@aura3d/physics 1.0.6

package/dist/PhysicsSandboxFixtures.js

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+import { PhysicsWorld } from "./PhysicsWorld.js";
+import { Shape } from "./Shape.js";
+export function samplePhysicsSandboxFixture(options = {}) {
+    const seed = integer(options.seed ?? 0x3d2025, "seed");
+    const steps = integer(options.steps ?? 24, "steps");
+    if (steps < 0 || steps > 240)
+        throw new RangeError("Physics sandbox fixture steps must be in the [0, 240] range.");
+    const world = new PhysicsWorld({ gravity: [0, -9.81, 0], fixedDelta: 1 / 60, solverIterations: 6 });
+    const records = [];
+    const constraints = [];
+    const ground = world.createRigidBody({ type: "static", position: [0, -0.15, 0] });
+    world.createCollider(ground, { shape: Shape.box(8, 0.15, 2), material: { friction: 0.9, restitution: 0 } });
+    spawnBasic(world, records, "box", [-4.2, 1.2, 0], Shape.box(0.32, 0.32, 0.32), "box", 1);
+    spawnBasic(world, records, "sphere", [-3.45, 1.25, 0], Shape.sphere(0.32), "sphere", 1);
+    spawnBasic(world, records, "capsule", [-2.7, 1.35, 0], Shape.capsule(0.22, 0.38), "capsule", 1);
+    spawnBasic(world, records, "cylinder-proxy", [-1.95, 1.3, 0], Shape.capsule(0.28, 0.26), "cylinder", 1);
+    spawnTower(world, records, [-4.5, 0.25, 0], 5);
+    spawnPyramid(world, records, [-2.7, 0.25, 0], 4);
+    spawnWall(world, records, [-0.6, 0.25, 0], 5, 3);
+    spawnChain(world, records, constraints, [1.5, 3.1, 0], [3.0, 2.2, 0], 6);
+    spawnNewtonsCradle(world, records, constraints, [0.9, 4.2, 0], 4);
+    spawnDominoes(world, records, [2.1, 0.45, 0], 8);
+    spawnWreckingBall(world, records, constraints, [4.0, 3.5, 0], 2.4);
+    spawnVehicle(world, records, constraints, [-0.2, 2.0, 0]);
+    spawnRagdoll(world, records, constraints, [3.7, 1.6, 0]);
+    const bodyCountBeforeTools = world.snapshot().stats.bodies;
+    const tools = applyToolSequence(world, seed);
+    for (let step = 0; step < steps; step += 1)
+        world.step(1 / 60);
+    const snapshot = world.snapshot();
+    const spawners = summarizeSpawners(records, constraints, world);
+    const supportedToolCount = tools.filter((tool) => tool.supported).length;
+    const blockedToolCount = tools.length - supportedToolCount;
+    const metrics = {
+        bodyCountBeforeTools,
+        bodyCountAfterTools: snapshot.stats.bodies,
+        colliderCountAfterTools: snapshot.stats.colliders,
+        constraintCountAfterTools: snapshot.stats.constraints,
+        dynamicBodiesAfterTools: snapshot.bodies.filter((body) => body.type === "dynamic").length,
+        sleepingBodiesAfterTools: snapshot.stats.sleepingBodies,
+        contactsAfterSteps: snapshot.stats.contacts,
+        broadphasePairsAfterSteps: snapshot.stats.broadphasePairs,
+        kineticEnergyAfterSteps: Number(snapshot.stats.kineticEnergy.toFixed(4)),
+        maxContactPenetrationAfterSteps: Number(snapshot.stats.maxContactPenetration.toFixed(5)),
+        totalSpawnedBodies: records.length,
+        totalSpawnerConstraints: constraints.length,
+        supportedToolCount,
+        blockedToolCount
+    };
+    return {
+        id: "external-parity-old-branch-physics-sandbox-fixture",
+        source: "origin-master-physics-sandbox-tools-spawners-adapted",
+        spawners,
+        tools,
+        metrics,
+        unsupportedAdvancedSimulations: ["cloth", "soft-body", "fluid", "fracture"],
+        hash: hashFixture(spawners, tools, metrics),
+        claimBoundary: "Deterministic current-engine fixture adapted from old physics sandbox spawners and tools. It proves bounded rigid-body spawn presets, hinge/spring constraints, and supported tool telemetry; it does not claim soft body, cloth, fluid, fracture, full interactive editor tools, or Unity/Unreal physics-sandbox parity."
+    };
+}
+function spawnBasic(world, records, preset, position, shape, visualKind, mass) {
+    const body = world.createRigidBody({ position, mass, linearDamping: 0.02, angularDamping: 0.02 });
+    world.createCollider(body, { shape, material: { friction: 0.72, restitution: 0.05 } });
+    records.push({ preset, body, visualKind, colliderKind: preset === "cylinder-proxy" ? "cylinder-proxy" : shape.kind });
+    return body;
+}
+function spawnTower(world, records, origin, height) {
+    for (let index = 0; index < height; index += 1) {
+        spawnBasic(world, records, "tower", [origin[0], origin[1] + index * 0.46, origin[2]], Shape.box(0.36, 0.22, 0.32), "box", 1);
+    }
+}
+function spawnPyramid(world, records, origin, levels) {
+    for (let level = 0; level < levels; level += 1) {
+        const width = levels - level;
+        for (let x = 0; x < width; x += 1) {
+            spawnBasic(world, records, "pyramid", [
+                origin[0] + (x - (width - 1) / 2) * 0.44,
+                origin[1] + level * 0.46,
+                origin[2]
+            ], Shape.box(0.2, 0.22, 0.25), "box", 1);
+        }
+    }
+}
+function spawnWall(world, records, origin, width, height) {
+    for (let y = 0; y < height; y += 1) {
+        const boxesInRow = width - (y % 2);
+        for (let x = 0; x < boxesInRow; x += 1) {
+            spawnBasic(world, records, "wall", [
+                origin[0] + (x - (boxesInRow - 1) / 2) * 0.42 + (y % 2) * 0.21,
+                origin[1] + y * 0.42,
+                origin[2]
+            ], Shape.box(0.2, 0.2, 0.2), "brick", 1);
+        }
+    }
+}
+function spawnChain(world, records, constraints, start, end, segments) {
+    let previous;
+    for (let index = 0; index < segments; index += 1) {
+        const t = (index + 0.5) / segments;
+        const body = spawnBasic(world, records, "chain", lerpVec3(start, end, t), Shape.box(0.12, 0.12, 0.32), "chain-link", 0.5);
+        if (previous) {
+            world.createConstraint({ type: "hinge", bodyA: previous, bodyB: body, stiffness: 0.85 });
+            constraints.push({ preset: "chain" });
+        }
+        previous = body;
+    }
+}
+function spawnNewtonsCradle(world, records, constraints, origin, balls) {
+    for (let index = 0; index < balls; index += 1) {
+        const x = origin[0] + (index - (balls - 1) / 2) * 0.42;
+        const anchor = world.createRigidBody({ type: "static", position: [x, origin[1], origin[2]] });
+        world.createCollider(anchor, { shape: Shape.box(0.06, 0.06, 0.06) });
+        records.push({ preset: "newtons-cradle", body: anchor, visualKind: "anchor", colliderKind: "box" });
+        const ball = spawnBasic(world, records, "newtons-cradle", [x, origin[1] - 1.1, origin[2]], Shape.sphere(0.18), "sphere", 1);
+        world.createConstraint({ type: "hinge", bodyA: anchor, bodyB: ball, stiffness: 0.9 });
+        constraints.push({ preset: "newtons-cradle" });
+    }
+}
+function spawnDominoes(world, records, start, count) {
+    for (let index = 0; index < count; index += 1) {
+        spawnBasic(world, records, "dominoes", [start[0] + index * 0.22, start[1], start[2]], Shape.box(0.05, 0.34, 0.18), "domino", 0.5);
+    }
+}
+function spawnWreckingBall(world, records, constraints, position, chainLength) {
+    const anchor = world.createRigidBody({ type: "static", position });
+    world.createCollider(anchor, { shape: Shape.box(0.08, 0.08, 0.08) });
+    records.push({ preset: "wrecking-ball", body: anchor, visualKind: "anchor", colliderKind: "box" });
+    const ball = spawnBasic(world, records, "wrecking-ball", [position[0] + 0.55, position[1] - chainLength, position[2]], Shape.sphere(0.34), "sphere", 8);
+    world.createConstraint({ type: "spring", bodyA: anchor, bodyB: ball, restLength: chainLength, stiffness: 0.55 });
+    constraints.push({ preset: "wrecking-ball" });
+}
+function spawnVehicle(world, records, constraints, position) {
+    const chassis = spawnBasic(world, records, "vehicle", position, Shape.box(0.56, 0.16, 0.32), "chassis", 5);
+    for (const offset of [[-0.38, -0.24, -0.32], [-0.38, -0.24, 0.32], [0.38, -0.24, -0.32], [0.38, -0.24, 0.32]]) {
+        const wheel = spawnBasic(world, records, "vehicle", [position[0] + offset[0], position[1] + offset[1], position[2] + offset[2]], Shape.sphere(0.15), "wheel", 0.5);
+        world.createConstraint({ type: "hinge", bodyA: chassis, bodyB: wheel, stiffness: 0.75 });
+        constraints.push({ preset: "vehicle" });
+    }
+}
+function spawnRagdoll(world, records, constraints, position) {
+    const torso = spawnBasic(world, records, "ragdoll", position, Shape.box(0.22, 0.36, 0.16), "torso", 5);
+    const parts = [
+        ["head", [0, 0.58, 0], Shape.sphere(0.18), 1],
+        ["left-arm", [-0.36, 0.14, 0], Shape.capsule(0.08, 0.28), 1],
+        ["right-arm", [0.36, 0.14, 0], Shape.capsule(0.08, 0.28), 1],
+        ["left-leg", [-0.16, -0.56, 0], Shape.capsule(0.09, 0.34), 1],
+        ["right-leg", [0.16, -0.56, 0], Shape.capsule(0.09, 0.34), 1]
+    ];
+    for (const [visualKind, offset, shape, mass] of parts) {
+        const body = spawnBasic(world, records, "ragdoll", [position[0] + offset[0], position[1] + offset[1], position[2] + offset[2]], shape, visualKind, mass);
+        world.createConstraint({ type: "hinge", bodyA: torso, bodyB: body, stiffness: 0.72 });
+        constraints.push({ preset: "ragdoll" });
+    }
+}
+function applyToolSequence(world, seed) {
+    const tools = [];
+    const dynamicBodies = () => world.bodies().filter((body) => body.type === "dynamic");
+    const grabTarget = [0.25 + hash01(seed, 1) * 0.25, 2.15, 0];
+    const grabbed = nearestBody(dynamicBodies(), [0, 2, 0]);
+    if (grabbed) {
+        grabbed.setVelocity([
+            (grabTarget[0] - grabbed.position[0]) * 3.5,
+            (grabTarget[1] - grabbed.position[1]) * 3.5,
+            0
+        ]);
+    }
+    tools.push({
+        tool: "grab",
+        supported: grabbed !== undefined,
+        affectedBodies: grabbed ? 1 : 0,
+        selectedBodyId: grabbed?.id,
+        blocker: "Current RigidBody type is immutable, so this fixture proves velocity-targeted grab telemetry rather than old kinematic type switching."
+    });
+    const pushPoint = [0, 1.2, 0];
+    let pushed = 0;
+    let impulseMagnitude = 0;
+    for (const body of dynamicBodies()) {
+        const distance = distanceVec3(body.position, pushPoint);
+        if (distance <= 2.5 && distance > 1e-6) {
+            const direction = scaleVec3(subVec3(body.position, pushPoint), 1 / distance);
+            const impulse = scaleVec3(direction, Number(((2.5 - distance) * 0.38).toFixed(4)));
+            body.applyImpulse(impulse);
+            impulseMagnitude += Math.hypot(...impulse);
+            pushed += 1;
+        }
+    }
+    tools.push({ tool: "push", supported: true, affectedBodies: pushed, impulseMagnitude: Number(impulseMagnitude.toFixed(4)) });
+    const freezeCandidates = dynamicBodies().slice(0, 3);
+    for (const body of freezeCandidates) {
+        body.setVelocity([0, 0, 0]);
+        body.setAngularVelocity([0, 0, 0]);
+        body.sleeping = true;
+    }
+    tools.push({ tool: "freeze", supported: true, affectedBodies: freezeCandidates.length, frozenBodies: freezeCandidates.length });
+    const deleteTarget = dynamicBodies().at(-1);
+    if (deleteTarget)
+        world.removeRigidBody(deleteTarget.id);
+    tools.push({ tool: "delete", supported: deleteTarget !== undefined, affectedBodies: deleteTarget ? 1 : 0, selectedBodyId: deleteTarget?.id, deletedBodies: deleteTarget ? 1 : 0 });
+    const explodePoint = [1.2, 1.2, 0];
+    let exploded = 0;
+    let explosionImpulse = 0;
+    for (const body of dynamicBodies()) {
+        const distance = distanceVec3(body.position, explodePoint);
+        if (distance <= 3.25 && distance > 1e-6) {
+            const direction = scaleVec3(subVec3(body.position, explodePoint), 1 / distance);
+            const impulse = scaleVec3(direction, Number(((3.25 - distance) * 0.52).toFixed(4)));
+            body.applyImpulse(impulse);
+            explosionImpulse += Math.hypot(...impulse);
+            exploded += 1;
+        }
+    }
+    tools.push({ tool: "explode", supported: true, affectedBodies: exploded, impulseMagnitude: Number(explosionImpulse.toFixed(4)) });
+    tools.push({
+        tool: "slice",
+        supported: false,
+        affectedBodies: 0,
+        blocker: "Old slice tool only drew/specified a cut gesture; current physics has no convex decomposition or fracture pipeline."
+    });
+    return tools;
+}
+function summarizeSpawners(records, constraints, world) {
+    const summaries = [];
+    const liveBodyIds = new Set(world.bodies().map((body) => body.id));
+    for (const preset of unique(records.map((record) => record.preset))) {
+        const presetRecords = records.filter((record) => record.preset === preset && liveBodyIds.has(record.body.id));
+        summaries.push({
+            preset,
+            bodies: presetRecords.length,
+            dynamicBodies: presetRecords.filter((record) => record.body.type === "dynamic").length,
+            staticBodies: presetRecords.filter((record) => record.body.type === "static").length,
+            colliders: presetRecords.length,
+            constraints: constraints.filter((constraint) => constraint.preset === preset).length,
+            visualKinds: unique(presetRecords.map((record) => record.visualKind)).sort(),
+            colliderKinds: unique(presetRecords.map((record) => record.colliderKind)).sort()
+        });
+    }
+    return summaries;
+}
+function nearestBody(bodies, target) {
+    return [...bodies].sort((left, right) => distanceVec3(left.position, target) - distanceVec3(right.position, target) || left.id - right.id)[0];
+}
+function lerpVec3(start, end, t) {
+    return [
+        start[0] + (end[0] - start[0]) * t,
+        start[1] + (end[1] - start[1]) * t,
+        start[2] + (end[2] - start[2]) * t
+    ];
+}
+function distanceVec3(left, right) {
+    return Math.hypot(left[0] - right[0], left[1] - right[1], left[2] - right[2]);
+}
+function subVec3(left, right) {
+    return [left[0] - right[0], left[1] - right[1], left[2] - right[2]];
+}
+function scaleVec3(value, scale) {
+    return [value[0] * scale, value[1] * scale, value[2] * scale];
+}
+function unique(values) {
+    return [...new Set(values)];
+}
+function hashFixture(...parts) {
+    const text = JSON.stringify(parts);
+    let hash = 0x811c9dc5;
+    for (let index = 0; index < text.length; index += 1) {
+        hash ^= text.charCodeAt(index);
+        hash = Math.imul(hash, 0x01000193) >>> 0;
+    }
+    return hash.toString(16).padStart(8, "0");
+}
+function hash01(seed, salt) {
+    let value = Math.imul(seed + salt * 1013904223, 1664525) + 1013904223;
+    value = Math.imul(value ^ (value >>> 13), 1274126177);
+    return ((value ^ (value >>> 16)) >>> 0) / 4294967296;
+}
+function integer(value, label) {
+    if (!Number.isInteger(value))
+        throw new RangeError(`Physics sandbox fixture ${label} must be an integer.`);
+    return value;
+}
+//# sourceMappingURL=PhysicsSandboxFixtures.js.map

package/dist/PhysicsSandboxFixtures.js.map

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package/dist/PhysicsStepper.d.ts

@@ -0,0 +1,15 @@
+import type { PhysicsWorld } from "./PhysicsWorld.js";
+export type PhysicsStepperResult = {
+    readonly steps: number;
+    readonly alpha: number;
+    readonly droppedTime: number;
+};
+export declare class PhysicsStepper {
+    readonly fixedDelta: number;
+    readonly maxSubSteps: number;
+    private accumulator;
+    constructor(fixedDelta: number, maxSubSteps?: number);
+    advance(deltaSeconds: number, world: Pick<PhysicsWorld, "step">): PhysicsStepperResult;
+    reset(): void;
+}
+//# sourceMappingURL=PhysicsStepper.d.ts.map

package/dist/PhysicsStepper.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"PhysicsStepper.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/PhysicsStepper.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,mBAAmB,CAAC;AAEtD,MAAM,MAAM,oBAAoB,GAAG;IACjC,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;CAC9B,CAAC;AAEF,qBAAa,cAAc;IACzB,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;IAC5B,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,OAAO,CAAC,WAAW,CAAK;gBAEZ,UAAU,EAAE,MAAM,EAAE,WAAW,SAAI;IAW/C,OAAO,CAAC,YAAY,EAAE,MAAM,EAAE,KAAK,EAAE,IAAI,CAAC,YAAY,EAAE,MAAM,CAAC,GAAG,oBAAoB;IAmBtF,KAAK,IAAI,IAAI;CAGd"}

package/dist/PhysicsStepper.js

@@ -0,0 +1,37 @@
+export class PhysicsStepper {
+    fixedDelta;
+    maxSubSteps;
+    accumulator = 0;
+    constructor(fixedDelta, maxSubSteps = 5) {
+        if (!Number.isFinite(fixedDelta) || fixedDelta <= 0) {
+            throw new Error("fixedDelta must be a finite positive number.");
+        }
+        if (!Number.isInteger(maxSubSteps) || maxSubSteps <= 0) {
+            throw new Error("maxSubSteps must be a positive integer.");
+        }
+        this.fixedDelta = fixedDelta;
+        this.maxSubSteps = maxSubSteps;
+    }
+    advance(deltaSeconds, world) {
+        if (!Number.isFinite(deltaSeconds) || deltaSeconds < 0) {
+            throw new Error("deltaSeconds must be finite and non-negative.");
+        }
+        this.accumulator += deltaSeconds;
+        let steps = 0;
+        while (this.accumulator + 1e-12 >= this.fixedDelta && steps < this.maxSubSteps) {
+            world.step(this.fixedDelta);
+            this.accumulator -= this.fixedDelta;
+            steps += 1;
+        }
+        let droppedTime = 0;
+        if (this.accumulator >= this.fixedDelta) {
+            droppedTime = this.accumulator;
+            this.accumulator = 0;
+        }
+        return { steps, alpha: this.accumulator / this.fixedDelta, droppedTime };
+    }
+    reset() {
+        this.accumulator = 0;
+    }
+}
+//# sourceMappingURL=PhysicsStepper.js.map

package/dist/PhysicsStepper.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"PhysicsStepper.js","sourceRoot":"","sources":["../../../../packages/physics/src/PhysicsStepper.ts"],"names":[],"mappings":"AAQA,MAAM,OAAO,cAAc;IAChB,UAAU,CAAS;IACnB,WAAW,CAAS;IACrB,WAAW,GAAG,CAAC,CAAC;IAExB,YAAY,UAAkB,EAAE,WAAW,GAAG,CAAC;QAC7C,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,UAAU,CAAC,IAAI,UAAU,IAAI,CAAC,EAAE,CAAC;YACpD,MAAM,IAAI,KAAK,CAAC,8CAA8C,CAAC,CAAC;QAClE,CAAC;QACD,IAAI,CAAC,MAAM,CAAC,SAAS,CAAC,WAAW,CAAC,IAAI,WAAW,IAAI,CAAC,EAAE,CAAC;YACvD,MAAM,IAAI,KAAK,CAAC,yCAAyC,CAAC,CAAC;QAC7D,CAAC;QACD,IAAI,CAAC,UAAU,GAAG,UAAU,CAAC;QAC7B,IAAI,CAAC,WAAW,GAAG,WAAW,CAAC;IACjC,CAAC;IAED,OAAO,CAAC,YAAoB,EAAE,KAAiC;QAC7D,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,YAAY,CAAC,IAAI,YAAY,GAAG,CAAC,EAAE,CAAC;YACvD,MAAM,IAAI,KAAK,CAAC,+CAA+C,CAAC,CAAC;QACnE,CAAC;QACD,IAAI,CAAC,WAAW,IAAI,YAAY,CAAC;QACjC,IAAI,KAAK,GAAG,CAAC,CAAC;QACd,OAAO,IAAI,CAAC,WAAW,GAAG,KAAK,IAAI,IAAI,CAAC,UAAU,IAAI,KAAK,GAAG,IAAI,CAAC,WAAW,EAAE,CAAC;YAC/E,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,UAAU,CAAC,CAAC;YAC5B,IAAI,CAAC,WAAW,IAAI,IAAI,CAAC,UAAU,CAAC;YACpC,KAAK,IAAI,CAAC,CAAC;QACb,CAAC;QACD,IAAI,WAAW,GAAG,CAAC,CAAC;QACpB,IAAI,IAAI,CAAC,WAAW,IAAI,IAAI,CAAC,UAAU,EAAE,CAAC;YACxC,WAAW,GAAG,IAAI,CAAC,WAAW,CAAC;YAC/B,IAAI,CAAC,WAAW,GAAG,CAAC,CAAC;QACvB,CAAC;QACD,OAAO,EAAE,KAAK,EAAE,KAAK,EAAE,IAAI,CAAC,WAAW,GAAG,IAAI,CAAC,UAAU,EAAE,WAAW,EAAE,CAAC;IAC3E,CAAC;IAED,KAAK;QACH,IAAI,CAAC,WAAW,GAAG,CAAC,CAAC;IACvB,CAAC;CACF"}

package/dist/PhysicsWorld.d.ts

@@ -0,0 +1,101 @@
+import { Collider, type ColliderDescriptor } from "./Collider.js";
+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 Vec3 } from "./Shape.js";
+export type PhysicsWorldDescriptor = {
+    readonly backend?: PhysicsBackendPreference;
+    readonly gravity?: Vec3;
+    readonly fixedDelta?: number;
+    readonly solverIterations?: number;
+    readonly enableSleeping?: boolean;
+    readonly sleepVelocityThreshold?: number;
+    readonly sleepDelay?: number;
+};
+export type PhysicsBackend = "cannon-es" | "aura-js";
+export type PhysicsBackendPreference = PhysicsBackend | "auto";
+export type PhysicsBackendSelection = {
+    readonly requested: PhysicsBackendPreference;
+    readonly active: PhysicsBackend;
+    readonly fallback?: string;
+    readonly deterministic: boolean;
+    readonly jsFallbackAvailable: boolean;
+};
+export type PhysicsStepStats = {
+    readonly steps: number;
+    readonly bodies: number;
+    readonly colliders: number;
+    readonly constraints: number;
+    readonly broadphasePairs: number;
+    readonly broadphaseFiniteColliders: number;
+    readonly broadphaseInfiniteColliders: number;
+    readonly broadphaseCandidateTests: number;
+    readonly broadphaseActiveMax: number;
+    readonly broadphaseRejectedByBounds: number;
+    readonly contacts: number;
+    readonly events: number;
+    readonly sleepingBodies: number;
+    readonly kineticEnergy: number;
+    readonly maxContactPenetration: number;
+};
+export type PhysicsSnapshot = {
+    readonly backend: PhysicsBackendSelection;
+    readonly bodies: readonly RigidBodySnapshot[];
+    readonly contacts: readonly Contact[];
+    readonly stats: PhysicsStepStats;
+};
+export declare class PhysicsWorld {
+    readonly gravity: [number, number, number];
+    readonly fixedDelta: number;
+    private readonly solverIterations;
+    private readonly enableSleeping;
+    private readonly sleepVelocityThreshold;
+    private readonly sleepDelay;
+    private readonly bodiesById;
+    private readonly collidersById;
+    private readonly constraintsList;
+    private readonly bodyColliders;
+    private readonly eventQueue;
+    private readonly requestedBackend;
+    private backendSelection;
+    private cannonWorld;
+    private readonly cannonBodiesByAuraId;
+    private nextBodyId;
+    private nextColliderId;
+    private lastEvents;
+    private lastBroadphasePairs;
+    private lastBroadphaseProfile;
+    private steps;
+    constructor(descriptor?: PhysicsWorldDescriptor);
+    createRigidBody(descriptor?: RigidBodyDescriptor): RigidBody;
+    createCollider(body: RigidBody | number, descriptor: ColliderDescriptor): Collider;
+    createConstraint(descriptor: ConstraintDescriptor): Constraint;
+    getBody(id: number): RigidBody | undefined;
+    getCollider(id: number): Collider | undefined;
+    bodies(): readonly RigidBody[];
+    colliders(): readonly Collider[];
+    private bodyValues;
+    private colliderValues;
+    constraints(): readonly Constraint[];
+    removeRigidBody(id: number): void;
+    removeCollider(id: number): void;
+    step(dt?: number): readonly CollisionEvent[];
+    drainEvents(): readonly CollisionEvent[];
+    raycast(origin: Vec3, direction: Vec3, options?: RaycastOptions): RaycastHit | undefined;
+    raycastAll(origin: Vec3, direction: Vec3, options?: RaycastOptions): readonly RaycastHit[];
+    sphereCast(origin: Vec3, radius: number, direction: Vec3, options?: RaycastOptions): SphereCastHit | undefined;
+    sphereCastAll(origin: Vec3, radius: number, direction: Vec3, options?: RaycastOptions): readonly SphereCastHit[];
+    snapshot(): PhysicsSnapshot;
+    private detectContacts;
+    private collectPotentialPairs;
+    private resolveContact;
+    private effectiveMaterial;
+    private applyImpulsePair;
+    private updateSleeping;
+    private createCannonBody;
+    private addCannonCollider;
+    private disableCannonBackend;
+    private stepCannon;
+}
+//# sourceMappingURL=PhysicsWorld.d.ts.map

package/dist/PhysicsWorld.d.ts.map

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