// WebGPU time-stepping driver for the von Karman plate.
//
// The simulation advances in batches of one movie frame (1/fps seconds). A
// batch encodes one compute dispatch per time step (with a per-step uniform
// addressed by dynamic offset), an optional rigid-body projection every
// RB_INTERVAL steps, one retarded-time listener sum over the batch's audio
// samples, and one movie-frame extraction at the end. Audio, frame, and
// statistics are read back after every batch. One batch is kept encoded
// ahead of the one being read back, so the GPU does not wait for the
// readback or for the encoding. The recording starts at the impact, with the
// plate at rest in its stress-free shape.

import {
  type SimParams,
  type Plate,
  type Grid,
  strikePoint,
  contactPatch,
  mountPatch,
  massProperties,
  thicknessRange,
  nodeX,
  nodeY,
  nodeWeight,
  nodeWeights,
  CFL,
  HIST_MARGIN,
  RB_INTERVAL,
  RHO_AIR,
  SPEED_OF_SOUND,
} from "../params.ts";
import { maxAngularFrequency } from "./cpuRef.ts";
import commonWgsl from "./shaders/common.wgsl?raw";
import stepWgsl from "./shaders/step.wgsl?raw";
import rigidWgsl from "./shaders/rigid.wgsl?raw";
import audioWgsl from "./shaders/audio.wgsl?raw";
import extractWgsl from "./shaders/extract.wgsl?raw";

export type Phase = "recording" | "done";

export interface StickState {
  x: number;
  v: number;
  force: number;
  maxForce: number;
}

export interface SimStatus {
  phase: Phase;
  /** Simulation time since the impact [s]. */
  t: number;
  totalSteps: number;
  ke: number;
  wmax: number;
  samples: number;
  frames: number;
  peakPressure: number;
  delayClamped: boolean;
  stick: StickState;
}

const PARAMS_LEN = 40; // floats in the Params uniform
const STEP_LEN = 12; // floats in the StepParams uniform
const STATS_LEN = 16;
const STICK_LEN = 8;
/** Nodes per workgroup along each axis in step.wgsl. */
const TILE = 12;

/** A batch that has been encoded and submitted but not read back. */
interface Pending {
  staging: GPUBuffer;
  steps: number;
  nAudio: number;
  /** Which of the two stick-state slots the batch's last step wrote. */
  stickParity: number;
}

export class Simulation {
  readonly plate: Plate;
  readonly grid: Grid;
  readonly dt: number;
  /** Time steps per audio sample. */
  readonly stepsPerSample: number;
  readonly samplesPerBatch: number;
  readonly stepsPerBatch: number;
  readonly omegaMax: number;
  /** Ring buffer length of the listener sum [samples]. */
  readonly histLen: number;
  /** Total mass of the plate [kg]. */
  readonly mass: number;

  /** Listener pressure [Pa] at fs, from the impact. */
  audio: Float32Array = new Float32Array(0);
  samples = 0;
  /** Movie frames of w [m]; frame k is at t = k / fps. */
  frames: Float32Array<ArrayBuffer>[] = [];

  phase: Phase = "recording";
  totalSteps = 0;
  ke = 0;
  wmax = 0;
  peakPressure = 0;
  delayClamped = false;

  private stick: StickState;
  private inFlight: Pending | null = null;

  private device: GPUDevice;
  private params: SimParams;
  private paramsBuf: GPUBuffer;
  private stepBuf: GPUBuffer;
  private stepStride: number;
  private stepData: ArrayBuffer;
  private pos: GPUBuffer[];
  private vel: GPUBuffer[];
  private hist: GPUBuffer;
  private stickBuf: GPUBuffer;
  /** Static per-node data for the kernels, packed as (w0, weight, thickness, 0) per node. */
  private nd: GPUBuffer;
  /** Stress-free initial shape (f32 per node), for the renderer. */
  readonly w0: GPUBuffer;
  /** Largest magnitude of the initial shape [m]. */
  readonly w0Max: number;
  /** Node weights (f32 per node, 0 outside the plate), for the renderer. */
  readonly nw: GPUBuffer;
  /** Thickness (f32 per node, 0 outside the plate), for the renderer. */
  readonly hn: GPUBuffer;
  private lw: GPUBuffer;
  private audioOut: GPUBuffer;
  private frameBuf: GPUBuffer;
  private statsBuf: GPUBuffer;
  private staging: GPUBuffer[];
  private stagingIdx = 0;
  private stagingSize: number;
  /** Index of the buffer pair holding the current state. */
  private cur = 0;
  /** Plain f32 array of w for the live view. */
  readonly displayW: GPUBuffer;

  private stepPipe: GPUComputePipeline;
  private sumsPipe: GPUComputePipeline;
  private applyPipe: GPUComputePipeline;
  private audioPipe: GPUComputePipeline;
  private extractPipe: GPUComputePipeline;
  private stepBG: GPUBindGroup[];
  private rbBG: GPUBindGroup[];
  private audioBG: GPUBindGroup;
  private extractBG: GPUBindGroup[];
  private displayBG: GPUBindGroup[];

  constructor(device: GPUDevice, plate: Plate, params: SimParams) {
    this.device = device;
    this.plate = plate;
    this.params = { ...params };
    const g = plate.grid;
    const m = plate.mat;
    this.grid = g;

    // Stable time step, rounded so that an integer number of steps make one audio sample.
    const hr = thicknessRange(plate);
    this.omegaMax = maxAngularFrequency(g, m, hr.max, params.inPlaneMass);
    const dtMax = (CFL * 2) / this.omegaMax;
    this.stepsPerSample = Math.ceil(1 / (params.fs * dtMax));
    this.dt = 1 / (params.fs * this.stepsPerSample);
    this.samplesPerBatch = Math.max(1, Math.round(params.fs / params.fps));
    this.stepsPerBatch = this.samplesPerBatch * this.stepsPerSample;
    this.histLen = this.samplesPerBatch + HIST_MARGIN;

    const n = g.n;
    const f32 = (size: number, usage = GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_SRC | GPUBufferUsage.COPY_DST) =>
      device.createBuffer({ size: Math.max(16, size * 4), usage });

    this.pos = [f32(4 * n), f32(4 * n)]; // [u | v | w | wLo]
    this.vel = [f32(3 * n), f32(3 * n)]; // [du | dv | dw]
    this.hist = f32(this.histLen * n);
    this.stickBuf = f32(STICK_LEN);
    this.w0 = f32(n);
    const shape = Float32Array.from(plate.w0);
    device.queue.writeBuffer(this.w0, 0, shape);
    this.w0Max = shape.reduce((mx, v) => Math.max(mx, Math.abs(v)), 0);
    const weights = nodeWeights(g);
    this.nw = f32(n);
    device.queue.writeBuffer(this.nw, 0, weights);
    const thick = Float32Array.from(plate.h);
    this.hn = f32(n);
    device.queue.writeBuffer(this.hn, 0, thick);
    const packed = new Float32Array(4 * n);
    for (let k = 0; k < n; k++) { packed[4 * k] = shape[k]; packed[4 * k + 1] = weights[k]; packed[4 * k + 2] = thick[k]; }
    this.nd = f32(4 * n);
    device.queue.writeBuffer(this.nd, 0, packed);
    this.lw = f32(2 * n);
    this.audioOut = f32(this.samplesPerBatch);
    this.frameBuf = f32(n);
    this.displayW = f32(n);
    this.statsBuf = f32(STATS_LEN);
    this.stagingSize = (this.samplesPerBatch + n + STATS_LEN + STICK_LEN) * 4;
    this.staging = [0, 1].map(() =>
      device.createBuffer({ size: this.stagingSize, usage: GPUBufferUsage.MAP_READ | GPUBufferUsage.COPY_DST }),
    );

    // Mass and moments of inertia of the plate, the contact patch, the mount patch,
    // and the initial stick state (position 0, moving toward the plate).
    const { mass, Ix, Iy } = massProperties(plate);
    this.mass = mass;
    const cp = contactPatch(params, plate);
    const mp = mountPatch(plate);
    const stick = new Float32Array(STICK_LEN);
    stick[1] = -params.strikeVelocity; stick[5] = -params.strikeVelocity;
    device.queue.writeBuffer(this.stickBuf, 0, stick);
    this.stick = { x: 0, v: -params.strikeVelocity, force: 0, maxForce: 0 };

    const [sx, sy] = strikePoint(params, plate);
    const pf = new Float32Array(PARAMS_LEN);
    const pu = new Uint32Array(pf.buffer);
    pu[0] = g.nx; pu[1] = g.ny; pu[2] = n; pu[3] = this.histLen;
    pf[4] = g.hx; pf[5] = g.hy; pf[6] = this.dt; pf[7] = m.nu;
    pf[8] = m.E / (12 * (1 - m.nu * m.nu)); pf[9] = m.E / (1 - m.nu * m.nu); pf[10] = m.E / (2 * (1 + m.nu)); pf[11] = m.rho;
    pf[12] = mass; pf[13] = Ix; pf[14] = Iy; pf[15] = Ix + Iy;
    pf[16] = params.fs; pf[17] = sx; pf[18] = sy; pf[19] = params.contactRadius ** 2;
    pf[20] = cp.mass; pu[21] = cp.nearest; pf[22] = params.contactStiffness; pf[23] = params.contactExponent;
    pf[24] = params.stickMass; pu[25] = cp.box[0]; pu[26] = cp.box[1]; pu[27] = cp.box[2];
    pu[28] = cp.box[3]; pf[29] = cp.center[0]; pf[30] = cp.center[1]; pf[31] = params.inPlaneMass;
    pf[32] = 1 / params.inPlaneMass;
    if (mp && plate.mount) {
      pf[33] = plate.mount.x; pf[34] = plate.mount.y; pf[35] = plate.mount.radius ** 2;
      pf[36] = plate.mount.stiffness / mp.weight; pf[37] = plate.mount.damping / mp.weight;
      pu[38] = mp.nearest; pu[39] = 1;
    }
    this.paramsBuf = device.createBuffer({ size: pf.byteLength, usage: GPUBufferUsage.UNIFORM | GPUBufferUsage.COPY_DST });
    device.queue.writeBuffer(this.paramsBuf, 0, pf);

    // Per-step parameters, one struct per step at a dynamic offset.
    this.stepStride = Math.max(STEP_LEN * 4, device.limits.minUniformBufferOffsetAlignment);
    this.stepData = new ArrayBuffer(this.stepStride * this.stepsPerBatch);
    this.stepBuf = device.createBuffer({ size: this.stepData.byteLength, usage: GPUBufferUsage.UNIFORM | GPUBufferUsage.COPY_DST });

    // Pipelines.
    const shader = (code: string) => device.createShaderModule({ code: commonWgsl + code });
    const entry = (binding: number, type: GPUBufferBindingType, hasDynamicOffset = false): GPUBindGroupLayoutEntry => ({
      binding,
      visibility: GPUShaderStage.COMPUTE,
      buffer: { type, hasDynamicOffset },
    });
    const pipeline = (module: GPUShaderModule, entryPoint: string, layout: GPUBindGroupLayout) =>
      device.createComputePipeline({ layout: device.createPipelineLayout({ bindGroupLayouts: [layout] }), compute: { module, entryPoint } });

    const stepLayout = device.createBindGroupLayout({
      entries: [
        entry(0, "uniform"),
        entry(1, "uniform", true),
        entry(2, "read-only-storage"),
        entry(3, "read-only-storage"),
        entry(4, "storage"),
        entry(5, "storage"),
        entry(6, "storage"),
        entry(7, "storage"),
        entry(8, "read-only-storage"),
      ],
    });
    this.stepPipe = pipeline(shader(stepWgsl), "main", stepLayout);

    const rigidModule = shader(rigidWgsl);
    const rbLayout = device.createBindGroupLayout({
      entries: [entry(0, "uniform"), entry(1, "storage"), entry(2, "storage"), entry(3, "storage"), entry(8, "read-only-storage")],
    });
    this.sumsPipe = pipeline(rigidModule, "sums", rbLayout);
    this.applyPipe = pipeline(rigidModule, "apply", rbLayout);

    const audioLayout = device.createBindGroupLayout({
      entries: [entry(0, "uniform"), entry(1, "uniform", true), entry(2, "read-only-storage"), entry(3, "read-only-storage"), entry(4, "storage")],
    });
    this.audioPipe = pipeline(shader(audioWgsl), "main", audioLayout);

    const extractLayout = device.createBindGroupLayout({
      entries: [entry(0, "uniform"), entry(1, "read-only-storage"), entry(2, "storage")],
    });
    this.extractPipe = pipeline(shader(extractWgsl), "main", extractLayout);

    // Bind groups. The state is double-buffered: bind group p reads pair p and writes pair 1 - p.
    const sp = { buffer: this.stepBuf, size: STEP_LEN * 4 };
    this.stepBG = [0, 1].map((p) =>
      device.createBindGroup({
        layout: stepLayout,
        entries: [
          { binding: 0, resource: { buffer: this.paramsBuf } },
          { binding: 1, resource: sp },
          { binding: 2, resource: { buffer: this.pos[p] } },
          { binding: 3, resource: { buffer: this.vel[p] } },
          { binding: 4, resource: { buffer: this.pos[1 - p] } },
          { binding: 5, resource: { buffer: this.vel[1 - p] } },
          { binding: 6, resource: { buffer: this.hist } },
          { binding: 7, resource: { buffer: this.stickBuf } },
          { binding: 8, resource: { buffer: this.nd } },
        ],
      }),
    );
    this.rbBG = [0, 1].map((p) =>
      device.createBindGroup({
        layout: rbLayout,
        entries: [
          { binding: 0, resource: { buffer: this.paramsBuf } },
          { binding: 1, resource: { buffer: this.pos[p] } },
          { binding: 2, resource: { buffer: this.vel[p] } },
          { binding: 3, resource: { buffer: this.statsBuf } },
          { binding: 8, resource: { buffer: this.nd } },
        ],
      }),
    );
    this.audioBG = device.createBindGroup({
      layout: audioLayout,
      entries: [
        { binding: 0, resource: { buffer: this.paramsBuf } },
        { binding: 1, resource: sp },
        { binding: 2, resource: { buffer: this.hist } },
        { binding: 3, resource: { buffer: this.lw } },
        { binding: 4, resource: { buffer: this.audioOut } },
      ],
    });
    const extractBG = (p: number, out: GPUBuffer) =>
      device.createBindGroup({
        layout: extractLayout,
        entries: [
          { binding: 0, resource: { buffer: this.paramsBuf } },
          { binding: 1, resource: { buffer: this.pos[p] } },
          { binding: 2, resource: { buffer: out } },
        ],
      });
    this.extractBG = [0, 1].map((p) => extractBG(p, this.frameBuf));
    this.displayBG = [0, 1].map((p) => extractBG(p, this.displayW));

    this.setListener(params.listenerDist, params.listenerAzimuth, params.listenerElevation);
    // Frame 0: the plate at rest when the stick arrives.
    this.frames.push(new Float32Array(n));
  }

  /** Recomputes the per-node weights and delays of the listener sum. Takes effect on later samples. */
  setListener(dist: number, azimuthDeg: number, elevationDeg: number): void {
    const g = this.grid;
    const az = (azimuthDeg * Math.PI) / 180;
    const el = (elevationDeg * Math.PI) / 180;
    const L = [dist * Math.sin(az) * Math.cos(el), dist * Math.sin(el), dist * Math.cos(az) * Math.cos(el)];
    const data = new Float32Array(2 * g.n);
    let dmin = Infinity;
    for (let j = 0; j < g.ny; j++) {
      for (let i = 0; i < g.nx; i++) {
        const k = j * g.nx + i;
        const rx = L[0] - nodeX(g, i), ry = L[1] - nodeY(g, j), rz = L[2];
        const r = Math.sqrt(rx * rx + ry * ry + rz * rz);
        const dA = g.hx * g.hy * nodeWeight(g, i, j);
        data[2 * k] = (RHO_AIR * dA) / (2 * Math.PI * r);
        data[2 * k + 1] = (r / SPEED_OF_SOUND) * this.params.fs;
        dmin = Math.min(dmin, data[2 * k + 1]);
      }
    }
    // Only the spread of delays across the plate is kept; the common delay is dropped.
    this.delayClamped = false;
    for (let k = 0; k < g.n; k++) {
      let d = data[2 * k + 1] - dmin;
      if (d > HIST_MARGIN - 3) {
        d = HIST_MARGIN - 3;
        this.delayClamped = true;
      }
      data[2 * k + 1] = d;
    }
    this.device.queue.writeBuffer(this.lw, 0, data);
    this.params.listenerDist = dist;
    this.params.listenerAzimuth = azimuthDeg;
    this.params.listenerElevation = elevationDeg;
  }

  setDuration(duration: number): void {
    this.params.duration = duration;
    if (this.canContinue()) this.phase = "recording";
  }

  /** True when a finished or stopped run can be extended. */
  canContinue(): boolean {
    return this.phase === "done" && this.samples < this.targetSamples();
  }

  /** Ends the run; the state, audio, and movie are kept. */
  stop(): void {
    this.phase = "done";
  }

  targetSamples(): number {
    return Math.round(this.params.duration * this.params.fs);
  }

  status(): SimStatus {
    // Report the time of the state that has been read back, not the one enqueued.
    const ahead = this.inFlight ? this.inFlight.steps * this.dt : 0;
    return {
      phase: this.phase,
      t: this.totalSteps * this.dt - ahead,
      totalSteps: this.totalSteps,
      ke: this.ke,
      wmax: this.wmax,
      samples: this.samples,
      frames: this.frames.length,
      peakPressure: this.peakPressure,
      delayClamped: this.delayClamped,
      stick: this.stick,
    };
  }

  /** Enqueues an extraction of the current w field into `displayW` (for the live view). */
  encodeDisplay(encoder: GPUCommandEncoder): void {
    const pass = encoder.beginComputePass();
    pass.setPipeline(this.extractPipe);
    pass.setBindGroup(0, this.displayBG[this.cur]);
    pass.dispatchWorkgroups(Math.ceil(this.grid.n / 256));
    pass.end();
  }

  private stepWorkgroups(): [number, number] {
    return [Math.ceil(this.grid.nx / TILE), Math.ceil(this.grid.ny / TILE)];
  }

  /** The recorded listener pressure so far [Pa]. */
  recordedAudio(): Float32Array {
    return this.audio.subarray(0, this.samples);
  }

  private appendAudio(raw: Float32Array): void {
    const need = this.samples + raw.length;
    if (this.audio.length < need) {
      const a = new Float32Array(Math.max(need, 2 * this.audio.length, this.params.fs));
      a.set(this.audio.subarray(0, this.samples));
      this.audio = a;
    }
    this.audio.set(raw, this.samples);
    for (let k = 0; k < raw.length; k++) this.peakPressure = Math.max(this.peakPressure, Math.abs(raw[k]));
    this.samples = need;
  }

  /** Writes the per-step uniform for step s of a batch. */
  private writeStepParams(s: number, fields: { flags: number; slot: number; outIdx: number }): void {
    const o = (s * this.stepStride) / 4;
    const u32 = new Uint32Array(this.stepData);
    const i32 = new Int32Array(this.stepData);
    const f32 = new Float32Array(this.stepData);
    const { sigma0, sigma1, sigmaIn } = this.plate.loss;
    u32[o] = this.totalSteps + s;
    u32[o + 1] = fields.flags;
    i32[o + 2] = fields.slot;
    i32[o + 3] = fields.outIdx;
    f32[o + 4] = sigma0;
    f32[o + 5] = sigma1;
    f32[o + 6] = sigmaIn;
    u32[o + 7] = (this.totalSteps + s) & 1;
  }

  /**
   * Runs one batch (one movie frame of time). Resolves when its results have
   * been read back. The following batch is encoded before this one is awaited.
   */
  async runBatch(): Promise<void> {
    if (this.phase === "done") return;
    const cur = this.inFlight ?? this.encodeBatch();
    this.inFlight = null;
    if (!cur) {
      this.phase = "done";
      return;
    }
    if (this.stepsLeft() > 0) this.inFlight = this.encodeBatch();
    await this.collect(cur);
  }

  private stepsLeft(): number {
    return this.targetSamples() * this.stepsPerSample - this.totalSteps;
  }

  /** Encodes and submits one batch; null when no steps remain. */
  private encodeBatch(): Pending | null {
    const p = this.params;
    const steps = Math.min(this.stepsPerBatch, Math.max(0, this.stepsLeft()));
    if (steps === 0) return null;

    // Per-step parameters: the drumstick and the audio bookkeeping.
    const audioSteps: number[] = [];
    for (let s = 0; s < steps; s++) {
      const local = this.totalSteps + s;
      let slot = -1, outIdx = -1;
      if (local % this.stepsPerSample === 0) {
        slot = (local / this.stepsPerSample) % this.histLen;
        outIdx = audioSteps.length;
        audioSteps.push(s);
      }
      this.writeStepParams(s, { flags: 1, slot, outIdx });
    }
    this.device.queue.writeBuffer(this.stepBuf, 0, this.stepData, 0, steps * this.stepStride);

    // Encode the batch in chunks so that the GPU starts while JS is still encoding.
    const CHUNK = 1024;
    let enc = this.device.createCommandEncoder();
    let pass = enc.beginComputePass();
    const [wgX, wgY] = this.stepWorkgroups();
    const wgN = Math.ceil(this.grid.n / 256);
    let cur = this.cur;
    // The projection is optional and only meaningful for a free plate; the
    // sums still run once per batch for the statistics.
    const project = p.rigidProjection && !this.plate.mount;
    let stepBound = false;
    for (let s = 0; s < steps; s++) {
      if (s > 0 && s % CHUNK === 0) {
        pass.end();
        this.device.queue.submit([enc.finish()]);
        enc = this.device.createCommandEncoder();
        pass = enc.beginComputePass();
        stepBound = false;
      }
      if (!stepBound) {
        pass.setPipeline(this.stepPipe);
        stepBound = true;
      }
      pass.setBindGroup(0, this.stepBG[cur], [s * this.stepStride]);
      pass.dispatchWorkgroups(wgX, wgY);
      cur = 1 - cur;
      const global = this.totalSteps + s + 1;
      if ((project && global % RB_INTERVAL === 0) || s === steps - 1) {
        pass.setPipeline(this.sumsPipe);
        pass.setBindGroup(0, this.rbBG[cur]);
        pass.dispatchWorkgroups(1);
        if (project) {
          pass.setPipeline(this.applyPipe);
          pass.setBindGroup(0, this.rbBG[cur]);
          pass.dispatchWorkgroups(wgN);
        }
        stepBound = false;
      }
    }
    // The listener sum for every audio sample of the batch, one workgroup each;
    // the ring buffer is long enough that no slot of the batch has been reused.
    const nAudio = audioSteps.length;
    if (nAudio > 0) {
      pass.setPipeline(this.audioPipe);
      pass.setBindGroup(0, this.audioBG, [audioSteps[0] * this.stepStride]);
      pass.dispatchWorkgroups(nAudio);
    }
    pass.setPipeline(this.extractPipe);
    pass.setBindGroup(0, this.extractBG[cur]);
    pass.dispatchWorkgroups(wgN);
    pass.end();
    const staging = this.staging[this.stagingIdx];
    this.stagingIdx = 1 - this.stagingIdx;
    const n = this.grid.n;
    enc.copyBufferToBuffer(this.audioOut, 0, staging, 0, Math.max(4, nAudio * 4));
    enc.copyBufferToBuffer(this.frameBuf, 0, staging, this.samplesPerBatch * 4, n * 4);
    enc.copyBufferToBuffer(this.statsBuf, 0, staging, (this.samplesPerBatch + n) * 4, STATS_LEN * 4);
    enc.copyBufferToBuffer(this.stickBuf, 0, staging, (this.samplesPerBatch + n + STATS_LEN) * 4, STICK_LEN * 4);
    this.device.queue.submit([enc.finish()]);
    this.cur = cur;
    this.totalSteps += steps;
    return { staging, steps, nAudio, stickParity: this.totalSteps & 1 };
  }

  /** Reads back a batch and applies its results. */
  private async collect(b: Pending): Promise<void> {
    const n = this.grid.n;
    await b.staging.mapAsync(GPUMapMode.READ);
    const view = new Float32Array(b.staging.getMappedRange());
    const stats = view.subarray(this.samplesPerBatch + n, this.samplesPerBatch + n + STATS_LEN);
    this.ke = stats[12];
    this.wmax = stats[13];
    // The slot written by the last step is the one the next step reads.
    const base = this.samplesPerBatch + n + STATS_LEN + 4 * b.stickParity;
    this.stick = { x: view[base], v: view[base + 1], force: view[base + 2], maxForce: view[base + 3] };
    this.appendAudio(view.slice(0, b.nAudio));
    this.frames.push(view.slice(this.samplesPerBatch, this.samplesPerBatch + n));
    b.staging.unmap();
    if (this.samples >= this.targetSamples()) this.phase = "done";
  }

  // ---------- Testing support ----------

  /**
   * Advances the state by exactly one free step (no drumstick, no rigid-body
   * projection, no audio) with the plate's loss parameters and its mount.
   */
  async stepOnce(): Promise<void> {
    this.writeStepParams(0, { flags: 0, slot: -1, outIdx: -1 });
    this.device.queue.writeBuffer(this.stepBuf, 0, this.stepData, 0, this.stepStride);
    const enc = this.device.createCommandEncoder();
    const pass = enc.beginComputePass();
    pass.setPipeline(this.stepPipe);
    pass.setBindGroup(0, this.stepBG[this.cur], [0]);
    pass.dispatchWorkgroups(...this.stepWorkgroups());
    pass.end();
    this.device.queue.submit([enc.finish()]);
    this.cur = 1 - this.cur;
    this.totalSteps++;
    await this.device.queue.onSubmittedWorkDone();
  }

  /** Overwrites the state: pos as [u | v | w | wLo], vel as [du | dv | dw]. */
  writeState(pos: Float32Array<ArrayBuffer>, vel: Float32Array<ArrayBuffer>): void {
    const n = this.grid.n;
    if (pos.length !== 4 * n || vel.length !== 3 * n) throw new Error("state arrays have the wrong length");
    this.device.queue.writeBuffer(this.pos[this.cur], 0, pos);
    this.device.queue.writeBuffer(this.vel[this.cur], 0, vel);
  }

  /** Reads back the full state as [u | v | w | wLo] and [du | dv | dw]. */
  async readState(): Promise<{ pos: Float32Array; vel: Float32Array }> {
    const n = this.grid.n;
    const stg = this.device.createBuffer({ size: 7 * n * 4, usage: GPUBufferUsage.MAP_READ | GPUBufferUsage.COPY_DST });
    const enc = this.device.createCommandEncoder();
    enc.copyBufferToBuffer(this.pos[this.cur], 0, stg, 0, 4 * n * 4);
    enc.copyBufferToBuffer(this.vel[this.cur], 0, stg, 4 * n * 4, 3 * n * 4);
    this.device.queue.submit([enc.finish()]);
    await stg.mapAsync(GPUMapMode.READ);
    const all = new Float32Array(stg.getMappedRange()).slice();
    stg.unmap();
    stg.destroy();
    return { pos: all.subarray(0, 4 * n), vel: all.subarray(4 * n) };
  }

  destroy(): void {
    this.inFlight = null;
    for (const b of [...this.pos, ...this.vel, this.hist, this.stickBuf, this.nd, this.w0, this.nw, this.hn, this.lw, this.audioOut, this.frameBuf, this.displayW, this.statsBuf, this.paramsBuf, this.stepBuf, ...this.staging]) b.destroy();
  }

  get fs(): number {
    return this.params.fs;
  }
  get fps(): number {
    return this.params.fps;
  }
  get simParams(): SimParams {
    return this.params;
  }
}