ecspresso 0.13.4 → 0.14.2

package/dist/plugins/physics/collision3D.js.map

@@ -0,0 +1,13 @@
+{
+  "version": 3,
+  "sources": ["../src/plugins/physics/collision.ts", "../src/utils/narrowphase.ts", "../src/plugins/physics/collision3D.ts", "../src/utils/narrowphase3D.ts"],
+  "sourcesContent": [
+    "/**\n * Collision Plugin for ECSpresso\n *\n * Provides layer-based collision detection with events.\n * Uses worldTransform for position (world-space collision).\n * Supports AABB and circle colliders.\n */\n\nimport { definePlugin, type BasePluginOptions } from 'ecspresso';\nimport type { TransformWorldConfig } from '../spatial/transform';\nimport { fillBaseColliderInfo, detectCollisions, AABB_SHAPE, type Contact, type BaseColliderInfo } from '../../utils/narrowphase';\nimport type { SpatialIndex } from '../../utils/spatial-hash';\n\n// ==================== Component Types ====================\n\n/**\n * Axis-Aligned Bounding Box collider.\n */\nexport interface AABBCollider {\n\t/** Width of the bounding box */\n\twidth: number;\n\t/** Height of the bounding box */\n\theight: number;\n\t/** X offset from entity position (default: 0) */\n\toffsetX?: number;\n\t/** Y offset from entity position (default: 0) */\n\toffsetY?: number;\n}\n\n/**\n * Circle collider.\n */\nexport interface CircleCollider {\n\t/** Radius of the circle */\n\tradius: number;\n\t/** X offset from entity position (default: 0) */\n\toffsetX?: number;\n\t/** Y offset from entity position (default: 0) */\n\toffsetY?: number;\n}\n\n/**\n * Collision layer configuration.\n */\nexport interface CollisionLayer<L extends string = never> {\n\t/** The layer this entity belongs to */\n\tlayer: L;\n\t/** Layers this entity can collide with */\n\tcollidesWith: readonly L[];\n}\n\n/**\n * Component types provided by the collision plugin.\n * Included automatically via `.withPlugin(createCollisionPlugin())`.\n *\n * @example\n * ```typescript\n * const ecs = ECSpresso.create()\n *   .withPlugin(createCollisionPlugin())\n *   .withComponentTypes<{ sprite: Sprite; enemy: boolean }>()\n *   .build();\n * ```\n */\nexport interface CollisionComponentTypes<L extends string = never> {\n\taabbCollider: AABBCollider;\n\tcircleCollider: CircleCollider;\n\tcollisionLayer: CollisionLayer<L>;\n}\n\n// ==================== Event Types ====================\n\n/**\n * Event fired when two entities collide.\n *\n * Normal components are flattened (`normalX`/`normalY`) rather than nested\n * in a sub-object to avoid a per-event allocation in the collision hot path.\n */\nexport interface CollisionEvent<L extends string = never> {\n\t/** First entity in the collision */\n\tentityA: number;\n\t/** Second entity in the collision */\n\tentityB: number;\n\t/** Layer of the first entity */\n\tlayerA: L;\n\t/** Layer of the second entity */\n\tlayerB: L;\n\t/** Contact normal X, pointing from entityA toward entityB */\n\tnormalX: number;\n\t/** Contact normal Y, pointing from entityA toward entityB */\n\tnormalY: number;\n\t/** Penetration depth (positive = overlapping) */\n\tdepth: number;\n}\n\n/**\n * Event types provided by the collision plugin.\n */\nexport interface CollisionEventTypes<L extends string = never> {\n\tcollision: CollisionEvent<L>;\n}\n\n// ==================== Plugin Options ====================\n\n/**\n * Configuration options for the collision plugin.\n */\nexport interface CollisionPluginOptions<G extends string = 'physics'> extends BasePluginOptions<G> {\n\t/** Name of the collision event (default: 'collision') */\n\tcollisionEventName?: string;\n}\n\n// ==================== Helper Functions ====================\n\n/**\n * Create an AABB collider component.\n *\n * @param width Width of the bounding box\n * @param height Height of the bounding box\n * @param offsetX X offset from entity position\n * @param offsetY Y offset from entity position\n * @returns Component object suitable for spreading into spawn()\n *\n * @example\n * ```typescript\n * ecs.spawn({\n *   ...createTransform(100, 200),\n *   ...createAABBCollider(50, 30),\n * });\n * ```\n */\nexport function createAABBCollider(\n\twidth: number,\n\theight: number,\n\toffsetX?: number,\n\toffsetY?: number\n): { aabbCollider: AABBCollider } {\n\tconst collider: AABBCollider = { width, height };\n\tif (offsetX !== undefined) collider.offsetX = offsetX;\n\tif (offsetY !== undefined) collider.offsetY = offsetY;\n\treturn { aabbCollider: collider };\n}\n\n/**\n * Create a circle collider component.\n *\n * @param radius Radius of the circle\n * @param offsetX X offset from entity position\n * @param offsetY Y offset from entity position\n * @returns Component object suitable for spreading into spawn()\n *\n * @example\n * ```typescript\n * ecs.spawn({\n *   ...createTransform(100, 200),\n *   ...createCircleCollider(25),\n * });\n * ```\n */\nexport function createCircleCollider(\n\tradius: number,\n\toffsetX?: number,\n\toffsetY?: number\n): { circleCollider: CircleCollider } {\n\tconst collider: CircleCollider = { radius };\n\tif (offsetX !== undefined) collider.offsetX = offsetX;\n\tif (offsetY !== undefined) collider.offsetY = offsetY;\n\treturn { circleCollider: collider };\n}\n\n/**\n * Create a collision layer component.\n *\n * @param layer The layer this entity belongs to\n * @param collidesWith Layers this entity can collide with\n * @returns Component object suitable for spreading into spawn()\n *\n * @example\n * ```typescript\n * ecs.spawn({\n *   ...createTransform(100, 200),\n *   ...createAABBCollider(50, 30),\n *   ...createCollisionLayer('player', ['enemy', 'obstacle']),\n * });\n * ```\n */\nexport function createCollisionLayer<L extends string>(\n\tlayer: L,\n\tcollidesWith: readonly L[]\n): Pick<CollisionComponentTypes<L>, 'collisionLayer'> {\n\treturn {\n\t\tcollisionLayer: { layer, collidesWith },\n\t};\n}\n\n/**\n * Layer factory result from defineCollisionLayers.\n */\nexport type LayerFactories<T extends Record<string, readonly string[]>> = {\n\t[K in keyof T]: () => Pick<CollisionComponentTypes<Extract<keyof T, string>>, 'collisionLayer'>;\n};\n\n/**\n * Extract layer names from a `defineCollisionLayers` result for use with\n * `createCollisionPairHandler`'s `L` type parameter.\n *\n * @example\n * ```typescript\n * const layers = defineCollisionLayers({ player: ['enemy'], enemy: ['player'] });\n * type Layer = LayersOf<typeof layers>;\n * const handler = createCollisionPairHandler<ECS, Layer>({\n *   'player:enemy': (playerId, enemyId, ecs) => { ... },\n * });\n * ```\n */\nexport type LayersOf<T> = Extract<keyof T, string>;\n\n/**\n * Define collision layer relationships and get factory functions.\n *\n * @param rules Object mapping layer names to arrays of layers they collide with\n * @returns Object with factory functions for each layer\n *\n * @example\n * ```typescript\n * const layers = defineCollisionLayers({\n *   player: ['enemy', 'enemyProjectile'],\n *   playerProjectile: ['enemy'],\n *   enemy: ['playerProjectile'],\n *   enemyProjectile: ['player'],\n * });\n *\n * // Usage\n * ecs.spawn({\n *   ...createTransform(100, 200),\n *   ...createAABBCollider(50, 30),\n *   ...layers.player(),\n * });\n * ```\n */\n/**\n * Validates that all `collidesWith` values reference actual layer keys.\n * Catches typos at compile time.\n */\ntype ValidateCollidesWith<T> = {\n\t[K in keyof T]: T[K] extends readonly (infer V)[]\n\t\t? [V] extends [Extract<keyof T, string>] ? T[K] : readonly Extract<keyof T, string>[]\n\t\t: never;\n};\n\nexport function defineCollisionLayers<const T extends Record<string, readonly string[]>>(\n\trules: T & ValidateCollidesWith<T>\n): LayerFactories<T> {\n\ttype L = Extract<keyof T, string>;\n\tconst factories = {} as LayerFactories<T>;\n\n\tfor (const layer of Object.keys(rules) as Array<L>) {\n\t\tconst collidesWith = rules[layer] as readonly L[];\n\t\tfactories[layer] = () => createCollisionLayer<L>(layer, collidesWith);\n\t}\n\n\treturn factories;\n}\n\n// ==================== Collision Pair Handler ====================\n\n/**\n * Callback for a collision pair handler.\n *\n * @param firstEntityId Entity belonging to the first layer in the pair key\n * @param secondEntityId Entity belonging to the second layer in the pair key\n * @param ecs The ECS world instance (passed through from the subscriber)\n */\nexport type CollisionPairCallback<W = unknown> = (\n\tfirstEntityId: number,\n\tsecondEntityId: number,\n\tecs: W,\n) => void;\n\ninterface PairEntry<W> {\n\tcallback: CollisionPairCallback<W>;\n\tswapped: boolean;\n}\n\nfunction parsePairKey(key: string): [string, string] {\n\tconst colonIndex = key.indexOf(':');\n\tif (colonIndex === -1) {\n\t\tthrow new Error(`Invalid collision pair key \"${key}\": must contain a colon separator (e.g. \"player:enemy\")`);\n\t}\n\tconst layerA = key.slice(0, colonIndex);\n\tconst layerB = key.slice(colonIndex + 1);\n\tif (layerA === '' || layerB === '') {\n\t\tthrow new Error(`Invalid collision pair key \"${key}\": layer names must not be empty`);\n\t}\n\treturn [layerA, layerB];\n}\n\n/**\n * Create a collision pair handler that routes collision events to\n * layer-pair-specific callbacks.\n *\n * Registering `\"a:b\"` automatically handles both `(layerA=a, layerB=b)` and\n * `(layerA=b, layerB=a)`. Entity arguments are swapped to match the declared\n * key order. If both `\"a:b\"` and `\"b:a\"` are explicitly registered, each gets\n * its own handler with no implicit reverse.\n *\n * @typeParam W - The ECS world type (e.g. `ECSpresso<C, E, R>`). Defaults to `unknown`.\n * @typeParam L - Union of valid layer names. Defaults to `string`.\n *   Provide specific layer names for compile-time key validation:\n *   `createCollisionPairHandler<ECS, keyof typeof layers>({...})`\n *\n * @param pairs Object mapping `\"layerA:layerB\"` keys to callbacks\n * @returns A dispatch function to call with collision event data and ECS instance\n *\n * @example\n * ```typescript\n * // Basic usage:\n * const handler = createCollisionPairHandler<ECS>({\n *   'playerProjectile:enemy': (projectileId, enemyId, ecs) => {\n *     ecs.commands.removeEntity(projectileId);\n *   },\n * });\n *\n * // With layer name validation:\n * const layers = defineCollisionLayers({ player: ['enemy'], enemy: ['player'] });\n * type Layer = LayersOf<typeof layers>;\n * const handler = createCollisionPairHandler<ECS, Layer>({\n *   'player:enemy': (playerId, enemyId, ecs) => { ... },\n * });\n *\n * ecs.eventBus.subscribe('collision', (data) => handler({ data, ecs }));\n * ```\n */\nexport function createCollisionPairHandler<W = unknown, L extends string = string>(\n\tpairs: { [K in `${L}:${L}`]?: CollisionPairCallback<W> }\n): (ctx: { data: CollisionEvent<L>; ecs: W }) => void;\nexport function createCollisionPairHandler<W = unknown>(\n\tpairs: Record<string, CollisionPairCallback<W> | undefined>\n): (ctx: { data: CollisionEvent<string>; ecs: W }) => void {\n\tconst lookup = new Map<string, PairEntry<W>>();\n\tconst explicitKeys = new Set<string>();\n\n\t// First pass: collect all explicit keys\n\tfor (const key of Object.keys(pairs)) {\n\t\tparsePairKey(key); // validate\n\t\texplicitKeys.add(key);\n\t}\n\n\t// Second pass: build lookup with forward + conditional reverse entries\n\tfor (const key of Object.keys(pairs)) {\n\t\tconst [layerA, layerB] = parsePairKey(key);\n\t\tconst callback = pairs[key];\n\t\tif (!callback) continue;\n\n\t\t// Forward entry\n\t\tlookup.set(key, { callback, swapped: false });\n\n\t\t// Reverse entry (only if the reverse key wasn't explicitly registered\n\t\t// and it's not a self-collision where forward === reverse)\n\t\tconst reverseKey = `${layerB}:${layerA}`;\n\t\tif (reverseKey !== key && !explicitKeys.has(reverseKey)) {\n\t\t\tlookup.set(reverseKey, { callback, swapped: true });\n\t\t}\n\t}\n\n\treturn function collisionPairDispatch({ data: event, ecs }: { data: CollisionEvent<string>; ecs: W }): void {\n\t\tconst entry = lookup.get(event.layerA + ':' + event.layerB);\n\t\tif (!entry) return;\n\n\t\tif (entry.swapped) {\n\t\t\tentry.callback(event.entityB, event.entityA, ecs);\n\t\t} else {\n\t\t\tentry.callback(event.entityA, event.entityB, ecs);\n\t\t}\n\t};\n}\n\n// ==================== Dependency Types ====================\n\n// ==================== Module-level Collision Callback ====================\n\ninterface CollisionEventBus<L extends string> {\n\tpublish(event: 'collision', data: CollisionEvent<L>): void;\n}\n\n/**\n * Module-level reusable collision event. Subscribers must consume\n * synchronously — same contract as the shared narrowphase Contact.\n */\nconst _collisionEvent: CollisionEvent<string> = {\n\tentityA: 0, entityB: 0, layerA: '', layerB: '',\n\tnormalX: 0, normalY: 0, depth: 0,\n};\n\nfunction onCollisionDetected<L extends string>(\n\ta: BaseColliderInfo<L>,\n\tb: BaseColliderInfo<L>,\n\tcontact: Contact,\n\teventBus: CollisionEventBus<L>,\n): void {\n\t_collisionEvent.entityA = a.entityId;\n\t_collisionEvent.entityB = b.entityId;\n\t_collisionEvent.layerA = a.layer;\n\t_collisionEvent.layerB = b.layer;\n\t_collisionEvent.normalX = contact.normalX;\n\t_collisionEvent.normalY = contact.normalY;\n\t_collisionEvent.depth = contact.depth;\n\teventBus.publish('collision', _collisionEvent as CollisionEvent<L>);\n}\n\n// ==================== Plugin Factory ====================\n\n/**\n * Create a collision plugin for ECSpresso.\n *\n * This plugin provides:\n * - Collision detection between entities with colliders\n * - AABB-AABB, circle-circle, and AABB-circle collision\n * - Layer-based filtering for collision pairs\n * - Deduplication of A-B / B-A collisions\n * - Automatic broadphase acceleration when spatialIndex resource is present\n *\n * Uses worldTransform for position (world-space collision detection).\n * The `layers` parameter is required for type inference — at runtime the\n * plugin does not consume it.\n *\n * @example\n * ```typescript\n * const layers = defineCollisionLayers({ player: ['enemy'], enemy: ['player'] });\n * const ecs = ECSpresso\n *   .create()\n *   .withPlugin(createTransformPlugin())\n *   .withPlugin(createCollisionPlugin({ layers }))\n *   .build();\n *\n * // Entity with collision\n * ecs.spawn({\n *   ...createTransform(100, 200),\n *   ...createAABBCollider(50, 30),\n *   ...layers.player(),\n * });\n * ```\n */\nexport function createCollisionPlugin<L extends string, G extends string = 'physics'>(\n\toptions: CollisionPluginOptions<G> & { layers: LayerFactories<Record<L, readonly string[]>> }\n) {\n\tconst {\n\t\tsystemGroup = 'physics',\n\t\tpriority = 0,\n\t\tphase = 'postUpdate',\n\t} = options;\n\n\treturn definePlugin('collision')\n\t\t.withComponentTypes<CollisionComponentTypes<L>>()\n\t\t.withEventTypes<CollisionEventTypes<L>>()\n\t\t.withLabels<'collision-detection'>()\n\t\t.withGroups<G>()\n\t\t.requires<TransformWorldConfig>()\n\t\t.install((world) => {\n\t\t\t// Grow-only pool of BaseColliderInfo slots reused across frames.\n\t\t\t// Steady-state: zero allocations per frame once the pool is warm.\n\t\t\tconst colliderPool: BaseColliderInfo<L>[] = [];\n\t\t\t// Reusable entityId → collider lookup for the broadphase path.\n\t\t\tconst broadphaseMap = new Map<number, BaseColliderInfo<L>>();\n\t\t\t// Cached spatial index reference (resolved once on first frame).\n\t\t\tlet cachedSI: SpatialIndex | undefined;\n\t\t\tlet siResolved = false;\n\n\t\t\tworld\n\t\t\t\t.addSystem('collision-detection')\n\t\t\t\t.setPriority(priority)\n\t\t\t\t.inPhase(phase)\n\t\t\t\t.inGroup(systemGroup)\n\t\t\t\t.addQuery('collidables', {\n\t\t\t\t\twith: ['worldTransform', 'collisionLayer'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, ecs }) => {\n\t\t\t\t\tlet count = 0;\n\n\t\t\t\t\tfor (const entity of queries.collidables) {\n\t\t\t\t\t\tconst { worldTransform, collisionLayer } = entity.components;\n\t\t\t\t\t\tconst aabb = ecs.getComponent(entity.id, 'aabbCollider');\n\t\t\t\t\t\tconst circle = aabb ? undefined : ecs.getComponent(entity.id, 'circleCollider');\n\t\t\t\t\t\tif (!aabb && !circle) continue;\n\n\t\t\t\t\t\tlet slot = colliderPool[count];\n\t\t\t\t\t\tif (!slot) {\n\t\t\t\t\t\t\tslot = {\n\t\t\t\t\t\t\t\tentityId: entity.id,\n\t\t\t\t\t\t\t\tx: worldTransform.x,\n\t\t\t\t\t\t\t\ty: worldTransform.y,\n\t\t\t\t\t\t\t\tlayer: collisionLayer.layer,\n\t\t\t\t\t\t\t\tcollidesWith: collisionLayer.collidesWith,\n\t\t\t\t\t\t\t\tshape: AABB_SHAPE,\n\t\t\t\t\t\t\t\thalfWidth: 0,\n\t\t\t\t\t\t\t\thalfHeight: 0,\n\t\t\t\t\t\t\t\tradius: 0,\n\t\t\t\t\t\t\t};\n\t\t\t\t\t\t\tcolliderPool[count] = slot;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tif (!fillBaseColliderInfo(\n\t\t\t\t\t\t\tslot,\n\t\t\t\t\t\t\tentity.id, worldTransform.x, worldTransform.y,\n\t\t\t\t\t\t\tcollisionLayer.layer, collisionLayer.collidesWith,\n\t\t\t\t\t\t\taabb, circle,\n\t\t\t\t\t\t)) continue;\n\n\t\t\t\t\t\tcount++;\n\t\t\t\t\t}\n\n\t\t\t\t\tif (!siResolved) {\n\t\t\t\t\t\tcachedSI = ecs.tryGetResource<SpatialIndex>('spatialIndex');\n\t\t\t\t\t\tsiResolved = true;\n\t\t\t\t\t}\n\t\t\t\t\tdetectCollisions(colliderPool, count, broadphaseMap, cachedSI, onCollisionDetected<L>, ecs.eventBus);\n\t\t\t\t});\n\t\t});\n}\n\n",
+    "/**\n * Shared Narrowphase Module\n *\n * Provides contact-computing narrowphase tests and a generic collision\n * iteration pipeline used by both the collision plugin (event-only) and\n * the physics2D plugin (impulse response).\n */\n\nimport type { SpatialIndex } from './spatial-hash';\n\n// ==================== Contact ====================\n\n/**\n * Contact result from a narrowphase test. Normal points from A toward B.\n *\n * Narrowphase functions use this as an out-parameter: the caller owns the\n * struct, the function writes fields in place and returns `true` on hit.\n * The `onContact` callback in `detectCollisions` receives a shared module-\n * level instance — **subscribers must consume it synchronously and must not\n * retain the reference across frames**.\n */\nexport interface Contact {\n\tnormalX: number;\n\tnormalY: number;\n\t/** Penetration depth (positive = overlapping) */\n\tdepth: number;\n}\n\n/**\n * Module-level reusable Contact passed down from `detectCollisions` into\n * narrowphase tests and forwarded to the `onContact` callback. Reused across\n * every pair in every frame — zero allocation in the narrowphase hot path.\n */\nconst _sharedContact: Contact = { normalX: 0, normalY: 0, depth: 0 };\n\n// ==================== BaseColliderInfo ====================\n\n/** Collider shape discriminator for the flattened BaseColliderInfo layout. */\nexport const AABB_SHAPE = 0;\nexport const CIRCLE_SHAPE = 1;\nexport type ColliderShape = typeof AABB_SHAPE | typeof CIRCLE_SHAPE;\n\n/**\n * Minimum collider data shared by collision and physics bundles.\n *\n * Flat layout (no nested `aabb` / `circle` sub-objects): the `shape`\n * discriminator tells you whether to read `halfWidth`/`halfHeight`\n * (AABB) or `radius` (Circle). Unused fields are set to 0.\n *\n * This shape is pool-friendly — all fields are assigned in place each\n * frame without allocating nested objects.\n */\nexport interface BaseColliderInfo<L extends string = string> {\n\tentityId: number;\n\tx: number;\n\ty: number;\n\tlayer: L;\n\tcollidesWith: readonly L[];\n\tshape: ColliderShape;\n\thalfWidth: number;\n\thalfHeight: number;\n\tradius: number;\n}\n\n// ==================== Collider Construction ====================\n\n/**\n * Populate a `BaseColliderInfo` slot in place from raw component data.\n * Returns `true` if the slot was filled, `false` if the entity has no\n * collider (caller should skip it).\n *\n * If an entity has both AABB and circle colliders, AABB wins and only\n * the AABB offset is applied. This matches the dispatch precedence in\n * `computeContact`; the previous implementation stacked both offsets,\n * which was a bug.\n */\nexport function fillBaseColliderInfo<L extends string>(\n\tinfo: BaseColliderInfo<L>,\n\tentityId: number,\n\tx: number,\n\ty: number,\n\tlayer: L,\n\tcollidesWith: readonly L[],\n\taabb: { width: number; height: number; offsetX?: number; offsetY?: number } | undefined,\n\tcircle: { radius: number; offsetX?: number; offsetY?: number } | undefined,\n): boolean {\n\tinfo.entityId = entityId;\n\tinfo.layer = layer;\n\tinfo.collidesWith = collidesWith;\n\n\tif (aabb) {\n\t\tinfo.x = x + (aabb.offsetX ?? 0);\n\t\tinfo.y = y + (aabb.offsetY ?? 0);\n\t\tinfo.shape = AABB_SHAPE;\n\t\tinfo.halfWidth = aabb.width / 2;\n\t\tinfo.halfHeight = aabb.height / 2;\n\t\tinfo.radius = 0;\n\t\treturn true;\n\t}\n\n\tif (circle) {\n\t\tinfo.x = x + (circle.offsetX ?? 0);\n\t\tinfo.y = y + (circle.offsetY ?? 0);\n\t\tinfo.shape = CIRCLE_SHAPE;\n\t\tinfo.halfWidth = 0;\n\t\tinfo.halfHeight = 0;\n\t\tinfo.radius = circle.radius;\n\t\treturn true;\n\t}\n\n\treturn false;\n}\n\n// ==================== Spatial Index Lookup ====================\n\n/**\n * Retrieve the optional spatialIndex resource, returning undefined when absent.\n * Centralizes the cross-plugin typed lookup so individual plugins don't each\n * need to import SpatialIndex or repeat the tryGetResource pattern.\n */\nexport function tryGetSpatialIndex(\n\ttryGetResource: <T>(key: string) => T | undefined,\n): SpatialIndex | undefined {\n\treturn tryGetResource<SpatialIndex>('spatialIndex');\n}\n\n// ==================== Narrowphase Tests ====================\n\n/**\n * Write an AABB-AABB contact into `out`. Returns `true` if the shapes\n * overlap (out was filled), `false` otherwise.\n */\nexport function computeAABBvsAABB(\n\tax: number, ay: number, ahw: number, ahh: number,\n\tbx: number, by: number, bhw: number, bhh: number,\n\tout: Contact,\n): boolean {\n\tconst dx = bx - ax;\n\tconst dy = by - ay;\n\tconst overlapX = (ahw + bhw) - Math.abs(dx);\n\tconst overlapY = (ahh + bhh) - Math.abs(dy);\n\n\tif (overlapX <= 0 || overlapY <= 0) return false;\n\n\tif (overlapX < overlapY) {\n\t\tout.normalX = dx >= 0 ? 1 : -1;\n\t\tout.normalY = 0;\n\t\tout.depth = overlapX;\n\t\treturn true;\n\t}\n\tout.normalX = 0;\n\tout.normalY = dy >= 0 ? 1 : -1;\n\tout.depth = overlapY;\n\treturn true;\n}\n\nexport function computeCircleVsCircle(\n\tax: number, ay: number, ar: number,\n\tbx: number, by: number, br: number,\n\tout: Contact,\n): boolean {\n\tconst dx = bx - ax;\n\tconst dy = by - ay;\n\tconst distSq = dx * dx + dy * dy;\n\tconst radiusSum = ar + br;\n\n\tif (distSq >= radiusSum * radiusSum) return false;\n\n\tconst dist = Math.sqrt(distSq);\n\tif (dist === 0) {\n\t\tout.normalX = 1;\n\t\tout.normalY = 0;\n\t\tout.depth = radiusSum;\n\t\treturn true;\n\t}\n\tout.normalX = dx / dist;\n\tout.normalY = dy / dist;\n\tout.depth = radiusSum - dist;\n\treturn true;\n}\n\nexport function computeAABBvsCircle(\n\taabbX: number, aabbY: number, ahw: number, ahh: number,\n\tcircleX: number, circleY: number, radius: number,\n\tout: Contact,\n): boolean {\n\tconst closestX = Math.max(aabbX - ahw, Math.min(circleX, aabbX + ahw));\n\tconst closestY = Math.max(aabbY - ahh, Math.min(circleY, aabbY + ahh));\n\n\tconst dx = circleX - closestX;\n\tconst dy = circleY - closestY;\n\tconst distSq = dx * dx + dy * dy;\n\n\tif (distSq >= radius * radius) return false;\n\n\t// Circle center inside AABB\n\tif (distSq === 0) {\n\t\tconst pushLeft = (circleX - (aabbX - ahw));\n\t\tconst pushRight = ((aabbX + ahw) - circleX);\n\t\tconst pushUp = (circleY - (aabbY - ahh));\n\t\tconst pushDown = ((aabbY + ahh) - circleY);\n\t\tconst minPush = Math.min(pushLeft, pushRight, pushUp, pushDown);\n\n\t\tif (minPush === pushRight) {\n\t\t\tout.normalX = 1; out.normalY = 0; out.depth = pushRight + radius;\n\t\t\treturn true;\n\t\t}\n\t\tif (minPush === pushLeft) {\n\t\t\tout.normalX = -1; out.normalY = 0; out.depth = pushLeft + radius;\n\t\t\treturn true;\n\t\t}\n\t\tif (minPush === pushDown) {\n\t\t\tout.normalX = 0; out.normalY = 1; out.depth = pushDown + radius;\n\t\t\treturn true;\n\t\t}\n\t\tout.normalX = 0; out.normalY = -1; out.depth = pushUp + radius;\n\t\treturn true;\n\t}\n\n\tconst dist = Math.sqrt(distSq);\n\tout.normalX = dx / dist;\n\tout.normalY = dy / dist;\n\tout.depth = radius - dist;\n\treturn true;\n}\n\n// ==================== Contact Dispatcher ====================\n\n/**\n * Dispatch to the correct narrowphase function for the given pair and\n * write the contact into `out`. Returns `true` if the pair overlaps.\n */\nexport function computeContact(a: BaseColliderInfo, b: BaseColliderInfo, out: Contact): boolean {\n\tif (a.shape === AABB_SHAPE && b.shape === AABB_SHAPE) {\n\t\treturn computeAABBvsAABB(\n\t\t\ta.x, a.y, a.halfWidth, a.halfHeight,\n\t\t\tb.x, b.y, b.halfWidth, b.halfHeight,\n\t\t\tout,\n\t\t);\n\t}\n\n\tif (a.shape === CIRCLE_SHAPE && b.shape === CIRCLE_SHAPE) {\n\t\treturn computeCircleVsCircle(\n\t\t\ta.x, a.y, a.radius,\n\t\t\tb.x, b.y, b.radius,\n\t\t\tout,\n\t\t);\n\t}\n\n\tif (a.shape === AABB_SHAPE && b.shape === CIRCLE_SHAPE) {\n\t\treturn computeAABBvsCircle(\n\t\t\ta.x, a.y, a.halfWidth, a.halfHeight,\n\t\t\tb.x, b.y, b.radius,\n\t\t\tout,\n\t\t);\n\t}\n\n\t// a is Circle, b is AABB — compute as AABB-vs-Circle, then flip normal in place\n\tif (!computeAABBvsCircle(\n\t\tb.x, b.y, b.halfWidth, b.halfHeight,\n\t\ta.x, a.y, a.radius,\n\t\tout,\n\t)) return false;\n\tout.normalX = -out.normalX;\n\tout.normalY = -out.normalY;\n\treturn true;\n}\n\n// ==================== Collision Iteration ====================\n\n/** Module-level reusable set for broadphase candidates. */\nconst _broadphaseCandidates = new Set<number>();\n\nlet _bruteForceWarned = false;\nconst BRUTE_FORCE_WARN_THRESHOLD = 50;\n\n/**\n * Generic collision detection pipeline: brute-force or broadphase,\n * with layer filtering and contact computation.\n *\n * `count` is the number of live entries at the front of `colliders`.\n * The array itself may be a grow-only pool — only indices `[0, count)`\n * are iterated, so trailing pool slots are ignored.\n *\n * `workingMap` is a caller-owned `Map<number, I>` used by the broadphase\n * path as an entityId → collider lookup. It is cleared and repopulated on\n * each call; callers should allocate it once and pass the same instance\n * every frame. Unused by the brute-force path but still required so that\n * typed reuse is the default, not an opt-in.\n *\n * Uses a context parameter forwarded to the callback to avoid\n * per-frame closure allocation.\n */\nexport function detectCollisions<I extends BaseColliderInfo, C>(\n\tcolliders: I[],\n\tcount: number,\n\tworkingMap: Map<number, I>,\n\tspatialIndex: SpatialIndex | undefined,\n\tonContact: (a: I, b: I, contact: Contact, context: C) => void,\n\tcontext: C,\n): void {\n\tif (spatialIndex) {\n\t\tbroadphaseDetect(colliders, count, workingMap, spatialIndex, onContact, context);\n\t} else {\n\t\tbruteForceDetect(colliders, count, onContact, context);\n\t}\n}\n\nfunction bruteForceDetect<I extends BaseColliderInfo, C>(\n\tcolliders: I[],\n\tcount: number,\n\tonContact: (a: I, b: I, contact: Contact, context: C) => void,\n\tcontext: C,\n): void {\n\tif (!_bruteForceWarned && count >= BRUTE_FORCE_WARN_THRESHOLD) {\n\t\t_bruteForceWarned = true;\n\t\tconsole.warn(\n\t\t\t`[ecspresso] Collision detection is using O(n²) brute force with ${count} colliders. ` +\n\t\t\t`For better performance, install createSpatialIndexPlugin() alongside your collision or physics2D plugin.`,\n\t\t);\n\t}\n\n\tfor (let i = 0; i < count; i++) {\n\t\tconst a = colliders[i];\n\t\tif (!a) continue;\n\n\t\tfor (let j = i + 1; j < count; j++) {\n\t\t\tconst b = colliders[j];\n\t\t\tif (!b) continue;\n\n\t\t\tif (!a.collidesWith.includes(b.layer) && !b.collidesWith.includes(a.layer)) continue;\n\n\t\t\tif (!computeContact(a, b, _sharedContact)) continue;\n\n\t\t\tonContact(a, b, _sharedContact, context);\n\t\t}\n\t}\n}\n\nfunction broadphaseDetect<I extends BaseColliderInfo, C>(\n\tcolliders: I[],\n\tcount: number,\n\tcolliderMap: Map<number, I>,\n\tspatialIndex: SpatialIndex,\n\tonContact: (a: I, b: I, contact: Contact, context: C) => void,\n\tcontext: C,\n): void {\n\tcolliderMap.clear();\n\tfor (let i = 0; i < count; i++) {\n\t\tconst c = colliders[i];\n\t\tif (!c) continue;\n\t\tcolliderMap.set(c.entityId, c);\n\t}\n\n\tfor (let i = 0; i < count; i++) {\n\t\tconst a = colliders[i];\n\t\tif (!a) continue;\n\n\t\tconst aHalfW = a.shape === AABB_SHAPE ? a.halfWidth : a.radius;\n\t\tconst aHalfH = a.shape === AABB_SHAPE ? a.halfHeight : a.radius;\n\n\t\t_broadphaseCandidates.clear();\n\t\tspatialIndex.queryRectInto(\n\t\t\ta.x - aHalfW, a.y - aHalfH,\n\t\t\ta.x + aHalfW, a.y + aHalfH,\n\t\t\t_broadphaseCandidates,\n\t\t);\n\n\t\tfor (const bId of _broadphaseCandidates) {\n\t\t\tif (bId <= a.entityId) continue;\n\n\t\t\tconst b = colliderMap.get(bId);\n\t\t\tif (!b) continue;\n\n\t\t\tif (!a.collidesWith.includes(b.layer) && !b.collidesWith.includes(a.layer)) continue;\n\n\t\t\tif (!computeContact(a, b, _sharedContact)) continue;\n\n\t\t\tonContact(a, b, _sharedContact, context);\n\t\t}\n\t}\n}\n",
+    "/**\n * Collision 3D Plugin for ECSpresso\n *\n * Provides layer-based 3D collision detection with events.\n * Uses worldTransform3D for position (world-space collision).\n * Supports AABB3D and sphere colliders.\n */\n\nimport { definePlugin, type BasePluginOptions } from 'ecspresso';\nimport type { Transform3DWorldConfig } from '../spatial/transform3D';\nimport {\n\tfillBaseColliderInfo3D,\n\tdetectCollisions3D,\n\tAABB3D_SHAPE,\n\ttype Contact3D,\n\ttype BaseColliderInfo3D,\n} from '../../utils/narrowphase3D';\nimport type { SpatialIndex3D } from '../../utils/spatial-hash3D';\nimport {\n\tdefineCollisionLayers,\n\tcreateCollisionPairHandler,\n\tcreateCollisionLayer,\n\ttype CollisionLayer,\n\ttype LayerFactories,\n\ttype LayersOf,\n\ttype CollisionPairCallback,\n} from './collision';\n\n// Re-export dimension-agnostic layer utilities so consumers only need one import\nexport { defineCollisionLayers, createCollisionPairHandler, createCollisionLayer };\nexport type { CollisionLayer, LayerFactories, LayersOf, CollisionPairCallback };\n\n// Re-export collider shapes (defined in spatial-index3D to avoid duplication)\nexport type { AABB3DCollider, SphereCollider } from '../spatial/spatial-index3D';\nimport type { AABB3DCollider, SphereCollider } from '../spatial/spatial-index3D';\n\n// ==================== Component Types ====================\n\n/**\n * Component types provided by the collision3D plugin.\n */\nexport interface Collision3DComponentTypes<L extends string = never> {\n\taabb3DCollider: AABB3DCollider;\n\tsphereCollider: SphereCollider;\n\tcollisionLayer: CollisionLayer<L>;\n}\n\n// ==================== Event Types ====================\n\n/**\n * Event fired when two 3D entities collide.\n *\n * Normal components are flattened to avoid per-event allocation in the hot path.\n */\nexport interface Collision3DEvent<L extends string = never> {\n\tentityA: number;\n\tentityB: number;\n\tlayerA: L;\n\tlayerB: L;\n\t/** Contact normal X, pointing from entityA toward entityB */\n\tnormalX: number;\n\t/** Contact normal Y, pointing from entityA toward entityB */\n\tnormalY: number;\n\t/** Contact normal Z, pointing from entityA toward entityB */\n\tnormalZ: number;\n\t/** Penetration depth (positive = overlapping) */\n\tdepth: number;\n}\n\n/**\n * Event types provided by the collision3D plugin.\n */\nexport interface Collision3DEventTypes<L extends string = never> {\n\tcollision3D: Collision3DEvent<L>;\n}\n\n// ==================== Plugin Options ====================\n\n/**\n * Configuration options for the collision3D plugin.\n */\nexport interface Collision3DPluginOptions<G extends string = 'physics'> extends BasePluginOptions<G> {}\n\n// ==================== Helper Functions ====================\n\nexport function createAABB3DCollider(\n\twidth: number,\n\theight: number,\n\tdepth: number,\n\toffsetX?: number,\n\toffsetY?: number,\n\toffsetZ?: number,\n): { aabb3DCollider: AABB3DCollider } {\n\tconst collider: AABB3DCollider = { width, height, depth };\n\tif (offsetX !== undefined) collider.offsetX = offsetX;\n\tif (offsetY !== undefined) collider.offsetY = offsetY;\n\tif (offsetZ !== undefined) collider.offsetZ = offsetZ;\n\treturn { aabb3DCollider: collider };\n}\n\nexport function createSphereCollider(\n\tradius: number,\n\toffsetX?: number,\n\toffsetY?: number,\n\toffsetZ?: number,\n): { sphereCollider: SphereCollider } {\n\tconst collider: SphereCollider = { radius };\n\tif (offsetX !== undefined) collider.offsetX = offsetX;\n\tif (offsetY !== undefined) collider.offsetY = offsetY;\n\tif (offsetZ !== undefined) collider.offsetZ = offsetZ;\n\treturn { sphereCollider: collider };\n}\n\n// ==================== Module-level Collision Callback ====================\n\ninterface Collision3DEventBus<L extends string> {\n\tpublish(event: 'collision3D', data: Collision3DEvent<L>): void;\n}\n\n/**\n * Module-level reusable collision event. Subscribers must consume synchronously —\n * same contract as the shared narrowphase Contact3D.\n */\nconst _collisionEvent: Collision3DEvent<string> = {\n\tentityA: 0, entityB: 0, layerA: '', layerB: '',\n\tnormalX: 0, normalY: 0, normalZ: 0, depth: 0,\n};\n\nfunction onCollisionDetected3D<L extends string>(\n\ta: BaseColliderInfo3D<L>,\n\tb: BaseColliderInfo3D<L>,\n\tcontact: Contact3D,\n\teventBus: Collision3DEventBus<L>,\n): void {\n\t_collisionEvent.entityA = a.entityId;\n\t_collisionEvent.entityB = b.entityId;\n\t_collisionEvent.layerA = a.layer;\n\t_collisionEvent.layerB = b.layer;\n\t_collisionEvent.normalX = contact.normalX;\n\t_collisionEvent.normalY = contact.normalY;\n\t_collisionEvent.normalZ = contact.normalZ;\n\t_collisionEvent.depth = contact.depth;\n\teventBus.publish('collision3D', _collisionEvent as Collision3DEvent<L>);\n}\n\n// ==================== Plugin Factory ====================\n\n/**\n * Create a 3D collision plugin for ECSpresso.\n *\n * Provides layer-based collision detection between entities with 3D colliders,\n * publishing `collision3D` events on contact. Supports AABB3D-AABB3D,\n * sphere-sphere, and AABB3D-sphere tests. Automatically uses the\n * `spatialIndex3D` resource for broadphase when present.\n *\n * @example\n * ```typescript\n * const layers = defineCollisionLayers({ player: ['enemy'], enemy: ['player'] });\n * const ecs = ECSpresso\n *   .create()\n *   .withPlugin(createTransform3DPlugin())\n *   .withPlugin(createCollision3DPlugin({ layers }))\n *   .build();\n *\n * ecs.eventBus.subscribe('collision3D', (data) => {\n *   console.log(data.entityA, data.entityB, data.normalZ);\n * });\n * ```\n */\nexport function createCollision3DPlugin<L extends string, G extends string = 'physics'>(\n\toptions: Collision3DPluginOptions<G> & { layers: LayerFactories<Record<L, readonly string[]>> },\n) {\n\tconst {\n\t\tsystemGroup = 'physics',\n\t\tpriority = 0,\n\t\tphase = 'postUpdate',\n\t} = options;\n\n\treturn definePlugin('collision3D')\n\t\t.withComponentTypes<Collision3DComponentTypes<L>>()\n\t\t.withEventTypes<Collision3DEventTypes<L>>()\n\t\t.withLabels<'collision3D-detection'>()\n\t\t.withGroups<G>()\n\t\t.requires<Transform3DWorldConfig>()\n\t\t.install((world) => {\n\t\t\t// Grow-only pool of BaseColliderInfo3D slots reused across frames.\n\t\t\tconst colliderPool: BaseColliderInfo3D<L>[] = [];\n\t\t\t// Reusable entityId → collider lookup for the broadphase path.\n\t\t\tconst broadphaseMap = new Map<number, BaseColliderInfo3D<L>>();\n\t\t\t// Cached spatial index reference (resolved once on first frame).\n\t\t\tlet cachedSI: SpatialIndex3D | undefined;\n\t\t\tlet siResolved = false;\n\n\t\t\tworld\n\t\t\t\t.addSystem('collision3D-detection')\n\t\t\t\t.setPriority(priority)\n\t\t\t\t.inPhase(phase)\n\t\t\t\t.inGroup(systemGroup)\n\t\t\t\t.addQuery('collidables', {\n\t\t\t\t\twith: ['worldTransform3D', 'collisionLayer'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, ecs }) => {\n\t\t\t\t\tlet count = 0;\n\n\t\t\t\t\tfor (const entity of queries.collidables) {\n\t\t\t\t\t\tconst { worldTransform3D, collisionLayer } = entity.components;\n\t\t\t\t\t\tconst aabb = ecs.getComponent(entity.id, 'aabb3DCollider');\n\t\t\t\t\t\tconst sphere = aabb ? undefined : ecs.getComponent(entity.id, 'sphereCollider');\n\t\t\t\t\t\tif (!aabb && !sphere) continue;\n\n\t\t\t\t\t\tlet slot = colliderPool[count];\n\t\t\t\t\t\tif (!slot) {\n\t\t\t\t\t\t\tslot = {\n\t\t\t\t\t\t\t\tentityId: entity.id,\n\t\t\t\t\t\t\t\tx: worldTransform3D.x,\n\t\t\t\t\t\t\t\ty: worldTransform3D.y,\n\t\t\t\t\t\t\t\tz: worldTransform3D.z,\n\t\t\t\t\t\t\t\tlayer: collisionLayer.layer,\n\t\t\t\t\t\t\t\tcollidesWith: collisionLayer.collidesWith,\n\t\t\t\t\t\t\t\tshape: AABB3D_SHAPE,\n\t\t\t\t\t\t\t\thalfWidth: 0,\n\t\t\t\t\t\t\t\thalfHeight: 0,\n\t\t\t\t\t\t\t\thalfDepth: 0,\n\t\t\t\t\t\t\t\tradius: 0,\n\t\t\t\t\t\t\t};\n\t\t\t\t\t\t\tcolliderPool[count] = slot;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tif (!fillBaseColliderInfo3D(\n\t\t\t\t\t\t\tslot,\n\t\t\t\t\t\t\tentity.id, worldTransform3D.x, worldTransform3D.y, worldTransform3D.z,\n\t\t\t\t\t\t\tcollisionLayer.layer, collisionLayer.collidesWith,\n\t\t\t\t\t\t\taabb, sphere,\n\t\t\t\t\t\t)) continue;\n\n\t\t\t\t\t\tcount++;\n\t\t\t\t\t}\n\n\t\t\t\t\tif (!siResolved) {\n\t\t\t\t\t\tcachedSI = ecs.tryGetResource<SpatialIndex3D>('spatialIndex3D');\n\t\t\t\t\t\tsiResolved = true;\n\t\t\t\t\t}\n\t\t\t\t\tdetectCollisions3D(colliderPool, count, broadphaseMap, cachedSI, onCollisionDetected3D<L>, ecs.eventBus);\n\t\t\t\t});\n\t\t});\n}\n",
+    "/**\n * Shared Narrowphase Module — 3D\n *\n * Provides contact-computing narrowphase tests and a generic collision\n * iteration pipeline for 3D collider pairs (AABB3D + Sphere).\n *\n * Mirrors the 2D narrowphase (`narrowphase.ts`) with an added Z axis.\n */\n\nimport type { SpatialIndex3D } from './spatial-hash3D';\n\n// ==================== Contact3D ====================\n\n/**\n * Contact result from a 3D narrowphase test. Normal points from A toward B.\n *\n * Narrowphase functions use this as an out-parameter: the caller owns the\n * struct, the function writes fields in place and returns `true` on hit.\n * The `onContact` callback in `detectCollisions3D` receives a shared module-\n * level instance — **subscribers must consume it synchronously and must not\n * retain the reference across frames**.\n */\nexport interface Contact3D {\n\tnormalX: number;\n\tnormalY: number;\n\tnormalZ: number;\n\t/** Penetration depth (positive = overlapping) */\n\tdepth: number;\n}\n\n/**\n * Module-level reusable Contact3D passed down from `detectCollisions3D` into\n * narrowphase tests and forwarded to the `onContact` callback. Reused across\n * every pair in every frame — zero allocation in the narrowphase hot path.\n */\nconst _sharedContact: Contact3D = { normalX: 0, normalY: 0, normalZ: 0, depth: 0 };\n\n// ==================== BaseColliderInfo3D ====================\n\n/** Collider shape discriminator for the flattened BaseColliderInfo3D layout. */\nexport const AABB3D_SHAPE = 0;\nexport const SPHERE_SHAPE = 1;\nexport type ColliderShape3D = typeof AABB3D_SHAPE | typeof SPHERE_SHAPE;\n\n/**\n * Minimum collider data shared by 3D collision and physics bundles.\n *\n * Flat layout (no nested sub-objects): the `shape` discriminator tells you\n * whether to read `halfWidth`/`halfHeight`/`halfDepth` (AABB3D) or `radius`\n * (Sphere). Unused fields are set to 0.\n *\n * Pool-friendly — all fields are assigned in place each frame.\n */\nexport interface BaseColliderInfo3D<L extends string = string> {\n\tentityId: number;\n\tx: number;\n\ty: number;\n\tz: number;\n\tlayer: L;\n\tcollidesWith: readonly L[];\n\tshape: ColliderShape3D;\n\thalfWidth: number;\n\thalfHeight: number;\n\thalfDepth: number;\n\tradius: number;\n}\n\n// ==================== Collider Construction ====================\n\n/**\n * Populate a `BaseColliderInfo3D` slot in place from raw component data.\n * Returns `true` if the slot was filled, `false` if the entity has no\n * collider (caller should skip it).\n *\n * If an entity has both AABB3D and sphere colliders, AABB3D wins and only\n * the AABB3D offset is applied.\n */\nexport function fillBaseColliderInfo3D<L extends string>(\n\tinfo: BaseColliderInfo3D<L>,\n\tentityId: number,\n\tx: number,\n\ty: number,\n\tz: number,\n\tlayer: L,\n\tcollidesWith: readonly L[],\n\taabb3D: { width: number; height: number; depth: number; offsetX?: number; offsetY?: number; offsetZ?: number } | undefined,\n\tsphere: { radius: number; offsetX?: number; offsetY?: number; offsetZ?: number } | undefined,\n): boolean {\n\tinfo.entityId = entityId;\n\tinfo.layer = layer;\n\tinfo.collidesWith = collidesWith;\n\n\tif (aabb3D) {\n\t\tinfo.x = x + (aabb3D.offsetX ?? 0);\n\t\tinfo.y = y + (aabb3D.offsetY ?? 0);\n\t\tinfo.z = z + (aabb3D.offsetZ ?? 0);\n\t\tinfo.shape = AABB3D_SHAPE;\n\t\tinfo.halfWidth = aabb3D.width / 2;\n\t\tinfo.halfHeight = aabb3D.height / 2;\n\t\tinfo.halfDepth = aabb3D.depth / 2;\n\t\tinfo.radius = 0;\n\t\treturn true;\n\t}\n\n\tif (sphere) {\n\t\tinfo.x = x + (sphere.offsetX ?? 0);\n\t\tinfo.y = y + (sphere.offsetY ?? 0);\n\t\tinfo.z = z + (sphere.offsetZ ?? 0);\n\t\tinfo.shape = SPHERE_SHAPE;\n\t\tinfo.halfWidth = 0;\n\t\tinfo.halfHeight = 0;\n\t\tinfo.halfDepth = 0;\n\t\tinfo.radius = sphere.radius;\n\t\treturn true;\n\t}\n\n\treturn false;\n}\n\n// ==================== Spatial Index Lookup ====================\n\n/**\n * Retrieve the optional spatialIndex3D resource, returning undefined when absent.\n * Centralizes the cross-plugin typed lookup so individual plugins don't each\n * need to import SpatialIndex3D or repeat the tryGetResource pattern.\n */\nexport function tryGetSpatialIndex3D(\n\ttryGetResource: <T>(key: string) => T | undefined,\n): SpatialIndex3D | undefined {\n\treturn tryGetResource<SpatialIndex3D>('spatialIndex3D');\n}\n\n// ==================== Narrowphase Tests ====================\n\n/**\n * Write an AABB3D-vs-AABB3D contact into `out`. Returns `true` if the\n * shapes overlap (out was filled), `false` otherwise.\n *\n * Resolves along the axis with minimum penetration depth.\n */\nexport function computeAABB3DvsAABB3D(\n\tax: number, ay: number, az: number, ahw: number, ahh: number, ahd: number,\n\tbx: number, by: number, bz: number, bhw: number, bhh: number, bhd: number,\n\tout: Contact3D,\n): boolean {\n\tconst dx = bx - ax;\n\tconst dy = by - ay;\n\tconst dz = bz - az;\n\tconst overlapX = (ahw + bhw) - Math.abs(dx);\n\tconst overlapY = (ahh + bhh) - Math.abs(dy);\n\tconst overlapZ = (ahd + bhd) - Math.abs(dz);\n\n\tif (overlapX <= 0 || overlapY <= 0 || overlapZ <= 0) return false;\n\n\tif (overlapX <= overlapY && overlapX <= overlapZ) {\n\t\tout.normalX = dx >= 0 ? 1 : -1;\n\t\tout.normalY = 0;\n\t\tout.normalZ = 0;\n\t\tout.depth = overlapX;\n\t\treturn true;\n\t}\n\n\tif (overlapY <= overlapZ) {\n\t\tout.normalX = 0;\n\t\tout.normalY = dy >= 0 ? 1 : -1;\n\t\tout.normalZ = 0;\n\t\tout.depth = overlapY;\n\t\treturn true;\n\t}\n\n\tout.normalX = 0;\n\tout.normalY = 0;\n\tout.normalZ = dz >= 0 ? 1 : -1;\n\tout.depth = overlapZ;\n\treturn true;\n}\n\n/**\n * Write a sphere-vs-sphere contact into `out`. Returns `true` if the\n * spheres overlap.\n */\nexport function computeSphereVsSphere(\n\tax: number, ay: number, az: number, ar: number,\n\tbx: number, by: number, bz: number, br: number,\n\tout: Contact3D,\n): boolean {\n\tconst dx = bx - ax;\n\tconst dy = by - ay;\n\tconst dz = bz - az;\n\tconst distSq = dx * dx + dy * dy + dz * dz;\n\tconst radiusSum = ar + br;\n\n\tif (distSq >= radiusSum * radiusSum) return false;\n\n\tconst dist = Math.sqrt(distSq);\n\tif (dist === 0) {\n\t\tout.normalX = 1;\n\t\tout.normalY = 0;\n\t\tout.normalZ = 0;\n\t\tout.depth = radiusSum;\n\t\treturn true;\n\t}\n\tout.normalX = dx / dist;\n\tout.normalY = dy / dist;\n\tout.normalZ = dz / dist;\n\tout.depth = radiusSum - dist;\n\treturn true;\n}\n\n/**\n * Write an AABB3D-vs-sphere contact into `out`. Returns `true` if the\n * shapes overlap.\n *\n * Uses closest-point-on-AABB to sphere center. When the sphere center\n * is inside the AABB, resolves along the axis with minimum push distance.\n */\nexport function computeAABB3DvsSphere(\n\taabbX: number, aabbY: number, aabbZ: number, ahw: number, ahh: number, ahd: number,\n\tsphereX: number, sphereY: number, sphereZ: number, radius: number,\n\tout: Contact3D,\n): boolean {\n\tconst closestX = Math.max(aabbX - ahw, Math.min(sphereX, aabbX + ahw));\n\tconst closestY = Math.max(aabbY - ahh, Math.min(sphereY, aabbY + ahh));\n\tconst closestZ = Math.max(aabbZ - ahd, Math.min(sphereZ, aabbZ + ahd));\n\n\tconst dx = sphereX - closestX;\n\tconst dy = sphereY - closestY;\n\tconst dz = sphereZ - closestZ;\n\tconst distSq = dx * dx + dy * dy + dz * dz;\n\n\tif (distSq >= radius * radius) return false;\n\n\t// Sphere center inside AABB — resolve along minimum push axis\n\tif (distSq === 0) {\n\t\tconst pushLeft = (sphereX - (aabbX - ahw));\n\t\tconst pushRight = ((aabbX + ahw) - sphereX);\n\t\tconst pushUp = (sphereY - (aabbY - ahh));\n\t\tconst pushDown = ((aabbY + ahh) - sphereY);\n\t\tconst pushFront = (sphereZ - (aabbZ - ahd));\n\t\tconst pushBack = ((aabbZ + ahd) - sphereZ);\n\t\tconst minPush = Math.min(pushLeft, pushRight, pushUp, pushDown, pushFront, pushBack);\n\n\t\tif (minPush === pushRight) {\n\t\t\tout.normalX = 1; out.normalY = 0; out.normalZ = 0; out.depth = pushRight + radius;\n\t\t\treturn true;\n\t\t}\n\t\tif (minPush === pushLeft) {\n\t\t\tout.normalX = -1; out.normalY = 0; out.normalZ = 0; out.depth = pushLeft + radius;\n\t\t\treturn true;\n\t\t}\n\t\tif (minPush === pushDown) {\n\t\t\tout.normalX = 0; out.normalY = 1; out.normalZ = 0; out.depth = pushDown + radius;\n\t\t\treturn true;\n\t\t}\n\t\tif (minPush === pushUp) {\n\t\t\tout.normalX = 0; out.normalY = -1; out.normalZ = 0; out.depth = pushUp + radius;\n\t\t\treturn true;\n\t\t}\n\t\tif (minPush === pushBack) {\n\t\t\tout.normalX = 0; out.normalY = 0; out.normalZ = 1; out.depth = pushBack + radius;\n\t\t\treturn true;\n\t\t}\n\t\tout.normalX = 0; out.normalY = 0; out.normalZ = -1; out.depth = pushFront + radius;\n\t\treturn true;\n\t}\n\n\tconst dist = Math.sqrt(distSq);\n\tout.normalX = dx / dist;\n\tout.normalY = dy / dist;\n\tout.normalZ = dz / dist;\n\tout.depth = radius - dist;\n\treturn true;\n}\n\n// ==================== Contact Dispatcher ====================\n\n/**\n * Dispatch to the correct narrowphase function for the given pair and\n * write the contact into `out`. Returns `true` if the pair overlaps.\n */\nexport function computeContact3D(a: BaseColliderInfo3D, b: BaseColliderInfo3D, out: Contact3D): boolean {\n\tif (a.shape === AABB3D_SHAPE && b.shape === AABB3D_SHAPE) {\n\t\treturn computeAABB3DvsAABB3D(\n\t\t\ta.x, a.y, a.z, a.halfWidth, a.halfHeight, a.halfDepth,\n\t\t\tb.x, b.y, b.z, b.halfWidth, b.halfHeight, b.halfDepth,\n\t\t\tout,\n\t\t);\n\t}\n\n\tif (a.shape === SPHERE_SHAPE && b.shape === SPHERE_SHAPE) {\n\t\treturn computeSphereVsSphere(\n\t\t\ta.x, a.y, a.z, a.radius,\n\t\t\tb.x, b.y, b.z, b.radius,\n\t\t\tout,\n\t\t);\n\t}\n\n\tif (a.shape === AABB3D_SHAPE && b.shape === SPHERE_SHAPE) {\n\t\treturn computeAABB3DvsSphere(\n\t\t\ta.x, a.y, a.z, a.halfWidth, a.halfHeight, a.halfDepth,\n\t\t\tb.x, b.y, b.z, b.radius,\n\t\t\tout,\n\t\t);\n\t}\n\n\t// a is Sphere, b is AABB3D — compute as AABB3D-vs-Sphere, then flip normal\n\tif (!computeAABB3DvsSphere(\n\t\tb.x, b.y, b.z, b.halfWidth, b.halfHeight, b.halfDepth,\n\t\ta.x, a.y, a.z, a.radius,\n\t\tout,\n\t)) return false;\n\tout.normalX = -out.normalX;\n\tout.normalY = -out.normalY;\n\tout.normalZ = -out.normalZ;\n\treturn true;\n}\n\n// ==================== Collision Iteration ====================\n\n/** Module-level reusable set for broadphase candidates. */\nconst _broadphaseCandidates = new Set<number>();\n\nlet _bruteForceWarned = false;\nconst BRUTE_FORCE_WARN_THRESHOLD = 50;\n\n/**\n * Generic 3D collision detection pipeline: brute-force or broadphase,\n * with layer filtering and contact computation.\n *\n * `count` is the number of live entries at the front of `colliders`.\n * The array itself may be a grow-only pool — only indices `[0, count)`\n * are iterated, so trailing pool slots are ignored.\n *\n * `workingMap` is a caller-owned `Map<number, I>` used by the broadphase\n * path as an entityId → collider lookup. It is cleared and repopulated on\n * each call; callers should allocate it once and pass the same instance\n * every frame.\n *\n * Uses a context parameter forwarded to the callback to avoid\n * per-frame closure allocation.\n */\nexport function detectCollisions3D<I extends BaseColliderInfo3D, C>(\n\tcolliders: I[],\n\tcount: number,\n\tworkingMap: Map<number, I>,\n\tspatialIndex: SpatialIndex3D | undefined,\n\tonContact: (a: I, b: I, contact: Contact3D, context: C) => void,\n\tcontext: C,\n): void {\n\tif (spatialIndex) {\n\t\tbroadphaseDetect(colliders, count, workingMap, spatialIndex, onContact, context);\n\t} else {\n\t\tbruteForceDetect(colliders, count, onContact, context);\n\t}\n}\n\nfunction bruteForceDetect<I extends BaseColliderInfo3D, C>(\n\tcolliders: I[],\n\tcount: number,\n\tonContact: (a: I, b: I, contact: Contact3D, context: C) => void,\n\tcontext: C,\n): void {\n\tif (!_bruteForceWarned && count >= BRUTE_FORCE_WARN_THRESHOLD) {\n\t\t_bruteForceWarned = true;\n\t\tconsole.warn(\n\t\t\t`[ecspresso] 3D collision detection is using O(n²) brute force with ${count} colliders. ` +\n\t\t\t`For better performance, install createSpatialIndex3DPlugin() alongside your collision or physics3D plugin.`,\n\t\t);\n\t}\n\n\tfor (let i = 0; i < count; i++) {\n\t\tconst a = colliders[i];\n\t\tif (!a) continue;\n\n\t\tfor (let j = i + 1; j < count; j++) {\n\t\t\tconst b = colliders[j];\n\t\t\tif (!b) continue;\n\n\t\t\tif (!a.collidesWith.includes(b.layer) && !b.collidesWith.includes(a.layer)) continue;\n\n\t\t\tif (!computeContact3D(a, b, _sharedContact)) continue;\n\n\t\t\tonContact(a, b, _sharedContact, context);\n\t\t}\n\t}\n}\n\nfunction broadphaseDetect<I extends BaseColliderInfo3D, C>(\n\tcolliders: I[],\n\tcount: number,\n\tcolliderMap: Map<number, I>,\n\tspatialIndex: SpatialIndex3D,\n\tonContact: (a: I, b: I, contact: Contact3D, context: C) => void,\n\tcontext: C,\n): void {\n\tcolliderMap.clear();\n\tfor (let i = 0; i < count; i++) {\n\t\tconst c = colliders[i];\n\t\tif (!c) continue;\n\t\tcolliderMap.set(c.entityId, c);\n\t}\n\n\tfor (let i = 0; i < count; i++) {\n\t\tconst a = colliders[i];\n\t\tif (!a) continue;\n\n\t\tconst aHalfW = a.shape === AABB3D_SHAPE ? a.halfWidth : a.radius;\n\t\tconst aHalfH = a.shape === AABB3D_SHAPE ? a.halfHeight : a.radius;\n\t\tconst aHalfD = a.shape === AABB3D_SHAPE ? a.halfDepth : a.radius;\n\n\t\t_broadphaseCandidates.clear();\n\t\tspatialIndex.queryBoxInto(\n\t\t\ta.x - aHalfW, a.y - aHalfH, a.z - aHalfD,\n\t\t\ta.x + aHalfW, a.y + aHalfH, a.z + aHalfD,\n\t\t\t_broadphaseCandidates,\n\t\t);\n\n\t\tfor (const bId of _broadphaseCandidates) {\n\t\t\tif (bId <= a.entityId) continue;\n\n\t\t\tconst b = colliderMap.get(bId);\n\t\t\tif (!b) continue;\n\n\t\t\tif (!a.collidesWith.includes(b.layer) && !b.collidesWith.includes(a.layer)) continue;\n\n\t\t\tif (!computeContact3D(a, b, _sharedContact)) continue;\n\n\t\t\tonContact(a, b, _sharedContact, context);\n\t\t}\n\t}\n}\n"
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+  "debugId": "3D520B3D38C39C7E64756E2164756E21",
+  "names": []
+}

package/dist/plugins/physics/physics2D.js

@@ -1,4 +1,4 @@
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For better performance, install createSpatialIndexPlugin() alongside your collision or physics2D plugin.`);for(let Z=0;Z<J;Z++){let O=z[Z];if(!O)continue;for(let $=Z+1;$<J;$++){let K=z[$];if(!K)continue;if(!O.collidesWith.includes(K.layer)&&!K.collidesWith.includes(O.layer))continue;if(!B(O,K,X))continue;Q(O,K,X,j)}}}function h(z,J,Q,j,Z,O){Q.clear();for(let $=0;$<J;$++){let K=z[$];if(!K)continue;Q.set(K.entityId,K)}for(let $=0;$<J;$++){let K=z[$];if(!K)continue;let F=K.shape===0?K.halfWidth:K.radius,D=K.shape===0?K.halfHeight:K.radius;Y.clear(),j.queryRectInto(K.x-F,K.y-D,K.x+F,K.y+D,Y);for(let U of Y){if(U<=K.entityId)continue;let k=Q.get(U);if(!k)continue;if(!K.collidesWith.includes(k.layer)&&!k.collidesWith.includes(K.layer))continue;if(!B(K,k,X))continue;Z(K,k,X,O)}}}function s(z,J){return{rigidBody:{type:z,mass:z==="static"?1/0:J?.mass??1,drag:J?.drag??0,restitution:J?.restitution??0,friction:J?.friction??0,gravityScale:J?.gravityScale??1},force:{x:0,y:0}}}function n(z,J){return{force:{x:z,y:J}}}function c(z,J,Q,j){let Z=z.getComponent(J,"force");if(!Z)return;Z.x+=Q,Z.y+=j}function i(z,J,Q,j){let Z=z.getComponent(J,"velocity"),O=z.getComponent(J,"rigidBody");if(!Z||!O)return;if(O.mass===1/0||O.mass===0)return;Z.x+=Q/O.mass,Z.y+=j/O.mass}function e(z,J,Q,j){let Z=z.getComponent(J,"velocity");if(!Z)return;Z.x=Q,Z.y=j}var S={entityA:0,entityB:0,normalX:0,normalY:0,depth:0};function y(z,J,Q,j){let Z=z.rigidBody.type==="dynamic"&&z.rigidBody.mass>0&&z.rigidBody.mass!==1/0?1/z.rigidBody.mass:0,O=J.rigidBody.type==="dynamic"&&J.rigidBody.mass>0&&J.rigidBody.mass!==1/0?1/J.rigidBody.mass:0,$=Z+O;if($>0){let K=Q.depth/$;if(Z>0){let k=j.getComponent(z.entityId,"localTransform");if(!k)return;k.x-=K*Z*Q.normalX,k.y-=K*Z*Q.normalY,z.x=k.x,j.markChanged(z.entityId,"localTransform")}if(O>0){let k=j.getComponent(J.entityId,"localTransform");if(!k)return;k.x+=K*O*Q.normalX,k.y+=K*O*Q.normalY,j.markChanged(J.entityId,"localTransform")}let F=J.velocity.x-z.velocity.x,D=J.velocity.y-z.velocity.y,U=F*Q.normalX+D*Q.normalY;if(U<0){let G=-(1+Math.min(z.rigidBody.restitution,J.rigidBody.restitution))*U/$;z.velocity.x-=G*Z*Q.normalX,z.velocity.y-=G*Z*Q.normalY,J.velocity.x+=G*O*Q.normalX,J.velocity.y+=G*O*Q.normalY;let E=F-U*Q.normalX,V=D-U*Q.normalY,W=Math.sqrt(E*E+V*V);if(W>0.000001){let L=E/W,H=V/W,_=Math.sqrt(z.rigidBody.friction*J.rigidBody.friction)*Math.abs(G),T=Math.min(W/$,_);z.velocity.x+=T*Z*L,z.velocity.y+=T*Z*H,J.velocity.x-=T*O*L,J.velocity.y-=T*O*H}}j.markChanged(z.entityId,"velocity"),j.markChanged(J.entityId,"velocity")}S.entityA=z.entityId,S.entityB=J.entityId,S.normalX=Q.normalX,S.normalY=Q.normalY,S.depth=Q.depth,j.eventBus.publish("physicsCollision",S)}function a(z){let{gravity:J={x:0,y:0},systemGroup:Q="physics2D",collisionSystemGroup:j,integrationPriority:Z=1000,collisionPriority:O=900,phase:$="fixedUpdate"}=z??{};return p("physics2D").withComponentTypes().withEventTypes().withResourceTypes().withLabels().withGroups().requires().install((K)=>{K.registerRequired("rigidBody","velocity",()=>({x:0,y:0})),K.registerRequired("rigidBody","force",()=>({x:0,y:0})),K.addResource("physicsConfig",{gravity:{x:J.x,y:J.y}}),K.addSystem("physics2D-integration").setPriority(Z).inPhase($).inGroup(Q).addQuery("bodies",{with:["localTransform","velocity","rigidBody","force"]}).setProcess(({queries:E,dt:V,ecs:W})=>{let{gravity:L}=W.getResource("physicsConfig"),H=L.x,R=L.y;for(let _ of E.bodies){let{localTransform:T,velocity:q,rigidBody:N,force:P}=_.components;if(N.type==="static")continue;if(N.type==="dynamic"){if(q.x+=H*N.gravityScale*V,q.y+=R*N.gravityScale*V,N.mass>0&&N.mass!==1/0)q.x+=P.x/N.mass*V,q.y+=P.y/N.mass*V;if(N.drag>0){let A=Math.max(0,1-N.drag*V);q.x*=A,q.y*=A}}T.x+=q.x*V,T.y+=q.y*V,P.x=0,P.y=0,W.markChanged(_.id,"localTransform")}});let F=K.addSystem("physics2D-collision").setPriority(O).inPhase($).inGroup(Q);if(j)F.inGroup(j);let D=[],U=new Map,k,G=!1;F.addQuery("collidables",{with:["localTransform","rigidBody","velocity","collisionLayer"]}).setProcess(({queries:E,ecs:V})=>{let W=0;for(let L of E.collidables){let{localTransform:H,rigidBody:R,velocity:_,collisionLayer:T}=L.components,q=V.getComponent(L.id,"aabbCollider"),N=q?void 0:V.getComponent(L.id,"circleCollider");if(!q&&!N)continue;let P=D[W];if(!P)P={entityId:L.id,x:H.x,y:H.y,layer:T.layer,collidesWith:T.collidesWith,shape:w,halfWidth:0,halfHeight:0,radius:0,rigidBody:R,velocity:_},D[W]=P;else P.rigidBody=R,P.velocity=_;if(!I(P,L.id,H.x,H.y,T.layer,T.collidesWith,q,N))continue;W++}if(!G)k=V.tryGetResource("spatialIndex"),G=!0;x(D,W,U,k,y,V)})})}export{e as setVelocity,s as createRigidBody,a as createPhysics2DPlugin,n as createForce,i as applyImpulse,c as applyForce};
+var m=Object.defineProperty;var g=(z)=>z;function v(z,J){this[z]=g.bind(null,J)}var r=(z,J)=>{for(var Q in J)m(z,Q,{get:J[Q],enumerable:!0,configurable:!0,set:v.bind(J,Q)})};var l=(z,J)=>()=>(z&&(J=z(z=0)),J);var s=((z)=>typeof require<"u"?require:typeof Proxy<"u"?new Proxy(z,{get:(J,Q)=>(typeof require<"u"?require:J)[Q]}):z)(function(z){if(typeof require<"u")return require.apply(this,arguments);throw Error('Dynamic require of "'+z+'" is not supported')});import{definePlugin as u}from"ecspresso";var X={normalX:0,normalY:0,depth:0},w=0;function I(z,J,Q,j,Z,O,$,K){if(z.entityId=J,z.layer=Z,z.collidesWith=O,$)return z.x=Q+($.offsetX??0),z.y=j+($.offsetY??0),z.shape=0,z.halfWidth=$.width/2,z.halfHeight=$.height/2,z.radius=0,!0;if(K)return z.x=Q+(K.offsetX??0),z.y=j+(K.offsetY??0),z.shape=1,z.halfWidth=0,z.halfHeight=0,z.radius=K.radius,!0;return!1}function f(z,J,Q,j,Z,O,$,K,F){let D=Z-z,U=O-J,k=Q+$-Math.abs(D),G=j+K-Math.abs(U);if(k<=0||G<=0)return!1;if(k<G)return F.normalX=D>=0?1:-1,F.normalY=0,F.depth=k,!0;return F.normalX=0,F.normalY=U>=0?1:-1,F.depth=G,!0}function h(z,J,Q,j,Z,O,$){let K=j-z,F=Z-J,D=K*K+F*F,U=Q+O;if(D>=U*U)return!1;let k=Math.sqrt(D);if(k===0)return $.normalX=1,$.normalY=0,$.depth=U,!0;return $.normalX=K/k,$.normalY=F/k,$.depth=U-k,!0}function M(z,J,Q,j,Z,O,$,K){let F=Math.max(z-Q,Math.min(Z,z+Q)),D=Math.max(J-j,Math.min(O,J+j)),U=Z-F,k=O-D,G=U*U+k*k;if(G>=$*$)return!1;if(G===0){let V=Z-(z-Q),W=z+Q-Z,L=O-(J-j),H=J+j-O,R=Math.min(V,W,L,H);if(R===W)return K.normalX=1,K.normalY=0,K.depth=W+$,!0;if(R===V)return K.normalX=-1,K.normalY=0,K.depth=V+$,!0;if(R===H)return K.normalX=0,K.normalY=1,K.depth=H+$,!0;return K.normalX=0,K.normalY=-1,K.depth=L+$,!0}let E=Math.sqrt(G);return K.normalX=U/E,K.normalY=k/E,K.depth=$-E,!0}function B(z,J,Q){if(z.shape===0&&J.shape===0)return f(z.x,z.y,z.halfWidth,z.halfHeight,J.x,J.y,J.halfWidth,J.halfHeight,Q);if(z.shape===1&&J.shape===1)return h(z.x,z.y,z.radius,J.x,J.y,J.radius,Q);if(z.shape===0&&J.shape===1)return M(z.x,z.y,z.halfWidth,z.halfHeight,J.x,J.y,J.radius,Q);if(!M(J.x,J.y,J.halfWidth,J.halfHeight,z.x,z.y,z.radius,Q))return!1;return Q.normalX=-Q.normalX,Q.normalY=-Q.normalY,!0}var Y=new Set,C=!1,p=50;function x(z,J,Q,j,Z,O){if(j)b(z,J,Q,j,Z,O);else y(z,J,Z,O)}function y(z,J,Q,j){if(!C&&J>=p)C=!0,console.warn(`[ecspresso] Collision detection is using O(n²) brute force with ${J} colliders. For better performance, install createSpatialIndexPlugin() alongside your collision or physics2D plugin.`);for(let Z=0;Z<J;Z++){let O=z[Z];if(!O)continue;for(let $=Z+1;$<J;$++){let K=z[$];if(!K)continue;if(!O.collidesWith.includes(K.layer)&&!K.collidesWith.includes(O.layer))continue;if(!B(O,K,X))continue;Q(O,K,X,j)}}}function b(z,J,Q,j,Z,O){Q.clear();for(let $=0;$<J;$++){let K=z[$];if(!K)continue;Q.set(K.entityId,K)}for(let $=0;$<J;$++){let K=z[$];if(!K)continue;let F=K.shape===0?K.halfWidth:K.radius,D=K.shape===0?K.halfHeight:K.radius;Y.clear(),j.queryRectInto(K.x-F,K.y-D,K.x+F,K.y+D,Y);for(let U of Y){if(U<=K.entityId)continue;let k=Q.get(U);if(!k)continue;if(!K.collidesWith.includes(k.layer)&&!k.collidesWith.includes(K.layer))continue;if(!B(K,k,X))continue;Z(K,k,X,O)}}}function a(z,J){return{rigidBody:{type:z,mass:z==="static"?1/0:J?.mass??1,drag:J?.drag??0,restitution:J?.restitution??0,friction:J?.friction??0,gravityScale:J?.gravityScale??1},force:{x:0,y:0}}}function o(z,J){return{force:{x:z,y:J}}}function t(z,J,Q,j){let Z=z.getComponent(J,"force");if(!Z)return;Z.x+=Q,Z.y+=j}function zz(z,J,Q,j){let Z=z.getComponent(J,"velocity"),O=z.getComponent(J,"rigidBody");if(!Z||!O)return;if(O.mass===1/0||O.mass===0)return;Z.x+=Q/O.mass,Z.y+=j/O.mass}function Jz(z,J,Q,j){let Z=z.getComponent(J,"velocity");if(!Z)return;Z.x=Q,Z.y=j}var S={entityA:0,entityB:0,normalX:0,normalY:0,depth:0};function d(z,J,Q,j){let Z=z.rigidBody.type==="dynamic"&&z.rigidBody.mass>0&&z.rigidBody.mass!==1/0?1/z.rigidBody.mass:0,O=J.rigidBody.type==="dynamic"&&J.rigidBody.mass>0&&J.rigidBody.mass!==1/0?1/J.rigidBody.mass:0,$=Z+O;if($>0){let K=Q.depth/$;if(Z>0){let k=j.getComponent(z.entityId,"localTransform");if(!k)return;k.x-=K*Z*Q.normalX,k.y-=K*Z*Q.normalY,z.x=k.x,j.markChanged(z.entityId,"localTransform")}if(O>0){let k=j.getComponent(J.entityId,"localTransform");if(!k)return;k.x+=K*O*Q.normalX,k.y+=K*O*Q.normalY,j.markChanged(J.entityId,"localTransform")}let F=J.velocity.x-z.velocity.x,D=J.velocity.y-z.velocity.y,U=F*Q.normalX+D*Q.normalY;if(U<0){let G=-(1+Math.min(z.rigidBody.restitution,J.rigidBody.restitution))*U/$;z.velocity.x-=G*Z*Q.normalX,z.velocity.y-=G*Z*Q.normalY,J.velocity.x+=G*O*Q.normalX,J.velocity.y+=G*O*Q.normalY;let E=F-U*Q.normalX,V=D-U*Q.normalY,W=Math.sqrt(E*E+V*V);if(W>0.000001){let L=E/W,H=V/W,_=Math.sqrt(z.rigidBody.friction*J.rigidBody.friction)*Math.abs(G),T=Math.min(W/$,_);z.velocity.x+=T*Z*L,z.velocity.y+=T*Z*H,J.velocity.x-=T*O*L,J.velocity.y-=T*O*H}}j.markChanged(z.entityId,"velocity"),j.markChanged(J.entityId,"velocity")}S.entityA=z.entityId,S.entityB=J.entityId,S.normalX=Q.normalX,S.normalY=Q.normalY,S.depth=Q.depth,j.eventBus.publish("physicsCollision",S)}function Kz(z){let{gravity:J={x:0,y:0},systemGroup:Q="physics2D",collisionSystemGroup:j,integrationPriority:Z=1000,collisionPriority:O=900,phase:$="fixedUpdate"}=z??{};return u("physics2D").withComponentTypes().withEventTypes().withResourceTypes().withLabels().withGroups().requires().install((K)=>{K.registerRequired("rigidBody","velocity",()=>({x:0,y:0})),K.registerRequired("rigidBody","force",()=>({x:0,y:0})),K.addResource("physicsConfig",{gravity:{x:J.x,y:J.y}}),K.addSystem("physics2D-integration").setPriority(Z).inPhase($).inGroup(Q).addQuery("bodies",{with:["localTransform","velocity","rigidBody","force"]}).setProcess(({queries:E,dt:V,ecs:W})=>{let{gravity:L}=W.getResource("physicsConfig"),H=L.x,R=L.y;for(let _ of E.bodies){let{localTransform:T,velocity:q,rigidBody:N,force:P}=_.components;if(N.type==="static")continue;if(N.type==="dynamic"){if(q.x+=H*N.gravityScale*V,q.y+=R*N.gravityScale*V,N.mass>0&&N.mass!==1/0)q.x+=P.x/N.mass*V,q.y+=P.y/N.mass*V;if(N.drag>0){let A=Math.max(0,1-N.drag*V);q.x*=A,q.y*=A}}T.x+=q.x*V,T.y+=q.y*V,P.x=0,P.y=0,W.markChanged(_.id,"localTransform")}});let F=K.addSystem("physics2D-collision").setPriority(O).inPhase($).inGroup(Q);if(j)F.inGroup(j);let D=[],U=new Map,k,G=!1;F.addQuery("collidables",{with:["localTransform","rigidBody","velocity","collisionLayer"]}).setProcess(({queries:E,ecs:V})=>{let W=0;for(let L of E.collidables){let{localTransform:H,rigidBody:R,velocity:_,collisionLayer:T}=L.components,q=V.getComponent(L.id,"aabbCollider"),N=q?void 0:V.getComponent(L.id,"circleCollider");if(!q&&!N)continue;let P=D[W];if(!P)P={entityId:L.id,x:H.x,y:H.y,layer:T.layer,collidesWith:T.collidesWith,shape:w,halfWidth:0,halfHeight:0,radius:0,rigidBody:R,velocity:_},D[W]=P;else P.rigidBody=R,P.velocity=_;if(!I(P,L.id,H.x,H.y,T.layer,T.collidesWith,q,N))continue;W++}if(!G)k=V.tryGetResource("spatialIndex"),G=!0;x(D,W,U,k,d,V)})})}export{Jz as setVelocity,a as createRigidBody,Kz as createPhysics2DPlugin,o as createForce,zz as applyImpulse,t as applyForce};
 
-//# debugId=999C6E1B6CFAFE9B64756E2164756E21
+//# debugId=EA7393B43E45CD0E64756E2164756E21
 //# sourceMappingURL=physics2D.js.map

package/dist/plugins/physics/physics2D.js.map

@@ -5,7 +5,7 @@
     "/**\n * Physics 2D Plugin for ECSpresso\n *\n * Provides ECS-native arcade physics: gravity, forces, drag, semi-implicit Euler\n * integration, and impulse-based collision response with friction.\n *\n * Reuses collider types from the collision plugin for shape definitions.\n * Has its own collision detection in fixedUpdate for physics response;\n * the existing collision plugin can still run in postUpdate for game logic events.\n */\n\nimport { definePlugin } from 'ecspresso';\nimport type { SystemPhase } from 'ecspresso';\nimport type { TransformComponentTypes, TransformWorldConfig } from '../spatial/transform';\nimport type { CollisionComponentTypes, LayerFactories } from './collision';\nimport type { Vector2D } from 'ecspresso';\nimport { fillBaseColliderInfo, detectCollisions, AABB_SHAPE, type Contact, type BaseColliderInfo } from '../../utils/narrowphase';\nimport type { SpatialIndex } from '../../utils/spatial-hash';\n\n// ==================== Component Types ====================\n\n/**\n * Rigid body types for physics simulation.\n * - 'dynamic': Fully simulated (gravity, forces, collisions)\n * - 'kinematic': Moves via velocity only (ignores gravity/forces, immovable in collisions)\n * - 'static': Immovable (ignores gravity, forces, and velocity)\n */\nexport type BodyType = 'dynamic' | 'kinematic' | 'static';\n\n/**\n * Rigid body component controlling physics behavior.\n */\nexport interface RigidBody {\n\ttype: BodyType;\n\t/** Mass in arbitrary units. Affects force→acceleration. Infinity = immovable. */\n\tmass: number;\n\t/** Linear velocity damping coefficient (units/sec, 0 = none) */\n\tdrag: number;\n\t/** Bounciness 0–1 (0 = no bounce, 1 = perfectly elastic) */\n\trestitution: number;\n\t/** Surface friction coefficient 0–1 */\n\tfriction: number;\n\t/** Per-entity gravity multiplier (0 = no gravity) */\n\tgravityScale: number;\n}\n\n/**\n * Component types directly provided by the physics plugin.\n */\nexport interface Physics2DOwnComponentTypes {\n\trigidBody: RigidBody;\n\tvelocity: Vector2D;\n\tforce: Vector2D;\n}\n\n/**\n * Full component types available when using the physics plugin\n * (own components + transform + collision dependencies).\n * Convenience alias for consumer code.\n */\nexport interface Physics2DComponentTypes<L extends string = never> extends TransformComponentTypes, CollisionComponentTypes<L>, Physics2DOwnComponentTypes {}\n\n// ==================== Resource Types ====================\n\n/**\n * Physics configuration resource.\n */\nexport interface Physics2DConfig {\n\tgravity: Vector2D;\n}\n\nexport interface Physics2DResourceTypes {\n\tphysicsConfig: Physics2DConfig;\n}\n\n// ==================== Event Types ====================\n\n/**\n * Event emitted for each physics collision pair.\n *\n * Normal components are flattened (`normalX`/`normalY`) rather than nested\n * in a `Vector2D` to avoid a per-event allocation in the physics hot path.\n */\nexport interface Physics2DCollisionEvent {\n\tentityA: number;\n\tentityB: number;\n\t/** Unit normal X, pointing from A toward B */\n\tnormalX: number;\n\t/** Unit normal Y, pointing from A toward B */\n\tnormalY: number;\n\t/** Penetration depth (positive) */\n\tdepth: number;\n}\n\nexport interface Physics2DEventTypes {\n\tphysicsCollision: Physics2DCollisionEvent;\n}\n\n// ==================== Plugin Options ====================\n\nexport interface Physics2DPluginOptions<G extends string = 'physics2D', CG extends string = never> {\n\t/** World gravity vector (default: {x: 0, y: 0}) */\n\tgravity?: Vector2D;\n\t/** System group name (default: 'physics2D') */\n\tsystemGroup?: G;\n\t/** Additional group for the collision system only (default: none).\n\t * When set, the collision system belongs to both `systemGroup` and this group,\n\t * allowing independent enable/disable of collision detection. */\n\tcollisionSystemGroup?: CG;\n\t/** Priority for integration system (default: 1000) */\n\tintegrationPriority?: number;\n\t/** Priority for collision system (default: 900) */\n\tcollisionPriority?: number;\n\t/** Execution phase (default: 'fixedUpdate') */\n\tphase?: SystemPhase;\n}\n\n// ==================== Helper Functions ====================\n\nexport interface RigidBodyOptions {\n\tmass?: number;\n\tdrag?: number;\n\trestitution?: number;\n\tfriction?: number;\n\tgravityScale?: number;\n}\n\n/**\n * Create a rigid body + force component pair.\n * Static bodies automatically get mass=Infinity.\n */\nexport function createRigidBody(\n\ttype: BodyType,\n\toptions?: RigidBodyOptions,\n): { rigidBody: RigidBody; force: Vector2D } {\n\treturn {\n\t\trigidBody: {\n\t\t\ttype,\n\t\t\tmass: type === 'static' ? Infinity : (options?.mass ?? 1),\n\t\t\tdrag: options?.drag ?? 0,\n\t\t\trestitution: options?.restitution ?? 0,\n\t\t\tfriction: options?.friction ?? 0,\n\t\t\tgravityScale: options?.gravityScale ?? 1,\n\t\t},\n\t\tforce: { x: 0, y: 0 },\n\t};\n}\n\n/**\n * Create a force component with initial values.\n */\nexport function createForce(x: number, y: number): { force: Vector2D } {\n\treturn { force: { x, y } };\n}\n\n/**\n * Accumulate a force onto an entity's force component.\n */\nexport function applyForce(\n\tecs: { getComponent(id: number, name: 'force'): Vector2D | undefined },\n\tentityId: number,\n\tfx: number,\n\tfy: number,\n): void {\n\tconst force = ecs.getComponent(entityId, 'force');\n\tif (!force) return;\n\tforce.x += fx;\n\tforce.y += fy;\n}\n\n/**\n * Apply an instantaneous impulse: velocity += impulse / mass.\n */\nexport function applyImpulse(\n\tecs: {\n\t\tgetComponent(id: number, name: 'velocity'): Vector2D | undefined;\n\t\tgetComponent(id: number, name: 'rigidBody'): RigidBody | undefined;\n\t},\n\tentityId: number,\n\tix: number,\n\tiy: number,\n): void {\n\tconst velocity = ecs.getComponent(entityId, 'velocity');\n\tconst rigidBody = ecs.getComponent(entityId, 'rigidBody');\n\tif (!velocity || !rigidBody) return;\n\tif (rigidBody.mass === Infinity || rigidBody.mass === 0) return;\n\tvelocity.x += ix / rigidBody.mass;\n\tvelocity.y += iy / rigidBody.mass;\n}\n\n/**\n * Directly set an entity's velocity.\n */\nexport function setVelocity(\n\tecs: { getComponent(id: number, name: 'velocity'): Vector2D | undefined },\n\tentityId: number,\n\tvx: number,\n\tvy: number,\n): void {\n\tconst velocity = ecs.getComponent(entityId, 'velocity');\n\tif (!velocity) return;\n\tvelocity.x = vx;\n\tvelocity.y = vy;\n}\n\n// ==================== Internal: Collider Info ====================\n\ninterface Physics2DColliderInfo<L extends string = string> extends BaseColliderInfo<L> {\n\trigidBody: RigidBody;\n\tvelocity: Vector2D;\n}\n\n// ==================== Collision Response ====================\n\n/**\n * Module-level reusable physics collision event. Subscribers must consume\n * synchronously — same contract as the shared narrowphase Contact.\n */\nconst _physicsCollisionEvent: Physics2DCollisionEvent = {\n\tentityA: 0, entityB: 0, normalX: 0, normalY: 0, depth: 0,\n};\n\ninterface PhysicsEcsLike {\n\tgetComponent(id: number, name: 'localTransform'): { x: number; y: number } | undefined;\n\teventBus: { publish(event: 'physicsCollision', data: Physics2DCollisionEvent): void };\n\tmarkChanged(entityId: number, componentName: 'localTransform' | 'velocity'): void;\n}\n\n/**\n * Resolve a physics collision pair: position correction, impulse response, event.\n */\nfunction resolvePhysicsContact(\n\ta: Physics2DColliderInfo,\n\tb: Physics2DColliderInfo,\n\tcontact: Contact,\n\tecs: PhysicsEcsLike,\n): void {\n\tconst invMassA = (a.rigidBody.type === 'dynamic' && a.rigidBody.mass > 0 && a.rigidBody.mass !== Infinity)\n\t\t? 1 / a.rigidBody.mass\n\t\t: 0;\n\tconst invMassB = (b.rigidBody.type === 'dynamic' && b.rigidBody.mass > 0 && b.rigidBody.mass !== Infinity)\n\t\t? 1 / b.rigidBody.mass\n\t\t: 0;\n\tconst totalInvMass = invMassA + invMassB;\n\n\t// Position correction\n\tif (totalInvMass > 0) {\n\t\tconst correctionScale = contact.depth / totalInvMass;\n\n\t\tif (invMassA > 0) {\n\t\t\tconst ltA = ecs.getComponent(a.entityId, 'localTransform');\n\t\t\tif (!ltA) return;\n\t\t\tltA.x -= correctionScale * invMassA * contact.normalX;\n\t\t\tltA.y -= correctionScale * invMassA * contact.normalY;\n\t\t\t// Update cached position for subsequent pairs (collider offset already baked in)\n\t\t\ta.x = ltA.x;\n\t\t\tecs.markChanged(a.entityId, 'localTransform');\n\t\t}\n\n\t\tif (invMassB > 0) {\n\t\t\tconst ltB = ecs.getComponent(b.entityId, 'localTransform');\n\t\t\tif (!ltB) return;\n\t\t\tltB.x += correctionScale * invMassB * contact.normalX;\n\t\t\tltB.y += correctionScale * invMassB * contact.normalY;\n\t\t\tecs.markChanged(b.entityId, 'localTransform');\n\t\t}\n\n\t\t// Velocity response (impulse-based)\n\t\tconst relVelX = b.velocity.x - a.velocity.x;\n\t\tconst relVelY = b.velocity.y - a.velocity.y;\n\t\tconst velAlongNormal = relVelX * contact.normalX + relVelY * contact.normalY;\n\n\t\tif (velAlongNormal < 0) {\n\t\t\tconst restitution = Math.min(a.rigidBody.restitution, b.rigidBody.restitution);\n\t\t\tconst normalImpulse = -(1 + restitution) * velAlongNormal / totalInvMass;\n\n\t\t\ta.velocity.x -= normalImpulse * invMassA * contact.normalX;\n\t\t\ta.velocity.y -= normalImpulse * invMassA * contact.normalY;\n\t\t\tb.velocity.x += normalImpulse * invMassB * contact.normalX;\n\t\t\tb.velocity.y += normalImpulse * invMassB * contact.normalY;\n\n\t\t\t// Friction (tangential impulse)\n\t\t\tconst tangentX = relVelX - velAlongNormal * contact.normalX;\n\t\t\tconst tangentY = relVelY - velAlongNormal * contact.normalY;\n\t\t\tconst tangentSpeed = Math.sqrt(tangentX * tangentX + tangentY * tangentY);\n\n\t\t\tif (tangentSpeed > 1e-6) {\n\t\t\t\tconst tangentNX = tangentX / tangentSpeed;\n\t\t\t\tconst tangentNY = tangentY / tangentSpeed;\n\t\t\t\tconst friction = Math.sqrt(a.rigidBody.friction * b.rigidBody.friction);\n\t\t\t\tconst maxFrictionImpulse = friction * Math.abs(normalImpulse);\n\t\t\t\tconst tangentImpulse = Math.min(tangentSpeed / totalInvMass, maxFrictionImpulse);\n\n\t\t\t\ta.velocity.x += tangentImpulse * invMassA * tangentNX;\n\t\t\t\ta.velocity.y += tangentImpulse * invMassA * tangentNY;\n\t\t\t\tb.velocity.x -= tangentImpulse * invMassB * tangentNX;\n\t\t\t\tb.velocity.y -= tangentImpulse * invMassB * tangentNY;\n\t\t\t}\n\t\t}\n\n\t\tecs.markChanged(a.entityId, 'velocity');\n\t\tecs.markChanged(b.entityId, 'velocity');\n\t}\n\n\t_physicsCollisionEvent.entityA = a.entityId;\n\t_physicsCollisionEvent.entityB = b.entityId;\n\t_physicsCollisionEvent.normalX = contact.normalX;\n\t_physicsCollisionEvent.normalY = contact.normalY;\n\t_physicsCollisionEvent.depth = contact.depth;\n\tecs.eventBus.publish('physicsCollision', _physicsCollisionEvent);\n}\n\n// ==================== Plugin Factory ====================\n\n/**\n * Create a 2D physics plugin for ECSpresso.\n *\n * Provides:\n * - Semi-implicit Euler integration (gravity, forces, drag → velocity → position)\n * - Impulse-based collision response with restitution and friction\n * - physicsCollision events with contact normal and depth\n *\n * @example\n * ```typescript\n * const ecs = ECSpresso.create()\n *   .withPlugin(createTransformPlugin())\n *   .withPlugin(createPhysics2DPlugin({ gravity: { x: 0, y: 980 } }))\n *   .withFixedTimestep(1/60)\n *   .build();\n *\n * ecs.spawn({\n *   ...createTransform(100, 200),\n *   ...createRigidBody('dynamic', { mass: 1, restitution: 0.5 }),\n *   velocity: { x: 0, y: 0 },\n *   ...createAABBCollider(32, 32),\n *   ...createCollisionLayer('player', ['ground']),\n * });\n * ```\n */\n\ntype Physics2DProvides<L extends string = never> = Physics2DOwnComponentTypes & CollisionComponentTypes<L>;\n\nexport function createPhysics2DPlugin<L extends string = never, G extends string = 'physics2D', CG extends string = never>(\n\toptions?: Physics2DPluginOptions<G, CG> & { layers?: LayerFactories<Record<L, readonly string[]>> },\n) {\n\tconst {\n\t\tgravity = { x: 0, y: 0 },\n\t\tsystemGroup = 'physics2D',\n\t\tcollisionSystemGroup,\n\t\tintegrationPriority = 1000,\n\t\tcollisionPriority = 900,\n\t\tphase = 'fixedUpdate',\n\t} = options ?? {};\n\n\treturn definePlugin('physics2D')\n\t\t.withComponentTypes<Physics2DProvides<L>>()\n\t\t.withEventTypes<Physics2DEventTypes>()\n\t\t.withResourceTypes<Physics2DResourceTypes>()\n\t\t.withLabels<'physics2D-integration' | 'physics2D-collision'>()\n\t\t.withGroups<G | CG>()\n\t\t.requires<TransformWorldConfig>()\n\t\t.install((world) => {\n\t\t\t// rigidBody requires velocity and force — auto-add with zero defaults\n\t\t\tworld.registerRequired('rigidBody', 'velocity', () => ({ x: 0, y: 0 }));\n\t\t\tworld.registerRequired('rigidBody', 'force', () => ({ x: 0, y: 0 }));\n\n\t\t\tworld.addResource('physicsConfig', { gravity: { x: gravity.x, y: gravity.y } });\n\n\t\t\t// ==================== Integration System ====================\n\n\t\t\tworld\n\t\t\t\t.addSystem('physics2D-integration')\n\t\t\t\t.setPriority(integrationPriority)\n\t\t\t\t.inPhase(phase)\n\t\t\t\t.inGroup(systemGroup)\n\t\t\t\t.addQuery('bodies', {\n\t\t\t\t\twith: ['localTransform', 'velocity', 'rigidBody', 'force'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, dt, ecs }) => {\n\t\t\t\t\tconst { gravity: g } = ecs.getResource('physicsConfig');\n\t\t\t\t\tconst gx = g.x;\n\t\t\t\t\tconst gy = g.y;\n\n\t\t\t\t\tfor (const entity of queries.bodies) {\n\t\t\t\t\t\tconst { localTransform, velocity, rigidBody, force } = entity.components;\n\n\t\t\t\t\t\t// Static bodies: skip entirely\n\t\t\t\t\t\tif (rigidBody.type === 'static') continue;\n\n\t\t\t\t\t\t// Dynamic bodies: apply gravity, forces, drag\n\t\t\t\t\t\tif (rigidBody.type === 'dynamic') {\n\t\t\t\t\t\t\t// 1. Gravity\n\t\t\t\t\t\t\tvelocity.x += gx * rigidBody.gravityScale * dt;\n\t\t\t\t\t\t\tvelocity.y += gy * rigidBody.gravityScale * dt;\n\n\t\t\t\t\t\t\t// 2. Forces (F = ma → a = F/m)\n\t\t\t\t\t\t\tif (rigidBody.mass > 0 && rigidBody.mass !== Infinity) {\n\t\t\t\t\t\t\t\tvelocity.x += (force.x / rigidBody.mass) * dt;\n\t\t\t\t\t\t\t\tvelocity.y += (force.y / rigidBody.mass) * dt;\n\t\t\t\t\t\t\t}\n\n\t\t\t\t\t\t\t// 3. Drag\n\t\t\t\t\t\t\tif (rigidBody.drag > 0) {\n\t\t\t\t\t\t\t\tconst damping = Math.max(0, 1 - rigidBody.drag * dt);\n\t\t\t\t\t\t\t\tvelocity.x *= damping;\n\t\t\t\t\t\t\t\tvelocity.y *= damping;\n\t\t\t\t\t\t\t}\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\t// Both dynamic and kinematic: integrate position\n\t\t\t\t\t\tlocalTransform.x += velocity.x * dt;\n\t\t\t\t\t\tlocalTransform.y += velocity.y * dt;\n\n\t\t\t\t\t\t// Clear accumulated forces\n\t\t\t\t\t\tforce.x = 0;\n\t\t\t\t\t\tforce.y = 0;\n\n\t\t\t\t\t\tecs.markChanged(entity.id, 'localTransform');\n\t\t\t\t\t}\n\t\t\t\t});\n\n\t\t\t// ==================== Collision System ====================\n\n\t\t\tconst collisionSystem = world\n\t\t\t\t.addSystem('physics2D-collision')\n\t\t\t\t.setPriority(collisionPriority)\n\t\t\t\t.inPhase(phase)\n\t\t\t\t.inGroup(systemGroup);\n\n\t\t\tif (collisionSystemGroup) {\n\t\t\t\tcollisionSystem.inGroup(collisionSystemGroup);\n\t\t\t}\n\n\t\t\t// Grow-only pool of Physics2DColliderInfo slots reused across frames.\n\t\t\t// Steady-state: zero allocations per frame once the pool is warm.\n\t\t\tconst colliderPool: Physics2DColliderInfo<L>[] = [];\n\t\t\t// Reusable entityId → collider lookup for the broadphase path.\n\t\t\tconst broadphaseMap = new Map<number, Physics2DColliderInfo<L>>();\n\t\t\t// Cached spatial index reference (resolved once on first frame).\n\t\t\tlet cachedSI: SpatialIndex | undefined;\n\t\t\tlet siResolved = false;\n\n\t\t\tcollisionSystem\n\t\t\t\t.addQuery('collidables', {\n\t\t\t\t\twith: ['localTransform', 'rigidBody', 'velocity', 'collisionLayer'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, ecs }) => {\n\t\t\t\t\tlet count = 0;\n\n\t\t\t\t\tfor (const entity of queries.collidables) {\n\t\t\t\t\t\tconst { localTransform, rigidBody, velocity, collisionLayer } = entity.components;\n\t\t\t\t\t\tconst aabb = ecs.getComponent(entity.id, 'aabbCollider');\n\t\t\t\t\t\tconst circle = aabb ? undefined : ecs.getComponent(entity.id, 'circleCollider');\n\t\t\t\t\t\tif (!aabb && !circle) continue;\n\n\t\t\t\t\t\tlet slot = colliderPool[count];\n\t\t\t\t\t\tif (!slot) {\n\t\t\t\t\t\t\tslot = {\n\t\t\t\t\t\t\t\tentityId: entity.id,\n\t\t\t\t\t\t\t\tx: localTransform.x,\n\t\t\t\t\t\t\t\ty: localTransform.y,\n\t\t\t\t\t\t\t\tlayer: collisionLayer.layer,\n\t\t\t\t\t\t\t\tcollidesWith: collisionLayer.collidesWith,\n\t\t\t\t\t\t\t\tshape: AABB_SHAPE,\n\t\t\t\t\t\t\t\thalfWidth: 0,\n\t\t\t\t\t\t\t\thalfHeight: 0,\n\t\t\t\t\t\t\t\tradius: 0,\n\t\t\t\t\t\t\t\trigidBody,\n\t\t\t\t\t\t\t\tvelocity,\n\t\t\t\t\t\t\t};\n\t\t\t\t\t\t\tcolliderPool[count] = slot;\n\t\t\t\t\t\t} else {\n\t\t\t\t\t\t\tslot.rigidBody = rigidBody;\n\t\t\t\t\t\t\tslot.velocity = velocity;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tif (!fillBaseColliderInfo(\n\t\t\t\t\t\t\tslot,\n\t\t\t\t\t\t\tentity.id, localTransform.x, localTransform.y,\n\t\t\t\t\t\t\tcollisionLayer.layer, collisionLayer.collidesWith,\n\t\t\t\t\t\t\taabb, circle,\n\t\t\t\t\t\t)) continue;\n\n\t\t\t\t\t\tcount++;\n\t\t\t\t\t}\n\n\t\t\t\t\tif (!siResolved) {\n\t\t\t\t\t\tcachedSI = ecs.tryGetResource<SpatialIndex>('spatialIndex');\n\t\t\t\t\t\tsiResolved = true;\n\t\t\t\t\t}\n\t\t\t\t\tdetectCollisions(colliderPool, count, broadphaseMap, cachedSI, resolvePhysicsContact, ecs);\n\t\t\t\t});\n\t\t});\n}\n",
     "/**\n * Shared Narrowphase Module\n *\n * Provides contact-computing narrowphase tests and a generic collision\n * iteration pipeline used by both the collision plugin (event-only) and\n * the physics2D plugin (impulse response).\n */\n\nimport type { SpatialIndex } from './spatial-hash';\n\n// ==================== Contact ====================\n\n/**\n * Contact result from a narrowphase test. Normal points from A toward B.\n *\n * Narrowphase functions use this as an out-parameter: the caller owns the\n * struct, the function writes fields in place and returns `true` on hit.\n * The `onContact` callback in `detectCollisions` receives a shared module-\n * level instance — **subscribers must consume it synchronously and must not\n * retain the reference across frames**.\n */\nexport interface Contact {\n\tnormalX: number;\n\tnormalY: number;\n\t/** Penetration depth (positive = overlapping) */\n\tdepth: number;\n}\n\n/**\n * Module-level reusable Contact passed down from `detectCollisions` into\n * narrowphase tests and forwarded to the `onContact` callback. Reused across\n * every pair in every frame — zero allocation in the narrowphase hot path.\n */\nconst _sharedContact: Contact = { normalX: 0, normalY: 0, depth: 0 };\n\n// ==================== BaseColliderInfo ====================\n\n/** Collider shape discriminator for the flattened BaseColliderInfo layout. */\nexport const AABB_SHAPE = 0;\nexport const CIRCLE_SHAPE = 1;\nexport type ColliderShape = typeof AABB_SHAPE | typeof CIRCLE_SHAPE;\n\n/**\n * Minimum collider data shared by collision and physics bundles.\n *\n * Flat layout (no nested `aabb` / `circle` sub-objects): the `shape`\n * discriminator tells you whether to read `halfWidth`/`halfHeight`\n * (AABB) or `radius` (Circle). Unused fields are set to 0.\n *\n * This shape is pool-friendly — all fields are assigned in place each\n * frame without allocating nested objects.\n */\nexport interface BaseColliderInfo<L extends string = string> {\n\tentityId: number;\n\tx: number;\n\ty: number;\n\tlayer: L;\n\tcollidesWith: readonly L[];\n\tshape: ColliderShape;\n\thalfWidth: number;\n\thalfHeight: number;\n\tradius: number;\n}\n\n// ==================== Collider Construction ====================\n\n/**\n * Populate a `BaseColliderInfo` slot in place from raw component data.\n * Returns `true` if the slot was filled, `false` if the entity has no\n * collider (caller should skip it).\n *\n * If an entity has both AABB and circle colliders, AABB wins and only\n * the AABB offset is applied. This matches the dispatch precedence in\n * `computeContact`; the previous implementation stacked both offsets,\n * which was a bug.\n */\nexport function fillBaseColliderInfo<L extends string>(\n\tinfo: BaseColliderInfo<L>,\n\tentityId: number,\n\tx: number,\n\ty: number,\n\tlayer: L,\n\tcollidesWith: readonly L[],\n\taabb: { width: number; height: number; offsetX?: number; offsetY?: number } | undefined,\n\tcircle: { radius: number; offsetX?: number; offsetY?: number } | undefined,\n): boolean {\n\tinfo.entityId = entityId;\n\tinfo.layer = layer;\n\tinfo.collidesWith = collidesWith;\n\n\tif (aabb) {\n\t\tinfo.x = x + (aabb.offsetX ?? 0);\n\t\tinfo.y = y + (aabb.offsetY ?? 0);\n\t\tinfo.shape = AABB_SHAPE;\n\t\tinfo.halfWidth = aabb.width / 2;\n\t\tinfo.halfHeight = aabb.height / 2;\n\t\tinfo.radius = 0;\n\t\treturn true;\n\t}\n\n\tif (circle) {\n\t\tinfo.x = x + (circle.offsetX ?? 0);\n\t\tinfo.y = y + (circle.offsetY ?? 0);\n\t\tinfo.shape = CIRCLE_SHAPE;\n\t\tinfo.halfWidth = 0;\n\t\tinfo.halfHeight = 0;\n\t\tinfo.radius = circle.radius;\n\t\treturn true;\n\t}\n\n\treturn false;\n}\n\n// ==================== Spatial Index Lookup ====================\n\n/**\n * Retrieve the optional spatialIndex resource, returning undefined when absent.\n * Centralizes the cross-plugin typed lookup so individual plugins don't each\n * need to import SpatialIndex or repeat the tryGetResource pattern.\n */\nexport function tryGetSpatialIndex(\n\ttryGetResource: <T>(key: string) => T | undefined,\n): SpatialIndex | undefined {\n\treturn tryGetResource<SpatialIndex>('spatialIndex');\n}\n\n// ==================== Narrowphase Tests ====================\n\n/**\n * Write an AABB-AABB contact into `out`. Returns `true` if the shapes\n * overlap (out was filled), `false` otherwise.\n */\nexport function computeAABBvsAABB(\n\tax: number, ay: number, ahw: number, ahh: number,\n\tbx: number, by: number, bhw: number, bhh: number,\n\tout: Contact,\n): boolean {\n\tconst dx = bx - ax;\n\tconst dy = by - ay;\n\tconst overlapX = (ahw + bhw) - Math.abs(dx);\n\tconst overlapY = (ahh + bhh) - Math.abs(dy);\n\n\tif (overlapX <= 0 || overlapY <= 0) return false;\n\n\tif (overlapX < overlapY) {\n\t\tout.normalX = dx >= 0 ? 1 : -1;\n\t\tout.normalY = 0;\n\t\tout.depth = overlapX;\n\t\treturn true;\n\t}\n\tout.normalX = 0;\n\tout.normalY = dy >= 0 ? 1 : -1;\n\tout.depth = overlapY;\n\treturn true;\n}\n\nexport function computeCircleVsCircle(\n\tax: number, ay: number, ar: number,\n\tbx: number, by: number, br: number,\n\tout: Contact,\n): boolean {\n\tconst dx = bx - ax;\n\tconst dy = by - ay;\n\tconst distSq = dx * dx + dy * dy;\n\tconst radiusSum = ar + br;\n\n\tif (distSq >= radiusSum * radiusSum) return false;\n\n\tconst dist = Math.sqrt(distSq);\n\tif (dist === 0) {\n\t\tout.normalX = 1;\n\t\tout.normalY = 0;\n\t\tout.depth = radiusSum;\n\t\treturn true;\n\t}\n\tout.normalX = dx / dist;\n\tout.normalY = dy / dist;\n\tout.depth = radiusSum - dist;\n\treturn true;\n}\n\nexport function computeAABBvsCircle(\n\taabbX: number, aabbY: number, ahw: number, ahh: number,\n\tcircleX: number, circleY: number, radius: number,\n\tout: Contact,\n): boolean {\n\tconst closestX = Math.max(aabbX - ahw, Math.min(circleX, aabbX + ahw));\n\tconst closestY = Math.max(aabbY - ahh, Math.min(circleY, aabbY + ahh));\n\n\tconst dx = circleX - closestX;\n\tconst dy = circleY - closestY;\n\tconst distSq = dx * dx + dy * dy;\n\n\tif (distSq >= radius * radius) return false;\n\n\t// Circle center inside AABB\n\tif (distSq === 0) {\n\t\tconst pushLeft = (circleX - (aabbX - ahw));\n\t\tconst pushRight = ((aabbX + ahw) - circleX);\n\t\tconst pushUp = (circleY - (aabbY - ahh));\n\t\tconst pushDown = ((aabbY + ahh) - circleY);\n\t\tconst minPush = Math.min(pushLeft, pushRight, pushUp, pushDown);\n\n\t\tif (minPush === pushRight) {\n\t\t\tout.normalX = 1; out.normalY = 0; out.depth = pushRight + radius;\n\t\t\treturn true;\n\t\t}\n\t\tif (minPush === pushLeft) {\n\t\t\tout.normalX = -1; out.normalY = 0; out.depth = pushLeft + radius;\n\t\t\treturn true;\n\t\t}\n\t\tif (minPush === pushDown) {\n\t\t\tout.normalX = 0; out.normalY = 1; out.depth = pushDown + radius;\n\t\t\treturn true;\n\t\t}\n\t\tout.normalX = 0; out.normalY = -1; out.depth = pushUp + radius;\n\t\treturn true;\n\t}\n\n\tconst dist = Math.sqrt(distSq);\n\tout.normalX = dx / dist;\n\tout.normalY = dy / dist;\n\tout.depth = radius - dist;\n\treturn true;\n}\n\n// ==================== Contact Dispatcher ====================\n\n/**\n * Dispatch to the correct narrowphase function for the given pair and\n * write the contact into `out`. Returns `true` if the pair overlaps.\n */\nexport function computeContact(a: BaseColliderInfo, b: BaseColliderInfo, out: Contact): boolean {\n\tif (a.shape === AABB_SHAPE && b.shape === AABB_SHAPE) {\n\t\treturn computeAABBvsAABB(\n\t\t\ta.x, a.y, a.halfWidth, a.halfHeight,\n\t\t\tb.x, b.y, b.halfWidth, b.halfHeight,\n\t\t\tout,\n\t\t);\n\t}\n\n\tif (a.shape === CIRCLE_SHAPE && b.shape === CIRCLE_SHAPE) {\n\t\treturn computeCircleVsCircle(\n\t\t\ta.x, a.y, a.radius,\n\t\t\tb.x, b.y, b.radius,\n\t\t\tout,\n\t\t);\n\t}\n\n\tif (a.shape === AABB_SHAPE && b.shape === CIRCLE_SHAPE) {\n\t\treturn computeAABBvsCircle(\n\t\t\ta.x, a.y, a.halfWidth, a.halfHeight,\n\t\t\tb.x, b.y, b.radius,\n\t\t\tout,\n\t\t);\n\t}\n\n\t// a is Circle, b is AABB — compute as AABB-vs-Circle, then flip normal in place\n\tif (!computeAABBvsCircle(\n\t\tb.x, b.y, b.halfWidth, b.halfHeight,\n\t\ta.x, a.y, a.radius,\n\t\tout,\n\t)) return false;\n\tout.normalX = -out.normalX;\n\tout.normalY = -out.normalY;\n\treturn true;\n}\n\n// ==================== Collision Iteration ====================\n\n/** Module-level reusable set for broadphase candidates. */\nconst _broadphaseCandidates = new Set<number>();\n\nlet _bruteForceWarned = false;\nconst BRUTE_FORCE_WARN_THRESHOLD = 50;\n\n/**\n * Generic collision detection pipeline: brute-force or broadphase,\n * with layer filtering and contact computation.\n *\n * `count` is the number of live entries at the front of `colliders`.\n * The array itself may be a grow-only pool — only indices `[0, count)`\n * are iterated, so trailing pool slots are ignored.\n *\n * `workingMap` is a caller-owned `Map<number, I>` used by the broadphase\n * path as an entityId → collider lookup. It is cleared and repopulated on\n * each call; callers should allocate it once and pass the same instance\n * every frame. Unused by the brute-force path but still required so that\n * typed reuse is the default, not an opt-in.\n *\n * Uses a context parameter forwarded to the callback to avoid\n * per-frame closure allocation.\n */\nexport function detectCollisions<I extends BaseColliderInfo, C>(\n\tcolliders: I[],\n\tcount: number,\n\tworkingMap: Map<number, I>,\n\tspatialIndex: SpatialIndex | undefined,\n\tonContact: (a: I, b: I, contact: Contact, context: C) => void,\n\tcontext: C,\n): void {\n\tif (spatialIndex) {\n\t\tbroadphaseDetect(colliders, count, workingMap, spatialIndex, onContact, context);\n\t} else {\n\t\tbruteForceDetect(colliders, count, onContact, context);\n\t}\n}\n\nfunction bruteForceDetect<I extends BaseColliderInfo, C>(\n\tcolliders: I[],\n\tcount: number,\n\tonContact: (a: I, b: I, contact: Contact, context: C) => void,\n\tcontext: C,\n): void {\n\tif (!_bruteForceWarned && count >= BRUTE_FORCE_WARN_THRESHOLD) {\n\t\t_bruteForceWarned = true;\n\t\tconsole.warn(\n\t\t\t`[ecspresso] Collision detection is using O(n²) brute force with ${count} colliders. ` +\n\t\t\t`For better performance, install createSpatialIndexPlugin() alongside your collision or physics2D plugin.`,\n\t\t);\n\t}\n\n\tfor (let i = 0; i < count; i++) {\n\t\tconst a = colliders[i];\n\t\tif (!a) continue;\n\n\t\tfor (let j = i + 1; j < count; j++) {\n\t\t\tconst b = colliders[j];\n\t\t\tif (!b) continue;\n\n\t\t\tif (!a.collidesWith.includes(b.layer) && !b.collidesWith.includes(a.layer)) continue;\n\n\t\t\tif (!computeContact(a, b, _sharedContact)) continue;\n\n\t\t\tonContact(a, b, _sharedContact, context);\n\t\t}\n\t}\n}\n\nfunction broadphaseDetect<I extends BaseColliderInfo, C>(\n\tcolliders: I[],\n\tcount: number,\n\tcolliderMap: Map<number, I>,\n\tspatialIndex: SpatialIndex,\n\tonContact: (a: I, b: I, contact: Contact, context: C) => void,\n\tcontext: C,\n): void {\n\tcolliderMap.clear();\n\tfor (let i = 0; i < count; i++) {\n\t\tconst c = colliders[i];\n\t\tif (!c) continue;\n\t\tcolliderMap.set(c.entityId, c);\n\t}\n\n\tfor (let i = 0; i < count; i++) {\n\t\tconst a = colliders[i];\n\t\tif (!a) continue;\n\n\t\tconst aHalfW = a.shape === AABB_SHAPE ? a.halfWidth : a.radius;\n\t\tconst aHalfH = a.shape === AABB_SHAPE ? a.halfHeight : a.radius;\n\n\t\t_broadphaseCandidates.clear();\n\t\tspatialIndex.queryRectInto(\n\t\t\ta.x - aHalfW, a.y - aHalfH,\n\t\t\ta.x + aHalfW, a.y + aHalfH,\n\t\t\t_broadphaseCandidates,\n\t\t);\n\n\t\tfor (const bId of _broadphaseCandidates) {\n\t\t\tif (bId <= a.entityId) continue;\n\n\t\t\tconst b = colliderMap.get(bId);\n\t\t\tif (!b) continue;\n\n\t\t\tif (!a.collidesWith.includes(b.layer) && !b.collidesWith.includes(a.layer)) continue;\n\n\t\t\tif (!computeContact(a, b, _sharedContact)) continue;\n\n\t\t\tonContact(a, b, _sharedContact, context);\n\t\t}\n\t}\n}\n"
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+  "debugId": "EA7393B43E45CD0E64756E2164756E21",
   "names": []
 }

package/dist/plugins/physics/physics3D.d.ts

@@ -0,0 +1,140 @@
+/**
+ * Physics 3D Plugin for ECSpresso
+ *
+ * Provides ECS-native 3D arcade physics: gravity, forces, drag, semi-implicit Euler
+ * integration, and impulse-based collision response with friction.
+ *
+ * Reuses RigidBody and collider types from the 2D physics/collision plugins for
+ * shape definitions. Has its own collision detection in fixedUpdate for physics
+ * response; the existing collision3D plugin can still run in postUpdate for game
+ * logic events.
+ */
+import type { SystemPhase } from 'ecspresso';
+import type { Vector3D } from 'ecspresso';
+import type { Transform3DWorldConfig } from '../spatial/transform3D';
+import type { Collision3DComponentTypes, LayerFactories } from './collision3D';
+import type { RigidBody, BodyType, RigidBodyOptions } from './physics2D';
+export type { RigidBody, BodyType, RigidBodyOptions };
+/**
+ * Component types directly provided by the physics3D plugin.
+ */
+export interface Physics3DOwnComponentTypes {
+    rigidBody3D: RigidBody;
+    velocity3D: Vector3D;
+    force3D: Vector3D;
+}
+/**
+ * Full component types available when using the physics3D plugin
+ * (own components + transform + collision dependencies).
+ * Convenience alias for consumer code.
+ */
+export interface Physics3DComponentTypes<L extends string = never> extends Collision3DComponentTypes<L>, Physics3DOwnComponentTypes {
+}
+/**
+ * Physics 3D configuration resource.
+ */
+export interface Physics3DConfig {
+    gravity: Vector3D;
+}
+export interface Physics3DResourceTypes {
+    physics3DConfig: Physics3DConfig;
+}
+/**
+ * Event emitted for each physics 3D collision pair.
+ *
+ * Normal components are flattened (`normalX`/`normalY`/`normalZ`) rather than
+ * nested in a `Vector3D` to avoid a per-event allocation in the physics hot path.
+ */
+export interface Physics3DCollisionEvent {
+    entityA: number;
+    entityB: number;
+    /** Unit normal X, pointing from A toward B */
+    normalX: number;
+    /** Unit normal Y, pointing from A toward B */
+    normalY: number;
+    /** Unit normal Z, pointing from A toward B */
+    normalZ: number;
+    /** Penetration depth (positive) */
+    depth: number;
+}
+export interface Physics3DEventTypes {
+    physics3DCollision: Physics3DCollisionEvent;
+}
+export interface Physics3DPluginOptions<G extends string = 'physics3D', CG extends string = never> {
+    /** World gravity vector (default: {x: 0, y: 0, z: 0}) */
+    gravity?: Vector3D;
+    /** System group name (default: 'physics3D') */
+    systemGroup?: G;
+    /** Additional group for the collision system only (default: none).
+     * When set, the collision system belongs to both `systemGroup` and this group,
+     * allowing independent enable/disable of collision detection. */
+    collisionSystemGroup?: CG;
+    /** Priority for integration system (default: 1000) */
+    integrationPriority?: number;
+    /** Priority for collision system (default: 900) */
+    collisionPriority?: number;
+    /** Execution phase (default: 'fixedUpdate') */
+    phase?: SystemPhase;
+}
+/**
+ * Create a rigidBody3D + force3D component pair.
+ * Static bodies automatically get mass=Infinity.
+ */
+export declare function createRigidBody3D(type: BodyType, options?: RigidBodyOptions): {
+    rigidBody3D: RigidBody;
+    force3D: Vector3D;
+};
+/**
+ * Create a force3D component with initial values.
+ */
+export declare function createForce3D(x: number, y: number, z: number): {
+    force3D: Vector3D;
+};
+/**
+ * Accumulate a force onto an entity's force3D component.
+ */
+export declare function applyForce3D(ecs: {
+    getComponent(id: number, name: 'force3D'): Vector3D | undefined;
+}, entityId: number, fx: number, fy: number, fz: number): void;
+/**
+ * Apply an instantaneous impulse: velocity3D += impulse / mass.
+ */
+export declare function applyImpulse3D(ecs: {
+    getComponent(id: number, name: 'velocity3D'): Vector3D | undefined;
+    getComponent(id: number, name: 'rigidBody3D'): RigidBody | undefined;
+}, entityId: number, ix: number, iy: number, iz: number): void;
+/**
+ * Directly set an entity's velocity3D.
+ */
+export declare function setVelocity3D(ecs: {
+    getComponent(id: number, name: 'velocity3D'): Vector3D | undefined;
+}, entityId: number, vx: number, vy: number, vz: number): void;
+/**
+ * Create a 3D physics plugin for ECSpresso.
+ *
+ * Provides:
+ * - Semi-implicit Euler integration (gravity, forces, drag → velocity3D → position)
+ * - Impulse-based collision response with restitution and friction
+ * - physics3DCollision events with contact normal and depth
+ *
+ * @example
+ * ```typescript
+ * const ecs = ECSpresso.create()
+ *   .withPlugin(createTransform3DPlugin())
+ *   .withPlugin(createPhysics3DPlugin({ gravity: { x: 0, y: -9.81, z: 0 } }))
+ *   .withFixedTimestep(1/60)
+ *   .build();
+ *
+ * ecs.spawn({
+ *   ...createTransform3D(0, 10, 0),
+ *   ...createRigidBody3D('dynamic', { mass: 1, restitution: 0.5 }),
+ *   velocity3D: { x: 0, y: 0, z: 0 },
+ *   ...createAABB3DCollider(1, 1, 1),
+ *   ...createCollisionLayer('player', ['ground']),
+ * });
+ * ```
+ */
+type Physics3DProvides<L extends string = never> = Physics3DOwnComponentTypes & Collision3DComponentTypes<L>;
+export declare function createPhysics3DPlugin<L extends string = never, G extends string = 'physics3D', CG extends string = never>(options?: Physics3DPluginOptions<G, CG> & {
+    layers?: LayerFactories<Record<L, readonly string[]>>;
+}): import("ecspresso").Plugin<import("ecspresso").WithResources<import("ecspresso").WithEvents<import("ecspresso").WithComponents<import("ecspresso").EmptyConfig, Physics3DProvides<L>>, Physics3DEventTypes>, Physics3DResourceTypes>, Transform3DWorldConfig, "physics3D-integration" | "physics3D-collision", G | CG, never, never>;

package/dist/plugins/physics/physics3D.js

@@ -0,0 +1,4 @@
+var f=Object.defineProperty;var y=(J)=>J;function h(J,K){this[J]=y.bind(null,K)}var s=(J,K)=>{for(var Q in K)f(J,Q,{get:K[Q],enumerable:!0,configurable:!0,set:h.bind(K,Q)})};var n=(J,K)=>()=>(J&&(K=J(J=0)),K);var i=((J)=>typeof require<"u"?require:typeof Proxy<"u"?new Proxy(J,{get:(K,Q)=>(typeof require<"u"?require:K)[Q]}):J)(function(J){if(typeof require<"u")return require.apply(this,arguments);throw Error('Dynamic require of "'+J+'" is not supported')});import{definePlugin as r}from"ecspresso";var C={normalX:0,normalY:0,normalZ:0,depth:0},m=0;function g(J,K,Q,G,V,O,F,$,k){if(J.entityId=K,J.layer=O,J.collidesWith=F,$)return J.x=Q+($.offsetX??0),J.y=G+($.offsetY??0),J.z=V+($.offsetZ??0),J.shape=0,J.halfWidth=$.width/2,J.halfHeight=$.height/2,J.halfDepth=$.depth/2,J.radius=0,!0;if(k)return J.x=Q+(k.offsetX??0),J.y=G+(k.offsetY??0),J.z=V+(k.offsetZ??0),J.shape=1,J.halfWidth=0,J.halfHeight=0,J.halfDepth=0,J.radius=k.radius,!0;return!1}function p(J,K,Q,G,V,O,F,$,k,L,U,T,j){let q=F-J,W=$-K,P=k-Q,H=G+L-Math.abs(q),N=V+U-Math.abs(W),_=O+T-Math.abs(P);if(H<=0||N<=0||_<=0)return!1;if(H<=N&&H<=_)return j.normalX=q>=0?1:-1,j.normalY=0,j.normalZ=0,j.depth=H,!0;if(N<=_)return j.normalX=0,j.normalY=W>=0?1:-1,j.normalZ=0,j.depth=N,!0;return j.normalX=0,j.normalY=0,j.normalZ=P>=0?1:-1,j.depth=_,!0}function b(J,K,Q,G,V,O,F,$,k){let L=V-J,U=O-K,T=F-Q,j=L*L+U*U+T*T,q=G+$;if(j>=q*q)return!1;let W=Math.sqrt(j);if(W===0)return k.normalX=1,k.normalY=0,k.normalZ=0,k.depth=q,!0;return k.normalX=L/W,k.normalY=U/W,k.normalZ=T/W,k.depth=q-W,!0}function x(J,K,Q,G,V,O,F,$,k,L,U){let T=Math.max(J-G,Math.min(F,J+G)),j=Math.max(K-V,Math.min($,K+V)),q=Math.max(Q-O,Math.min(k,Q+O)),W=F-T,P=$-j,H=k-q,N=W*W+P*P+H*H;if(N>=L*L)return!1;if(N===0){let M=F-(J-G),S=J+G-F,X=$-(K-V),R=K+V-$,E=k-(Q-O),Y=Q+O-k,Z=Math.min(M,S,X,R,E,Y);if(Z===S)return U.normalX=1,U.normalY=0,U.normalZ=0,U.depth=S+L,!0;if(Z===M)return U.normalX=-1,U.normalY=0,U.normalZ=0,U.depth=M+L,!0;if(Z===R)return U.normalX=0,U.normalY=1,U.normalZ=0,U.depth=R+L,!0;if(Z===X)return U.normalX=0,U.normalY=-1,U.normalZ=0,U.depth=X+L,!0;if(Z===Y)return U.normalX=0,U.normalY=0,U.normalZ=1,U.depth=Y+L,!0;return U.normalX=0,U.normalY=0,U.normalZ=-1,U.depth=E+L,!0}let _=Math.sqrt(N);return U.normalX=W/_,U.normalY=P/_,U.normalZ=H/_,U.depth=L-_,!0}function D(J,K,Q){if(J.shape===0&&K.shape===0)return p(J.x,J.y,J.z,J.halfWidth,J.halfHeight,J.halfDepth,K.x,K.y,K.z,K.halfWidth,K.halfHeight,K.halfDepth,Q);if(J.shape===1&&K.shape===1)return b(J.x,J.y,J.z,J.radius,K.x,K.y,K.z,K.radius,Q);if(J.shape===0&&K.shape===1)return x(J.x,J.y,J.z,J.halfWidth,J.halfHeight,J.halfDepth,K.x,K.y,K.z,K.radius,Q);if(!x(K.x,K.y,K.z,K.halfWidth,K.halfHeight,K.halfDepth,J.x,J.y,J.z,J.radius,Q))return!1;return Q.normalX=-Q.normalX,Q.normalY=-Q.normalY,Q.normalZ=-Q.normalZ,!0}var A=new Set,B=!1,u=50;function v(J,K,Q,G,V,O){if(G)l(J,K,Q,G,V,O);else d(J,K,V,O)}function d(J,K,Q,G){if(!B&&K>=u)B=!0,console.warn(`[ecspresso] 3D collision detection is using O(n²) brute force with ${K} colliders. For better performance, install createSpatialIndex3DPlugin() alongside your collision or physics3D plugin.`);for(let V=0;V<K;V++){let O=J[V];if(!O)continue;for(let F=V+1;F<K;F++){let $=J[F];if(!$)continue;if(!O.collidesWith.includes($.layer)&&!$.collidesWith.includes(O.layer))continue;if(!D(O,$,C))continue;Q(O,$,C,G)}}}function l(J,K,Q,G,V,O){Q.clear();for(let F=0;F<K;F++){let $=J[F];if(!$)continue;Q.set($.entityId,$)}for(let F=0;F<K;F++){let $=J[F];if(!$)continue;let k=$.shape===0?$.halfWidth:$.radius,L=$.shape===0?$.halfHeight:$.radius,U=$.shape===0?$.halfDepth:$.radius;A.clear(),G.queryBoxInto($.x-k,$.y-L,$.z-U,$.x+k,$.y+L,$.z+U,A);for(let T of A){if(T<=$.entityId)continue;let j=Q.get(T);if(!j)continue;if(!$.collidesWith.includes(j.layer)&&!j.collidesWith.includes($.layer))continue;if(!D($,j,C))continue;V($,j,C,O)}}}function JJ(J,K){return{rigidBody3D:{type:J,mass:J==="static"?1/0:K?.mass??1,drag:K?.drag??0,restitution:K?.restitution??0,friction:K?.friction??0,gravityScale:K?.gravityScale??1},force3D:{x:0,y:0,z:0}}}function KJ(J,K,Q){return{force3D:{x:J,y:K,z:Q}}}function QJ(J,K,Q,G,V){let O=J.getComponent(K,"force3D");if(!O)return;O.x+=Q,O.y+=G,O.z+=V}function $J(J,K,Q,G,V){let O=J.getComponent(K,"velocity3D"),F=J.getComponent(K,"rigidBody3D");if(!O||!F)return;if(F.mass===1/0||F.mass===0)return;O.x+=Q/F.mass,O.y+=G/F.mass,O.z+=V/F.mass}function OJ(J,K,Q,G,V){let O=J.getComponent(K,"velocity3D");if(!O)return;O.x=Q,O.y=G,O.z=V}var z={entityA:0,entityB:0,normalX:0,normalY:0,normalZ:0,depth:0};function c(J,K,Q,G){let V=J.rigidBody.type==="dynamic"&&J.rigidBody.mass>0&&J.rigidBody.mass!==1/0?1/J.rigidBody.mass:0,O=K.rigidBody.type==="dynamic"&&K.rigidBody.mass>0&&K.rigidBody.mass!==1/0?1/K.rigidBody.mass:0,F=V+O;if(F>0){let $=Q.depth/F;if(V>0){let j=G.getComponent(J.entityId,"localTransform3D");if(!j)return;let q=$*V;j.x-=q*Q.normalX,j.y-=q*Q.normalY,j.z-=q*Q.normalZ,J.x=j.x,J.y=j.y,J.z=j.z,G.markChanged(J.entityId,"localTransform3D")}if(O>0){let j=G.getComponent(K.entityId,"localTransform3D");if(!j)return;let q=$*O;j.x+=q*Q.normalX,j.y+=q*Q.normalY,j.z+=q*Q.normalZ,K.x=j.x,K.y=j.y,K.z=j.z,G.markChanged(K.entityId,"localTransform3D")}let k=K.velocity.x-J.velocity.x,L=K.velocity.y-J.velocity.y,U=K.velocity.z-J.velocity.z,T=k*Q.normalX+L*Q.normalY+U*Q.normalZ;if(T<0){let q=-(1+Math.min(J.rigidBody.restitution,K.rigidBody.restitution))*T/F,W=q*V,P=q*O;J.velocity.x-=W*Q.normalX,J.velocity.y-=W*Q.normalY,J.velocity.z-=W*Q.normalZ,K.velocity.x+=P*Q.normalX,K.velocity.y+=P*Q.normalY,K.velocity.z+=P*Q.normalZ;let H=k-T*Q.normalX,N=L-T*Q.normalY,_=U-T*Q.normalZ,M=Math.sqrt(H*H+N*N+_*_);if(M>0.000001){let S=H/M,X=N/M,R=_/M,Y=Math.sqrt(J.rigidBody.friction*K.rigidBody.friction)*Math.abs(q),Z=Math.min(M/F,Y),w=Z*V,I=Z*O;J.velocity.x+=w*S,J.velocity.y+=w*X,J.velocity.z+=w*R,K.velocity.x-=I*S,K.velocity.y-=I*X,K.velocity.z-=I*R}}G.markChanged(J.entityId,"velocity3D"),G.markChanged(K.entityId,"velocity3D")}z.entityA=J.entityId,z.entityB=K.entityId,z.normalX=Q.normalX,z.normalY=Q.normalY,z.normalZ=Q.normalZ,z.depth=Q.depth,G.eventBus.publish("physics3DCollision",z)}function jJ(J){let{gravity:K={x:0,y:0,z:0},systemGroup:Q="physics3D",collisionSystemGroup:G,integrationPriority:V=1000,collisionPriority:O=900,phase:F="fixedUpdate"}=J??{};return r("physics3D").withComponentTypes().withEventTypes().withResourceTypes().withLabels().withGroups().requires().install(($)=>{$.registerRequired("rigidBody3D","velocity3D",()=>({x:0,y:0,z:0})),$.registerRequired("rigidBody3D","force3D",()=>({x:0,y:0,z:0})),$.addResource("physics3DConfig",{gravity:{x:K.x,y:K.y,z:K.z}}),$.addSystem("physics3D-integration").setPriority(V).inPhase(F).inGroup(Q).addQuery("bodies",{with:["localTransform3D","velocity3D","rigidBody3D","force3D"]}).setProcess(({queries:q,dt:W,ecs:P})=>{let{gravity:H}=P.getResource("physics3DConfig"),N=H.x,_=H.y,M=H.z;for(let S of q.bodies){let{localTransform3D:X,velocity3D:R,rigidBody3D:E,force3D:Y}=S.components;if(E.type==="static")continue;if(E.type==="dynamic"){if(R.x+=N*E.gravityScale*W,R.y+=_*E.gravityScale*W,R.z+=M*E.gravityScale*W,E.mass>0&&E.mass!==1/0)R.x+=Y.x/E.mass*W,R.y+=Y.y/E.mass*W,R.z+=Y.z/E.mass*W;if(E.drag>0){let Z=Math.max(0,1-E.drag*W);R.x*=Z,R.y*=Z,R.z*=Z}}X.x+=R.x*W,X.y+=R.y*W,X.z+=R.z*W,Y.x=0,Y.y=0,Y.z=0,P.markChanged(S.id,"localTransform3D")}});let k=$.addSystem("physics3D-collision").setPriority(O).inPhase(F).inGroup(Q);if(G)k.inGroup(G);let L=[],U=new Map,T,j=!1;k.addQuery("collidables",{with:["localTransform3D","rigidBody3D","velocity3D","collisionLayer"]}).setProcess(({queries:q,ecs:W})=>{let P=0;for(let H of q.collidables){let{localTransform3D:N,rigidBody3D:_,velocity3D:M,collisionLayer:S}=H.components,X=W.getComponent(H.id,"aabb3DCollider"),R=X?void 0:W.getComponent(H.id,"sphereCollider");if(!X&&!R)continue;let E=L[P];if(!E)E={entityId:H.id,x:N.x,y:N.y,z:N.z,layer:S.layer,collidesWith:S.collidesWith,shape:m,halfWidth:0,halfHeight:0,halfDepth:0,radius:0,rigidBody:_,velocity:M},L[P]=E;else E.rigidBody=_,E.velocity=M;if(!g(E,H.id,N.x,N.y,N.z,S.layer,S.collidesWith,X,R))continue;P++}if(!j)T=W.tryGetResource("spatialIndex3D"),j=!0;v(L,P,U,T,c,W)})})}export{OJ as setVelocity3D,JJ as createRigidBody3D,jJ as createPhysics3DPlugin,KJ as createForce3D,$J as applyImpulse3D,QJ as applyForce3D};
+
+//# debugId=62C31FA369CDE2E864756E2164756E21
+//# sourceMappingURL=physics3D.js.map

package/dist/plugins/physics/physics3D.js.map

@@ -0,0 +1,11 @@
+{
+  "version": 3,
+  "sources": ["../src/plugins/physics/physics3D.ts", "../src/utils/narrowphase3D.ts"],
+  "sourcesContent": [
+    "/**\n * Physics 3D Plugin for ECSpresso\n *\n * Provides ECS-native 3D arcade physics: gravity, forces, drag, semi-implicit Euler\n * integration, and impulse-based collision response with friction.\n *\n * Reuses RigidBody and collider types from the 2D physics/collision plugins for\n * shape definitions. Has its own collision detection in fixedUpdate for physics\n * response; the existing collision3D plugin can still run in postUpdate for game\n * logic events.\n */\n\nimport { definePlugin } from 'ecspresso';\nimport type { SystemPhase } from 'ecspresso';\nimport type { Vector3D } from 'ecspresso';\nimport type { Transform3DWorldConfig } from '../spatial/transform3D';\nimport type { Collision3DComponentTypes, LayerFactories } from './collision3D';\nimport type { RigidBody, BodyType, RigidBodyOptions } from './physics2D';\nimport { fillBaseColliderInfo3D, detectCollisions3D, AABB3D_SHAPE, type Contact3D, type BaseColliderInfo3D } from '../../utils/narrowphase3D';\nimport type { SpatialIndex3D } from '../../utils/spatial-hash3D';\n\n// Re-export so consumers can type rigid bodies without importing physics2D\nexport type { RigidBody, BodyType, RigidBodyOptions };\n\n// ==================== Component Types ====================\n\n/**\n * Component types directly provided by the physics3D plugin.\n */\nexport interface Physics3DOwnComponentTypes {\n\trigidBody3D: RigidBody;\n\tvelocity3D: Vector3D;\n\tforce3D: Vector3D;\n}\n\n/**\n * Full component types available when using the physics3D plugin\n * (own components + transform + collision dependencies).\n * Convenience alias for consumer code.\n */\nexport interface Physics3DComponentTypes<L extends string = never> extends Collision3DComponentTypes<L>, Physics3DOwnComponentTypes {}\n\n// ==================== Resource Types ====================\n\n/**\n * Physics 3D configuration resource.\n */\nexport interface Physics3DConfig {\n\tgravity: Vector3D;\n}\n\nexport interface Physics3DResourceTypes {\n\tphysics3DConfig: Physics3DConfig;\n}\n\n// ==================== Event Types ====================\n\n/**\n * Event emitted for each physics 3D collision pair.\n *\n * Normal components are flattened (`normalX`/`normalY`/`normalZ`) rather than\n * nested in a `Vector3D` to avoid a per-event allocation in the physics hot path.\n */\nexport interface Physics3DCollisionEvent {\n\tentityA: number;\n\tentityB: number;\n\t/** Unit normal X, pointing from A toward B */\n\tnormalX: number;\n\t/** Unit normal Y, pointing from A toward B */\n\tnormalY: number;\n\t/** Unit normal Z, pointing from A toward B */\n\tnormalZ: number;\n\t/** Penetration depth (positive) */\n\tdepth: number;\n}\n\nexport interface Physics3DEventTypes {\n\tphysics3DCollision: Physics3DCollisionEvent;\n}\n\n// ==================== Plugin Options ====================\n\nexport interface Physics3DPluginOptions<G extends string = 'physics3D', CG extends string = never> {\n\t/** World gravity vector (default: {x: 0, y: 0, z: 0}) */\n\tgravity?: Vector3D;\n\t/** System group name (default: 'physics3D') */\n\tsystemGroup?: G;\n\t/** Additional group for the collision system only (default: none).\n\t * When set, the collision system belongs to both `systemGroup` and this group,\n\t * allowing independent enable/disable of collision detection. */\n\tcollisionSystemGroup?: CG;\n\t/** Priority for integration system (default: 1000) */\n\tintegrationPriority?: number;\n\t/** Priority for collision system (default: 900) */\n\tcollisionPriority?: number;\n\t/** Execution phase (default: 'fixedUpdate') */\n\tphase?: SystemPhase;\n}\n\n// ==================== Helper Functions ====================\n\n/**\n * Create a rigidBody3D + force3D component pair.\n * Static bodies automatically get mass=Infinity.\n */\nexport function createRigidBody3D(\n\ttype: BodyType,\n\toptions?: RigidBodyOptions,\n): { rigidBody3D: RigidBody; force3D: Vector3D } {\n\treturn {\n\t\trigidBody3D: {\n\t\t\ttype,\n\t\t\tmass: type === 'static' ? Infinity : (options?.mass ?? 1),\n\t\t\tdrag: options?.drag ?? 0,\n\t\t\trestitution: options?.restitution ?? 0,\n\t\t\tfriction: options?.friction ?? 0,\n\t\t\tgravityScale: options?.gravityScale ?? 1,\n\t\t},\n\t\tforce3D: { x: 0, y: 0, z: 0 },\n\t};\n}\n\n/**\n * Create a force3D component with initial values.\n */\nexport function createForce3D(x: number, y: number, z: number): { force3D: Vector3D } {\n\treturn { force3D: { x, y, z } };\n}\n\n/**\n * Accumulate a force onto an entity's force3D component.\n */\nexport function applyForce3D(\n\tecs: { getComponent(id: number, name: 'force3D'): Vector3D | undefined },\n\tentityId: number,\n\tfx: number,\n\tfy: number,\n\tfz: number,\n): void {\n\tconst force = ecs.getComponent(entityId, 'force3D');\n\tif (!force) return;\n\tforce.x += fx;\n\tforce.y += fy;\n\tforce.z += fz;\n}\n\n/**\n * Apply an instantaneous impulse: velocity3D += impulse / mass.\n */\nexport function applyImpulse3D(\n\tecs: {\n\t\tgetComponent(id: number, name: 'velocity3D'): Vector3D | undefined;\n\t\tgetComponent(id: number, name: 'rigidBody3D'): RigidBody | undefined;\n\t},\n\tentityId: number,\n\tix: number,\n\tiy: number,\n\tiz: number,\n): void {\n\tconst velocity = ecs.getComponent(entityId, 'velocity3D');\n\tconst rigidBody = ecs.getComponent(entityId, 'rigidBody3D');\n\tif (!velocity || !rigidBody) return;\n\tif (rigidBody.mass === Infinity || rigidBody.mass === 0) return;\n\tvelocity.x += ix / rigidBody.mass;\n\tvelocity.y += iy / rigidBody.mass;\n\tvelocity.z += iz / rigidBody.mass;\n}\n\n/**\n * Directly set an entity's velocity3D.\n */\nexport function setVelocity3D(\n\tecs: { getComponent(id: number, name: 'velocity3D'): Vector3D | undefined },\n\tentityId: number,\n\tvx: number,\n\tvy: number,\n\tvz: number,\n): void {\n\tconst velocity = ecs.getComponent(entityId, 'velocity3D');\n\tif (!velocity) return;\n\tvelocity.x = vx;\n\tvelocity.y = vy;\n\tvelocity.z = vz;\n}\n\n// ==================== Internal: Collider Info ====================\n\ninterface Physics3DColliderInfo<L extends string = string> extends BaseColliderInfo3D<L> {\n\trigidBody: RigidBody;\n\tvelocity: Vector3D;\n}\n\n// ==================== Collision Response ====================\n\n/**\n * Module-level reusable physics3D collision event. Subscribers must consume\n * synchronously — same contract as the shared narrowphase Contact3D.\n */\nconst _physicsCollisionEvent: Physics3DCollisionEvent = {\n\tentityA: 0, entityB: 0, normalX: 0, normalY: 0, normalZ: 0, depth: 0,\n};\n\ninterface PhysicsEcs3DLike {\n\tgetComponent(id: number, name: 'localTransform3D'): { x: number; y: number; z: number } | undefined;\n\teventBus: { publish(event: 'physics3DCollision', data: Physics3DCollisionEvent): void };\n\tmarkChanged(entityId: number, componentName: 'localTransform3D' | 'velocity3D'): void;\n}\n\n/**\n * Resolve a 3D physics collision pair: position correction, impulse response, event.\n *\n * Friction uses a tangent plane projection: the tangential velocity is the\n * component of relative velocity perpendicular to the contact normal. This\n * generalizes the 2D tangent-line approach to 3D — mathematically the same\n * operation with an added Z component.\n */\nfunction resolvePhysicsContact3D(\n\ta: Physics3DColliderInfo,\n\tb: Physics3DColliderInfo,\n\tcontact: Contact3D,\n\tecs: PhysicsEcs3DLike,\n): void {\n\tconst invMassA = (a.rigidBody.type === 'dynamic' && a.rigidBody.mass > 0 && a.rigidBody.mass !== Infinity)\n\t\t? 1 / a.rigidBody.mass\n\t\t: 0;\n\tconst invMassB = (b.rigidBody.type === 'dynamic' && b.rigidBody.mass > 0 && b.rigidBody.mass !== Infinity)\n\t\t? 1 / b.rigidBody.mass\n\t\t: 0;\n\tconst totalInvMass = invMassA + invMassB;\n\n\t// Position correction\n\tif (totalInvMass > 0) {\n\t\tconst correctionScale = contact.depth / totalInvMass;\n\n\t\tif (invMassA > 0) {\n\t\t\tconst ltA = ecs.getComponent(a.entityId, 'localTransform3D');\n\t\t\tif (!ltA) return;\n\t\t\tconst corrA = correctionScale * invMassA;\n\t\t\tltA.x -= corrA * contact.normalX;\n\t\t\tltA.y -= corrA * contact.normalY;\n\t\t\tltA.z -= corrA * contact.normalZ;\n\t\t\t// Sync cached position so subsequent pairs in this frame use corrected values\n\t\t\ta.x = ltA.x;\n\t\t\ta.y = ltA.y;\n\t\t\ta.z = ltA.z;\n\t\t\tecs.markChanged(a.entityId, 'localTransform3D');\n\t\t}\n\n\t\tif (invMassB > 0) {\n\t\t\tconst ltB = ecs.getComponent(b.entityId, 'localTransform3D');\n\t\t\tif (!ltB) return;\n\t\t\tconst corrB = correctionScale * invMassB;\n\t\t\tltB.x += corrB * contact.normalX;\n\t\t\tltB.y += corrB * contact.normalY;\n\t\t\tltB.z += corrB * contact.normalZ;\n\t\t\tb.x = ltB.x;\n\t\t\tb.y = ltB.y;\n\t\t\tb.z = ltB.z;\n\t\t\tecs.markChanged(b.entityId, 'localTransform3D');\n\t\t}\n\n\t\t// Velocity response (impulse-based)\n\t\tconst relVelX = b.velocity.x - a.velocity.x;\n\t\tconst relVelY = b.velocity.y - a.velocity.y;\n\t\tconst relVelZ = b.velocity.z - a.velocity.z;\n\t\tconst velAlongNormal = relVelX * contact.normalX + relVelY * contact.normalY + relVelZ * contact.normalZ;\n\n\t\tif (velAlongNormal < 0) {\n\t\t\tconst restitution = Math.min(a.rigidBody.restitution, b.rigidBody.restitution);\n\t\t\tconst normalImpulse = -(1 + restitution) * velAlongNormal / totalInvMass;\n\t\t\tconst impA = normalImpulse * invMassA;\n\t\t\tconst impB = normalImpulse * invMassB;\n\n\t\t\ta.velocity.x -= impA * contact.normalX;\n\t\t\ta.velocity.y -= impA * contact.normalY;\n\t\t\ta.velocity.z -= impA * contact.normalZ;\n\t\t\tb.velocity.x += impB * contact.normalX;\n\t\t\tb.velocity.y += impB * contact.normalY;\n\t\t\tb.velocity.z += impB * contact.normalZ;\n\n\t\t\t// Friction (tangential impulse — project relative velocity onto tangent plane)\n\t\t\tconst tangentX = relVelX - velAlongNormal * contact.normalX;\n\t\t\tconst tangentY = relVelY - velAlongNormal * contact.normalY;\n\t\t\tconst tangentZ = relVelZ - velAlongNormal * contact.normalZ;\n\t\t\tconst tangentSpeed = Math.sqrt(tangentX * tangentX + tangentY * tangentY + tangentZ * tangentZ);\n\n\t\t\tif (tangentSpeed > 1e-6) {\n\t\t\t\tconst tangentNX = tangentX / tangentSpeed;\n\t\t\t\tconst tangentNY = tangentY / tangentSpeed;\n\t\t\t\tconst tangentNZ = tangentZ / tangentSpeed;\n\t\t\t\tconst friction = Math.sqrt(a.rigidBody.friction * b.rigidBody.friction);\n\t\t\t\tconst maxFrictionImpulse = friction * Math.abs(normalImpulse);\n\t\t\t\tconst tangentImpulse = Math.min(tangentSpeed / totalInvMass, maxFrictionImpulse);\n\t\t\t\tconst tanA = tangentImpulse * invMassA;\n\t\t\t\tconst tanB = tangentImpulse * invMassB;\n\n\t\t\t\ta.velocity.x += tanA * tangentNX;\n\t\t\t\ta.velocity.y += tanA * tangentNY;\n\t\t\t\ta.velocity.z += tanA * tangentNZ;\n\t\t\t\tb.velocity.x -= tanB * tangentNX;\n\t\t\t\tb.velocity.y -= tanB * tangentNY;\n\t\t\t\tb.velocity.z -= tanB * tangentNZ;\n\t\t\t}\n\t\t}\n\n\t\tecs.markChanged(a.entityId, 'velocity3D');\n\t\tecs.markChanged(b.entityId, 'velocity3D');\n\t}\n\n\t_physicsCollisionEvent.entityA = a.entityId;\n\t_physicsCollisionEvent.entityB = b.entityId;\n\t_physicsCollisionEvent.normalX = contact.normalX;\n\t_physicsCollisionEvent.normalY = contact.normalY;\n\t_physicsCollisionEvent.normalZ = contact.normalZ;\n\t_physicsCollisionEvent.depth = contact.depth;\n\tecs.eventBus.publish('physics3DCollision', _physicsCollisionEvent);\n}\n\n// ==================== Plugin Factory ====================\n\n/**\n * Create a 3D physics plugin for ECSpresso.\n *\n * Provides:\n * - Semi-implicit Euler integration (gravity, forces, drag → velocity3D → position)\n * - Impulse-based collision response with restitution and friction\n * - physics3DCollision events with contact normal and depth\n *\n * @example\n * ```typescript\n * const ecs = ECSpresso.create()\n *   .withPlugin(createTransform3DPlugin())\n *   .withPlugin(createPhysics3DPlugin({ gravity: { x: 0, y: -9.81, z: 0 } }))\n *   .withFixedTimestep(1/60)\n *   .build();\n *\n * ecs.spawn({\n *   ...createTransform3D(0, 10, 0),\n *   ...createRigidBody3D('dynamic', { mass: 1, restitution: 0.5 }),\n *   velocity3D: { x: 0, y: 0, z: 0 },\n *   ...createAABB3DCollider(1, 1, 1),\n *   ...createCollisionLayer('player', ['ground']),\n * });\n * ```\n */\n\ntype Physics3DProvides<L extends string = never> = Physics3DOwnComponentTypes & Collision3DComponentTypes<L>;\n\nexport function createPhysics3DPlugin<L extends string = never, G extends string = 'physics3D', CG extends string = never>(\n\toptions?: Physics3DPluginOptions<G, CG> & { layers?: LayerFactories<Record<L, readonly string[]>> },\n) {\n\tconst {\n\t\tgravity = { x: 0, y: 0, z: 0 },\n\t\tsystemGroup = 'physics3D',\n\t\tcollisionSystemGroup,\n\t\tintegrationPriority = 1000,\n\t\tcollisionPriority = 900,\n\t\tphase = 'fixedUpdate',\n\t} = options ?? {};\n\n\treturn definePlugin('physics3D')\n\t\t.withComponentTypes<Physics3DProvides<L>>()\n\t\t.withEventTypes<Physics3DEventTypes>()\n\t\t.withResourceTypes<Physics3DResourceTypes>()\n\t\t.withLabels<'physics3D-integration' | 'physics3D-collision'>()\n\t\t.withGroups<G | CG>()\n\t\t.requires<Transform3DWorldConfig>()\n\t\t.install((world) => {\n\t\t\t// rigidBody3D requires velocity3D and force3D — auto-add with zero defaults\n\t\t\tworld.registerRequired('rigidBody3D', 'velocity3D', () => ({ x: 0, y: 0, z: 0 }));\n\t\t\tworld.registerRequired('rigidBody3D', 'force3D', () => ({ x: 0, y: 0, z: 0 }));\n\n\t\t\tworld.addResource('physics3DConfig', { gravity: { x: gravity.x, y: gravity.y, z: gravity.z } });\n\n\t\t\t// ==================== Integration System ====================\n\n\t\t\tworld\n\t\t\t\t.addSystem('physics3D-integration')\n\t\t\t\t.setPriority(integrationPriority)\n\t\t\t\t.inPhase(phase)\n\t\t\t\t.inGroup(systemGroup)\n\t\t\t\t.addQuery('bodies', {\n\t\t\t\t\twith: ['localTransform3D', 'velocity3D', 'rigidBody3D', 'force3D'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, dt, ecs }) => {\n\t\t\t\t\tconst { gravity: g } = ecs.getResource('physics3DConfig');\n\t\t\t\t\tconst gx = g.x;\n\t\t\t\t\tconst gy = g.y;\n\t\t\t\t\tconst gz = g.z;\n\n\t\t\t\t\tfor (const entity of queries.bodies) {\n\t\t\t\t\t\tconst { localTransform3D, velocity3D, rigidBody3D, force3D } = entity.components;\n\n\t\t\t\t\t\t// Static bodies: skip entirely\n\t\t\t\t\t\tif (rigidBody3D.type === 'static') continue;\n\n\t\t\t\t\t\t// Dynamic bodies: apply gravity, forces, drag\n\t\t\t\t\t\tif (rigidBody3D.type === 'dynamic') {\n\t\t\t\t\t\t\t// 1. Gravity\n\t\t\t\t\t\t\tvelocity3D.x += gx * rigidBody3D.gravityScale * dt;\n\t\t\t\t\t\t\tvelocity3D.y += gy * rigidBody3D.gravityScale * dt;\n\t\t\t\t\t\t\tvelocity3D.z += gz * rigidBody3D.gravityScale * dt;\n\n\t\t\t\t\t\t\t// 2. Forces (F = ma → a = F/m)\n\t\t\t\t\t\t\tif (rigidBody3D.mass > 0 && rigidBody3D.mass !== Infinity) {\n\t\t\t\t\t\t\t\tvelocity3D.x += (force3D.x / rigidBody3D.mass) * dt;\n\t\t\t\t\t\t\t\tvelocity3D.y += (force3D.y / rigidBody3D.mass) * dt;\n\t\t\t\t\t\t\t\tvelocity3D.z += (force3D.z / rigidBody3D.mass) * dt;\n\t\t\t\t\t\t\t}\n\n\t\t\t\t\t\t\t// 3. Drag\n\t\t\t\t\t\t\tif (rigidBody3D.drag > 0) {\n\t\t\t\t\t\t\t\tconst damping = Math.max(0, 1 - rigidBody3D.drag * dt);\n\t\t\t\t\t\t\t\tvelocity3D.x *= damping;\n\t\t\t\t\t\t\t\tvelocity3D.y *= damping;\n\t\t\t\t\t\t\t\tvelocity3D.z *= damping;\n\t\t\t\t\t\t\t}\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\t// Both dynamic and kinematic: integrate position\n\t\t\t\t\t\tlocalTransform3D.x += velocity3D.x * dt;\n\t\t\t\t\t\tlocalTransform3D.y += velocity3D.y * dt;\n\t\t\t\t\t\tlocalTransform3D.z += velocity3D.z * dt;\n\n\t\t\t\t\t\t// Clear accumulated forces\n\t\t\t\t\t\tforce3D.x = 0;\n\t\t\t\t\t\tforce3D.y = 0;\n\t\t\t\t\t\tforce3D.z = 0;\n\n\t\t\t\t\t\tecs.markChanged(entity.id, 'localTransform3D');\n\t\t\t\t\t}\n\t\t\t\t});\n\n\t\t\t// ==================== Collision System ====================\n\n\t\t\tconst collisionSystem = world\n\t\t\t\t.addSystem('physics3D-collision')\n\t\t\t\t.setPriority(collisionPriority)\n\t\t\t\t.inPhase(phase)\n\t\t\t\t.inGroup(systemGroup);\n\n\t\t\tif (collisionSystemGroup) {\n\t\t\t\tcollisionSystem.inGroup(collisionSystemGroup);\n\t\t\t}\n\n\t\t\t// Grow-only pool of Physics3DColliderInfo slots reused across frames.\n\t\t\t// Steady-state: zero allocations per frame once the pool is warm.\n\t\t\tconst colliderPool: Physics3DColliderInfo<L>[] = [];\n\t\t\t// Reusable entityId → collider lookup for the broadphase path.\n\t\t\tconst broadphaseMap = new Map<number, Physics3DColliderInfo<L>>();\n\t\t\t// Cached spatial index reference (resolved once on first frame).\n\t\t\tlet cachedSI: SpatialIndex3D | undefined;\n\t\t\tlet siResolved = false;\n\n\t\t\tcollisionSystem\n\t\t\t\t.addQuery('collidables', {\n\t\t\t\t\twith: ['localTransform3D', 'rigidBody3D', 'velocity3D', 'collisionLayer'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, ecs }) => {\n\t\t\t\t\tlet count = 0;\n\n\t\t\t\t\tfor (const entity of queries.collidables) {\n\t\t\t\t\t\tconst { localTransform3D, rigidBody3D, velocity3D, collisionLayer } = entity.components;\n\t\t\t\t\t\tconst aabb = ecs.getComponent(entity.id, 'aabb3DCollider');\n\t\t\t\t\t\tconst sphere = aabb ? undefined : ecs.getComponent(entity.id, 'sphereCollider');\n\t\t\t\t\t\tif (!aabb && !sphere) continue;\n\n\t\t\t\t\t\tlet slot = colliderPool[count];\n\t\t\t\t\t\tif (!slot) {\n\t\t\t\t\t\t\tslot = {\n\t\t\t\t\t\t\t\tentityId: entity.id,\n\t\t\t\t\t\t\t\tx: localTransform3D.x,\n\t\t\t\t\t\t\t\ty: localTransform3D.y,\n\t\t\t\t\t\t\t\tz: localTransform3D.z,\n\t\t\t\t\t\t\t\tlayer: collisionLayer.layer,\n\t\t\t\t\t\t\t\tcollidesWith: collisionLayer.collidesWith,\n\t\t\t\t\t\t\t\tshape: AABB3D_SHAPE,\n\t\t\t\t\t\t\t\thalfWidth: 0,\n\t\t\t\t\t\t\t\thalfHeight: 0,\n\t\t\t\t\t\t\t\thalfDepth: 0,\n\t\t\t\t\t\t\t\tradius: 0,\n\t\t\t\t\t\t\t\trigidBody: rigidBody3D,\n\t\t\t\t\t\t\t\tvelocity: velocity3D,\n\t\t\t\t\t\t\t};\n\t\t\t\t\t\t\tcolliderPool[count] = slot;\n\t\t\t\t\t\t} else {\n\t\t\t\t\t\t\tslot.rigidBody = rigidBody3D;\n\t\t\t\t\t\t\tslot.velocity = velocity3D;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tif (!fillBaseColliderInfo3D(\n\t\t\t\t\t\t\tslot,\n\t\t\t\t\t\t\tentity.id, localTransform3D.x, localTransform3D.y, localTransform3D.z,\n\t\t\t\t\t\t\tcollisionLayer.layer, collisionLayer.collidesWith,\n\t\t\t\t\t\t\taabb, sphere,\n\t\t\t\t\t\t)) continue;\n\n\t\t\t\t\t\tcount++;\n\t\t\t\t\t}\n\n\t\t\t\t\tif (!siResolved) {\n\t\t\t\t\t\tcachedSI = ecs.tryGetResource<SpatialIndex3D>('spatialIndex3D');\n\t\t\t\t\t\tsiResolved = true;\n\t\t\t\t\t}\n\t\t\t\t\tdetectCollisions3D(colliderPool, count, broadphaseMap, cachedSI, resolvePhysicsContact3D, ecs);\n\t\t\t\t});\n\t\t});\n}\n",
+    "/**\n * Shared Narrowphase Module — 3D\n *\n * Provides contact-computing narrowphase tests and a generic collision\n * iteration pipeline for 3D collider pairs (AABB3D + Sphere).\n *\n * Mirrors the 2D narrowphase (`narrowphase.ts`) with an added Z axis.\n */\n\nimport type { SpatialIndex3D } from './spatial-hash3D';\n\n// ==================== Contact3D ====================\n\n/**\n * Contact result from a 3D narrowphase test. Normal points from A toward B.\n *\n * Narrowphase functions use this as an out-parameter: the caller owns the\n * struct, the function writes fields in place and returns `true` on hit.\n * The `onContact` callback in `detectCollisions3D` receives a shared module-\n * level instance — **subscribers must consume it synchronously and must not\n * retain the reference across frames**.\n */\nexport interface Contact3D {\n\tnormalX: number;\n\tnormalY: number;\n\tnormalZ: number;\n\t/** Penetration depth (positive = overlapping) */\n\tdepth: number;\n}\n\n/**\n * Module-level reusable Contact3D passed down from `detectCollisions3D` into\n * narrowphase tests and forwarded to the `onContact` callback. Reused across\n * every pair in every frame — zero allocation in the narrowphase hot path.\n */\nconst _sharedContact: Contact3D = { normalX: 0, normalY: 0, normalZ: 0, depth: 0 };\n\n// ==================== BaseColliderInfo3D ====================\n\n/** Collider shape discriminator for the flattened BaseColliderInfo3D layout. */\nexport const AABB3D_SHAPE = 0;\nexport const SPHERE_SHAPE = 1;\nexport type ColliderShape3D = typeof AABB3D_SHAPE | typeof SPHERE_SHAPE;\n\n/**\n * Minimum collider data shared by 3D collision and physics bundles.\n *\n * Flat layout (no nested sub-objects): the `shape` discriminator tells you\n * whether to read `halfWidth`/`halfHeight`/`halfDepth` (AABB3D) or `radius`\n * (Sphere). Unused fields are set to 0.\n *\n * Pool-friendly — all fields are assigned in place each frame.\n */\nexport interface BaseColliderInfo3D<L extends string = string> {\n\tentityId: number;\n\tx: number;\n\ty: number;\n\tz: number;\n\tlayer: L;\n\tcollidesWith: readonly L[];\n\tshape: ColliderShape3D;\n\thalfWidth: number;\n\thalfHeight: number;\n\thalfDepth: number;\n\tradius: number;\n}\n\n// ==================== Collider Construction ====================\n\n/**\n * Populate a `BaseColliderInfo3D` slot in place from raw component data.\n * Returns `true` if the slot was filled, `false` if the entity has no\n * collider (caller should skip it).\n *\n * If an entity has both AABB3D and sphere colliders, AABB3D wins and only\n * the AABB3D offset is applied.\n */\nexport function fillBaseColliderInfo3D<L extends string>(\n\tinfo: BaseColliderInfo3D<L>,\n\tentityId: number,\n\tx: number,\n\ty: number,\n\tz: number,\n\tlayer: L,\n\tcollidesWith: readonly L[],\n\taabb3D: { width: number; height: number; depth: number; offsetX?: number; offsetY?: number; offsetZ?: number } | undefined,\n\tsphere: { radius: number; offsetX?: number; offsetY?: number; offsetZ?: number } | undefined,\n): boolean {\n\tinfo.entityId = entityId;\n\tinfo.layer = layer;\n\tinfo.collidesWith = collidesWith;\n\n\tif (aabb3D) {\n\t\tinfo.x = x + (aabb3D.offsetX ?? 0);\n\t\tinfo.y = y + (aabb3D.offsetY ?? 0);\n\t\tinfo.z = z + (aabb3D.offsetZ ?? 0);\n\t\tinfo.shape = AABB3D_SHAPE;\n\t\tinfo.halfWidth = aabb3D.width / 2;\n\t\tinfo.halfHeight = aabb3D.height / 2;\n\t\tinfo.halfDepth = aabb3D.depth / 2;\n\t\tinfo.radius = 0;\n\t\treturn true;\n\t}\n\n\tif (sphere) {\n\t\tinfo.x = x + (sphere.offsetX ?? 0);\n\t\tinfo.y = y + (sphere.offsetY ?? 0);\n\t\tinfo.z = z + (sphere.offsetZ ?? 0);\n\t\tinfo.shape = SPHERE_SHAPE;\n\t\tinfo.halfWidth = 0;\n\t\tinfo.halfHeight = 0;\n\t\tinfo.halfDepth = 0;\n\t\tinfo.radius = sphere.radius;\n\t\treturn true;\n\t}\n\n\treturn false;\n}\n\n// ==================== Spatial Index Lookup ====================\n\n/**\n * Retrieve the optional spatialIndex3D resource, returning undefined when absent.\n * Centralizes the cross-plugin typed lookup so individual plugins don't each\n * need to import SpatialIndex3D or repeat the tryGetResource pattern.\n */\nexport function tryGetSpatialIndex3D(\n\ttryGetResource: <T>(key: string) => T | undefined,\n): SpatialIndex3D | undefined {\n\treturn tryGetResource<SpatialIndex3D>('spatialIndex3D');\n}\n\n// ==================== Narrowphase Tests ====================\n\n/**\n * Write an AABB3D-vs-AABB3D contact into `out`. Returns `true` if the\n * shapes overlap (out was filled), `false` otherwise.\n *\n * Resolves along the axis with minimum penetration depth.\n */\nexport function computeAABB3DvsAABB3D(\n\tax: number, ay: number, az: number, ahw: number, ahh: number, ahd: number,\n\tbx: number, by: number, bz: number, bhw: number, bhh: number, bhd: number,\n\tout: Contact3D,\n): boolean {\n\tconst dx = bx - ax;\n\tconst dy = by - ay;\n\tconst dz = bz - az;\n\tconst overlapX = (ahw + bhw) - Math.abs(dx);\n\tconst overlapY = (ahh + bhh) - Math.abs(dy);\n\tconst overlapZ = (ahd + bhd) - Math.abs(dz);\n\n\tif (overlapX <= 0 || overlapY <= 0 || overlapZ <= 0) return false;\n\n\tif (overlapX <= overlapY && overlapX <= overlapZ) {\n\t\tout.normalX = dx >= 0 ? 1 : -1;\n\t\tout.normalY = 0;\n\t\tout.normalZ = 0;\n\t\tout.depth = overlapX;\n\t\treturn true;\n\t}\n\n\tif (overlapY <= overlapZ) {\n\t\tout.normalX = 0;\n\t\tout.normalY = dy >= 0 ? 1 : -1;\n\t\tout.normalZ = 0;\n\t\tout.depth = overlapY;\n\t\treturn true;\n\t}\n\n\tout.normalX = 0;\n\tout.normalY = 0;\n\tout.normalZ = dz >= 0 ? 1 : -1;\n\tout.depth = overlapZ;\n\treturn true;\n}\n\n/**\n * Write a sphere-vs-sphere contact into `out`. Returns `true` if the\n * spheres overlap.\n */\nexport function computeSphereVsSphere(\n\tax: number, ay: number, az: number, ar: number,\n\tbx: number, by: number, bz: number, br: number,\n\tout: Contact3D,\n): boolean {\n\tconst dx = bx - ax;\n\tconst dy = by - ay;\n\tconst dz = bz - az;\n\tconst distSq = dx * dx + dy * dy + dz * dz;\n\tconst radiusSum = ar + br;\n\n\tif (distSq >= radiusSum * radiusSum) return false;\n\n\tconst dist = Math.sqrt(distSq);\n\tif (dist === 0) {\n\t\tout.normalX = 1;\n\t\tout.normalY = 0;\n\t\tout.normalZ = 0;\n\t\tout.depth = radiusSum;\n\t\treturn true;\n\t}\n\tout.normalX = dx / dist;\n\tout.normalY = dy / dist;\n\tout.normalZ = dz / dist;\n\tout.depth = radiusSum - dist;\n\treturn true;\n}\n\n/**\n * Write an AABB3D-vs-sphere contact into `out`. Returns `true` if the\n * shapes overlap.\n *\n * Uses closest-point-on-AABB to sphere center. When the sphere center\n * is inside the AABB, resolves along the axis with minimum push distance.\n */\nexport function computeAABB3DvsSphere(\n\taabbX: number, aabbY: number, aabbZ: number, ahw: number, ahh: number, ahd: number,\n\tsphereX: number, sphereY: number, sphereZ: number, radius: number,\n\tout: Contact3D,\n): boolean {\n\tconst closestX = Math.max(aabbX - ahw, Math.min(sphereX, aabbX + ahw));\n\tconst closestY = Math.max(aabbY - ahh, Math.min(sphereY, aabbY + ahh));\n\tconst closestZ = Math.max(aabbZ - ahd, Math.min(sphereZ, aabbZ + ahd));\n\n\tconst dx = sphereX - closestX;\n\tconst dy = sphereY - closestY;\n\tconst dz = sphereZ - closestZ;\n\tconst distSq = dx * dx + dy * dy + dz * dz;\n\n\tif (distSq >= radius * radius) return false;\n\n\t// Sphere center inside AABB — resolve along minimum push axis\n\tif (distSq === 0) {\n\t\tconst pushLeft = (sphereX - (aabbX - ahw));\n\t\tconst pushRight = ((aabbX + ahw) - sphereX);\n\t\tconst pushUp = (sphereY - (aabbY - ahh));\n\t\tconst pushDown = ((aabbY + ahh) - sphereY);\n\t\tconst pushFront = (sphereZ - (aabbZ - ahd));\n\t\tconst pushBack = ((aabbZ + ahd) - sphereZ);\n\t\tconst minPush = Math.min(pushLeft, pushRight, pushUp, pushDown, pushFront, pushBack);\n\n\t\tif (minPush === pushRight) {\n\t\t\tout.normalX = 1; out.normalY = 0; out.normalZ = 0; out.depth = pushRight + radius;\n\t\t\treturn true;\n\t\t}\n\t\tif (minPush === pushLeft) {\n\t\t\tout.normalX = -1; out.normalY = 0; out.normalZ = 0; out.depth = pushLeft + radius;\n\t\t\treturn true;\n\t\t}\n\t\tif (minPush === pushDown) {\n\t\t\tout.normalX = 0; out.normalY = 1; out.normalZ = 0; out.depth = pushDown + radius;\n\t\t\treturn true;\n\t\t}\n\t\tif (minPush === pushUp) {\n\t\t\tout.normalX = 0; out.normalY = -1; out.normalZ = 0; out.depth = pushUp + radius;\n\t\t\treturn true;\n\t\t}\n\t\tif (minPush === pushBack) {\n\t\t\tout.normalX = 0; out.normalY = 0; out.normalZ = 1; out.depth = pushBack + radius;\n\t\t\treturn true;\n\t\t}\n\t\tout.normalX = 0; out.normalY = 0; out.normalZ = -1; out.depth = pushFront + radius;\n\t\treturn true;\n\t}\n\n\tconst dist = Math.sqrt(distSq);\n\tout.normalX = dx / dist;\n\tout.normalY = dy / dist;\n\tout.normalZ = dz / dist;\n\tout.depth = radius - dist;\n\treturn true;\n}\n\n// ==================== Contact Dispatcher ====================\n\n/**\n * Dispatch to the correct narrowphase function for the given pair and\n * write the contact into `out`. Returns `true` if the pair overlaps.\n */\nexport function computeContact3D(a: BaseColliderInfo3D, b: BaseColliderInfo3D, out: Contact3D): boolean {\n\tif (a.shape === AABB3D_SHAPE && b.shape === AABB3D_SHAPE) {\n\t\treturn computeAABB3DvsAABB3D(\n\t\t\ta.x, a.y, a.z, a.halfWidth, a.halfHeight, a.halfDepth,\n\t\t\tb.x, b.y, b.z, b.halfWidth, b.halfHeight, b.halfDepth,\n\t\t\tout,\n\t\t);\n\t}\n\n\tif (a.shape === SPHERE_SHAPE && b.shape === SPHERE_SHAPE) {\n\t\treturn computeSphereVsSphere(\n\t\t\ta.x, a.y, a.z, a.radius,\n\t\t\tb.x, b.y, b.z, b.radius,\n\t\t\tout,\n\t\t);\n\t}\n\n\tif (a.shape === AABB3D_SHAPE && b.shape === SPHERE_SHAPE) {\n\t\treturn computeAABB3DvsSphere(\n\t\t\ta.x, a.y, a.z, a.halfWidth, a.halfHeight, a.halfDepth,\n\t\t\tb.x, b.y, b.z, b.radius,\n\t\t\tout,\n\t\t);\n\t}\n\n\t// a is Sphere, b is AABB3D — compute as AABB3D-vs-Sphere, then flip normal\n\tif (!computeAABB3DvsSphere(\n\t\tb.x, b.y, b.z, b.halfWidth, b.halfHeight, b.halfDepth,\n\t\ta.x, a.y, a.z, a.radius,\n\t\tout,\n\t)) return false;\n\tout.normalX = -out.normalX;\n\tout.normalY = -out.normalY;\n\tout.normalZ = -out.normalZ;\n\treturn true;\n}\n\n// ==================== Collision Iteration ====================\n\n/** Module-level reusable set for broadphase candidates. */\nconst _broadphaseCandidates = new Set<number>();\n\nlet _bruteForceWarned = false;\nconst BRUTE_FORCE_WARN_THRESHOLD = 50;\n\n/**\n * Generic 3D collision detection pipeline: brute-force or broadphase,\n * with layer filtering and contact computation.\n *\n * `count` is the number of live entries at the front of `colliders`.\n * The array itself may be a grow-only pool — only indices `[0, count)`\n * are iterated, so trailing pool slots are ignored.\n *\n * `workingMap` is a caller-owned `Map<number, I>` used by the broadphase\n * path as an entityId → collider lookup. It is cleared and repopulated on\n * each call; callers should allocate it once and pass the same instance\n * every frame.\n *\n * Uses a context parameter forwarded to the callback to avoid\n * per-frame closure allocation.\n */\nexport function detectCollisions3D<I extends BaseColliderInfo3D, C>(\n\tcolliders: I[],\n\tcount: number,\n\tworkingMap: Map<number, I>,\n\tspatialIndex: SpatialIndex3D | undefined,\n\tonContact: (a: I, b: I, contact: Contact3D, context: C) => void,\n\tcontext: C,\n): void {\n\tif (spatialIndex) {\n\t\tbroadphaseDetect(colliders, count, workingMap, spatialIndex, onContact, context);\n\t} else {\n\t\tbruteForceDetect(colliders, count, onContact, context);\n\t}\n}\n\nfunction bruteForceDetect<I extends BaseColliderInfo3D, C>(\n\tcolliders: I[],\n\tcount: number,\n\tonContact: (a: I, b: I, contact: Contact3D, context: C) => void,\n\tcontext: C,\n): void {\n\tif (!_bruteForceWarned && count >= BRUTE_FORCE_WARN_THRESHOLD) {\n\t\t_bruteForceWarned = true;\n\t\tconsole.warn(\n\t\t\t`[ecspresso] 3D collision detection is using O(n²) brute force with ${count} colliders. ` +\n\t\t\t`For better performance, install createSpatialIndex3DPlugin() alongside your collision or physics3D plugin.`,\n\t\t);\n\t}\n\n\tfor (let i = 0; i < count; i++) {\n\t\tconst a = colliders[i];\n\t\tif (!a) continue;\n\n\t\tfor (let j = i + 1; j < count; j++) {\n\t\t\tconst b = colliders[j];\n\t\t\tif (!b) continue;\n\n\t\t\tif (!a.collidesWith.includes(b.layer) && !b.collidesWith.includes(a.layer)) continue;\n\n\t\t\tif (!computeContact3D(a, b, _sharedContact)) continue;\n\n\t\t\tonContact(a, b, _sharedContact, context);\n\t\t}\n\t}\n}\n\nfunction broadphaseDetect<I extends BaseColliderInfo3D, C>(\n\tcolliders: I[],\n\tcount: number,\n\tcolliderMap: Map<number, I>,\n\tspatialIndex: SpatialIndex3D,\n\tonContact: (a: I, b: I, contact: Contact3D, context: C) => void,\n\tcontext: C,\n): void {\n\tcolliderMap.clear();\n\tfor (let i = 0; i < count; i++) {\n\t\tconst c = colliders[i];\n\t\tif (!c) continue;\n\t\tcolliderMap.set(c.entityId, c);\n\t}\n\n\tfor (let i = 0; i < count; i++) {\n\t\tconst a = colliders[i];\n\t\tif (!a) continue;\n\n\t\tconst aHalfW = a.shape === AABB3D_SHAPE ? a.halfWidth : a.radius;\n\t\tconst aHalfH = a.shape === AABB3D_SHAPE ? a.halfHeight : a.radius;\n\t\tconst aHalfD = a.shape === AABB3D_SHAPE ? a.halfDepth : a.radius;\n\n\t\t_broadphaseCandidates.clear();\n\t\tspatialIndex.queryBoxInto(\n\t\t\ta.x - aHalfW, a.y - aHalfH, a.z - aHalfD,\n\t\t\ta.x + aHalfW, a.y + aHalfH, a.z + aHalfD,\n\t\t\t_broadphaseCandidates,\n\t\t);\n\n\t\tfor (const bId of _broadphaseCandidates) {\n\t\t\tif (bId <= a.entityId) continue;\n\n\t\t\tconst b = colliderMap.get(bId);\n\t\t\tif (!b) continue;\n\n\t\t\tif (!a.collidesWith.includes(b.layer) && !b.collidesWith.includes(a.layer)) continue;\n\n\t\t\tif (!computeContact3D(a, b, _sharedContact)) continue;\n\n\t\t\tonContact(a, b, _sharedContact, context);\n\t\t}\n\t}\n}\n"
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