pelican-engine 0.3.21 → 0.3.22

package/docs/npm/GAME-AUTHOR.md

@@ -233,6 +233,14 @@ manual cloth uses `ctx.cloth.step`. Use `setAnchor`, `releaseAnchor`, `applyForc
 (next tick), `applyImpulse`, `setColliders`, `inspect`, and `destroy` to manage it.
 The source checkout includes `examples/cloth-sheet`.
 
+New cloth also resolves detected sphere overlaps against triangle surface interiors
+using closest-point barycentric projection. `inspect(id).surfaceContacts` reports
+the triangle and barycentric position. `surfaceCollisions` defaults to true for new
+cloth and can be disabled. This is sphere-only discrete surface contact; planes
+remain particle-only, and there is no edge/face continuous collision or rigid-body
+reaction. Surface contact state is included in snapshots and invalid state is
+rejected atomically. It has not been runtime or stability validated.
+
 New cloth also resolves discrete self-contact between non-adjacent particles by
 projecting movable particles apart; shared triangle edges are excluded.
 `selfCollisions` defaults to true for new cloth and is reported by

package/engine.manifest.json

@@ -1,6 +1,6 @@
 {
   "name": "pelican-engine",
-  "version": "0.3.21",
+  "version": "0.3.22",
   "milestone": "M3",
   "stage": "advanced-rendering-development",
   "license": "MIT",

package/lib/sdk/index.d.ts

@@ -1,5 +1,5 @@
 /** Pelican Engine public API. No renderer or GPU implementation types escape this module. */
-export declare const SDK_VERSION = "0.3.21";
+export declare const SDK_VERSION = "0.3.22";
 export type Vec2 = readonly [number, number];
 export type Vec3 = readonly [number, number, number];
 export type Vec4 = readonly [number, number, number, number];
@@ -271,6 +271,8 @@ export interface ClothDefinition {
     visual?: ClothVisualOptions;
     /** Discrete non-adjacent particle self-contact; defaults to true for new cloth. */
     selfCollisions?: boolean;
+    /** Sphere triangle-surface contacts; defaults to true for new cloth. */
+    surfaceCollisions?: boolean;
 }
 export interface ClothContact {
     tick: number;
@@ -284,11 +286,19 @@ export interface ClothSelfContact {
     secondParticle: number;
     penetration: number;
 }
+export interface ClothSurfaceContact {
+    tick: number;
+    triangle: number;
+    colliderId: string;
+    penetration: number;
+    barycentric: [number, number, number];
+}
 export interface ClothState {
     tick: number;
     simulatedSeconds: number;
     disposed: boolean;
     selfCollisions: boolean;
+    surfaceCollisions: boolean;
     positions: Vec3[];
     velocities: Vec3[];
     triangles: ClothTriangle[];
@@ -298,6 +308,7 @@ export interface ClothState {
     }[];
     contacts: ClothContact[];
     selfContacts: ClothSelfContact[];
+    surfaceContacts: ClothSurfaceContact[];
     maxDistanceError: number;
     resources: {
         particles: number;

package/lib/sdk/index.js

@@ -1,5 +1,5 @@
 /** Pelican Engine public API. No renderer or GPU implementation types escape this module. */
-export const SDK_VERSION = "0.3.21";
+export const SDK_VERSION = "0.3.22";
 export const SYSTEM_PHASES = [
     "input",
     "prePhysics",

package/lib/simulation/cloth-plugin.js

@@ -15,7 +15,7 @@ function planarUvs(points) {
         return fail("VISUAL_UV", "Initial points need two nonzero projection axes or explicit UVs.");
     return points.map(point => [(point[first] - min[first]) / width, (point[second] - min[second]) / height]);
 }
-function createEntry(input, fixedDt, materials, restoredSelfMode) {
+function createEntry(input, fixedDt, materials, restoredSelfMode, restoredSurfaceMode) {
     const definition = cloneSerializable(input);
     if (!definition || !validId(definition.id))
         return fail("ID", "Expected a nonempty id of at most 128 characters.");
@@ -23,6 +23,10 @@ function createEntry(input, fixedDt, materials, restoredSelfMode) {
         return fail("AUTO_STEP", "autoStep must be boolean.");
     if (definition.selfCollisions !== undefined && typeof definition.selfCollisions !== "boolean")
         return fail("SELF_COLLISION", "selfCollisions must be boolean.");
+    if (definition.surfaceCollisions !== undefined && typeof definition.surfaceCollisions !== "boolean")
+        return fail("SURFACE_COLLISION", "surfaceCollisions must be boolean.");
+    if (restoredSurfaceMode !== undefined && definition.surfaceCollisions !== undefined && definition.surfaceCollisions !== restoredSurfaceMode)
+        return fail("SNAPSHOT", "Surface collision configuration does not match the saved solver.");
     if (restoredSelfMode !== undefined && definition.selfCollisions !== undefined && definition.selfCollisions !== restoredSelfMode)
         return fail("SNAPSHOT", "Self collision configuration does not match the saved solver.");
     if (definition.fixedDt !== undefined && definition.fixedDt !== fixedDt)
@@ -39,7 +43,7 @@ function createEntry(input, fixedDt, materials, restoredSelfMode) {
             visual.uvs.some(uv => !Array.isArray(uv) || uv.length !== 2 || !uv.every(value => typeof value === "number" && Number.isFinite(value) && Math.abs(value) <= 1e6))))
             return fail("VISUAL_UV", "UVs must contain one finite 2D coordinate per particle.");
     }
-    const solver = createCloth({ ...definition, fixedDt, ...(restoredSelfMode === undefined ? {} : { selfCollisions: restoredSelfMode }) });
+    const solver = createCloth({ ...definition, fixedDt, ...(restoredSelfMode === undefined ? {} : { selfCollisions: restoredSelfMode }), ...(restoredSurfaceMode === undefined ? {} : { surfaceCollisions: restoredSurfaceMode }) });
     try {
         const uvs = definition.visual ? (definition.visual.uvs ? definition.visual.uvs.map(uv => [uv[0], uv[1]]) : planarUvs(definition.points)) : [];
         return { definition, solver, uvs };
@@ -62,7 +66,10 @@ function parseSnapshot(value, fixedDt, materials) {
             const savedSelfMode = item.state?.config?.selfCollisions;
             if (savedSelfMode !== undefined && typeof savedSelfMode !== "boolean")
                 fail("SNAPSHOT", "Invalid self collision configuration.");
-            const entry = createEntry(item.definition, fixedDt, materials, savedSelfMode ?? false);
+            const savedSurfaceMode = item.state?.config?.surfaceCollisions;
+            if (savedSurfaceMode !== undefined && typeof savedSurfaceMode !== "boolean")
+                fail("SNAPSHOT", "Invalid surface collision configuration.");
+            const entry = createEntry(item.definition, fixedDt, materials, savedSelfMode ?? false, savedSurfaceMode ?? false);
             if (entries.has(entry.definition.id)) {
                 entry.solver.dispose();
                 fail("SNAPSHOT", "Duplicate cloth id.");

package/lib/simulation/cloth.js

@@ -96,6 +96,35 @@ function topology(points, input, bending) {
                 add(edge.opposite[0], edge.opposite[1]);
     return { triangles, constraints };
 }
+function closestTriangle(point, a, b, c) {
+    const ab = [b[0] - a[0], b[1] - a[1], b[2] - a[2]], ac = [c[0] - a[0], c[1] - a[1], c[2] - a[2]], ap = [point[0] - a[0], point[1] - a[1], point[2] - a[2]];
+    const d1 = ab[0] * ap[0] + ab[1] * ap[1] + ab[2] * ap[2], d2 = ac[0] * ap[0] + ac[1] * ap[1] + ac[2] * ap[2];
+    if (d1 <= 0 && d2 <= 0)
+        return { point: copy(a), barycentric: [1, 0, 0] };
+    const bp = [point[0] - b[0], point[1] - b[1], point[2] - b[2]], d3 = ab[0] * bp[0] + ab[1] * bp[1] + ab[2] * bp[2], d4 = ac[0] * bp[0] + ac[1] * bp[1] + ac[2] * bp[2];
+    if (d3 >= 0 && d4 <= d3)
+        return { point: copy(b), barycentric: [0, 1, 0] };
+    const vc = d1 * d4 - d3 * d2;
+    if (vc <= 0 && d1 >= 0 && d3 <= 0) {
+        const t = d1 / (d1 - d3);
+        return { point: [a[0] + ab[0] * t, a[1] + ab[1] * t, a[2] + ab[2] * t], barycentric: [1 - t, t, 0] };
+    }
+    const cp = [point[0] - c[0], point[1] - c[1], point[2] - c[2]], d5 = ab[0] * cp[0] + ab[1] * cp[1] + ab[2] * cp[2], d6 = ac[0] * cp[0] + ac[1] * cp[1] + ac[2] * cp[2];
+    if (d6 >= 0 && d5 <= d6)
+        return { point: copy(c), barycentric: [0, 0, 1] };
+    const vb = d5 * d2 - d1 * d6;
+    if (vb <= 0 && d2 >= 0 && d6 <= 0) {
+        const t = d2 / (d2 - d6);
+        return { point: [a[0] + ac[0] * t, a[1] + ac[1] * t, a[2] + ac[2] * t], barycentric: [1 - t, 0, t] };
+    }
+    const va = d3 * d6 - d5 * d4;
+    if (va <= 0 && (d4 - d3) >= 0 && (d5 - d6) >= 0) {
+        const edge = [c[0] - b[0], c[1] - b[1], c[2] - b[2]], t = (d4 - d3) / ((d4 - d3) + (d5 - d6));
+        return { point: [b[0] + edge[0] * t, b[1] + edge[1] * t, b[2] + edge[2] * t], barycentric: [0, 1 - t, t] };
+    }
+    const denominator = 1 / (va + vb + vc), v = vb * denominator, w = vc * denominator;
+    return { point: [a[0] + ab[0] * v + ac[0] * w, a[1] + ab[1] * v + ac[1] * w, a[2] + ab[2] * v + ac[2] * w], barycentric: [1 - v - w, v, w] };
+}
 export function createCloth(input) {
     if (!input || typeof input !== "object" || !Array.isArray(input.points) || input.points.length < 3 || input.points.length > 4096)
         fail("CLOTH_INPUT", "points must contain 3..4096 particles");
@@ -110,14 +139,14 @@ export function createCloth(input) {
         fail("CLOTH_INPUT", "damping must be in [0,100]");
     if (input.bending !== undefined && typeof input.bending !== "boolean")
         fail("CLOTH_INPUT", "bending must be boolean");
-    const bending = input.bending ?? true, selfCollisions = input.selfCollisions ?? true, gravity = readVec(input.gravity ?? [0, -9.81, 0], "gravity");
-    if (typeof selfCollisions !== "boolean")
-        fail("CLOTH_INPUT", "selfCollisions must be boolean");
+    const bending = input.bending ?? true, selfCollisions = input.selfCollisions ?? true, surfaceCollisions = input.surfaceCollisions ?? true, gravity = readVec(input.gravity ?? [0, -9.81, 0], "gravity");
+    if (typeof selfCollisions !== "boolean" || typeof surfaceCollisions !== "boolean")
+        fail("CLOTH_INPUT", "collision options must be boolean");
     const { triangles, constraints } = topology(positions, input.triangles, bending);
     const anchors = readAnchors(input.anchors ?? [], positions.length);
     for (const [index, point] of anchors)
         positions[index] = copy(point);
-    return new ClothSolver({ mass, radius, fixedDt, substeps, iterations, damping, gravity, bending, selfCollisions, triangles, constraints }, positions, anchors);
+    return new ClothSolver({ mass, radius, fixedDt, substeps, iterations, damping, gravity, bending, selfCollisions, surfaceCollisions, triangles, constraints }, positions, anchors);
 }
 export class ClothSolver {
     config;
@@ -130,6 +159,7 @@ export class ClothSolver {
     colliders = [];
     contacts = [];
     selfContacts = [];
+    surfaceContacts = [];
     adjacent;
     constructor(config, positions, anchors) {
         this.config = config;
@@ -176,7 +206,7 @@ export class ClothSolver {
         this.alive();
         if (!Number.isSafeInteger(steps) || steps < 1 || steps > 1000 || this.tickValue + steps > Number.MAX_SAFE_INTEGER)
             fail("CLOTH_INPUT", "steps must be in [1,1000] without tick overflow");
-        const before = { positions: this.positions, velocities: this.velocities, forces: this.forces, contacts: this.contacts, selfContacts: this.selfContacts, tick: this.tickValue };
+        const before = { positions: this.positions, velocities: this.velocities, forces: this.forces, contacts: this.contacts, selfContacts: this.selfContacts, surfaceContacts: this.surfaceContacts, tick: this.tickValue };
         try {
             for (let i = 0; i < steps; i++)
                 this.stepOne();
@@ -187,6 +217,7 @@ export class ClothSolver {
             this.forces = before.forces;
             this.contacts = before.contacts;
             this.selfContacts = before.selfContacts;
+            this.surfaceContacts = before.surfaceContacts;
             this.tickValue = before.tick;
             throw error;
         }
@@ -195,7 +226,7 @@ export class ClothSolver {
     stepOne() {
         const { fixedDt, substeps, iterations, mass, gravity, damping, constraints, radius } = this.config;
         const h = fixedDt / substeps, decay = Math.exp(-damping * h);
-        const positions = this.positions.map(copy), velocities = this.velocities.map(copy), contacts = new Map(), selfContacts = new Map();
+        const positions = this.positions.map(copy), velocities = this.velocities.map(copy), contacts = new Map(), selfContacts = new Map(), surfaceContacts = new Map();
         for (let sub = 0; sub < substeps; sub++) {
             const previous = positions.map(copy);
             for (let i = 0; i < positions.length; i++) {
@@ -256,6 +287,29 @@ export class ClothSolver {
                             contacts.set(key, { tick: this.tickValue + 1, particle: i, colliderId: collider.id, penetration: depth });
                     }
                 }
+                if (this.config.surfaceCollisions)
+                    for (let triangleIndex = 0; triangleIndex < this.config.triangles.length; triangleIndex++) {
+                        const triangle = this.config.triangles[triangleIndex], a = positions[triangle[0]], b = positions[triangle[1]], c = positions[triangle[2]];
+                        for (const collider of this.colliders) {
+                            if (collider.kind !== "sphere")
+                                continue;
+                            const closest = closestTriangle(collider.center, a, b, c), delta = [closest.point[0] - collider.center[0], closest.point[1] - collider.center[1], closest.point[2] - collider.center[2]], length = Math.hypot(...delta), depth = collider.radius + radius - length;
+                            if (depth <= 0)
+                                continue;
+                            const normal = length < 1e-12 ? [0, 1, 0] : [delta[0] / length, delta[1] / length, delta[2] / length], weights = [this.anchors.has(triangle[0]) ? 0 : closest.barycentric[0], this.anchors.has(triangle[1]) ? 0 : closest.barycentric[1], this.anchors.has(triangle[2]) ? 0 : closest.barycentric[2]], denominator = weights.reduce((sum, value) => sum + value * value, 0);
+                            if (denominator === 0)
+                                continue;
+                            const correction = depth / denominator;
+                            for (let vertex = 0; vertex < 3; vertex++)
+                                for (let axis = 0; axis < 3; axis++)
+                                    positions[triangle[vertex]][axis] += normal[axis] * correction * weights[vertex];
+                            const key = `${triangleIndex}:${collider.id}`, old = surfaceContacts.get(key);
+                            if (old)
+                                old.penetration = Math.max(old.penetration, depth);
+                            else
+                                surfaceContacts.set(key, { tick: this.tickValue + 1, triangle: triangleIndex, colliderId: collider.id, penetration: depth, barycentric: closest.barycentric });
+                        }
+                    }
                 if (this.config.selfCollisions)
                     for (let i = 0; i < positions.length; i++)
                         for (let j = i + 1; j < positions.length; j++) {
@@ -294,18 +348,19 @@ export class ClothSolver {
         this.forces = positions.map(() => [0, 0, 0]);
         this.contacts = [...contacts.values()];
         this.selfContacts = [...selfContacts.values()];
+        this.surfaceContacts = [...surfaceContacts.values()];
         this.tickValue++;
     }
     inspect() {
         if (this.disposed)
-            return { tick: this.tickValue, simulatedSeconds: this.tickValue * this.config.fixedDt, disposed: true, selfCollisions: this.config.selfCollisions, positions: [], velocities: [], triangles: [], anchors: [], contacts: [], selfContacts: [], maxDistanceError: 0, resources: { particles: 0, triangles: 0, constraints: 0, anchors: 0, colliders: 0 } };
+            return { tick: this.tickValue, simulatedSeconds: this.tickValue * this.config.fixedDt, disposed: true, selfCollisions: this.config.selfCollisions, surfaceCollisions: this.config.surfaceCollisions, positions: [], velocities: [], triangles: [], anchors: [], contacts: [], selfContacts: [], surfaceContacts: [], maxDistanceError: 0, resources: { particles: 0, triangles: 0, constraints: 0, anchors: 0, colliders: 0 } };
         let maxDistanceError = 0;
         for (const [a, b, rest] of this.config.constraints)
             maxDistanceError = Math.max(maxDistanceError, Math.abs(distance(this.positions[a], this.positions[b]) - rest));
-        return { tick: this.tickValue, simulatedSeconds: this.tickValue * this.config.fixedDt, disposed: false, selfCollisions: this.config.selfCollisions,
+        return { tick: this.tickValue, simulatedSeconds: this.tickValue * this.config.fixedDt, disposed: false, selfCollisions: this.config.selfCollisions, surfaceCollisions: this.config.surfaceCollisions,
             positions: this.positions.map(copy), velocities: this.velocities.map(copy), triangles: this.config.triangles.map(tuple),
             anchors: [...this.anchors].map(([index, position]) => ({ index, position: copy(position) })).sort((a, b) => a.index - b.index),
-            contacts: this.contacts.map(contact => ({ ...contact })), selfContacts: this.selfContacts.map(contact => ({ ...contact })), maxDistanceError,
+            contacts: this.contacts.map(contact => ({ ...contact })), selfContacts: this.selfContacts.map(contact => ({ ...contact })), surfaceContacts: this.surfaceContacts.map(contact => ({ ...contact })), maxDistanceError,
             resources: { particles: this.positions.length, triangles: this.config.triangles.length, constraints: this.config.constraints.length, anchors: this.anchors.size, colliders: this.colliders.length } };
     }
     snapshot() {
@@ -313,7 +368,7 @@ export class ClothSolver {
         const state = this.inspect();
         return { format: "pelican-cloth-cpu", version: 1, tick: this.tickValue,
             config: { ...this.config, gravity: copy(this.config.gravity), triangles: this.config.triangles.map(tuple), constraints: this.config.constraints.map(tuple) },
-            positions: state.positions, velocities: state.velocities, forces: this.forces.map(copy), anchors: state.anchors, colliders: readColliders(this.colliders), contacts: state.contacts, selfContacts: state.selfContacts };
+            positions: state.positions, velocities: state.velocities, forces: this.forces.map(copy), anchors: state.anchors, colliders: readColliders(this.colliders), contacts: state.contacts, selfContacts: state.selfContacts, surfaceContacts: state.surfaceContacts };
     }
     restore(input) {
         this.alive();
@@ -321,7 +376,7 @@ export class ClothSolver {
             fail("CLOTH_SNAPSHOT", "unsupported snapshot format or tick");
         const config = input.config, expected = this.config;
         if (!config || config.mass !== expected.mass || config.radius !== expected.radius || config.fixedDt !== expected.fixedDt || config.substeps !== expected.substeps ||
-            config.iterations !== expected.iterations || config.damping !== expected.damping || config.bending !== expected.bending || (config.selfCollisions ?? false) !== expected.selfCollisions ||
+            config.iterations !== expected.iterations || config.damping !== expected.damping || config.bending !== expected.bending || (config.selfCollisions ?? false) !== expected.selfCollisions || (config.surfaceCollisions ?? false) !== expected.surfaceCollisions ||
             !vec(config.gravity) || config.gravity.some((value, i) => value !== expected.gravity[i]) ||
             !Array.isArray(config.triangles) || JSON.stringify(config.triangles) !== JSON.stringify(expected.triangles) ||
             !Array.isArray(config.constraints) || JSON.stringify(config.constraints) !== JSON.stringify(expected.constraints))
@@ -357,6 +412,20 @@ export class ClothSolver {
                 fail("CLOTH_SNAPSHOT", "duplicate self contact");
             selfKeys.add(key);
         }
+        const surfaceContacts = input.surfaceContacts ?? [];
+        const surfaceKeys = new Set();
+        if (!Array.isArray(surfaceContacts) || surfaceContacts.length > this.config.triangles.length * colliders.length || (!this.config.surfaceCollisions && surfaceContacts.length > 0) ||
+            surfaceContacts.some(contact => !contact || contact.tick !== input.tick || !Number.isSafeInteger(contact.triangle) || contact.triangle < 0 || contact.triangle >= this.config.triangles.length ||
+                !colliders.some(collider => collider.id === contact.colliderId && collider.kind === "sphere") || typeof contact.penetration !== "number" || !Number.isFinite(contact.penetration) || contact.penetration <= 0 ||
+                !Array.isArray(contact.barycentric) || contact.barycentric.length !== 3 || !contact.barycentric.every(value => typeof value === "number" && Number.isFinite(value) && value >= 0 && value <= 1) ||
+                Math.abs(contact.barycentric[0] + contact.barycentric[1] + contact.barycentric[2] - 1) > 1e-5))
+            fail("CLOTH_SNAPSHOT", "invalid surface contact state");
+        for (const contact of surfaceContacts) {
+            const key = `${contact.triangle}:${contact.colliderId}`;
+            if (surfaceKeys.has(key))
+                fail("CLOTH_SNAPSHOT", "duplicate surface contact");
+            surfaceKeys.add(key);
+        }
         this.positions = input.positions.map(copy);
         this.velocities = input.velocities.map(copy);
         this.forces = input.forces.map(copy);
@@ -364,8 +433,9 @@ export class ClothSolver {
         this.colliders = colliders;
         this.contacts = input.contacts.map(contact => ({ ...contact }));
         this.selfContacts = selfContacts.map(contact => ({ ...contact }));
+        this.surfaceContacts = surfaceContacts.map(contact => ({ ...contact, barycentric: [...contact.barycentric] }));
         this.tickValue = input.tick;
     }
     dispose() { if (this.disposed)
-        return; this.disposed = true; this.positions = []; this.velocities = []; this.forces = []; this.colliders = []; this.contacts = []; this.selfContacts = []; this.anchors.clear(); }
+        return; this.disposed = true; this.positions = []; this.velocities = []; this.forces = []; this.colliders = []; this.contacts = []; this.selfContacts = []; this.surfaceContacts = []; this.anchors.clear(); }
 }

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "pelican-engine",
-  "version": "0.3.21",
+  "version": "0.3.22",
   "description": "Pelican Engine public SDK and offline development CLI",
   "type": "module",
   "license": "MIT",