vertices,y=q(h.vertices.reduce((A,v)=>de(A,v),[0,0,0]),1/h.vertices.length);for(let A=0;A<h.vertices.length&&b.length;A++){let v=h.vertices[A],x=h.vertices[(A+1)%h.vertices.length],w=Tt(xt(T(x,v),h.normal));F(T(y,v),w)>0&&(w=q(w,-1)),b=ud(b,w,F(v,w))}for(let A of b){let v=F(T(A,h.vertices[0]),h.normal);if(v<=1e-6){let x=T(A,q(h.normal,v));u.push(m?[x,A]:[A,x])}}}return u.slice(0,8).map(([f,d],p)=>({feature:p+1,rA:ru(s,f),rB:ru(e,d)}))}var sa=(s,e,t)=>Math.max(e,Math.min(t,s)),hd=(s,e)=>[F(s.slice(0,3),e),F(s.slice(3,6),e),F(s.slice(6,9),e)];function jn(s,e=!1){if(e){s.rest=Math.hypot(...T(Ot(s.bodyA,s.rA),Ot(s.bodyB,s.rB)));return}let t=s.bodyA?.positionAng??[0,0,0,1];s.cpuRest=Gr(jt(),va(jt(),t),s.bodyB.positionAng),s.evaluateAng=i=>{let r=Gr(jt(),s.bodyA?.positionAng??[0,0,0,1],s.cpuRest);ct(i,r,s.bodyB.positionAng);for(let o=0;o<3;o++)i[o]*=s.torqueArm;return i}}var On=class extends ai{initialize(){let e=this.bodyA,t=this.bodyB;if(!((e.group??4294967295)&(t.collidesWith??4294967295))||!((t.group??4294967295)&(e.collidesWith??4294967295)))return!1;let i=this.contacts,r=De(e)||De(t)||Fe(e)||Fe(t);this.friction=Math.sqrt(e.friction*t.friction),this.contacts=su(e,t,this.basis,this.solver.cpuGeometry.get(e),this.solver.cpuGeometry.get(t)).map(o=>{let a=i.find(n=>n.feature===o.feature);return{feature:o.feature,rA:a?.stick&&!r?a.rA:o.rA,rB:a?.stick&&!r?a.rB:o.rB,C0:S(),penalty:a?a.penalty.slice():S(),lambda:a?a.lambda.slice():S(),stick:a?.stick??!1}});for(let o of this.contacts){o.C0.set(hd(this.basis,T(Ot(e,o.rA),Ot(t,o.rB)))),o.C0[0]+=Ms;for(let a=0;a<3;a++)o.lambda[a]*=this.solver.alpha*this.solver.gamma,o.penalty[a]=sa(o.penalty[a]*this.solver.gamma,Et,Ve);if(this.solver.massPenalty!==!1){let a=Math.min(e.mass>0?e.mass:1/0,t.mass>0?t.mass:1/0);o.penalty[0]=Math.max(o.penalty[0],sa(a/this.solver.dt**2,Et,Ve))}}return this.contacts.length>0}updatePrimal(...e){!this.bodyA.isTrigger&&!this.bodyB.isTrigger&&super.updatePrimal(...e)}updateDual(...e){!this.bodyA.isTrigger&&!this.bodyB.isTrigger&&super.updateDual(...e)}},Tn=class extends Ft{constructor(e,t,i){super(e,t.bodyA,t.bodyB),this.options={...i},this.pen=[Et,Et],this.lam=[0,0],this.source=t;let r=i.axisA;this.ta=Tt(Math.abs(r[0])>Math.abs(r[2])?[-r[1],r[0],0]:[0,-r[2],r[1]]);let o=this.bodyA?Ee(this.bodyA.positionAng,this.ta):this.ta,a=Array.from(Te(S(),this.bodyB.positionAng,o));a=T(a,q(i.axisB,F(a,i.axisB))),this.tb=Tt(a)}frame(){let e=this.bodyA?Ee(this.bodyA.positionAng,this.options.axisA):this.options.axisA,t=this.bodyA?Ee(this.bodyA.positionAng,this.ta):this.ta,i=Ee(this.bodyB.positionAng,this.tb);return{axis:e,angle:Math.atan2(F(e,xt(t,i)),F(t,i))}}initialize(){let e=this.frame().angle;this.c0=this.options.type==="motor"?[e,0]:[Math.min(0,e-this.options.minAngle),Math.max(0,e-this.options.maxAngle)];for(let t=0;t<2;t++)this.lam[t]*=this.solver.alpha*this.solver.gamma,this.pen[t]=sa(this.pen[t]*this.solver.gamma,Et,Ve);return!this.source.broken}evaluate(e){let{angle:t}=this.frame(),i=this.options,r=i.type==="motor"?[Math.atan2(Math.sin(t-this.c0[0]),Math.cos(t-this.c0[0]))-i.speed*this.solver.dt,0]:[t-i.minAngle-e*this.c0[0],t-i.maxAngle-e*this.c0[1]],o=r.map((a,n)=>this.pen[n]*a+this.lam[n]);return{c:r,f:i.type==="motor"?[sa(o[0],-i.maxTorque,i.maxTorque),0]:[Math.min(0,o[0]),Math.max(0,o[1])]}}updatePrimal(e,t,i){let{f:r}=this.evaluate(t),o=this.options;if(o.type==="motor"&&o.maxTorque===0)return;let a=q(this.frame().axis,e===this.bodyA?-1:1);for(let n=0;n<(o.type==="motor"?1:2);n++)if(!(o.type==="limit"&&r[n]===0))for(let l=0;l<3;l++){i.rhsAng[l]+=a[l]*r[n];for(let c=0;c<3;c++)i.lhsAng[l*3+c]+=a[l]*a[c]*this.pen[n]}}updateDual(e){let{c:t,f:i}=this.evaluate(e);this.lam=i;for(let r=0;r<2;r++)this.pen[r]=Math.min(Ve,this.pen[r]+this.solver.betaAng*(this.options.type==="motor"?Math.abs(t[r]):r===0?Math.max(0,-t[r]):Math.max(0,t[r])))}};function oa(s){if(!s.cpuPrepared){s.cpuPrepared=!0;for(let e of[...s.forces]){let t=rs(e);if(t){e.unlinkFromBodies(),s.forces.splice(s.forces.indexOf(e),1),e.cpuAngular=new Tn(s,e,t);continue}if(e instanceof ke&&e.stiffnessAng>0&&jn(e),e instanceof ft){let i=e.initialize.bind(e);e.initialize=()=>{if(e.broken)return!1;let r=Ui(e);if(r){let o=Math.max(0,Math.hypot(...T(Ot(e.bodyA,e.rA),Ot(e.bodyB,e.rB)))-e.rest);if(o/Math.max(e.rest,1e-6)>r.breakStrain||o*e.stiffness>r.breakForce)return e.broken=!0,!1}return i()}}}}}function ou(s){let e=s.bodies;s.cpuGeometry=new Map;for(let l of e)(De(l)||Fe(l)||Ct(l))&&s.cpuGeometry.set(l,jr(l));let t=e.filter(l=>l.mass>0).slice(0,1024).map(l=>l.radius).sort((l,c)=>l-c),i=Math.max(.1,(t[Math.floor(t.length/2)]??1)*2),r=new Map,o=[],a=new Set,n=(l,c)=>{if(l===c||e[l].mass<=0&&e[c].mass<=0)return;let u=Math.max(l,c),f=Math.min(l,c),d=u*e.length+f;if(a.has(d))return;a.add(d);let p=e[u],m=e[f];if(!((p.group??4294967295)&(m.collidesWith??4294967295))||!((m.group??4294967295)&(p.collidesWith??4294967295)))return;let h=p.radius+m.radius;F(T(p.positionLin,m.positionLin),T(p.positionLin,m.positionLin))<=h*h&&!p.constrainedTo(m)&&new On(s,p,m)};for(let l=0;l<e.length;l++){let c=e[l],u=c.positionLin.map(d=>Math.floor((d-c.radius)/i)),f=c.positionLin.map(d=>Math.floor((d+c.radius)/i));if((f[0]-u[0]+1)*(f[1]-u[1]+1)*(f[2]-u[2]+1)>128){o.push(l);continue}for(let d=u[0];d<=f[0];d++)for(let p=u[1];p<=f[1];p++)for(let m=u[2];m<=f[2];m++){let h=`${d},${p},${m}`,g=r.get(h)??[];for(let b of g)n(l,b);g.push(l),r.set(h,g)}}for(let l of o)for(let c=0;c<e.length;c++)n(l,c)}function aa(s,e){if(!(e===3?s.bodies.some(r=>r.restitution>0):[...s.restitution.values()].some(r=>r>0)))return null;if(e===2)return Float64Array.from(s.velocity);let i=new Float64Array(s.bodies.length*6);return s.bodies.forEach((r,o)=>{i.set(r.velocityLin,o*6),i.set(r.velocityAng,o*6+3)}),i}function na(s,e,t){if(!t)return;let i=e===3?s.bodies.length:s.bodyCount,r=e===3?6:4,o=e===3?new Float64Array(i*r):s.velocity;e===3&&s.bodies.forEach((h,g)=>{o.set(h.velocityLin,g*r),o.set(h.velocityAng,g*r+3)});let a=h=>e===3?s.bodies[h].mass>0&&!s.bodies[h].sleeping?1/s.bodies[h].mass:0:s.dynamic[h]?1/s.shape[h*4+2]:0,n=(h,g)=>{if(!a(h))return e===3?[0,0,0]:0;if(e===2)return s.shape[h*4+3]>0?g/s.shape[h*4+3]:0;let b=s.bodies[h],y=b.positionAng,A=Ee([-y[0],-y[1],-y[2],y[3]],g);return Ee(y,A.map((v,x)=>b.moment[x]>0?v/b.moment[x]:0))},l=(h,g,b)=>{let y=g*r;return e===3?T(h.subarray(y,y+3),xt(b,h.subarray(y+3,y+6))):[h[y]-h[y+2]*b[1],h[y+1]+h[y+2]*b[0]]},c=(h,g)=>e===3?xt(h,g):h[0]*g[1]-h[1]*g[0],u=(h,g)=>e===3?F(h,g):h*g,f;if(e===3){let h=new Map(s.bodies.map((g,b)=>[g,b]));f=s.forces.filter(g=>g.contacts?.length&&!g.bodyA.isTrigger&&!g.bodyB.isTrigger).map(g=>{let b=(y,A)=>{let v=[0,0,0];for(let x of g.contacts){let w=Ee(y.positionAng,x[A]);for(let B=0;B<3;B++)v[B]+=w[B]/g.contacts.length}return v};return{a:h.get(g.bodyA),b:h.get(g.bodyB),n:g.basis.slice(0,3),ra:b(g.bodyA,"rA"),rb:b(g.bodyB,"rB"),e:Math.max(g.bodyA.restitution??0,g.bodyB.restitution??0)}})}else{let h=(g,b)=>{let y=Math.cos(s.pose[g*4+2]),A=Math.sin(s.pose[g*4+2]);return[y*b[0]-A*b[1],A*b[0]+y*b[1]]};f=s.contactPairs.filter(g=>!s.sensors.has(g.a)&&!s.sensors.has(g.b)).map(g=>({...g,ra:h(g.a,g.ra),rb:h(g.b,g.rb),e:Math.max(s.restitution.get(g.a)??0,s.restitution.get(g.b)??0)}))}let d=new Uint32Array(i);if(e===3)s.bodies.forEach((h,g)=>{d[g]=h.forces.length});else for(let h=0;h<i;h++)d[h]=s.adjStart[h+1]-s.adjStart[h];let p=[];for(let h of f){if(h.e<=0)continue;let g=F(h.n,T(l(t,h.a,h.ra),l(t,h.b,h.rb)));if(g>=-1)continue;let b=c(h.ra,h.n),y=c(h.rb,h.n),A=n(h.a,b),v=n(h.b,y),x=a(h.a)+a(h.b)+u(b,A)+u(y,v);x>0&&p.push({...h,inertiaA:A,inertiaB:v,k:x,target:-h.e*g,impulse:0})}let m=new Float64Array(o.length);for(let h=0;h<12&&p.length;h++){m.fill(0);for(let g of p){let b=F(g.n,T(l(o,g.a,g.ra),l(o,g.b,g.rb))),y=Math.max(0,g.impulse+(g.target-b)/(g.k*Math.max(1,d[g.a],d[g.b]))),A=y-g.impulse;g.impulse=y;for(let[v,x,w]of[[g.a,1,g.inertiaA],[g.b,-1,g.inertiaB]]){let B=v*r,L=a(v);for(let M=0;M<e;M++)m[B+M]+=x*A*L*g.n[M];if(e===3)for(let M=0;M<3;M++)m[B+3+M]+=x*A*w[M];else m[B+2]+=x*A*w}}for(let g=0;g<o.length;g++)o[g]+=m[g]}e===3&&s.bodies.forEach((h,g)=>{h.velocityLin.set(o.subarray(g*r,g*r+3)),h.velocityAng.set(o.subarray(g*r+3,g*r+6))})}function au(s,e,t){let i=e.windSpeed??0;if(!or(s)||s.mass<=0||i===0)return null;let r=e.windAngle??0,o=[Math.cos(r),Math.sin(r),0],a=[-o[1],o[0],0],n=s.positionLin,l=t*e.dt,c=F(n,o),u=F(n,a),f=.5*Math.sin(1.1*l-.35*c+.2*u)+.3*Math.sin(2.9*l-.8*c+.6*n[2])+.2*Math.sin(6.1*l-1.7*c+1.3*n[2]+.9*u),d=.6*Math.sin(1.7*l-.6*c+.4*n[2])+.4*Math.sin(4.3*l-1.3*c-.7*n[2]),p=Math.sin(2.3*l-.9*c+1.1*u),m=e.windGust??.4,h=o.map((x,w)=>i*x*(1+m*f)+m*i*(a[w]*.25*d+(w===2?.1*p:0))-s.velocityLin[w]),g=Ee(s.positionAng,[0,0,1]),b=(e.windPressure??.72)*s.size[0]*s.size[1]/s.mass,y=F(h,g),A=h.map((x,w)=>x-g[w]*y),v=b*y*Math.abs(y)/(1+2*e.dt*b*Math.abs(y));return g.map((x,w)=>x*v+A[w]*.06*b*Math.hypot(...A))}var pd=()=>({dt:1/60,gravity:-10,iterations:10,betaLin:1e4,betaAng:100,alpha:.99,gamma:.999}),la=class{dt=1/60;gravity=-10;iterations=10;alpha=.99;betaLin=1e4;betaAng=100;gamma=.999;massPenalty=!0;faceBias=!0;up=[0,0,1];cpuStep=0;bodies=[];forces=[];constructor(){this.defaultParams()}defaultParams(){Object.assign(this,pd())}clear(){this.forces=[],this.bodies=[]}pick(e,t){let r=null,o=S(),a=S();for(let n=this.bodies.length-1;n>=0;n--){let l=this.bodies[n];if(l.mass<=0)continue;Te(o,l.positionAng,J(o,e,l.positionLin)),Te(a,l.positionAng,t);let c=0,u=1/0,f=!0;for(let p=0;p<3&&f;p++){let m=l.size[p]*.5;if(Math.abs(a[p])<1e-6){(o[p]<-m||o[p]>m)&&(f=!1);continue}let h=1/a[p],g=(-m-o[p])*h,b=(m-o[p])*h;g>b&&([g,b]=[b,g]),c=Math.max(c,g),u=Math.min(u,b),c>u&&(f=!1)}if(!f)continue;let d=c>=0?c:u;d<0||(!r||d<r.t)&&(r={body:l,local:D(S(),o,a,d),t:d})}return r}sys=zs();dxLin=S();dxAng=S();dp=S();accel=S();step(){let{dt:e,gravity:t,bodies:i,sys:r,dp:o}=this,a=aa(this,3);oa(this),ou(this);let n=[];for(let l of this.forces)l.initialize()?n.push(l):l.unlinkFromBodies();this.forces=n;for(let l=i.length-1;l>=0;l--){let c=i[l];D(c.inertialLin,c.positionLin,c.velocityLin,e),c.mass>0&&D(c.inertialLin,c.inertialLin,this.up,t*e*e);let u=au(c,this,this.cpuStep);u&&D(c.inertialLin,c.inertialLin,u,e*e),si(c.inertialAng,c.positionAng,nu(c.velocityAng,e)),_t(this.accel,J(this.accel,c.velocityLin,c.prevVelocityLin),e);let f=V(this.accel,this.up)*Ps(t),d=ce(f/Math.abs(t),0,1);Number.isFinite(d)||(d=0),c.initialLin.set(c.positionLin),c.initialAng.set(c.positionAng),c.mass>0&&!c.sleeping&&(D(c.positionLin,c.positionLin,c.velocityLin,e),D(c.positionLin,c.positionLin,this.up,t*d*e*e),si(c.positionAng,c.positionAng,nu(c.velocityAng,e)))}for(let l=0;l<this.iterations;l++){for(let c=i.length-1;c>=0;c--){let u=i[c];if(u.mass<=0||u.sleeping)continue;let f=u.mass,d=u.moment;Ce(r.lhsLin,f/(e*e),f/(e*e),f/(e*e)),Ce(r.lhsAng,d[0]/(e*e),d[1]/(e*e),d[2]/(e*e)),r.lhsCross.fill(0),ue(r.rhsLin,r.lhsLin,J(o,u.positionLin,u.inertialLin)),ue(r.rhsAng,r.lhsAng,ct(o,u.positionAng,u.inertialAng));let p=u.forces;for(let h=p.length-1;h>=0;h--)p[h].updatePrimal(u,this.alpha,r);let m=u.moment.every(h=>h===0);m&&(Ce(r.lhsAng,1,1,1),r.lhsCross.fill(0),r.rhsAng.fill(0)),Es(r.lhsLin,r.lhsAng,r.lhsCross,ee(r.rhsLin,r.rhsLin),ee(r.rhsAng,r.rhsAng),this.dxLin,this.dxAng),D(u.positionLin,u.positionLin,this.dxLin,1),m||si(u.positionAng,u.positionAng,this.dxAng)}for(let c of this.forces)c.updateDual(this.alpha)}for(let l of i)l.prevVelocityLin.set(l.velocityLin),l.mass>0&&!l.sleeping&&(_t(l.velocityLin,J(l.velocityLin,l.positionLin,l.initialLin),e),_t(l.velocityAng,ct(l.velocityAng,l.positionAng,l.initialAng),e));na(this,3,a),this.cpuStep++}},md=S(),nu=(s,e)=>ne(md,s,e);var Bs=(s,e)=>s.map((t,i)=>t+e[i]),Re=(s,e)=>s.map((t,i)=>t-e[i]),Lt=(s,e)=>s.map(t=>t*e),st=(s,e)=>s[0]*e[0]+s[1]*e[1],ws=(s,e)=>[Math.cos(s)*e[0]-Math.sin(s)*e[1],Math.sin(s)*e[0]+Math.cos(s)*e[1]],cu=s=>Math.max(0,Math.min(1,s)),lu=(s,e,t)=>Bs(s,Lt(Re(e,s),cu(st(Re(t,s),Re(e,s))/(st(Re(e,s),Re(e,s))||1))));function ca(s,e){let t=ei(s)?.get(e)??[0,0,0,0],i=Array.from(s.pose.subarray(e*4,e*4+2)),r=s.pose[e*4+2],o=l=>Bs(i,ws(r,l)),a=[s.shape[e*4]/2,s.shape[e*4+1]/2],n=t[0]===4?Array.from({length:t.vertices.length/4},(l,c)=>o(t.vertices.slice(c*4,c*4+2))):t[0]===0?[[-1,-1],[1,-1],[1,1],[-1,1]].map(l=>o([l[0]*a[0],l[1]*a[1]])):null;return{kind:t[0],p:i,angle:r,vertices:n,radius:t[1],spine:[o([-t[2]||0,0]),o([t[2]||0,0])]}}function Yi(s,e){if(s.vertices){let r=-1/0,o=[];for(let a of s.vertices){let n=st(a,e);n>r+1e-7?(r=n,o=[a]):Math.abs(n-r)<1e-7&&o.push(a)}return[o[0],o.at(-1)]}let t=Bs(s.spine[0],Lt(e,s.radius)),i=Bs(s.spine[1],Lt(e,s.radius));return Math.abs(st(t,e)-st(i,e))<1e-7?[t,i]:st(t,e)>st(i,e)?[t,t]:[i,i]}function uu(s,e,t,i){let r=ca(s,e),o=ca(s,t),a=s.pose,n=s.shape;if(r.kind===0&&o.kind===0)return Lo(...a.subarray(e*4,e*4+3),n[e*4]/2,n[e*4+1]/2,...a.subarray(t*4,t*4+3),n[t*4]/2,n[t*4+1]/2,i);let l=[];if(r.kind===3||o.kind===3){let u=r.kind===3,f=u?r:o,d=u?o:r;if(d.kind===3)return 0;let p=ws(f.angle,[0,1]),m=Yi(d,Lt(p,-1));for(let h of m){let g=st(Re(h,f.p),p);if(g<=0){let b=Re(h,Lt(p,g));l.push({a:u?b:h,b:u?h:b,n:u?Lt(p,-1):p})}}}else{let u=-1/0,f=[0,1],d=x=>{let w=Math.hypot(...x);if(w<1e-9)return;let B=Lt(x,1/w),L=st(Re(Yi(r,Lt(B,-1))[0],Yi(o,B)[0]),B),M=st(Re(Yi(o,Lt(B,-1))[0],Yi(r,B)[0]),B);Math.max(L,M)>u+1e-7&&(u=Math.max(L,M),f=L>=M?B:Lt(B,-1))};for(let[x,w]of[[r,o],[o,r]])if(x.vertices)for(let B=0;B<x.vertices.length;B++){let L=Re(x.vertices[(B+1)%x.vertices.length],x.vertices[B]);d([L[1],-L[0]]),w.vertices||d(Re(x.vertices[B],lu(...w.spine,x.vertices[B])))}else if(d(ws(x.angle,[0,1])),!w.vertices)for(let B of x.spine)d(Re(B,lu(...w.spine,B)));if(u===-1/0&&d([0,1]),u>0)return 0;let p=Yi(r,Lt(f,-1)),m=Yi(o,f),h=[-f[1],f[0]],g=p.map(x=>st(x,h)),b=m.map(x=>st(x,h)),y=Math.max(Math.min(...g),Math.min(...b)),A=Math.min(Math.max(...g),Math.max(...b)),v=(x,w)=>{let B=st(Re(x[1],x[0]),h);return Math.abs(B)<1e-9?x[0]:Bs(x[0],Lt(Re(x[1],x[0]),cu((w-st(x[0],h))/B)))};for(let x of A-y>1e-6?[y,A]:[(y+A)/2])l.push({a:v(p,x),b:v(m,x),n:f})}let c=0;for(let u of l){if(c&&Math.hypot(...Re(u.a,l[0].a))<1e-7)continue;let f=ws(-r.angle,Re(u.a,r.p)),d=ws(-o.angle,Re(u.b,o.p));if(i.set([268435456+c,...f,...d,...u.n],c*7),c++,c===2)break}return c}var fu=(s,e,t)=>[Math.cos(s)*e-Math.sin(s)*t,Math.sin(s)*e+Math.cos(s)*t],du=function(){let{pose:s,shape:e,props:t}=this,i=this.broadphase.pairs,r=this.contactOut;for(let o=0;o<this.broadphase.pairCount;o++){let a=i[o],n=Math.floor(a/2097152),l=a-n*2097152,c=this.collideBodies(n,l,r);if(c===0)continue;let u=0,f=this.prevCount;for(;u<f;){let m=u+f>>>1;this.prevKeys[m]<a?u=m+1:f=m}let d=u,p=Math.sqrt(t[n*4]*t[l*4]);for(let m=0;m<c;m++){let h=this.jointCount+this.contactCount++;this.info=this.grow(this.info,(h+1)*j),this.data=this.grow(this.data,(h+1)*O);let g=this.data,b=h*O,y=m*7,A=r[y+0];this.info.set([hs,n,l,A],h*j),g.fill(0,b,b+O),g[b+Q]=g[b+Q+1]=1/0,g[b+_e]=-1/0,g[b+Ae]=0,g[b+Pt]=g[b+Pt+1]=1/0,g[b+N]=r[y+1],g[b+N+1]=r[y+1+1],g[b+Y]=r[y+3],g[b+Y+1]=r[y+3+1],g[b+re]=p,g[b+be]=r[y+5],g[b+Ue]=r[y+5+1];let v=-1;for(let P=d;P<this.prevCount&&this.prevKeys[P]===a;P++)this.prevInfo[P*j+3]===A&&(v=P);if(v<0&&this.params.matchNearest){let P=Sn*Math.min(e[n*4],e[n*4+1],e[l*4],e[l*4+1]);for(let C=d;C<this.prevCount&&this.prevKeys[C]===a;C++){let _=Math.hypot(this.prevData[C*O+N]-g[b+N],this.prevData[C*O+N+1]-g[b+N+1]);_<=P&&(P=_,v=C)}}if(v>=0){let P=v*O;g[b+se]=this.prevData[P+se],g[b+se+1]=this.prevData[P+se+1],g[b+te]=this.prevData[P+te],g[b+te+1]=this.prevData[P+te+1],this.prevData[P+Wi]&&(g[b+N]=this.prevData[P+N],g[b+N+1]=this.prevData[P+N+1],g[b+Y]=this.prevData[P+Y],g[b+Y+1]=this.prevData[P+Y+1])}let[x,w]=fu(s[n*4+2],g[b+N],g[b+N+1]),[B,L]=fu(s[l*4+2],g[b+Y],g[b+Y+1]),M=g[b+be],I=g[b+Ue],E=s[n*4]+x-s[l*4]-B,k=s[n*4+1]+w-s[l*4+1]-L;g[b+fe]=M*E+I*k+5e-4,g[b+fe+1]=I*E-M*k}}};var ua=class extends zr{constructor(e,t,i){if(super({precision:i==="soa-colored"?"f32":"f64",order:i==="soa-colored"?"colored":"sequential"}),Object.assign(this,e),this.options={...this.options,precision:i==="soa-colored"?"f32":"f64",order:i==="soa-colored"?"colored":"sequential"},this.options.precision==="f64")for(let[r,o]of Object.entries(this))o instanceof Float32Array&&(this[r]=Float64Array.from(o));for(let[r,o]of ei(e)??[]){let a=this.shape[r*4+2];Rr(this,r,{geometry:o,area:a,momentPerMass:a>0?this.shape[r*4+3]/a:0,radius:this.props[r*4+1]},1)}this.filters=new Map(t?.filters??[]),this.sensors=new Set(t?.sensors??[]),this.restitution=new Map(t?.restitution??[]),this.contactPairs=[],t&&(t.topology=this)}narrowphase(){this.contactPairs=[],du.call(this)}collideBodies(e,t,i){let r=this.filters.get(e)??[4294967295,4294967295],o=this.filters.get(t)??[4294967295,4294967295];if(!(r[0]&o[1])||!(o[0]&r[1]))return 0;let a=uu(this,e,t,i);if(a){let n=[i[5],i[6]],l=[0,0],c=[0,0];for(let p=0;p<a;p++)for(let m=0;m<2;m++)l[m]+=i[p*7+1+m]/a,c[m]+=i[p*7+3+m]/a;let u=this.pose[e*4+2],f=Math.cos(u),d=Math.sin(u);this.contactPairs.push({a:e,b:t,n,ra:l,rb:c,point:[this.pose[e*4]+f*l[0]-d*l[1],this.pose[e*4+1]+d*l[0]+f*l[1],0],impulse:0})}return this.sensors.has(e)||this.sensors.has(t)?0:a}initJoints(){for(let e=0;e<this.jointCount;e++){let t=e*O,i=this.info[e*j];if(this.data[t+Q]===0&&this.data[t+Q+1]===0&&this.data[t+Q+2]===0){i!==0&&(this.info[e*j]=0,this.noCollideDirty=!0,this.handles[e]&&(this.handles[e].alive=!1));continue}i===1&&this.jointC(this.info[e*j+1],this.info[e*j+2],t,this.pose,this.data,t+fe)}for(let e=0;e<this.jointCount;e++)if(this.info[e*j]===5){let t=e*O,i=this.info[e*j+1],r=this.info[e*j+2],o=(i<0?0:this.pose[i*4+2])-this.pose[r*4+2]-this.data[t+re];this.data[t+fe]=Math.min(0,o-this.data[t+be]),this.data[t+fe+1]=Math.max(0,o-this.data[t+Ue])}}warmStartConstraints(e,t){let i=[];for(let r=0;r<this.jointCount;r++)this.info[r*j]===5&&(i.push(r),this.info[r*j]=4);super.warmStartConstraints(e,t);for(let r of i)this.info[r*j]=5}evalConstraint(e,t,i){if(this.info[e*j]!==5)return super.evalConstraint(e,t,i);let r=e*O,o=this.info[e*j+1],a=this.info[e*j+2],n=this.data,l=(o<0?0:this.pose[o*4+2])-this.pose[a*4+2]-n[r+re];this.eC[0]=l-n[r+be]-t*n[r+fe],this.eC[1]=l-n[r+Ue]-t*n[r+fe+1],this.eG.fill(0),this.eJ.fill(0);for(let c=0;c<2;c++){this.eMin[c]=n[r+_e+c],this.eMax[c]=n[r+Ae+c];let u=Math.max(this.eMin[c],Math.min(this.eMax[c],n[r+se+c]*this.eC[c]+n[r+te+c]));i>=0&&u!==0&&(this.eJ[c*3+2]=i===o?1:-1)}return 2}step(){let e=aa(this,2);super.step(),na(this,2,e);let t=new Map(this.contactPairs.map(i=>[`${i.a},${i.b}`,i]));for(let i=this.jointCount;i<this.jointCount+this.contactCount;i++){let r=t.get(`${this.info[i*j+1]},${this.info[i*j+2]}`);r&&(r.impulse+=Math.abs(this.data[i*O+te])*this.params.dt)}}};var da=(s,e,t)=>{let i=T(e,s);return de(s,q(i,Math.max(0,Math.min(1,F(T(t,s),i)/(F(i,i)||1)))))};function fa(s,e,t,i){let r=T(s,t),o=F(r,e),a=o*o-F(r,r)+i*i;if(a<0)return null;let n=-o-Math.sqrt(a);return n<0?null:{t:n,n:Tt(T(de(s,q(e,n)),t))}}function Dr(s,e){return e&&(!s||e.t<s.t)?e:s}function Dn(s,e,t,i,r){let o=T(i,t),a=T(s,t),n=F(o,o);if(n<1e-16)return fa(s,e,t,r);let l=F(o,e),c=F(o,a),u=F(a,e),f=n-l*l,d=n*u-c*l,p=n*F(a,a)-c*c-r*r*n,m=d*d-f*p,h=null;if(f>1e-12*n&&m>=0){let g=(-d-Math.sqrt(m))/f,b=c+g*l;g>=0&&b>=0&&b<=n&&(h={t:g,n:Tt(T(de(s,q(e,g)),de(t,q(o,b/n))))})}return Dr(Dr(h,fa(s,e,t,r)),fa(s,e,i,r))}function hu(s,e){let t=q(e.vertices.reduce((i,r)=>de(i,r),[0,0,0]),1/e.vertices.length);for(let i=0;i<e.vertices.length;i++){let r=e.vertices[i],o=e.vertices[(i+1)%e.vertices.length],a=xt(T(o,r),e.normal);if(F(a,T(s,r))*(F(a,T(t,r))>=0?1:-1)<-1e-6)return!1}return!0}function gd(s,e,t,i){if(i===0){let n=-1/0,l=1/0,c=q(t,-1);for(let u of s.faces){let f=F(u.normal,t),d=F(u.normal,T(u.vertices[0],e));if(Math.abs(f)<1e-12){if(d<0)return null}else{let p=d/f;f<0?p>n&&(n=p,c=u.normal):l=Math.min(l,p)}if(n>l)return null}return l<0?null:{t:Math.max(0,n),n:n<=0?q(t,-1):c}}let r=!0,o=1/0,a=null;for(let n of s.faces){let l=F(n.normal,T(e,n.vertices[0]));l>0&&(r=!1),hu(T(e,q(n.normal,l)),n)&&(o=Math.min(o,l*l));let c=F(n.normal,t);if(c<-1e-12){let u=(i-l)/c;u>=0&&hu(T(de(e,q(t,u)),q(n.normal,i)),n)&&(a=Dr(a,{t:u,n:n.normal}))}}for(let[n,l]of s.edges){let c=T(e,da(n,l,e));o=Math.min(o,F(c,c)),a=Dr(a,Dn(e,t,n,l,i))}return r||o<=i*i?{t:0,n:q(t,-1)}:a}var At=(s,e)=>s[0]*e[0]+s[1]*e[1];function bd(s,e,t,i){let r=!0,o=1/0,a=null;for(let n=0;n<s.vertices.length;n++){let l=s.vertices[n],c=s.vertices[(n+1)%s.vertices.length],u=T(c,l),f=Tt([u[1],-u[0]]),d=At(T(e,l),f);d>0&&(r=!1);let p=T(e,da(l,c,e));o=Math.min(o,At(p,p));let m=At(t,f);if(m<-1e-12){let h=(i-d)/m,g=T(de(e,q(t,h)),q(f,i)),b=At(T(g,l),u),y=1e-6*At(u,u);h>=0&&b>=-y&&b<=At(u,u)+y&&(a=Dr(a,{t:h,n:f}))}i>0&&(a=Dr(a,fa(e,t,l,i)))}return r||o<=i*i?{t:0,n:q(t,-1)}:a}function yd(s,e,t,i){if(s.vertices)return bd(s,e,t,i);if(s.kind===3){let p=[-Math.sin(s.angle),Math.cos(s.angle)],m=At(T(e,s.p),p)-i,h=At(t,p);return m<=0?{t:0,n:q(t,-1)}:h<-1e-12?{t:-m/h,n:p}:null}let r=s.kind===1?s.p:s.spine[0],o=s.kind===1?s.p:s.spine[1],a=i+s.radius,n=T(e,da(r,o,e));if(At(n,n)<=a*a)return{t:0,n:q(t,-1)};if(a>0)return Dn(e,t,r,o,a);let l=T(o,r),c=t[0]*l[1]-t[1]*l[0];if(Math.abs(c)<1e-12){let p=T(e,r);if(Math.abs(p[0]*l[1]-p[1]*l[0])/Math.max(Math.hypot(...l),1e-20)>1e-6)return null;let h=Math.min(At(T(r,e),t),At(T(o,e),t));return Math.max(At(T(r,e),t),At(T(o,e),t))<0?null:{t:Math.max(0,h),n:q(t,-1)}}let u=T(r,e),f=(u[0]*l[1]-u[1]*l[0])/c,d=(u[0]*t[1]-u[1]*t[0])/c;return f>=0&&d>=0&&d<=1?{t:f,n:q(Tt([l[1],-l[0]]),c>0?-1:1)}:null}function pu(s,e,t,i,{maxDistance:r=1e30,ignore:o=[],collidesWith:a=4294967295,includeTriggers:n=!0}={}){let l=s.dimension,c=me(e,l,"origin"),u=me(i,l,"direction"),f=Math.hypot(...u);if(!f||!Number.isFinite(t)||t<0||!Number.isFinite(r)||r<0)throw Error("Provide a nonzero direction, finite nonnegative radius and distance");if(!Number.isInteger(a)||a<0||a>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");let d=new Set(o);for(let h of d)s.liveIndex(h);let p=u.map(h=>h/f),m=null;for(let h=0;h<s.bodyCount;h++){if(d.has(h))continue;let g=l===3?s.solver.bodies[h]:null,b=g?g.group??4294967295:s.solver.filters.get(h)?.[0]??4294967295,y=g?g.isTrigger:s.solver.sensors.has(h);if(!(b&a)||!n&&y)continue;let A;if(l===2)A=yd(ca(s.solver,h),c,p,t);else{let x=jr(g);if(x.spine){let w=x.radius+t,B=T(c,da(...x.spine,c));A=F(B,B)<=w*w?{t:0,n:q(p,-1)}:Dn(c,p,...x.spine,w)}else A=gd(x,c,p,t)}if(!A||A.t>r||m&&A.t>=m.distance)continue;let v=de(c,q(p,A.t));m={index:h,distance:A.t,normal:A.n,center:v,point:T(v,q(A.n,t))}}return m}var ha=class{constructor(e,{speedThreshold:t=.08,timeThreshold:i=.6}={}){if(!Number.isFinite(t)||t<=0||!Number.isFinite(i)||i<=0)throw Error("Sleep thresholds must be positive and finite");this.world=e,this.speedThreshold=t,this.timeThreshold=i,this.time=new Float64Array(e.bodyCount),this.asleep=new Set}wake(){let e=this.world;for(let t of this.asleep)e.dimension===3?e.solver.bodies[t].sleeping=!1:e.solver.dynamic[t]=+(e.solver.shape[t*4+2]>0);this.asleep.clear(),this.time.fill(0)}after(){let e=this.world,t=e.solver,i=e.bodyCount,r=Int32Array.from({length:i},(d,p)=>p),o=new Set,a=[],n=d=>e.dimension===3?t.bodies[d].mass:t.shape[d*4+2],l=d=>{for(;r[d]!==d;)r[d]=r[r[d]],d=r[d];return d},c=(d,p)=>{if(d<0){o.add(p);return}n(d)<=0?o.add(p):n(p)<=0?o.add(d):r[l(d)]=l(p),a.push([d,p])};if(e.dimension===3){let d=new Map(t.bodies.map((p,m)=>[p,m]));for(let p of t.forces)!p.broken&&!p.bodyA?.isTrigger&&!p.bodyB?.isTrigger&&c(p.bodyA?d.get(p.bodyA):-1,d.get(p.bodyB))}else{for(let d of t.contactPairs)!t.sensors.has(d.a)&&!t.sensors.has(d.b)&&c(d.a,d.b);for(let d=0;d<t.jointCount;d++)(t.data[d*32+6]||t.data[d*32+7]||t.data[d*32+8])&&c(t.info[d*4+1],t.info[d*4+2])}let u=new Set([...o].map(l)),f=new Map;for(let d=0;d<i;d++)if(n(d)>0){let p=l(d),m=e.dimension===3?t.bodies[d]:null,h=m?m.allowSleep!==!1:t.avbdSleepEligible?.get(d)!==!1,g=m?Math.hypot(...m.velocityLin,...m.velocityAng):Math.hypot(...t.velocity.subarray(d*4,d*4+3));f.has(p)||f.set(p,u.has(p)),f.set(p,f.get(p)&&h&&g<=this.speedThreshold)}for(let d=0;d<i;d++)n(d)>0&&(this.time[d]=f.get(l(d))?this.time[d]+e.params.dt:0,this.time[d]>=this.timeThreshold&&(this.asleep.add(d),e.dimension===3?(t.bodies[d].sleeping=!0,t.bodies[d].velocityLin.fill(0),t.bodies[d].velocityAng.fill(0)):(t.dynamic[d]=0,t.velocity.fill(0,d*4,d*4+4))));a.some(([d,p])=>d>=0&&n(d)>0&&n(p)>0&&this.asleep.has(d)!==this.asleep.has(p))&&this.wake()}};var pa=class{constructor(e,t,i={}){if(this.backend="cpu",this.dimension=t,this.scene=e,this.stepCount=0,this.pending=new ti,this.events=[],this.previous=new Map,this.watched=null,t===3){this.solver=Object.assign(new la,e.ref),this.solver.up=[...e.up??[0,0,1]],this.nativeRef=e.ref,this.constraints=this.solver.forces.slice();for(let r of this.solver.bodies)r.solver=this.solver;for(let r of this.constraints)r.solver=this.solver;this.constraints.forEach((r,o)=>{let a=e.handles?.get(r);a&&(a.slot=o)}),oa(this.solver)}else this.solver=new ua(e.topology,e,i.order==="colored"?"soa-colored":"soa-seq"),this.topology=this.solver,this.builder=Object.assign(Object.create(Object.getPrototypeOf(e)),{topology:this.solver,filters:this.solver.filters,sensors:this.solver.sensors,restitution:this.solver.restitution});this.params=t===3?this.solver:this.solver.params,Tr(this,t===3?{bodies:this.solver.bodies}:null,t,{setVelocities:this.setPackedVelocities,readSelectedBodies:this.readSelectedBodies}),(i.sleeping||e.sleepOptIn||[...e.topology?.avbdSleepEligible?.values()??[]].some(Boolean))&&this.enableSleeping(i.sleeping===!0?{}:i.sleeping)}get bodyCount(){return this.dimension===3?this.solver.bodies.length:this.solver.bodyCount}get jointCount(){return this.dimension===3?this.constraints.length:this.solver.jointCount}gpuIndex(e){return this.liveIndex(e),e}liveIndex(e){if(this.assertLive(),!Number.isInteger(e)||e<0||e>=this.bodyCount)throw Error("A live body index is required")}assertLive(){if(this.destroyed)throw Error("The solver has been destroyed")}prepareBodyCommands(){return this.wakeAll(),{enqueueValidated:e=>{this.pending.reserve(this.pending.count+e.count),this.pending.u32.set(e.u32.subarray(0,e.count*12),this.pending.count*12),this.pending.count+=e.count}}}setLinearVelocity(e,t){return this.editBodies([{body:e,linearVelocity:t}])}setAngularVelocity(e,t){return this.editBodies([{body:e,angularVelocity:t}])}applyImpulse(e,t,i){return this.editBodies([{body:e,impulse:t,worldPoint:i}])}applyForce(e,t,i){return this.editBodies([{body:e,force:t,worldPoint:i}])}applyAngularImpulse(e,t){return this.editBodies([{body:e,angularImpulse:t}])}applyTorque(e,t){return this.editBodies([{body:e,torque:t}])}teleport(e,t,i){return this.editBodies([{body:e,position:t,rotation:i}])}setPackedVelocities(e,t){let i=Array.from(e),r=t?.linear,o=t?.angular,a=this.dimension,n=a===3?3:1;if(r===void 0&&o===void 0)throw Error("Provide linear or angular velocities");let l=-1;i.forEach(d=>{if(this.liveIndex(d),d<=l)throw Error("Velocity batch indices must be unique and ascending GPU slots");l=d});for(let[d,p]of[[r,a],[o,n]])if(d!==void 0&&(d.length!==i.length*p||!Array.from(d).every(m=>Number.isFinite(Math.fround(m)))))throw Error("Provide finite packed velocity components per body");let c=r===void 0?null:Array.from(r),u=o===void 0?null:Array.from(o),f=i.map((d,p)=>({body:d,...c===null?{}:{linearVelocity:c.slice(p*a,(p+1)*a)},...u===null?{}:{angularVelocity:a===3?u.slice(p*n,(p+1)*n):u[p]}}));return this.editBodies(f),this.flushEdits(),this}flushEdits(){if(this.destroyed)throw Error("The solver has been destroyed");let{words:e,u32:t,count:i}=this.pending,r=this.solver,o=this.dimension;for(let a=0;a<i;a++){let n=a*12,l=t[n],c=t[n+1],u=t[n+2]!==0,f=o===3?r.bodies[l]:null,d=f?.velocityLin??r.velocity.subarray(l*4,l*4+2),p=f?.mass??r.shape[l*4+2],m=f?.positionLin??r.pose.subarray(l*4,l*4+2),h=g=>{if(!(p<=0))if(o===2)r.velocity[l*4+2]+=g[0]/Math.max(1e-10,r.shape[l*4+3]);else{let b=f.positionAng,y=Ee([-b[0],-b[1],-b[2],b[3]],g),A=Ee(b,y.map((v,x)=>v/Math.max(1e-10,f.moment[x])));for(let v=0;v<3;v++)f.velocityAng[v]+=A[v]}};if(c===0)d.set(e.subarray(n+4,n+4+o));else if(c===1)f?f.velocityAng.set(e.subarray(n+4,n+7)):r.velocity[l*4+2]=e[n+4];else if(c===4)if(m.set(e.subarray(n+4,n+4+o)),f){u&&f.positionAng.set(e.subarray(n+8,n+12)),f.initialLin.set(m),f.inertialLin.set(m),f.initialAng.set(f.positionAng),f.inertialAng.set(f.positionAng);for(let g of[...f.forces])g.contacts&&g.destroy()}else u&&(r.pose[l*4+2]=e[n+6]),r.initial.set(r.pose.subarray(l*4,l*4+4),l*4),r.inertial.set(r.pose.subarray(l*4,l*4+4),l*4),r.prevCount=0;else if(c===2||c===3){if(p<=0)continue;let g=Array.from(e.subarray(n+4,n+4+o),b=>b*(c===3?e[n+7]:1));for(let b=0;b<o;b++)d[b]+=g[b]/p;if(u){let b=Array.from(e.subarray(n+8,n+8+o),(y,A)=>y-m[A]);h(o===3?xt(b,g):[b[0]*g[1]-b[1]*g[0]])}}else(c===5||c===6)&&h(Array.from(e.subarray(n+4,n+4+(o===3?3:1)),g=>g*(c===6?e[n+7]:1)))}this.pending.count=0}step(){this.flushEdits(),this.solver.step(),this.sleeping?.after(),this.stepCount++,this.captureEvents()}attachToScene(e,t){return Xo.call(this,e,t)}detachFromScene(){return Yo.call(this)}setFilters(e,t,i){let r=Array.from(e),o=Array.from(t),a=Array.from(i);if(o.length!==r.length||a.length!==r.length)throw Error("Provide one group and mask per body");r.forEach(n=>this.liveIndex(n));for(let n of[...o,...a])if(!Number.isInteger(n)||n<0||n>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");r.forEach((n,l)=>{this.dimension===3?Object.assign(this.solver.bodies[n],{group:o[l],collidesWith:a[l]}):this.solver.filters.set(n,[o[l],a[l]])}),this.wakeAll()}setSensor(e,t){if(this.liveIndex(e),typeof t!="boolean")throw Error("Trigger flag must be boolean");this.dimension===3?this.solver.bodies[e].isTrigger=t:t?this.solver.sensors.add(e):this.solver.sensors.delete(e),this.wakeAll()}setRestitution(e,t){if(this.liveIndex(e),!Number.isFinite(t)||t<0||t>1)throw Error("restitution must be between 0 and 1");this.dimension===3?this.solver.bodies[e].restitution=t:this.solver.restitution.set(e,t),this.wakeAll()}setMotor(e,t){if(this.assertLive(),this.dimension===3){let i=this.constraints[e];if(!i?.cpuAngular)throw Error("A motor constraint is required");Object.assign(i.cpuAngular.options,kt({...i.cpuAngular.options,...t}))}else{let i=this.solver,r=e*O;if(!Number.isInteger(e)||e<0||e>=i.jointCount||i.info[e*4]!==3)throw Error("A motor constraint is required");let o=t.speed??i.data[r+re],a=t.maxTorque??i.data[r+Ae];if(!Number.isFinite(o)||!Number.isFinite(a)||a<0)throw Error("Provide finite motor speed and nonnegative torque");i.data[r+re]=o,i.data[r+_e]=-a,i.data[r+Ae]=a}this.wakeAll()}setAngleLimits(e,t){if(this.assertLive(),this.dimension!==2)throw Error("Use a 3D hinge constraint");if(this.solver.info[e*4]!==5)throw Error("An angular limit is required");vs(this.solver,e,ki(t)),this.wakeAll()}releaseJoints(e){for(let t of e)this.disableConstraint(t)}disableConstraint(e){if(this.assertLive(),!Number.isInteger(e)||e<0||e>=this.jointCount)throw Error("A live constraint slot is required");if(this.dimension===3){let t=this.constraints[e];t.broken=!0,(t.cpuAngular??t).destroy()}else this.solver.disable(e),this.solver.info[e*4]=0,this.solver.noCollideDirty=!0;this.wakeAll()}setWorldAnchor(e,t,i){if(this.assertLive(),this.dimension===2){let r=this.solver;if(!Number.isInteger(e)||e<0||e>=r.jointCount||r.info[e*4+1]!==-1)throw Error("A world-anchor constraint is required");r.data.set(me([t,i],2,"point"),e*O+21)}else{let r=this.constraints[e];if(!r||r.bodyA)throw Error("A world-anchor constraint is required");r.rA.set(me(t,3,"point"))}this.wakeAll()}addBox(...e){return this.addDynamic("addBox",e)}addCircle(...e){return this.addDynamic("addCircle",e)}addCapsule(...e){return this.addDynamic("addCapsule",e)}addHull(...e){return this.addDynamic("addHull",e)}addSegment(...e){return this.addDynamic("addSegment",e)}addPlane(...e){return this.addDynamic("addPlane",e)}addDynamic(e,t){if(this.destroyed)throw Error("The solver has been destroyed");if(this.dimension!==2)throw Error("Build 3D bodies before creating the solver");this.wakeAll();let i=this.sleeping?{speedThreshold:this.sleeping.speedThreshold,timeThreshold:this.sleeping.timeThreshold}:null,r=this.builder[e](...t);return i&&this.enableSleeping(i),r}appendJoint(e,t,i,r,o,a=1/0){if(this.assertLive(),this.dimension!==2)throw Error("Build 3D constraints before creating the solver");return this.wakeAll(),this.builder.addJoint(e,t,i,r,{stiffness:o,breakForce:a}).slot}captureConstraintFrames(e){if(this.assertLive(),this.dimension!==3)throw Error("Constraint frame capture requires a 3D world");let t=Array.from(e);for(let{slot:i,spring:r}of t){let o=this.constraints[i];if(!Number.isInteger(i)||!o||o.broken||o.cpuAngular||(r?o.rest===void 0:o.stiffnessAng===void 0))throw Error("A live spring or joint slot is required")}this.flushEdits();for(let{slot:i,spring:r}of t)jn(this.constraints[i],r);t.length&&this.wakeAll()}setSpringMaterial(e,t={}){this.assertLive();let i=this.constraints[e];if(!i||i.rest===void 0)throw Error("A spring constraint is required");vr(i,It(t)),this.wakeAll()}packBodyRecords(e,t=!1){let i=this.solver,r=this.dimension,o=t?r===3?8:4:r===3?40:24,a=e?.length??this.bodyCount,n=new Float32Array(a*o);for(let l=0;l<a;l++){let c=e?.[l]??l,u=l*o;if(t){if(r===3){let f=i.bodies[c];n.set(f.positionLin,u),n[u+3]=f.friction,n.set(f.positionAng,u+4)}else n.set(i.pose.subarray(c*4,c*4+4),u),n[u+3]=i.props[c*4];continue}if(r===3){let f=i.bodies[c];n.set(f.positionLin,u),n[u+3]=f.friction,n.set(f.positionAng,u+4),n.set(f.initialLin,u+8),n[u+11]=+!!f.isTrigger,n.set(f.initialAng,u+12),n.set(f.size,u+16),n[u+19]=f.sleeping?0:f.mass,n.set(f.moment,u+20),n[u+23]=f.radius,n.set(f.inertialLin,u+24),n.set(f.inertialAng,u+28),n.set(f.velocityLin,u+32),n[u+35]=f.prevVelocityLin.reduce((d,p,m)=>d+p*i.up[m],0),n.set(f.velocityAng,u+36),n[u+39]=De(f)?1:Fe(f)?-1:Ct(f)?3:or(f)?2:0}else n.set(i.pose.subarray(c*4,c*4+4),u),n[u+3]=i.props[c*4],n.set(i.initial.subarray(c*4,c*4+4),u+4),n.set(i.inertial.subarray(c*4,c*4+4),u+8),n.set(i.velocity.subarray(c*4,c*4+4),u+12),n.set(i.prevVelocity.subarray(c*4,c*4+4),u+16),n.set(i.shape.subarray(c*4,c*4+4),u+20)}return n}async readBodies(){return this.flushEdits(),this.packBodyRecords()}async readSelectedBodies(e,{posesOnly:t=!1}={}){let i=Array.from(e);return i.forEach(r=>this.liveIndex(r)),this.flushEdits(),this.packBodyRecords(i,t)}async readBodyState(e){this.liveIndex(e),this.flushEdits();let t=this.solver;if(this.dimension===3){let i=t.bodies[e],r=this.sleeping?.asleep.has(e)??!1;return{position:Array.from(i.positionLin),rotation:Array.from(i.positionAng),linearVelocity:Array.from(i.velocityLin),angularVelocity:Array.from(i.velocityAng),mass:i.mass,effectiveMass:r?0:i.mass,sleeping:r}}return{position:Array.from(t.pose.subarray(e*4,e*4+2)),angle:t.pose[e*4+2],linearVelocity:Array.from(t.velocity.subarray(e*4,e*4+2)),angularVelocity:t.velocity[e*4+2],mass:t.shape[e*4+2],moment:t.shape[e*4+3],sleeping:this.sleeping?.asleep.has(e)??!1}}async readJoints(){return this.flushEdits(),this.packJointRecords()}packJointRecords(){let e=this.dimension===3?32:36,t=new Float32Array(this.jointCount*e),i=r=>r===1/0?3e38:r===-1/0?-3e38:r;if(this.dimension===2){let r=this.solver.data;for(let o=0;o<this.jointCount;o++){let a=o*36,n=o*O;[se,te,Q,_e,Ae,Pt,fe].forEach((l,c)=>{for(let u=0;u<3;u++)t[a+c*4+u]=i(r[n+l+u])}),t.set([r[n+N],r[n+N+1],r[n+Y],r[n+Y+1]],a+28),t.set([r[n+re],r[n+re+1],r[n+re+2],0],a+32)}}else this.constraints.forEach((r,o)=>{let a=o*32;if(r.cpuAngular){let n=r.cpuAngular,l=n.options;t.set(n.pen,a),t[a+3]=r.broken?0:1,t.set(n.lam,a+8),t.set(n.ta,a+16),t.set(n.tb,a+20),t.set(l.axisA,a+24),t.set(l.axisB,a+28),t[a+19]=n.c0?.[0]??0,t[a+23]=n.c0?.[1]??0,t[a+27]=l.type==="motor"?l.speed:l.minAngle,t[a+31]=l.type==="motor"?l.maxTorque:l.maxAngle;return}for(let[n,l]of[["penaltyLin",0],["penaltyAng",4],["lambdaLin",8],["lambdaAng",12],["C0Lin",16],["C0Ang",20],["rA",24],["rB",28]])r[n]&&t.set(r[n],a+l);if(t[a+3]=r.broken?0:i(r.stiffnessLin??r.stiffness??0),t[a+7]=r.broken?0:i(r.stiffnessAng??0),t[a+11]=i(r.fracture??0),t[a+15]=r.torqueArm??0,t[a+27]=r.rest??0,r.cpuRest&&(t[a+19]=r.cpuRest[0],t[a+23]=r.cpuRest[1],t[a+27]=r.cpuRest[2],t[a+31]=r.cpuRest[3]),r.rest!==void 0){let n=Ui(r);t[a+11]=Number.isFinite(n?.breakStrain)?n.breakStrain:0,t[a+15]=Number.isFinite(n?.breakForce)?n.breakForce:0}});return t}async readCounters(){this.assertLive();let e=this.dimension===2?this.solver.contactCount:this.solver.forces.reduce((i,r)=>i+(r.contacts?.length??0),0),t=this.dimension===2?this.solver.contactPairs.length:this.solver.forces.filter(i=>i.contacts?.length).length;return{pairs:t,contacts:e,manifolds:t,joints:this.jointCount,overflow:0,clashes:0,colors:0,sleeping:this.sleeping?.asleep.size??0}}adapt(){}watchContacts({indices:e,maxPairs:t=this.maxPairs??8192,maxEvents:i=this.maxEvents??4096}={}){if(this.assertLive(),!Number.isInteger(i)||i<1||!Number.isInteger(t)||t<1)throw Error("Contact capacities must be positive integers");return e!==void 0?(e.forEach(r=>this.liveIndex(r)),this.watched=new Set(e)):this.watched??=new Set(Array.from({length:this.bodyCount},(r,o)=>o)),this.maxEvents=i,this.maxPairs=t,this}captureEvents(){if(!this.watched)return;let e=this.dimension===3?new Map(this.solver.bodies.map((i,r)=>[i,r])):null,t=this.dimension===2?this.solver.contactPairs:this.solver.forces.filter(i=>i.contacts?.length).map(i=>{let r=Array.from(i.bodyA.positionLin);for(let o of i.contacts){let a=Ee(i.bodyA.positionAng,o.rA);for(let n=0;n<3;n++)r[n]+=a[n]/i.contacts.length}return{a:e.get(i.bodyA),b:e.get(i.bodyB),point:r,normal:Array.from(i.basis.slice(0,3)),impulse:i.bodyA.isTrigger||i.bodyB.isTrigger?0:i.contacts.reduce((o,a)=>o+Math.abs(a.lambda[0])*this.params.dt,0)}});this.trackContactPairs(t)}trackContactPairs(e){let t=new Map,i=(a,n)=>{this.events.length<(this.maxEvents??4096)?this.events.push({...a,normal:a.normal??[...a.n,0],type:n,kind:n==="begin"?1:2,step:this.stepCount,isTrigger:a.isTrigger??(this.dimension===3?!!(this.solver.bodies[a.a].isTrigger||this.solver.bodies[a.b].isTrigger):this.solver.sensors.has(a.a)||this.solver.sensors.has(a.b))}):this.dropped=(this.dropped??0)+1},r=new Set,o=[];for(let a of e){if(!this.watched.has(a.a)&&!this.watched.has(a.b))continue;let n=`${Math.max(a.a,a.b)},${Math.min(a.a,a.b)}`;r.add(n),this.previous.has(n)&&t.size<this.maxPairs?t.set(n,a):o.push([n,a])}for(let[a,n]of o)if(!t.has(a)){if(t.size>=this.maxPairs){this.pairFull=!0;continue}t.set(a,n),this.previous.has(a)||i(n,"begin")}for(let[a,n]of this.previous)r.has(a)||i({...n,impulse:0},"end");this.previous=t}async readContactEvents(){this.watchContacts();let e={events:this.events,dropped:this.dropped??0,full:!!this.dropped||!!this.pairFull};return this.events=[],this.dropped=0,this.pairFull=!1,e}async raycast(e,t,i){return this.sphereCast(e,0,t,i)}async circleCast(e,t,i,r){return this.sphereCast(e,t,i,r)}async sphereCast(e,t,i,r){return this.flushEdits(),pu(this,e,t,i,r)}async raycastAll(e,t){return Promise.all(e.map(i=>this.raycast(i.origin,i.direction,{...t,maxDistance:i.maxDistance??t?.maxDistance})))}async sphereCastAll(e,t){return Promise.all(e.map(i=>this.sphereCast(i.origin,i.radius,i.direction,{...t,maxDistance:i.maxDistance??t?.maxDistance})))}async circleCastAll(e,t){return this.sphereCastAll(e,t)}setSleepEnabled(e,t){if(this.liveIndex(e),typeof t!="boolean")throw Error("Sleep flag must be boolean");return this.dimension===3?this.solver.bodies[e].allowSleep=t:(this.solver.avbdSleepEligible??=new Map,this.solver.avbdSleepEligible.set(e,t)),t&&!this.sleeping&&this.enableSleeping(),this.wakeAll(),this}enableSleeping(e={}){return this.assertLive(),this.disableSleeping(),this.sleeping=new ha(this,e),this}disableSleeping(){return this.sleeping?.wake(),this.sleeping=null,this}async readSleepStats(){return this.assertLive(),{sleeping:this.sleeping?.asleep.size??0,wakeRequested:!1}}wakeUp(e){return this.liveIndex(e),this.wakeAll()}wakeAll(){return this.sleeping?.wake(),this}destroy(){this.destroyed||(this.detachFromScene(),this.disableSleeping(),this.pending.count=0,this.events=[],this.previous.clear(),this.destroyed=!0)}};var mu=new WeakSet,ma=s=>s!==null&&typeof s=="object"&&mu.has(s),gu=s=>mu.add(s);async function vd({backend:s="webgpu",device:e,gl:t,validate3D:i=!0,...r}={}){if(!["webgpu","cpu"].includes(s))throw Error(`Unsupported solver backend: ${s}`);if(s!=="webgpu"&&e!==void 0)throw Error("Only WebGPU initialization accepts a GPU device");if(t!==void 0)throw Error("Solver pipelines do not accept a WebGL context");let o,a=!1,n=!1;s==="webgpu"&&(e?i&&await Cr(e):({device:e,adapter:o}=await ss({...r,preferredLimits:{maxStorageBuffersPerShaderStage:9,maxStorageBufferBindingSize:512*1024*1024,maxBufferSize:1024*1024*1024,...r.preferredLimits},validate3D:i}),a=!0));let l=new Set,c={backend:s,device:e,adapter:o,createSolver(u,f={}){if(n)throw Error("The solver pipeline has been destroyed");if(!u||typeof u.assertEditable!="function"||!u.ref&&!u.topology)throw Error("An AVBD scene builder is required");u.assertEditable();let d;if(s==="webgpu")d=u.createSolver(e,f);else{let m=u.ref?3:u.topology?2:0;if(f.bodyBuffer!==void 0)throw Error("A GPU body buffer requires the WebGPU backend");d=new pa(u,m,f),u.gpu=d,u.created=!0}Object.defineProperty(d,"backend",{value:s,configurable:!0}),l.add(d);let p=d.destroy;return d.destroy=function(){p.call(this),l.delete(this)},d},destroy(){if(!n){for(let u of l)u.destroy();l.clear(),a&&e.destroy(),n=!0}}};return gu(c),c}var ie=(s,e,t)=>{let i=Array.from(s);if(i.length!==e||!i.every(Number.isFinite))throw Error(`${t} requires ${e} finite components`);return i},K=(s,e,t=!1)=>{if(!Number.isFinite(s)||(t?s<0:s<=0))throw Error(`${e} must be ${t?"nonnegative":"positive"} and finite`);return s},bu=s=>{if(!Number.isInteger(s)||s<0||s>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");return s};function ga(s){for(let t of["allowSleep","isTrigger"])if(s[t]!==void 0&&typeof s[t]!="boolean")throw Error(`${t} must be a boolean`);let e=s.restitution??0;if(!Number.isFinite(e)||e<0||e>1)throw Error("restitution must be between 0 and 1");if(s.mass!==void 0&&(K(s.mass,"mass",!0),s.mass>0&&s.density===0))throw Error("A positive mass needs positive density");for(let t of["velocity","angularVelocity"])s[t]!==void 0&&ie(s[t],3,t);if(s.rotation!==void 0&&!Math.hypot(...ie(s.rotation,4,"rotation")))throw Error("rotation must be nonzero");bu(s.group??4294967295),bu(s.collidesWith??4294967295)}function yu(s,e){if(e.timeStep!==void 0&&(s.dt=K(e.timeStep,"timeStep")),e.iterations!==void 0){if(K(e.iterations,"iterations"),!Number.isInteger(e.iterations))throw Error("iterations must be an integer");s.iterations=e.iterations}if(e.gravity!==void 0){if(!Number.isFinite(e.gravity))throw Error("gravity must be finite");s.gravity=e.gravity}}var Gn=class{constructor(e={}){if(this.ref=new ni,yu(this.ref,e),this.up=ie(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(),ga(t);let i=ie(e,3,"size");i.forEach(o=>K(o,"size"));let r=new Ze(this.ref,i,K(t.density??1,"density",!0),K(t.friction??.6,"friction",!0),ie(t.position??[0,0,0],3,"position"));return this.configure(r,t)}addSphere(e,t={}){return this.assertEditable(),ga(t),this.configure(ar(this.ref,K(e,"radius"),K(t.density??1,"density",!0),K(t.friction??.6,"friction",!0),ie(t.position??[0,0,0],3,"position")),t)}addHull(e,t={}){if(this.assertEditable(),ga(t),e.length%3||!Array.from(e).every(Number.isFinite))throw Error("Hull points must contain finite xyz triples");let i=Ur(e);if(!i)throw Error("A convex hull requires finite points spanning a volume");return this.hulls=!0,this.configure(nr(this.ref,i,K(t.density??1,"density",!0),K(t.friction??.6,"friction",!0),ie(t.position??[0,0,0],3,"position")),t)}addCapsule(e,t,i={}){return this.assertEditable(),ga(i),this.configure(Br(this.ref,e,t,K(i.density??1,"density",!0),K(i.friction??.6,"friction",!0),ie(i.position??[0,0,0],3,"position")),i)}addHeightfield(e){return this.addTerrain(ls(e),e)}addStaticMesh(e){return this.addTerrain(cs(e),e)}addTerrain(e,t={}){this.assertEditable();let i=this.ref.bodies.length,r=go(this.ref,e,t);r.forEach(a=>this.bodySet.add(a)),this.hulls=!0;let o=!1;return{bodies:r,triangleCount:e.triangleCount,kind:e.kind,dispose:()=>{if(!o&&(o=!0,r.forEach(a=>{a.group=0,a.collidesWith=0}),this.gpu&&!this.gpu.destroyed)){let a=r.map((n,l)=>this.gpu.gpuIndex(i+l));this.gpu.setFilters(a,a.map(()=>0),a.map(()=>0)),this.gpu.wakeAll?.()}}}}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=K(t.mass,"mass",!0);if(e.mass===0&&r>0)throw Error("A positive mass needs positive density");let o=e.mass>0?r/e.mass:0;e.mass=r,e.moment.forEach((a,n)=>e.moment[n]=a*o)}if(t.rotation){let r=ie(t.rotation,4,"rotation"),o=Math.hypot(...r);if(!o)throw Error("rotation must be nonzero");e.positionAng.set(r.map(a=>a/o))}return t.velocity&&e.velocityLin.set(ie(t.velocity,3,"velocity")),t.angularVelocity&&e.velocityAng.set(ie(t.angularVelocity,3,"angularVelocity")),this.bodySet.add(e),e}addPoint(e,{mass:t=.02,radius:i=.05,friction:r=.5}={}){let o=this.addSphere(i,{position:e,mass:t,friction:r});return o.moment.fill(0),this.points=!0,o}addFabric({columns:e=16,rows:t=16,spacing:i=.2,origin:r=[0,3,0],mass:o=.02,stiffness:a=1e3,anchorStiffness:n=a,materialAt:l,breakStrain:c=1/0,breakForce:u=1/0,bendingStiffness:f=Number.isFinite(c)||Number.isFinite(u)?0:a/50,pinCorners:d=!1,pinEdges:p=!d}={}){for(let[E,k]of Object.entries({columns:e,rows:t}))if(!Number.isInteger(k)||k<2)throw Error(`${E} must be an integer >= 2`);if(K(i,"spacing"),K(o,"mass"),K(a,"stiffness"),K(n,"anchorStiffness"),l!==void 0&&typeof l!="function")throw Error("materialAt must be a function");if(K(f,"bendingStiffness",!0),typeof d!="boolean"||typeof p!="boolean")throw Error("Fabric pin options must be boolean");let m=It({breakStrain:c,breakForce:u}),h=ie(r,3,"origin"),g=(E,k)=>`${Math.min(E,k)},${Math.max(E,k)}`;function*b(){for(let E=0;E<t;E++)for(let k=0;k<e;k++){let P=E*e+k;k&&(yield[P,P-1,a]),E&&(yield[P,P-e,a]),k&&E&&(yield[P,P-e-1,a/2],yield[P-1,P-e,a/2]),k>1&&f&&(yield[P,P-2,f]),E>1&&f&&(yield[P,P-2*e,f])}}let y=new Map;if(l)for(let[E,k]of b()){let P=l((E%e+k%e)/(2*(e-1)),(Math.floor(E/e)+Math.floor(k/e))/(2*(t-1)))??{};if(typeof P!="object"||Array.isArray(P))throw Error("materialAt must return a material object");y.set(g(E,k),{scale:K(P.stiffnessScale??1,"materialAt.stiffnessScale"),material:It({...m,...P})})}let A=Array.from({length:t},(E,k)=>Array.from({length:e},(P,C)=>this.addPoint([h[0]+(C-(e-1)/2)*i,h[1],h[2]+(k-(t-1)/2)*i],{mass:p&&(C===0||k===0||C===e-1||k===t-1)||d&&(C===0||C===e-1)&&(k===0||k===t-1)?0:o,radius:i/Math.SQRT2}))),v=A.flat(),x=new Map(v.map((E,k)=>[E,k])),w=[],B=new Map,L=(E,k,P)=>{(E.mass===0||k.mass===0)&&(P*=n/a);let C=x.get(E),_=x.get(k),z=y.get(g(C,_)),R=this.addSpring(E,k,[0,0,0],[0,0,0],{stiffness:P*(z?.scale??1),...z?.material??m});return B.set(g(x.get(E),x.get(k)),w.length),w.push(R),R};for(let[E,k,P]of b())L(v[E],v[k],P);let M=[];for(let E=0;E<t;E++)for(let k=0;k<e;k++)if(k&&E){let P=(E-1)*e+k-1,C=P+1,_=E*e+k-1,z=_+1;M.push(P,_,C,C,_,z)}let I=[];for(let E=0;E<M.length;E+=3){let[k,P,C]=M.slice(E,E+3);I.push(B.get(g(k,P)),B.get(g(P,C)),B.get(g(C,k)))}return{points:v,grid:A,indices:Uint32Array.from(M),connections:w,triangleConnections:Uint32Array.from(I)}}addRope({segments:e=12,length:t=12,origin:i=[0,12,0],width:r=.15,endMass:o=20}={}){if(!Number.isInteger(e)||e<1)throw Error("segments must be a positive integer");K(t,"length"),K(r,"width"),K(o,"endMass",!0);let a=ie(i,3,"origin"),n=t/e,l=this.addBox([r,r,r],{mass:0,position:a}),c=[];for(let u=0;u<e;u++){let f=this.addBox([r,n,r],{mass:1,position:[a[0],a[1]-(u+.5)*n,a[2]]});this.addJoint(u?c[u-1]:l,f,[0,u?-n/2:0,0],[0,n/2,0]),c.push(f)}if(o){let u=this.addBox([.6,.6,.6],{mass:o,position:[a[0],a[1]-t-.3,a[2]]});this.addJoint(c.at(-1),u,[0,-n/2,0],[0,.3,0]),c.push(u)}return{anchor:l,links:c}}addRagdoll({origin:e=[0,2,0],mass:t=10}={}){let i=ie(e,3,"origin");K(t,"mass");let r=(l,c)=>this.addBox(l,{mass:t/10,position:c.map((u,f)=>u+i[f])}),o=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=[o,a];this.addJoint(o,a,[0,.6,0],[0,-.3,0]);for(let l of[-1,1]){let c=r([.3,.8,.3],[l*.5,1.95,0]),u=r([.26,.7,.26],[l*.5,1.2,0]);this.addJoint(o,c,[l*.35,.35,0],[-l*.15,.4,0]),this.addJoint(c,u,[0,-.4,0],[0,.35,0]);let f=r([.28,.8,.3],[l*.2,1,0]),d=r([.26,.75,.28],[l*.2,.225,0]);this.addJoint(o,f,[l*.2,-.6,0],[0,.4,0]),this.addJoint(f,d,[0,-.4,0],[0,.375,0]),n.push(c,u,f,d)}return{torso:o,head:a,bodies:n}}addJoint(e,t,i=[0,0,0],r=[0,0,0],{linearStiffness:o=1/0,angularStiffness:a=0,breakForce:n=1/0,breakOnPull:l=!1}={}){this.assertEditable(),this.checkBodies(e,t);for(let c of[o,a,n])c!==1/0&&K(c,"joint stiffness/breakForce",!0);return this.handle(new ke(this.ref,e,t,ie(i,3,"anchorA"),ie(r,3,"anchorB"),o,a,l&&n!==1/0?-n:n))}addSpring(e,t,i=[0,0,0],r=[0,0,0],{stiffness:o=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");K(o,"stiffness",!0),a!==-1&&K(a,"rest",!0);let c=It({breakStrain:n,breakForce:l}),u=new ft(this.ref,e,t,ie(i,3,"anchorA"),ie(r,3,"anchorB"),o,a);return vr(u,c),this.handle(u)}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=kt({...i,type:"motor"}),o=new ke(this.ref,e,t,[0,0,0],[0,0,0],1/0,0);return wr(o,r),this.handle(o)}addHinge(e,t,i={}){this.assertEditable(),this.checkBodies(e,t);let r=kt({...i,type:"limit"}),o=K(i.span??1,"span"),a=ie(i.anchorA??[0,0,0],3,"anchorA"),n=ie(i.anchorB??[0,0,0],3,"anchorB"),l=[-1,1].map(f=>this.addJoint(e,t,a.map((d,p)=>d+f*o*.5*r.axisA[p]),n.map((d,p)=>d+f*o*.5*r.axisB[p]))),c,u;if(i.minAngle!==void 0||i.maxAngle!==void 0){let f=new ke(this.ref,e,t,[0,0,0],[0,0,0],1/0,0);wr(f,r),c=this.handle(f)}return i.motor&&(u=this.addMotor(e,t,{axisA:r.axisA,axisB:r.axisB,...i.motor})),{joints:l,limit:c,motor:u,dispose(){for(let f of[...l,c,u])f?.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(ma(e))return e.createSolver(this,t);if(this.assertEditable(),this.hulls&&e.limits.maxStorageBuffersPerShaderStage<9)throw Error("Hull collisions require nine storage buffer bindings");let i=new Ko(e,this.ref,ho(this.ref,{...t,...this.points?{shaders:{...t.shaders,solve:Jc}}:{}})),r=[];this.ref.forces.forEach((l,c)=>{this.handles.get(l).slot=c,l instanceof ke&&l.stiffnessAng>0&&r.push({slot:c})}),i.captureConstraintFrames(r),i.params.up=[...this.up];let o=[],a=[],n=[];for(let[l,c]of this.ref.bodies.entries())(c.group!==4294967295||c.collidesWith!==4294967295)&&(o.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 o.length&&i.setFilters(o,a,n),(t.sleeping||this.sleepOptIn)&&i.enableSleeping(this.ref,t.sleeping===!0?{}:t.sleeping),this.gpu=i,this.created=!0,i}},Fn=class{constructor(e={}){if(this.topology=new zr,Object.assign(this.topology.params,So()),yu(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 Rr(this.topology,r,e,i.density??1),r}addCircle(e,t={}){return this.addShape(No(e),t)}addHull(e,t={}){return this.addShape(Uo(e),t)}addCapsule(e,t,i={}){return this.addShape(qo(e,t),i)}addSegment(e,t,i={}){return this.addShape(Vo(e,t,i))}addPlane(e=[0,1],t=0,i={}){return this.addShape(Wo(e,t,i))}addBox(e,{density:t=1,friction:i=.6,position:r=[0,0],angle:o=0,velocity:a=[0,0,0],restitution:n=0,isTrigger:l=!1,group:c=4294967295,collidesWith:u=4294967295,allowSleep:f}={}){if(this.assertEditable(),f!==void 0&&typeof f!="boolean")throw Error("allowSleep must be boolean");let d=ie(e,2,"size");d.forEach(h=>K(h,"size"));let p=ie(r,2,"position");if(!Number.isFinite(o))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,u])if(!Number.isInteger(h)||h<0||h>4294967295)throw Error("Collision masks must be unsigned 32-bit integers");let m=this.topology.addBody(d,K(t,"density",!0),K(i,"friction",!0),[...p,o],ie(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||u!==4294967295)&&this.filters.set(m,[c,u]),this.topology.avbdSleepEligible??=new Map,f!==void 0&&this.topology.avbdSleepEligible.set(m,f),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:o=[1/0,1/0,0],breakForce:a=1/0}={}){if(this.assertEditable(),this.checkBodies(e,t),!o||o.length!==3||Array.from(o).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,ie(i,2,"anchorA"),ie(r,2,"anchorB"),o,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*O+Q,e*O+Q+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:o=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,ie(i,2,"anchorA"),ie(r,2,"anchorB"),K(o,"stiffness",!0),K(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 o=this.topology.jointCount;return this.topology.addMotor(e,t,i,K(r,"maxTorque",!0)),this.constraintHandle(o)}addAngularLimit(e,t,i={}){this.assertEditable(),this.checkBodies(e,t);let r=ki(i),o=this.topology.addJoint(e,t,[0,0],[0,0],[0,0,0]);vs(this.topology,o.slot,r);let a=this.constraintHandle(o.slot,o);return a.setLimits=n=>{if(a.disposed)throw Error("The angular limit has been disposed");return this.gpu?this.gpu.setAngleLimits(a.slot,n):vs(this.topology,a.slot,ki(n)),a},a}addHinge(e,t,i=[0,0],r=[0,0],o={}){this.assertEditable(),this.checkBodies(e,t);let a=ie(i,2,"anchorA"),n=ie(r,2,"anchorB"),l=o.minAngle!==void 0||o.maxAngle!==void 0?ki(o):null,c=o.motor;if(c){if(!Number.isFinite(c.speed??1))throw Error("speed must be finite");K(c.maxTorque??100,"maxTorque",!0)}let u=this.addJoint(e,t,a,n),f=l?this.addAngularLimit(e,t,l):null,d=c?this.addMotor(e,t,c):null;return{joint:u,limits:f,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={}){if(ma(e))return e.createSolver(this,t);this.assertEditable();let i=new Qo(e,this.topology,t);for(let[r,o]of this.restitution??[])i.setRestitution(r,o);for(let r of this.sensors??[])i.setSensor(r,!0);for(let[r,o]of this.filters??[])i.setFilters([r],[o[0]],[o[1]]);return this.gpu=i,this.created=!0,i}};var Cs=class{constructor(e){if(this.device=e,this.latestMs=null,this.samples=0,this.slots=[],!!e.features.has("timestamp-query"))for(let t=0;t<3;t++)this.slots.push({query:e.createQuerySet({type:"timestamp",count:2}),resolve:e.createBuffer({size:256,usage:GPUBufferUsage.QUERY_RESOLVE|GPUBufferUsage.COPY_SRC}),read:e.createBuffer({size:16,usage:GPUBufferUsage.COPY_DST|GPUBufferUsage.MAP_READ}),busy:!1})}begin(){let e=this.slots.find(t=>!t.busy);return!e||this.disposed?null:(e.busy=!0,e)}descriptor(e){return e?{timestampWrites:{querySet:e.query,beginningOfPassWriteIndex:0,endOfPassWriteIndex:1}}:{}}encode(e,t){t&&(e.resolveQuerySet(t.query,0,2,t.resolve,0),e.copyBufferToBuffer(t.resolve,0,t.read,0,16))}resolve(e){if(e)return e.pending=e.read.mapAsync(GPUMapMode.READ).then(()=>{let t=new BigUint64Array(e.read.getMappedRange());this.latestMs=Number(t[1]-t[0])/1e6,this.samples++,e.read.unmap()}).catch(()=>{}).finally(()=>{e.busy=!1,e.pending=null}),e.pending}settled(){return Promise.all(this.slots.map(e=>e.pending))}destroy(){this.disposed=!0;for(let e of this.slots)e.query.destroy(),e.resolve.destroy(),e.read.destroy()}};var vu=(s,e)=>Math.ceil(s/e)*e,xu=s=>String(s>>>0),Ss=class{constructor(e,t={}){this.device=e,this.maxFreeBytes=t.maxFreeBytes??201326592,this.freeBytes=0,this.free=new Map,this.all=new Set}acquire(e,t,i="recycled-buffer"){let r=vu(Math.max(4,e),4),o=xu(t),a=this.free.get(o);if(a){let l=-1,c=1/0;for(let u=0;u<a.length;u+=1){let f=a[u];f.size>=r&&f.size<c&&(l=u,c=f.size)}if(l>=0){let[u]=a.splice(l,1);return this.freeBytes-=u.size,u.buffer}}let n=this.device.createBuffer({label:i,size:r,usage:t,mappedAtCreation:!1});return this.all.add(n),n}release(e,t,i){if(!e)return;let r=vu(Math.max(4,t),4);if(this.freeBytes+r>this.maxFreeBytes){e.destroy(),this.all.delete(e);return}let o=xu(i),a=this.free.get(o);a||(a=[],this.free.set(o,a)),a.push({buffer:e,size:r,usage:i}),this.freeBytes+=r}trim(e=this.maxFreeBytes){this.maxFreeBytes=e;for(let[t,i]of this.free.entries()){for(;this.freeBytes>this.maxFreeBytes&&i.length>0;){let r=i.pop();r.buffer.destroy(),this.all.delete(r.buffer),this.freeBytes-=r.size}i.length===0&&this.free.delete(t)}}destroy(){for(let e of this.all)e.destroy();this.free.clear(),this.all.clear(),this.freeBytes=0}};var Au=`const EPS : f32 = 1.0e-7;
|
|
5175
|
+
|
|
5176
|
+
struct Bullet {
|
|
5177
|
+
posLife: vec4<f32>,
|
|
5178
|
+
velRadius: vec4<f32>,
|
|
5179
|
+
seed: vec4<u32>,
|
|
5180
|
+
}
|
|
5181
|
+
|
|
5182
|
+
struct Triangle {
|
|
5183
|
+
a: vec4<f32>,
|
|
5184
|
+
b: vec4<f32>,
|
|
5185
|
+
c: vec4<f32>,
|
|
5186
|
+
}
|
|
5187
|
+
|
|
5188
|
+
struct Counters {
|
|
5189
|
+
hits: atomic<u32>,
|
|
5190
|
+
alive: atomic<u32>,
|
|
5191
|
+
_pad0: atomic<u32>,
|
|
5192
|
+
_pad1: atomic<u32>,
|
|
5193
|
+
}
|
|
5194
|
+
|
|
5195
|
+
struct Params {
|
|
5196
|
+
dt: f32,
|
|
5197
|
+
speed: f32,
|
|
5198
|
+
life: f32,
|
|
5199
|
+
bulletRadius: f32,
|
|
5200
|
+
|
|
5201
|
+
spawnRadius: f32,
|
|
5202
|
+
jitter: f32,
|
|
5203
|
+
targetCount: u32,
|
|
5204
|
+
triCount: u32,
|
|
5205
|
+
|
|
5206
|
+
frame: u32,
|
|
5207
|
+
dispatchWidth: u32,
|
|
5208
|
+
_pad1: u32,
|
|
5209
|
+
_pad2: u32,
|
|
5210
|
+
}
|
|
5211
|
+
|
|
5212
|
+
@group(0) @binding(0) var<storage, read_write> bullets : array<Bullet>;
|
|
5213
|
+
@group(0) @binding(1) var<storage, read> triangles : array<Triangle>;
|
|
5214
|
+
@group(0) @binding(2) var<storage, read_write> counters : Counters;
|
|
5215
|
+
@group(0) @binding(3) var<uniform> params : Params;
|
|
5216
|
+
|
|
5217
|
+
fn hashU32(xIn: u32) -> u32 {
|
|
5218
|
+
var x = xIn;
|
|
5219
|
+
x ^= x >> 16u;
|
|
5220
|
+
x *= 0x7feb352du;
|
|
5221
|
+
x ^= x >> 15u;
|
|
5222
|
+
x *= 0x846ca68bu;
|
|
5223
|
+
x ^= x >> 16u;
|
|
5224
|
+
return x;
|
|
5225
|
+
}
|
|
5226
|
+
|
|
5227
|
+
fn rand01(state: ptr<function, u32>) -> f32 {
|
|
5228
|
+
let h = hashU32((*state) + 0x9e3779b9u);
|
|
5229
|
+
*state = h;
|
|
5230
|
+
return f32(h) * 2.3283064365386963e-10;
|
|
5231
|
+
}
|
|
5232
|
+
|
|
5233
|
+
fn randSigned(state: ptr<function, u32>) -> f32 {
|
|
5234
|
+
return rand01(state) * 2.0 - 1.0;
|
|
5235
|
+
}
|
|
5236
|
+
|
|
5237
|
+
fn randomUnit(state: ptr<function, u32>) -> vec3<f32> {
|
|
5238
|
+
var v = vec3<f32>(1.0, 0.0, 0.0);
|
|
5239
|
+
var ok = false;
|
|
5240
|
+
for (var i = 0u; i < 12u; i += 1u) {
|
|
5241
|
+
let p = vec3<f32>(randSigned(state), randSigned(state), randSigned(state));
|
|
5242
|
+
let l2 = dot(p, p);
|
|
5243
|
+
if (!ok && l2 > 1.0e-5 && l2 <= 1.0) {
|
|
5244
|
+
v = p * inverseSqrt(l2);
|
|
5245
|
+
ok = true;
|
|
5246
|
+
}
|
|
5247
|
+
}
|
|
5248
|
+
return v;
|
|
5249
|
+
}
|
|
5250
|
+
|
|
5251
|
+
fn safeNormal(v: vec3<f32>) -> vec3<f32> {
|
|
5252
|
+
let l2 = dot(v, v);
|
|
5253
|
+
if (l2 > EPS) {
|
|
5254
|
+
return v * inverseSqrt(l2);
|
|
5255
|
+
}
|
|
5256
|
+
return vec3<f32>(1.0, 0.0, 0.0);
|
|
5257
|
+
}
|
|
5258
|
+
|
|
5259
|
+
fn makeBasis(dir: vec3<f32>) -> mat3x3<f32> {
|
|
5260
|
+
var helper = vec3<f32>(0.0, 1.0, 0.0);
|
|
5261
|
+
if (abs(dir.y) > 0.85) {
|
|
5262
|
+
helper = vec3<f32>(1.0, 0.0, 0.0);
|
|
5263
|
+
}
|
|
5264
|
+
let u = safeNormal(cross(helper, dir));
|
|
5265
|
+
let v = safeNormal(cross(dir, u));
|
|
5266
|
+
return mat3x3<f32>(u, v, dir);
|
|
5267
|
+
}
|
|
5268
|
+
|
|
5269
|
+
fn respawn(id: u32, frameSalt: u32) {
|
|
5270
|
+
var state = hashU32(id * 747796405u + frameSalt * 2891336453u + 0x68bc21ebu);
|
|
5271
|
+
let spawnDir = randomUnit(&state);
|
|
5272
|
+
let pos = spawnDir * params.spawnRadius;
|
|
5273
|
+
let jitter = randomUnit(&state) * params.jitter;
|
|
5274
|
+
let velDir = safeNormal(-pos + jitter);
|
|
5275
|
+
bullets[id].posLife = vec4<f32>(pos, params.life);
|
|
5276
|
+
bullets[id].velRadius = vec4<f32>(velDir * params.speed, params.bulletRadius);
|
|
5277
|
+
bullets[id].seed = vec4<u32>(state, frameSalt, id, 0u);
|
|
5278
|
+
}
|
|
5279
|
+
|
|
5280
|
+
fn rayTriHit(
|
|
5281
|
+
origin: vec3<f32>,
|
|
5282
|
+
dir: vec3<f32>,
|
|
5283
|
+
maxT: f32,
|
|
5284
|
+
a: vec3<f32>,
|
|
5285
|
+
b: vec3<f32>,
|
|
5286
|
+
c: vec3<f32>
|
|
5287
|
+
) -> bool {
|
|
5288
|
+
let ab = b - a;
|
|
5289
|
+
let ac = c - a;
|
|
5290
|
+
let p = cross(dir, ac);
|
|
5291
|
+
let det = dot(ab, p);
|
|
5292
|
+
if (abs(det) < EPS) {
|
|
5293
|
+
return false;
|
|
5294
|
+
}
|
|
5295
|
+
|
|
5296
|
+
let invDet = 1.0 / det;
|
|
5297
|
+
let tvec = origin - a;
|
|
5298
|
+
let u = dot(tvec, p) * invDet;
|
|
5299
|
+
if (u < 0.0 || u > 1.0) {
|
|
5300
|
+
return false;
|
|
5301
|
+
}
|
|
5302
|
+
|
|
5303
|
+
let q = cross(tvec, ab);
|
|
5304
|
+
let v = dot(dir, q) * invDet;
|
|
5305
|
+
if (v < 0.0 || u + v > 1.0) {
|
|
5306
|
+
return false;
|
|
5307
|
+
}
|
|
5308
|
+
|
|
5309
|
+
let t = dot(ac, q) * invDet;
|
|
5310
|
+
return t >= 0.0 && t <= maxT;
|
|
5311
|
+
}
|
|
5312
|
+
|
|
5313
|
+
fn sweepTriangle(p0: vec3<f32>, p1: vec3<f32>, radius: f32, tri: Triangle) -> bool {
|
|
5314
|
+
let delta = p1 - p0;
|
|
5315
|
+
let len = length(delta);
|
|
5316
|
+
if (len < EPS) {
|
|
5317
|
+
return false;
|
|
5318
|
+
}
|
|
5319
|
+
|
|
5320
|
+
let dir = delta / len;
|
|
5321
|
+
let basis = makeBasis(dir);
|
|
5322
|
+
let u = basis[0] * radius * 0.85;
|
|
5323
|
+
let v = basis[1] * radius * 0.85;
|
|
5324
|
+
let maxT = len + radius * 2.75;
|
|
5325
|
+
let a = tri.a.xyz;
|
|
5326
|
+
let b = tri.b.xyz;
|
|
5327
|
+
let c = tri.c.xyz;
|
|
5328
|
+
|
|
5329
|
+
if (rayTriHit(p0, dir, maxT, a, b, c)) { return true; }
|
|
5330
|
+
if (rayTriHit(p0 + u, dir, maxT, a, b, c)) { return true; }
|
|
5331
|
+
if (rayTriHit(p0 - u, dir, maxT, a, b, c)) { return true; }
|
|
5332
|
+
if (rayTriHit(p0 + v, dir, maxT, a, b, c)) { return true; }
|
|
5333
|
+
if (rayTriHit(p0 - v, dir, maxT, a, b, c)) { return true; }
|
|
5334
|
+
return false;
|
|
5335
|
+
}
|
|
5336
|
+
|
|
5337
|
+
@compute @workgroup_size(128)
|
|
5338
|
+
fn collisionBenchmark(@builtin(global_invocation_id) gid: vec3<u32>) {
|
|
5339
|
+
let id = gid.x + gid.y * params.dispatchWidth;
|
|
5340
|
+
if (id >= params.targetCount) {
|
|
5341
|
+
if (id < arrayLength(&bullets)) {
|
|
5342
|
+
bullets[id].posLife.w = -1.0;
|
|
5343
|
+
}
|
|
5344
|
+
return;
|
|
5345
|
+
}
|
|
5346
|
+
|
|
5347
|
+
var b = bullets[id];
|
|
5348
|
+
if (b.posLife.w <= 0.0 || b.velRadius.w <= 0.0) {
|
|
5349
|
+
respawn(id, params.frame);
|
|
5350
|
+
atomicAdd(&counters.alive, 1u);
|
|
5351
|
+
return;
|
|
5352
|
+
}
|
|
5353
|
+
|
|
5354
|
+
let p0 = b.posLife.xyz;
|
|
5355
|
+
let p1 = p0 + b.velRadius.xyz * params.dt;
|
|
5356
|
+
var hit = false;
|
|
5357
|
+
|
|
5358
|
+
for (var triId = 0u; triId < params.triCount; triId += 1u) {
|
|
5359
|
+
if (!hit && sweepTriangle(p0, p1, b.velRadius.w, triangles[triId])) {
|
|
5360
|
+
hit = true;
|
|
5361
|
+
}
|
|
5362
|
+
}
|
|
5363
|
+
|
|
5364
|
+
if (hit) {
|
|
5365
|
+
atomicAdd(&counters.hits, 1u);
|
|
5366
|
+
respawn(id, params.frame + 97u);
|
|
5367
|
+
atomicAdd(&counters.alive, 1u);
|
|
5368
|
+
return;
|
|
5369
|
+
}
|
|
5370
|
+
|
|
5371
|
+
b.posLife = vec4<f32>(p1, b.posLife.w - params.dt);
|
|
5372
|
+
bullets[id] = b;
|
|
5373
|
+
atomicAdd(&counters.alive, 1u);
|
|
5374
|
+
}
|
|
5375
|
+
`;var ba=48,Un=48,ks=16,Nn=48,qn=class{constructor(e,t,i=3){this.device=e,this.recycler=t,this.slotCount=Math.max(2,i|0),this.usage=GPUBufferUsage.MAP_READ|GPUBufferUsage.COPY_DST,this.slots=[],this.cursor=0,this.latest={hits:0,alive:0};for(let r=0;r<this.slotCount;r+=1)this.slots.push({buffer:t.acquire(ks,this.usage,`collision-counter-readback-${r}`),pending:!1})}encodeCopy(e,t){let i=null;for(let r=0;r<this.slots.length;r+=1){let o=(this.cursor+r)%this.slots.length;if(!this.slots[o].pending){i=this.slots[o],this.cursor=(o+1)%this.slots.length;break}}return i?(i.pending=!0,e.copyBufferToBuffer(t,0,i.buffer,0,ks),i):null}resolve(e){return e?(e.buffer.mapAsync(GPUMapMode.READ).then(()=>{let t=new Uint32Array(e.buffer.getMappedRange(),0,4);this.latest={hits:t[0],alive:t[1]},e.buffer.unmap(),e.pending=!1}).catch(t=>{this.disposed||console.warn("Particle counter readback failed:",t),e.pending=!1}),this.latest):this.latest}destroy(){this.disposed=!0;for(let e of this.slots)e.pending||this.recycler.release(e.buffer,ks,this.usage);this.slots.length=0}},Vn=class{constructor(e,{capacity:t,triangleCount:i,readback:r=!0}={}){let o=e.limits.maxComputeWorkgroupsPerDimension**2*128,a=Math.min(e.limits.maxStorageBufferBindingSize,e.limits.maxBufferSize);for(let[n,l,c]of[["capacity",t,ba],["triangleCount",i,Un]])if(!Number.isSafeInteger(l)||l<1||l*c>a||n==="capacity"&&l>o)throw Error(`Invalid particle ${n}: exceeds GPU capacity or is not a positive integer`);this.device=e,this.timer=new Cs(e),this.capacity=t,this.triangleCount=i,this.frame=0,this.recycler=new Ss(e),this.storageUsage=GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_DST|GPUBufferUsage.COPY_SRC,this.uniformUsage=GPUBufferUsage.UNIFORM|GPUBufferUsage.COPY_DST,this.module=e.createShaderModule({label:"collision-benchmark-module",code:Au}),this.pipeline=e.createComputePipeline({label:"collision-benchmark-pipeline",layout:"auto",compute:{module:this.module,entryPoint:"collisionBenchmark"}}),this.particleBuffer=this.recycler.acquire(this.capacity*ba,this.storageUsage,"collision-bullets"),this.triangleBuffer=this.recycler.acquire(this.triangleCount*Un,this.storageUsage,"collision-triangles"),this.counterBuffer=this.recycler.acquire(ks,this.storageUsage,"collision-counters"),this.paramBuffer=this.recycler.acquire(Nn,this.uniformUsage,"collision-params"),this.params=new ArrayBuffer(Nn),this.zeroCounters=new Uint32Array(4),this.readback=r?new qn(e,this.recycler,3):null,this.bindGroup=e.createBindGroup({label:"collision-benchmark-bg",layout:this.pipeline.getBindGroupLayout(0),entries:[{binding:0,resource:{buffer:this.particleBuffer}},{binding:1,resource:{buffer:this.triangleBuffer}},{binding:2,resource:{buffer:this.counterBuffer}},{binding:3,resource:{buffer:this.paramBuffer}}]}),this.clear()}clear(){if(this.disposed)throw Error("Particle system has been destroyed");let e=this.device.createCommandEncoder({label:"Clear surface particles"});e.clearBuffer(this.particleBuffer),this.device.queue.submit([e.finish()]),this.frame=0,this.readback&&(this.readback.latest={hits:0,alive:0})}writeTriangles(e){if(this.disposed)throw Error("Particle system has been destroyed");if(!(e instanceof Float32Array)||e.length!==this.triangleCount*12||!e.every(Number.isFinite))throw Error("Triangles require 12 finite float32 values per triangle: padded a, b, c vertices");this.device.queue.writeBuffer(this.triangleBuffer,0,e)}step(e){if(this.disposed)throw Error("Particle system has been destroyed");let t={speed:80,life:3,bulletRadius:.09,spawnRadius:32,jitter:4.8,...e,target:e.count??this.capacity,frame:e.frame??this.frame++};if(!Number.isSafeInteger(t.target)||t.target<1||t.target>this.capacity)throw Error("Particle count exceeds allocated capacity");for(let d of["dt","speed","life","bulletRadius","spawnRadius"])if(!Number.isFinite(t[d])||t[d]<=0)throw Error(`Particle ${d} must be positive and finite`);if(!Number.isFinite(t.jitter)||t.jitter<0)throw Error("Particle jitter must be nonnegative and finite");let i=new Float32Array(this.params),r=new Uint32Array(this.params);i.fill(0),i[0]=t.dt,i[1]=t.speed,i[2]=t.life,i[3]=t.bulletRadius,i[4]=t.spawnRadius,i[5]=t.jitter,r[6]=t.target>>>0,r[7]=this.triangleCount>>>0,r[8]=t.frame>>>0;let o=Math.ceil(t.target/128),a=Math.ceil(o/this.device.limits.maxComputeWorkgroupsPerDimension),n=Math.ceil(o/a);r[9]=n*128,this.device.queue.writeBuffer(this.paramBuffer,0,this.params),this.device.queue.writeBuffer(this.counterBuffer,0,this.zeroCounters);let l=this.device.createCommandEncoder({label:"collision-benchmark-encoder"}),c=this.timer.begin(),u=l.beginComputePass({label:"collision-benchmark-pass",...this.timer.descriptor(c)});u.setPipeline(this.pipeline),u.setBindGroup(0,this.bindGroup),u.dispatchWorkgroups(n,a),u.end(),this.timer.encode(l,c);let f=this.readback?.encodeCopy(l,this.counterBuffer);return this.device.queue.submit([l.finish()]),this.timer.resolve(c),this.readback?.resolve(f)??null}destroy(){this.disposed||(this.disposed=!0,this.timer.destroy(),this.readback?.destroy(),this.recycler.release(this.particleBuffer,this.capacity*ba,this.storageUsage),this.recycler.release(this.triangleBuffer,this.triangleCount*Un,this.storageUsage),this.recycler.release(this.counterBuffer,ks,this.storageUsage),this.recycler.release(this.paramBuffer,Nn,this.uniformUsage),this.recycler.destroy())}};var wu=`// Read the canonical solver's completed contact buffers directly. These layouts
|
|
5376
|
+
// match avbd3d/gpu/layout.ts; no contact data is copied to the CPU for this view.
|
|
5377
|
+
struct Body {pos:vec4f,rot:vec4f,initialPos:vec4f,initialRot:vec4f,size:vec4f,moment:vec4f,inertialPos:vec4f,inertialRot:vec4f,velocity:vec4f,angular:vec4f}
|
|
5378
|
+
struct Camera {vp:mat4x4f,eye:vec4f,light:vec4f}
|
|
5379
|
+
struct Manifold {ids:vec4u,geo:vec4f}
|
|
5380
|
+
struct Contact {rA:vec4f,rB:vec4f,pen:vec4f,lambda:vec4f}
|
|
5381
|
+
@group(0) @binding(0) var<storage,read> bodies:array<Body>;
|
|
5382
|
+
@group(0) @binding(1) var<uniform> camera:Camera;
|
|
5383
|
+
@group(0) @binding(2) var<storage,read> manifolds:array<Manifold>;
|
|
5384
|
+
@group(0) @binding(3) var<storage,read> contacts:array<Contact>;
|
|
5385
|
+
@group(0) @binding(4) var<storage,read> counters:array<u32>;
|
|
5386
|
+
const CORNERS=array<vec2f,6>(vec2f(-1,-1),vec2f(1,-1),vec2f(1,1),vec2f(-1,-1),vec2f(1,1),vec2f(-1,1));
|
|
5387
|
+
const MAX_MANIFOLDS=512u;
|
|
5388
|
+
fn rotate(q:vec4f,v:vec3f)->vec3f {let t=2.*cross(q.xyz,v);return v+q.w*t+cross(q.xyz,t);}
|
|
5389
|
+
@vertex fn vertexMain(@builtin(vertex_index) v:u32,@builtin(instance_index) instance:u32)->@builtin(position) vec4f {
|
|
5390
|
+
let hidden=vec4f(2,2,2,1);
|
|
5391
|
+
let count=min(counters[6],arrayLength(&manifolds));
|
|
5392
|
+
let slot=instance/4u;
|
|
5393
|
+
if(slot>=min(count,MAX_MANIFOLDS)){return hidden;}
|
|
5394
|
+
// Sample across the entire contact region when it exceeds the display budget.
|
|
5395
|
+
let index=select(slot,slot*count/MAX_MANIFOLDS,count>MAX_MANIFOLDS);
|
|
5396
|
+
let m=manifolds[index];let point=instance%4u;let k=m.ids.z+point;
|
|
5397
|
+
if(point>=(m.ids.w&15u)||k>=min(counters[1],arrayLength(&contacts))||m.ids.x>=arrayLength(&bodies)){return hidden;}
|
|
5398
|
+
let b=bodies[m.ids.x];let p=b.pos.xyz+rotate(b.rot,contacts[k].rA.xyz);
|
|
5399
|
+
var clip=camera.vp*vec4f(p.x,p.z,p.y,1);
|
|
5400
|
+
clip.x+=CORNERS[v].x*3./camera.light.x*clip.w;
|
|
5401
|
+
clip.y+=CORNERS[v].y*3./camera.light.y*clip.w;
|
|
5402
|
+
return clip;
|
|
5403
|
+
}
|
|
5404
|
+
@fragment fn fragmentMain()->@location(0) vec4f {return vec4f(.83,.25,.39,1);}
|
|
5405
|
+
`;var wd=wu.replace("@vertex fn vertexMain","fn samplePoint").replaceAll("@builtin(vertex_index) ","").replaceAll("@builtin(instance_index) ","").replace("->@builtin(position) vec4f","->vec4f").replace(/clip\.x\+=.*?;/,"").replace(/clip\.y\+=.*?;/,"")+`
|
|
5406
|
+
@group(0) @binding(5) var<storage,read_write> sampled:array<vec4f>;
|
|
5407
|
+
@compute @workgroup_size(64) fn gather(@builtin(global_invocation_id) id:vec3u) {
|
|
5408
|
+
if(id.x<arrayLength(&sampled)){sampled[id.x]=samplePoint(0u,id.x);}
|
|
5409
|
+
}`,Bd=`
|
|
5410
|
+
struct Camera {vp:mat4x4f,eye:vec4f,light:vec4f}
|
|
5411
|
+
@group(0) @binding(0) var<uniform> camera:Camera;
|
|
5412
|
+
@group(0) @binding(1) var<storage,read> points:array<vec4f>;
|
|
5413
|
+
const CORNERS=array<vec2f,6>(vec2f(-1,-1),vec2f(1,-1),vec2f(1,1),vec2f(-1,-1),vec2f(1,1),vec2f(-1,1));
|
|
5414
|
+
@vertex fn vertexMain(@builtin(vertex_index) v:u32,@builtin(instance_index) instance:u32)->@builtin(position) vec4f {
|
|
5415
|
+
var clip=points[instance];
|
|
5416
|
+
clip.x+=CORNERS[v].x*3./camera.light.x*clip.w;
|
|
5417
|
+
clip.y+=CORNERS[v].y*3./camera.light.y*clip.w;
|
|
5418
|
+
return clip;
|
|
5419
|
+
}
|
|
5420
|
+
@fragment fn fragmentMain()->@location(0) vec4f {return vec4f(.83,.25,.39,1);}
|
|
5421
|
+
`,Wn=class{constructor(e,{count:t=2048}={}){if(!Number.isSafeInteger(t)||t<1||Math.ceil(t/64)>e.limits.maxComputeWorkgroupsPerDimension)throw Error("Contact sample count exceeds GPU dispatch capacity");this.device=e,this.count=t,this.buffer=e.createBuffer({label:"AVBD sampled contact dots",size:this.count*16,usage:GPUBufferUsage.STORAGE|GPUBufferUsage.COPY_SRC}),this.pipeline=e.createComputePipeline({label:"AVBD contact overlay sampling",layout:"auto",compute:{module:e.createShaderModule({code:wd}),entryPoint:"gather"}}),this.bindings=[]}encode(e,{bodyBuffer:t,cameraBuffer:i,contactStorage:r}){let o=[t,i,r.manifolds,r.contacts,r.counters,this.buffer],a=this.bindings.find(l=>l.buffers.every((c,u)=>c===o[u]));a||(a={buffers:o,bind:this.device.createBindGroup({layout:this.pipeline.getBindGroupLayout(0),entries:o.map((l,c)=>({binding:c,resource:{buffer:l}}))})},this.bindings.push(a),this.bindings.length>2&&this.bindings.shift());let n=e.beginComputePass();n.setPipeline(this.pipeline),n.setBindGroup(0,a.bind),n.dispatchWorkgroups(Math.ceil(this.count/64)),n.end()}dispose(){this.buffer.destroy(),this.bindings.length=0}};function Cd(s,e,t=8){let i=new Map(e.bodies.map((c,u)=>[c,u])),r=e.bodies.map(()=>new Set);for(let c of e.forces){let u=i.get(c.bodyA),f=i.get(c.bodyB);u===void 0||f===void 0||e.bodies[u].mass===0||e.bodies[f].mass===0||(r[u].add(f),r[f].add(u))}let o=e.bodies.map((c,u)=>u).filter(c=>e.bodies[c].mass>0).sort((c,u)=>r[u].size-r[c].size||c-u),a=new Uint32Array(s.bodyCapacity).fill(255),n=new Map,l=0;for(let c of o){let u=new Set([...r[c]].map(d=>n.get(d))),f=0;for(;u.has(f);)f++;if(f>=64)return;n.set(c,f),a[s.gpuIndex(c)]=f,l=Math.max(l,f+1)}s.device.queue.writeBuffer(s.colorBuffer,0,a),s.colorCap=Math.min(64,Math.max(t,l+3))}var Hn=new WeakMap;function Sd(s,{before:e,after:t}={}){if(!s.bodyBuffer||typeof s.step!="function")throw Error("GPU step passes require a WebGPU solver");if(!e&&!t||e!==void 0&&typeof e!="function"||t!==void 0&&typeof t!="function")throw Error("GPU step passes require synchronous before and/or after callbacks");let i=Hn.get(s);i||(i={hooks:new Set,previousBefore:s.externalBeforeStep,previousAfter:s.externalAfterStep},i.before=o=>{i.previousBefore?.call(s,o);for(let a of i.hooks)a.before?.(o,s)},i.after=o=>{i.previousAfter?.call(s,o);for(let a of i.hooks)a.after?.(o,s)},s.externalBeforeStep=i.before,s.externalAfterStep=i.after,Hn.set(s,i));let r={before:e,after:t};return i.hooks.add(r),()=>{i.hooks.delete(r)&&(i.hooks.size||(s.externalBeforeStep===i.before&&(s.externalBeforeStep=i.previousBefore),s.externalAfterStep===i.after&&(s.externalAfterStep=i.previousAfter),Hn.delete(s)))}}var $n=class{constructor(e,t,i){this.offscreenCanvas=e,this.events=new Map,this.resize(t,i)}resize(e,t){let i=Math.max(1,Math.floor(e)),r=Math.max(1,Math.floor(t));(i!==this.clientWidth||r!==this.clientHeight)&&(this.revision=(this.revision??0)+1),this.clientWidth=i,this.clientHeight=r}get width(){return this.offscreenCanvas.width}set width(e){this.offscreenCanvas.width=e}get height(){return this.offscreenCanvas.height}set height(e){this.offscreenCanvas.height=e}getContext(...e){return this.offscreenCanvas.getContext(...e)}getBoundingClientRect(){return{left:0,top:0,width:this.clientWidth,height:this.clientHeight}}addEventListener(e,t){this.events.has(e)||this.events.set(e,new Set),this.events.get(e).add(t)}removeEventListener(e,t){this.events.get(e)?.delete(t)}setPointerCapture(){}dispatch(e,t){let i={...t,preventDefault(){}};for(let r of this.events.get(e)??[])r(i)}};var kd=9;function Pd(){return globalThis.crossOriginIsolated&&typeof SharedArrayBuffer=="function"?new Int32Array(new SharedArrayBuffer(36)):null}function Ld(s,e,t=0){Atomics.add(s,0,1),[Math.round(e.clientX*1024),Math.round(e.clientY*1024),e.pointerId??1,e.buttons??0,e.altKey?1:0,e.shiftKey?1:0,e.ctrlKey?1:0,Math.round(t*1024)].forEach((r,o)=>Atomics.store(s,o+1,r)),Atomics.add(s,0,1)}function _d(s,e=-1){let t=Atomics.load(s,0);if(t&1||t===e)return null;let i=Array.from({length:8},(r,o)=>Atomics.load(s,o+1));return Atomics.load(s,0)!==t?null:{sequence:t,event:{clientX:i[0]/1024,clientY:i[1]/1024,pointerId:i[2],buttons:i[3],altKey:!!i[4],shiftKey:!!i[5],ctrlKey:!!i[6]},wheel:i[7]/1024}}export{yo as AvbdPhysics,vo as AvbdPhysicsAggregate,fs as AvbdPhysicsBody,os as AvbdPhysicsConstraint,as as AvbdPhysicsHinge,Fn as AvbdScene2D,Gn as AvbdScene3D,mt as AvbdShapeType,Ss as GPUBufferRecycler,Wn as GpuContactSample,Vn as GpuSurfaceParticles,Cs as GpuTimer,kd as INPUT_WORDS,ba as PARTICLE_BYTE_STRIDE,$n as WorkerCanvas,Sd as addGpuStepPass,ls as cookHeightfield,cs as cookStaticMesh,Pd as createSharedInput,vd as createSolverPipeline,ss as createWebGPUDevice,Cr as prepareWebGPUDevice3D,_d as readSharedInput,Bd as sampledContactShader,Cd as seedConstraintColoring,Ld as writeSharedInput};
|