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Repository: w0rm/elm-physics
Branch: main
Commit: 8f1d0a30812c
Files: 105
Total size: 991.5 KB
Directory structure:
gitextract_5f8dznnk/
├── .github/
│ ├── FUNDING.yml
│ └── workflows/
│ ├── gh-pages.yml
│ ├── publish.yml
│ └── test.yml
├── .gitignore
├── LICENSE
├── README.md
├── benchmarks/
│ ├── README.md
│ ├── elm.json
│ └── src/
│ ├── AssignIds.elm
│ ├── Convex.elm
│ ├── ConvexConvex.elm
│ ├── EigenDecomposition.elm
│ └── SphereConvex.elm
├── docs.json
├── elm.json
├── examples/
│ ├── elm.json
│ ├── review/
│ │ ├── elm.json
│ │ └── src/
│ │ └── ReviewConfig.elm
│ └── src/
│ ├── Duckling.elm
│ ├── Duckling.obj.txt
│ ├── Jeep.obj.txt
│ ├── Lack.elm
│ ├── Raycast.elm
│ ├── RaycastCar/
│ │ ├── Car.elm
│ │ └── Jeep.elm
│ └── RaycastCar.elm
├── flake.nix
├── review/
│ ├── elm.json
│ └── src/
│ └── ReviewConfig.elm
├── sandbox/
│ ├── elm.json
│ ├── review/
│ │ ├── elm.json
│ │ └── src/
│ │ └── ReviewConfig.elm
│ ├── src/
│ │ ├── Boxes.elm
│ │ ├── Car.elm
│ │ ├── Character.elm
│ │ ├── Character2D.elm
│ │ ├── Cloth.elm
│ │ ├── Common/
│ │ │ ├── Camera.elm
│ │ │ ├── Fps.elm
│ │ │ ├── Math.elm
│ │ │ ├── Meshes.elm
│ │ │ ├── Scene.elm
│ │ │ ├── Settings.elm
│ │ │ └── Shaders.elm
│ │ ├── CompoundVsLock.elm
│ │ ├── Dominoes.elm
│ │ ├── Kinematic.elm
│ │ ├── Randomize.elm
│ │ ├── Stability/
│ │ │ ├── Metrics.elm
│ │ │ └── Scenarios.elm
│ │ ├── StabilityScenes.elm
│ │ └── UnsafeConvex.elm
│ └── tests/
│ └── StabilityTest.elm
├── scripts/
│ ├── elm-publish.sh
│ └── gh-pages.sh
├── src/
│ ├── Collision/
│ │ ├── ConvexConvex.elm
│ │ ├── ParticleConvex.elm
│ │ ├── PlaneConvex.elm
│ │ ├── PlaneParticle.elm
│ │ ├── PlaneSphere.elm
│ │ ├── SphereConvex.elm
│ │ ├── SphereParticle.elm
│ │ └── SphereSphere.elm
│ ├── Internal/
│ │ ├── AssignIds.elm
│ │ ├── Body.elm
│ │ ├── BroadPhase.elm
│ │ ├── Const.elm
│ │ ├── Constraint.elm
│ │ ├── Contact.elm
│ │ ├── Coordinates.elm
│ │ ├── Equation.elm
│ │ ├── Lock.elm
│ │ ├── Material.elm
│ │ ├── Matrix3.elm
│ │ ├── NarrowPhase.elm
│ │ ├── Shape.elm
│ │ ├── Solver.elm
│ │ ├── SolverBody.elm
│ │ ├── Transform3d.elm
│ │ └── Vector3.elm
│ ├── Physics/
│ │ ├── Constraint.elm
│ │ ├── Lock.elm
│ │ ├── Material.elm
│ │ ├── Shape.elm
│ │ └── Types.elm
│ ├── Physics.elm
│ └── Shapes/
│ ├── Convex.elm
│ ├── Plane.elm
│ └── Sphere.elm
└── tests/
├── BodyTest.elm
├── Collision/
│ ├── ConvexConvexTest.elm
│ ├── PlaneSphereTest.elm
│ └── SphereConvexTest.elm
├── EigenDecompositionTest.elm
├── Extra/
│ └── Expect.elm
├── Fixtures/
│ ├── Convex.elm
│ └── NarrowPhase.elm
├── KinematicTest.elm
├── Matrix3Test.elm
├── PlaceInTest.elm
├── Shapes/
│ └── ConvexTest.elm
├── SimulateTest.elm
├── Transform3dFromFrame3dTest.elm
└── Transform3dTest.elm
================================================
FILE CONTENTS
================================================
================================================
FILE: .github/FUNDING.yml
================================================
github: w0rm
================================================
FILE: .github/workflows/gh-pages.yml
================================================
name: GitHub Pages
on:
push:
branches: [main]
jobs:
test:
uses: ./.github/workflows/test.yml
secrets: inherit
gh-pages:
needs: test
runs-on: ubuntu-latest
steps:
- run: git config --global user.name "Andrey Kuzmin"
- run: git config --global user.email "hi@unsoundscapes.com"
- uses: actions/checkout@v4
- uses: cachix/install-nix-action@v29
with:
github_access_token: ${{ secrets.GITHUB_TOKEN }}
- uses: actions/checkout@v4
with:
path: gh-pages
ref: gh-pages
- run: nix develop --command ./scripts/gh-pages.sh
================================================
FILE: .github/workflows/publish.yml
================================================
name: Publish
on:
workflow_dispatch:
inputs:
version:
description: "Confirm the new version"
required: true
branches: [main]
jobs:
test:
uses: ./.github/workflows/test.yml
secrets: inherit
publish:
needs: test
runs-on: ubuntu-latest
steps:
- run: git config --global user.name "Andrey Kuzmin"
- run: git config --global user.email "hi@unsoundscapes.com"
- uses: actions/checkout@v4
- uses: cachix/install-nix-action@v29
with:
github_access_token: ${{ secrets.GITHUB_TOKEN }}
- run: nix develop --command ./scripts/elm-publish.sh ${{ github.event.inputs.version }}
- uses: actions/checkout@v4
with:
path: gh-pages
ref: gh-pages
- run: nix develop --command ./scripts/gh-pages.sh ${{ github.event.inputs.version }}
================================================
FILE: .github/workflows/test.yml
================================================
name: Test
on:
pull_request:
branches: [main]
workflow_call:
jobs:
elm-test:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
- uses: cachix/install-nix-action@v29
with:
github_access_token: ${{ secrets.GITHUB_TOKEN }}
- run: nix develop --command elm-format --validate .
- run: nix develop --command elm-review
- run: nix develop --command elm-test
- run: cd sandbox && nix develop --command elm-test
- run: nix develop --command elm make --docs docs.json
- run: git diff --exit-code docs.json
================================================
FILE: .gitignore
================================================
release
gh-pages
elm-stuff
.DS_Store
.idea
================================================
FILE: LICENSE
================================================
Copyright (c) 2018-2026, Andrey Kuzmin
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above
copyright notice, this list of conditions and the following
disclaimer in the documentation and/or other materials provided
with the distribution.
* Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived
from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
================================================
FILE: README.md
================================================
# 3D Physics Engine
```elm
type Id = Ball | Floor
bodies : List ( Id, Body )
bodies =
[ ( Ball
, Physics.sphere
(Sphere3d.atOrigin (Length.meters 0.5))
Material.rubber
|> Physics.moveTo (Point3d.meters 0 0 5)
)
, ( Floor, Physics.plane Plane3d.xy Material.wood )
]
step model =
let
( newBodies, newContacts ) =
Physics.simulate
{ onEarth | contacts = model.contacts }
model.bodies
in
{ model | bodies = newBodies, contacts = newContacts }
```
# Features
- **Pure** — `simulate` is a function, not a stateful world; deterministic, replayable, time-travel friendly.
- **Your list is the world** — bodies live in `List ( id, Body )`; add with `(::)`, remove with `List.filter`.
- **Type-safe coordinates and units** — built on [elm-geometry](https://package.elm-lang.org/packages/ianmackenzie/elm-geometry/latest/) and [elm-units](https://package.elm-lang.org/packages/ianmackenzie/elm-units/latest/); phantom types keep `WorldCoordinates` and `BodyCoordinates` apart, and forces, masses, velocities, and durations all carry units.
- **Compound bodies** — combine shapes with `Shape.plus` / `minus` / `sum` and per-shape densities; mass, center of mass, and the full inertia tensor are derived for you.
- **Declarative constraints and collisions** — pass `constrain` and `collide` as functions to `simulate`; the engine asks per body-pair what applies, so there's no constraint registry and no filter-group API.
- **Warm-started solver** — feed last frame's contacts back into `simulate` for stable stacks.
# Examples
- Lack ([source](https://github.com/w0rm/elm-physics/tree/main/examples/src/Lack.elm), [demo](https://unsoundscapes.com/elm-physics/examples/lack/))
- Duckling ([source](https://github.com/w0rm/elm-physics/tree/main/examples/src/Duckling.elm), [demo](https://unsoundscapes.com/elm-physics/examples/duckling/))
- Raycast ([source](https://github.com/w0rm/elm-physics/tree/main/examples/src/Raycast.elm), [demo](https://unsoundscapes.com/elm-physics/examples/raycast/))
- RaycastCar ([source](https://github.com/w0rm/elm-physics/tree/main/examples/src/RaycastCar.elm), [demo](https://unsoundscapes.com/elm-physics/examples/raycast-car/))
# Prior Work
Inspired by [Cannon.js](https://github.com/schteppe/cannon.js) and [Bullet](https://github.com/bulletphysics/bullet3) — this project is an experiment in what a purely functional 3D physics engine can look like.
================================================
FILE: benchmarks/README.md
================================================
# Elm Performance Rules
When writing or reviewing Elm code in this repo, apply these performance rules to avoid slow JavaScript output, and then check if the tests pass:
1. **Tail-optimized recursion over List.*** — Replace `List.map`, `List.foldl`, `List.filter`, etc. with explicit tail-recursive helper functions. They compile to `while` loops in JS; higher-order List functions do not. Unpack any intermediate records used for recursion state into separate arguments to reduce object allocation. But keep in mind that mutual recursion is not optimised and must be avoided.
2. **Compare to zero instead of comparing two bindings** — Prefer `a - b == 0` over `a == b` when both sides are bindings. Direct equality between two bindings calls the Elm structural equality function; subtracting and comparing to 0 uses JS `===` on a number. Comparing against a numeric literal (e.g. `a == -1`, `idx > -1`) is fine as-is — the compiler already emits a direct JS comparison for literals.
3. **Unroll tuple pattern matches into nested case expressions** — Replace `case (a, b) of` with nested `case a of` / `case b of`. Tuple patterns allocate a temporary object at runtime; nested matches do not.
4. **Use sentinel values instead of Maybe for Int** — Avoid wrapping Int results in `Just`/`Nothing` when a sentinel like `-1` can represent the absent case. This eliminates allocation and unwrapping overhead. A similar technique: use an impossible filler element in a List or Array to avoid `Maybe` at boundaries.
5. **Pattern match Result/Maybe directly instead of using map/andThen** — Replace `Maybe.map f x` and `Result.andThen f x` with explicit `case` expressions. This avoids lambda allocation and indirect calls.
6. **Accumulate in reverse order when safe** — When making multiple recursive passes over a list, intermediate passes may produce a reversed list as long as the final output is correct. Avoid unnecessary `List.reverse` calls between passes. It is OK to use `List.reverse` when you must fix element order without modifying the elements themselves.
7. **Never use record update syntax** — `{ r | field = value }` generates slow JavaScript. Always spell out all record fields explicitly when constructing an updated record, even if most values are unchanged.
8. **Never use List.length** — `List.length` traverses the entire list and is O(n). Track counts explicitly as a separate argument rather than computing them from list lengths.
9. **Prefer `Set.fromList` over repeated `Set.insert`** — When building a `Set` from multiple elements, accumulate them into a list first and call `Set.fromList` at the end. Repeatedly calling `Set.insert` is slower than a single `Set.fromList` call.
10. **Avoid `|>` on the hot path** — Do not use the pipe operator in tight loops or recursive functions that process faces or vertices. It introduces lambda wrapping and indirect calls. `|>` is fine outside the hot path (e.g. at the decoder level or in one-time setup code).
11. **Prefer `Dict.get` + `Dict.insert` over `Dict.update`** — `Dict.update` accepts a lambda, which introduces indirect calls and closure allocation. Use `Dict.get` + a `case` expression + `Dict.insert` instead when conditionally inserting or modifying a value in a `Dict`.
12. **Minimize `Just wrappers`** use `(Just value) as passThroug ->` in and then return `passThrough` from the case of, instead of returning `(Just value)`.
================================================
FILE: benchmarks/elm.json
================================================
{
"type": "application",
"source-directories": [
"src",
"../src",
"../tests"
],
"elm-version": "0.19.1",
"dependencies": {
"direct": {
"elm/core": "1.0.5",
"elm/html": "1.0.1",
"elm/json": "1.1.4",
"elm/random": "1.0.0",
"elm-explorations/benchmark": "1.0.2",
"ianmackenzie/elm-geometry": "4.0.0",
"ianmackenzie/elm-units": "2.10.0"
},
"indirect": {
"BrianHicks/elm-trend": "2.1.3",
"elm/browser": "1.0.2",
"elm/regex": "1.0.0",
"elm/time": "1.0.0",
"elm/url": "1.0.0",
"elm/virtual-dom": "1.0.5",
"ianmackenzie/elm-1d-parameter": "1.0.1",
"ianmackenzie/elm-float-extra": "1.1.0",
"ianmackenzie/elm-interval": "3.1.0",
"ianmackenzie/elm-triangular-mesh": "1.1.0",
"ianmackenzie/elm-units-interval": "3.2.0",
"mdgriffith/style-elements": "5.0.2",
"robinheghan/murmur3": "1.0.0"
}
},
"test-dependencies": {
"direct": {},
"indirect": {}
}
}
================================================
FILE: benchmarks/src/AssignIds.elm
================================================
module AssignIds exposing (main)
{-| Benchmarks for the ID-assignment pass in Physics.simulate.
Both candidates use the same four-phase structure:
- Collect: scan bodies once, prepend existing IDs (O(1) each), count id=-1.
- Sort: List.sort once (native JS sort, O(n log n)).
- Analyse: single scan of sorted IDs to find duplicate IDs and free IDs.
- Assign: scan bodies, hand out pre-computed free IDs to id=-1 and duplicates.
twoPassOld — assign phase tracks claimed dups with two lists:
dupIds (fixed) + claimedDups (grows). Two List.member calls in the dup branch.
twoPass — assign phase uses findAndRemove on a single remainingDups list:
one pass checks membership and removes in one go; allDupIds (fixed, tiny)
only consulted for the rare second-occurrence case.
Three scenarios:
- stable — all bodies already have IDs (the common per-frame case)
- allNew — all bodies have id = -1 (first frame / full restart)
- withGaps — new bodies prepended (::) before stable even-ID bodies
-}
import Benchmark exposing (Benchmark, describe)
import Benchmark.Runner exposing (BenchmarkProgram, program)
import Internal.Body as InternalBody
import Internal.Material as Material
import Internal.Matrix3 as Mat3
import Internal.Transform3d as Transform3d
import Internal.Vector3 as Vec3
main : BenchmarkProgram
main =
program <|
describe "AssignIds"
[ Benchmark.compare "stable"
"twoPass"
(\_ -> assignIdsTwoPass stableInput)
"twoPassFast"
(\_ -> assignIdsTwoPassFast stableInput)
, Benchmark.compare "allNew"
"twoPass"
(\_ -> assignIdsTwoPass allNewInput)
"twoPassFast"
(\_ -> assignIdsTwoPassFast allNewInput)
, Benchmark.compare "withGaps"
"twoPass"
(\_ -> assignIdsTwoPass withGapsInput)
"twoPassFast"
(\_ -> assignIdsTwoPassFast withGapsInput)
, Benchmark.compare "withDups"
"twoPass"
(\_ -> assignIdsTwoPass withDupsInput)
"twoPassFast"
(\_ -> assignIdsTwoPassFast withDupsInput)
, Benchmark.compare "withDupsAndNew"
"twoPass"
(\_ -> assignIdsTwoPass withDupsAndNewInput)
"twoPassFast"
(\_ -> assignIdsTwoPassFast withDupsAndNewInput)
]
-- ── Test data ────────────────────────────────────────────────────────────────
emptyBody : Int -> InternalBody.Body
emptyBody id =
{ id = id
, material = Material.default
, transform3d = Transform3d.atOrigin
, centerOfMassTransform3d = Transform3d.atOrigin
, velocity = Vec3.zero
, angularVelocity = Vec3.zero
, mass = 0
, volume = 0
, shapes = []
, worldShapes = []
, force = Vec3.zero
, torque = Vec3.zero
, boundingSphereRadius = 0
, linearDamping = 0
, angularDamping = 0
, invMass = 0
, invInertia = Mat3.zero
, invInertiaWorld = Mat3.zero
}
{-| 125 bodies, all with IDs 0–124 — the steady-state per-frame case.
-}
stableInput : List ( Int, InternalBody.Protected )
stableInput =
List.map (\i -> ( i, InternalBody.Protected (emptyBody i) )) (List.range 0 124)
{-| 125 bodies, all with id = -1 — first frame or full restart.
-}
allNewInput : List ( Int, InternalBody.Protected )
allNewInput =
List.map (\i -> ( i, InternalBody.Protected (emptyBody -1) )) (List.range 0 124)
{-| 62 new bodies (id = -1) prepended to 63 stable bodies with IDs 0, 2, 4, …, 124.
Reflects the realistic usage pattern: new bodies are added with (::) to the front.
-}
withGapsInput : List ( Int, InternalBody.Protected )
withGapsInput =
List.map (\i -> ( 200 + i, InternalBody.Protected (emptyBody -1) )) (List.range 0 61)
++ List.map (\i -> ( 2 * i, InternalBody.Protected (emptyBody (2 * i)) )) (List.range 0 62)
{-| 20 extra bodies with duplicate IDs 0–19 appended to 105 stable bodies with IDs 0–104.
Models a scenario where some bodies are re-added without clearing their old IDs.
-}
withDupsInput : List ( Int, InternalBody.Protected )
withDupsInput =
List.map (\i -> ( i, InternalBody.Protected (emptyBody i) )) (List.range 0 104)
++ List.map (\i -> ( 200 + i, InternalBody.Protected (emptyBody i) )) (List.range 0 19)
{-| 20 duplicates of IDs 0–19, 20 new bodies (id = -1), and 85 stable bodies with IDs 0–84.
Exercises the assign phase with all three body kinds at once.
-}
withDupsAndNewInput : List ( Int, InternalBody.Protected )
withDupsAndNewInput =
List.map (\i -> ( 300 + i, InternalBody.Protected (emptyBody i) )) (List.range 0 19)
++ List.map (\i -> ( 200 + i, InternalBody.Protected (emptyBody -1) )) (List.range 0 19)
++ List.map (\i -> ( i, InternalBody.Protected (emptyBody i) )) (List.range 0 84)
-- ── twoPassOld ───────────────────────────────────────────────────────────────
-- Same as twoPass but uses two lists in the assign phase:
-- dupIds (all dup IDs, fixed) + claimedDups (grows as first occurrences are seen).
assignIdsTwoPassOld :
List ( id, InternalBody.Protected )
-> ( List ( id, InternalBody.Body ), Int )
assignIdsTwoPassOld bodies =
let
( existingIds, newCount, mx ) =
tpCollect bodies [] 0 -1
sorted =
List.sort existingIds
( dupIds, dupCount ) =
tpFindDups sorted -2 [] 0
freeIds =
tpFreeIds 0 sorted (newCount + dupCount) []
in
tpAssignOld bodies freeIds dupIds [] mx []
tpAssignOld :
List ( id, InternalBody.Protected )
-> List Int
-> List Int
-> List Int
-> Int
-> List ( id, InternalBody.Body )
-> ( List ( id, InternalBody.Body ), Int )
tpAssignOld bodies freeIds dupIds claimedDups mx acc =
case bodies of
[] ->
( acc, mx )
( extId, InternalBody.Protected body ) :: rest ->
if body.id == -1 then
case freeIds of
freshId :: remainingFree ->
tpAssignOld rest
remainingFree
dupIds
claimedDups
(max mx freshId)
(( extId, withId freshId body ) :: acc)
[] ->
tpAssignOld rest freeIds dupIds claimedDups mx acc
else if not (List.member body.id dupIds) then
tpAssignOld rest freeIds dupIds claimedDups mx (( extId, body ) :: acc)
else if List.member body.id claimedDups then
case freeIds of
freshId :: remainingFree ->
tpAssignOld rest
remainingFree
dupIds
claimedDups
(max mx freshId)
(( extId, withId freshId body ) :: acc)
[] ->
tpAssignOld rest freeIds dupIds claimedDups mx acc
else
tpAssignOld rest
freeIds
dupIds
(body.id :: claimedDups)
mx
(( extId, body ) :: acc)
-- ── twoPass ──────────────────────────────────────────────────────────────────
--
-- Phase 1 — tpCollect: one scan, O(1) per body.
-- Builds existingIds (unsorted, prepend only) and counts id=-1 bodies.
--
-- Sort — List.sort: native JS sort, O(n log n).
--
-- Phase 2a — tpFindDups: one scan of sorted, O(1) per element.
-- Detects duplicate IDs using a prev/prevAdded flag — no inner lookups.
--
-- Phase 2b — tpFreeIds: one scan of sorted, O(1) per element.
-- Finds the first (newCount + dupCount) gaps by merging counter with sorted.
--
-- Phase 3 — tpAssign: one scan of bodies, O(|dupIds|) per body.
-- dupIds is a multiset (one slot per replacement needed).
-- List.member finds the slot; removeFirst removes it in the same pass.
-- dupIds is empty for stable, so the common case has zero membership tests.
assignIdsTwoPass :
List ( id, InternalBody.Protected )
-> ( List ( id, InternalBody.Body ), Int )
assignIdsTwoPass bodies =
let
( existingIds, newCount, mx ) =
tpCollect bodies [] 0 -1
sorted =
List.sort existingIds
( dupIds, dupCount ) =
tpFindDups sorted -2 [] 0
freeIds =
tpFreeIds 0 sorted (newCount + dupCount) []
in
tpAssign bodies freeIds dupIds -1 mx []
{-| Pass 1: collect existing (non -1) IDs, count new bodies, track max id.
-}
tpCollect :
List ( id, InternalBody.Protected )
-> List Int
-> Int
-> Int
-> ( List Int, Int, Int )
tpCollect bodies existingIds newCount mx =
case bodies of
[] ->
( existingIds, newCount, mx )
( _, InternalBody.Protected body ) :: rest ->
if body.id == -1 then
tpCollect rest existingIds (newCount + 1) mx
else
tpCollect rest (body.id :: existingIds) newCount (max mx body.id)
{-| Scan sorted IDs, adding one entry per extra occurrence of each ID.
Duplicate → one entry. Triplicate → two entries. And so on.
Result is sorted descending — a natural consequence of prepending during an
ascending scan. Called with prev=-2 (impossible value) as initial sentinel.
-}
tpFindDups : List Int -> Int -> List Int -> Int -> ( List Int, Int )
tpFindDups sorted prev acc count =
case sorted of
[] ->
( acc, count )
x :: rest ->
if x - prev == 0 then
tpFindDups rest x (x :: acc) (count + 1)
else
tpFindDups rest x acc count
{-| Collect the first `needed` integers not present in sortedIds, starting from n.
Advances n past each taken slot; skips elements of sortedIds below n.
Returns results in ascending order via reversed accumulator.
-}
tpFreeIds : Int -> List Int -> Int -> List Int -> List Int
tpFreeIds n sorted needed revAcc =
if needed == 0 then
List.reverse revAcc
else
case sorted of
[] ->
tpFillFrom n needed revAcc
x :: rest ->
if x > n then
-- n is free
tpFreeIds (n + 1) sorted (needed - 1) (n :: revAcc)
else if x == n then
-- n is taken
tpFreeIds (n + 1) rest needed revAcc
else
-- x < n, stale entry — skip
tpFreeIds n rest needed revAcc
tpFillFrom : Int -> Int -> List Int -> List Int
tpFillFrom n needed revAcc =
if needed == 0 then
List.reverse revAcc
else
tpFillFrom (n + 1) (needed - 1) (n :: revAcc)
{-| Pass 3: assign free IDs to bodies that need them.
dupIds is a sorted multiset (descending initially, flipping on each removal).
memberSorted does an early-exit scan; removeFirstReversing removes the first
occurrence in one TCO pass that naturally reverses the list as a byproduct.
isAscending tracks the current direction so memberSorted exits the right way.
When dupIds is empty (the common stable case) both calls are skipped entirely.
-}
tpAssign :
List ( id, InternalBody.Protected )
-> List Int
-> List Int
-> Int
-> Int
-> List ( id, InternalBody.Body )
-> ( List ( id, InternalBody.Body ), Int )
tpAssign bodies freeIds dupIds dir mx acc =
case bodies of
[] ->
( acc, mx )
( extId, InternalBody.Protected body ) :: rest ->
if body.id == -1 then
case freeIds of
freshId :: remainingFree ->
tpAssign rest
remainingFree
dupIds
dir
(max mx freshId)
(( extId, withId freshId body ) :: acc)
[] ->
tpAssign rest freeIds dupIds dir mx acc
else
case dupIds of
[] ->
tpAssign rest freeIds [] dir mx (( extId, body ) :: acc)
_ ->
if memberSorted dir body.id dupIds then
case freeIds of
freshId :: remainingFree ->
tpAssign rest
remainingFree
(removeFirstReversing body.id [] dupIds)
(negate dir)
(max mx freshId)
(( extId, withId freshId body ) :: acc)
[] ->
tpAssign rest
freeIds
(removeFirstReversing body.id [] dupIds)
(negate dir)
mx
acc
else
tpAssign rest freeIds dupIds dir mx (( extId, body ) :: acc)
withId : Int -> InternalBody.Body -> InternalBody.Body
withId freshId body =
{ id = freshId, material = body.material, transform3d = body.transform3d, centerOfMassTransform3d = body.centerOfMassTransform3d, velocity = body.velocity, angularVelocity = body.angularVelocity, mass = body.mass, volume = body.volume, shapes = body.shapes, worldShapes = body.worldShapes, force = body.force, torque = body.torque, boundingSphereRadius = body.boundingSphereRadius, linearDamping = body.linearDamping, angularDamping = body.angularDamping, invMass = body.invMass, invInertia = body.invInertia, invInertiaWorld = body.invInertiaWorld }
memberSorted : Int -> Int -> List Int -> Bool
memberSorted dir x list =
case list of
[] ->
False
y :: rest ->
if y - x == 0 then
True
else if dir * (y - x) > 0 then
False
else
memberSorted dir x rest
{-| Remove the first occurrence of x and reverse the list in one TCO pass.
When x is found, skip it and accumulate the rest into acc — no prependReversed needed.
-}
removeFirstReversing : Int -> List Int -> List Int -> List Int
removeFirstReversing x acc remaining =
case remaining of
[] ->
acc
y :: rest ->
if y == x then
accumulate acc rest
else
removeFirstReversing x (y :: acc) rest
accumulate : List Int -> List Int -> List Int
accumulate acc remaining =
case remaining of
[] ->
acc
y :: rest ->
accumulate (y :: acc) rest
-- ── twoPassFast ───────────────────────────────────────────────────────────────
-- Same as twoPass but switches to tpAssignNoDups once dupIds is exhausted,
-- eliminating the case dupIds and dir checks for all remaining bodies.
assignIdsTwoPassFast :
List ( id, InternalBody.Protected )
-> ( List ( id, InternalBody.Body ), Int )
assignIdsTwoPassFast bodies =
let
( existingIds, newCount, mx ) =
tpCollect bodies [] 0 -1
sorted =
List.sort existingIds
( dupIds, dupCount ) =
tpFindDups sorted -2 [] 0
freeIds =
tpFreeIds 0 sorted (newCount + dupCount) []
in
case freeIds of
[] ->
tpAssignStable bodies mx []
_ ->
tpAssignFast bodies freeIds dupIds -1 mx []
tpAssignFast :
List ( id, InternalBody.Protected )
-> List Int
-> List Int
-> Int
-> Int
-> List ( id, InternalBody.Body )
-> ( List ( id, InternalBody.Body ), Int )
tpAssignFast bodies freeIds dupIds dir mx acc =
case freeIds of
[] ->
tpAssignStable bodies mx acc
freshId :: remainingFree ->
case bodies of
[] ->
( acc, mx )
( extId, InternalBody.Protected body ) :: rest ->
if body.id == -1 then
tpAssignFast rest
remainingFree
dupIds
dir
(max mx freshId)
(( extId, withId freshId body ) :: acc)
else if memberSorted dir body.id dupIds then
case removeFirstReversing body.id [] dupIds of
[] ->
tpAssignFast rest
remainingFree
[]
dir
(max mx freshId)
(( extId, withId freshId body ) :: acc)
newDupIds ->
tpAssignFast rest
remainingFree
newDupIds
(negate dir)
(max mx freshId)
(( extId, withId freshId body ) :: acc)
else
tpAssignFast rest freeIds dupIds dir mx (( extId, body ) :: acc)
tpAssignStable :
List ( id, InternalBody.Protected )
-> Int
-> List ( id, InternalBody.Body )
-> ( List ( id, InternalBody.Body ), Int )
tpAssignStable bodies mx acc =
case bodies of
[] ->
( acc, mx )
( extId, InternalBody.Protected body ) :: rest ->
tpAssignStable rest mx (( extId, body ) :: acc)
================================================
FILE: benchmarks/src/Convex.elm
================================================
module Convex exposing (main)
import Benchmark exposing (Benchmark, describe)
import Benchmark.Runner exposing (BenchmarkProgram, program)
import Internal.Transform3d as Transform3d
import Internal.Vector3 as Vec3
import Shapes.Convex as Convex
main : BenchmarkProgram
main =
program <|
describe "Convex"
[ placeIn
]
placeIn : Benchmark
placeIn =
let
sampleHull =
Convex.fromBlock 2 2 2
transform =
Transform3d.atPoint { x = 0, y = 0, z = 2.5 }
|> Transform3d.rotateAroundOwn Vec3.yAxis (pi / 4)
|> Transform3d.rotateAroundOwn Vec3.xAxis (pi / 20)
in
Benchmark.compare "placeIn"
"baseline"
(\_ ->
{- Convex.placeInOld -}
Convex.placeIn transform sampleHull
)
"latest code"
(\_ ->
Convex.placeIn transform sampleHull
)
================================================
FILE: benchmarks/src/ConvexConvex.elm
================================================
module ConvexConvex exposing (main)
import Benchmark exposing (Benchmark, describe)
import Benchmark.Runner exposing (BenchmarkProgram, program)
import Collision.ConvexConvex
import Internal.Transform3d as Transform3d
import Internal.Vector3 as Vec3
import Shapes.Convex as Convex exposing (Convex)
main : BenchmarkProgram
main =
program <|
describe "ConvexConvex.getContacts"
[ colliding
, separated
]
colliding : Benchmark
colliding =
let
-- Move the box 0.9 units up and rotate 45 around the y.
-- only 0.1 units of the box will be overlapping
-- we expect 4 collision points
transform3d =
Transform3d.atPoint { x = 0, y = 0, z = 0.9 }
|> Transform3d.rotateAroundOwn Vec3.yAxis (pi / 4)
|> Transform3d.rotateAroundOwn Vec3.xAxis (pi / 20)
firstConvex =
Convex.placeIn transform3d box
secondConvex =
Convex.placeIn Transform3d.atOrigin box
in
Benchmark.compare "colliding"
"baseline"
(\_ ->
{- Collision.ConvexConvex.oldAddContacts -}
Collision.ConvexConvex.addContacts firstConvex secondConvex []
)
"latest code"
(\_ ->
Collision.ConvexConvex.addContacts firstConvex secondConvex []
)
separated : Benchmark
separated =
let
-- Move the box 2.5 units up
-- so that boxes don’t overlap
transform3d =
Transform3d.atPoint { x = 0, y = 0, z = 2.5 }
|> Transform3d.rotateAroundOwn Vec3.yAxis (pi / 4)
|> Transform3d.rotateAroundOwn Vec3.xAxis (pi / 20)
firstConvex =
Convex.placeIn transform3d box
secondConvex =
Convex.placeIn Transform3d.atOrigin box
in
Benchmark.compare "separated"
"baseline"
(\_ ->
{- Collision.ConvexConvex.oldAddContacts -}
Collision.ConvexConvex.addContacts firstConvex secondConvex []
)
"latest code"
(\_ ->
Collision.ConvexConvex.addContacts firstConvex secondConvex []
)
box : Convex
box =
Convex.fromBlock 2 2 2
================================================
FILE: benchmarks/src/EigenDecomposition.elm
================================================
module EigenDecomposition exposing (main)
import Benchmark exposing (Benchmark, describe)
import Benchmark.Runner exposing (BenchmarkProgram, program)
import Internal.Matrix3 as Mat3 exposing (Mat3)
import Internal.Transform3d as Transform3d
import Internal.Vector3 as Vec3 exposing (Vec3)
main : BenchmarkProgram
main =
program <|
describe "EigenDecomposition"
[ sphere
, rotatedCylinder
]
sphere : Benchmark
sphere =
let
m =
Mat3.sphereInertia 5.0 2.0
in
Benchmark.compare "sphere"
"analytical"
(\_ -> analyticalEigenDecomposition m)
"jacobi"
(\_ -> Mat3.eigenDecomposition m)
rotatedCylinder : Benchmark
rotatedCylinder =
let
rotation =
Transform3d.rotateAroundOwn
(Vec3.normalize { x = 1, y = 1, z = 0 })
(pi / 3)
Transform3d.atOrigin
m =
Transform3d.inertiaRotateIn rotation (Mat3.cylinderInertia 5.0 1.0 3.0)
in
Benchmark.compare "rotated cylinder"
"analytical"
(\_ -> analyticalEigenDecomposition m)
"jacobi"
(\_ -> Mat3.eigenDecomposition m)
analyticalEigenDecomposition : Mat3 -> { eigenvalues : Vec3, v1 : Vec3, v2 : Vec3, v3 : Vec3 }
analyticalEigenDecomposition m =
let
p1 =
m.m12 * m.m12 + m.m13 * m.m13 + m.m23 * m.m23
in
if p1 == 0 then
{ eigenvalues = { x = m.m11, y = m.m22, z = m.m33 }
, v1 = Vec3.xAxis
, v2 = Vec3.yAxis
, v3 = Vec3.zAxis
}
else
nonDiagonalEigen m p1
nonDiagonalEigen : Mat3 -> Float -> { eigenvalues : Vec3, v1 : Vec3, v2 : Vec3, v3 : Vec3 }
nonDiagonalEigen m p1 =
let
q =
(m.m11 + m.m22 + m.m33) / 3
p2 =
(m.m11 - q) * (m.m11 - q) + (m.m22 - q) * (m.m22 - q) + (m.m33 - q) * (m.m33 - q) + 2 * p1
p =
sqrt (p2 / 6)
invP =
1 / p
b11 =
(m.m11 - q) * invP
b22 =
(m.m22 - q) * invP
b33 =
(m.m33 - q) * invP
b12 =
m.m12 * invP
b13 =
m.m13 * invP
b23 =
m.m23 * invP
detB =
b11 * (b22 * b33 - b23 * b23) - b12 * (b12 * b33 - b23 * b13) + b13 * (b12 * b23 - b22 * b13)
r =
clamp -1 1 (detB / 2)
phi =
acos r / 3
eig1 =
q + 2 * p * cos phi
eig3 =
q + 2 * p * cos (phi + 2 * pi / 3)
eig2 =
3 * q - eig1 - eig3
gap1 =
eig1 - eig2
gap2 =
eig2 - eig3
eigenvalues =
{ x = eig1, y = eig2, z = eig3 }
result ev1 ev2 ev3 =
{ eigenvalues = eigenvalues, v1 = ev1, v2 = ev2, v3 = ev3 }
in
if gap1 < 1.0e-10 && gap2 < 1.0e-10 then
result Vec3.xAxis Vec3.yAxis Vec3.zAxis
else if gap1 < 1.0e-10 then
let
u3 =
eigenvectorForEigenvalue m eig3
( t1, t2 ) =
Vec3.tangents u3
in
result t1 t2 u3
else if gap2 < 1.0e-10 then
let
u1 =
eigenvectorForEigenvalue m eig1
( t2, t3 ) =
Vec3.tangents u1
in
result u1 t2 t3
else
let
u1 =
eigenvectorForEigenvalue m eig1
u3 =
eigenvectorForEigenvalue m eig3
u2 =
Vec3.cross u3 u1
in
result u1 u2 u3
eigenvectorForEigenvalue : Mat3 -> Float -> Vec3
eigenvectorForEigenvalue m eigenvalue =
let
a11 =
m.m11 - eigenvalue
a22 =
m.m22 - eigenvalue
a33 =
m.m33 - eigenvalue
row0 =
{ x = a11, y = m.m12, z = m.m13 }
row1 =
{ x = m.m12, y = a22, z = m.m23 }
row2 =
{ x = m.m13, y = m.m23, z = a33 }
r0xr1 =
Vec3.cross row0 row1
r0xr2 =
Vec3.cross row0 row2
r1xr2 =
Vec3.cross row1 row2
d0 =
Vec3.lengthSquared r0xr1
d1 =
Vec3.lengthSquared r0xr2
d2 =
Vec3.lengthSquared r1xr2
in
if d0 >= d1 && d0 >= d2 then
Vec3.scale (1 / sqrt d0) r0xr1
else if d1 >= d2 then
Vec3.scale (1 / sqrt d1) r0xr2
else
Vec3.scale (1 / sqrt d2) r1xr2
================================================
FILE: benchmarks/src/SphereConvex.elm
================================================
module SphereConvex exposing (main)
import Benchmark exposing (Benchmark, describe)
import Benchmark.Runner exposing (BenchmarkProgram, program)
import Collision.SphereConvex
import Fixtures.Convex
import Fixtures.NarrowPhase
import Internal.Transform3d as Transform3d
import Shapes.Convex as Convex
import Shapes.Sphere as Sphere
main : BenchmarkProgram
main =
program suite
suite : Benchmark
suite =
let
center =
{ x = 0, y = 0, z = 7 }
radius =
5
boxSize =
2
boxHalfExtent =
boxSize / 2
boxHull =
Convex.fromBlock boxSize boxSize boxSize
boxPositions =
Fixtures.NarrowPhase.sphereContactBoxPositions center radius boxHalfExtent
|> List.map Tuple.first
boxFarPositions =
Fixtures.NarrowPhase.sphereContactBoxPositions center (radius * 2) boxHalfExtent
|> List.map Tuple.first
octoHalfExtent =
3
octoHull =
Fixtures.Convex.octoHull octoHalfExtent
octoPositions =
Fixtures.NarrowPhase.sphereContactOctohedronPositions center radius octoHalfExtent
|> List.map Tuple.first
octoFarPositions =
Fixtures.NarrowPhase.sphereContactOctohedronPositions center (radius * 2) octoHalfExtent
|> List.map Tuple.first
in
describe "SphereConvex"
[ Benchmark.compare "box colliding"
"baseline"
(\_ ->
boxPositions
|> List.map
(\position ->
{- Collision.SphereConvex.oldAddContacts -}
Collision.SphereConvex.addContacts
identity
(Sphere.atOrigin radius)
(Convex.placeIn (Transform3d.atPoint position) boxHull)
[]
)
)
"latest code"
(\_ ->
boxPositions
|> List.map
(\position ->
Collision.SphereConvex.addContacts
identity
(Sphere.placeIn (Transform3d.atPoint center) (Sphere.atOrigin radius))
(Convex.placeIn (Transform3d.atPoint position) boxHull)
[]
)
)
, Benchmark.compare "box separated"
"baseline"
(\_ ->
boxFarPositions
|> List.map
(\position ->
{- Collision.SphereConvex.oldAddContacts -}
Collision.SphereConvex.addContacts
identity
(Sphere.placeIn (Transform3d.atPoint center) (Sphere.atOrigin radius))
(Convex.placeIn (Transform3d.atPoint position) boxHull)
[]
)
)
"latest code"
(\_ ->
boxFarPositions
|> List.map
(\position ->
Collision.SphereConvex.addContacts
identity
(Sphere.placeIn (Transform3d.atPoint center) (Sphere.atOrigin radius))
(Convex.placeIn (Transform3d.atPoint position) boxHull)
[]
)
)
, Benchmark.compare "octahedron colliding"
"baseline"
(\_ ->
octoPositions
|> List.map
(\position ->
{- Collision.SphereConvex.oldAddContacts -}
Collision.SphereConvex.addContacts
identity
(Sphere.placeIn (Transform3d.atPoint center) (Sphere.atOrigin radius))
(Convex.placeIn (Transform3d.atPoint position) octoHull)
[]
)
)
"latest code"
(\_ ->
octoPositions
|> List.map
(\position ->
Collision.SphereConvex.addContacts
identity
(Sphere.placeIn (Transform3d.atPoint center) (Sphere.atOrigin radius))
(Convex.placeIn (Transform3d.atPoint position) octoHull)
[]
)
)
, Benchmark.compare "octahedron failing"
"baseline"
(\_ ->
octoFarPositions
|> List.map
(\position ->
{- Collision.SphereConvex.oldAddContacts -}
Collision.SphereConvex.addContacts
identity
(Sphere.placeIn (Transform3d.atPoint center) (Sphere.atOrigin radius))
(Convex.placeIn (Transform3d.atPoint position) octoHull)
[]
)
)
"latest code"
(\_ ->
octoFarPositions
|> List.map
(\position ->
Collision.SphereConvex.addContacts
identity
(Sphere.placeIn (Transform3d.atPoint center) (Sphere.atOrigin radius))
(Convex.placeIn (Transform3d.atPoint position) octoHull)
[]
)
)
]
================================================
FILE: docs.json
================================================
[{"name":"Physics","comment":"\n\n\n# Bodies\n\n@docs Body, BodyCoordinates, WorldCoordinates\n\n@docs block, plane, sphere, cylinder, pointMass\n\n\n# Positioning\n\n@docs moveTo, translateBy, rotateAround, place\n\n\n# Simulation\n\n@docs simulate, onEarth, Config\n\n@docs Contacts, emptyContacts, contactPoints\n\n\n# Properties\n\n@docs frame, originPoint, velocity, angularVelocity, velocityAt\n\n@docs centerOfMass, mass\n\n\n# Interaction\n\n@docs raycast, applyForce, applyImpulse, applyTorque, applyAngularImpulse\n\n\n# Composite bodies\n\n@docs dynamic, static, kinematic\n\n\n# Overrides\n\nChange body state directly, bypassing the simulation.\n\n@docs setVelocityTo, setAngularVelocityTo, scaleMassTo\n\n\n# Advanced\n\n@docs damp, lock, applyInverseInertia, angularAccelerationFromTorque, angularVelocityDeltaFromAngularImpulse\n\n","unions":[],"aliases":[{"name":"Body","comment":" A body is anything the simulation moves or collides — a ball, a box, a wall, a moving platform.\nIt is defined in [BodyCoordinates](#BodyCoordinates) and positioned in [WorldCoordinates](#WorldCoordinates).\nBodies start out centered on the origin; use [moveTo](#moveTo) to set the position.\n\nThere are three kinds of bodies:\n\n - **dynamic** — moved by the engine in response to forces, gravity, and contacts.\n The default for [block](#block), [sphere](#sphere), [cylinder](#cylinder), and\n [pointMass](#pointMass); use [dynamic](#dynamic) to combine several\n [shapes](Physics-Shape#Shape) into one body.\n\n - **static** — never moves. Used for floors, walls, and other immovable scenery.\n The default for [plane](#plane); use [static](#static) to combine several\n [shapes](Physics-Shape#Shape) into one body.\n\n - **kinematic** — moves at the velocity you set via [setVelocityTo](#setVelocityTo)\n and [setAngularVelocityTo](#setAngularVelocityTo); ignores forces, gravity, and\n contacts, but other dynamic bodies feel its motion through friction. Used for\n moving platforms, elevators, and turntables. Construct with [kinematic](#kinematic).\n\n","args":[],"type":"Physics.Types.Body"},{"name":"BodyCoordinates","comment":" ","args":[],"type":"Internal.Coordinates.BodyCoordinates"},{"name":"Config","comment":" Configures a simulation.\n\n onEarth =\n { gravity = Vector3d.gees 0 0 -1\n , duration = Duration.seconds (1 / 60)\n , solverIterations = 20\n , contacts = emptyContacts\n , constrain = \\_ -> Nothing\n , collide = \\_ _ -> True\n }\n\n - `gravity` — set the gravity vector, or `Vector3d.zero` for no gravity\n\n - `duration` — set to `Duration.seconds (1 / 60)` for 60 fps\n\n - `solverIterations` — balance between precision and performance, 20 is a sweet spot\n\n - `contacts` — pass [Contacts](#Contacts) from the previous frame for warm starting, or leave as default for cold start\n\n - `constrain` — limit body movement relative to each other, see [Constraint](Physics-Constraint#Constraint)\n\n - `collide` — decide which bodies can collide with each other\n\n","args":["id"],"type":"{ gravity : Vector3d.Vector3d Acceleration.MetersPerSecondSquared Physics.WorldCoordinates, duration : Duration.Duration, solverIterations : Basics.Int, contacts : Physics.Contacts id, constrain : id -> Maybe.Maybe (id -> List.List Physics.Constraint.Constraint), collide : id -> id -> Basics.Bool }"},{"name":"Contacts","comment":" Contacts from the most recent simulation frame. Contains contact points\nand solver state for warm starting.\n","args":["id"],"type":"Physics.Types.Contacts id"},{"name":"WorldCoordinates","comment":" ","args":[],"type":"Internal.Coordinates.WorldCoordinates"}],"values":[{"name":"angularAccelerationFromTorque","comment":" Compute angular acceleration from torque: α = I⁻¹τ\n\nHow fast will this torque make the body spin up?\n\n","type":"Physics.Body -> Vector3d.Vector3d Torque.NewtonMeters Physics.WorldCoordinates -> Vector3d.Vector3d AngularAcceleration.RadiansPerSecondSquared Physics.WorldCoordinates"},{"name":"angularVelocity","comment":" Get the current angular velocity of a body.\n","type":"Physics.Body -> Vector3d.Vector3d AngularSpeed.RadiansPerSecond Physics.WorldCoordinates"},{"name":"angularVelocityDeltaFromAngularImpulse","comment":" Compute angular velocity change from an angular impulse: Δω = I⁻¹L\n\nHow much does this impulse add to my current spin?\n\n","type":"Physics.Body -> Vector3d.Vector3d (Quantity.Product Torque.NewtonMeters Duration.Seconds) Physics.WorldCoordinates -> Vector3d.Vector3d AngularSpeed.RadiansPerSecond Physics.WorldCoordinates"},{"name":"applyAngularImpulse","comment":" Apply an angular impulse to a body, adding to its angular velocity.\n\n angularImpulse =\n Vector3d.withLength\n (Quantity.times (Duration.seconds 0.005)\n (Torque.newtonMeters 50)\n )\n Direction3d.positiveZ\n\n spunUp =\n body\n |> applyAngularImpulse angularImpulse\n\n","type":"Vector3d.Vector3d (Quantity.Product Torque.NewtonMeters Duration.Seconds) Physics.WorldCoordinates -> Physics.Body -> Physics.Body"},{"name":"applyForce","comment":" Apply a force at a point on a body.\n\nKeep applying the force every simulation step to accelerate.\n\n force =\n Vector3d.withLength (Force.newtons 50)\n Direction3d.positiveY\n\n pushedBox =\n box\n |> applyForce force pointOnBox\n\n","type":"Vector3d.Vector3d Force.Newtons Physics.WorldCoordinates -> Point3d.Point3d Length.Meters Physics.WorldCoordinates -> Physics.Body -> Physics.Body"},{"name":"applyImpulse","comment":" Apply an impulse at a point on a body, adding to its velocity and angular velocity.\n\n impulse =\n Vector3d.withLength\n (Quantity.times (Duration.seconds 0.005)\n (Force.newtons 50)\n )\n Direction3d.positiveY\n\n hitCueBall =\n cueBall\n |> applyImpulse impulse hitPoint\n\n","type":"Vector3d.Vector3d (Quantity.Product Force.Newtons Duration.Seconds) Physics.WorldCoordinates -> Point3d.Point3d Length.Meters Physics.WorldCoordinates -> Physics.Body -> Physics.Body"},{"name":"applyInverseInertia","comment":" Apply the inverse inertia tensor of a body to a vector.\nReturns Vector3d.zero for static and kinematic bodies.\nFor common cases, see [angularAccelerationFromTorque](#angularAccelerationFromTorque)\nand [angularVelocityDeltaFromAngularImpulse](#angularVelocityDeltaFromAngularImpulse).\n","type":"Physics.Body -> Vector3d.Vector3d units Physics.WorldCoordinates -> Vector3d.Vector3d (Quantity.Rate units (Quantity.Product Mass.Kilograms Area.SquareMeters)) Physics.WorldCoordinates"},{"name":"applyTorque","comment":" Apply a pure torque to a body — spin without translation.\n\nKeep applying the torque every simulation step to spin up.\n\n torque =\n Vector3d.withLength (Torque.newtonMeters 5)\n Direction3d.positiveZ\n\n spinningTop =\n top\n |> applyTorque torque\n\n","type":"Vector3d.Vector3d Torque.NewtonMeters Physics.WorldCoordinates -> Physics.Body -> Physics.Body"},{"name":"block","comment":" ","type":"Block3d.Block3d Length.Meters Physics.BodyCoordinates -> Physics.Material.Material Physics.Material.Dense -> Physics.Body"},{"name":"centerOfMass","comment":" Get the center of mass of a body. Returns Nothing for static and\nkinematic bodies (which have infinite mass).\n","type":"Physics.Body -> Maybe.Maybe (Point3d.Point3d Length.Meters Physics.WorldCoordinates)"},{"name":"contactPoints","comment":" Get contact points from the most recent simulation frame, filtered by a predicate.\nEach entry is a pair of body ids and a list of contact points between them.\n\n crash =\n Physics.contactPoints\n (\\a b -> a == \"jeep\" && b == \"wall\")\n contacts\n\n","type":"(id -> id -> Basics.Bool) -> Physics.Contacts id -> List.List ( id, id, List.List (Point3d.Point3d Length.Meters Physics.WorldCoordinates) )"},{"name":"cylinder","comment":" Create a cylinder, approximated with 12 side faces.\nFor more subdivisions, use [dynamic](#dynamic) with [Shape.cylinder](Physics-Shape#cylinder).\n","type":"Cylinder3d.Cylinder3d Length.Meters Physics.BodyCoordinates -> Physics.Material.Material Physics.Material.Dense -> Physics.Body"},{"name":"damp","comment":" Set linear and angular damping, in order to decrease velocity over time.\nThese parameters specify the proportion of velocity lost per second.\nValues are clamped to [0, 1]. Default: 0.01 for both.\n","type":"{ linear : Basics.Float, angular : Basics.Float } -> Physics.Body -> Physics.Body"},{"name":"dynamic","comment":" Create a dynamic body from shapes and materials. Mass and center of mass\nare derived from geometry and density.\n","type":"List.List ( Physics.Shape.Shape, Physics.Material.Material Physics.Material.Dense ) -> Physics.Body"},{"name":"emptyContacts","comment":" Empty contacts for the first simulation frame (no warm starting).\n","type":"Physics.Contacts id"},{"name":"frame","comment":" Get the position and orientation of the body as Frame3d.\nUseful to transform points and directions between world and body coordinates,\ne.g. for rendering.\n","type":"Physics.Body -> Frame3d.Frame3d Length.Meters Physics.WorldCoordinates { defines : Physics.BodyCoordinates }"},{"name":"kinematic","comment":" Create a kinematic body from shapes and materials. Kinematic bodies\nhave infinite mass like static bodies — forces, gravity, and contacts don’t\npush them — but they’re moved by the engine according to their velocity, set\nvia [setVelocityTo](#setVelocityTo) and [setAngularVelocityTo](#setAngularVelocityTo).\n\nUseful for moving platforms, elevators, conveyor belts, and turntables.\nDynamic bodies see the kinematic’s velocity at the contact, so a box rests\non a moving elevator without sliding off, and a conveyor carries crates\nalong its surface.\n\n elevator =\n Physics.kinematic [ ( Shape.block platform, Material.steel ) ]\n |> Physics.setVelocityTo (Vector3d.metersPerSecond 0 0 0.5)\n\n turntable =\n Physics.kinematic [ ( Shape.cylinder 16 disc, Material.plastic ) ]\n |> Physics.setAngularVelocityTo\n (Vector3d.withLength (AngularSpeed.radiansPerSecond 1)\n Direction3d.positiveZ\n )\n\n","type":"List.List ( Physics.Shape.Shape, Physics.Material.Material any ) -> Physics.Body"},{"name":"lock","comment":" Restrict a body’s degrees of freedom along world axes. The list fully\ndescribes the lock state — calling `lock` again replaces the previous\nmasks. An empty list clears all locks.\n\n -- 2D-in-3D gameplay on the XY plane\n body |> lock [ Lock.translateZ, Lock.rotateX, Lock.rotateY ]\n\n -- character controller: slides freely, never tips\n body |> lock Lock.allRotation\n\nSee [Physics.Lock](Physics-Lock) for the available tokens. Has no effect on\nstatic or kinematic bodies.\n\n","type":"List.List Physics.Lock.Lock -> Physics.Body -> Physics.Body"},{"name":"mass","comment":" Get the mass of a body. Returns Nothing for static and kinematic\nbodies (which have infinite mass).\n","type":"Physics.Body -> Maybe.Maybe Mass.Mass"},{"name":"moveTo","comment":" Set the position of the body, e.g. to raise a body 5 meters above the origin:\n\n movedBody =\n body\n |> moveTo (Point3d.meters 0 0 5)\n\n","type":"Point3d.Point3d Length.Meters Physics.WorldCoordinates -> Physics.Body -> Physics.Body"},{"name":"onEarth","comment":" A ready-to-use simulation config with Earth gravity pointing down (-Z)\nat 60 fps. Customize it by updating individual fields,\nsee [Config](#Config) for available options.\n","type":"Physics.Config id"},{"name":"originPoint","comment":" Get the origin point of a body.\n","type":"Physics.Body -> Point3d.Point3d Length.Meters Physics.WorldCoordinates"},{"name":"place","comment":" Set the position and orientation of a body. Like [moveTo](#moveTo)\nbut also sets the orientation.\n\n placedBody =\n body\n |> place\n (Frame3d.atPoint (Point3d.meters 2 0 1)\n |> Frame3d.rotateAround Axis3d.z\n (Angle.degrees 45)\n )\n\nLeft-handed frames are not supported — Z is recomputed from X and Y.\n\n","type":"Frame3d.Frame3d Length.Meters Physics.WorldCoordinates { defines : Physics.BodyCoordinates } -> Physics.Body -> Physics.Body"},{"name":"plane","comment":" Create a static plane, collidable only from the direction of the normal,\ne.g. for +Z:\n\n floor =\n Physics.plane Plane3d.xy Material.wood\n\n","type":"Plane3d.Plane3d Length.Meters Physics.BodyCoordinates -> Physics.Material.Material any -> Physics.Body"},{"name":"pointMass","comment":" Create a point mass — a body with mass but no extent. Two point masses\npass through each other; with all other bodies they collide normally.\n","type":"Point3d.Point3d Length.Meters Physics.WorldCoordinates -> Mass.Mass -> Physics.Material.Material any -> Physics.Body"},{"name":"raycast","comment":" Find the closest intersection of a ray against a list of bodies.\n\n - point masses are always excluded because they are infinitely small\n - a plane only intersects when the ray is facing the plane’s normal\n\n","type":"Axis3d.Axis3d Length.Meters Physics.WorldCoordinates -> List.List ( id, Physics.Body ) -> Maybe.Maybe ( id, Physics.Body, { point : Point3d.Point3d Length.Meters Physics.WorldCoordinates, normal : Direction3d.Direction3d Physics.WorldCoordinates } )"},{"name":"rotateAround","comment":" Rotate the body around an axis in the world,\ne.g. to rotate a body 45 degrees around the Z axis:\n\n rotatedBody =\n body\n |> rotateAround Axis3d.z (Angle.degrees 45)\n\n","type":"Axis3d.Axis3d Length.Meters Physics.WorldCoordinates -> Angle.Angle -> Physics.Body -> Physics.Body"},{"name":"scaleMassTo","comment":" Scale a body to the given mass. The volume and center of mass\nare preserved. Has no effect on static or kinematic bodies.\n","type":"Mass.Mass -> Physics.Body -> Physics.Body"},{"name":"setAngularVelocityTo","comment":" Replace the angular velocity of a body. See [setVelocityTo](#setVelocityTo)\nfor guidance. Has no effect on static bodies.\n","type":"Vector3d.Vector3d AngularSpeed.RadiansPerSecond Physics.WorldCoordinates -> Physics.Body -> Physics.Body"},{"name":"setVelocityTo","comment":" Replace the linear velocity of a body. Works on both [dynamic](#dynamic)\nand [kinematic](#kinematic) bodies.\n\nFor dynamic bodies, prefer [applyImpulse](#applyImpulse) — using `setVelocityTo`\nafter `applyImpulse` silently discards the impulse:\n\n body\n |> applyImpulse impulse point\n -- erased by the next line\n |> setVelocityTo newVelocity\n\nFor kinematic bodies, this is the primary way to drive motion — the engine\nintegrates the position from the velocity each frame.\n\nHas no effect on static bodies.\n\n","type":"Vector3d.Vector3d Speed.MetersPerSecond Physics.WorldCoordinates -> Physics.Body -> Physics.Body"},{"name":"simulate","comment":" Simulates one frame. Returns updated bodies and contacts.\nCall this on a message from the `onAnimationFrame` subscription\nwith [onEarth](#onEarth) to simulate 1/60th of a second in Earth gravity:\n\n ( simulated, contacts ) =\n simulate onEarth model.bodies\n\nTo improve solver stability for stacked objects, pass contacts\nfrom the previous frame back via the config’s `contacts` field:\n\n ( simulated, contacts ) =\n simulate { onEarth | contacts = model.contacts }\n model.bodies\n\n","type":"Physics.Config id -> List.List ( id, Physics.Body ) -> ( List.List ( id, Physics.Body ), Physics.Contacts id )"},{"name":"sphere","comment":" ","type":"Sphere3d.Sphere3d Length.Meters Physics.BodyCoordinates -> Physics.Material.Material Physics.Material.Dense -> Physics.Body"},{"name":"static","comment":" Create a static body from shapes and materials.\nStatic bodies only collide with dynamic bodies, not other static bodies.\n","type":"List.List ( Physics.Shape.Shape, Physics.Material.Material any ) -> Physics.Body"},{"name":"translateBy","comment":" Move the body relative to its current position,\ne.g. to translate a body down by 5 meters:\n\n translatedBody =\n body\n |> translateBy (Vector3d.meters 0 0 -5)\n\n","type":"Vector3d.Vector3d Length.Meters Physics.WorldCoordinates -> Physics.Body -> Physics.Body"},{"name":"velocity","comment":" Get the current linear velocity of a body.\n","type":"Physics.Body -> Vector3d.Vector3d Speed.MetersPerSecond Physics.WorldCoordinates"},{"name":"velocityAt","comment":" Get the linear velocity of a point on a body.\nTakes into account both linear and angular velocities.\n","type":"Point3d.Point3d Length.Meters Physics.WorldCoordinates -> Physics.Body -> Vector3d.Vector3d Speed.MetersPerSecond Physics.WorldCoordinates"}],"binops":[]},{"name":"Physics.Constraint","comment":"\n\n@docs Constraint\n\n@docs pointToPoint, hinge, distance, lock\n\n","unions":[],"aliases":[{"name":"Constraint","comment":" Limit the freedom of movement of two bodies relative to each other.\n\nPass a `constrain` function in the [simulation config](Physics#Config). For example, to drag\na body with the mouse, connect a mouse to a point on the box with\n[pointToPoint](#pointToPoint):\n\n constrain id =\n if id == \"mouse\" then\n Just\n (\\otherId ->\n if otherId == \"box\" then\n [ pointToPoint Point3d.origin pointOnBox ]\n\n else\n []\n )\n\n else\n Nothing\n\nConstraints are skipped unless at least one body is [dynamic](Physics-Body#dynamic).\n\n","args":[],"type":"Physics.Types.Constraint"}],"values":[{"name":"distance","comment":" Keep the centers of mass of two bodies at the constant distance\nfrom each other.\n","type":"Length.Length -> Physics.Constraint.Constraint"},{"name":"hinge","comment":" Keep two bodies connected with each other and limit the freedom of rotation.\nUseful for e.g. connecting a window to a window frame, or to connect a wheel to a car.\n","type":"Axis3d.Axis3d Length.Meters Internal.Coordinates.BodyCoordinates -> Axis3d.Axis3d Length.Meters Internal.Coordinates.BodyCoordinates -> Physics.Constraint.Constraint"},{"name":"lock","comment":" Keep two bodies connected with each other and remove all degrees of freedom between bodies.\n","type":"Frame3d.Frame3d Length.Meters Internal.Coordinates.BodyCoordinates {} -> Frame3d.Frame3d Length.Meters Internal.Coordinates.BodyCoordinates {} -> Physics.Constraint.Constraint"},{"name":"pointToPoint","comment":" Connect a point on the first body with a point on the second body.\nThis doesn’t limit the freedom of rotation of two bodies.\n","type":"Point3d.Point3d Length.Meters Internal.Coordinates.BodyCoordinates -> Point3d.Point3d Length.Meters Internal.Coordinates.BodyCoordinates -> Physics.Constraint.Constraint"}],"binops":[]},{"name":"Physics.Lock","comment":" Restrict a body’s degrees of freedom along world axes.\n\nPass a list of `Lock` tokens to [Physics.lock](Physics#lock). Each entry\nremoves one degree of freedom from the body. The list fully describes the\nbody’s lock state — calling `lock` again with a different list replaces the\nprevious one. An empty list clears all locks.\n\n@docs Lock\n\n\n# Translation\n\n@docs translateX, translateY, translateZ\n\n\n# Rotation\n\n@docs rotateX, rotateY, rotateZ\n\n\n# Presets\n\n@docs allTranslation, allRotation\n\n","unions":[],"aliases":[{"name":"Lock","comment":" A single degree of freedom to lock.\n","args":[],"type":"Physics.Types.Lock"}],"values":[{"name":"allRotation","comment":" All three rotation axes locked. The body cannot tip or spin.\nUseful for character capsules whose orientation is driven outside\nof physics.\n","type":"List.List Physics.Lock.Lock"},{"name":"allTranslation","comment":" All three translation axes locked. The body cannot move.\n","type":"List.List Physics.Lock.Lock"},{"name":"rotateX","comment":" Lock rotation about the world X axis.\n","type":"Physics.Lock.Lock"},{"name":"rotateY","comment":" Lock rotation about the world Y axis.\n","type":"Physics.Lock.Lock"},{"name":"rotateZ","comment":" Lock rotation about the world Z axis.\n","type":"Physics.Lock.Lock"},{"name":"translateX","comment":" Lock translation along the world X axis.\n","type":"Physics.Lock.Lock"},{"name":"translateY","comment":" Lock translation along the world Y axis.\n","type":"Physics.Lock.Lock"},{"name":"translateZ","comment":" Lock translation along the world Z axis.\n","type":"Physics.Lock.Lock"}],"binops":[]},{"name":"Physics.Material","comment":"\n\n@docs Material\n\n@docs wood, rubber, steel, ice, plastic\n\n\n# Custom materials\n\n@docs Dense, dense, Surface, surface\n\n","unions":[{"name":"Dense","comment":" Material with density, required for dynamic bodies\nwhere mass is computed from geometry.\n","args":[],"cases":[]},{"name":"Surface","comment":" Material with surface properties only — friction and bounciness,\nno density. Used for static bodies and point masses.\n","args":[],"cases":[]}],"aliases":[{"name":"Material","comment":" Material encodes friction, bounciness, and optionally density.\n\nThe type parameter tracks capabilities:\n\n - `Material Dense` — carries density (required for volumetric bodies)\n - `Material Surface` — surface properties only (for static bodies and point masses)\n\n**Friction** controls how much a body resists sliding against another.\n0 means frictionless (like ice), 1 means maximum grip (like rubber).\n\n**Bounciness** (coefficient of restitution) controls how much kinetic energy\nis preserved after a collision. 0 means no bounce (the body absorbs the impact),\n1 means a perfectly elastic bounce.\n\nWhen two shapes collide, their friction values are combined using the geometric\nmean √(f1 · f2), so a slippery surface dominates. Bounciness uses the\nmaximum of the two values, so the bouncier surface wins.\n\n","args":["kind"],"type":"Physics.Types.Material kind"}],"values":[{"name":"dense","comment":" Create a dense material.\n\nDensity is clamped to at least 1 kg/m³. Friction and bounciness are clamped to [0, 1].\n\n","type":"{ density : Density.Density, friction : Basics.Float, bounciness : Basics.Float } -> Physics.Material.Material Physics.Material.Dense"},{"name":"ice","comment":" Density 900 kg/m³, friction 0.03, bounciness 0.1.\n","type":"Physics.Material.Material any"},{"name":"plastic","comment":" Density 1050 kg/m³, friction 0.35, bounciness 0.45.\n","type":"Physics.Material.Material any"},{"name":"rubber","comment":" Density 1100 kg/m³, friction 0.8, bounciness 0.7.\n","type":"Physics.Material.Material any"},{"name":"steel","comment":" Density 7800 kg/m³, friction 0.3, bounciness 0.2.\n","type":"Physics.Material.Material any"},{"name":"surface","comment":" Create a surface material.\n\nFriction and bounciness are clamped to [0, 1].\n\n","type":"{ friction : Basics.Float, bounciness : Basics.Float } -> Physics.Material.Material Physics.Material.Surface"},{"name":"wood","comment":" Density 700 kg/m³, friction 0.4, bounciness 0.3.\n","type":"Physics.Material.Material any"}],"binops":[]},{"name":"Physics.Shape","comment":"\n\n@docs Shape, block, sphere, cylinder\n\n\n# Complex shapes\n\n@docs minus, plus, sum, unsafeConvex\n\n","unions":[],"aliases":[{"name":"Shape","comment":" Shapes are needed for creating compound [dynamic](Physics#dynamic)\nand [static](Physics#static) bodies.\n\nThe supported primitive shapes are [block](#block), [sphere](#sphere),\nand [cylinder](#cylinder). For complex geometry use [unsafeConvex](#unsafeConvex).\n\nShapes within a body **should not overlap** — composing shapes only affects physical\nproperties like mass, inertia, and center of mass. Use [plus](#plus) and\n[minus](#minus) to combine shapes, for example to create hollow bodies.\n\n","args":[],"type":"Physics.Types.Shape"}],"values":[{"name":"block","comment":" ","type":"Block3d.Block3d Length.Meters Internal.Coordinates.BodyCoordinates -> Physics.Shape.Shape"},{"name":"cylinder","comment":" Create a cylinder shape with the given number of side faces, clamped to at least 3.\nEven numbers are more efficient, because collision performance depends\non the number of unique non-parallel faces and edges.\n","type":"Basics.Int -> Cylinder3d.Cylinder3d Length.Meters Internal.Coordinates.BodyCoordinates -> Physics.Shape.Shape"},{"name":"minus","comment":" Subtract the first shape from the second. The subtracted shape must be\nfully contained within the other. It reduces volume, mass, and inertia,\nand is excluded from collision detection.\n\nUseful for hollow bodies.\n\n crate =\n Shape.block outer\n |> Shape.minus (Shape.block inner)\n\n","type":"Physics.Shape.Shape -> Physics.Shape.Shape -> Physics.Shape.Shape"},{"name":"plus","comment":" Add a shape to another.\n\n snowman =\n Shape.sphere bottom\n |> Shape.plus (Shape.sphere top)\n\n","type":"Physics.Shape.Shape -> Physics.Shape.Shape -> Physics.Shape.Shape"},{"name":"sphere","comment":" ","type":"Sphere3d.Sphere3d Length.Meters Internal.Coordinates.BodyCoordinates -> Physics.Shape.Shape"},{"name":"sum","comment":" Combine a list of shapes.\n\n dumbbell =\n Shape.sum\n [ Shape.cylinder 12 leftWeight\n , Shape.cylinder 12 bar\n , Shape.cylinder 12 rightWeight\n ]\n\n","type":"List.List Physics.Shape.Shape -> Physics.Shape.Shape"},{"name":"unsafeConvex","comment":" Create a shape from a triangular mesh. This is useful if you want\nto import from Blender using [elm-obj-file](https://package.elm-lang.org/packages/w0rm/elm-obj-file/latest).\n\n**Note:** this may cause unexpected behavior, unless you make sure that:\n\n - the mesh is a [convex polyhedron](https://en.wikipedia.org/wiki/Convex_polytope);\n - the mesh is watertight, consisting of one closed surface;\n - all faces have counterclockwise [winding order](https://cmichel.io/understanding-front-faces-winding-order-and-normals).\n\n","type":"TriangularMesh.TriangularMesh (Point3d.Point3d Length.Meters Internal.Coordinates.BodyCoordinates) -> Physics.Shape.Shape"}],"binops":[]}]
================================================
FILE: elm.json
================================================
{
"type": "package",
"name": "w0rm/elm-physics",
"summary": "3D physics engine",
"license": "BSD-3-Clause",
"version": "6.0.1",
"exposed-modules": [
"Physics",
"Physics.Material",
"Physics.Constraint",
"Physics.Lock",
"Physics.Shape"
],
"elm-version": "0.19.0 <= v < 0.20.0",
"dependencies": {
"elm/core": "1.0.0 <= v < 2.0.0",
"ianmackenzie/elm-geometry": "4.0.0 <= v < 5.0.0",
"ianmackenzie/elm-triangular-mesh": "1.1.0 <= v < 2.0.0",
"ianmackenzie/elm-units": "2.7.0 <= v < 3.0.0"
},
"test-dependencies": {
"elm-explorations/test": "2.2.0 <= v < 3.0.0"
}
}
================================================
FILE: examples/elm.json
================================================
{
"type": "application",
"source-directories": [
"src",
"../src"
],
"elm-version": "0.19.1",
"dependencies": {
"direct": {
"avh4/elm-color": "1.0.0",
"elm/browser": "1.0.2",
"elm/core": "1.0.5",
"elm/html": "1.0.1",
"elm/http": "2.0.0",
"elm/json": "1.1.4",
"elm-explorations/webgl": "1.1.3",
"ianmackenzie/elm-3d-camera": "4.0.1",
"ianmackenzie/elm-3d-scene": "1.1.0",
"ianmackenzie/elm-geometry": "4.0.0",
"ianmackenzie/elm-triangular-mesh": "1.1.0",
"ianmackenzie/elm-units": "2.10.0",
"w0rm/elm-obj-file": "1.4.0"
},
"indirect": {
"elm/bytes": "1.0.8",
"elm/file": "1.0.5",
"elm/random": "1.0.0",
"elm/time": "1.0.0",
"elm/url": "1.0.0",
"elm/virtual-dom": "1.0.5",
"elm-explorations/linear-algebra": "1.0.3",
"ianmackenzie/elm-1d-parameter": "1.0.1",
"ianmackenzie/elm-float-extra": "1.1.0",
"ianmackenzie/elm-geometry-linear-algebra-interop": "2.0.3",
"ianmackenzie/elm-interval": "3.1.0",
"ianmackenzie/elm-units-interval": "3.2.0"
}
},
"test-dependencies": {
"direct": {},
"indirect": {}
}
}
================================================
FILE: examples/review/elm.json
================================================
{
"type": "application",
"source-directories": [
"src"
],
"elm-version": "0.19.1",
"dependencies": {
"direct": {
"elm/core": "1.0.5",
"elm/json": "1.1.4",
"elm/project-metadata-utils": "1.0.2",
"jfmengels/elm-review": "2.16.6",
"jfmengels/elm-review-performance": "1.0.2",
"jfmengels/elm-review-simplify": "2.1.15",
"jfmengels/elm-review-unused": "1.2.6",
"stil4m/elm-syntax": "7.3.9"
},
"indirect": {
"elm/bytes": "1.0.8",
"elm/html": "1.0.1",
"elm/parser": "1.1.0",
"elm/random": "1.0.0",
"elm/regex": "1.0.0",
"elm/time": "1.0.0",
"elm/virtual-dom": "1.0.5",
"elm-explorations/test": "2.2.1",
"pzp1997/assoc-list": "1.0.0",
"rtfeldman/elm-hex": "1.0.0",
"stil4m/structured-writer": "1.0.3"
}
},
"test-dependencies": {
"direct": {
"elm-explorations/test": "2.2.1"
},
"indirect": {}
}
}
================================================
FILE: examples/review/src/ReviewConfig.elm
================================================
module ReviewConfig exposing (config)
{-| Do not rename the ReviewConfig module or the config function, because
`elm-review` will look for these.
To add packages that contain rules, add them to this review project using
`elm install author/packagename`
when inside the directory containing this file.
-}
import NoUnoptimizedRecursion
import NoUnused.CustomTypeConstructorArgs
import NoUnused.CustomTypeConstructors
import NoUnused.Dependencies
import NoUnused.Exports
import NoUnused.Modules
import NoUnused.Parameters
import NoUnused.Patterns
import NoUnused.Variables
import Review.Rule exposing (Rule)
import Simplify
config : List Rule
config =
List.map (Review.Rule.ignoreErrorsForDirectories [ "../tests" ])
[ NoUnused.CustomTypeConstructors.rule []
, NoUnused.CustomTypeConstructorArgs.rule
, NoUnused.Dependencies.rule
, NoUnused.Exports.rule |> Review.Rule.ignoreErrorsForDirectories [ "../src" ]
, NoUnused.Modules.rule
, NoUnused.Parameters.rule
, NoUnused.Patterns.rule
, NoUnused.Variables.rule
, Simplify.rule (Simplify.expectNaN Simplify.defaults)
, NoUnoptimizedRecursion.rule (NoUnoptimizedRecursion.optOutWithComment "IGNORE TCO")
]
================================================
FILE: examples/src/Duckling.elm
================================================
module Duckling exposing (main)
{-| This demo loads a convex shape and a mesh from the same OBJ file.
- elm-physics is used for simulation
- elm-3d-scene is used for rendering
- elm-obj-file is used for loading OBJ file
It is important to keep the convex shape as small as possible, because
this affects the simulation performance.
-}
import Angle
import Axis3d
import Block3d
import Browser
import Browser.Dom
import Browser.Events
import Camera3d
import Color exposing (Color)
import Direction3d
import Frame3d
import Html exposing (Html)
import Http
import Length
import Obj.Decode exposing (Decoder)
import Physics exposing (Body, BodyCoordinates, onEarth)
import Physics.Material
import Physics.Shape exposing (Shape)
import Pixels exposing (Pixels)
import Plane3d
import Point3d
import Quantity exposing (Quantity)
import Scene3d
import Scene3d.Material exposing (Texture)
import Scene3d.Mesh exposing (Shadow, Textured)
import Task
import WebGL.Texture
type Id
= Duckling
| Floor
type alias Model =
{ material : Maybe (Scene3d.Material.Textured BodyCoordinates)
, meshData : Maybe { mesh : Textured BodyCoordinates, shadow : Shadow BodyCoordinates }
, bodies : List ( Id, Body )
, contacts : Physics.Contacts Id
, dimensions : ( Quantity Int Pixels, Quantity Int Pixels )
}
type Msg
= LoadedTexture (Result WebGL.Texture.Error (Texture Color))
| LoadedMeshes (Result Http.Error ( Textured BodyCoordinates, Shape ))
| Resize Int Int
| Tick
main : Program () Model Msg
main =
Browser.element
{ init = init
, update = \msg model -> ( update msg model, Cmd.none )
, view = view
, subscriptions = subscriptions
}
init : () -> ( Model, Cmd Msg )
init () =
( { material = Nothing
, meshData = Nothing
, bodies = []
, contacts = Physics.emptyContacts
, dimensions = ( Pixels.int 0, Pixels.int 0 )
}
, Cmd.batch
[ Scene3d.Material.load "Duckling.png"
|> Task.attempt LoadedTexture
, Http.get
{ url = "Duckling.obj.txt" -- .txt is required to work with `elm reactor`
, expect = Obj.Decode.expectObj LoadedMeshes Length.meters meshAndCollider
}
, Task.perform
(\{ viewport } -> Resize (round viewport.width) (round viewport.height))
Browser.Dom.getViewport
]
)
{-| Decode a render mesh and physics collider pair from the OBJ file.
-}
meshAndCollider : Decoder ( Textured BodyCoordinates, Shape )
meshAndCollider =
Obj.Decode.map2
(\mesh collider ->
( Scene3d.Mesh.texturedFaces mesh
, Physics.Shape.unsafeConvex collider
)
)
(Obj.Decode.object "mesh" (Obj.Decode.texturedFacesIn Frame3d.atOrigin))
(Obj.Decode.object "convex" (Obj.Decode.trianglesIn Frame3d.atOrigin))
update : Msg -> Model -> Model
update msg model =
case msg of
LoadedTexture (Ok texture) ->
{ model | material = Just (Scene3d.Material.texturedMatte texture) }
LoadedTexture (Err _) ->
model
LoadedMeshes (Ok ( mesh, shape )) ->
{ model
| meshData = Just { mesh = mesh, shadow = Scene3d.Mesh.shadow mesh }
, bodies =
let
ducklingAt ( axis, degrees, position ) =
( Duckling
, Physics.dynamic [ ( shape, Physics.Material.rubber ) ]
|> Physics.rotateAround axis degrees
|> Physics.moveTo position
)
in
List.foldl (\location bodies -> ducklingAt location :: bodies)
[ ( Floor
, Physics.plane Plane3d.xy Physics.Material.wood
|> Physics.moveTo (Point3d.meters 0 0 -3)
)
]
[ ( Axis3d.x, Angle.degrees 45, Point3d.meters 0 0 6 )
, ( Axis3d.y, Angle.degrees -35, Point3d.meters 0.1 -0.5 4 )
, ( Axis3d.y, Angle.degrees 35, Point3d.meters 0 0.5 8 )
, ( Axis3d.x, Angle.degrees -45, Point3d.meters 0 0 10 )
]
}
LoadedMeshes (Err _) ->
model
Tick ->
let
( simulated, newContacts ) =
Physics.simulate { onEarth | contacts = model.contacts } model.bodies
in
{ model | bodies = simulated, contacts = newContacts }
Resize width height ->
{ model | dimensions = ( Pixels.int width, Pixels.int height ) }
view : Model -> Html Msg
view model =
let
camera =
Camera3d.orbitZ
{ focalPoint = Point3d.meters 0 0 0
, azimuth = Angle.degrees 45
, elevation = Angle.degrees 25
, distance = Length.meters 25
, projection = Camera3d.Perspective
, fov = Camera3d.angle (Angle.degrees 30)
}
in
case ( model.material, model.meshData ) of
( Just material, Just { mesh, shadow } ) ->
Scene3d.sunny
{ upDirection = Direction3d.positiveZ
, sunlightDirection = Direction3d.negativeZ
, shadows = True
, camera = camera
, dimensions = model.dimensions
, background = Scene3d.transparentBackground
, clipDepth = Length.meters 0.1
, entities =
List.map
(\( data, body ) ->
Scene3d.placeIn (Physics.frame body) <|
case data of
Duckling ->
Scene3d.meshWithShadow material mesh shadow
Floor ->
( Length.meters 25, Length.meters 25, Length.millimeters 10 )
|> Block3d.centeredOn Frame3d.atOrigin
|> Scene3d.block (Scene3d.Material.matte Color.darkCharcoal)
)
model.bodies
}
_ ->
Html.text "Loading texture and meshes…"
subscriptions : Model -> Sub Msg
subscriptions _ =
Sub.batch
[ Browser.Events.onResize Resize
, Browser.Events.onAnimationFrame (\_ -> Tick)
]
================================================
FILE: examples/src/Duckling.obj.txt
================================================
# Blender v2.83.3 OBJ File: 'duckling.blend'
# www.blender.org
o convex
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vn 0.8356 0.5230 -0.1681
vn -0.0550 0.8497 -0.5244
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vn -0.0939 -0.9728 0.2118
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vn 0.0420 0.2701 0.9619
vn 0.0027 -0.4933 0.8699
vn 0.4757 -0.0928 -0.8747
vn -0.6183 0.1314 -0.7749
vn 0.3911 0.6804 -0.6198
vn 0.4770 -0.5790 -0.6612
vn 0.1884 -0.7138 -0.6745
vn 0.1694 -0.7622 -0.6248
vn -0.6164 -0.7386 -0.2730
vn -0.8667 -0.3833 -0.3192
vn 0.9808 0.0345 -0.1921
s off
f 7//1 9//1 8//1
f 16//2 10//2 11//2
f 15//3 14//3 12//3
f 7//4 2//4 11//4 1//4
f 18//5 17//5 20//5
f 5//6 22//6 14//6
f 14//7 16//7 12//7
f 22//8 13//8 16//8
f 22//9 21//9 13//9
f 21//10 4//10 3//10
f 19//11 9//11 4//11
f 21//12 19//12 4//12
f 22//13 5//13 18//13
f 22//14 16//14 14//14
f 5//15 15//15 6//15
f 10//16 1//16 11//16
f 20//17 19//17 21//17
f 22//18 20//18 21//18
f 17//19 5//19 6//19
f 17//20 18//20 5//20
f 15//21 12//21 11//21
f 15//22 5//22 14//22
f 21//23 10//23 13//23
f 12//24 16//24 11//24
f 8//25 2//25 7//25
f 9//26 19//26 8//26
f 19//27 6//27 8//27
f 19//28 17//28 6//28
f 20//29 22//29 18//29
f 20//30 17//30 19//30
f 10//31 3//31 1//31
f 15//32 11//32 2//32
f 13//33 10//33 16//33
f 4//34 1//34 3//34
f 4//35 7//35 1//35
f 4//36 9//36 7//36
f 8//37 6//37 2//37
f 6//38 15//38 2//38
f 21//39 3//39 10//39
o mesh
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gitextract_5f8dznnk/
├── .github/
│ ├── FUNDING.yml
│ └── workflows/
│ ├── gh-pages.yml
│ ├── publish.yml
│ └── test.yml
├── .gitignore
├── LICENSE
├── README.md
├── benchmarks/
│ ├── README.md
│ ├── elm.json
│ └── src/
│ ├── AssignIds.elm
│ ├── Convex.elm
│ ├── ConvexConvex.elm
│ ├── EigenDecomposition.elm
│ └── SphereConvex.elm
├── docs.json
├── elm.json
├── examples/
│ ├── elm.json
│ ├── review/
│ │ ├── elm.json
│ │ └── src/
│ │ └── ReviewConfig.elm
│ └── src/
│ ├── Duckling.elm
│ ├── Duckling.obj.txt
│ ├── Jeep.obj.txt
│ ├── Lack.elm
│ ├── Raycast.elm
│ ├── RaycastCar/
│ │ ├── Car.elm
│ │ └── Jeep.elm
│ └── RaycastCar.elm
├── flake.nix
├── review/
│ ├── elm.json
│ └── src/
│ └── ReviewConfig.elm
├── sandbox/
│ ├── elm.json
│ ├── review/
│ │ ├── elm.json
│ │ └── src/
│ │ └── ReviewConfig.elm
│ ├── src/
│ │ ├── Boxes.elm
│ │ ├── Car.elm
│ │ ├── Character.elm
│ │ ├── Character2D.elm
│ │ ├── Cloth.elm
│ │ ├── Common/
│ │ │ ├── Camera.elm
│ │ │ ├── Fps.elm
│ │ │ ├── Math.elm
│ │ │ ├── Meshes.elm
│ │ │ ├── Scene.elm
│ │ │ ├── Settings.elm
│ │ │ └── Shaders.elm
│ │ ├── CompoundVsLock.elm
│ │ ├── Dominoes.elm
│ │ ├── Kinematic.elm
│ │ ├── Randomize.elm
│ │ ├── Stability/
│ │ │ ├── Metrics.elm
│ │ │ └── Scenarios.elm
│ │ ├── StabilityScenes.elm
│ │ └── UnsafeConvex.elm
│ └── tests/
│ └── StabilityTest.elm
├── scripts/
│ ├── elm-publish.sh
│ └── gh-pages.sh
├── src/
│ ├── Collision/
│ │ ├── ConvexConvex.elm
│ │ ├── ParticleConvex.elm
│ │ ├── PlaneConvex.elm
│ │ ├── PlaneParticle.elm
│ │ ├── PlaneSphere.elm
│ │ ├── SphereConvex.elm
│ │ ├── SphereParticle.elm
│ │ └── SphereSphere.elm
│ ├── Internal/
│ │ ├── AssignIds.elm
│ │ ├── Body.elm
│ │ ├── BroadPhase.elm
│ │ ├── Const.elm
│ │ ├── Constraint.elm
│ │ ├── Contact.elm
│ │ ├── Coordinates.elm
│ │ ├── Equation.elm
│ │ ├── Lock.elm
│ │ ├── Material.elm
│ │ ├── Matrix3.elm
│ │ ├── NarrowPhase.elm
│ │ ├── Shape.elm
│ │ ├── Solver.elm
│ │ ├── SolverBody.elm
│ │ ├── Transform3d.elm
│ │ └── Vector3.elm
│ ├── Physics/
│ │ ├── Constraint.elm
│ │ ├── Lock.elm
│ │ ├── Material.elm
│ │ ├── Shape.elm
│ │ └── Types.elm
│ ├── Physics.elm
│ └── Shapes/
│ ├── Convex.elm
│ ├── Plane.elm
│ └── Sphere.elm
└── tests/
├── BodyTest.elm
├── Collision/
│ ├── ConvexConvexTest.elm
│ ├── PlaneSphereTest.elm
│ └── SphereConvexTest.elm
├── EigenDecompositionTest.elm
├── Extra/
│ └── Expect.elm
├── Fixtures/
│ ├── Convex.elm
│ └── NarrowPhase.elm
├── KinematicTest.elm
├── Matrix3Test.elm
├── PlaceInTest.elm
├── Shapes/
│ └── ConvexTest.elm
├── SimulateTest.elm
├── Transform3dFromFrame3dTest.elm
└── Transform3dTest.elm
Condensed preview — 105 files, each showing path, character count, and a content snippet. Download the .json file or copy for the full structured content (1,057K chars).
[
{
"path": ".github/FUNDING.yml",
"chars": 13,
"preview": "github: w0rm\n"
},
{
"path": ".github/workflows/gh-pages.yml",
"chars": 628,
"preview": "name: GitHub Pages\n\non:\n push:\n branches: [main]\n\njobs:\n test:\n uses: ./.github/workflows/test.yml\n secrets: "
},
{
"path": ".github/workflows/publish.yml",
"chars": 863,
"preview": "name: Publish\n\non:\n workflow_dispatch:\n inputs:\n version:\n description: \"Confirm the new version\"\n "
},
{
"path": ".github/workflows/test.yml",
"chars": 590,
"preview": "name: Test\n\non:\n pull_request:\n branches: [main]\n workflow_call:\n\njobs:\n elm-test:\n runs-on: ubuntu-latest\n "
},
{
"path": ".gitignore",
"chars": 43,
"preview": "release\ngh-pages\nelm-stuff\n.DS_Store\n.idea\n"
},
{
"path": "LICENSE",
"chars": 1534,
"preview": "Copyright (c) 2018-2026, Andrey Kuzmin\n\nAll rights reserved.\n\nRedistribution and use in source and binary forms, with or"
},
{
"path": "README.md",
"chars": 2590,
"preview": "# 3D Physics Engine\n\n\n\n```elm\ntype Id = Ba"
},
{
"path": "benchmarks/README.md",
"chars": 3420,
"preview": "# Elm Performance Rules\n\nWhen writing or reviewing Elm code in this repo, apply these performance rules to avoid slow Ja"
},
{
"path": "benchmarks/elm.json",
"chars": 1182,
"preview": "{\n \"type\": \"application\",\n \"source-directories\": [\n \"src\",\n \"../src\",\n \"../tests\"\n ],\n "
},
{
"path": "benchmarks/src/AssignIds.elm",
"chars": 17933,
"preview": "module AssignIds exposing (main)\n\n{-| Benchmarks for the ID-assignment pass in Physics.simulate.\n\nBoth candidates use th"
},
{
"path": "benchmarks/src/Convex.elm",
"chars": 928,
"preview": "module Convex exposing (main)\n\nimport Benchmark exposing (Benchmark, describe)\nimport Benchmark.Runner exposing (Benchma"
},
{
"path": "benchmarks/src/ConvexConvex.elm",
"chars": 2218,
"preview": "module ConvexConvex exposing (main)\n\nimport Benchmark exposing (Benchmark, describe)\nimport Benchmark.Runner exposing (B"
},
{
"path": "benchmarks/src/EigenDecomposition.elm",
"chars": 4534,
"preview": "module EigenDecomposition exposing (main)\n\nimport Benchmark exposing (Benchmark, describe)\nimport Benchmark.Runner expos"
},
{
"path": "benchmarks/src/SphereConvex.elm",
"chars": 6005,
"preview": "module SphereConvex exposing (main)\n\nimport Benchmark exposing (Benchmark, describe)\nimport Benchmark.Runner exposing (B"
},
{
"path": "docs.json",
"chars": 26422,
"preview": "[{\"name\":\"Physics\",\"comment\":\"\\n\\n\\n# Bodies\\n\\n@docs Body, BodyCoordinates, WorldCoordinates\\n\\n@docs block, plane, sph"
},
{
"path": "elm.json",
"chars": 688,
"preview": "{\n \"type\": \"package\",\n \"name\": \"w0rm/elm-physics\",\n \"summary\": \"3D physics engine\",\n \"license\": \"BSD-3-Claus"
},
{
"path": "examples/elm.json",
"chars": 1396,
"preview": "{\n \"type\": \"application\",\n \"source-directories\": [\n \"src\",\n \"../src\"\n ],\n \"elm-version\": \"0.19"
},
{
"path": "examples/review/elm.json",
"chars": 1124,
"preview": "{\n \"type\": \"application\",\n \"source-directories\": [\n \"src\"\n ],\n \"elm-version\": \"0.19.1\",\n \"dependen"
},
{
"path": "examples/review/src/ReviewConfig.elm",
"chars": 1255,
"preview": "module ReviewConfig exposing (config)\n\n{-| Do not rename the ReviewConfig module or the config function, because\n`elm-re"
},
{
"path": "examples/src/Duckling.elm",
"chars": 6689,
"preview": "module Duckling exposing (main)\n\n{-| This demo loads a convex shape and a mesh from the same OBJ file.\n\n - elm-physics "
},
{
"path": "examples/src/Duckling.obj.txt",
"chars": 345662,
"preview": "# Blender v2.83.3 OBJ File: 'duckling.blend'\n# www.blender.org\no convex\nv 0.539748 -0.217039 0.099674\nv -0.466622 -0.250"
},
{
"path": "examples/src/Jeep.obj.txt",
"chars": 64479,
"preview": "# Blender v2.92.0 OBJ File: 'jeep.blend'\n# www.blender.org\n# The Jeep model is courtesy of Kolja Wilcke <https://twitter"
},
{
"path": "examples/src/Lack.elm",
"chars": 9266,
"preview": "module Lack exposing (main)\n\n{-| This demo allows dragging the table with the mouse.\n\n1. Uses `Physics.raycast` on mous"
},
{
"path": "examples/src/Raycast.elm",
"chars": 7651,
"preview": "module Raycast exposing (main)\n\n{-| This demo shows how elm-physics could be used to determine,\nwhich object has been cl"
},
{
"path": "examples/src/RaycastCar/Car.elm",
"chars": 21587,
"preview": "module RaycastCar.Car exposing (CarSettings, Wheel, defaultWheel, simulate)\n\n{-| This is a complex example implementing "
},
{
"path": "examples/src/RaycastCar/Jeep.elm",
"chars": 6783,
"preview": "module RaycastCar.Jeep exposing (Jeep, load, settings, wheels)\n\n{-| elm-obj-file is used to decode various objects from "
},
{
"path": "examples/src/RaycastCar.elm",
"chars": 12356,
"preview": "module RaycastCar exposing (main)\n\n{-| This demo implements a smooth car simulation.\n\n - `RaycastCar.Car` — raycast veh"
},
{
"path": "flake.nix",
"chars": 640,
"preview": "{\n inputs.nixpkgs.url = \"github:nixos/nixpkgs/nixos-25.11\";\n\n outputs = { nixpkgs, ... }:\n let\n systems =\n "
},
{
"path": "review/elm.json",
"chars": 1124,
"preview": "{\n \"type\": \"application\",\n \"source-directories\": [\n \"src\"\n ],\n \"elm-version\": \"0.19.1\",\n \"dependen"
},
{
"path": "review/src/ReviewConfig.elm",
"chars": 1066,
"preview": "module ReviewConfig exposing (config)\n\n{-| Do not rename the ReviewConfig module or the config function, because\n`elm-re"
},
{
"path": "sandbox/elm.json",
"chars": 1310,
"preview": "{\n \"type\": \"application\",\n \"source-directories\": [\n \"src\",\n \"../src\"\n ],\n \"elm-version\": \"0.19"
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{
"path": "sandbox/review/elm.json",
"chars": 1061,
"preview": "{\n \"type\": \"application\",\n \"source-directories\": [\n \"src\"\n ],\n \"elm-version\": \"0.19.1\",\n \"dependen"
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{
"path": "sandbox/review/src/ReviewConfig.elm",
"chars": 1138,
"preview": "module ReviewConfig exposing (config)\n\n{-| Do not rename the ReviewConfig module or the config function, because\n`elm-re"
},
{
"path": "sandbox/src/Boxes.elm",
"chars": 6070,
"preview": "module Boxes exposing (main)\n\n{-| This demo is used to test performance. It drops 5×5×5 boxes.\nTry changing `boxesPerDim"
},
{
"path": "sandbox/src/Car.elm",
"chars": 12990,
"preview": "module Car exposing (main)\n\n{-| This shows how hinge constrains can be used to assemble a car.\nUse the arrow keys to ste"
},
{
"path": "sandbox/src/Character.elm",
"chars": 15371,
"preview": "module Character exposing (main)\n\n{-| Character controller demo, modelled directly on cannon-es's\nPointerLockControlsCan"
},
{
"path": "sandbox/src/Character2D.elm",
"chars": 14673,
"preview": "module Character2D exposing (main)\n\n{-| 2D character controller demo. Motion is locked to the world XZ\nplane: Y translat"
},
{
"path": "sandbox/src/Cloth.elm",
"chars": 8072,
"preview": "module Cloth exposing (main)\n\n{-| Cloth simulation built using many particle bodies,\nconnected with distance constraints"
},
{
"path": "sandbox/src/Common/Camera.elm",
"chars": 2605,
"preview": "module Common.Camera exposing\n ( Camera\n , camera\n , mouseDirection\n , resize\n )\n\nimport Math.Matrix4 as "
},
{
"path": "sandbox/src/Common/Fps.elm",
"chars": 1505,
"preview": "module Common.Fps exposing\n ( update\n , view\n )\n\n{-| This module is used to show the FPS meter.\nWe keep the las"
},
{
"path": "sandbox/src/Common/Math.elm",
"chars": 2045,
"preview": "module Common.Math exposing\n ( makeRotateKTo\n , makeShadow\n )\n\n{-| Some useful Math utilities.\n-}\n\nimport Math."
},
{
"path": "sandbox/src/Common/Meshes.elm",
"chars": 8060,
"preview": "module Common.Meshes exposing\n ( Attributes\n , block\n , contact\n , cylinder\n , fromTriangles\n , normal"
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{
"path": "sandbox/src/Common/Scene.elm",
"chars": 9958,
"preview": "module Common.Scene exposing (view)\n\nimport Common.Camera exposing (Camera)\nimport Common.Math as Math\nimport Common.Mes"
},
{
"path": "sandbox/src/Common/Settings.elm",
"chars": 3722,
"preview": "module Common.Settings exposing\n ( Settings\n , SettingsMsg\n , settings\n , update\n , view\n )\n\n{-| This "
},
{
"path": "sandbox/src/Common/Shaders.elm",
"chars": 3251,
"preview": "module Common.Shaders exposing\n ( Uniforms\n , colorFragment\n , fragment\n , shadowFragment\n , vertex\n ,"
},
{
"path": "sandbox/src/CompoundVsLock.elm",
"chars": 9073,
"preview": "module CompoundVsLock exposing (main)\n\n{-| This demo shows two possible ways to create complex objects.\nOne way is throu"
},
{
"path": "sandbox/src/Dominoes.elm",
"chars": 6006,
"preview": "module Dominoes exposing (main)\n\n{-| This demo is used to show custom materials.\nWithout the slippy material, dominoes w"
},
{
"path": "sandbox/src/Kinematic.elm",
"chars": 7087,
"preview": "module Kinematic exposing (main)\n\n{-| This demo shows a kinematic platform sliding back and forth between\ntwo endpoints."
},
{
"path": "sandbox/src/Randomize.elm",
"chars": 9674,
"preview": "module Randomize exposing (main)\n\n{-| This demo drops random bodies.\nIt also shows how to make a compound body out of mu"
},
{
"path": "sandbox/src/Stability/Metrics.elm",
"chars": 1344,
"preview": "module Stability.Metrics exposing (Metrics, compute)\n\n{-| Stability metrics computed from a list of bodies after N simul"
},
{
"path": "sandbox/src/Stability/Scenarios.elm",
"chars": 1780,
"preview": "module Stability.Scenarios exposing\n ( Scenario\n , stackOf5\n , unitBlock\n )\n\n{-| Repeatable, deterministic t"
},
{
"path": "sandbox/src/StabilityScenes.elm",
"chars": 4947,
"preview": "module StabilityScenes exposing (main)\n\n{-| Interactive browser view for the stack-of-5 stability benchmark.\n\nThe curren"
},
{
"path": "sandbox/src/UnsafeConvex.elm",
"chars": 11599,
"preview": "module UnsafeConvex exposing (main)\n\n{-| This is used to demonstrate loading `unsafeConvex` shape from the OBJ file!\n-}\n"
},
{
"path": "sandbox/tests/StabilityTest.elm",
"chars": 2799,
"preview": "module StabilityTest exposing (stability)\n\n{-| Regression test for physics solver stability.\n\nstackOf5: 5 boxes at exact"
},
{
"path": "scripts/elm-publish.sh",
"chars": 1094,
"preview": "#!/bin/bash\nset -euxo pipefail\n\nversion=${1:-}\n\nif [ -z \"$version\" ]; then\n echo \"Please set the desired version\"\n exi"
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{
"path": "scripts/gh-pages.sh",
"chars": 1093,
"preview": "#!/bin/bash\nset -euxo pipefail\n\nversion=${1:-}\n\nif [ -z \"$version\" ]; then\n version_path=\"\"\nelse\n version_path=\"/$vers"
},
{
"path": "src/Collision/ConvexConvex.elm",
"chars": 10303,
"preview": "module Collision.ConvexConvex exposing\n ( addContacts\n , findSeparatingAxis\n , project\n , testSeparatingAxis"
},
{
"path": "src/Collision/ParticleConvex.elm",
"chars": 2026,
"preview": "module Collision.ParticleConvex exposing (addContacts)\n\nimport Internal.Const as Const\nimport Internal.Contact exposing "
},
{
"path": "src/Collision/PlaneConvex.elm",
"chars": 2123,
"preview": "module Collision.PlaneConvex exposing (addContacts)\n\nimport Internal.Contact exposing (Contact)\nimport Internal.Vector3 "
},
{
"path": "src/Collision/PlaneParticle.elm",
"chars": 980,
"preview": "module Collision.PlaneParticle exposing (addContacts)\n\nimport Internal.Contact exposing (Contact)\nimport Internal.Vector"
},
{
"path": "src/Collision/PlaneSphere.elm",
"chars": 1123,
"preview": "module Collision.PlaneSphere exposing (addContacts)\n\nimport Internal.Contact exposing (Contact)\nimport Shapes.Plane expo"
},
{
"path": "src/Collision/SphereConvex.elm",
"chars": 11308,
"preview": "module Collision.SphereConvex exposing (addContacts)\n\nimport Internal.Contact exposing (Contact)\nimport Internal.Vector3"
},
{
"path": "src/Collision/SphereParticle.elm",
"chars": 810,
"preview": "module Collision.SphereParticle exposing (addContacts)\n\nimport Internal.Contact exposing (Contact)\nimport Internal.Vecto"
},
{
"path": "src/Collision/SphereSphere.elm",
"chars": 934,
"preview": "module Collision.SphereSphere exposing (addContacts)\n\nimport Internal.Contact exposing (Contact)\nimport Internal.Vector3"
},
{
"path": "src/Internal/AssignIds.elm",
"chars": 5826,
"preview": "module Internal.AssignIds exposing (assignIds)\n\nimport Internal.Body as InternalBody\nimport Physics.Types as Types\n\n\nass"
},
{
"path": "src/Internal/Body.elm",
"chars": 12683,
"preview": "module Internal.Body exposing\n ( Body\n , Kind(..)\n , applyAngularImpulse\n , applyForce\n , applyImpulse\n "
},
{
"path": "src/Internal/BroadPhase.elm",
"chars": 3017,
"preview": "module Internal.BroadPhase exposing (getContacts)\n\n{-| This is very naive implementation of BroadPhase,\nthat checks if t"
},
{
"path": "src/Internal/Const.elm",
"chars": 147,
"preview": "module Internal.Const exposing (maxNumber, precision)\n\n\nmaxNumber : Float\nmaxNumber =\n 3.40282347e38\n\n\nprecision : Fl"
},
{
"path": "src/Internal/Constraint.elm",
"chars": 4515,
"preview": "module Internal.Constraint exposing (Constraint(..), ConstraintGroup, getConstraints)\n\nimport Internal.Body as Body\nimpo"
},
{
"path": "src/Internal/Contact.elm",
"chars": 904,
"preview": "module Internal.Contact exposing (Contact, ContactGroup, SolverContact, flip)\n\nimport Internal.Body exposing (Body)\nimpo"
},
{
"path": "src/Internal/Coordinates.elm",
"chars": 177,
"preview": "module Internal.Coordinates exposing (BodyCoordinates, WorldCoordinates)\n\n\ntype WorldCoordinates\n = WorldCoordinates "
},
{
"path": "src/Internal/Equation.elm",
"chars": 17863,
"preview": "module Internal.Equation exposing\n ( Equation\n , EquationsGroup\n , SolverEquation\n , constraintEquationsGrou"
},
{
"path": "src/Internal/Lock.elm",
"chars": 1174,
"preview": "module Internal.Lock exposing (Lock(..), masks)\n\nimport Internal.Vector3 as Vec3 exposing (Vec3)\n\n\ntype Lock\n = Trans"
},
{
"path": "src/Internal/Material.elm",
"chars": 1058,
"preview": "module Internal.Material exposing\n ( Material\n , combineBounciness\n , combineFriction\n , ice\n , plastic\n "
},
{
"path": "src/Internal/Matrix3.elm",
"chars": 10076,
"preview": "module Internal.Matrix3 exposing\n ( Mat3\n , add\n , cylinderInertia\n , eigenDecomposition\n , inverse\n ,"
},
{
"path": "src/Internal/NarrowPhase.elm",
"chars": 6886,
"preview": "module Internal.NarrowPhase exposing (getContacts)\n\nimport Collision.ConvexConvex\nimport Collision.ParticleConvex\nimport"
},
{
"path": "src/Internal/Shape.elm",
"chars": 2968,
"preview": "module Internal.Shape exposing\n ( CenterOfMassCoordinates\n , Shape(..)\n , centerOfMass\n , expandBoundingSphe"
},
{
"path": "src/Internal/Solver.elm",
"chars": 18629,
"preview": "module Internal.Solver exposing (solve)\n\nimport Array exposing (Array)\nimport Dict exposing (Dict)\nimport Internal.Body "
},
{
"path": "src/Internal/SolverBody.elm",
"chars": 5960,
"preview": "module Internal.SolverBody exposing\n ( SolverBody\n , fromBody\n , toBody\n )\n\nimport Internal.Body as Body exp"
},
{
"path": "src/Internal/Transform3d.elm",
"chars": 11751,
"preview": "module Internal.Transform3d exposing\n ( Transform3d\n , atOrigin\n , atPoint\n , directionPlaceIn\n , directi"
},
{
"path": "src/Internal/Vector3.elm",
"chars": 4096,
"preview": "module Internal.Vector3 exposing\n ( Vec3\n , add\n , almostZero\n , basis\n , cross\n , direction\n , dis"
},
{
"path": "src/Physics/Constraint.elm",
"chars": 3576,
"preview": "module Physics.Constraint exposing\n ( Constraint\n , pointToPoint, hinge, distance, lock\n )\n\n{-|\n\n@docs Constrai"
},
{
"path": "src/Physics/Lock.elm",
"chars": 1759,
"preview": "module Physics.Lock exposing\n ( Lock\n , translateX, translateY, translateZ\n , rotateX, rotateY, rotateZ\n , a"
},
{
"path": "src/Physics/Material.elm",
"chars": 2852,
"preview": "module Physics.Material exposing\n ( Material\n , wood, rubber, steel, ice, plastic\n , Dense, dense, Surface, sur"
},
{
"path": "src/Physics/Shape.elm",
"chars": 5833,
"preview": "module Physics.Shape exposing\n ( Shape, block, sphere, cylinder\n , minus, plus, sum, unsafeConvex\n )\n\n{-|\n\n@doc"
},
{
"path": "src/Physics/Types.elm",
"chars": 1116,
"preview": "module Physics.Types exposing (Body(..), Constraint, Contacts(..), Lock, Material(..), Shape(..))\n\nimport Array exposing"
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{
"path": "src/Physics.elm",
"chars": 34548,
"preview": "module Physics exposing\n ( Body, BodyCoordinates, WorldCoordinates\n , block, plane, sphere, cylinder, pointMass\n "
},
{
"path": "src/Shapes/Convex.elm",
"chars": 22139,
"preview": "module Shapes.Convex exposing\n ( Convex\n , Face\n , computeNormal\n , expandBoundingSphereRadius\n , extendC"
},
{
"path": "src/Shapes/Plane.elm",
"chars": 1297,
"preview": "module Shapes.Plane exposing (Plane, placeIn, raycast)\n\nimport Internal.Transform3d as Transform3d exposing (Transform3d"
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"path": "src/Shapes/Sphere.elm",
"chars": 2295,
"preview": "module Shapes.Sphere exposing\n ( Sphere\n , atOrigin\n , expandBoundingSphereRadius\n , placeIn\n , raycast\n "
},
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"path": "tests/BodyTest.elm",
"chars": 6088,
"preview": "module BodyTest exposing (boundingSphereRadius, updateMassProperties, volume)\n\nimport Expect\nimport Extra.Expect as Expe"
},
{
"path": "tests/Collision/ConvexConvexTest.elm",
"chars": 8351,
"preview": "module Collision.ConvexConvexTest exposing\n ( addContacts\n , findSeparatingAxis\n , project\n , testSeparating"
},
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"path": "tests/Collision/PlaneSphereTest.elm",
"chars": 2036,
"preview": "module Collision.PlaneSphereTest exposing (addContacts)\n\nimport Collision.PlaneSphere\nimport Extra.Expect as Expect\nimpo"
},
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"path": "tests/Collision/SphereConvexTest.elm",
"chars": 3596,
"preview": "module Collision.SphereConvexTest exposing (addContacts)\n\nimport Collision.SphereConvex\nimport Expect\nimport Extra.Expec"
},
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"path": "tests/EigenDecompositionTest.elm",
"chars": 18408,
"preview": "module EigenDecompositionTest exposing (eigenDecomposition)\n\nimport Expect exposing (FloatingPointTolerance(..))\nimport "
},
{
"path": "tests/Extra/Expect.elm",
"chars": 2043,
"preview": "module Extra.Expect exposing\n ( contacts\n , frame3d\n , mat3\n , vec3\n )\n\nimport Direction3d\nimport Expect "
},
{
"path": "tests/Fixtures/Convex.elm",
"chars": 12405,
"preview": "module Fixtures.Convex exposing\n ( askewSquarePyramid\n , block\n , blockOfTetrahedrons\n , hugeConvex\n , no"
},
{
"path": "tests/Fixtures/NarrowPhase.elm",
"chars": 17821,
"preview": "module Fixtures.NarrowPhase exposing\n ( sphereContactBoxPositions\n , sphereContactOctohedronPositions\n )\n\nimpor"
},
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"path": "tests/KinematicTest.elm",
"chars": 5416,
"preview": "module KinematicTest exposing (integration)\n\n{-| Tests that a kinematic body's transform advances by velocity × dt\neach "
},
{
"path": "tests/Matrix3Test.elm",
"chars": 1631,
"preview": "module Matrix3Test exposing (inverse)\n\nimport Extra.Expect as Expect\nimport Internal.Matrix3 as Mat3 exposing (Mat3)\nimp"
},
{
"path": "tests/PlaceInTest.elm",
"chars": 4251,
"preview": "module PlaceInTest exposing (placeTests)\n\nimport Angle\nimport Axis3d\nimport Block3d\nimport Extra.Expect as Expect\nimport"
},
{
"path": "tests/Shapes/ConvexTest.elm",
"chars": 8290,
"preview": "module Shapes.ConvexTest exposing\n ( centerOfMass\n , extendContour\n , faces\n , inertia\n , uniqeNormals\n "
},
{
"path": "tests/SimulateTest.elm",
"chars": 7137,
"preview": "module SimulateTest exposing (assignIds)\n\n{-| Tests for the ID assignment logic in Physics.simulate.\n\nBodies carry an in"
},
{
"path": "tests/Transform3dFromFrame3dTest.elm",
"chars": 2319,
"preview": "module Transform3dFromFrame3dTest exposing (conversion)\n\nimport Angle\nimport Axis3d\nimport Direction3d\nimport Extra.Expe"
},
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"path": "tests/Transform3dTest.elm",
"chars": 3777,
"preview": "module Transform3dTest exposing (directionRelativeTo, inverse, pointRelativeTo, relativeTo)\n\nimport Extra.Expect as Expe"
}
]
About this extraction
This page contains the full source code of the w0rm/elm-physics GitHub repository, extracted and formatted as plain text for AI agents and large language models (LLMs). The extraction includes 105 files (991.5 KB), approximately 391.7k tokens. Use this with OpenClaw, Claude, ChatGPT, Cursor, Windsurf, or any other AI tool that accepts text input. You can copy the full output to your clipboard or download it as a .txt file.
Extracted by GitExtract — free GitHub repo to text converter for AI. Built by Nikandr Surkov.