pelican-engine 0.3.22 → 0.3.24

package/docs/npm/GAME-AUTHOR.md

@@ -233,6 +233,8 @@ 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`.
 
+An automatic cloth may bind a live dynamic sphere with `bodyColliders: [{ id: "sphere-id", entity: "body-id" }]`. The plugin samples the real sphere after physics and uses it as a one-way moving obstacle. The body receives no cloth reaction impulse. Destroyed bodies are removed on the next automatic step. This is not complete cloth-rigid-body coupling.
+
 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

package/engine.manifest.json

@@ -1,6 +1,6 @@
 {
   "name": "pelican-engine",
-  "version": "0.3.22",
+  "version": "0.3.24",
   "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 = "0.3.22";
+export declare const SDK_VERSION = "0.3.24";
 export type Vec2 = readonly [number, number];
 export type Vec3 = readonly [number, number, number];
 export type Vec4 = readonly [number, number, number, number];
@@ -249,6 +249,10 @@ export interface ClothVisualOptions {
     castShadow?: boolean;
     receiveShadow?: boolean;
 }
+export interface ClothBodyCollider {
+    readonly id: string;
+    readonly entity: string;
+}
 export interface ClothDefinition {
     id: string;
     points: readonly Vec3[];
@@ -273,6 +277,8 @@ export interface ClothDefinition {
     selfCollisions?: boolean;
     /** Sphere triangle-surface contacts; defaults to true for new cloth. */
     surfaceCollisions?: boolean;
+    /** Optional live dynamic sphere bindings; sampled after the physics phase, one-way only. */
+    bodyColliders?: readonly ClothBodyCollider[];
 }
 export interface ClothContact {
     tick: 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 = "0.3.22";
+export const SDK_VERSION = "0.3.24";
 export const SYSTEM_PHASES = [
     "input",
     "prePhysics",

package/lib/simulation/cloth-plugin.js

@@ -21,6 +21,19 @@ function createEntry(input, fixedDt, materials, restoredSelfMode, restoredSurfac
         return fail("ID", "Expected a nonempty id of at most 128 characters.");
     if (definition.autoStep !== undefined && typeof definition.autoStep !== "boolean")
         return fail("AUTO_STEP", "autoStep must be boolean.");
+    if (definition.bodyColliders !== undefined) {
+        if (!Array.isArray(definition.bodyColliders) || definition.bodyColliders.length > 64)
+            return fail("BODY_COLLIDER", "bodyColliders must contain at most 64 bindings.");
+        if (definition.bodyColliders.length && !definition.autoStep)
+            return fail("BODY_COLLIDER", "bodyColliders require autoStep: true.");
+        const ids = new Set(), entities = new Set();
+        for (const binding of definition.bodyColliders) {
+            if (!binding || !validId(binding.id) || !validId(binding.entity) || ids.has(binding.id) || entities.has(binding.entity))
+                return fail("BODY_COLLIDER", "Body bindings require unique nonempty ids and entities.");
+            ids.add(binding.id);
+            entities.add(binding.entity);
+        }
+    }
     if (definition.selfCollisions !== undefined && typeof definition.selfCollisions !== "boolean")
         return fail("SELF_COLLISION", "selfCollisions must be boolean.");
     if (definition.surfaceCollisions !== undefined && typeof definition.surfaceCollisions !== "boolean")
@@ -104,7 +117,19 @@ export const createClothPlugin = context => {
             if (entries.size >= 256)
                 return fail("CAPACITY", "At most 256 cloths per host.");
             const entry = createEntry(definition, hostDt, materials);
-            entries.set(entry.definition.id, entry);
+            try {
+                const bridge = entry.definition.bodyColliders?.length ? context.getRopePhysicsBridge?.() : undefined;
+                for (const binding of entry.definition.bodyColliders ?? []) {
+                    if (!context.world.isAlive(binding.entity))
+                        return fail("BODY_COLLIDER", `Body '${binding.entity}' is not a live entity.`);
+                    bridge?.sampleSphere(binding.entity);
+                }
+                entries.set(entry.definition.id, entry);
+            }
+            catch (error) {
+                entry.solver.dispose();
+                throw error;
+            }
         },
         step(id, ticks) { const entry = get(id); if (entry.definition.autoStep)
             return fail("AUTO_STEP", `Cloth '${id}' is automatically stepped.`); return entry.solver.step(ticks); },
@@ -135,10 +160,26 @@ export const createClothPlugin = context => {
             try {
                 const automatic = [...entries.values()].filter(entry => entry.definition.autoStep)
                     .sort((a, b) => a.definition.id < b.definition.id ? -1 : a.definition.id > b.definition.id ? 1 : 0);
-                for (const { solver } of automatic) {
-                    const snapshot = solver.snapshot();
-                    committed.push({ solver, snapshot });
-                    solver.step();
+                for (const entry of automatic) {
+                    const snapshot = entry.solver.snapshot();
+                    committed.push({ solver: entry.solver, snapshot });
+                    const bindings = entry.definition.bodyColliders ?? [];
+                    if (bindings.length) {
+                        const bridge = context.getRopePhysicsBridge?.() ?? fail("BODY_COLLIDER", "Body bindings require the physics plugin.");
+                        const manual = snapshot.colliders.filter(collider => !bindings.some(binding => binding.id === collider.id));
+                        const sampled = [];
+                        const live = [];
+                        for (const binding of bindings) {
+                            if (!context.world.isAlive(binding.entity))
+                                continue;
+                            const sphere = bridge.sampleSphere(binding.entity);
+                            sampled.push({ kind: "sphere", id: binding.id, center: [...sphere.center], radius: sphere.radius });
+                            live.push(binding);
+                        }
+                        entry.definition = { ...entry.definition, bodyColliders: live };
+                        entry.solver.setColliders([...manual, ...sampled]);
+                    }
+                    entry.solver.step();
                 }
             }
             catch (error) {

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "pelican-engine",
-  "version": "0.3.22",
+  "version": "0.3.24",
   "description": "Pelican Engine public SDK and offline development CLI",
   "type": "module",
   "license": "MIT",