feat: 添加跨平台运行时、资产系统和UI适配功能 (#256)

* feat(platform-common): 添加WASM加载器和环境检测API

* feat(rapier2d): 新增Rapier2D WASM绑定包

* feat(physics-rapier2d): 添加跨平台WASM加载器

* feat(asset-system): 添加运行时资产目录和bundle格式

* feat(asset-system-editor): 新增编辑器资产管理包

* feat(editor-core): 添加构建系统和模块管理

* feat(editor-app): 重构浏览器预览使用import maps

* feat(platform-web): 添加BrowserRuntime和资产读取

* feat(engine): 添加材质系统和着色器管理

* feat(material): 新增材质系统和着色器编辑器

* feat(tilemap): 增强tilemap编辑器和动画系统

* feat(modules): 添加module.json配置

* feat(core): 添加module.json和类型定义更新

* chore: 更新依赖和构建配置

* refactor(plugins): 更新插件模板使用ModuleManifest

* chore: 添加第三方依赖库

* chore: 移除BehaviourTree-ai和ecs-astar子模块

* docs: 更新README和文档主题样式

* fix: 修复Rust文档测试和添加rapier2d WASM绑定

* fix(tilemap-editor): 修复画布高DPI屏幕分辨率适配问题

* feat(ui): 添加UI屏幕适配系统(CanvasScaler/SafeArea)

* fix(ecs-engine-bindgen): 添加缺失的ecs-framework-math依赖

* fix: 添加缺失的包依赖修复CI构建

* fix: 修复CodeQL检测到的代码问题

* fix: 修复构建错误和缺失依赖

* fix: 修复类型检查错误

* fix(material-system): 修复tsconfig配置支持TypeScript项目引用

* fix(editor-core): 修复Rollup构建配置添加tauri external

* fix: 修复CodeQL检测到的代码问题

* fix: 修复CodeQL检测到的代码问题

packages/rapier2d/src/control/pid_controller.ts

@@ -0,0 +1,153 @@
+import {RawPidController} from "../raw";
+import {Rotation, RotationOps, Vector, VectorOps} from "../math";
+import {Collider, ColliderSet, InteractionGroups, Shape} from "../geometry";
+import {QueryFilterFlags, World} from "../pipeline";
+import {IntegrationParameters, RigidBody, RigidBodySet} from "../dynamics";
+
+// TODO: unify with the JointAxesMask
+/**
+ * An enum representing the possible joint axes controlled by a PidController.
+ * They can be ORed together, like:
+ * PidAxesMask.LinX || PidAxesMask.LinY
+ * to get a pid controller that only constraints the translational X and Y axes.
+ *
+ * Possible axes are:
+ *
+ * - `X`: X translation axis
+ * - `Y`: Y translation axis
+ * - `Z`: Z translation axis
+ * - `AngX`: X angular rotation axis (3D only)
+ * - `AngY`: Y angular rotation axis (3D only)
+ * - `AngZ`: Z angular rotation axis
+ */
+export enum PidAxesMask {
+    None = 0,
+    LinX = 1 << 0,
+    LinY = 1 << 1,
+    LinZ = 1 << 2,
+    AngZ = 1 << 5,
+    AllLin = PidAxesMask.LinX | PidAxesMask.LinY,
+    AllAng = PidAxesMask.AngZ,
+    All = PidAxesMask.AllLin | PidAxesMask.AllAng,
+}
+
+/**
+ * A controller for controlling dynamic bodies using the
+ * Proportional-Integral-Derivative correction model.
+ */
+export class PidController {
+    private raw: RawPidController;
+
+    private params: IntegrationParameters;
+    private bodies: RigidBodySet;
+
+    constructor(
+        params: IntegrationParameters,
+        bodies: RigidBodySet,
+        kp: number,
+        ki: number,
+        kd: number,
+        axes: PidAxesMask,
+    ) {
+        this.params = params;
+        this.bodies = bodies;
+        this.raw = new RawPidController(kp, ki, kd, axes);
+    }
+
+    /** @internal */
+    public free() {
+        if (!!this.raw) {
+            this.raw.free();
+        }
+
+        this.raw = undefined;
+    }
+
+    public setKp(kp: number, axes: PidAxesMask) {
+        this.raw.set_kp(kp, axes);
+    }
+
+    public setKi(ki: number, axes: PidAxesMask) {
+        this.raw.set_kp(ki, axes);
+    }
+
+    public setKd(kd: number, axes: PidAxesMask) {
+        this.raw.set_kp(kd, axes);
+    }
+
+    public setAxes(axes: PidAxesMask) {
+        this.raw.set_axes_mask(axes);
+    }
+
+    public resetIntegrals() {
+        this.raw.reset_integrals();
+    }
+
+    public applyLinearCorrection(
+        body: RigidBody,
+        targetPosition: Vector,
+        targetLinvel: Vector,
+    ) {
+        let rawPos = VectorOps.intoRaw(targetPosition);
+        let rawVel = VectorOps.intoRaw(targetLinvel);
+        this.raw.apply_linear_correction(
+            this.params.dt,
+            this.bodies.raw,
+            body.handle,
+            rawPos,
+            rawVel,
+        );
+        rawPos.free();
+        rawVel.free();
+    }
+
+    public applyAngularCorrection(
+        body: RigidBody,
+        targetRotation: number,
+        targetAngVel: number,
+    ) {
+        this.raw.apply_angular_correction(
+            this.params.dt,
+            this.bodies.raw,
+            body.handle,
+            targetRotation,
+            targetAngVel,
+        );
+    }
+
+
+    public linearCorrection(
+        body: RigidBody,
+        targetPosition: Vector,
+        targetLinvel: Vector,
+    ): Vector {
+        let rawPos = VectorOps.intoRaw(targetPosition);
+        let rawVel = VectorOps.intoRaw(targetLinvel);
+        let correction = this.raw.linear_correction(
+            this.params.dt,
+            this.bodies.raw,
+            body.handle,
+            rawPos,
+            rawVel,
+        );
+        rawPos.free();
+        rawVel.free();
+
+        return VectorOps.fromRaw(correction);
+    }
+
+    public angularCorrection(
+        body: RigidBody,
+        targetRotation: number,
+        targetAngVel: number,
+    ): number {
+        return this.raw.angular_correction(
+            this.params.dt,
+            this.bodies.raw,
+            body.handle,
+            targetRotation,
+            targetAngVel,
+        );
+    }
+
+}