ecspresso 0.17.0 → 0.18.0

package/dist/plugins/ai/behavior-tree.d.ts

@@ -15,7 +15,7 @@
  *   Decorators — inverter, repeat, cooldown, guard
  *   Leaves     — action (tick → NodeStatus, optional onAbort), condition (predicate)
  */
-import { type BasePluginOptions, type WorldConfigFrom, type BaseWorld } from 'ecspresso';
+import { type BasePluginOptions, type BaseWorld, type ComponentsConfig, type EventsConfig } from 'ecspresso';
 /**
  * Return value from behavior tree node ticks.
  *
@@ -272,7 +272,7 @@ export interface BehaviorTreeEventTypes {
 /**
  * WorldConfig representing the behavior tree plugin's provided types.
  */
-export type BehaviorTreeWorldConfig = WorldConfigFrom<BehaviorTreeComponentTypes, BehaviorTreeEventTypes>;
+export type BehaviorTreeWorldConfig = ComponentsConfig<BehaviorTreeComponentTypes> & EventsConfig<BehaviorTreeEventTypes>;
 /**
  * Create a `behaviorTree` component from a definition.
  *

package/dist/plugins/ai/behavior-tree.js.map

@@ -2,9 +2,9 @@
   "version": 3,
   "sources": ["../src/plugins/ai/behavior-tree.ts"],
   "sourcesContent": [
-    "/**\n * Behavior Tree Plugin for ECSpresso\n *\n * Provides composable, priority-driven AI via behavior trees. Shared immutable\n * tree definitions drive per-entity runtime state. Uses hybrid traversal\n * (Approach C): re-evaluate from root each tick to preserve priority, resume\n * running leaves, and abort diverged running nodes via `onAbort`.\n *\n * Each entity gets a `behaviorTree` component referencing a shared definition\n * plus a typed blackboard for per-entity AI memory. One system processes all\n * behavior-tree entities each tick.\n *\n * Node types:\n *   Composites — sequence, selector, parallel\n *   Decorators — inverter, repeat, cooldown, guard\n *   Leaves     — action (tick → NodeStatus, optional onAbort), condition (predicate)\n */\n\nimport { definePlugin, type BasePluginOptions, type WorldConfigFrom, type BaseWorld } from 'ecspresso';\n\n// ==================== NodeStatus ====================\n\n/**\n * Return value from behavior tree node ticks.\n *\n * - `Success` (0) — node completed successfully\n * - `Failure` (1) — node failed\n * - `Running` (2) — node still executing, will resume next tick\n */\nexport const NodeStatus = { Success: 0, Failure: 1, Running: 2 } as const;\nexport type NodeStatus = (typeof NodeStatus)[keyof typeof NodeStatus];\n\n// ==================== Callback Context ====================\n\n/** BaseWorld narrowed to behavior-tree components for typed access in helpers. */\ntype BehaviorTreeWorld = BaseWorld<BehaviorTreeComponentTypes>;\n\n/**\n * Context passed to all leaf node callbacks (action tick, condition check,\n * onAbort, guard predicates).\n *\n * @template BB - Blackboard type for per-entity AI memory\n * @template W  - World interface type (default: BehaviorTreeWorld)\n */\nexport interface BehaviorTreeContext<\n\tBB extends object = Record<string, unknown>,\n\tW extends BaseWorld<BehaviorTreeComponentTypes> = BehaviorTreeWorld,\n> {\n\treadonly ecs: W;\n\treadonly entityId: number;\n\treadonly dt: number;\n\treadonly blackboard: BB;\n}\n\n// ==================== Node Types ====================\n\n/**\n * Action leaf — executes behavior each tick.\n * Returns `Running` for multi-frame actions. Optional `onAbort` fires\n * when a higher-priority branch preempts this running action.\n */\nexport interface ActionNode<BB extends object = Record<string, unknown>> {\n\treadonly type: 'action';\n\treadonly name: string;\n\treadonly tick: (ctx: BehaviorTreeContext<BB>) => NodeStatus;\n\treadonly onAbort?: (ctx: BehaviorTreeContext<BB>) => void;\n\tnodeIndex: number;\n}\n\n/**\n * Condition leaf — checks a predicate. Returns Success or Failure, never Running.\n */\nexport interface ConditionNode<BB extends object = Record<string, unknown>> {\n\treadonly type: 'condition';\n\treadonly name: string;\n\treadonly check: (ctx: BehaviorTreeContext<BB>) => boolean;\n\tnodeIndex: number;\n}\n\n/**\n * Sequence composite — runs children left-to-right.\n * Fails on first failure, succeeds when all succeed.\n * Resumes from stored child index when a running node exists.\n */\nexport interface SequenceNode<BB extends object = Record<string, unknown>> {\n\treadonly type: 'sequence';\n\treadonly children: readonly BehaviorTreeNode<BB>[];\n\tnodeIndex: number;\n}\n\n/**\n * Selector composite — runs children left-to-right.\n * Succeeds on first success, fails when all fail.\n * Always re-evaluates from child 0 to preserve priority ordering.\n */\nexport interface SelectorNode<BB extends object = Record<string, unknown>> {\n\treadonly type: 'selector';\n\treadonly children: readonly BehaviorTreeNode<BB>[];\n\tnodeIndex: number;\n}\n\n/**\n * Parallel composite — ticks all children each frame.\n * Configurable success/failure thresholds.\n *\n * Limitation (v1): only one running leaf is tracked for abort.\n * Other running children in a parallel stop being ticked if the\n * tree path diverges but do not receive an `onAbort` call.\n */\nexport interface ParallelNode<BB extends object = Record<string, unknown>> {\n\treadonly type: 'parallel';\n\treadonly children: readonly BehaviorTreeNode<BB>[];\n\treadonly successThreshold: number;\n\treadonly failureThreshold: number;\n\tnodeIndex: number;\n}\n\n/** Decorator — inverts child result (Success↔Failure), passes Running through. */\nexport interface InverterNode<BB extends object = Record<string, unknown>> {\n\treadonly type: 'inverter';\n\treadonly child: BehaviorTreeNode<BB>;\n\tnodeIndex: number;\n}\n\n/** Decorator — repeats child `count` times (or forever when count is -1). */\nexport interface RepeatNode<BB extends object = Record<string, unknown>> {\n\treadonly type: 'repeat';\n\treadonly child: BehaviorTreeNode<BB>;\n\treadonly count: number;\n\tnodeIndex: number;\n}\n\n/** Decorator — prevents child re-entry for `duration` seconds after completion. */\nexport interface CooldownNode<BB extends object = Record<string, unknown>> {\n\treadonly type: 'cooldown';\n\treadonly child: BehaviorTreeNode<BB>;\n\treadonly duration: number;\n\tnodeIndex: number;\n}\n\n/** Decorator — conditional gate. Ticks child only when condition passes. */\nexport interface GuardNode<BB extends object = Record<string, unknown>> {\n\treadonly type: 'guard';\n\treadonly child: BehaviorTreeNode<BB>;\n\treadonly condition: (ctx: BehaviorTreeContext<BB>) => boolean;\n\tnodeIndex: number;\n}\n\n/** Union of all behavior tree node types. */\nexport type BehaviorTreeNode<BB extends object = Record<string, unknown>> =\n\t| ActionNode<BB>\n\t| ConditionNode<BB>\n\t| SequenceNode<BB>\n\t| SelectorNode<BB>\n\t| ParallelNode<BB>\n\t| InverterNode<BB>\n\t| RepeatNode<BB>\n\t| CooldownNode<BB>\n\t| GuardNode<BB>;\n\n// ==================== Builder Functions ====================\n\n/**\n * Create an action leaf node.\n *\n * @param name   - Human-readable name (used in abort events)\n * @param tick   - Called each frame while this node is active; return NodeStatus\n * @param options - Optional `onAbort` callback fired when preempted by a higher-priority branch\n */\nexport function action<BB extends object>(\n\tname: string,\n\ttick: (ctx: BehaviorTreeContext<BB>) => NodeStatus,\n\toptions?: { onAbort?: (ctx: BehaviorTreeContext<BB>) => void },\n): ActionNode<BB> {\n\treturn { type: 'action', name, tick, onAbort: options?.onAbort, nodeIndex: -1 };\n}\n\n/**\n * Create a condition leaf node.\n *\n * @param name  - Human-readable name\n * @param check - Predicate returning true (Success) or false (Failure). Never Running.\n */\nexport function condition<BB extends object>(\n\tname: string,\n\tcheck: (ctx: BehaviorTreeContext<BB>) => boolean,\n): ConditionNode<BB> {\n\treturn { type: 'condition', name, check, nodeIndex: -1 };\n}\n\n/**\n * Create a sequence composite. Runs children L→R, fails on first failure.\n */\nexport function sequence<BB extends object>(\n\tchildren: BehaviorTreeNode<BB>[],\n): SequenceNode<BB> {\n\treturn { type: 'sequence', children, nodeIndex: -1 };\n}\n\n/**\n * Create a selector composite. Runs children L→R, succeeds on first success.\n * Always starts from child 0 to re-evaluate priority.\n */\nexport function selector<BB extends object>(\n\tchildren: BehaviorTreeNode<BB>[],\n): SelectorNode<BB> {\n\treturn { type: 'selector', children, nodeIndex: -1 };\n}\n\n/**\n * Create a parallel composite. Ticks all children each frame.\n *\n * @param children         - Child nodes to tick in parallel\n * @param options.successThreshold - Successes needed for parallel to succeed (default: all)\n * @param options.failureThreshold - Failures needed for parallel to fail (default: all)\n */\nexport function parallel<BB extends object>(\n\tchildren: BehaviorTreeNode<BB>[],\n\toptions?: { successThreshold?: number; failureThreshold?: number },\n): ParallelNode<BB> {\n\treturn {\n\t\ttype: 'parallel',\n\t\tchildren,\n\t\tsuccessThreshold: options?.successThreshold ?? children.length,\n\t\tfailureThreshold: options?.failureThreshold ?? children.length,\n\t\tnodeIndex: -1,\n\t};\n}\n\n/** Create an inverter decorator. Flips Success↔Failure, passes Running. */\nexport function inverter<BB extends object>(\n\tchild: BehaviorTreeNode<BB>,\n): InverterNode<BB> {\n\treturn { type: 'inverter', child, nodeIndex: -1 };\n}\n\n/**\n * Create a repeat decorator.\n *\n * @param child - Node to repeat\n * @param count - Number of repetitions, or -1 for infinite (default: -1)\n */\nexport function repeat<BB extends object>(\n\tchild: BehaviorTreeNode<BB>,\n\tcount = -1,\n): RepeatNode<BB> {\n\treturn { type: 'repeat', child, count, nodeIndex: -1 };\n}\n\n/**\n * Create a cooldown decorator. Prevents re-entry for `duration` seconds\n * after child completes (Success or Failure).\n */\nexport function cooldown<BB extends object>(\n\tchild: BehaviorTreeNode<BB>,\n\tduration: number,\n): CooldownNode<BB> {\n\treturn { type: 'cooldown', child, duration, nodeIndex: -1 };\n}\n\n/**\n * Create a guard decorator. Ticks child only when condition returns true.\n * Returns Failure when condition is false.\n */\nexport function guard<BB extends object>(\n\tcond: (ctx: BehaviorTreeContext<BB>) => boolean,\n\tchild: BehaviorTreeNode<BB>,\n): GuardNode<BB> {\n\treturn { type: 'guard', condition: cond, child, nodeIndex: -1 };\n}\n\n// ==================== Definition ====================\n\n/**\n * Immutable behavior tree definition. Shared across entities.\n *\n * @template BB - Blackboard type for per-entity AI memory\n */\nexport interface BehaviorTreeDefinition<BB extends object = Record<string, unknown>> {\n\treadonly id: string;\n\treadonly root: BehaviorTreeNode<BB>;\n\treadonly nodeCount: number;\n}\n\n/** Internal storage for definition data not exposed on the public interface. */\nconst defFlatNodes = new WeakMap<BehaviorTreeDefinition<object>, readonly BehaviorTreeNode<object>[]>();\nconst defDefaultBB = new WeakMap<BehaviorTreeDefinition<object>, object>();\n\n/**\n * Define a behavior tree with a typed blackboard.\n *\n * The `blackboard` value serves as both the type source and the default\n * initial state cloned for each entity via `createBehaviorTree`.\n *\n * @param id     - Unique identifier for this tree definition\n * @param config - `{ blackboard, root }` — default blackboard + root node\n * @returns Frozen BehaviorTreeDefinition\n *\n * @example\n * ```typescript\n * const tree = defineBehaviorTree('patrol', {\n *   blackboard: { targetId: null as number | null, timer: 0 },\n *   root: selector([\n *     guard(ctx => ctx.blackboard.targetId !== null, action('chase', ...)),\n *     action('wander', ...),\n *   ]),\n * });\n * ```\n */\nexport function defineBehaviorTree<BB extends object>(\n\tid: string,\n\tconfig: { blackboard: BB; root: BehaviorTreeNode<BB> },\n): BehaviorTreeDefinition<BB> {\n\tlet nextIndex = 0;\n\tconst flatNodes: BehaviorTreeNode<BB>[] = [];\n\n\tfunction indexTree(node: BehaviorTreeNode<BB>): void {\n\t\tnode.nodeIndex = nextIndex;\n\t\tflatNodes[nextIndex] = node;\n\t\tnextIndex++;\n\t\tif ('children' in node) {\n\t\t\tfor (const child of node.children) indexTree(child);\n\t\t}\n\t\tif ('child' in node) {\n\t\t\tindexTree(node.child);\n\t\t}\n\t}\n\tindexTree(config.root);\n\n\tconst def: BehaviorTreeDefinition<BB> = Object.freeze({ id, root: config.root, nodeCount: nextIndex });\n\tdefFlatNodes.set(def as BehaviorTreeDefinition<object>, flatNodes as readonly BehaviorTreeNode<object>[]);\n\tdefDefaultBB.set(def as BehaviorTreeDefinition<object>, config.blackboard);\n\treturn def;\n}\n\n// ==================== Per-Entity Component ====================\n\n/**\n * Runtime behavior tree state stored on each entity.\n *\n * The `blackboard` is typed as `object` at the component level.\n * Inside tree callbacks, the `BehaviorTreeContext<BB>` provides\n * typed access to the blackboard via the tree definition's generic.\n * Outside the tree, cast the blackboard to the specific BB type.\n */\nexport interface BehaviorTreeComponent {\n\treadonly definition: BehaviorTreeDefinition<Record<string, unknown>>;\n\tblackboard: object;\n\t/** Index of the currently running leaf, or -1 if none. */\n\trunningNodeIndex: number;\n\t/**\n\t * Dense per-node state array (sized to `definition.nodeCount`).\n\t * Semantics vary by node type:\n\t * - sequence/selector: child progress index\n\t * - repeat: completed iteration count\n\t * - cooldown: expiry timestamp (elapsedTime when cooldown ends)\n\t */\n\tnodeState: Float64Array;\n\t/** Accumulated time (seconds) for cooldown tracking. */\n\telapsedTime: number;\n}\n\n/**\n * Component types provided by the behavior tree plugin.\n */\nexport interface BehaviorTreeComponentTypes {\n\tbehaviorTree: BehaviorTreeComponent;\n}\n\n// ==================== Event Types ====================\n\n/**\n * Event published when a running action is preempted (aborted) by a\n * higher-priority branch taking over.\n */\nexport interface BehaviorTreeAbortEvent {\n\tentityId: number;\n\t/** nodeIndex of the aborted action */\n\tnodeIndex: number;\n\t/** Human-readable name of the aborted action */\n\tnodeName: string;\n\t/** Definition id of the behavior tree */\n\tdefinitionId: string;\n}\n\n/**\n * Event types provided by the behavior tree plugin.\n */\nexport interface BehaviorTreeEventTypes {\n\tbehaviorTreeAbort: BehaviorTreeAbortEvent;\n}\n\n// ==================== WorldConfig ====================\n\n/**\n * WorldConfig representing the behavior tree plugin's provided types.\n */\nexport type BehaviorTreeWorldConfig = WorldConfigFrom<BehaviorTreeComponentTypes, BehaviorTreeEventTypes>;\n\n// ==================== Helper Functions ====================\n\n/**\n * Create a `behaviorTree` component from a definition.\n *\n * @param definition - Shared tree definition\n * @param blackboard - Optional partial overrides for the default blackboard\n * @returns Component object suitable for spreading into spawn()\n *\n * @example\n * ```typescript\n * ecs.spawn({\n *   ...createBehaviorTree(villagerTree, { hunger: 80 }),\n *   ...createLocalTransform(100, 200),\n * });\n * ```\n */\nexport function createBehaviorTree<BB extends object>(\n\tdefinition: BehaviorTreeDefinition<BB>,\n\tblackboard?: Partial<BB>,\n): Pick<BehaviorTreeComponentTypes, 'behaviorTree'> {\n\tconst defaultBB = defDefaultBB.get(definition as BehaviorTreeDefinition<object>) as BB;\n\tconst bb = { ...defaultBB, ...blackboard };\n\treturn {\n\t\tbehaviorTree: {\n\t\t\tdefinition: definition as BehaviorTreeDefinition<Record<string, unknown>>,\n\t\t\tblackboard: bb,\n\t\t\trunningNodeIndex: -1,\n\t\t\tnodeState: new Float64Array(definition.nodeCount),\n\t\t\telapsedTime: 0,\n\t\t},\n\t};\n}\n\n/**\n * Check whether an entity's behavior tree has a running action.\n */\nexport function isBehaviorTreeRunning(\n\tecs: { getComponent(entityId: number, name: 'behaviorTree'): BehaviorTreeComponent | undefined },\n\tentityId: number,\n): boolean {\n\tconst bt = ecs.getComponent(entityId, 'behaviorTree');\n\treturn bt !== undefined && bt.runningNodeIndex !== -1;\n}\n\n/**\n * Reset an entity's behavior tree: abort any running action, clear all\n * composite progress, and optionally reset the blackboard.\n */\nexport function resetBehaviorTree(\n\tecs: BehaviorTreeWorld,\n\tentityId: number,\n\tblackboard?: Partial<Record<string, unknown>>,\n): void {\n\tconst bt = ecs.getComponent(entityId, 'behaviorTree');\n\tif (!bt) return;\n\n\tif (bt.runningNodeIndex !== -1) {\n\t\tconst flatNodes = defFlatNodes.get(bt.definition as BehaviorTreeDefinition<object>);\n\t\tconst node = flatNodes?.[bt.runningNodeIndex];\n\t\tif (node && node.type === 'action' && node.onAbort) {\n\t\t\tnode.onAbort({ ecs, entityId, dt: 0, blackboard: bt.blackboard as Record<string, unknown> });\n\t\t}\n\t\tbt.runningNodeIndex = -1;\n\t}\n\tbt.nodeState.fill(0);\n\tbt.elapsedTime = 0;\n\n\tif (blackboard) {\n\t\tObject.assign(bt.blackboard, blackboard);\n\t}\n}\n\n// ==================== Internal: Traversal ====================\n\n/** Internal shorthand — all runtime traversal uses the erased base types. */\ntype AnyNode = BehaviorTreeNode<Record<string, unknown>>;\n\n/** Mutable version of context for pre-allocation in the system loop. */\ninterface MutableCtx {\n\tecs: BehaviorTreeWorld;\n\tentityId: number;\n\tdt: number;\n\tblackboard: Record<string, unknown>;\n}\n\nfunction abortRunningNode(bt: BehaviorTreeComponent, ctx: MutableCtx): void {\n\tconst flatNodes = defFlatNodes.get(bt.definition as BehaviorTreeDefinition<object>);\n\tconst node = flatNodes?.[bt.runningNodeIndex] as AnyNode | undefined;\n\tif (node && node.type === 'action') {\n\t\tnode.onAbort?.(ctx);\n\t\tctx.ecs.eventBus.publish('behaviorTreeAbort', {\n\t\t\tentityId: ctx.entityId,\n\t\t\tnodeIndex: bt.runningNodeIndex,\n\t\t\tnodeName: node.name,\n\t\t\tdefinitionId: bt.definition.id,\n\t\t} satisfies BehaviorTreeAbortEvent);\n\t}\n\tbt.nodeState.fill(0);\n\tbt.runningNodeIndex = -1;\n}\n\nfunction tickNode(node: AnyNode, bt: BehaviorTreeComponent, ctx: MutableCtx): NodeStatus {\n\tswitch (node.type) {\n\t\tcase 'condition':\n\t\t\treturn node.check(ctx) ? NodeStatus.Success : NodeStatus.Failure;\n\n\t\tcase 'action': {\n\t\t\tconst result = node.tick(ctx);\n\t\t\tif (result === NodeStatus.Running) {\n\t\t\t\tif (bt.runningNodeIndex !== -1 && bt.runningNodeIndex !== node.nodeIndex) {\n\t\t\t\t\tabortRunningNode(bt, ctx);\n\t\t\t\t}\n\t\t\t\tbt.runningNodeIndex = node.nodeIndex;\n\t\t\t} else if (bt.runningNodeIndex === node.nodeIndex) {\n\t\t\t\tbt.runningNodeIndex = -1;\n\t\t\t}\n\t\t\treturn result;\n\t\t}\n\n\t\tcase 'sequence': {\n\t\t\tconst startChild = (bt.runningNodeIndex !== -1)\n\t\t\t\t? (bt.nodeState[node.nodeIndex] ?? 0)\n\t\t\t\t: 0;\n\t\t\tfor (let i = startChild; i < node.children.length; i++) {\n\t\t\t\tconst status = tickNode(node.children[i]!, bt, ctx);\n\t\t\t\tif (status === NodeStatus.Failure) {\n\t\t\t\t\tbt.nodeState[node.nodeIndex] = 0;\n\t\t\t\t\treturn NodeStatus.Failure;\n\t\t\t\t}\n\t\t\t\tif (status === NodeStatus.Running) {\n\t\t\t\t\tbt.nodeState[node.nodeIndex] = i;\n\t\t\t\t\treturn NodeStatus.Running;\n\t\t\t\t}\n\t\t\t}\n\t\t\tbt.nodeState[node.nodeIndex] = 0;\n\t\t\treturn NodeStatus.Success;\n\t\t}\n\n\t\tcase 'selector': {\n\t\t\tfor (let i = 0; i < node.children.length; i++) {\n\t\t\t\tconst status = tickNode(node.children[i]!, bt, ctx);\n\t\t\t\tif (status === NodeStatus.Success) return NodeStatus.Success;\n\t\t\t\tif (status === NodeStatus.Running) return NodeStatus.Running;\n\t\t\t}\n\t\t\treturn NodeStatus.Failure;\n\t\t}\n\n\t\tcase 'parallel': {\n\t\t\tlet successCount = 0;\n\t\t\tlet failureCount = 0;\n\t\t\tlet anyRunning = false;\n\t\t\tfor (let i = 0; i < node.children.length; i++) {\n\t\t\t\tconst status = tickNode(node.children[i]!, bt, ctx);\n\t\t\t\tif (status === NodeStatus.Success) successCount++;\n\t\t\t\telse if (status === NodeStatus.Failure) failureCount++;\n\t\t\t\telse anyRunning = true;\n\t\t\t}\n\t\t\tif (successCount >= node.successThreshold) return NodeStatus.Success;\n\t\t\tif (failureCount >= node.failureThreshold) return NodeStatus.Failure;\n\t\t\tif (anyRunning) return NodeStatus.Running;\n\t\t\treturn NodeStatus.Failure;\n\t\t}\n\n\t\tcase 'inverter': {\n\t\t\tconst status = tickNode(node.child, bt, ctx);\n\t\t\tif (status === NodeStatus.Success) return NodeStatus.Failure;\n\t\t\tif (status === NodeStatus.Failure) return NodeStatus.Success;\n\t\t\treturn NodeStatus.Running;\n\t\t}\n\n\t\tcase 'repeat': {\n\t\t\tconst iteration = bt.nodeState[node.nodeIndex] ?? 0;\n\t\t\tconst status = tickNode(node.child, bt, ctx);\n\t\t\tif (status === NodeStatus.Failure) {\n\t\t\t\tbt.nodeState[node.nodeIndex] = 0;\n\t\t\t\treturn NodeStatus.Failure;\n\t\t\t}\n\t\t\tif (status === NodeStatus.Running) return NodeStatus.Running;\n\t\t\tconst next = iteration + 1;\n\t\t\tif (node.count !== -1 && next >= node.count) {\n\t\t\t\tbt.nodeState[node.nodeIndex] = 0;\n\t\t\t\treturn NodeStatus.Success;\n\t\t\t}\n\t\t\tbt.nodeState[node.nodeIndex] = next;\n\t\t\treturn NodeStatus.Running;\n\t\t}\n\n\t\tcase 'cooldown': {\n\t\t\tconst expiresAt = bt.nodeState[node.nodeIndex] ?? 0;\n\t\t\tif (expiresAt > 0 && bt.elapsedTime < expiresAt) return NodeStatus.Failure;\n\t\t\tconst status = tickNode(node.child, bt, ctx);\n\t\t\tif (status !== NodeStatus.Running) {\n\t\t\t\tbt.nodeState[node.nodeIndex] = bt.elapsedTime + node.duration;\n\t\t\t}\n\t\t\treturn status;\n\t\t}\n\n\t\tcase 'guard': {\n\t\t\tif (!node.condition(ctx)) return NodeStatus.Failure;\n\t\t\treturn tickNode(node.child, bt, ctx);\n\t\t}\n\t}\n}\n\n// ==================== Typed Helpers ====================\n\n/**\n * Typed helpers for the behavior tree plugin.\n * Creates helpers that validate callback parameters against the world type W.\n * Call after `.build()` using `typeof ecs`.\n */\nexport interface BehaviorTreeHelpers<W extends BaseWorld<BehaviorTreeComponentTypes>> {\n\tdefineBehaviorTree: <BB extends object>(\n\t\tid: string,\n\t\tconfig: { blackboard: BB; root: BehaviorTreeNode<BB> },\n\t) => BehaviorTreeDefinition<BB>;\n\taction: <BB extends object>(\n\t\tname: string,\n\t\ttick: (ctx: BehaviorTreeContext<BB, W>) => NodeStatus,\n\t\toptions?: { onAbort?: (ctx: BehaviorTreeContext<BB, W>) => void },\n\t) => ActionNode<BB>;\n\tcondition: <BB extends object>(\n\t\tname: string,\n\t\tcheck: (ctx: BehaviorTreeContext<BB, W>) => boolean,\n\t) => ConditionNode<BB>;\n\tguard: <BB extends object>(\n\t\tcond: (ctx: BehaviorTreeContext<BB, W>) => boolean,\n\t\tchild: BehaviorTreeNode<BB>,\n\t) => GuardNode<BB>;\n}\n\n/**\n * Create typed behavior tree helpers bound to a specific world type.\n *\n * @example\n * ```typescript\n * const ecs = ECSpresso.create()\n *   .withPlugin(createBehaviorTreePlugin())\n *   .build();\n *\n * const { defineBehaviorTree, action, condition, guard } = ecs.getHelpers(createBehaviorTreeHelpers);\n * ```\n */\nexport function createBehaviorTreeHelpers<\n\tW extends BaseWorld<BehaviorTreeComponentTypes> = BehaviorTreeWorld,\n>(_world?: W): BehaviorTreeHelpers<W> {\n\treturn {\n\t\tdefineBehaviorTree: defineBehaviorTree as BehaviorTreeHelpers<W>['defineBehaviorTree'],\n\t\taction: action as BehaviorTreeHelpers<W>['action'],\n\t\tcondition: condition as BehaviorTreeHelpers<W>['condition'],\n\t\tguard: guard as BehaviorTreeHelpers<W>['guard'],\n\t};\n}\n\n// ==================== Plugin Options ====================\n\n/**\n * Configuration options for the behavior tree plugin.\n */\nexport interface BehaviorTreePluginOptions<G extends string = 'ai'> extends BasePluginOptions<G> {}\n\n// ==================== Plugin Factory ====================\n\n/**\n * Create a behavior tree plugin for ECSpresso.\n *\n * Provides composable, priority-driven AI via behavior trees with:\n * - Hybrid traversal: re-evaluate from root each tick, resume running leaves\n * - Automatic abort with `onAbort` callback when preempted\n * - Typed blackboard for per-entity AI memory\n * - `behaviorTreeAbort` events on preemption\n *\n * @example\n * ```typescript\n * const ecs = ECSpresso.create()\n *   .withPlugin(createBehaviorTreePlugin())\n *   .build();\n *\n * const { defineBehaviorTree, action, condition, guard } = ecs.getHelpers(createBehaviorTreeHelpers);\n *\n * const tree = defineBehaviorTree('villager', {\n *   blackboard: { hunger: 100, targetId: null as number | null },\n *   root: selector([\n *     guard(ctx => ctx.blackboard.hunger < 30, action('eat', ...)),\n *     action('wander', ...),\n *   ]),\n * });\n *\n * ecs.spawn({\n *   ...createBehaviorTree(tree),\n *   ...createLocalTransform(100, 200),\n * });\n * ```\n */\nexport function createBehaviorTreePlugin<G extends string = 'ai'>(\n\toptions?: BehaviorTreePluginOptions<G>,\n) {\n\tconst {\n\t\tsystemGroup = 'ai',\n\t\tpriority = 0,\n\t\tphase = 'update',\n\t} = options ?? {};\n\n\treturn definePlugin('behaviorTree')\n\t\t.withComponentTypes<BehaviorTreeComponentTypes>()\n\t\t.withEventTypes<BehaviorTreeEventTypes>()\n\t\t.withLabels<'behavior-tree-update'>()\n\t\t.withGroups<G>()\n\t\t.install((world) => {\n\t\t\t// Dispose: abort running node on entity removal\n\t\t\tworld.registerDispose('behaviorTree', ({ value, entityId }) => {\n\t\t\t\tif (value.runningNodeIndex !== -1) {\n\t\t\t\t\tconst flatNodes = defFlatNodes.get(value.definition as BehaviorTreeDefinition<object>);\n\t\t\t\t\tconst node = flatNodes?.[value.runningNodeIndex] as AnyNode | undefined;\n\t\t\t\t\tif (node && node.type === 'action' && node.onAbort) {\n\t\t\t\t\t\tnode.onAbort({\n\t\t\t\t\t\t\tecs: world as unknown as BehaviorTreeWorld,\n\t\t\t\t\t\t\tentityId,\n\t\t\t\t\t\t\tdt: 0,\n\t\t\t\t\t\t\tblackboard: value.blackboard as Record<string, unknown>,\n\t\t\t\t\t\t});\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t\t});\n\n\t\t\tworld\n\t\t\t\t.addSystem('behavior-tree-update')\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('trees', {\n\t\t\t\t\twith: ['behaviorTree'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, dt, ecs: ecsWorld }) => {\n\t\t\t\t\tconst ctx: MutableCtx = {\n\t\t\t\t\t\tecs: ecsWorld as unknown as BehaviorTreeWorld,\n\t\t\t\t\t\tentityId: 0,\n\t\t\t\t\t\tdt: 0,\n\t\t\t\t\t\tblackboard: {},\n\t\t\t\t\t};\n\n\t\t\t\t\tfor (const entity of queries.trees) {\n\t\t\t\t\t\tconst bt = entity.components.behaviorTree;\n\t\t\t\t\t\tctx.entityId = entity.id;\n\t\t\t\t\t\tctx.dt = dt;\n\t\t\t\t\t\tctx.blackboard = bt.blackboard as Record<string, unknown>;\n\t\t\t\t\t\tbt.elapsedTime += dt;\n\n\t\t\t\t\t\tconst result = tickNode(bt.definition.root as AnyNode, bt, ctx);\n\n\t\t\t\t\t\tif (result !== NodeStatus.Running && bt.runningNodeIndex !== -1) {\n\t\t\t\t\t\t\tabortRunningNode(bt, ctx);\n\t\t\t\t\t\t}\n\t\t\t\t\t}\n\t\t\t\t});\n\t\t});\n}\n"
+    "/**\n * Behavior Tree Plugin for ECSpresso\n *\n * Provides composable, priority-driven AI via behavior trees. Shared immutable\n * tree definitions drive per-entity runtime state. Uses hybrid traversal\n * (Approach C): re-evaluate from root each tick to preserve priority, resume\n * running leaves, and abort diverged running nodes via `onAbort`.\n *\n * Each entity gets a `behaviorTree` component referencing a shared definition\n * plus a typed blackboard for per-entity AI memory. One system processes all\n * behavior-tree entities each tick.\n *\n * Node types:\n *   Composites — sequence, selector, parallel\n *   Decorators — inverter, repeat, cooldown, guard\n *   Leaves     — action (tick → NodeStatus, optional onAbort), condition (predicate)\n */\n\nimport { definePlugin, type BasePluginOptions, type BaseWorld, type ComponentsConfig, type EventsConfig } from 'ecspresso';\n\n// ==================== NodeStatus ====================\n\n/**\n * Return value from behavior tree node ticks.\n *\n * - `Success` (0) — node completed successfully\n * - `Failure` (1) — node failed\n * - `Running` (2) — node still executing, will resume next tick\n */\nexport const NodeStatus = { Success: 0, Failure: 1, Running: 2 } as const;\nexport type NodeStatus = (typeof NodeStatus)[keyof typeof NodeStatus];\n\n// ==================== Callback Context ====================\n\n/** BaseWorld narrowed to behavior-tree components for typed access in helpers. */\ntype BehaviorTreeWorld = BaseWorld<BehaviorTreeComponentTypes>;\n\n/**\n * Context passed to all leaf node callbacks (action tick, condition check,\n * onAbort, guard predicates).\n *\n * @template BB - Blackboard type for per-entity AI memory\n * @template W  - World interface type (default: BehaviorTreeWorld)\n */\nexport interface BehaviorTreeContext<\n\tBB extends object = Record<string, unknown>,\n\tW extends BaseWorld<BehaviorTreeComponentTypes> = BehaviorTreeWorld,\n> {\n\treadonly ecs: W;\n\treadonly entityId: number;\n\treadonly dt: number;\n\treadonly blackboard: BB;\n}\n\n// ==================== Node Types ====================\n\n/**\n * Action leaf — executes behavior each tick.\n * Returns `Running` for multi-frame actions. Optional `onAbort` fires\n * when a higher-priority branch preempts this running action.\n */\nexport interface ActionNode<BB extends object = Record<string, unknown>> {\n\treadonly type: 'action';\n\treadonly name: string;\n\treadonly tick: (ctx: BehaviorTreeContext<BB>) => NodeStatus;\n\treadonly onAbort?: (ctx: BehaviorTreeContext<BB>) => void;\n\tnodeIndex: number;\n}\n\n/**\n * Condition leaf — checks a predicate. Returns Success or Failure, never Running.\n */\nexport interface ConditionNode<BB extends object = Record<string, unknown>> {\n\treadonly type: 'condition';\n\treadonly name: string;\n\treadonly check: (ctx: BehaviorTreeContext<BB>) => boolean;\n\tnodeIndex: number;\n}\n\n/**\n * Sequence composite — runs children left-to-right.\n * Fails on first failure, succeeds when all succeed.\n * Resumes from stored child index when a running node exists.\n */\nexport interface SequenceNode<BB extends object = Record<string, unknown>> {\n\treadonly type: 'sequence';\n\treadonly children: readonly BehaviorTreeNode<BB>[];\n\tnodeIndex: number;\n}\n\n/**\n * Selector composite — runs children left-to-right.\n * Succeeds on first success, fails when all fail.\n * Always re-evaluates from child 0 to preserve priority ordering.\n */\nexport interface SelectorNode<BB extends object = Record<string, unknown>> {\n\treadonly type: 'selector';\n\treadonly children: readonly BehaviorTreeNode<BB>[];\n\tnodeIndex: number;\n}\n\n/**\n * Parallel composite — ticks all children each frame.\n * Configurable success/failure thresholds.\n *\n * Limitation (v1): only one running leaf is tracked for abort.\n * Other running children in a parallel stop being ticked if the\n * tree path diverges but do not receive an `onAbort` call.\n */\nexport interface ParallelNode<BB extends object = Record<string, unknown>> {\n\treadonly type: 'parallel';\n\treadonly children: readonly BehaviorTreeNode<BB>[];\n\treadonly successThreshold: number;\n\treadonly failureThreshold: number;\n\tnodeIndex: number;\n}\n\n/** Decorator — inverts child result (Success↔Failure), passes Running through. */\nexport interface InverterNode<BB extends object = Record<string, unknown>> {\n\treadonly type: 'inverter';\n\treadonly child: BehaviorTreeNode<BB>;\n\tnodeIndex: number;\n}\n\n/** Decorator — repeats child `count` times (or forever when count is -1). */\nexport interface RepeatNode<BB extends object = Record<string, unknown>> {\n\treadonly type: 'repeat';\n\treadonly child: BehaviorTreeNode<BB>;\n\treadonly count: number;\n\tnodeIndex: number;\n}\n\n/** Decorator — prevents child re-entry for `duration` seconds after completion. */\nexport interface CooldownNode<BB extends object = Record<string, unknown>> {\n\treadonly type: 'cooldown';\n\treadonly child: BehaviorTreeNode<BB>;\n\treadonly duration: number;\n\tnodeIndex: number;\n}\n\n/** Decorator — conditional gate. Ticks child only when condition passes. */\nexport interface GuardNode<BB extends object = Record<string, unknown>> {\n\treadonly type: 'guard';\n\treadonly child: BehaviorTreeNode<BB>;\n\treadonly condition: (ctx: BehaviorTreeContext<BB>) => boolean;\n\tnodeIndex: number;\n}\n\n/** Union of all behavior tree node types. */\nexport type BehaviorTreeNode<BB extends object = Record<string, unknown>> =\n\t| ActionNode<BB>\n\t| ConditionNode<BB>\n\t| SequenceNode<BB>\n\t| SelectorNode<BB>\n\t| ParallelNode<BB>\n\t| InverterNode<BB>\n\t| RepeatNode<BB>\n\t| CooldownNode<BB>\n\t| GuardNode<BB>;\n\n// ==================== Builder Functions ====================\n\n/**\n * Create an action leaf node.\n *\n * @param name   - Human-readable name (used in abort events)\n * @param tick   - Called each frame while this node is active; return NodeStatus\n * @param options - Optional `onAbort` callback fired when preempted by a higher-priority branch\n */\nexport function action<BB extends object>(\n\tname: string,\n\ttick: (ctx: BehaviorTreeContext<BB>) => NodeStatus,\n\toptions?: { onAbort?: (ctx: BehaviorTreeContext<BB>) => void },\n): ActionNode<BB> {\n\treturn { type: 'action', name, tick, onAbort: options?.onAbort, nodeIndex: -1 };\n}\n\n/**\n * Create a condition leaf node.\n *\n * @param name  - Human-readable name\n * @param check - Predicate returning true (Success) or false (Failure). Never Running.\n */\nexport function condition<BB extends object>(\n\tname: string,\n\tcheck: (ctx: BehaviorTreeContext<BB>) => boolean,\n): ConditionNode<BB> {\n\treturn { type: 'condition', name, check, nodeIndex: -1 };\n}\n\n/**\n * Create a sequence composite. Runs children L→R, fails on first failure.\n */\nexport function sequence<BB extends object>(\n\tchildren: BehaviorTreeNode<BB>[],\n): SequenceNode<BB> {\n\treturn { type: 'sequence', children, nodeIndex: -1 };\n}\n\n/**\n * Create a selector composite. Runs children L→R, succeeds on first success.\n * Always starts from child 0 to re-evaluate priority.\n */\nexport function selector<BB extends object>(\n\tchildren: BehaviorTreeNode<BB>[],\n): SelectorNode<BB> {\n\treturn { type: 'selector', children, nodeIndex: -1 };\n}\n\n/**\n * Create a parallel composite. Ticks all children each frame.\n *\n * @param children         - Child nodes to tick in parallel\n * @param options.successThreshold - Successes needed for parallel to succeed (default: all)\n * @param options.failureThreshold - Failures needed for parallel to fail (default: all)\n */\nexport function parallel<BB extends object>(\n\tchildren: BehaviorTreeNode<BB>[],\n\toptions?: { successThreshold?: number; failureThreshold?: number },\n): ParallelNode<BB> {\n\treturn {\n\t\ttype: 'parallel',\n\t\tchildren,\n\t\tsuccessThreshold: options?.successThreshold ?? children.length,\n\t\tfailureThreshold: options?.failureThreshold ?? children.length,\n\t\tnodeIndex: -1,\n\t};\n}\n\n/** Create an inverter decorator. Flips Success↔Failure, passes Running. */\nexport function inverter<BB extends object>(\n\tchild: BehaviorTreeNode<BB>,\n): InverterNode<BB> {\n\treturn { type: 'inverter', child, nodeIndex: -1 };\n}\n\n/**\n * Create a repeat decorator.\n *\n * @param child - Node to repeat\n * @param count - Number of repetitions, or -1 for infinite (default: -1)\n */\nexport function repeat<BB extends object>(\n\tchild: BehaviorTreeNode<BB>,\n\tcount = -1,\n): RepeatNode<BB> {\n\treturn { type: 'repeat', child, count, nodeIndex: -1 };\n}\n\n/**\n * Create a cooldown decorator. Prevents re-entry for `duration` seconds\n * after child completes (Success or Failure).\n */\nexport function cooldown<BB extends object>(\n\tchild: BehaviorTreeNode<BB>,\n\tduration: number,\n): CooldownNode<BB> {\n\treturn { type: 'cooldown', child, duration, nodeIndex: -1 };\n}\n\n/**\n * Create a guard decorator. Ticks child only when condition returns true.\n * Returns Failure when condition is false.\n */\nexport function guard<BB extends object>(\n\tcond: (ctx: BehaviorTreeContext<BB>) => boolean,\n\tchild: BehaviorTreeNode<BB>,\n): GuardNode<BB> {\n\treturn { type: 'guard', condition: cond, child, nodeIndex: -1 };\n}\n\n// ==================== Definition ====================\n\n/**\n * Immutable behavior tree definition. Shared across entities.\n *\n * @template BB - Blackboard type for per-entity AI memory\n */\nexport interface BehaviorTreeDefinition<BB extends object = Record<string, unknown>> {\n\treadonly id: string;\n\treadonly root: BehaviorTreeNode<BB>;\n\treadonly nodeCount: number;\n}\n\n/** Internal storage for definition data not exposed on the public interface. */\nconst defFlatNodes = new WeakMap<BehaviorTreeDefinition<object>, readonly BehaviorTreeNode<object>[]>();\nconst defDefaultBB = new WeakMap<BehaviorTreeDefinition<object>, object>();\n\n/**\n * Define a behavior tree with a typed blackboard.\n *\n * The `blackboard` value serves as both the type source and the default\n * initial state cloned for each entity via `createBehaviorTree`.\n *\n * @param id     - Unique identifier for this tree definition\n * @param config - `{ blackboard, root }` — default blackboard + root node\n * @returns Frozen BehaviorTreeDefinition\n *\n * @example\n * ```typescript\n * const tree = defineBehaviorTree('patrol', {\n *   blackboard: { targetId: null as number | null, timer: 0 },\n *   root: selector([\n *     guard(ctx => ctx.blackboard.targetId !== null, action('chase', ...)),\n *     action('wander', ...),\n *   ]),\n * });\n * ```\n */\nexport function defineBehaviorTree<BB extends object>(\n\tid: string,\n\tconfig: { blackboard: BB; root: BehaviorTreeNode<BB> },\n): BehaviorTreeDefinition<BB> {\n\tlet nextIndex = 0;\n\tconst flatNodes: BehaviorTreeNode<BB>[] = [];\n\n\tfunction indexTree(node: BehaviorTreeNode<BB>): void {\n\t\tnode.nodeIndex = nextIndex;\n\t\tflatNodes[nextIndex] = node;\n\t\tnextIndex++;\n\t\tif ('children' in node) {\n\t\t\tfor (const child of node.children) indexTree(child);\n\t\t}\n\t\tif ('child' in node) {\n\t\t\tindexTree(node.child);\n\t\t}\n\t}\n\tindexTree(config.root);\n\n\tconst def: BehaviorTreeDefinition<BB> = Object.freeze({ id, root: config.root, nodeCount: nextIndex });\n\tdefFlatNodes.set(def as BehaviorTreeDefinition<object>, flatNodes as readonly BehaviorTreeNode<object>[]);\n\tdefDefaultBB.set(def as BehaviorTreeDefinition<object>, config.blackboard);\n\treturn def;\n}\n\n// ==================== Per-Entity Component ====================\n\n/**\n * Runtime behavior tree state stored on each entity.\n *\n * The `blackboard` is typed as `object` at the component level.\n * Inside tree callbacks, the `BehaviorTreeContext<BB>` provides\n * typed access to the blackboard via the tree definition's generic.\n * Outside the tree, cast the blackboard to the specific BB type.\n */\nexport interface BehaviorTreeComponent {\n\treadonly definition: BehaviorTreeDefinition<Record<string, unknown>>;\n\tblackboard: object;\n\t/** Index of the currently running leaf, or -1 if none. */\n\trunningNodeIndex: number;\n\t/**\n\t * Dense per-node state array (sized to `definition.nodeCount`).\n\t * Semantics vary by node type:\n\t * - sequence/selector: child progress index\n\t * - repeat: completed iteration count\n\t * - cooldown: expiry timestamp (elapsedTime when cooldown ends)\n\t */\n\tnodeState: Float64Array;\n\t/** Accumulated time (seconds) for cooldown tracking. */\n\telapsedTime: number;\n}\n\n/**\n * Component types provided by the behavior tree plugin.\n */\nexport interface BehaviorTreeComponentTypes {\n\tbehaviorTree: BehaviorTreeComponent;\n}\n\n// ==================== Event Types ====================\n\n/**\n * Event published when a running action is preempted (aborted) by a\n * higher-priority branch taking over.\n */\nexport interface BehaviorTreeAbortEvent {\n\tentityId: number;\n\t/** nodeIndex of the aborted action */\n\tnodeIndex: number;\n\t/** Human-readable name of the aborted action */\n\tnodeName: string;\n\t/** Definition id of the behavior tree */\n\tdefinitionId: string;\n}\n\n/**\n * Event types provided by the behavior tree plugin.\n */\nexport interface BehaviorTreeEventTypes {\n\tbehaviorTreeAbort: BehaviorTreeAbortEvent;\n}\n\n// ==================== WorldConfig ====================\n\n/**\n * WorldConfig representing the behavior tree plugin's provided types.\n */\nexport type BehaviorTreeWorldConfig =\n\tComponentsConfig<BehaviorTreeComponentTypes>\n\t& EventsConfig<BehaviorTreeEventTypes>;\n\n// ==================== Helper Functions ====================\n\n/**\n * Create a `behaviorTree` component from a definition.\n *\n * @param definition - Shared tree definition\n * @param blackboard - Optional partial overrides for the default blackboard\n * @returns Component object suitable for spreading into spawn()\n *\n * @example\n * ```typescript\n * ecs.spawn({\n *   ...createBehaviorTree(villagerTree, { hunger: 80 }),\n *   ...createLocalTransform(100, 200),\n * });\n * ```\n */\nexport function createBehaviorTree<BB extends object>(\n\tdefinition: BehaviorTreeDefinition<BB>,\n\tblackboard?: Partial<BB>,\n): Pick<BehaviorTreeComponentTypes, 'behaviorTree'> {\n\tconst defaultBB = defDefaultBB.get(definition as BehaviorTreeDefinition<object>) as BB;\n\tconst bb = { ...defaultBB, ...blackboard };\n\treturn {\n\t\tbehaviorTree: {\n\t\t\tdefinition: definition as BehaviorTreeDefinition<Record<string, unknown>>,\n\t\t\tblackboard: bb,\n\t\t\trunningNodeIndex: -1,\n\t\t\tnodeState: new Float64Array(definition.nodeCount),\n\t\t\telapsedTime: 0,\n\t\t},\n\t};\n}\n\n/**\n * Check whether an entity's behavior tree has a running action.\n */\nexport function isBehaviorTreeRunning(\n\tecs: { getComponent(entityId: number, name: 'behaviorTree'): BehaviorTreeComponent | undefined },\n\tentityId: number,\n): boolean {\n\tconst bt = ecs.getComponent(entityId, 'behaviorTree');\n\treturn bt !== undefined && bt.runningNodeIndex !== -1;\n}\n\n/**\n * Reset an entity's behavior tree: abort any running action, clear all\n * composite progress, and optionally reset the blackboard.\n */\nexport function resetBehaviorTree(\n\tecs: BehaviorTreeWorld,\n\tentityId: number,\n\tblackboard?: Partial<Record<string, unknown>>,\n): void {\n\tconst bt = ecs.getComponent(entityId, 'behaviorTree');\n\tif (!bt) return;\n\n\tif (bt.runningNodeIndex !== -1) {\n\t\tconst flatNodes = defFlatNodes.get(bt.definition as BehaviorTreeDefinition<object>);\n\t\tconst node = flatNodes?.[bt.runningNodeIndex];\n\t\tif (node && node.type === 'action' && node.onAbort) {\n\t\t\tnode.onAbort({ ecs, entityId, dt: 0, blackboard: bt.blackboard as Record<string, unknown> });\n\t\t}\n\t\tbt.runningNodeIndex = -1;\n\t}\n\tbt.nodeState.fill(0);\n\tbt.elapsedTime = 0;\n\n\tif (blackboard) {\n\t\tObject.assign(bt.blackboard, blackboard);\n\t}\n}\n\n// ==================== Internal: Traversal ====================\n\n/** Internal shorthand — all runtime traversal uses the erased base types. */\ntype AnyNode = BehaviorTreeNode<Record<string, unknown>>;\n\n/** Mutable version of context for pre-allocation in the system loop. */\ninterface MutableCtx {\n\tecs: BehaviorTreeWorld;\n\tentityId: number;\n\tdt: number;\n\tblackboard: Record<string, unknown>;\n}\n\nfunction abortRunningNode(bt: BehaviorTreeComponent, ctx: MutableCtx): void {\n\tconst flatNodes = defFlatNodes.get(bt.definition as BehaviorTreeDefinition<object>);\n\tconst node = flatNodes?.[bt.runningNodeIndex] as AnyNode | undefined;\n\tif (node && node.type === 'action') {\n\t\tnode.onAbort?.(ctx);\n\t\tctx.ecs.eventBus.publish('behaviorTreeAbort', {\n\t\t\tentityId: ctx.entityId,\n\t\t\tnodeIndex: bt.runningNodeIndex,\n\t\t\tnodeName: node.name,\n\t\t\tdefinitionId: bt.definition.id,\n\t\t} satisfies BehaviorTreeAbortEvent);\n\t}\n\tbt.nodeState.fill(0);\n\tbt.runningNodeIndex = -1;\n}\n\nfunction tickNode(node: AnyNode, bt: BehaviorTreeComponent, ctx: MutableCtx): NodeStatus {\n\tswitch (node.type) {\n\t\tcase 'condition':\n\t\t\treturn node.check(ctx) ? NodeStatus.Success : NodeStatus.Failure;\n\n\t\tcase 'action': {\n\t\t\tconst result = node.tick(ctx);\n\t\t\tif (result === NodeStatus.Running) {\n\t\t\t\tif (bt.runningNodeIndex !== -1 && bt.runningNodeIndex !== node.nodeIndex) {\n\t\t\t\t\tabortRunningNode(bt, ctx);\n\t\t\t\t}\n\t\t\t\tbt.runningNodeIndex = node.nodeIndex;\n\t\t\t} else if (bt.runningNodeIndex === node.nodeIndex) {\n\t\t\t\tbt.runningNodeIndex = -1;\n\t\t\t}\n\t\t\treturn result;\n\t\t}\n\n\t\tcase 'sequence': {\n\t\t\tconst startChild = (bt.runningNodeIndex !== -1)\n\t\t\t\t? (bt.nodeState[node.nodeIndex] ?? 0)\n\t\t\t\t: 0;\n\t\t\tfor (let i = startChild; i < node.children.length; i++) {\n\t\t\t\tconst status = tickNode(node.children[i]!, bt, ctx);\n\t\t\t\tif (status === NodeStatus.Failure) {\n\t\t\t\t\tbt.nodeState[node.nodeIndex] = 0;\n\t\t\t\t\treturn NodeStatus.Failure;\n\t\t\t\t}\n\t\t\t\tif (status === NodeStatus.Running) {\n\t\t\t\t\tbt.nodeState[node.nodeIndex] = i;\n\t\t\t\t\treturn NodeStatus.Running;\n\t\t\t\t}\n\t\t\t}\n\t\t\tbt.nodeState[node.nodeIndex] = 0;\n\t\t\treturn NodeStatus.Success;\n\t\t}\n\n\t\tcase 'selector': {\n\t\t\tfor (let i = 0; i < node.children.length; i++) {\n\t\t\t\tconst status = tickNode(node.children[i]!, bt, ctx);\n\t\t\t\tif (status === NodeStatus.Success) return NodeStatus.Success;\n\t\t\t\tif (status === NodeStatus.Running) return NodeStatus.Running;\n\t\t\t}\n\t\t\treturn NodeStatus.Failure;\n\t\t}\n\n\t\tcase 'parallel': {\n\t\t\tlet successCount = 0;\n\t\t\tlet failureCount = 0;\n\t\t\tlet anyRunning = false;\n\t\t\tfor (let i = 0; i < node.children.length; i++) {\n\t\t\t\tconst status = tickNode(node.children[i]!, bt, ctx);\n\t\t\t\tif (status === NodeStatus.Success) successCount++;\n\t\t\t\telse if (status === NodeStatus.Failure) failureCount++;\n\t\t\t\telse anyRunning = true;\n\t\t\t}\n\t\t\tif (successCount >= node.successThreshold) return NodeStatus.Success;\n\t\t\tif (failureCount >= node.failureThreshold) return NodeStatus.Failure;\n\t\t\tif (anyRunning) return NodeStatus.Running;\n\t\t\treturn NodeStatus.Failure;\n\t\t}\n\n\t\tcase 'inverter': {\n\t\t\tconst status = tickNode(node.child, bt, ctx);\n\t\t\tif (status === NodeStatus.Success) return NodeStatus.Failure;\n\t\t\tif (status === NodeStatus.Failure) return NodeStatus.Success;\n\t\t\treturn NodeStatus.Running;\n\t\t}\n\n\t\tcase 'repeat': {\n\t\t\tconst iteration = bt.nodeState[node.nodeIndex] ?? 0;\n\t\t\tconst status = tickNode(node.child, bt, ctx);\n\t\t\tif (status === NodeStatus.Failure) {\n\t\t\t\tbt.nodeState[node.nodeIndex] = 0;\n\t\t\t\treturn NodeStatus.Failure;\n\t\t\t}\n\t\t\tif (status === NodeStatus.Running) return NodeStatus.Running;\n\t\t\tconst next = iteration + 1;\n\t\t\tif (node.count !== -1 && next >= node.count) {\n\t\t\t\tbt.nodeState[node.nodeIndex] = 0;\n\t\t\t\treturn NodeStatus.Success;\n\t\t\t}\n\t\t\tbt.nodeState[node.nodeIndex] = next;\n\t\t\treturn NodeStatus.Running;\n\t\t}\n\n\t\tcase 'cooldown': {\n\t\t\tconst expiresAt = bt.nodeState[node.nodeIndex] ?? 0;\n\t\t\tif (expiresAt > 0 && bt.elapsedTime < expiresAt) return NodeStatus.Failure;\n\t\t\tconst status = tickNode(node.child, bt, ctx);\n\t\t\tif (status !== NodeStatus.Running) {\n\t\t\t\tbt.nodeState[node.nodeIndex] = bt.elapsedTime + node.duration;\n\t\t\t}\n\t\t\treturn status;\n\t\t}\n\n\t\tcase 'guard': {\n\t\t\tif (!node.condition(ctx)) return NodeStatus.Failure;\n\t\t\treturn tickNode(node.child, bt, ctx);\n\t\t}\n\t}\n}\n\n// ==================== Typed Helpers ====================\n\n/**\n * Typed helpers for the behavior tree plugin.\n * Creates helpers that validate callback parameters against the world type W.\n * Call after `.build()` using `typeof ecs`.\n */\nexport interface BehaviorTreeHelpers<W extends BaseWorld<BehaviorTreeComponentTypes>> {\n\tdefineBehaviorTree: <BB extends object>(\n\t\tid: string,\n\t\tconfig: { blackboard: BB; root: BehaviorTreeNode<BB> },\n\t) => BehaviorTreeDefinition<BB>;\n\taction: <BB extends object>(\n\t\tname: string,\n\t\ttick: (ctx: BehaviorTreeContext<BB, W>) => NodeStatus,\n\t\toptions?: { onAbort?: (ctx: BehaviorTreeContext<BB, W>) => void },\n\t) => ActionNode<BB>;\n\tcondition: <BB extends object>(\n\t\tname: string,\n\t\tcheck: (ctx: BehaviorTreeContext<BB, W>) => boolean,\n\t) => ConditionNode<BB>;\n\tguard: <BB extends object>(\n\t\tcond: (ctx: BehaviorTreeContext<BB, W>) => boolean,\n\t\tchild: BehaviorTreeNode<BB>,\n\t) => GuardNode<BB>;\n}\n\n/**\n * Create typed behavior tree helpers bound to a specific world type.\n *\n * @example\n * ```typescript\n * const ecs = ECSpresso.create()\n *   .withPlugin(createBehaviorTreePlugin())\n *   .build();\n *\n * const { defineBehaviorTree, action, condition, guard } = ecs.getHelpers(createBehaviorTreeHelpers);\n * ```\n */\nexport function createBehaviorTreeHelpers<\n\tW extends BaseWorld<BehaviorTreeComponentTypes> = BehaviorTreeWorld,\n>(_world?: W): BehaviorTreeHelpers<W> {\n\treturn {\n\t\tdefineBehaviorTree: defineBehaviorTree as BehaviorTreeHelpers<W>['defineBehaviorTree'],\n\t\taction: action as BehaviorTreeHelpers<W>['action'],\n\t\tcondition: condition as BehaviorTreeHelpers<W>['condition'],\n\t\tguard: guard as BehaviorTreeHelpers<W>['guard'],\n\t};\n}\n\n// ==================== Plugin Options ====================\n\n/**\n * Configuration options for the behavior tree plugin.\n */\nexport interface BehaviorTreePluginOptions<G extends string = 'ai'> extends BasePluginOptions<G> {}\n\n// ==================== Plugin Factory ====================\n\n/**\n * Create a behavior tree plugin for ECSpresso.\n *\n * Provides composable, priority-driven AI via behavior trees with:\n * - Hybrid traversal: re-evaluate from root each tick, resume running leaves\n * - Automatic abort with `onAbort` callback when preempted\n * - Typed blackboard for per-entity AI memory\n * - `behaviorTreeAbort` events on preemption\n *\n * @example\n * ```typescript\n * const ecs = ECSpresso.create()\n *   .withPlugin(createBehaviorTreePlugin())\n *   .build();\n *\n * const { defineBehaviorTree, action, condition, guard } = ecs.getHelpers(createBehaviorTreeHelpers);\n *\n * const tree = defineBehaviorTree('villager', {\n *   blackboard: { hunger: 100, targetId: null as number | null },\n *   root: selector([\n *     guard(ctx => ctx.blackboard.hunger < 30, action('eat', ...)),\n *     action('wander', ...),\n *   ]),\n * });\n *\n * ecs.spawn({\n *   ...createBehaviorTree(tree),\n *   ...createLocalTransform(100, 200),\n * });\n * ```\n */\nexport function createBehaviorTreePlugin<G extends string = 'ai'>(\n\toptions?: BehaviorTreePluginOptions<G>,\n) {\n\tconst {\n\t\tsystemGroup = 'ai',\n\t\tpriority = 0,\n\t\tphase = 'update',\n\t} = options ?? {};\n\n\treturn definePlugin('behaviorTree')\n\t\t.withComponentTypes<BehaviorTreeComponentTypes>()\n\t\t.withEventTypes<BehaviorTreeEventTypes>()\n\t\t.withLabels<'behavior-tree-update'>()\n\t\t.withGroups<G>()\n\t\t.install((world) => {\n\t\t\t// Dispose: abort running node on entity removal\n\t\t\tworld.registerDispose('behaviorTree', ({ value, entityId }) => {\n\t\t\t\tif (value.runningNodeIndex !== -1) {\n\t\t\t\t\tconst flatNodes = defFlatNodes.get(value.definition as BehaviorTreeDefinition<object>);\n\t\t\t\t\tconst node = flatNodes?.[value.runningNodeIndex] as AnyNode | undefined;\n\t\t\t\t\tif (node && node.type === 'action' && node.onAbort) {\n\t\t\t\t\t\tnode.onAbort({\n\t\t\t\t\t\t\tecs: world as unknown as BehaviorTreeWorld,\n\t\t\t\t\t\t\tentityId,\n\t\t\t\t\t\t\tdt: 0,\n\t\t\t\t\t\t\tblackboard: value.blackboard as Record<string, unknown>,\n\t\t\t\t\t\t});\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t\t});\n\n\t\t\tworld\n\t\t\t\t.addSystem('behavior-tree-update')\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('trees', {\n\t\t\t\t\twith: ['behaviorTree'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, dt, ecs: ecsWorld }) => {\n\t\t\t\t\tconst ctx: MutableCtx = {\n\t\t\t\t\t\tecs: ecsWorld as unknown as BehaviorTreeWorld,\n\t\t\t\t\t\tentityId: 0,\n\t\t\t\t\t\tdt: 0,\n\t\t\t\t\t\tblackboard: {},\n\t\t\t\t\t};\n\n\t\t\t\t\tfor (const entity of queries.trees) {\n\t\t\t\t\t\tconst bt = entity.components.behaviorTree;\n\t\t\t\t\t\tctx.entityId = entity.id;\n\t\t\t\t\t\tctx.dt = dt;\n\t\t\t\t\t\tctx.blackboard = bt.blackboard as Record<string, unknown>;\n\t\t\t\t\t\tbt.elapsedTime += dt;\n\n\t\t\t\t\t\tconst result = tickNode(bt.definition.root as AnyNode, bt, ctx);\n\n\t\t\t\t\t\tif (result !== NodeStatus.Running && bt.runningNodeIndex !== -1) {\n\t\t\t\t\t\t\tabortRunningNode(bt, ctx);\n\t\t\t\t\t\t}\n\t\t\t\t\t}\n\t\t\t\t});\n\t\t});\n}\n"
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   "debugId": "71DF25393349415964756E2164756E21",
   "names": []
 }

package/dist/plugins/ai/detection.d.ts

@@ -9,7 +9,7 @@
  * Uses the spatial-index plugin for efficient range queries.
  */
 import { type BasePluginOptions } from 'ecspresso';
-import type { WorldConfigFrom } from 'ecspresso';
+import type { ComponentsConfig, EventsConfig, ResourcesConfig } from 'ecspresso';
 import type { TransformWorldConfig } from '../spatial/transform';
 import type { SpatialIndexResourceTypes } from '../spatial/spatial-index';
 import type { CollisionComponentTypes } from '../physics/collision';
@@ -72,7 +72,7 @@ export interface DetectionEventTypes {
 /**
  * WorldConfig representing the detection plugin's provided types.
  */
-export type DetectionWorldConfig = WorldConfigFrom<DetectionComponentTypes, DetectionEventTypes>;
+export type DetectionWorldConfig = ComponentsConfig<DetectionComponentTypes> & EventsConfig<DetectionEventTypes>;
 export interface DetectionPluginOptions<G extends string = 'ai'> extends BasePluginOptions<G> {
 }
 /**
@@ -132,4 +132,4 @@ export declare function hasDetectedTargets(ecs: {
  * const nearest = detected?.entities[0];
  * ```
  */
-export declare function createDetectionPlugin<G extends string = 'ai'>(options?: DetectionPluginOptions<G>): import("ecspresso").Plugin<import("ecspresso").WithEvents<import("ecspresso").WithComponents<import("ecspresso").EmptyConfig, DetectionComponentTypes>, DetectionEventTypes>, TransformWorldConfig & WorldConfigFrom<Pick<CollisionComponentTypes<string>, "collisionLayer">> & WorldConfigFrom<{}, {}, SpatialIndexResourceTypes>, "detection-scan", G, never, never>;
+export declare function createDetectionPlugin<G extends string = 'ai'>(options?: DetectionPluginOptions<G>): import("ecspresso").Plugin<import("ecspresso").WithEvents<import("ecspresso").WithComponents<import("ecspresso").EmptyConfig, DetectionComponentTypes>, DetectionEventTypes>, TransformWorldConfig & ComponentsConfig<Pick<CollisionComponentTypes<string>, "collisionLayer">> & ResourcesConfig<SpatialIndexResourceTypes>, "detection-scan", G, never, never>;

package/dist/plugins/ai/detection.js.map

@@ -2,9 +2,9 @@
   "version": 3,
   "sources": ["../src/plugins/ai/detection.ts"],
   "sourcesContent": [
-    "/**\n * Detection Plugin for ECSpresso\n *\n * Provides automatic proximity detection for entities. Entities with a\n * `detector` component get their `detectedEntities` populated each frame\n * with nearby entities that match the configured collision layer filter,\n * sorted by distance ascending (nearest first).\n *\n * Uses the spatial-index plugin for efficient range queries.\n */\n\nimport { definePlugin, type BasePluginOptions } from 'ecspresso';\nimport type { WorldConfigFrom } from 'ecspresso';\nimport type { TransformWorldConfig } from '../spatial/transform';\nimport type { SpatialIndexResourceTypes } from '../spatial/spatial-index';\nimport type { CollisionComponentTypes } from '../physics/collision';\n\n// ==================== Component Types ====================\n\n/**\n * Configures proximity detection for an entity.\n */\nexport interface Detector {\n\t/** Detection radius in world units */\n\trange: number;\n\t/** Only detect entities on these collision layers */\n\tlayerFilter: readonly string[];\n\t/** Maximum number of results to track (default: 32) */\n\tmaxResults: number;\n}\n\n/**\n * A detected entity with its squared distance from the detector.\n */\nexport interface DetectedEntry {\n\tentityId: number;\n\tdistanceSq: number;\n}\n\n/**\n * Auto-populated list of detected entities, sorted by distance ascending.\n */\nexport interface DetectedEntities {\n\tentities: readonly DetectedEntry[];\n}\n\n/**\n * Component types provided by the detection plugin.\n */\nexport interface DetectionComponentTypes {\n\tdetector: Detector;\n\tdetectedEntities: DetectedEntities;\n}\n\n// ==================== Event Types ====================\n\n/**\n * Event fired when a new entity enters detection range.\n */\nexport interface DetectionGainedEvent {\n\t/** The entity doing the detecting */\n\tentityId: number;\n\t/** The entity that was detected */\n\tdetectedId: number;\n}\n\n/**\n * Event fired when an entity leaves detection range.\n */\nexport interface DetectionLostEvent {\n\t/** The entity doing the detecting */\n\tentityId: number;\n\t/** The entity that was lost */\n\tlostId: number;\n}\n\n/**\n * Event types provided by the detection plugin.\n */\nexport interface DetectionEventTypes {\n\tdetectionGained: DetectionGainedEvent;\n\tdetectionLost: DetectionLostEvent;\n}\n\n// ==================== WorldConfig ====================\n\n/**\n * WorldConfig representing the detection plugin's provided types.\n */\nexport type DetectionWorldConfig = WorldConfigFrom<DetectionComponentTypes, DetectionEventTypes>;\n\n// ==================== Plugin Options ====================\n\nexport interface DetectionPluginOptions<G extends string = 'ai'> extends BasePluginOptions<G> {}\n\n// ==================== Helper Functions ====================\n\n/**\n * Create a detector component.\n *\n * @param range Detection radius in world units\n * @param layerFilter Only detect entities on these collision layers\n * @param maxResults Maximum results to track (default: 32)\n * @returns Component object suitable for spreading into spawn()\n *\n * @example\n * ```typescript\n * ecs.spawn({\n *   ...createDetector(300, ['enemy']),\n *   ...createLocalTransform(400, 400),\n * });\n * ```\n */\nexport function createDetector(\n\trange: number,\n\tlayerFilter: readonly string[],\n\tmaxResults = 32,\n): Pick<DetectionComponentTypes, 'detector'> {\n\treturn { detector: { range, layerFilter, maxResults } };\n}\n\n/**\n * Check whether an entity has any detected targets.\n *\n * @param ecs  ECS world instance\n * @param entityId Entity with a detector component\n * @returns true if detectedEntities contains at least one entry\n *\n * @example\n * ```typescript\n * if (hasDetectedTargets(ecs, guardId)) {\n *   // transition to chase\n * }\n * ```\n */\nexport function hasDetectedTargets(\n\tecs: { getComponent(entityId: number, name: 'detectedEntities'): DetectedEntities | undefined },\n\tentityId: number,\n): boolean {\n\tconst detected = ecs.getComponent(entityId, 'detectedEntities');\n\treturn (detected?.entities.length ?? 0) > 0;\n}\n\n// ==================== Plugin Factory ====================\n\nfunction compareByDistance(a: DetectedEntry, b: DetectedEntry): number {\n\treturn a.distanceSq - b.distanceSq;\n}\n\n/**\n * Create a detection plugin for ECSpresso.\n *\n * Populates `detectedEntities` each frame with nearby entities matching\n * the detector's layer filter, sorted by distance (nearest first).\n * Publishes `detectionGained`/`detectionLost` events on transitions.\n *\n * Requires the spatial-index and transform plugins to be installed.\n *\n * @example\n * ```typescript\n * const ecs = ECSpresso.create()\n *   .withPlugin(createTransformPlugin())\n *   .withPlugin(createCollisionPlugin({ layers }))\n *   .withPlugin(createSpatialIndexPlugin())\n *   .withPlugin(createDetectionPlugin())\n *   .build();\n *\n * // Read nearest detected entity:\n * const detected = ecs.getComponent(turretId, 'detectedEntities');\n * const nearest = detected?.entities[0];\n * ```\n */\nexport function createDetectionPlugin<G extends string = 'ai'>(\n\toptions?: DetectionPluginOptions<G>,\n) {\n\tconst {\n\t\tsystemGroup = 'ai',\n\t\tpriority = 500,\n\t\tphase = 'update',\n\t} = options ?? {};\n\n\t// Per-detector tracking of previous frame's detected set for event diffing\n\tconst previousSets = new Map<number, Set<number>>();\n\tconst currentSet = new Set<number>();\n\tconst candidateBuf: number[] = [];\n\t// Cache: layerFilter array → Set for O(1) lookups\n\tconst layerFilterCache = new WeakMap<readonly string[], Set<string>>();\n\n\treturn definePlugin('detection')\n\t\t.withComponentTypes<DetectionComponentTypes>()\n\t\t.withEventTypes<DetectionEventTypes>()\n\t\t.withLabels<'detection-scan'>()\n\t\t.withGroups<G>()\n\t\t.requires<\n\t\t\tTransformWorldConfig &\n\t\t\tWorldConfigFrom<Pick<CollisionComponentTypes<string>, 'collisionLayer'>> &\n\t\t\tWorldConfigFrom<{}, {}, SpatialIndexResourceTypes>\n\t\t>()\n\t\t.install((world) => {\n\t\t\tworld.registerDispose('detector', ({ entityId }) => {\n\t\t\t\tpreviousSets.delete(entityId);\n\t\t\t});\n\n\t\t\tworld\n\t\t\t\t.addSystem('detection-scan')\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('detectors', {\n\t\t\t\t\twith: ['detector', 'worldTransform'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, ecs }) => {\n\t\t\t\t\tconst spatialIndex = ecs.getResource('spatialIndex');\n\n\t\t\t\t\tfor (const entity of queries.detectors) {\n\t\t\t\t\t\tconst { detector, worldTransform } = entity.components;\n\n\t\t\t\t\t\tcandidateBuf.length = 0;\n\t\t\t\t\t\tspatialIndex.queryRadiusInto(worldTransform.x, worldTransform.y, detector.range, candidateBuf);\n\n\t\t\t\t\t\t// Build sorted results, filtering by layer and excluding self\n\t\t\t\t\t\tconst entries: DetectedEntry[] = [];\n\n\t\t\t\t\t\tlet filterSet = layerFilterCache.get(detector.layerFilter);\n\t\t\t\t\t\tif (!filterSet) {\n\t\t\t\t\t\t\tfilterSet = new Set(detector.layerFilter);\n\t\t\t\t\t\t\tlayerFilterCache.set(detector.layerFilter, filterSet);\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tfor (const candidateId of candidateBuf) {\n\t\t\t\t\t\t\tif (candidateId === entity.id) continue;\n\t\t\t\t\t\t\tif (!ecs.getEntity(candidateId)) continue;\n\n\t\t\t\t\t\t\tconst layer = ecs.getComponent(candidateId, 'collisionLayer');\n\t\t\t\t\t\t\tif (!layer) continue;\n\t\t\t\t\t\t\tif (!filterSet.has(layer.layer)) continue;\n\n\t\t\t\t\t\t\tconst candidateTransform = ecs.getComponent(candidateId, 'worldTransform');\n\t\t\t\t\t\t\tif (!candidateTransform) continue;\n\n\t\t\t\t\t\t\tconst dx = candidateTransform.x - worldTransform.x;\n\t\t\t\t\t\t\tconst dy = candidateTransform.y - worldTransform.y;\n\t\t\t\t\t\t\tentries.push({ entityId: candidateId, distanceSq: dx * dx + dy * dy });\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tentries.sort(compareByDistance);\n\t\t\t\t\t\tconst capped = entries.length > detector.maxResults\n\t\t\t\t\t\t\t? entries.slice(0, detector.maxResults)\n\t\t\t\t\t\t\t: entries;\n\n\t\t\t\t\t\t// Update or add the detectedEntities component\n\t\t\t\t\t\tconst existing = ecs.getComponent(entity.id, 'detectedEntities');\n\t\t\t\t\t\tif (existing) {\n\t\t\t\t\t\t\t(existing as { entities: readonly DetectedEntry[] }).entities = capped;\n\t\t\t\t\t\t\tecs.markChanged(entity.id, 'detectedEntities');\n\t\t\t\t\t\t} else {\n\t\t\t\t\t\t\tecs.addComponent(entity.id, 'detectedEntities', { entities: capped });\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\t// Diff against previous frame for events\n\t\t\t\t\t\tconst prev = previousSets.get(entity.id);\n\t\t\t\t\t\tcurrentSet.clear();\n\t\t\t\t\t\tfor (const entry of capped) {\n\t\t\t\t\t\t\tcurrentSet.add(entry.entityId);\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tif (prev) {\n\t\t\t\t\t\t\t// Detect gained\n\t\t\t\t\t\t\tfor (const id of currentSet) {\n\t\t\t\t\t\t\t\tif (!prev.has(id)) {\n\t\t\t\t\t\t\t\t\tecs.eventBus.publish('detectionGained', {\n\t\t\t\t\t\t\t\t\t\tentityId: entity.id,\n\t\t\t\t\t\t\t\t\t\tdetectedId: id,\n\t\t\t\t\t\t\t\t\t});\n\t\t\t\t\t\t\t\t}\n\t\t\t\t\t\t\t}\n\t\t\t\t\t\t\t// Detect lost\n\t\t\t\t\t\t\tfor (const id of prev) {\n\t\t\t\t\t\t\t\tif (!currentSet.has(id)) {\n\t\t\t\t\t\t\t\t\tecs.eventBus.publish('detectionLost', {\n\t\t\t\t\t\t\t\t\t\tentityId: entity.id,\n\t\t\t\t\t\t\t\t\t\tlostId: id,\n\t\t\t\t\t\t\t\t\t});\n\t\t\t\t\t\t\t\t}\n\t\t\t\t\t\t\t}\n\t\t\t\t\t\t\t// Update previous set in place\n\t\t\t\t\t\t\tprev.clear();\n\t\t\t\t\t\t\tfor (const id of currentSet) {\n\t\t\t\t\t\t\t\tprev.add(id);\n\t\t\t\t\t\t\t}\n\t\t\t\t\t\t} else {\n\t\t\t\t\t\t\t// First frame — all are gained\n\t\t\t\t\t\t\tconst newSet = new Set<number>();\n\t\t\t\t\t\t\tfor (const entry of capped) {\n\t\t\t\t\t\t\t\tnewSet.add(entry.entityId);\n\t\t\t\t\t\t\t\tecs.eventBus.publish('detectionGained', {\n\t\t\t\t\t\t\t\t\tentityId: entity.id,\n\t\t\t\t\t\t\t\t\tdetectedId: entry.entityId,\n\t\t\t\t\t\t\t\t});\n\t\t\t\t\t\t\t}\n\t\t\t\t\t\t\tpreviousSets.set(entity.id, newSet);\n\t\t\t\t\t\t}\n\t\t\t\t\t}\n\t\t\t\t});\n\t\t});\n}\n"
+    "/**\n * Detection Plugin for ECSpresso\n *\n * Provides automatic proximity detection for entities. Entities with a\n * `detector` component get their `detectedEntities` populated each frame\n * with nearby entities that match the configured collision layer filter,\n * sorted by distance ascending (nearest first).\n *\n * Uses the spatial-index plugin for efficient range queries.\n */\n\nimport { definePlugin, type BasePluginOptions } from 'ecspresso';\nimport type { ComponentsConfig, EventsConfig, ResourcesConfig } from 'ecspresso';\nimport type { TransformWorldConfig } from '../spatial/transform';\nimport type { SpatialIndexResourceTypes } from '../spatial/spatial-index';\nimport type { CollisionComponentTypes } from '../physics/collision';\n\n// ==================== Component Types ====================\n\n/**\n * Configures proximity detection for an entity.\n */\nexport interface Detector {\n\t/** Detection radius in world units */\n\trange: number;\n\t/** Only detect entities on these collision layers */\n\tlayerFilter: readonly string[];\n\t/** Maximum number of results to track (default: 32) */\n\tmaxResults: number;\n}\n\n/**\n * A detected entity with its squared distance from the detector.\n */\nexport interface DetectedEntry {\n\tentityId: number;\n\tdistanceSq: number;\n}\n\n/**\n * Auto-populated list of detected entities, sorted by distance ascending.\n */\nexport interface DetectedEntities {\n\tentities: readonly DetectedEntry[];\n}\n\n/**\n * Component types provided by the detection plugin.\n */\nexport interface DetectionComponentTypes {\n\tdetector: Detector;\n\tdetectedEntities: DetectedEntities;\n}\n\n// ==================== Event Types ====================\n\n/**\n * Event fired when a new entity enters detection range.\n */\nexport interface DetectionGainedEvent {\n\t/** The entity doing the detecting */\n\tentityId: number;\n\t/** The entity that was detected */\n\tdetectedId: number;\n}\n\n/**\n * Event fired when an entity leaves detection range.\n */\nexport interface DetectionLostEvent {\n\t/** The entity doing the detecting */\n\tentityId: number;\n\t/** The entity that was lost */\n\tlostId: number;\n}\n\n/**\n * Event types provided by the detection plugin.\n */\nexport interface DetectionEventTypes {\n\tdetectionGained: DetectionGainedEvent;\n\tdetectionLost: DetectionLostEvent;\n}\n\n// ==================== WorldConfig ====================\n\n/**\n * WorldConfig representing the detection plugin's provided types.\n */\nexport type DetectionWorldConfig =\n\tComponentsConfig<DetectionComponentTypes>\n\t& EventsConfig<DetectionEventTypes>;\n\n// ==================== Plugin Options ====================\n\nexport interface DetectionPluginOptions<G extends string = 'ai'> extends BasePluginOptions<G> {}\n\n// ==================== Helper Functions ====================\n\n/**\n * Create a detector component.\n *\n * @param range Detection radius in world units\n * @param layerFilter Only detect entities on these collision layers\n * @param maxResults Maximum results to track (default: 32)\n * @returns Component object suitable for spreading into spawn()\n *\n * @example\n * ```typescript\n * ecs.spawn({\n *   ...createDetector(300, ['enemy']),\n *   ...createLocalTransform(400, 400),\n * });\n * ```\n */\nexport function createDetector(\n\trange: number,\n\tlayerFilter: readonly string[],\n\tmaxResults = 32,\n): Pick<DetectionComponentTypes, 'detector'> {\n\treturn { detector: { range, layerFilter, maxResults } };\n}\n\n/**\n * Check whether an entity has any detected targets.\n *\n * @param ecs  ECS world instance\n * @param entityId Entity with a detector component\n * @returns true if detectedEntities contains at least one entry\n *\n * @example\n * ```typescript\n * if (hasDetectedTargets(ecs, guardId)) {\n *   // transition to chase\n * }\n * ```\n */\nexport function hasDetectedTargets(\n\tecs: { getComponent(entityId: number, name: 'detectedEntities'): DetectedEntities | undefined },\n\tentityId: number,\n): boolean {\n\tconst detected = ecs.getComponent(entityId, 'detectedEntities');\n\treturn (detected?.entities.length ?? 0) > 0;\n}\n\n// ==================== Plugin Factory ====================\n\nfunction compareByDistance(a: DetectedEntry, b: DetectedEntry): number {\n\treturn a.distanceSq - b.distanceSq;\n}\n\n/**\n * Create a detection plugin for ECSpresso.\n *\n * Populates `detectedEntities` each frame with nearby entities matching\n * the detector's layer filter, sorted by distance (nearest first).\n * Publishes `detectionGained`/`detectionLost` events on transitions.\n *\n * Requires the spatial-index and transform plugins to be installed.\n *\n * @example\n * ```typescript\n * const ecs = ECSpresso.create()\n *   .withPlugin(createTransformPlugin())\n *   .withPlugin(createCollisionPlugin({ layers }))\n *   .withPlugin(createSpatialIndexPlugin())\n *   .withPlugin(createDetectionPlugin())\n *   .build();\n *\n * // Read nearest detected entity:\n * const detected = ecs.getComponent(turretId, 'detectedEntities');\n * const nearest = detected?.entities[0];\n * ```\n */\nexport function createDetectionPlugin<G extends string = 'ai'>(\n\toptions?: DetectionPluginOptions<G>,\n) {\n\tconst {\n\t\tsystemGroup = 'ai',\n\t\tpriority = 500,\n\t\tphase = 'update',\n\t} = options ?? {};\n\n\t// Per-detector tracking of previous frame's detected set for event diffing\n\tconst previousSets = new Map<number, Set<number>>();\n\tconst currentSet = new Set<number>();\n\tconst candidateBuf: number[] = [];\n\t// Cache: layerFilter array → Set for O(1) lookups\n\tconst layerFilterCache = new WeakMap<readonly string[], Set<string>>();\n\n\treturn definePlugin('detection')\n\t\t.withComponentTypes<DetectionComponentTypes>()\n\t\t.withEventTypes<DetectionEventTypes>()\n\t\t.withLabels<'detection-scan'>()\n\t\t.withGroups<G>()\n\t\t.requires<\n\t\t\tTransformWorldConfig &\n\t\t\tComponentsConfig<Pick<CollisionComponentTypes<string>, 'collisionLayer'>> &\n\t\t\tResourcesConfig<SpatialIndexResourceTypes>\n\t\t>()\n\t\t.install((world) => {\n\t\t\tworld.registerDispose('detector', ({ entityId }) => {\n\t\t\t\tpreviousSets.delete(entityId);\n\t\t\t});\n\n\t\t\tworld\n\t\t\t\t.addSystem('detection-scan')\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('detectors', {\n\t\t\t\t\twith: ['detector', 'worldTransform'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, ecs }) => {\n\t\t\t\t\tconst spatialIndex = ecs.getResource('spatialIndex');\n\n\t\t\t\t\tfor (const entity of queries.detectors) {\n\t\t\t\t\t\tconst { detector, worldTransform } = entity.components;\n\n\t\t\t\t\t\tcandidateBuf.length = 0;\n\t\t\t\t\t\tspatialIndex.queryRadiusInto(worldTransform.x, worldTransform.y, detector.range, candidateBuf);\n\n\t\t\t\t\t\t// Build sorted results, filtering by layer and excluding self\n\t\t\t\t\t\tconst entries: DetectedEntry[] = [];\n\n\t\t\t\t\t\tlet filterSet = layerFilterCache.get(detector.layerFilter);\n\t\t\t\t\t\tif (!filterSet) {\n\t\t\t\t\t\t\tfilterSet = new Set(detector.layerFilter);\n\t\t\t\t\t\t\tlayerFilterCache.set(detector.layerFilter, filterSet);\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tfor (const candidateId of candidateBuf) {\n\t\t\t\t\t\t\tif (candidateId === entity.id) continue;\n\t\t\t\t\t\t\tif (!ecs.getEntity(candidateId)) continue;\n\n\t\t\t\t\t\t\tconst layer = ecs.getComponent(candidateId, 'collisionLayer');\n\t\t\t\t\t\t\tif (!layer) continue;\n\t\t\t\t\t\t\tif (!filterSet.has(layer.layer)) continue;\n\n\t\t\t\t\t\t\tconst candidateTransform = ecs.getComponent(candidateId, 'worldTransform');\n\t\t\t\t\t\t\tif (!candidateTransform) continue;\n\n\t\t\t\t\t\t\tconst dx = candidateTransform.x - worldTransform.x;\n\t\t\t\t\t\t\tconst dy = candidateTransform.y - worldTransform.y;\n\t\t\t\t\t\t\tentries.push({ entityId: candidateId, distanceSq: dx * dx + dy * dy });\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tentries.sort(compareByDistance);\n\t\t\t\t\t\tconst capped = entries.length > detector.maxResults\n\t\t\t\t\t\t\t? entries.slice(0, detector.maxResults)\n\t\t\t\t\t\t\t: entries;\n\n\t\t\t\t\t\t// Update or add the detectedEntities component\n\t\t\t\t\t\tconst existing = ecs.getComponent(entity.id, 'detectedEntities');\n\t\t\t\t\t\tif (existing) {\n\t\t\t\t\t\t\t(existing as { entities: readonly DetectedEntry[] }).entities = capped;\n\t\t\t\t\t\t\tecs.markChanged(entity.id, 'detectedEntities');\n\t\t\t\t\t\t} else {\n\t\t\t\t\t\t\tecs.addComponent(entity.id, 'detectedEntities', { entities: capped });\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\t// Diff against previous frame for events\n\t\t\t\t\t\tconst prev = previousSets.get(entity.id);\n\t\t\t\t\t\tcurrentSet.clear();\n\t\t\t\t\t\tfor (const entry of capped) {\n\t\t\t\t\t\t\tcurrentSet.add(entry.entityId);\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tif (prev) {\n\t\t\t\t\t\t\t// Detect gained\n\t\t\t\t\t\t\tfor (const id of currentSet) {\n\t\t\t\t\t\t\t\tif (!prev.has(id)) {\n\t\t\t\t\t\t\t\t\tecs.eventBus.publish('detectionGained', {\n\t\t\t\t\t\t\t\t\t\tentityId: entity.id,\n\t\t\t\t\t\t\t\t\t\tdetectedId: id,\n\t\t\t\t\t\t\t\t\t});\n\t\t\t\t\t\t\t\t}\n\t\t\t\t\t\t\t}\n\t\t\t\t\t\t\t// Detect lost\n\t\t\t\t\t\t\tfor (const id of prev) {\n\t\t\t\t\t\t\t\tif (!currentSet.has(id)) {\n\t\t\t\t\t\t\t\t\tecs.eventBus.publish('detectionLost', {\n\t\t\t\t\t\t\t\t\t\tentityId: entity.id,\n\t\t\t\t\t\t\t\t\t\tlostId: id,\n\t\t\t\t\t\t\t\t\t});\n\t\t\t\t\t\t\t\t}\n\t\t\t\t\t\t\t}\n\t\t\t\t\t\t\t// Update previous set in place\n\t\t\t\t\t\t\tprev.clear();\n\t\t\t\t\t\t\tfor (const id of currentSet) {\n\t\t\t\t\t\t\t\tprev.add(id);\n\t\t\t\t\t\t\t}\n\t\t\t\t\t\t} else {\n\t\t\t\t\t\t\t// First frame — all are gained\n\t\t\t\t\t\t\tconst newSet = new Set<number>();\n\t\t\t\t\t\t\tfor (const entry of capped) {\n\t\t\t\t\t\t\t\tnewSet.add(entry.entityId);\n\t\t\t\t\t\t\t\tecs.eventBus.publish('detectionGained', {\n\t\t\t\t\t\t\t\t\tentityId: entity.id,\n\t\t\t\t\t\t\t\t\tdetectedId: entry.entityId,\n\t\t\t\t\t\t\t\t});\n\t\t\t\t\t\t\t}\n\t\t\t\t\t\t\tpreviousSets.set(entity.id, newSet);\n\t\t\t\t\t\t}\n\t\t\t\t\t}\n\t\t\t\t});\n\t\t});\n}\n"
   ],
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   "names": []
 }

package/dist/plugins/ai/flocking.d.ts

@@ -13,7 +13,7 @@
  * in spatial index queries.
  */
 import { type BasePluginOptions } from 'ecspresso';
-import type { WorldConfigFrom } from 'ecspresso';
+import type { ComponentsConfig, ResourcesConfig } from 'ecspresso';
 import type { TransformWorldConfig } from '../spatial/transform';
 import type { Physics2DOwnComponentTypes } from '../physics/physics2D';
 import type { SpatialIndexResourceTypes } from '../spatial/spatial-index';
@@ -50,7 +50,7 @@ export interface FlockingComponentTypes {
 /**
  * WorldConfig representing the flocking plugin's provided types.
  */
-export type FlockingWorldConfig = WorldConfigFrom<FlockingComponentTypes>;
+export type FlockingWorldConfig = ComponentsConfig<FlockingComponentTypes>;
 export interface FlockingPluginOptions<G extends string = 'ai'> extends BasePluginOptions<G> {
     /** Priority for the heading/speed-clamp system (default: 200) */
     headingPriority?: number;
@@ -94,4 +94,4 @@ export declare function createFlockingAgent(options?: Partial<FlockingAgent>): P
  *   .build();
  * ```
  */
-export declare function createFlockingPlugin<G extends string = 'ai'>(options?: FlockingPluginOptions<G>): import("ecspresso").Plugin<import("ecspresso").WithComponents<import("ecspresso").EmptyConfig, FlockingComponentTypes>, TransformWorldConfig & WorldConfigFrom<Pick<Physics2DOwnComponentTypes, "force" | "velocity">> & WorldConfigFrom<{}, {}, SpatialIndexResourceTypes>, "flocking-forces" | "flocking-heading", G, never, never>;
+export declare function createFlockingPlugin<G extends string = 'ai'>(options?: FlockingPluginOptions<G>): import("ecspresso").Plugin<import("ecspresso").WithComponents<import("ecspresso").EmptyConfig, FlockingComponentTypes>, TransformWorldConfig & ComponentsConfig<Pick<Physics2DOwnComponentTypes, "force" | "velocity">> & ResourcesConfig<SpatialIndexResourceTypes>, "flocking-forces" | "flocking-heading", G, never, never>;

package/dist/plugins/ai/flocking.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, createBroadphaseScratch, 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\tconst corrA = correctionScale * invMassA;\n\t\t\tltA.x -= corrA * contact.normalX;\n\t\t\tltA.y -= corrA * contact.normalY;\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\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\tconst corrB = correctionScale * invMassB;\n\t\t\tltB.x += corrB * contact.normalX;\n\t\t\tltB.y += corrB * contact.normalY;\n\t\t\tb.x = ltB.x;\n\t\t\tb.y = ltB.y;\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\t// TODO(perf): no early-out for \"sleeping\" dynamic bodies — a packed\n\t\t\t\t\t// pile of resting entities still runs gravity/drag/force-clear/\n\t\t\t\t\t// markChanged every step. A sleep flag on RigidBody that latches\n\t\t\t\t\t// after N frames of near-zero velocity (and clears on impulse or\n\t\t\t\t\t// applied force) would let most of a stabilized scene skip the\n\t\t\t\t\t// full per-entity body of this loop. Keep in sync with physics3D.\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\tconst gsdt = rigidBody.gravityScale * dt;\n\t\t\t\t\t\t\tvelocity.x += gx * gsdt;\n\t\t\t\t\t\t\tvelocity.y += gy * gsdt;\n\n\t\t\t\t\t\t\t// 2. Forces (F = ma → a = F/m)\n\t\t\t\t\t\t\tconst mass = rigidBody.mass;\n\t\t\t\t\t\t\tif (mass > 0 && mass !== Infinity) {\n\t\t\t\t\t\t\t\tconst invMassDt = dt / mass;\n\t\t\t\t\t\t\t\tvelocity.x += force.x * invMassDt;\n\t\t\t\t\t\t\t\tvelocity.y += force.y * invMassDt;\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\tconst broadphaseScratch = createBroadphaseScratch<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\tconst ensureSlot = (idx: number, entityId: number, layer: L, collidesWith: readonly L[], rigidBody: RigidBody, velocity: Vector2D): Physics2DColliderInfo<L> => {\n\t\t\t\tlet slot = colliderPool[idx];\n\t\t\t\tif (!slot) {\n\t\t\t\t\tslot = {\n\t\t\t\t\t\tentityId,\n\t\t\t\t\t\tx: 0,\n\t\t\t\t\t\ty: 0,\n\t\t\t\t\t\tlayer,\n\t\t\t\t\t\tcollidesWith,\n\t\t\t\t\t\tlayerBit: 0,\n\t\t\t\t\t\tcollidesWithMask: 0,\n\t\t\t\t\t\tshape: AABB_SHAPE,\n\t\t\t\t\t\thalfWidth: 0,\n\t\t\t\t\t\thalfHeight: 0,\n\t\t\t\t\t\tradius: 0,\n\t\t\t\t\t\trigidBody,\n\t\t\t\t\t\tvelocity,\n\t\t\t\t\t};\n\t\t\t\t\tcolliderPool[idx] = slot;\n\t\t\t\t} else {\n\t\t\t\t\tslot.rigidBody = rigidBody;\n\t\t\t\t\tslot.velocity = velocity;\n\t\t\t\t}\n\t\t\t\treturn slot;\n\t\t\t};\n\n\t\t\tcollisionSystem\n\t\t\t\t.addQuery('aabbOnly', {\n\t\t\t\t\twith: ['localTransform', 'rigidBody', 'velocity', 'collisionLayer', 'aabbCollider'],\n\t\t\t\t\twithout: ['circleCollider'],\n\t\t\t\t})\n\t\t\t\t.addQuery('circleOnly', {\n\t\t\t\t\twith: ['localTransform', 'rigidBody', 'velocity', 'collisionLayer', 'circleCollider'],\n\t\t\t\t\twithout: ['aabbCollider'],\n\t\t\t\t})\n\t\t\t\t.addQuery('both', {\n\t\t\t\t\twith: ['localTransform', 'rigidBody', 'velocity', 'collisionLayer', 'aabbCollider', 'circleCollider'],\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.aabbOnly) {\n\t\t\t\t\t\tconst { localTransform, rigidBody, velocity, collisionLayer, aabbCollider } = entity.components;\n\t\t\t\t\t\tconst slot = ensureSlot(count, entity.id, collisionLayer.layer, collisionLayer.collidesWith, rigidBody, velocity);\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\taabbCollider, undefined,\n\t\t\t\t\t\t)) continue;\n\t\t\t\t\t\tcount++;\n\t\t\t\t\t}\n\n\t\t\t\t\tfor (const entity of queries.circleOnly) {\n\t\t\t\t\t\tconst { localTransform, rigidBody, velocity, collisionLayer, circleCollider } = entity.components;\n\t\t\t\t\t\tconst slot = ensureSlot(count, entity.id, collisionLayer.layer, collisionLayer.collidesWith, rigidBody, velocity);\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\tundefined, circleCollider,\n\t\t\t\t\t\t)) continue;\n\t\t\t\t\t\tcount++;\n\t\t\t\t\t}\n\n\t\t\t\t\t// fillBaseColliderInfo picks aabb when both present — preserves prior precedence.\n\t\t\t\t\tfor (const entity of queries.both) {\n\t\t\t\t\t\tconst { localTransform, rigidBody, velocity, collisionLayer, aabbCollider, circleCollider } = entity.components;\n\t\t\t\t\t\tconst slot = ensureSlot(count, entity.id, collisionLayer.layer, collisionLayer.collidesWith, rigidBody, velocity);\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\taabbCollider, circleCollider,\n\t\t\t\t\t\t)) continue;\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, broadphaseScratch, cachedSI, resolvePhysicsContact, ecs);\n\t\t\t\t});\n\t\t});\n}\n",
     "/**\n * Lazy monotonic registry mapping layer name → unique bit. Lets pair\n * filtering use a single `(a.collidesWithMask & b.layerBit)` check\n * instead of `Array.includes` on every collision pair.\n *\n * One registry per dimension (2D and 3D) — user-defined layer namespaces\n * are independent, so bits should not be shared across systems.\n *\n * Maximum 32 layers per registry (one per bit in a 32-bit signed int).\n * Crossing the limit throws on the next `getLayerBit` call.\n */\nexport interface LayerBitRegistry {\n\tgetLayerBit(layer: string): number;\n\t/** OR of `getLayerBit` for every entry. Cached by array reference. */\n\tgetCollidesWithMask(collidesWith: readonly string[]): number;\n}\n\nexport function createLayerBitRegistry(label: string): LayerBitRegistry {\n\tconst layerBits = new Map<string, number>();\n\tconst maskCache = new WeakMap<readonly string[], number>();\n\tlet nextBit = 1;\n\n\tfunction getLayerBit(layer: string): number {\n\t\tconst existing = layerBits.get(layer);\n\t\tif (existing !== undefined) return existing;\n\t\tif (nextBit === 0) {\n\t\t\tthrow new Error(\n\t\t\t\t`[ecspresso] ${label} layer bitmask overflow: more than 32 distinct layers registered`,\n\t\t\t);\n\t\t}\n\t\tconst bit = nextBit;\n\t\tlayerBits.set(layer, bit);\n\t\t// `<<= 1` rolls 1<<31 to 0, which is detected on the next call.\n\t\tnextBit <<= 1;\n\t\treturn bit;\n\t}\n\n\tfunction getCollidesWithMask(collidesWith: readonly string[]): number {\n\t\tconst cached = maskCache.get(collidesWith);\n\t\tif (cached !== undefined) return cached;\n\t\tlet mask = 0;\n\t\tfor (let i = 0; i < collidesWith.length; i++) {\n\t\t\tmask |= getLayerBit(collidesWith[i]!);\n\t\t}\n\t\tmaskCache.set(collidesWith, mask);\n\t\treturn mask;\n\t}\n\n\treturn { getLayerBit, getCollidesWithMask };\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';\nimport { createLayerBitRegistry } from './layer-bit-registry';\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\t/**\n\t * Bit assigned to `layer` from the lazy layer registry. Populated by\n\t * `fillBaseColliderInfo`. Used together with `collidesWithMask` to\n\t * replace per-pair `Array.includes` layer checks with a single AND.\n\t */\n\tlayerBit: number;\n\t/** OR of `getLayerBit` for every entry in `collidesWith`. */\n\tcollidesWithMask: number;\n\tshape: ColliderShape;\n\thalfWidth: number;\n\thalfHeight: number;\n\tradius: number;\n}\n\n// ==================== Layer Bit Registry ====================\n\nconst _layerRegistry = createLayerBitRegistry('Collision');\nexport const getLayerBit = _layerRegistry.getLayerBit;\nexport const getCollidesWithMask = _layerRegistry.getCollidesWithMask;\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\tinfo.layerBit = getLayerBit(layer);\n\tinfo.collidesWithMask = getCollidesWithMask(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\nconst _broadphaseCandidates: number[] = [];\n\n/**\n * Per-caller scratch for the broadphase entityId → collider lookup.\n *\n * Dense `arr` indexed by entityId, paired with a `gen` stamp array that marks\n * which slots are live this call. Bumping `current` invalidates all prior\n * entries without clearing — replaces the per-frame `Map.clear()` + N\n * `Map.set()` allocation churn that a `Map<number, I>` would incur.\n *\n * Owned per plugin instance (alongside its `colliderPool`), so concurrent\n * worlds don't share state and `I` stays fully typed without erasure.\n */\nexport interface BroadphaseScratch<I extends BaseColliderInfo> {\n\tarr: (I | undefined)[];\n\tgen: number[];\n\tcurrent: number;\n}\n\nexport function createBroadphaseScratch<I extends BaseColliderInfo>(): BroadphaseScratch<I> {\n\treturn { arr: [], gen: [], current: 0 };\n}\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 * `scratch` is a caller-owned `BroadphaseScratch<I>` used by the broadphase\n * path as an entityId → collider lookup. Allocate it once per plugin instance\n * and pass the same reference every call.\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\tscratch: BroadphaseScratch<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, scratch, 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.collidesWithMask & b.layerBit) | (b.collidesWithMask & a.layerBit)) === 0) 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\tscratch: BroadphaseScratch<I>,\n\tspatialIndex: SpatialIndex,\n\tonContact: (a: I, b: I, contact: Contact, context: C) => void,\n\tcontext: C,\n): void {\n\tconst arr = scratch.arr;\n\tconst stamps = scratch.gen;\n\tconst gen = ++scratch.current;\n\tfor (let i = 0; i < count; i++) {\n\t\tconst c = colliders[i];\n\t\tif (!c) continue;\n\t\tconst id = c.entityId;\n\t\tarr[id] = c;\n\t\tstamps[id] = gen;\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.length = 0;\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\ta.entityId,\n\t\t);\n\n\t\tfor (const bId of _broadphaseCandidates) {\n\t\t\tif (stamps[bId] !== gen) continue;\n\t\t\tconst b = arr[bId];\n\t\t\tif (!b) continue;\n\n\t\t\tif (((a.collidesWithMask & b.layerBit) | (b.collidesWithMask & a.layerBit)) === 0) 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 * Flocking Plugin for ECSpresso\n *\n * Classic boid simulation — separation, alignment, cohesion. Produces\n * emergent group movement from simple per-entity steering forces.\n *\n * Composes with the physics2D plugin: flocking computes steering forces\n * and feeds them through `applyForce()`. Physics integration handles\n * velocity and position updates.\n *\n * Requires the spatial-index plugin for efficient neighbor queries.\n * Entities must have a `circleCollider` (or `aabbCollider`) to appear\n * in spatial index queries.\n */\n\nimport { definePlugin, type BasePluginOptions } from 'ecspresso';\nimport type { WorldConfigFrom } from 'ecspresso';\nimport type { TransformWorldConfig } from '../spatial/transform';\nimport type { Physics2DOwnComponentTypes } from '../physics/physics2D';\nimport { applyForce } from '../physics/physics2D';\nimport type { SpatialIndexResourceTypes } from '../spatial/spatial-index';\n\n// ==================== Component Types ====================\n\n/**\n * Configures flocking behavior for a boid entity.\n *\n * Entities with this component must also have:\n * - `localTransform` + `worldTransform` (transform plugin)\n * - `velocity` + `force` + `rigidBody` (physics2D plugin)\n * - `circleCollider` with radius >= perceptionRadius (for spatial index queries)\n */\nexport interface FlockingAgent {\n\t/** Radius within which neighbors are detected */\n\tperceptionRadius: number;\n\t/** Separation weight — steer away from nearby neighbors (default: 1.5) */\n\tseparationWeight: number;\n\t/** Alignment weight — match average heading of neighbors (default: 1.0) */\n\talignmentWeight: number;\n\t/** Cohesion weight — steer toward average position of neighbors (default: 1.0) */\n\tcohesionWeight: number;\n\t/** Maximum steering force magnitude per frame */\n\tmaxForce: number;\n\t/** Maximum velocity magnitude (hard speed cap) */\n\tmaxSpeed: number;\n\t/** Flock group ID for independent flocks (default: 0) */\n\tflockGroup: number;\n}\n\n/**\n * Component types provided by the flocking plugin.\n */\nexport interface FlockingComponentTypes {\n\tflockingAgent: FlockingAgent;\n}\n\n// ==================== WorldConfig ====================\n\n/**\n * WorldConfig representing the flocking plugin's provided types.\n */\nexport type FlockingWorldConfig = WorldConfigFrom<FlockingComponentTypes>;\n\n// ==================== Plugin Options ====================\n\nexport interface FlockingPluginOptions<G extends string = 'ai'> extends BasePluginOptions<G> {\n\t/** Priority for the heading/speed-clamp system (default: 200) */\n\theadingPriority?: number;\n}\n\n// ==================== Helper Functions ====================\n\n/**\n * Create a flockingAgent component with sensible defaults.\n *\n * Entities must also have a `circleCollider` with radius >= perceptionRadius\n * for the spatial index to find them as neighbors.\n *\n * @param options Partial overrides for flocking agent fields\n * @returns Component object suitable for spreading into spawn()\n *\n * @example\n * ```typescript\n * ecs.spawn({\n *   ...createFlockingAgent({ perceptionRadius: 80, maxSpeed: 150 }),\n *   ...createRigidBody('dynamic', { mass: 1, drag: 1, gravityScale: 0 }),\n *   ...createCircleCollider(80),\n *   ...createGraphicsComponents(boidGraphics, { x: 100, y: 200 }),\n * });\n * ```\n */\nexport function createFlockingAgent(\n\toptions?: Partial<FlockingAgent>,\n): Pick<FlockingComponentTypes, 'flockingAgent'> {\n\treturn {\n\t\tflockingAgent: {\n\t\t\tperceptionRadius: options?.perceptionRadius ?? 100,\n\t\t\tseparationWeight: options?.separationWeight ?? 1.5,\n\t\t\talignmentWeight: options?.alignmentWeight ?? 1.0,\n\t\t\tcohesionWeight: options?.cohesionWeight ?? 1.0,\n\t\t\tmaxForce: options?.maxForce ?? 400,\n\t\t\tmaxSpeed: options?.maxSpeed ?? 200,\n\t\t\tflockGroup: options?.flockGroup ?? 0,\n\t\t},\n\t};\n}\n\n// ==================== Plugin Factory ====================\n\nconst _neighborBuf: number[] = [];\n\nconst SPEED_EPSILON = 0.01;\n\n/**\n * Create a flocking plugin for ECSpresso.\n *\n * Installs two systems:\n * - `flocking-forces` — computes separation/alignment/cohesion and applies via applyForce()\n * - `flocking-heading` — clamps speed to maxSpeed and orients rotation to match velocity\n *\n * Requires the transform, physics2D, and spatial-index plugins to be installed.\n *\n * @example\n * ```typescript\n * const ecs = ECSpresso.create()\n *   .withPlugin(createRenderer2DPlugin({ background: '#0a0a2e' }))\n *   .withPlugin(createPhysics2DPlugin())\n *   .withPlugin(createSpatialIndexPlugin())\n *   .withPlugin(createFlockingPlugin())\n *   .build();\n * ```\n */\nexport function createFlockingPlugin<G extends string = 'ai'>(\n\toptions?: FlockingPluginOptions<G>,\n) {\n\tconst {\n\t\tsystemGroup = 'ai',\n\t\tpriority = 500,\n\t\tphase = 'update',\n\t\theadingPriority = 200,\n\t} = options ?? {};\n\n\treturn definePlugin('flocking')\n\t\t.withComponentTypes<FlockingComponentTypes>()\n\t\t.withLabels<'flocking-forces' | 'flocking-heading'>()\n\t\t.withGroups<G>()\n\t\t.requires<\n\t\t\tTransformWorldConfig &\n\t\t\tWorldConfigFrom<Pick<Physics2DOwnComponentTypes, 'velocity' | 'force'>> &\n\t\t\tWorldConfigFrom<{}, {}, SpatialIndexResourceTypes>\n\t\t>()\n\t\t.install((world) => {\n\t\t\t// --- System 1: Compute and apply flocking forces ---\n\t\t\tworld\n\t\t\t\t.addSystem('flocking-forces')\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('boids', {\n\t\t\t\t\twith: ['flockingAgent', 'worldTransform', 'velocity', 'force'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, ecs }) => {\n\t\t\t\t\tconst spatialIndex = ecs.getResource('spatialIndex');\n\n\t\t\t\t\tfor (const entity of queries.boids) {\n\t\t\t\t\t\tconst { flockingAgent, worldTransform, velocity } = entity.components;\n\t\t\t\t\t\tconst { perceptionRadius, separationWeight, alignmentWeight, cohesionWeight, maxForce, flockGroup } = flockingAgent;\n\n\t\t\t\t\t\t// Query neighbors via spatial index\n\t\t\t\t\t\t_neighborBuf.length = 0;\n\t\t\t\t\t\tspatialIndex.queryRadiusInto(worldTransform.x, worldTransform.y, perceptionRadius, _neighborBuf);\n\n\t\t\t\t\t\t// Accumulate steering forces — all inline scalars, no allocations\n\t\t\t\t\t\tlet sepX = 0, sepY = 0, sepCount = 0;\n\t\t\t\t\t\tlet alignX = 0, alignY = 0, alignCount = 0;\n\t\t\t\t\t\tlet cohX = 0, cohY = 0, cohCount = 0;\n\n\t\t\t\t\t\tconst separationRadius = perceptionRadius * 0.5;\n\t\t\t\t\t\tconst separationRadiusSq = separationRadius * separationRadius;\n\n\t\t\t\t\t\tfor (const neighborId of _neighborBuf) {\n\t\t\t\t\t\t\tif (neighborId === entity.id) continue;\n\n\t\t\t\t\t\t\tconst neighborAgent = ecs.getComponent(neighborId, 'flockingAgent');\n\t\t\t\t\t\t\tif (!neighborAgent) continue;\n\t\t\t\t\t\t\tif (neighborAgent.flockGroup !== flockGroup) continue;\n\n\t\t\t\t\t\t\tconst neighborTransform = ecs.getComponent(neighborId, 'worldTransform');\n\t\t\t\t\t\t\tif (!neighborTransform) continue;\n\n\t\t\t\t\t\t\tconst dx = worldTransform.x - neighborTransform.x;\n\t\t\t\t\t\t\tconst dy = worldTransform.y - neighborTransform.y;\n\t\t\t\t\t\t\tconst distSq = dx * dx + dy * dy;\n\n\t\t\t\t\t\t\t// Separation — closer neighbors push harder\n\t\t\t\t\t\t\tif (distSq > 0 && distSq < separationRadiusSq) {\n\t\t\t\t\t\t\t\tconst dist = Math.sqrt(distSq);\n\t\t\t\t\t\t\t\tsepX += dx / dist;\n\t\t\t\t\t\t\t\tsepY += dy / dist;\n\t\t\t\t\t\t\t\tsepCount++;\n\t\t\t\t\t\t\t}\n\n\t\t\t\t\t\t\t// Alignment — average velocity of neighbors\n\t\t\t\t\t\t\tconst neighborVel = ecs.getComponent(neighborId, 'velocity');\n\t\t\t\t\t\t\tif (neighborVel) {\n\t\t\t\t\t\t\t\talignX += neighborVel.x;\n\t\t\t\t\t\t\t\talignY += neighborVel.y;\n\t\t\t\t\t\t\t\talignCount++;\n\t\t\t\t\t\t\t}\n\n\t\t\t\t\t\t\t// Cohesion — average position of neighbors\n\t\t\t\t\t\t\tcohX += neighborTransform.x;\n\t\t\t\t\t\t\tcohY += neighborTransform.y;\n\t\t\t\t\t\t\tcohCount++;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tlet totalFx = 0, totalFy = 0;\n\n\t\t\t\t\t\t// Separation: steer away from crowded neighbors\n\t\t\t\t\t\tif (sepCount > 0) {\n\t\t\t\t\t\t\ttotalFx += (sepX / sepCount) * separationWeight;\n\t\t\t\t\t\t\ttotalFy += (sepY / sepCount) * separationWeight;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\t// Alignment: steer toward average heading\n\t\t\t\t\t\tif (alignCount > 0) {\n\t\t\t\t\t\t\tconst avgVx = alignX / alignCount;\n\t\t\t\t\t\t\tconst avgVy = alignY / alignCount;\n\t\t\t\t\t\t\t// Desired = average velocity - current velocity\n\t\t\t\t\t\t\ttotalFx += (avgVx - velocity.x) * alignmentWeight;\n\t\t\t\t\t\t\ttotalFy += (avgVy - velocity.y) * alignmentWeight;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\t// Cohesion: steer toward average position\n\t\t\t\t\t\tif (cohCount > 0) {\n\t\t\t\t\t\t\tconst avgPx = cohX / cohCount;\n\t\t\t\t\t\t\tconst avgPy = cohY / cohCount;\n\t\t\t\t\t\t\t// Desired = direction to center of mass - current velocity\n\t\t\t\t\t\t\ttotalFx += (avgPx - worldTransform.x - velocity.x) * cohesionWeight;\n\t\t\t\t\t\t\ttotalFy += (avgPy - worldTransform.y - velocity.y) * cohesionWeight;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\t// Clamp total steering force to maxForce\n\t\t\t\t\t\tconst forceMagSq = totalFx * totalFx + totalFy * totalFy;\n\t\t\t\t\t\tif (forceMagSq > maxForce * maxForce) {\n\t\t\t\t\t\t\tconst forceMag = Math.sqrt(forceMagSq);\n\t\t\t\t\t\t\ttotalFx = (totalFx / forceMag) * maxForce;\n\t\t\t\t\t\t\ttotalFy = (totalFy / forceMag) * maxForce;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tapplyForce(ecs, entity.id, totalFx, totalFy);\n\t\t\t\t\t}\n\t\t\t\t});\n\n\t\t\t// --- System 2: Clamp speed and orient heading from velocity ---\n\t\t\tworld\n\t\t\t\t.addSystem('flocking-heading')\n\t\t\t\t.setPriority(headingPriority)\n\t\t\t\t.inPhase(phase)\n\t\t\t\t.inGroup(systemGroup)\n\t\t\t\t.addQuery('boids', {\n\t\t\t\t\twith: ['flockingAgent', 'velocity', 'localTransform'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, ecs }) => {\n\t\t\t\t\tfor (const entity of queries.boids) {\n\t\t\t\t\t\tconst { flockingAgent, velocity, localTransform } = entity.components;\n\t\t\t\t\t\tconst { maxSpeed } = flockingAgent;\n\n\t\t\t\t\t\t// Clamp velocity to maxSpeed\n\t\t\t\t\t\tconst speedSq = velocity.x * velocity.x + velocity.y * velocity.y;\n\t\t\t\t\t\tif (speedSq > maxSpeed * maxSpeed) {\n\t\t\t\t\t\t\tconst speed = Math.sqrt(speedSq);\n\t\t\t\t\t\t\tvelocity.x = (velocity.x / speed) * maxSpeed;\n\t\t\t\t\t\t\tvelocity.y = (velocity.y / speed) * maxSpeed;\n\t\t\t\t\t\t\tecs.markChanged(entity.id, 'velocity');\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\t// Orient rotation to match velocity heading\n\t\t\t\t\t\tif (speedSq > SPEED_EPSILON * SPEED_EPSILON) {\n\t\t\t\t\t\t\tconst heading = Math.atan2(velocity.y, velocity.x);\n\t\t\t\t\t\t\tif (heading !== localTransform.rotation) {\n\t\t\t\t\t\t\t\tlocalTransform.rotation = heading;\n\t\t\t\t\t\t\t\tecs.markChanged(entity.id, 'localTransform');\n\t\t\t\t\t\t\t}\n\t\t\t\t\t\t}\n\t\t\t\t\t}\n\t\t\t\t});\n\t\t});\n}\n"
+    "/**\n * Flocking Plugin for ECSpresso\n *\n * Classic boid simulation — separation, alignment, cohesion. Produces\n * emergent group movement from simple per-entity steering forces.\n *\n * Composes with the physics2D plugin: flocking computes steering forces\n * and feeds them through `applyForce()`. Physics integration handles\n * velocity and position updates.\n *\n * Requires the spatial-index plugin for efficient neighbor queries.\n * Entities must have a `circleCollider` (or `aabbCollider`) to appear\n * in spatial index queries.\n */\n\nimport { definePlugin, type BasePluginOptions } from 'ecspresso';\nimport type { ComponentsConfig, ResourcesConfig } from 'ecspresso';\nimport type { TransformWorldConfig } from '../spatial/transform';\nimport type { Physics2DOwnComponentTypes } from '../physics/physics2D';\nimport { applyForce } from '../physics/physics2D';\nimport type { SpatialIndexResourceTypes } from '../spatial/spatial-index';\n\n// ==================== Component Types ====================\n\n/**\n * Configures flocking behavior for a boid entity.\n *\n * Entities with this component must also have:\n * - `localTransform` + `worldTransform` (transform plugin)\n * - `velocity` + `force` + `rigidBody` (physics2D plugin)\n * - `circleCollider` with radius >= perceptionRadius (for spatial index queries)\n */\nexport interface FlockingAgent {\n\t/** Radius within which neighbors are detected */\n\tperceptionRadius: number;\n\t/** Separation weight — steer away from nearby neighbors (default: 1.5) */\n\tseparationWeight: number;\n\t/** Alignment weight — match average heading of neighbors (default: 1.0) */\n\talignmentWeight: number;\n\t/** Cohesion weight — steer toward average position of neighbors (default: 1.0) */\n\tcohesionWeight: number;\n\t/** Maximum steering force magnitude per frame */\n\tmaxForce: number;\n\t/** Maximum velocity magnitude (hard speed cap) */\n\tmaxSpeed: number;\n\t/** Flock group ID for independent flocks (default: 0) */\n\tflockGroup: number;\n}\n\n/**\n * Component types provided by the flocking plugin.\n */\nexport interface FlockingComponentTypes {\n\tflockingAgent: FlockingAgent;\n}\n\n// ==================== WorldConfig ====================\n\n/**\n * WorldConfig representing the flocking plugin's provided types.\n */\nexport type FlockingWorldConfig = ComponentsConfig<FlockingComponentTypes>;\n\n// ==================== Plugin Options ====================\n\nexport interface FlockingPluginOptions<G extends string = 'ai'> extends BasePluginOptions<G> {\n\t/** Priority for the heading/speed-clamp system (default: 200) */\n\theadingPriority?: number;\n}\n\n// ==================== Helper Functions ====================\n\n/**\n * Create a flockingAgent component with sensible defaults.\n *\n * Entities must also have a `circleCollider` with radius >= perceptionRadius\n * for the spatial index to find them as neighbors.\n *\n * @param options Partial overrides for flocking agent fields\n * @returns Component object suitable for spreading into spawn()\n *\n * @example\n * ```typescript\n * ecs.spawn({\n *   ...createFlockingAgent({ perceptionRadius: 80, maxSpeed: 150 }),\n *   ...createRigidBody('dynamic', { mass: 1, drag: 1, gravityScale: 0 }),\n *   ...createCircleCollider(80),\n *   ...createGraphicsComponents(boidGraphics, { x: 100, y: 200 }),\n * });\n * ```\n */\nexport function createFlockingAgent(\n\toptions?: Partial<FlockingAgent>,\n): Pick<FlockingComponentTypes, 'flockingAgent'> {\n\treturn {\n\t\tflockingAgent: {\n\t\t\tperceptionRadius: options?.perceptionRadius ?? 100,\n\t\t\tseparationWeight: options?.separationWeight ?? 1.5,\n\t\t\talignmentWeight: options?.alignmentWeight ?? 1.0,\n\t\t\tcohesionWeight: options?.cohesionWeight ?? 1.0,\n\t\t\tmaxForce: options?.maxForce ?? 400,\n\t\t\tmaxSpeed: options?.maxSpeed ?? 200,\n\t\t\tflockGroup: options?.flockGroup ?? 0,\n\t\t},\n\t};\n}\n\n// ==================== Plugin Factory ====================\n\nconst _neighborBuf: number[] = [];\n\nconst SPEED_EPSILON = 0.01;\n\n/**\n * Create a flocking plugin for ECSpresso.\n *\n * Installs two systems:\n * - `flocking-forces` — computes separation/alignment/cohesion and applies via applyForce()\n * - `flocking-heading` — clamps speed to maxSpeed and orients rotation to match velocity\n *\n * Requires the transform, physics2D, and spatial-index plugins to be installed.\n *\n * @example\n * ```typescript\n * const ecs = ECSpresso.create()\n *   .withPlugin(createRenderer2DPlugin({ background: '#0a0a2e' }))\n *   .withPlugin(createPhysics2DPlugin())\n *   .withPlugin(createSpatialIndexPlugin())\n *   .withPlugin(createFlockingPlugin())\n *   .build();\n * ```\n */\nexport function createFlockingPlugin<G extends string = 'ai'>(\n\toptions?: FlockingPluginOptions<G>,\n) {\n\tconst {\n\t\tsystemGroup = 'ai',\n\t\tpriority = 500,\n\t\tphase = 'update',\n\t\theadingPriority = 200,\n\t} = options ?? {};\n\n\treturn definePlugin('flocking')\n\t\t.withComponentTypes<FlockingComponentTypes>()\n\t\t.withLabels<'flocking-forces' | 'flocking-heading'>()\n\t\t.withGroups<G>()\n\t\t.requires<\n\t\t\tTransformWorldConfig &\n\t\t\tComponentsConfig<Pick<Physics2DOwnComponentTypes, 'velocity' | 'force'>> &\n\t\t\tResourcesConfig<SpatialIndexResourceTypes>\n\t\t>()\n\t\t.install((world) => {\n\t\t\t// --- System 1: Compute and apply flocking forces ---\n\t\t\tworld\n\t\t\t\t.addSystem('flocking-forces')\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('boids', {\n\t\t\t\t\twith: ['flockingAgent', 'worldTransform', 'velocity', 'force'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, ecs }) => {\n\t\t\t\t\tconst spatialIndex = ecs.getResource('spatialIndex');\n\n\t\t\t\t\tfor (const entity of queries.boids) {\n\t\t\t\t\t\tconst { flockingAgent, worldTransform, velocity } = entity.components;\n\t\t\t\t\t\tconst { perceptionRadius, separationWeight, alignmentWeight, cohesionWeight, maxForce, flockGroup } = flockingAgent;\n\n\t\t\t\t\t\t// Query neighbors via spatial index\n\t\t\t\t\t\t_neighborBuf.length = 0;\n\t\t\t\t\t\tspatialIndex.queryRadiusInto(worldTransform.x, worldTransform.y, perceptionRadius, _neighborBuf);\n\n\t\t\t\t\t\t// Accumulate steering forces — all inline scalars, no allocations\n\t\t\t\t\t\tlet sepX = 0, sepY = 0, sepCount = 0;\n\t\t\t\t\t\tlet alignX = 0, alignY = 0, alignCount = 0;\n\t\t\t\t\t\tlet cohX = 0, cohY = 0, cohCount = 0;\n\n\t\t\t\t\t\tconst separationRadius = perceptionRadius * 0.5;\n\t\t\t\t\t\tconst separationRadiusSq = separationRadius * separationRadius;\n\n\t\t\t\t\t\tfor (const neighborId of _neighborBuf) {\n\t\t\t\t\t\t\tif (neighborId === entity.id) continue;\n\n\t\t\t\t\t\t\tconst neighborAgent = ecs.getComponent(neighborId, 'flockingAgent');\n\t\t\t\t\t\t\tif (!neighborAgent) continue;\n\t\t\t\t\t\t\tif (neighborAgent.flockGroup !== flockGroup) continue;\n\n\t\t\t\t\t\t\tconst neighborTransform = ecs.getComponent(neighborId, 'worldTransform');\n\t\t\t\t\t\t\tif (!neighborTransform) continue;\n\n\t\t\t\t\t\t\tconst dx = worldTransform.x - neighborTransform.x;\n\t\t\t\t\t\t\tconst dy = worldTransform.y - neighborTransform.y;\n\t\t\t\t\t\t\tconst distSq = dx * dx + dy * dy;\n\n\t\t\t\t\t\t\t// Separation — closer neighbors push harder\n\t\t\t\t\t\t\tif (distSq > 0 && distSq < separationRadiusSq) {\n\t\t\t\t\t\t\t\tconst dist = Math.sqrt(distSq);\n\t\t\t\t\t\t\t\tsepX += dx / dist;\n\t\t\t\t\t\t\t\tsepY += dy / dist;\n\t\t\t\t\t\t\t\tsepCount++;\n\t\t\t\t\t\t\t}\n\n\t\t\t\t\t\t\t// Alignment — average velocity of neighbors\n\t\t\t\t\t\t\tconst neighborVel = ecs.getComponent(neighborId, 'velocity');\n\t\t\t\t\t\t\tif (neighborVel) {\n\t\t\t\t\t\t\t\talignX += neighborVel.x;\n\t\t\t\t\t\t\t\talignY += neighborVel.y;\n\t\t\t\t\t\t\t\talignCount++;\n\t\t\t\t\t\t\t}\n\n\t\t\t\t\t\t\t// Cohesion — average position of neighbors\n\t\t\t\t\t\t\tcohX += neighborTransform.x;\n\t\t\t\t\t\t\tcohY += neighborTransform.y;\n\t\t\t\t\t\t\tcohCount++;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tlet totalFx = 0, totalFy = 0;\n\n\t\t\t\t\t\t// Separation: steer away from crowded neighbors\n\t\t\t\t\t\tif (sepCount > 0) {\n\t\t\t\t\t\t\ttotalFx += (sepX / sepCount) * separationWeight;\n\t\t\t\t\t\t\ttotalFy += (sepY / sepCount) * separationWeight;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\t// Alignment: steer toward average heading\n\t\t\t\t\t\tif (alignCount > 0) {\n\t\t\t\t\t\t\tconst avgVx = alignX / alignCount;\n\t\t\t\t\t\t\tconst avgVy = alignY / alignCount;\n\t\t\t\t\t\t\t// Desired = average velocity - current velocity\n\t\t\t\t\t\t\ttotalFx += (avgVx - velocity.x) * alignmentWeight;\n\t\t\t\t\t\t\ttotalFy += (avgVy - velocity.y) * alignmentWeight;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\t// Cohesion: steer toward average position\n\t\t\t\t\t\tif (cohCount > 0) {\n\t\t\t\t\t\t\tconst avgPx = cohX / cohCount;\n\t\t\t\t\t\t\tconst avgPy = cohY / cohCount;\n\t\t\t\t\t\t\t// Desired = direction to center of mass - current velocity\n\t\t\t\t\t\t\ttotalFx += (avgPx - worldTransform.x - velocity.x) * cohesionWeight;\n\t\t\t\t\t\t\ttotalFy += (avgPy - worldTransform.y - velocity.y) * cohesionWeight;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\t// Clamp total steering force to maxForce\n\t\t\t\t\t\tconst forceMagSq = totalFx * totalFx + totalFy * totalFy;\n\t\t\t\t\t\tif (forceMagSq > maxForce * maxForce) {\n\t\t\t\t\t\t\tconst forceMag = Math.sqrt(forceMagSq);\n\t\t\t\t\t\t\ttotalFx = (totalFx / forceMag) * maxForce;\n\t\t\t\t\t\t\ttotalFy = (totalFy / forceMag) * maxForce;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tapplyForce(ecs, entity.id, totalFx, totalFy);\n\t\t\t\t\t}\n\t\t\t\t});\n\n\t\t\t// --- System 2: Clamp speed and orient heading from velocity ---\n\t\t\tworld\n\t\t\t\t.addSystem('flocking-heading')\n\t\t\t\t.setPriority(headingPriority)\n\t\t\t\t.inPhase(phase)\n\t\t\t\t.inGroup(systemGroup)\n\t\t\t\t.addQuery('boids', {\n\t\t\t\t\twith: ['flockingAgent', 'velocity', 'localTransform'],\n\t\t\t\t})\n\t\t\t\t.setProcess(({ queries, ecs }) => {\n\t\t\t\t\tfor (const entity of queries.boids) {\n\t\t\t\t\t\tconst { flockingAgent, velocity, localTransform } = entity.components;\n\t\t\t\t\t\tconst { maxSpeed } = flockingAgent;\n\n\t\t\t\t\t\t// Clamp velocity to maxSpeed\n\t\t\t\t\t\tconst speedSq = velocity.x * velocity.x + velocity.y * velocity.y;\n\t\t\t\t\t\tif (speedSq > maxSpeed * maxSpeed) {\n\t\t\t\t\t\t\tconst speed = Math.sqrt(speedSq);\n\t\t\t\t\t\t\tvelocity.x = (velocity.x / speed) * maxSpeed;\n\t\t\t\t\t\t\tvelocity.y = (velocity.y / speed) * maxSpeed;\n\t\t\t\t\t\t\tecs.markChanged(entity.id, 'velocity');\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\t// Orient rotation to match velocity heading\n\t\t\t\t\t\tif (speedSq > SPEED_EPSILON * SPEED_EPSILON) {\n\t\t\t\t\t\t\tconst heading = Math.atan2(velocity.y, velocity.x);\n\t\t\t\t\t\t\tif (heading !== localTransform.rotation) {\n\t\t\t\t\t\t\t\tlocalTransform.rotation = heading;\n\t\t\t\t\t\t\t\tecs.markChanged(entity.id, 'localTransform');\n\t\t\t\t\t\t\t}\n\t\t\t\t\t\t}\n\t\t\t\t\t}\n\t\t\t\t});\n\t\t});\n}\n"
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   "debugId": "3BF6BCC8003D861864756E2164756E21",

package/dist/plugins/ai/pathfinding.d.ts

@@ -10,10 +10,9 @@
  * turn-based / non-realtime consumers that don't need the component dance.
  */
 import { type BasePluginOptions } from 'ecspresso';
-import type { WorldConfigFrom } from 'ecspresso';
+import type { ComponentsConfig, EventsConfig, ResourcesConfig } from 'ecspresso';
 import type { Vector2D } from '../../utils/math';
 import type { TransformWorldConfig } from '../spatial/transform';
-import type { SteeringWorldConfig } from '../physics/steering';
 /** Flat-indexed cell position in a `NavGrid`. Transparent alias, not branded. */
 export type CellIndex = number;
 /**
@@ -85,7 +84,7 @@ export interface PathfindingResourceTypes {
     navGrid: NavGrid;
 }
 /** WorldConfig representing the pathfinding plugin's provided types. */
-export type PathfindingWorldConfig = WorldConfigFrom<PathfindingComponentTypes, PathfindingEventTypes, PathfindingResourceTypes>;
+export type PathfindingWorldConfig = ComponentsConfig<PathfindingComponentTypes> & EventsConfig<PathfindingEventTypes> & ResourcesConfig<PathfindingResourceTypes>;
 export interface PathfindingPluginOptions<G extends string = 'ai'> extends BasePluginOptions<G> {
     /** The navigation grid. Construct via `createNavGrid`. */
     grid: NavGrid;
@@ -160,4 +159,4 @@ export declare function findPath(grid: NavGrid, start: CellIndex, goal: CellInde
  * });
  * ```
  */
-export declare function createPathfindingPlugin<G extends string = 'ai'>(options: PathfindingPluginOptions<G>): import("ecspresso").Plugin<import("ecspresso").WithResources<import("ecspresso").WithEvents<import("ecspresso").WithComponents<import("ecspresso").EmptyConfig, PathfindingComponentTypes>, PathfindingEventTypes>, PathfindingResourceTypes>, TransformWorldConfig & SteeringWorldConfig, "pathfinding-request" | "pathfinding-waypoint-advance", G, never, never>;
+export declare function createPathfindingPlugin<G extends string = 'ai'>(options: PathfindingPluginOptions<G>): import("ecspresso").Plugin<import("ecspresso").WithResources<import("ecspresso").WithEvents<import("ecspresso").WithComponents<import("ecspresso").EmptyConfig, PathfindingComponentTypes>, PathfindingEventTypes>, PathfindingResourceTypes>, TransformWorldConfig & ComponentsConfig<import("../physics/steering").SteeringComponentTypes> & EventsConfig<import("../physics/steering").SteeringEventTypes>, "pathfinding-request" | "pathfinding-waypoint-advance", G, never, never>;