@certe/atmos-physics 0.1.0

package/dist/hinge-joint.js

@@ -0,0 +1,271 @@
+import RAPIER from '@dimforge/rapier3d-compat';
+import { Vec3 } from '@certe/atmos-math';
+import { Joint } from './joint.js';
+import { getWasmMemory, getLockedAxesOffset } from './init.js';
+/**
+ * Compute a quaternion that rotates the X-axis [1,0,0] to the given unit axis.
+ * Rapier revolute joints use the X-axis of the frame as the rotation axis.
+ */
+function axisToFrame(ax, ay, az) {
+    // dot = [1,0,0] · axis = ax
+    const dot = ax;
+    if (dot > 0.999999)
+        return { x: 0, y: 0, z: 0, w: 1 };
+    if (dot < -0.999999)
+        return { x: 0, y: 0, z: 1, w: 0 }; // 180° around Z
+    // cross = [1,0,0] × [ax,ay,az] = [0, -az, ay]
+    const cx = 0, cy = -az, cz = ay;
+    const w = 1 + dot;
+    const len = Math.sqrt(cx * cx + cy * cy + cz * cz + w * w);
+    return { x: cx / len, y: cy / len, z: cz / len, w: w / len };
+}
+export class HingeJoint extends Joint {
+    _axis = Vec3.fromValues(0, 1, 0);
+    _connectedAxisVec = Vec3.fromValues(0, 1, 0);
+    _autoConfigureConnectedAxis = true;
+    // Limits — setters sync to live Rapier joint
+    _limitsEnabled = false;
+    _limitMin = -Math.PI;
+    _limitMax = Math.PI;
+    // Motor
+    _motorEnabled = false;
+    _motorMode = 'velocity';
+    _motorTargetVelocity = 0;
+    _motorMaxForce = 0;
+    _motorTargetPosition = 0;
+    _motorStiffness = 0;
+    _motorDamping = 0;
+    /** Current joint angle in radians. Computed from body orientations and joint frames. */
+    get angle() {
+        if (!this.joint)
+            return 0;
+        const f1 = this.joint.frameX1();
+        const f2 = this.joint.frameX2();
+        const r1 = this.joint.body1().rotation();
+        const r2 = this.joint.body2().rotation();
+        // a = r1 * f1 (quat multiply)
+        const ax = r1.w * f1.x + r1.x * f1.w + r1.y * f1.z - r1.z * f1.y;
+        const aw = r1.w * f1.w - r1.x * f1.x - r1.y * f1.y - r1.z * f1.z;
+        const ay = r1.w * f1.y - r1.x * f1.z + r1.y * f1.w + r1.z * f1.x;
+        const az = r1.w * f1.z + r1.x * f1.y - r1.y * f1.x + r1.z * f1.w;
+        // b = r2 * f2
+        const bx = r2.w * f2.x + r2.x * f2.w + r2.y * f2.z - r2.z * f2.y;
+        const bw = r2.w * f2.w - r2.x * f2.x - r2.y * f2.y - r2.z * f2.z;
+        const by = r2.w * f2.y - r2.x * f2.z + r2.y * f2.w + r2.z * f2.x;
+        const bz = r2.w * f2.z + r2.x * f2.y - r2.y * f2.x + r2.z * f2.w;
+        // q = conj(a) * b  — Rapier measures body2 relative to body1
+        const qx = aw * bx - ax * bw - ay * bz + az * by;
+        const qw = aw * bw + ax * bx + ay * by + az * bz;
+        return 2 * Math.atan2(qx, qw);
+    }
+    // --- Axis accessors (require joint recreation) --- //
+    get axis() { return this._axis; }
+    set axis(v) {
+        Vec3.copy(this._axis, v);
+        if (this.joint)
+            this._recreateJoint();
+    }
+    get connectedAxis() { return this._connectedAxisVec; }
+    set connectedAxis(v) {
+        Vec3.copy(this._connectedAxisVec, v);
+        if (this.joint)
+            this._recreateJoint();
+    }
+    get autoConfigureConnectedAxis() { return this._autoConfigureConnectedAxis; }
+    set autoConfigureConnectedAxis(v) {
+        this._autoConfigureConnectedAxis = v;
+        if (v && this.joint)
+            this._recreateJoint();
+    }
+    // --- Limit accessors (sync to live joint) --- //
+    get limitsEnabled() { return this._limitsEnabled; }
+    set limitsEnabled(v) { this._limitsEnabled = v; this._applyLimits(); }
+    get limitMin() { return this._limitMin; }
+    set limitMin(v) { this._limitMin = v; this._applyLimits(); }
+    get limitMax() { return this._limitMax; }
+    set limitMax(v) { this._limitMax = v; this._applyLimits(); }
+    // --- Motor accessors (sync to live joint) --- //
+    get motorEnabled() { return this._motorEnabled; }
+    set motorEnabled(v) {
+        const wasEnabled = this._motorEnabled;
+        this._motorEnabled = v;
+        if (v) {
+            this._applyMotor();
+        }
+        else if (wasEnabled && this.joint) {
+            // Calling configureMotorVelocity(0,0) still activates the motor solver and brakes
+            // the joint. The only way to truly disable the motor is to recreate the joint.
+            this._recreateJoint();
+        }
+    }
+    get motorMode() { return this._motorMode; }
+    set motorMode(v) { this._motorMode = v; this._applyMotor(); }
+    get motorTargetVelocity() { return this._motorTargetVelocity; }
+    set motorTargetVelocity(v) { this._motorTargetVelocity = v; this._applyMotor(); }
+    get motorMaxForce() { return this._motorMaxForce; }
+    set motorMaxForce(v) { this._motorMaxForce = v; this._applyMotor(); }
+    get motorTargetPosition() { return this._motorTargetPosition; }
+    set motorTargetPosition(v) { this._motorTargetPosition = v; this._applyMotor(); }
+    get motorStiffness() { return this._motorStiffness; }
+    set motorStiffness(v) { this._motorStiffness = v; this._applyMotor(); }
+    get motorDamping() { return this._motorDamping; }
+    set motorDamping(v) { this._motorDamping = v; this._applyMotor(); }
+    init(world, options) {
+        if (options?.axis)
+            this._setVec3(this._axis, options.axis);
+        if (options?.connectedAxis) {
+            this._setVec3(this._connectedAxisVec, options.connectedAxis);
+            this._autoConfigureConnectedAxis = false;
+        }
+        else if (options?.axis && !this._autoConfigureConnectedAxis) {
+            this._setVec3(this._connectedAxisVec, options.axis);
+        }
+        if (options?.autoConfigureConnectedAxis !== undefined) {
+            this._autoConfigureConnectedAxis = options.autoConfigureConnectedAxis;
+        }
+        if (options?.limitsEnabled !== undefined)
+            this._limitsEnabled = options.limitsEnabled;
+        if (options?.limitMin !== undefined)
+            this._limitMin = options.limitMin;
+        if (options?.limitMax !== undefined)
+            this._limitMax = options.limitMax;
+        if (options?.motorEnabled !== undefined)
+            this._motorEnabled = options.motorEnabled;
+        if (options?.motorMode !== undefined)
+            this._motorMode = options.motorMode;
+        if (options?.motorTargetVelocity !== undefined)
+            this._motorTargetVelocity = options.motorTargetVelocity;
+        if (options?.motorMaxForce !== undefined)
+            this._motorMaxForce = options.motorMaxForce;
+        if (options?.motorTargetPosition !== undefined)
+            this._motorTargetPosition = options.motorTargetPosition;
+        if (options?.motorStiffness !== undefined)
+            this._motorStiffness = options.motorStiffness;
+        if (options?.motorDamping !== undefined)
+            this._motorDamping = options.motorDamping;
+        super.init(world, options);
+    }
+    refreshAutoConfig() {
+        super.refreshAutoConfig();
+        if (this._autoConfigureConnectedAxis) {
+            this._computeConnectedAxis();
+        }
+    }
+    _tryCreateJoint() {
+        if (this._autoConfigureConnectedAxis) {
+            this._computeConnectedAxis();
+        }
+        super._tryCreateJoint();
+        // The joint was created via JointData.fixed() + WASM locked_axes patch.
+        // createImpulseJoint returns FixedImpulseJoint (based on JS-side type dispatch),
+        // but the underlying WASM joint is revolute. Swap the prototype so setLimits/
+        // configureMotor (on UnitImpulseJoint) and rawAxis() (on RevoluteImpulseJoint)
+        // are available.
+        if (this.joint) {
+            Object.setPrototypeOf(this.joint, RAPIER.RevoluteImpulseJoint.prototype);
+        }
+        this._applyLimits();
+        this._applyMotor();
+    }
+    _computeConnectedAxis() {
+        if (!this._connectedObject)
+            return;
+        const thisTransform = this.gameObject.transform;
+        const otherTransform = this._connectedObject.transform;
+        thisTransform.updateWorldMatrix();
+        otherTransform.updateWorldMatrix();
+        const ax = this._axis[0], ay = this._axis[1], az = this._axis[2];
+        // Extract rotation columns from body A (normalize to remove scale)
+        const m = thisTransform.worldMatrix;
+        const sAx = Math.sqrt(m[0] * m[0] + m[1] * m[1] + m[2] * m[2]) || 1;
+        const sAy = Math.sqrt(m[4] * m[4] + m[5] * m[5] + m[6] * m[6]) || 1;
+        const sAz = Math.sqrt(m[8] * m[8] + m[9] * m[9] + m[10] * m[10]) || 1;
+        // Transform axis direction: local A → world (rotation only, no scale)
+        const wx = (m[0] / sAx) * ax + (m[4] / sAy) * ay + (m[8] / sAz) * az;
+        const wy = (m[1] / sAx) * ax + (m[5] / sAy) * ay + (m[9] / sAz) * az;
+        const wz = (m[2] / sAx) * ax + (m[6] / sAy) * ay + (m[10] / sAz) * az;
+        // Extract rotation columns from body B (normalize to remove scale)
+        const n = otherTransform.worldMatrix;
+        const sBx = Math.sqrt(n[0] * n[0] + n[1] * n[1] + n[2] * n[2]) || 1;
+        const sBy = Math.sqrt(n[4] * n[4] + n[5] * n[5] + n[6] * n[6]) || 1;
+        const sBz = Math.sqrt(n[8] * n[8] + n[9] * n[9] + n[10] * n[10]) || 1;
+        // Transform world direction → local B using rotation transpose (no scale)
+        const lx = (n[0] / sBx) * wx + (n[1] / sBx) * wy + (n[2] / sBx) * wz;
+        const ly = (n[4] / sBy) * wx + (n[5] / sBy) * wy + (n[6] / sBy) * wz;
+        const lz = (n[8] / sBz) * wx + (n[9] / sBz) * wy + (n[10] / sBz) * wz;
+        // Normalize
+        const len = Math.sqrt(lx * lx + ly * ly + lz * lz);
+        if (len > 1e-6) {
+            Vec3.set(this._connectedAxisVec, lx / len, ly / len, lz / len);
+        }
+    }
+    _setVec3(target, src) {
+        if (src instanceof Float32Array) {
+            Vec3.copy(target, src);
+        }
+        else {
+            Vec3.set(target, src.x, src.y, src.z);
+        }
+    }
+    _applyLimits() {
+        if (!this.joint)
+            return;
+        const revolute = this.joint;
+        if (this._limitsEnabled) {
+            revolute.setLimits(this._limitMin, this._limitMax);
+        }
+        else {
+            // Disable limits by setting full-range
+            revolute.setLimits(-Math.PI, Math.PI);
+        }
+    }
+    _applyMotor() {
+        if (!this.joint || !this._motorEnabled)
+            return;
+        const revolute = this.joint;
+        if (this._motorMode === 'velocity') {
+            revolute.configureMotorVelocity(this._motorTargetVelocity, this._motorMaxForce);
+        }
+        else {
+            revolute.configureMotorPosition(this._motorTargetPosition, this._motorStiffness, this._motorDamping);
+        }
+    }
+    _createJointData() {
+        // Normalize axes — Rapier rejects zero-length vectors
+        const ax = this._axis[0], ay = this._axis[1], az = this._axis[2];
+        const axisLen = Math.sqrt(ax * ax + ay * ay + az * az);
+        if (axisLen < 1e-6) {
+            throw new Error('HingeJoint axis is zero-length');
+        }
+        const nax = ax / axisLen, nay = ay / axisLen, naz = az / axisLen;
+        const cax = this._connectedAxisVec[0], cay = this._connectedAxisVec[1], caz = this._connectedAxisVec[2];
+        const caxisLen = Math.sqrt(cax * cax + cay * cay + caz * caz);
+        if (caxisLen < 1e-6) {
+            throw new Error('HingeJoint connectedAxis is zero-length');
+        }
+        const ncax = cax / caxisLen, ncay = cay / caxisLen, ncaz = caz / caxisLen;
+        const frame1 = axisToFrame(nax, nay, naz);
+        const frame2 = axisToFrame(ncax, ncay, ncaz);
+        // Rapier 0.14's JS bindings ignore frame1/frame2 for revolute joints in intoRaw().
+        // Workaround: create as a Fixed joint (which does support per-body frames),
+        // then patch the locked_axes byte in WASM memory from Fixed (0x3F) to Revolute (0x37).
+        const data = RAPIER.JointData.fixed(this._toXYZ(this.anchor), frame1, this._toXYZ(this.connectedAnchor), frame2);
+        const mem = getWasmMemory();
+        const offset = getLockedAxesOffset();
+        if (mem && offset >= 0) {
+            const origIntoRaw = data.intoRaw.bind(data);
+            data.intoRaw = () => {
+                const raw = origIntoRaw();
+                if (raw) {
+                    const ptr = raw.__wbg_ptr;
+                    const bytes = new Uint8Array(mem.buffer);
+                    bytes[ptr + offset] = 0x37; // Revolute: all DOFs locked except AngX
+                }
+                return raw;
+            };
+        }
+        // Limits and motor are applied after creation via _applyLimits() / _applyMotor()
+        return data;
+    }
+}
+//# sourceMappingURL=hinge-joint.js.map

package/dist/hinge-joint.js.map

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package/dist/index.d.ts

@@ -0,0 +1,23 @@
+export { initRapier, getWasmMemory, getLockedAxesOffset } from './init.js';
+export { PhysicsWorld } from './physics-world.js';
+export type { PhysicsWorldOptions } from './physics-world.js';
+export { RigidBody } from './rigid-body.js';
+export type { RigidBodyType, RigidBodyOptions } from './rigid-body.js';
+export { Collider } from './collider.js';
+export type { ColliderShape, ColliderOptions } from './collider.js';
+export { Joint } from './joint.js';
+export type { JointOptions } from './joint.js';
+export { FixedJoint } from './fixed-joint.js';
+export type { FixedJointOptions } from './fixed-joint.js';
+export { HingeJoint } from './hinge-joint.js';
+export type { HingeJointOptions } from './hinge-joint.js';
+export { SpringJoint } from './spring-joint.js';
+export type { SpringJointOptions } from './spring-joint.js';
+export { PhysicsSystem } from './physics-system.js';
+export { registerPhysicsBuiltins } from './register-builtins.js';
+export { findAncestorComponent, hasAncestorComponent, hasDescendantComponent, } from './physics-hierarchy.js';
+export { computeColliderOffset } from './collider-offset.js';
+export type { ColliderOffset } from './collider-offset.js';
+export { Physics, invalidateColliderMap } from './physics-query.js';
+export type { HitResult } from './physics-query.js';
+//# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,UAAU,EAAE,aAAa,EAAE,mBAAmB,EAAE,MAAM,WAAW,CAAC;AAC3E,OAAO,EAAE,YAAY,EAAE,MAAM,oBAAoB,CAAC;AAClD,YAAY,EAAE,mBAAmB,EAAE,MAAM,oBAAoB,CAAC;AAC9D,OAAO,EAAE,SAAS,EAAE,MAAM,iBAAiB,CAAC;AAC5C,YAAY,EAAE,aAAa,EAAE,gBAAgB,EAAE,MAAM,iBAAiB,CAAC;AACvE,OAAO,EAAE,QAAQ,EAAE,MAAM,eAAe,CAAC;AACzC,YAAY,EAAE,aAAa,EAAE,eAAe,EAAE,MAAM,eAAe,CAAC;AACpE,OAAO,EAAE,KAAK,EAAE,MAAM,YAAY,CAAC;AACnC,YAAY,EAAE,YAAY,EAAE,MAAM,YAAY,CAAC;AAC/C,OAAO,EAAE,UAAU,EAAE,MAAM,kBAAkB,CAAC;AAC9C,YAAY,EAAE,iBAAiB,EAAE,MAAM,kBAAkB,CAAC;AAC1D,OAAO,EAAE,UAAU,EAAE,MAAM,kBAAkB,CAAC;AAC9C,YAAY,EAAE,iBAAiB,EAAE,MAAM,kBAAkB,CAAC;AAC1D,OAAO,EAAE,WAAW,EAAE,MAAM,mBAAmB,CAAC;AAChD,YAAY,EAAE,kBAAkB,EAAE,MAAM,mBAAmB,CAAC;AAC5D,OAAO,EAAE,aAAa,EAAE,MAAM,qBAAqB,CAAC;AACpD,OAAO,EAAE,uBAAuB,EAAE,MAAM,wBAAwB,CAAC;AACjE,OAAO,EACL,qBAAqB,EACrB,oBAAoB,EACpB,sBAAsB,GACvB,MAAM,wBAAwB,CAAC;AAChC,OAAO,EAAE,qBAAqB,EAAE,MAAM,sBAAsB,CAAC;AAC7D,YAAY,EAAE,cAAc,EAAE,MAAM,sBAAsB,CAAC;AAC3D,OAAO,EAAE,OAAO,EAAE,qBAAqB,EAAE,MAAM,oBAAoB,CAAC;AACpE,YAAY,EAAE,SAAS,EAAE,MAAM,oBAAoB,CAAC"}

package/dist/index.js

@@ -0,0 +1,14 @@
+export { initRapier, getWasmMemory, getLockedAxesOffset } from './init.js';
+export { PhysicsWorld } from './physics-world.js';
+export { RigidBody } from './rigid-body.js';
+export { Collider } from './collider.js';
+export { Joint } from './joint.js';
+export { FixedJoint } from './fixed-joint.js';
+export { HingeJoint } from './hinge-joint.js';
+export { SpringJoint } from './spring-joint.js';
+export { PhysicsSystem } from './physics-system.js';
+export { registerPhysicsBuiltins } from './register-builtins.js';
+export { findAncestorComponent, hasAncestorComponent, hasDescendantComponent, } from './physics-hierarchy.js';
+export { computeColliderOffset } from './collider-offset.js';
+export { Physics, invalidateColliderMap } from './physics-query.js';
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -0,0 +1 @@
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package/dist/init.d.ts

@@ -0,0 +1,8 @@
+import RAPIER from '@dimforge/rapier3d-compat';
+/** Initialize Rapier WASM. Idempotent – safe to call multiple times. */
+export declare function initRapier(): Promise<typeof RAPIER>;
+/** Get the WASM memory buffer. Only available after initRapier(). */
+export declare function getWasmMemory(): WebAssembly.Memory | null;
+/** Get the detected locked_axes byte offset, or -1 if detection failed. */
+export declare function getLockedAxesOffset(): number;
+//# sourceMappingURL=init.d.ts.map

package/dist/init.d.ts.map

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package/dist/init.js

@@ -0,0 +1,98 @@
+import RAPIER from '@dimforge/rapier3d-compat';
+let initialized = false;
+/**
+ * WASM memory buffer from the Rapier module.
+ * Used to patch raw joint data that the JS bindings don't fully expose.
+ */
+let wasmMemory = null;
+/**
+ * Byte offset of `locked_axes` within a RawGenericJoint WASM struct.
+ * Detected at init by comparing a Fixed and Revolute raw joint.
+ */
+let lockedAxesOffset = -1;
+/** Initialize Rapier WASM. Idempotent – safe to call multiple times. */
+export async function initRapier() {
+    if (!initialized) {
+        // RAPIER.init() returns void — intercept WebAssembly instantiation to capture the memory.
+        // Browsers may use either instantiateStreaming or instantiate depending on MIME type.
+        let capturedMemory = null;
+        const extractMemory = (instance) => {
+            const mem = instance.exports.memory;
+            if (mem)
+                capturedMemory = mem;
+        };
+        const origInstantiate = WebAssembly.instantiate;
+        WebAssembly.instantiate = (async (...args) => {
+            const result = await origInstantiate.apply(WebAssembly, args);
+            const inst = result?.instance;
+            if (inst)
+                extractMemory(inst);
+            return result;
+        });
+        const origStreaming = WebAssembly.instantiateStreaming;
+        if (origStreaming) {
+            WebAssembly.instantiateStreaming = (async (...args) => {
+                const result = await origStreaming.apply(WebAssembly, args);
+                const inst = result?.instance;
+                if (inst)
+                    extractMemory(inst);
+                return result;
+            });
+        }
+        try {
+            await RAPIER.init();
+        }
+        finally {
+            WebAssembly.instantiate = origInstantiate;
+            if (origStreaming)
+                WebAssembly.instantiateStreaming = origStreaming;
+        }
+        wasmMemory = capturedMemory;
+        lockedAxesOffset = detectLockedAxesOffset();
+        initialized = true;
+    }
+    return RAPIER;
+}
+/**
+ * Detect the byte offset of `locked_axes` in the RawGenericJoint WASM struct.
+ * Creates throwaway revolute (locked=0x37) and fixed (locked=0x3F) raw joints,
+ * then scans for the differing byte.
+ */
+function detectLockedAxesOffset() {
+    const v0 = new RAPIER.Vector3(0, 0, 0);
+    const v1 = new RAPIER.Vector3(0, 1, 0);
+    const q0 = new RAPIER.Quaternion(0, 0, 0, 1);
+    const revolute = RAPIER.JointData.revolute(v0, v0, v1);
+    const fixed = RAPIER.JointData.fixed(v0, q0, v0, q0);
+    const rawRev = revolute.intoRaw();
+    const rawFix = fixed.intoRaw();
+    if (!rawRev || !rawFix || !wasmMemory) {
+        rawRev?.free();
+        rawFix?.free();
+        return -1;
+    }
+    const ptrRev = rawRev.__wbg_ptr;
+    const ptrFix = rawFix.__wbg_ptr;
+    const bytes = new Uint8Array(wasmMemory.buffer);
+    // Fixed locked_axes = 0x3F (all 6 DOFs locked)
+    // Revolute locked_axes = 0x37 (all except AngX = bit 3)
+    let offset = -1;
+    for (let i = 0; i < 512; i++) {
+        if (bytes[ptrRev + i] === 0x37 && bytes[ptrFix + i] === 0x3F) {
+            offset = i;
+            break;
+        }
+    }
+    rawRev.free();
+    rawFix.free();
+    return offset;
+}
+/** Get the WASM memory buffer. Only available after initRapier(). */
+export function getWasmMemory() {
+    return wasmMemory;
+}
+/** Get the detected locked_axes byte offset, or -1 if detection failed. */
+export function getLockedAxesOffset() {
+    return lockedAxesOffset;
+}
+//# sourceMappingURL=init.js.map

package/dist/init.js.map

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package/dist/joint.d.ts

@@ -0,0 +1,52 @@
+import RAPIER from '@dimforge/rapier3d-compat';
+import { Component } from '@certe/atmos-core';
+import type { GameObject } from '@certe/atmos-core';
+import type { PhysicsWorld } from './physics-world.js';
+export interface JointOptions {
+    connectedObject?: GameObject;
+    anchor?: {
+        x: number;
+        y: number;
+        z: number;
+    };
+    connectedAnchor?: {
+        x: number;
+        y: number;
+        z: number;
+    };
+    autoConfigureConnectedAnchor?: boolean;
+}
+export declare abstract class Joint extends Component {
+    joint: RAPIER.ImpulseJoint | null;
+    protected _connectedObject: GameObject | null;
+    protected _world: PhysicsWorld | null;
+    private readonly _anchor;
+    private readonly _connectedAnchor;
+    private _autoConfigureConnectedAnchor;
+    get anchor(): Float32Array;
+    set anchor(v: Float32Array);
+    get connectedAnchor(): Float32Array;
+    set connectedAnchor(v: Float32Array);
+    get autoConfigureConnectedAnchor(): boolean;
+    set autoConfigureConnectedAnchor(v: boolean);
+    get connectedObject(): GameObject | null;
+    set connectedObject(value: GameObject | null);
+    init(world: PhysicsWorld, options?: JointOptions): void;
+    protected abstract _createJointData(): RAPIER.JointData;
+    protected _toXYZ(v: Float32Array): {
+        x: number;
+        y: number;
+        z: number;
+    };
+    protected _tryCreateJoint(): void;
+    /** Destroy current joint and recreate it (used when creation-time params change). */
+    protected _recreateJoint(): void;
+    /** Recompute auto-configured values (anchor/axis) without recreating the Rapier joint. */
+    refreshAutoConfig(): void;
+    /** Recreate the joint so auto-configured anchors/axes update after transforms change. */
+    syncAutoConfig(): void;
+    private _computeConnectedAnchor;
+    protected _removeJoint(): void;
+    onDestroy(): void;
+}
+//# sourceMappingURL=joint.d.ts.map

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