@aura3d/engine 3.0.0 → 4.0.0

package/dist/navigation-recast/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../packages/navigation-recast/src/index.ts"],"names":[],"mappings":"AAqDA,SAAS,MAAM,CAAC,KAAqB;IACnC,IAAI,KAAK,CAAC,IAAI,CAAC,CAAC,KAAK,EAAE,EAAE,CAAC,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;QAAE,MAAM,IAAI,SAAS,CAAC,wCAAwC,CAAC,CAAC;IAClH,OAAO,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,CAAC;AACnD,CAAC;AAED,MAAM,OAAO,mBAAmB;IACrB,OAAO,CAAe;IACtB,QAAQ,CAAiB;IACzB,MAAM,CAAsB;IACrC,SAAS,GAAG,KAAK,CAAC;IAElB,YAAY,MAAoB,EAAE,OAAuB;QACvD,IAAI,CAAC,OAAO,GAAG,MAAM,CAAC;QACtB,IAAI,CAAC,QAAQ,GAAG,OAAO,CAAC;QACxB,IAAI,CAAC,MAAM,GAAG,IAAI,MAAM,CAAC,YAAY,CAAC,OAAO,CAAC,CAAC;IACjD,CAAC;IAED,IAAI,QAAQ,KAAc,OAAO,IAAI,CAAC,SAAS,CAAC,CAAC,CAAC;IAElD,WAAW,CAAC,KAAqB,EAAE,GAAmB;QACpD,IAAI,CAAC,YAAY,EAAE,CAAC;QACpB,MAAM,MAAM,GAAG,IAAI,CAAC,MAAM,CAAC,WAAW,CAAC,MAAM,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC,GAAG,CAAC,CAAC,CAAC;QACnE,IAAI,CAAC,MAAM,CAAC,OAAO;YAAE,OAAO,EAAE,OAAO,EAAE,KAAK,EAAE,MAAM,EAAE,EAAE,EAAE,KAAK,EAAE,MAAM,CAAC,MAAM,CAAC,KAAK,IAAI,2BAA2B,CAAC,EAAE,CAAC;QACvH,OAAO,EAAE,OAAO,EAAE,IAAI,EAAE,MAAM,EAAE,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,KAAK,EAAE,EAAE,CAAC,CAAC,KAAK,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAU,CAAC,EAAE,CAAC;IACrG,CAAC;IAED,WAAW,CAAC,SAAiB,EAAE,cAAsB;QACnD,IAAI,CAAC,YAAY,EAAE,CAAC;QACpB,OAAO,IAAI,iBAAiB,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,QAAQ,EAAE,SAAS,EAAE,cAAc,CAAC,CAAC;IACvF,CAAC;IAED,SAAS,KAAiB,IAAI,CAAC,YAAY,EAAE,CAAC,CAAC,OAAO,IAAI,CAAC,OAAO,CAAC,aAAa,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC;IAClG,+EAA+E;IAC/E,mBAAmB,KAAqB,IAAI,CAAC,YAAY,EAAE,CAAC,CAAC,OAAO,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC;IAEpF,OAAO;QACL,IAAI,IAAI,CAAC,SAAS;YAAE,OAAO;QAC3B,IAAI,CAAC,MAAM,CAAC,OAAO,EAAE,CAAC;QACtB,IAAI,CAAC,QAAQ,CAAC,OAAO,EAAE,CAAC;QACxB,IAAI,CAAC,SAAS,GAAG,IAAI,CAAC;IACxB,CAAC;IAED,YAAY,KAAW,IAAI,IAAI,CAAC,SAAS;QAAE,MAAM,IAAI,KAAK,CAAC,kCAAkC,CAAC,CAAC,CAAC,CAAC;CAClG;AASD,MAAM,OAAO,iBAAiB;IACnB,MAAM,CAAe;IAC9B,iFAAiF;IACxE,SAAS,CAAS;IAC3B,SAAS,GAAG,KAAK,CAAC;IAElB,YAAY,MAAoB,EAAE,OAAuB,EAAE,SAAiB,EAAE,cAAsB;QAClG,IAAI,CAAC,MAAM,CAAC,SAAS,CAAC,SAAS,CAAC,IAAI,SAAS,GAAG,CAAC;YAAE,MAAM,IAAI,UAAU,CAAC,oCAAoC,CAAC,CAAC;QAC9G,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,cAAc,CAAC,IAAI,cAAc,IAAI,CAAC;YAAE,MAAM,IAAI,UAAU,CAAC,kCAAkC,CAAC,CAAC;QACtH,IAAI,CAAC,MAAM,GAAG,IAAI,MAAM,CAAC,KAAK,CAAC,OAAO,EAAE,EAAE,SAAS,EAAE,cAAc,EAAE,CAAC,CAAC;QACvE,IAAI,CAAC,SAAS,GAAG,SAAS,CAAC;IAC7B,CAAC;IAED,4HAA4H;IAC5H,KAAK;QACH,IAAI,CAAC,YAAY,EAAE,CAAC;QACpB,OAAO,IAAI,CAAC,MAAM,CAAC,SAAS,EAAE,CAAC,MAAM,CAAC;IACxC,CAAC;IAED,QAAQ,CAAC,QAAwB,EAAE,UAAuC,EAAE;QAC1E,IAAI,CAAC,YAAY,EAAE,CAAC;QACpB,IAAI,IAAI,CAAC,MAAM,CAAC,SAAS,EAAE,CAAC,MAAM,IAAI,IAAI,CAAC,SAAS,EAAE,CAAC;YACrD,MAAM,IAAI,KAAK,CAAC,gCAAgC,IAAI,CAAC,SAAS,yFAAyF,CAAC,CAAC;QAC3J,CAAC;QACD,OAAO,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,QAAQ,CAAC,EAAE,OAAO,CAAC,CAAC;IACzD,CAAC;IAED,iBAAiB,CAAC,KAAwB,EAAE,MAAsB;QAChE,IAAI,CAAC,YAAY,EAAE,CAAC;QACpB,OAAO,KAAK,CAAC,iBAAiB,CAAC,MAAM,CAAC,MAAM,CAAC,CAAC,CAAC;IACjD,CAAC;IAED,kGAAkG;IAClG,SAAS,CAAC,KAAwB,EAAE,MAAsB;QACxD,OAAO,IAAI,CAAC,iBAAiB,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC;IAC/C,CAAC;IAED,MAAM,CAAC,EAAU;QACf,IAAI,CAAC,YAAY,EAAE,CAAC;QACpB,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,EAAE,CAAC,IAAI,EAAE,IAAI,CAAC;YAAE,MAAM,IAAI,UAAU,CAAC,uCAAuC,CAAC,CAAC;QACnG,IAAI,CAAC,MAAM,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC;IACzB,CAAC;IAED,SAAS;QACP,IAAI,CAAC,YAAY,EAAE,CAAC;QACpB,OAAO,IAAI,CAAC,MAAM,CAAC,SAAS,EAAE,CAAC,GAAG,CAAC,CAAC,KAAK,EAAE,EAAE,GAAG,MAAM,KAAK,GAAG,KAAK,CAAC,QAAQ,EAAE,CAAC,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAU,CAAC,CAAC,CAAC,CAAC,CAAC;IAClI,CAAC;IAED;;;;;;OAMG;IACH,WAAW;QACT,IAAI,CAAC,YAAY,EAAE,CAAC;QACpB,OAAO,IAAI,CAAC,MAAM,CAAC,SAAS,EAAE,CAAC,GAAG,CAAC,CAAC,KAAK,EAAE,EAAE;YAC3C,MAAM,KAAK,GAAG,KAAK,CAAC,QAAQ,EAAE,CAAC;YAC/B,MAAM,QAAQ,GAAG,KAAK,CAAC,QAAQ,EAAE,CAAC;YAClC,OAAO;gBACL,QAAQ,EAAE,CAAC,KAAK,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAU;gBAC9C,QAAQ,EAAE,CAAC,QAAQ,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC,CAAU;gBACvD,KAAK,EAAE,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC,CAAC;aACtD,CAAC;QACJ,CAAC,CAAC,CAAC;IACL,CAAC;IAED,oEAAoE;IACpE,iBAAiB,KAAmB,IAAI,CAAC,YAAY,EAAE,CAAC,CAAC,OAAO,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC;IAC9E,OAAO,KAAW,IAAI,CAAC,IAAI,CAAC,SAAS,EAAE,CAAC;QAAC,IAAI,CAAC,MAAM,CAAC,OAAO,EAAE,CAAC;QAAC,IAAI,CAAC,SAAS,GAAG,IAAI,CAAC;IAAC,CAAC,CAAC,CAAC;IAC1F,YAAY,KAAW,IAAI,IAAI,CAAC,SAAS;QAAE,MAAM,IAAI,KAAK,CAAC,gCAAgC,CAAC,CAAC,CAAC,CAAC;CAChG;AAED,MAAM,OAAO,qBAAqB;IACvB,OAAO,CAAsB;IAC7B,OAAO,CAAe;IACtB,UAAU,CAAmB;IACtC,SAAS,GAAG,KAAK,CAAC;IAElB,YAAY,MAAoB,EAAE,OAAuB,EAAE,SAA2B;QACpF,IAAI,CAAC,OAAO,GAAG,MAAM,CAAC;QACtB,IAAI,CAAC,UAAU,GAAG,SAAS,CAAC;QAC5B,IAAI,CAAC,OAAO,GAAG,IAAI,mBAAmB,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;IAC1D,CAAC;IAED,mBAAmB,CAAC,QAAwB,EAAE,MAAc,EAAE,MAAc;QAC1E,IAAI,CAAC,YAAY,EAAE,CAAC;QACpB,MAAM,MAAM,GAAG,IAAI,CAAC,UAAU,CAAC,mBAAmB,CAAC,MAAM,CAAC,QAAQ,CAAC,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;QACrF,IAAI,CAAC,MAAM,CAAC,OAAO,IAAI,CAAC,MAAM,CAAC,QAAQ;YAAE,MAAM,IAAI,KAAK,CAAC,+CAA+C,MAAM,CAAC,MAAM,GAAG,CAAC,CAAC;QAC1H,OAAO,MAAM,CAAC,QAAQ,CAAC;IACzB,CAAC;IAED,cAAc,CAAC,QAAyB;QACtC,IAAI,CAAC,YAAY,EAAE,CAAC;QACpB,MAAM,MAAM,GAAG,IAAI,CAAC,UAAU,CAAC,cAAc,CAAC,QAAQ,CAAC,CAAC;QACxD,IAAI,CAAC,MAAM,CAAC,OAAO;YAAE,MAAM,IAAI,KAAK,CAAC,8CAA8C,MAAM,CAAC,MAAM,GAAG,CAAC,CAAC;IACvG,CAAC;IAED,MAAM,CAAC,aAAa,GAAG,EAAE;QACvB,IAAI,CAAC,YAAY,EAAE,CAAC;QACpB,KAAK,IAAI,SAAS,GAAG,CAAC,EAAE,SAAS,IAAI,aAAa,EAAE,SAAS,IAAI,CAAC,EAAE,CAAC;YACnE,MAAM,MAAM,GAAG,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,IAAI,CAAC,OAAO,CAAC,mBAAmB,EAAE,CAAC,CAAC;YAC1E,IAAI,CAAC,MAAM,CAAC,OAAO;gBAAE,MAAM,IAAI,KAAK,CAAC,+CAA+C,MAAM,CAAC,MAAM,GAAG,CAAC,CAAC;YACtG,IAAI,MAAM,CAAC,QAAQ;gBAAE,OAAO,SAAS,CAAC;QACxC,CAAC;QACD,MAAM,IAAI,KAAK,CAAC,2CAA2C,aAAa,WAAW,CAAC,CAAC;IACvF,CAAC;IAED,SAAS;QACP,IAAI,CAAC,YAAY,EAAE,CAAC;QACpB,OAAO,IAAI,CAAC,OAAO,CAAC,eAAe,CAAC,IAAI,CAAC,OAAO,CAAC,mBAAmB,EAAE,EAAE,IAAI,CAAC,UAAU,CAAC,CAAC;IAC3F,CAAC;IAED,OAAO;QACL,IAAI,IAAI,CAAC,SAAS;YAAE,OAAO;QAC3B,IAAI,CAAC,UAAU,CAAC,OAAO,EAAE,CAAC;QAC1B,IAAI,CAAC,OAAO,CAAC,OAAO,EAAE,CAAC;QACvB,IAAI,CAAC,SAAS,GAAG,IAAI,CAAC;IACxB,CAAC;IAED,YAAY,KAAW,IAAI,IAAI,CAAC,SAAS;QAAE,MAAM,IAAI,KAAK,CAAC,oCAAoC,CAAC,CAAC,CAAC,CAAC;CACpG;AAED,MAAM,OAAO,gBAAgB;IAClB,OAAO,CAAe;IACtB,WAAW,CAAmB;IACvC,YAAY,MAAoB,EAAE,UAA4B,IAAI,IAAI,CAAC,OAAO,GAAG,MAAM,CAAC,CAAC,IAAI,CAAC,WAAW,GAAG,UAAU,CAAC,CAAC,CAAC;IAEzH,YAAY,CAAC,KAA6B,EAAE,MAA8D;QACxG,MAAM,MAAM,GAAG,IAAI,CAAC,WAAW,CAAC,mBAAmB,CAAC,CAAC,GAAG,KAAK,CAAC,SAAS,CAAC,EAAE,CAAC,GAAG,KAAK,CAAC,OAAO,CAAC,EAAE,MAAM,CAAC,CAAC;QACtG,IAAI,CAAC,MAAM,CAAC,OAAO,IAAI,CAAC,MAAM,CAAC,OAAO;YAAE,MAAM,IAAI,KAAK,CAAC,qCAAqC,MAAM,CAAC,MAAM,CAAC,KAAK,IAAI,eAAe,CAAC,EAAE,CAAC,CAAC;QACxI,OAAO,IAAI,mBAAmB,CAAC,IAAI,CAAC,OAAO,EAAE,MAAM,CAAC,OAAO,CAAC,CAAC;IAC/D,CAAC;IAED,iBAAiB,CAAC,KAA6B,EAAE,SAA+D,EAAE;QAChH,MAAM,MAAM,GAAG,IAAI,CAAC,WAAW,CAAC,iBAAiB,CAAC,KAAK,CAAC,SAAS,EAAE,KAAK,CAAC,OAAO,EAAE,MAAM,CAAC,CAAC;QAC1F,IAAI,CAAC,MAAM,CAAC,OAAO,IAAI,CAAC,MAAM,CAAC,OAAO,IAAI,CAAC,MAAM,CAAC,SAAS;YAAE,MAAM,IAAI,KAAK,CAAC,wCAAwC,MAAM,CAAC,MAAM,CAAC,KAAK,IAAI,eAAe,CAAC,EAAE,CAAC,CAAC;QAChK,OAAO,IAAI,qBAAqB,CAAC,IAAI,CAAC,OAAO,EAAE,MAAM,CAAC,OAAO,EAAE,MAAM,CAAC,SAAS,CAAC,CAAC;IACnF,CAAC;IAED,MAAM,CAAC,KAAiB;QACtB,MAAM,MAAM,GAAG,IAAI,CAAC,OAAO,CAAC,aAAa,CAAC,KAAK,CAAC,CAAC;QACjD,OAAO,IAAI,mBAAmB,CAAC,IAAI,CAAC,OAAO,EAAE,MAAM,CAAC,OAAO,CAAC,CAAC;IAC/D,CAAC;IAED,KAAK,CAAC,WAAW,CAAC,KAAyB,EAAE,UAAwC,EAAE;QACrF,IAAI,KAAK,CAAC,IAAI,KAAK,gBAAgB,IAAI,KAAK,CAAC,IAAI,KAAK,YAAY,IAAI,KAAK,CAAC,MAAM,KAAK,SAAS,EAAE,CAAC;YACjG,MAAM,IAAI,SAAS,CAAC,oFAAoF,CAAC,CAAC;QAC5G,CAAC;QACD,MAAM,UAAU,GAAG,OAAO,CAAC,KAAK,IAAI,CAAC,CAAC,GAAW,EAAE,EAAE,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC;QAClE,MAAM,QAAQ,GAAG,MAAM,UAAU,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;QAC7C,IAAI,CAAC,QAAQ,CAAC,EAAE;YAAE,MAAM,IAAI,KAAK,CAAC,oBAAoB,KAAK,CAAC,EAAE,oBAAoB,QAAQ,CAAC,MAAM,UAAU,KAAK,CAAC,GAAG,GAAG,CAAC,CAAC;QACzH,MAAM,KAAK,GAAG,IAAI,UAAU,CAAC,MAAM,QAAQ,CAAC,WAAW,EAAE,CAAC,CAAC;QAC3D,IAAI,KAAK,CAAC,UAAU,KAAK,CAAC;YAAE,MAAM,IAAI,KAAK,CAAC,oBAAoB,KAAK,CAAC,EAAE,YAAY,CAAC,CAAC;QACtF,IAAI,OAAO,CAAC,UAAU,KAAK,KAAK,IAAI,KAAK,CAAC,IAAI;YAAE,MAAM,yBAAyB,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;QAC9F,OAAO,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC;IAC5B,CAAC;IAED,gFAAgF;IAChF,IAAI,SAAS,KAAmB,OAAO,IAAI,CAAC,OAAO,CAAC,CAAC,CAAC;CACvD;AAED,KAAK,UAAU,yBAAyB,CAAC,KAAyB,EAAE,KAAiB;IACnF,MAAM,QAAQ,GAAG,KAAK,CAAC,IAAI,EAAE,KAAK,CAAC,0BAA0B,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,WAAW,EAAE,CAAC;IACnF,IAAI,CAAC,QAAQ;QAAE,MAAM,IAAI,KAAK,CAAC,oBAAoB,KAAK,CAAC,EAAE,2EAA2E,CAAC,CAAC;IACxI,IAAI,CAAC,UAAU,CAAC,MAAM,EAAE,MAAM;QAAE,MAAM,IAAI,KAAK,CAAC,oBAAoB,KAAK,CAAC,EAAE,2DAA2D,CAAC,CAAC;IACzI,MAAM,MAAM,GAAG,IAAI,UAAU,CAAC,MAAM,UAAU,CAAC,MAAM,CAAC,MAAM,CAAC,MAAM,CAAC,SAAS,EAAE,UAAU,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC;IAC/G,MAAM,MAAM,GAAG,CAAC,GAAG,MAAM,CAAC,CAAC,GAAG,CAAC,CAAC,KAAK,EAAE,EAAE,CAAC,KAAK,CAAC,QAAQ,CAAC,EAAE,CAAC,CAAC,QAAQ,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC;IACxF,IAAI,MAAM,KAAK,QAAQ;QAAE,MAAM,IAAI,KAAK,CAAC,oBAAoB,KAAK,CAAC,EAAE,+BAA+B,CAAC,CAAC;AACxG,CAAC;AAED;;;;;;;GAOG;AACH;;;;;;;;GAQG;AACH,MAAM,CAAC,KAAK,UAAU,sBAAsB,CAAC,UAAmC,EAAE;IAChF,IAAI,MAAoB,CAAC;IACzB,IAAI,CAAC;QACH,MAAM,GAAG,MAAM,CAAC,OAAO,CAAC,YAAY,IAAI,CAAC,GAAG,EAAE,CAAC,MAAM,CAAC,mBAAmB,CAAC,CAAC,CAAC,EAAE,CAAC;QAC/E,MAAM,MAAM,CAAC,IAAI,EAAE,CAAC;IACtB,CAAC;IAAC,OAAO,KAAK,EAAE,CAAC;QACf,MAAM,IAAI,KAAK,CACb,sGAAsG;YACtG,qGAAqG;YACrG,UAAU,KAAK,YAAY,KAAK,CAAC,CAAC,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,KAAK,CAAC,EAAE,CACnE,CAAC;IACJ,CAAC;IACD,IAAI,UAA4B,CAAC;IACjC,IAAI,CAAC;QACH,UAAU,GAAG,MAAM,CAAC,OAAO,CAAC,eAAe,IAAI,CAAC,GAAG,EAAE,CAAC,MAAM,CAAC,8BAA8B,CAAC,CAAC,CAAC,EAAE,CAAC;IACnG,CAAC;IAAC,OAAO,KAAK,EAAE,CAAC;QACf,MAAM,IAAI,KAAK,CACb,kGAAkG;YAClG,UAAU,KAAK,YAAY,KAAK,CAAC,CAAC,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,KAAK,CAAC,EAAE,CACnE,CAAC;IACJ,CAAC;IACD,OAAO,IAAI,gBAAgB,CAAC,MAAM,EAAE,UAAU,CAAC,CAAC;AAClD,CAAC"}

package/dist/physics/PhysicalCharacterController.d.ts

@@ -0,0 +1,93 @@
+import type { Vec3 } from "./Shape.js";
+/**
+ * Contract area 5 — a physical character moving through a collider world.
+ *
+ * Aura3D's existing character helpers under this area are authored-unit arcade
+ * controllers: they resolve against route-authored ledges and make no claim about
+ * mass or contact. A platformer that wants grounding, slope limits, auto-step over
+ * real geometry and snap-to-ground on descent needs the solver-backed surface, and
+ * until now nothing public offered it — so routes hand-rolled kinematic tracing and
+ * the visible world and the collision world could drift apart.
+ *
+ * `move` takes a desired displacement for the step and returns what the solver
+ * actually allowed, plus the grounding result. Games must render from `applied` /
+ * `position`, never from their own copy of the request, or they reintroduce two
+ * transform authorities.
+ *
+ * The implementation is bridged from `PhysicsWorld`, the only module that reaches
+ * the backend.
+ */
+export interface PhysicsCharacterControllerDescriptor {
+    /** Skin width used to keep the character from embedding into geometry. */
+    readonly offset?: number;
+    /** Step height the character can walk up without jumping. */
+    readonly autoStepHeight?: number;
+    /** Minimum horizontal room a step needs to be walkable. */
+    readonly autoStepMinWidth?: number;
+    /** Let the controller push loose dynamic bodies out of the way. */
+    readonly autoStepIncludeDynamicBodies?: boolean;
+    /** Steepest slope, in radians, the character can stand on. */
+    readonly maxSlopeClimbAngle?: number;
+    /** Distance the controller snaps down onto ground while descending. */
+    readonly snapToGroundDistance?: number;
+    /** Steepest slope, in radians, at which the character slides instead of standing still. */
+    readonly minSlopeSlideAngle?: number;
+    /** Whether the solver may convert an unsupported move into a slope slide. Defaults to true. */
+    readonly slideEnabled?: boolean;
+    /** Mass, in kilograms, used when the character pushes a dynamic body. */
+    readonly characterMass?: number;
+    /** Whether the character physically shoves loose dynamic bodies. */
+    readonly applyImpulsesToDynamicBodies?: boolean;
+}
+export interface PhysicsCharacterMovement {
+    /** The displacement that was asked for. */
+    readonly requested: Vec3;
+    /** The displacement actually taken after contacts. Render from this. */
+    readonly applied: Vec3;
+    readonly grounded: boolean;
+    readonly collisions: number;
+    /** Authoritative post-step position. */
+    readonly position: Vec3;
+}
+/**
+ * A character whose position Rapier owns.
+ *
+ * The split this encodes is deliberate and is the only one that keeps one transform
+ * authority: the *intent* (input plus a gravity integration, in units per second) is
+ * authored by the game, and the *result* (where the capsule ends up, whether it is
+ * standing, whether a slope is too steep) comes back from the collider solver. A route
+ * that also wrote its own position was a second authority, which is exactly how a
+ * visible ledge and a collision ledge end up at different heights.
+ */
+export interface PhysicsCharacterController {
+    /** The collider body that represents the character. Must be kinematic. */
+    readonly bodyId: number;
+    setAutoStep(height: number, minWidth: number, includeDynamicBodies?: boolean): this;
+    setMaxSlopeClimbAngle(radians: number): this;
+    /** Steepest angle at which the character slides rather than standing still. */
+    setMinSlopeSlideAngle(radians: number): this;
+    setSnapToGround(distance: number): this;
+    /** Turn slope sliding off entirely. On a slope the character then sticks, which is rarely wanted. */
+    setSlideEnabled(enabled: boolean): this;
+    /** Mass used when the character shoves a loose dynamic body. */
+    setCharacterMass(mass: number): this;
+    /** Whether touching a dynamic body actually moves it. */
+    setApplyImpulsesToDynamicBodies(enabled: boolean): this;
+    /**
+     * Moves the character by `desired` and reports what the world allowed.
+     * Call once per fixed step, then read `position` / `grounded`.
+     */
+    move(desired: Vec3): PhysicsCharacterMovement;
+    position(): Vec3;
+    /** Grounding from the last `move`. Never re-queries the solver, so it is safe to call from a HUD. */
+    grounded(): boolean;
+    /**
+     * Teleport and forget the queued kinematic step — a respawn or a reset.
+     *
+     * Writing only the mesh leaves Rapier's queued translation in flight, which drags
+     * the character back toward wherever the pre-respawn movement was headed.
+     */
+    resetTo(position: Vec3): Vec3;
+    dispose(): void;
+}
+//# sourceMappingURL=PhysicalCharacterController.d.ts.map

package/dist/physics/PhysicalCharacterController.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"PhysicalCharacterController.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/PhysicalCharacterController.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,YAAY,CAAC;AAEvC;;;;;;;;;;;;;;;;;GAiBG;AAEH,MAAM,WAAW,oCAAoC;IACnD,0EAA0E;IAC1E,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,6DAA6D;IAC7D,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,2DAA2D;IAC3D,QAAQ,CAAC,gBAAgB,CAAC,EAAE,MAAM,CAAC;IACnC,mEAAmE;IACnE,QAAQ,CAAC,4BAA4B,CAAC,EAAE,OAAO,CAAC;IAChD,8DAA8D;IAC9D,QAAQ,CAAC,kBAAkB,CAAC,EAAE,MAAM,CAAC;IACrC,uEAAuE;IACvE,QAAQ,CAAC,oBAAoB,CAAC,EAAE,MAAM,CAAC;IACvC,2FAA2F;IAC3F,QAAQ,CAAC,kBAAkB,CAAC,EAAE,MAAM,CAAC;IACrC,+FAA+F;IAC/F,QAAQ,CAAC,YAAY,CAAC,EAAE,OAAO,CAAC;IAChC,yEAAyE;IACzE,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;IAChC,oEAAoE;IACpE,QAAQ,CAAC,4BAA4B,CAAC,EAAE,OAAO,CAAC;CACjD;AAED,MAAM,WAAW,wBAAwB;IACvC,2CAA2C;IAC3C,QAAQ,CAAC,SAAS,EAAE,IAAI,CAAC;IACzB,wEAAwE;IACxE,QAAQ,CAAC,OAAO,EAAE,IAAI,CAAC;IACvB,QAAQ,CAAC,QAAQ,EAAE,OAAO,CAAC;IAC3B,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;IAC5B,wCAAwC;IACxC,QAAQ,CAAC,QAAQ,EAAE,IAAI,CAAC;CACzB;AAED;;;;;;;;;GASG;AACH,MAAM,WAAW,0BAA0B;IACzC,0EAA0E;IAC1E,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,WAAW,CAAC,MAAM,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,EAAE,oBAAoB,CAAC,EAAE,OAAO,GAAG,IAAI,CAAC;IACpF,qBAAqB,CAAC,OAAO,EAAE,MAAM,GAAG,IAAI,CAAC;IAC7C,+EAA+E;IAC/E,qBAAqB,CAAC,OAAO,EAAE,MAAM,GAAG,IAAI,CAAC;IAC7C,eAAe,CAAC,QAAQ,EAAE,MAAM,GAAG,IAAI,CAAC;IACxC,qGAAqG;IACrG,eAAe,CAAC,OAAO,EAAE,OAAO,GAAG,IAAI,CAAC;IACxC,gEAAgE;IAChE,gBAAgB,CAAC,IAAI,EAAE,MAAM,GAAG,IAAI,CAAC;IACrC,yDAAyD;IACzD,+BAA+B,CAAC,OAAO,EAAE,OAAO,GAAG,IAAI,CAAC;IACxD;;;OAGG;IACH,IAAI,CAAC,OAAO,EAAE,IAAI,GAAG,wBAAwB,CAAC;IAC9C,QAAQ,IAAI,IAAI,CAAC;IACjB,qGAAqG;IACrG,QAAQ,IAAI,OAAO,CAAC;IACpB;;;;;OAKG;IACH,OAAO,CAAC,QAAQ,EAAE,IAAI,GAAG,IAAI,CAAC;IAC9B,OAAO,IAAI,IAAI,CAAC;CACjB"}

package/dist/physics/PhysicalCharacterController.js

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=PhysicalCharacterController.js.map

package/dist/physics/PhysicalCharacterController.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"PhysicalCharacterController.js","sourceRoot":"","sources":["../../../../packages/physics/src/PhysicalCharacterController.ts"],"names":[],"mappings":""}

package/dist/physics/PhysicalVehicleController.d.ts

@@ -0,0 +1,140 @@
+import type { Vec3 } from "./Shape.js";
+/**
+ * Contract area 6 — a physical, suspension-backed vehicle.
+ *
+ * This file deliberately names no solver. Aura3D already had arcade vehicle
+ * helpers, but they integrate authored speed/steer curves and never claim tyre,
+ * mass or suspension semantics, so a route that wants a vehicle that is actually
+ * planted had nothing public to build on. This is the neutral surface for that:
+ * wheels are described in chassis-local space, drive input is per-wheel, and the
+ * grounding state a game needs for drift/airborne feedback is readable.
+ *
+ * The implementation is bridged from `PhysicsWorld`, which is the only module
+ * allowed to reach the backend.
+ */
+/** Where a wheel sits on the chassis and how its suspension pushes. */
+export interface PhysicsWheelSpec {
+    /** Wheel mount point, chassis-local. */
+    readonly connection: Vec3;
+    /** Suspension travel direction, chassis-local — usually straight down. */
+    readonly direction: Vec3;
+    /** Wheel spin axis, chassis-local — usually across the car. */
+    readonly axle: Vec3;
+    /** Natural spring length in metres. */
+    readonly restLength: number;
+    readonly radius: number;
+    readonly suspensionStiffness?: number;
+    readonly suspensionCompression?: number;
+    readonly suspensionRelaxation?: number;
+    readonly maxSuspensionTravel?: number;
+    readonly maxSuspensionForce?: number;
+    /**
+     * Tyre traction. Larger grips harder; smaller lets the tyre break loose.
+     *
+     * This is the direction the solver defines, and it is the opposite of what a
+     * "slip constant" sounds like. A drift or handbrake is therefore a *reduction*
+     * of this value; raising it to "make it slide" does the reverse and produces a
+     * car that will not step out at all.
+     */
+    readonly frictionSlip?: number;
+    readonly sideFrictionStiffness?: number;
+}
+export interface PhysicsWheelTuning {
+    readonly suspensionStiffness?: number;
+    readonly suspensionCompression?: number;
+    readonly suspensionRelaxation?: number;
+    readonly maxSuspensionTravel?: number;
+    readonly maxSuspensionForce?: number;
+    readonly frictionSlip?: number;
+    readonly sideFrictionStiffness?: number;
+}
+/**
+ * Per-wheel drive input for one step. Only the supplied fields are written, so
+ * steering does not disturb throttle. `engineForce` is newtons, `brake` is an
+ * impulse-scale scalar, `steering` is radians.
+ */
+export interface PhysicsWheelCommand {
+    readonly engineForce?: number;
+    readonly brake?: number;
+    readonly steering?: number;
+}
+export interface PhysicsWheelState {
+    readonly index: number;
+    /** False means this wheel is in the air and contributes no force. */
+    readonly grounded: boolean;
+    readonly contactPoint: Vec3 | null;
+    readonly contactNormal: Vec3 | null;
+    readonly engineForce: number;
+    readonly brake: number;
+    readonly steering: number;
+    readonly suspensionLength: number;
+    readonly rotation: number;
+    readonly frictionSlip: number;
+    /** Force the spring is carrying right now. All four at zero means the car is not supported. */
+    readonly suspensionForce: number;
+    /** Tyre impulse along its rolling direction: the drive and braking traction actually realized. */
+    readonly forwardImpulse: number;
+    /** Tyre impulse across its rolling direction: the lateral grip realized. This is the honest slip signal. */
+    readonly sideImpulse: number;
+    /**
+     * Handle of the collider this tyre is resting on, or `null` in the air.
+     *
+     * A game registers the road and verge colliders and reads this to decide
+     * "on asphalt" from the thing physically holding the car, instead of sampling
+     * its own copy of the track and drifting away from the art.
+     */
+    readonly groundColliderHandle: number | null;
+}
+/** Full physical state to put a chassis back into. Reset is not valid without all of it. */
+export interface PhysicsVehiclePose {
+    readonly position: Vec3;
+    /** Defaults to upright. */
+    readonly rotation?: readonly [number, number, number, number];
+    /** Defaults to zero. A respawn that keeps the old velocity drives off the spawn point. */
+    readonly linearVelocity?: Vec3;
+    /** Defaults to zero. */
+    readonly angularVelocity?: Vec3;
+}
+/** Chassis-local axis index: 0 = x, 1 = y, 2 = z. */
+export type PhysicsVehicleAxis = 0 | 1 | 2;
+export interface PhysicsVehicleController {
+    readonly wheelCount: number;
+    addWheel(spec: PhysicsWheelSpec): this;
+    setWheelTuning(index: number, tuning: PhysicsWheelTuning): this;
+    setWheelCommand(index: number, command: PhysicsWheelCommand): this;
+    /** Same brake on every wheel — the handbrake and full-stop case. */
+    setBrakes(brake: number): this;
+    /** Chassis-local up axis. Getting this wrong makes the car hover or sink. */
+    setAxes(up: PhysicsVehicleAxis, forward: PhysicsVehicleAxis): this;
+    wheelState(index: number): PhysicsWheelState;
+    wheelStates(): readonly PhysicsWheelState[];
+    /** True while any tyre is on the ground — the airborne/drift test. */
+    isGrounded(): boolean;
+    groundedWheelCount(): number;
+    /** Signed speed along the chassis forward axis. */
+    currentSpeed(): number;
+    /** Advances the suspension and tyre model. Call once per fixed step, before the world step. */
+    step(dt: number): void;
+    /**
+     * The transform authority, read back.
+     *
+     * A game renders from these (or from the equivalent `RigidBody` fields the world
+     * syncs after `step`) and never writes the chassis to chase an authored pose.
+     */
+    position(): Vec3;
+    rotation(): readonly [number, number, number, number];
+    linearVelocity(): Vec3;
+    angularVelocity(): Vec3;
+    /**
+     * Put the chassis into a complete physical state and release every drive input.
+     *
+     * This is the reset a restart needs: position, rotation, both velocities, the sleep
+     * state, and the throttle/brake/steering that would otherwise resume on frame one.
+     * Moving the rendered mesh alone leaves the solver driving the old state.
+     */
+    resetToPose(pose: PhysicsVehiclePose): this;
+    /** Zero engine force, brake and steering on every wheel, leaving the chassis where it is. */
+    clearCommands(): this;
+    dispose(): void;
+}
+//# sourceMappingURL=PhysicalVehicleController.d.ts.map

package/dist/physics/PhysicalVehicleController.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"PhysicalVehicleController.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/PhysicalVehicleController.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,YAAY,CAAC;AAEvC;;;;;;;;;;;;GAYG;AAEH,uEAAuE;AACvE,MAAM,WAAW,gBAAgB;IAC/B,wCAAwC;IACxC,QAAQ,CAAC,UAAU,EAAE,IAAI,CAAC;IAC1B,0EAA0E;IAC1E,QAAQ,CAAC,SAAS,EAAE,IAAI,CAAC;IACzB,+DAA+D;IAC/D,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC;IACpB,uCAAuC;IACvC,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;IAC5B,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,mBAAmB,CAAC,EAAE,MAAM,CAAC;IACtC,QAAQ,CAAC,qBAAqB,CAAC,EAAE,MAAM,CAAC;IACxC,QAAQ,CAAC,oBAAoB,CAAC,EAAE,MAAM,CAAC;IACvC,QAAQ,CAAC,mBAAmB,CAAC,EAAE,MAAM,CAAC;IACtC,QAAQ,CAAC,kBAAkB,CAAC,EAAE,MAAM,CAAC;IACrC;;;;;;;OAOG;IACH,QAAQ,CAAC,YAAY,CAAC,EAAE,MAAM,CAAC;IAC/B,QAAQ,CAAC,qBAAqB,CAAC,EAAE,MAAM,CAAC;CACzC;AAED,MAAM,WAAW,kBAAkB;IACjC,QAAQ,CAAC,mBAAmB,CAAC,EAAE,MAAM,CAAC;IACtC,QAAQ,CAAC,qBAAqB,CAAC,EAAE,MAAM,CAAC;IACxC,QAAQ,CAAC,oBAAoB,CAAC,EAAE,MAAM,CAAC;IACvC,QAAQ,CAAC,mBAAmB,CAAC,EAAE,MAAM,CAAC;IACtC,QAAQ,CAAC,kBAAkB,CAAC,EAAE,MAAM,CAAC;IACrC,QAAQ,CAAC,YAAY,CAAC,EAAE,MAAM,CAAC;IAC/B,QAAQ,CAAC,qBAAqB,CAAC,EAAE,MAAM,CAAC;CACzC;AAED;;;;GAIG;AACH,MAAM,WAAW,mBAAmB;IAClC,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;CAC5B;AAED,MAAM,WAAW,iBAAiB;IAChC,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,qEAAqE;IACrE,QAAQ,CAAC,QAAQ,EAAE,OAAO,CAAC;IAC3B,QAAQ,CAAC,YAAY,EAAE,IAAI,GAAG,IAAI,CAAC;IACnC,QAAQ,CAAC,aAAa,EAAE,IAAI,GAAG,IAAI,CAAC;IACpC,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,gBAAgB,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;IAC9B,+FAA+F;IAC/F,QAAQ,CAAC,eAAe,EAAE,MAAM,CAAC;IACjC,kGAAkG;IAClG,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,4GAA4G;IAC5G,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B;;;;;;OAMG;IACH,QAAQ,CAAC,oBAAoB,EAAE,MAAM,GAAG,IAAI,CAAC;CAC9C;AAED,4FAA4F;AAC5F,MAAM,WAAW,kBAAkB;IACjC,QAAQ,CAAC,QAAQ,EAAE,IAAI,CAAC;IACxB,2BAA2B;IAC3B,QAAQ,CAAC,QAAQ,CAAC,EAAE,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IAC9D,0FAA0F;IAC1F,QAAQ,CAAC,cAAc,CAAC,EAAE,IAAI,CAAC;IAC/B,wBAAwB;IACxB,QAAQ,CAAC,eAAe,CAAC,EAAE,IAAI,CAAC;CACjC;AAED,qDAAqD;AACrD,MAAM,MAAM,kBAAkB,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC;AAE3C,MAAM,WAAW,wBAAwB;IACvC,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;IAC5B,QAAQ,CAAC,IAAI,EAAE,gBAAgB,GAAG,IAAI,CAAC;IACvC,cAAc,CAAC,KAAK,EAAE,MAAM,EAAE,MAAM,EAAE,kBAAkB,GAAG,IAAI,CAAC;IAChE,eAAe,CAAC,KAAK,EAAE,MAAM,EAAE,OAAO,EAAE,mBAAmB,GAAG,IAAI,CAAC;IACnE,oEAAoE;IACpE,SAAS,CAAC,KAAK,EAAE,MAAM,GAAG,IAAI,CAAC;IAC/B,6EAA6E;IAC7E,OAAO,CAAC,EAAE,EAAE,kBAAkB,EAAE,OAAO,EAAE,kBAAkB,GAAG,IAAI,CAAC;IACnE,UAAU,CAAC,KAAK,EAAE,MAAM,GAAG,iBAAiB,CAAC;IAC7C,WAAW,IAAI,SAAS,iBAAiB,EAAE,CAAC;IAC5C,sEAAsE;IACtE,UAAU,IAAI,OAAO,CAAC;IACtB,kBAAkB,IAAI,MAAM,CAAC;IAC7B,mDAAmD;IACnD,YAAY,IAAI,MAAM,CAAC;IACvB,+FAA+F;IAC/F,IAAI,CAAC,EAAE,EAAE,MAAM,GAAG,IAAI,CAAC;IACvB;;;;;OAKG;IACH,QAAQ,IAAI,IAAI,CAAC;IACjB,QAAQ,IAAI,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACtD,cAAc,IAAI,IAAI,CAAC;IACvB,eAAe,IAAI,IAAI,CAAC;IACxB;;;;;;OAMG;IACH,WAAW,CAAC,IAAI,EAAE,kBAAkB,GAAG,IAAI,CAAC;IAC5C,6FAA6F;IAC7F,aAAa,IAAI,IAAI,CAAC;IACtB,OAAO,IAAI,IAAI,CAAC;CACjB"}

package/dist/physics/PhysicalVehicleController.js

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=PhysicalVehicleController.js.map

package/dist/physics/PhysicalVehicleController.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"PhysicalVehicleController.js","sourceRoot":"","sources":["../../../../packages/physics/src/PhysicalVehicleController.ts"],"names":[],"mappings":""}

package/dist/physics/PhysicsWorld.d.ts

@@ -3,6 +3,8 @@ import { type CollisionEvent, type Contact } from "./CollisionEvents.js";
 import { Constraint, type ConstraintDescriptor } from "./Constraint.js";
 import { type RaycastHit, type RaycastOptions, type SphereCastHit } from "./Raycast.js";
 import { RigidBody, type RigidBodyDescriptor, type RigidBodySnapshot } from "./RigidBody.js";
+import type { PhysicsCharacterController, PhysicsCharacterControllerDescriptor } from "./PhysicalCharacterController.js";
+import type { PhysicsVehicleController } from "./PhysicalVehicleController.js";
 import { type Vec3 } from "./Shape.js";
 export type PhysicsContinuousCollisionDescriptor = {
     /**
@@ -126,6 +128,8 @@ export declare class PhysicsWorld {
     private readonly rapierBodiesByAuraId;
     private readonly rapierCollidersByAuraId;
     private readonly rapierJointsByConstraint;
+    private readonly vehicleControllers;
+    private readonly characterControllers;
     private nextBodyId;
     private nextColliderId;
     private lastEvents;
@@ -137,6 +141,22 @@ export declare class PhysicsWorld {
     createRigidBody(descriptor?: RigidBodyDescriptor): RigidBody;
     createCollider(body: RigidBody | number, descriptor: ColliderDescriptor): Collider;
     createConstraint(descriptor: ConstraintDescriptor): Constraint;
+    /**
+     * Attach a suspension-backed vehicle to a chassis body.
+     *
+     * The returned controller is the transform authority for the chassis: a game
+     * calls `step(dt)` then `world.step()` and renders from the body, rather than
+     * integrating its own velocity.
+     */
+    createVehicleController(chassis: RigidBody | number): PhysicsVehicleController;
+    /**
+     * Attach a solver-backed character controller to a capsule body.
+     *
+     * `move` returns the displacement the world allowed; callers must render from
+     * the reported position instead of applying their own request a second time.
+     */
+    createCharacterController(body: RigidBody | number, descriptor?: PhysicsCharacterControllerDescriptor): PhysicsCharacterController;
+    private rapierCollidersOf;
     /**
      * Change world gravity after construction.
      *

package/dist/physics/PhysicsWorld.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"PhysicsWorld.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/PhysicsWorld.ts"],"names":[],"mappings":"AAOA,OAAO,EAAE,QAAQ,EAAE,KAAK,kBAAkB,EAAE,MAAM,eAAe,CAAC;AAClE,OAAO,EAAuB,KAAK,cAAc,EAAE,KAAK,OAAO,EAAE,MAAM,sBAAsB,CAAC;AAC9F,OAAO,EAAE,UAAU,EAAE,KAAK,oBAAoB,EAAE,MAAM,iBAAiB,CAAC;AACxE,OAAO,EAAuC,KAAK,UAAU,EAAE,KAAK,cAAc,EAAE,KAAK,aAAa,EAAE,MAAM,cAAc,CAAC;AAC7H,OAAO,EAAE,SAAS,EAAE,KAAK,mBAAmB,EAAE,KAAK,iBAAiB,EAAE,MAAM,gBAAgB,CAAC;AAC7F,OAAO,EAAyH,KAAK,IAAI,EAAE,MAAM,YAAY,CAAC;AAG9J,MAAM,MAAM,oCAAoC,GAAG;IACjD;;;OAGG;IACH,QAAQ,CAAC,IAAI,EAAE,mBAAmB,CAAC;IACnC;;;;OAIG;IACH,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B;;;OAGG;IACH,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,cAAc,CAAC,EAAE,OAAO,GAAG,OAAO,CAAC;CAC7C,CAAC;AAEF,MAAM,MAAM,mCAAmC,GAAG;IAChD,QAAQ,CAAC,MAAM,EAAE,OAAO,CAAC;IACzB,QAAQ,CAAC,IAAI,EAAE,UAAU,GAAG,mBAAmB,CAAC;IAChD,QAAQ,CAAC,QAAQ,EAAE,MAAM,GAAG,qCAAqC,CAAC;IAClE,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,eAAe,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,cAAc,EAAE,OAAO,GAAG,OAAO,CAAC;IAC3C,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,oBAAoB,EAAE,MAAM,CAAC;IACtC,QAAQ,CAAC,aAAa,EAAE,MAAM,CAAC;IAC/B,QAAQ,CAAC,sBAAsB,CAAC,EAAE,MAAM,CAAC;IACzC,QAAQ,CAAC,gBAAgB,CAAC,EAAE,MAAM,CAAC;IACnC,QAAQ,CAAC,aAAa,EAAE,OAAO,CAAC;CACjC,CAAC;AAEF,MAAM,MAAM,sBAAsB,GAAG;IACnC,QAAQ,CAAC,OAAO,CAAC,EAAE,wBAAwB,CAAC;IAC5C,QAAQ,CAAC,OAAO,CAAC,EAAE,IAAI,CAAC;IACxB,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,gBAAgB,CAAC,EAAE,MAAM,CAAC;IACnC,QAAQ,CAAC,cAAc,CAAC,EAAE,OAAO,CAAC;IAClC;;;;;;;;;OASG;IACH,QAAQ,CAAC,IAAI,CAAC,EAAE,MAAM,CAAC;IACvB,8FAA8F;IAC9F,QAAQ,CAAC,sBAAsB,CAAC,EAAE,MAAM,CAAC;IACzC,yFAAyF;IACzF,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,mBAAmB,CAAC,EAAE,oCAAoC,CAAC;CACrE,CAAC;AAEF;;;;;;;;;;;;;GAaG;AACH,MAAM,MAAM,cAAc,GAAG,QAAQ,CAAC;AACtC,MAAM,MAAM,wBAAwB,GAAG,cAAc,GAAG,MAAM,CAAC;AAE/D,MAAM,MAAM,uBAAuB,GAAG;IACpC,QAAQ,CAAC,SAAS,EAAE,wBAAwB,CAAC;IAC7C,QAAQ,CAAC,MAAM,EAAE,cAAc,CAAC;IAChC,QAAQ,CAAC,aAAa,EAAE,OAAO,CAAC;IAChC,QAAQ,CAAC,mBAAmB,EAAE,mCAAmC,CAAC;IAClE,+EAA+E;IAC/E,QAAQ,CAAC,IAAI,CAAC,EAAE,MAAM,CAAC;CACxB,CAAC;AAEF,MAAM,MAAM,gBAAgB,GAAG;IAC7B,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,eAAe,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,yBAAyB,EAAE,MAAM,CAAC;IAC3C,QAAQ,CAAC,2BAA2B,EAAE,MAAM,CAAC;IAC7C,QAAQ,CAAC,wBAAwB,EAAE,MAAM,CAAC;IAC1C,QAAQ,CAAC,mBAAmB,EAAE,MAAM,CAAC;IACrC,QAAQ,CAAC,0BAA0B,EAAE,MAAM,CAAC;IAC5C,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,aAAa,EAAE,MAAM,CAAC;IAC/B,QAAQ,CAAC,qBAAqB,EAAE,MAAM,CAAC;CACxC,CAAC;AAEF,MAAM,MAAM,eAAe,GAAG;IAC5B,QAAQ,CAAC,OAAO,EAAE,uBAAuB,CAAC;IAC1C,QAAQ,CAAC,MAAM,EAAE,SAAS,iBAAiB,EAAE,CAAC;IAC9C,QAAQ,CAAC,QAAQ,EAAE,SAAS,OAAO,EAAE,CAAC;IACtC,QAAQ,CAAC,KAAK,EAAE,gBAAgB,CAAC;CAClC,CAAC;AAEF,qBAAa,YAAY;IACvB,QAAQ,CAAC,OAAO,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IAC3C,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;IAC5B,OAAO,CAAC,QAAQ,CAAC,gBAAgB,CAAS;IAC1C,OAAO,CAAC,QAAQ,CAAC,cAAc,CAAU;IACzC,OAAO,CAAC,QAAQ,CAAC,mBAAmB,CAA0C;IAC9E,OAAO,CAAC,QAAQ,CAAC,UAAU,CAAgC;IAC3D,OAAO,CAAC,QAAQ,CAAC,aAAa,CAA+B;IAC7D,OAAO,CAAC,QAAQ,CAAC,eAAe,CAAoB;IACpD,OAAO,CAAC,QAAQ,CAAC,aAAa,CAAkC;IAChE,OAAO,CAAC,QAAQ,CAAC,UAAU,CAA6B;IACxD,OAAO,CAAC,QAAQ,CAAC,gBAAgB,CAA2B;IAC5D,OAAO,CAAC,gBAAgB,CAA0B;IAClD,OAAO,CAAC,QAAQ,CAAC,WAAW,CAAqB;IACjD,uFAAuF;IACvF,QAAQ,CAAC,IAAI,CAAC,EAAE,MAAM,CAAC;IACvB,OAAO,CAAC,QAAQ,CAAC,oBAAoB,CAAuC;IAC5E,OAAO,CAAC,QAAQ,CAAC,uBAAuB,CAA2C;IACnF,OAAO,CAAC,QAAQ,CAAC,wBAAwB,CAA4C;IACrF,OAAO,CAAC,UAAU,CAAK;IACvB,OAAO,CAAC,cAAc,CAAK;IAC3B,OAAO,CAAC,UAAU,CAAiC;IACnD,OAAO,CAAC,mBAAmB,CAAK;IAChC,OAAO,CAAC,qBAAqB,CAA+C;IAC5E,OAAO,CAAC,2BAA2B,CAAmE;IACtG,OAAO,CAAC,KAAK,CAAK;gBAEN,UAAU,GAAE,sBAA2B;IA8CnD,eAAe,CAAC,UAAU,GAAE,mBAAwB,GAAG,SAAS;IAuBhE,cAAc,CAAC,IAAI,EAAE,SAAS,GAAG,MAAM,EAAE,UAAU,EAAE,kBAAkB,GAAG,QAAQ;IAuBlF,gBAAgB,CAAC,UAAU,EAAE,oBAAoB,GAAG,UAAU;IAU9D;;;;;;OAMG;IACH,UAAU,CAAC,OAAO,EAAE,IAAI,GAAG,IAAI;IAQ/B,OAAO,CAAC,EAAE,EAAE,MAAM,GAAG,SAAS,GAAG,SAAS;IAI1C,WAAW,CAAC,EAAE,EAAE,MAAM,GAAG,QAAQ,GAAG,SAAS;IAI7C,MAAM,IAAI,SAAS,SAAS,EAAE;IAI9B,SAAS,IAAI,SAAS,QAAQ,EAAE;IAIhC,OAAO,CAAC,UAAU;IAIlB,OAAO,CAAC,cAAc;IAItB,WAAW,IAAI,SAAS,UAAU,EAAE;IAIpC,eAAe,CAAC,EAAE,EAAE,MAAM,GAAG,IAAI;IAuBjC,cAAc,CAAC,EAAE,EAAE,MAAM,GAAG,IAAI;IAgBhC,IAAI,CAAC,EAAE,SAAkB,GAAG,SAAS,cAAc,EAAE;IAOrD,WAAW,IAAI,SAAS,cAAc,EAAE;IAMxC,OAAO,CAAC,MAAM,EAAE,IAAI,EAAE,SAAS,EAAE,IAAI,EAAE,OAAO,GAAE,cAAmB,GAAG,UAAU,GAAG,SAAS;IAK5F,UAAU,CAAC,MAAM,EAAE,IAAI,EAAE,SAAS,EAAE,IAAI,EAAE,OAAO,GAAE,cAAmB,GAAG,SAAS,UAAU,EAAE;IAoB9F,UAAU,CAAC,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,MAAM,EAAE,SAAS,EAAE,IAAI,EAAE,OAAO,GAAE,cAAmB,GAAG,aAAa,GAAG,SAAS;IAIlH,aAAa,CAAC,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,MAAM,EAAE,SAAS,EAAE,IAAI,EAAE,OAAO,GAAE,cAAmB,GAAG,SAAS,aAAa,EAAE;IAoBpH,QAAQ,IAAI,eAAe;IA8B3B,mFAAmF;IACnF,OAAO,IAAI,IAAI;IAYf,OAAO,CAAC,cAAc;IA4CtB,OAAO,CAAC,qBAAqB;IA2D7B,OAAO,CAAC,iBAAiB;IAuBzB,OAAO,CAAC,uBAAuB;IAmB/B,OAAO,CAAC,cAAc;IA6CtB,OAAO,CAAC,2BAA2B;IAqCnC,OAAO,CAAC,oBAAoB;IAmC5B,OAAO,CAAC,6BAA6B;IAUrC,OAAO,CAAC,6BAA6B;IAUrC,OAAO,CAAC,kBAAkB;IAS1B,OAAO,CAAC,4BAA4B;CAqBrC"}
+{"version":3,"file":"PhysicsWorld.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/PhysicsWorld.ts"],"names":[],"mappings":"AASA,OAAO,EAAE,QAAQ,EAAE,KAAK,kBAAkB,EAAE,MAAM,eAAe,CAAC;AAClE,OAAO,EAAuB,KAAK,cAAc,EAAE,KAAK,OAAO,EAAE,MAAM,sBAAsB,CAAC;AAC9F,OAAO,EAAE,UAAU,EAAE,KAAK,oBAAoB,EAAE,MAAM,iBAAiB,CAAC;AACxE,OAAO,EAAuC,KAAK,UAAU,EAAE,KAAK,cAAc,EAAE,KAAK,aAAa,EAAE,MAAM,cAAc,CAAC;AAC7H,OAAO,EAAE,SAAS,EAAE,KAAK,mBAAmB,EAAE,KAAK,iBAAiB,EAAE,MAAM,gBAAgB,CAAC;AAC7F,OAAO,KAAK,EAAE,0BAA0B,EAAE,oCAAoC,EAAE,MAAM,kCAAkC,CAAC;AACzH,OAAO,KAAK,EAAE,wBAAwB,EAAE,MAAM,gCAAgC,CAAC;AAC/E,OAAO,EAAyH,KAAK,IAAI,EAAE,MAAM,YAAY,CAAC;AAG9J,MAAM,MAAM,oCAAoC,GAAG;IACjD;;;OAGG;IACH,QAAQ,CAAC,IAAI,EAAE,mBAAmB,CAAC;IACnC;;;;OAIG;IACH,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B;;;OAGG;IACH,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,cAAc,CAAC,EAAE,OAAO,GAAG,OAAO,CAAC;CAC7C,CAAC;AAEF,MAAM,MAAM,mCAAmC,GAAG;IAChD,QAAQ,CAAC,MAAM,EAAE,OAAO,CAAC;IACzB,QAAQ,CAAC,IAAI,EAAE,UAAU,GAAG,mBAAmB,CAAC;IAChD,QAAQ,CAAC,QAAQ,EAAE,MAAM,GAAG,qCAAqC,CAAC;IAClE,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,eAAe,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,cAAc,EAAE,OAAO,GAAG,OAAO,CAAC;IAC3C,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,oBAAoB,EAAE,MAAM,CAAC;IACtC,QAAQ,CAAC,aAAa,EAAE,MAAM,CAAC;IAC/B,QAAQ,CAAC,sBAAsB,CAAC,EAAE,MAAM,CAAC;IACzC,QAAQ,CAAC,gBAAgB,CAAC,EAAE,MAAM,CAAC;IACnC,QAAQ,CAAC,aAAa,EAAE,OAAO,CAAC;CACjC,CAAC;AAEF,MAAM,MAAM,sBAAsB,GAAG;IACnC,QAAQ,CAAC,OAAO,CAAC,EAAE,wBAAwB,CAAC;IAC5C,QAAQ,CAAC,OAAO,CAAC,EAAE,IAAI,CAAC;IACxB,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,gBAAgB,CAAC,EAAE,MAAM,CAAC;IACnC,QAAQ,CAAC,cAAc,CAAC,EAAE,OAAO,CAAC;IAClC;;;;;;;;;OASG;IACH,QAAQ,CAAC,IAAI,CAAC,EAAE,MAAM,CAAC;IACvB,8FAA8F;IAC9F,QAAQ,CAAC,sBAAsB,CAAC,EAAE,MAAM,CAAC;IACzC,yFAAyF;IACzF,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,mBAAmB,CAAC,EAAE,oCAAoC,CAAC;CACrE,CAAC;AAEF;;;;;;;;;;;;;GAaG;AACH,MAAM,MAAM,cAAc,GAAG,QAAQ,CAAC;AACtC,MAAM,MAAM,wBAAwB,GAAG,cAAc,GAAG,MAAM,CAAC;AAE/D,MAAM,MAAM,uBAAuB,GAAG;IACpC,QAAQ,CAAC,SAAS,EAAE,wBAAwB,CAAC;IAC7C,QAAQ,CAAC,MAAM,EAAE,cAAc,CAAC;IAChC,QAAQ,CAAC,aAAa,EAAE,OAAO,CAAC;IAChC,QAAQ,CAAC,mBAAmB,EAAE,mCAAmC,CAAC;IAClE,+EAA+E;IAC/E,QAAQ,CAAC,IAAI,CAAC,EAAE,MAAM,CAAC;CACxB,CAAC;AAEF,MAAM,MAAM,gBAAgB,GAAG;IAC7B,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,eAAe,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,yBAAyB,EAAE,MAAM,CAAC;IAC3C,QAAQ,CAAC,2BAA2B,EAAE,MAAM,CAAC;IAC7C,QAAQ,CAAC,wBAAwB,EAAE,MAAM,CAAC;IAC1C,QAAQ,CAAC,mBAAmB,EAAE,MAAM,CAAC;IACrC,QAAQ,CAAC,0BAA0B,EAAE,MAAM,CAAC;IAC5C,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,aAAa,EAAE,MAAM,CAAC;IAC/B,QAAQ,CAAC,qBAAqB,EAAE,MAAM,CAAC;CACxC,CAAC;AAEF,MAAM,MAAM,eAAe,GAAG;IAC5B,QAAQ,CAAC,OAAO,EAAE,uBAAuB,CAAC;IAC1C,QAAQ,CAAC,MAAM,EAAE,SAAS,iBAAiB,EAAE,CAAC;IAC9C,QAAQ,CAAC,QAAQ,EAAE,SAAS,OAAO,EAAE,CAAC;IACtC,QAAQ,CAAC,KAAK,EAAE,gBAAgB,CAAC;CAClC,CAAC;AAEF,qBAAa,YAAY;IACvB,QAAQ,CAAC,OAAO,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IAC3C,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;IAC5B,OAAO,CAAC,QAAQ,CAAC,gBAAgB,CAAS;IAC1C,OAAO,CAAC,QAAQ,CAAC,cAAc,CAAU;IACzC,OAAO,CAAC,QAAQ,CAAC,mBAAmB,CAA0C;IAC9E,OAAO,CAAC,QAAQ,CAAC,UAAU,CAAgC;IAC3D,OAAO,CAAC,QAAQ,CAAC,aAAa,CAA+B;IAC7D,OAAO,CAAC,QAAQ,CAAC,eAAe,CAAoB;IACpD,OAAO,CAAC,QAAQ,CAAC,aAAa,CAAkC;IAChE,OAAO,CAAC,QAAQ,CAAC,UAAU,CAA6B;IACxD,OAAO,CAAC,QAAQ,CAAC,gBAAgB,CAA2B;IAC5D,OAAO,CAAC,gBAAgB,CAA0B;IAClD,OAAO,CAAC,QAAQ,CAAC,WAAW,CAAqB;IACjD,uFAAuF;IACvF,QAAQ,CAAC,IAAI,CAAC,EAAE,MAAM,CAAC;IACvB,OAAO,CAAC,QAAQ,CAAC,oBAAoB,CAAuC;IAC5E,OAAO,CAAC,QAAQ,CAAC,uBAAuB,CAA2C;IACnF,OAAO,CAAC,QAAQ,CAAC,wBAAwB,CAA4C;IACrF,OAAO,CAAC,QAAQ,CAAC,kBAAkB,CAA4C;IAC/E,OAAO,CAAC,QAAQ,CAAC,oBAAoB,CAA8C;IACnF,OAAO,CAAC,UAAU,CAAK;IACvB,OAAO,CAAC,cAAc,CAAK;IAC3B,OAAO,CAAC,UAAU,CAAiC;IACnD,OAAO,CAAC,mBAAmB,CAAK;IAChC,OAAO,CAAC,qBAAqB,CAA+C;IAC5E,OAAO,CAAC,2BAA2B,CAAmE;IACtG,OAAO,CAAC,KAAK,CAAK;gBAEN,UAAU,GAAE,sBAA2B;IA8CnD,eAAe,CAAC,UAAU,GAAE,mBAAwB,GAAG,SAAS;IAuBhE,cAAc,CAAC,IAAI,EAAE,SAAS,GAAG,MAAM,EAAE,UAAU,EAAE,kBAAkB,GAAG,QAAQ;IAuBlF,gBAAgB,CAAC,UAAU,EAAE,oBAAoB,GAAG,UAAU;IAU9D;;;;;;OAMG;IACH,uBAAuB,CAAC,OAAO,EAAE,SAAS,GAAG,MAAM,GAAG,wBAAwB;IA0E9E;;;;;OAKG;IACH,yBAAyB,CAAC,IAAI,EAAE,SAAS,GAAG,MAAM,EAAE,UAAU,GAAE,oCAAyC,GAAG,0BAA0B;IAkFtI,OAAO,CAAC,iBAAiB;IASzB;;;;;;OAMG;IACH,UAAU,CAAC,OAAO,EAAE,IAAI,GAAG,IAAI;IAQ/B,OAAO,CAAC,EAAE,EAAE,MAAM,GAAG,SAAS,GAAG,SAAS;IAI1C,WAAW,CAAC,EAAE,EAAE,MAAM,GAAG,QAAQ,GAAG,SAAS;IAI7C,MAAM,IAAI,SAAS,SAAS,EAAE;IAI9B,SAAS,IAAI,SAAS,QAAQ,EAAE;IAIhC,OAAO,CAAC,UAAU;IAIlB,OAAO,CAAC,cAAc;IAItB,WAAW,IAAI,SAAS,UAAU,EAAE;IAIpC,eAAe,CAAC,EAAE,EAAE,MAAM,GAAG,IAAI;IAuBjC,cAAc,CAAC,EAAE,EAAE,MAAM,GAAG,IAAI;IAgBhC,IAAI,CAAC,EAAE,SAAkB,GAAG,SAAS,cAAc,EAAE;IAOrD,WAAW,IAAI,SAAS,cAAc,EAAE;IAMxC,OAAO,CAAC,MAAM,EAAE,IAAI,EAAE,SAAS,EAAE,IAAI,EAAE,OAAO,GAAE,cAAmB,GAAG,UAAU,GAAG,SAAS;IAK5F,UAAU,CAAC,MAAM,EAAE,IAAI,EAAE,SAAS,EAAE,IAAI,EAAE,OAAO,GAAE,cAAmB,GAAG,SAAS,UAAU,EAAE;IAoB9F,UAAU,CAAC,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,MAAM,EAAE,SAAS,EAAE,IAAI,EAAE,OAAO,GAAE,cAAmB,GAAG,aAAa,GAAG,SAAS;IAIlH,aAAa,CAAC,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,MAAM,EAAE,SAAS,EAAE,IAAI,EAAE,OAAO,GAAE,cAAmB,GAAG,SAAS,aAAa,EAAE;IAoBpH,QAAQ,IAAI,eAAe;IA8B3B,mFAAmF;IACnF,OAAO,IAAI,IAAI;IAcf,OAAO,CAAC,cAAc;IA4CtB,OAAO,CAAC,qBAAqB;IA2D7B,OAAO,CAAC,iBAAiB;IAuBzB,OAAO,CAAC,uBAAuB;IAmB/B,OAAO,CAAC,cAAc;IA6CtB,OAAO,CAAC,2BAA2B;IAqCnC,OAAO,CAAC,oBAAoB;IAmC5B,OAAO,CAAC,6BAA6B;IAUrC,OAAO,CAAC,6BAA6B;IAUrC,OAAO,CAAC,kBAAkB;IAS1B,OAAO,CAAC,4BAA4B;CAqBrC"}

package/dist/physics/PhysicsWorld.js

@@ -25,6 +25,8 @@ export class PhysicsWorld {
     rapierBodiesByAuraId = new Map();
     rapierCollidersByAuraId = new Map();
     rapierJointsByConstraint = new Map();
+    vehicleControllers = new Set();
+    characterControllers = new Set();
     nextBodyId = 1;
     nextColliderId = 1;
     lastEvents = [];
@@ -130,6 +132,189 @@ export class PhysicsWorld {
         this.rapierJointsByConstraint.set(constraint, this.createRapierJoint(constraint));
         return constraint;
     }
+    /**
+     * Attach a suspension-backed vehicle to a chassis body.
+     *
+     * The returned controller is the transform authority for the chassis: a game
+     * calls `step(dt)` then `world.step()` and renders from the body, rather than
+     * integrating its own velocity.
+     */
+    createVehicleController(chassis) {
+        const bodyId = typeof chassis === "number" ? chassis : chassis.id;
+        const body = this.bodiesById.get(bodyId);
+        if (!body)
+            throw new Error(`Cannot create a vehicle for missing body ${bodyId}.`);
+        if (body.type !== "dynamic") {
+            throw new Error(`Vehicle chassis body ${bodyId} is '${body.type}', but a suspension-backed vehicle needs a dynamic ` +
+                "chassis. A static or kinematic chassis cannot be pushed by its own tyres, so the wheels would report " +
+                "contact while the car stayed where the route put it — two transform authorities again.");
+        }
+        const rapierBody = this.rapierBodiesByAuraId.get(bodyId);
+        if (!rapierBody)
+            throw new Error(`Cannot create a vehicle for missing body ${bodyId}.`);
+        const handle = this.rapierWorld.createVehicleController(rapierBody);
+        const controller = {
+            get wheelCount() { return handle.wheelCount(); },
+            addWheel: (spec) => { handle.addWheel(spec); return controller; },
+            setWheelTuning: (index, tuning) => { handle.setWheelTuning(index, tuning); return controller; },
+            // Drive input clears the wrapper's sleep flag too. Rapier sleeps a chassis that
+            // has been sitting still, and `syncRapierFromAura` pushes the wrapper's sleep
+            // state onto the solver every step — so without this the world would immediately
+            // put the car back to sleep and the throttle would do nothing.
+            setWheelCommand: (index, command) => { body.wake(); handle.setWheelCommand(index, command); return controller; },
+            setBrakes: (brake) => { body.wake(); handle.setBrakes(brake); return controller; },
+            setAxes: (up, forward) => { handle.upAxis = up; handle.forwardAxis = forward; return controller; },
+            wheelState: (index) => {
+                const state = handle.wheelState(index);
+                return {
+                    index: state.index,
+                    grounded: state.isInContact,
+                    contactPoint: state.contactPoint,
+                    contactNormal: state.contactNormal,
+                    engineForce: state.engineForce,
+                    brake: state.brake,
+                    steering: state.steering,
+                    suspensionLength: state.suspensionLength,
+                    rotation: state.rotation,
+                    frictionSlip: state.frictionSlip,
+                    suspensionForce: state.suspensionForce,
+                    forwardImpulse: state.forwardImpulse,
+                    sideImpulse: state.sideImpulse,
+                    groundColliderHandle: state.groundColliderHandle,
+                };
+            },
+            wheelStates: () => handle.wheelStates().map((state) => controller.wheelState(state.index)),
+            isGrounded: () => handle.isGrounded(),
+            groundedWheelCount: () => handle.groundedWheelCount(),
+            currentSpeed: () => handle.currentVehicleSpeed(),
+            step: (dt) => {
+                // Wheel rays are scene queries, so a car built this frame would otherwise find
+                // no road under any of its four tyres and drop through the circuit.
+                this.rapierWorld.refreshQueries();
+                handle.update(dt);
+            },
+            position: () => handle.chassisPosition(),
+            rotation: () => handle.chassisRotation(),
+            linearVelocity: () => handle.chassisLinearVelocity(),
+            angularVelocity: () => handle.chassisAngularVelocity(),
+            resetToPose: (pose) => {
+                validateFiniteVec3(pose.position, "vehicle reset position");
+                handle.setChassisPose(pose.position, pose.rotation, pose.linearVelocity, pose.angularVelocity);
+                // The public wrapper copy has to agree with the solver immediately, or a route
+                // reading `body.position` between the reset and the next step renders the old
+                // crash pose for one frame.
+                syncAuraFromRapier(rapierBody, body);
+                return controller;
+            },
+            clearCommands: () => { handle.clearWheelCommands(); return controller; },
+            dispose: () => { this.vehicleControllers.delete(handle); handle.dispose(); },
+        };
+        this.vehicleControllers.add(handle);
+        return controller;
+    }
+    /**
+     * Attach a solver-backed character controller to a capsule body.
+     *
+     * `move` returns the displacement the world allowed; callers must render from
+     * the reported position instead of applying their own request a second time.
+     */
+    createCharacterController(body, descriptor = {}) {
+        const bodyId = typeof body === "number" ? body : body.id;
+        const wrapper = this.bodiesById.get(bodyId);
+        if (!wrapper)
+            throw new Error(`Cannot create a character controller for missing body ${bodyId}.`);
+        if (wrapper.type !== "kinematic") {
+            throw new Error(`Character body ${bodyId} is '${wrapper.type}', but Aura3D's physical character controller is a kinematic ` +
+                "character controller: the game supplies a desired displacement and Rapier resolves it against the world. " +
+                "A dynamic body is moved by forces instead, which would give the transform two owners.");
+        }
+        const rapierBody = this.rapierBodiesByAuraId.get(bodyId);
+        if (!rapierBody)
+            throw new Error(`Cannot create a character controller for missing body ${bodyId}.`);
+        const colliders = this.rapierCollidersOf(bodyId);
+        if (colliders.length === 0)
+            throw new Error(`Character body ${bodyId} needs a collider before it can move.`);
+        const handle = this.rapierWorld.createCharacterController(descriptor.offset ?? 0.01);
+        if (descriptor.autoStepHeight !== undefined) {
+            handle.enableAutostep(descriptor.autoStepHeight, descriptor.autoStepMinWidth ?? 0.2, descriptor.autoStepIncludeDynamicBodies ?? false);
+        }
+        if (descriptor.maxSlopeClimbAngle !== undefined)
+            handle.setMaxSlopeClimbAngle(descriptor.maxSlopeClimbAngle);
+        if (descriptor.minSlopeSlideAngle !== undefined)
+            handle.setMinSlopeSlideAngle(descriptor.minSlopeSlideAngle);
+        if (descriptor.snapToGroundDistance !== undefined)
+            handle.enableSnapToGround(descriptor.snapToGroundDistance);
+        if (descriptor.slideEnabled !== undefined)
+            handle.setSlideEnabled(descriptor.slideEnabled);
+        if (descriptor.characterMass !== undefined)
+            handle.setCharacterMass(descriptor.characterMass);
+        if (descriptor.applyImpulsesToDynamicBodies !== undefined)
+            handle.setApplyImpulsesToDynamicBodies(descriptor.applyImpulsesToDynamicBodies);
+        this.characterControllers.add(handle);
+        const characterCollider = colliders[0];
+        const controller = {
+            bodyId,
+            setAutoStep: (height, minWidth, includeDynamicBodies) => { handle.enableAutostep(height, minWidth, includeDynamicBodies ?? false); return controller; },
+            setMaxSlopeClimbAngle: (radians) => { handle.setMaxSlopeClimbAngle(radians); return controller; },
+            setMinSlopeSlideAngle: (radians) => { handle.setMinSlopeSlideAngle(radians); return controller; },
+            setSnapToGround: (distance) => { handle.enableSnapToGround(distance); return controller; },
+            setSlideEnabled: (enabled) => { handle.setSlideEnabled(enabled); return controller; },
+            setCharacterMass: (mass) => { handle.setCharacterMass(mass); return controller; },
+            setApplyImpulsesToDynamicBodies: (enabled) => { handle.setApplyImpulsesToDynamicBodies(enabled); return controller; },
+            move: (desired) => {
+                validateFiniteVec3(desired, "character movement");
+                // Rapier only rebuilds its scene-query structure inside `step()`. Without this,
+                // the first move after the character and level are created queries a world the
+                // solver cannot see yet and walks the character straight through the floor it is
+                // standing on — with no error, and with `grounded: false` to confirm it.
+                this.rapierWorld.refreshQueries();
+                const movement = handle.move(characterCollider, [desired[0], desired[1], desired[2]]);
+                const position = [movement.nextPosition[0], movement.nextPosition[1], movement.nextPosition[2]];
+                // The wrapper tracks the solver's answer in place rather than waiting for the
+                // next `step()`, so a route that renders the character before stepping still
+                // renders where the world said it is.
+                wrapper.position = [position[0], position[1], position[2]];
+                wrapper.poseOverridden = false;
+                return {
+                    requested: [movement.requested[0], movement.requested[1], movement.requested[2]],
+                    applied: [movement.applied[0], movement.applied[1], movement.applied[2]],
+                    grounded: movement.grounded,
+                    collisions: movement.collisions,
+                    position
+                };
+            },
+            position: () => {
+                const rapier = this.rapierBodiesByAuraId.get(bodyId);
+                if (!rapier)
+                    return [0, 0, 0];
+                const p = rapier.position();
+                return [p[0], p[1], p[2]];
+            },
+            grounded: () => handle.lastGrounded,
+            resetTo: (position) => {
+                validateFiniteVec3(position, "character reset position");
+                const reset = handle.setPosition(characterCollider, [position[0], position[1], position[2]]);
+                wrapper.position = [reset[0], reset[1], reset[2]];
+                wrapper.previousPosition = [reset[0], reset[1], reset[2]];
+                wrapper.velocity = [0, 0, 0];
+                wrapper.angularVelocity = [0, 0, 0];
+                wrapper.poseOverridden = false;
+                wrapper.velocityOverridden = false;
+                return reset;
+            },
+            dispose: () => { this.characterControllers.delete(handle); handle.dispose(); },
+        };
+        return controller;
+    }
+    rapierCollidersOf(bodyId) {
+        const out = [];
+        for (const colliderId of this.bodyColliders.get(bodyId) ?? []) {
+            const rapier = this.rapierCollidersByAuraId.get(colliderId);
+            if (rapier)
+                out.push(rapier);
+        }
+        return out;
+    }
     /**
      * Change world gravity after construction.
      *
@@ -292,6 +477,8 @@ export class PhysicsWorld {
     /** Release the selected native solver and every world-owned handle. Idempotent. */
     dispose() {
         this.rapierWorld.dispose();
+        this.vehicleControllers.clear();
+        this.characterControllers.clear();
         this.rapierJointsByConstraint.clear();
         this.rapierCollidersByAuraId.clear();
         this.rapierBodiesByAuraId.clear();
@@ -660,10 +847,29 @@ function encodeRapierCollisionGroups(layer, mask) {
 /** Mirror the public Aura body state onto its sole physical-simulation owner. */
 function syncRapierFromAura(body, rapierBody) {
     const raw = rapierBody.unsafeRapierBody();
+    // The pose is re-written every step; ONLY the velocity is gated behind an explicit
+    // request. The distinction matters because the two writes have different meanings to
+    // the solver. `setLinvel`/`setAngvel` overwrite the motion the solver integrated, so
+    // pushing them unconditionally made the Aura wrapper the *velocity* authority and a
+    // vehicle whose tyres had just written chassis velocity in Rapier never accelerated —
+    // hence `velocityOverridden`, which keeps the solver authoritative for motion.
+    //
+    // `setTranslation`/`setRotation`, however, write the pose the solver itself produced
+    // last step (the wrapper copy is re-read from Rapier at the end of every `step`), so
+    // for a free body they are not a second authority — they are a per-step refresh of the
+    // solver's own transform bookkeeping. Dropping them (an over-broad first pass at the
+    // velocity fix) subtly changed how the multi-substep contact solver warm-started a
+    // fast dynamic-on-dynamic impact, so a golf ball striking a crate stack no longer flung
+    // the top crate into the pin. Pose is therefore always re-written; the `poseOverridden`
+    // flag still marks an explicit teleport, but is not required for the routine refresh.
     raw.setTranslation(toRapierVector(body.position), false);
     raw.setRotation({ x: body.rotation[0], y: body.rotation[1], z: body.rotation[2], w: body.rotation[3] }, false);
-    raw.setLinvel(toRapierVector(body.velocity), false);
-    raw.setAngvel(toRapierVector(body.angularVelocity), false);
+    body.poseOverridden = false;
+    if (body.velocityOverridden) {
+        raw.setLinvel(toRapierVector(body.velocity), false);
+        raw.setAngvel(toRapierVector(body.angularVelocity), false);
+        body.velocityOverridden = false;
+    }
     raw.setLinearDamping(body.linearDamping);
     raw.setAngularDamping(body.angularDamping);
     if (body.sleeping)
@@ -736,7 +942,15 @@ function pushPotentialPair(pairs, seen, a, b) {
     if (a.collider.bodyId === b.collider.bodyId || !a.collider.canCollideWith(b.collider)) {
         return;
     }
-    if (a.body.type !== "dynamic" && b.body.type !== "dynamic") {
+    // A sensor is a question, not an impulse: a gameplay volume has to answer even when
+    // the thing crossing it is a kinematic character or a scripted lift, neither of which
+    // any solver will ever push. Requiring a dynamic partner here meant checkpoint,
+    // pickup and hazard volumes reported nothing at all for the one body type a platformer
+    // character actually uses.
+    if (a.collider.sensor || b.collider.sensor) {
+        // no motion requirement
+    }
+    else if (a.body.type !== "dynamic" && b.body.type !== "dynamic") {
         return;
     }
     const first = a.collider.id < b.collider.id ? a : b;