@codexo/exojs-physics 0.13.0 → 0.14.0

package/README.md

@@ -23,23 +23,29 @@ npm install @codexo/exojs @codexo/exojs-physics
 
 ```ts
 import { Scene, Sprite, Vector, type Time } from '@codexo/exojs';
-import { BoxShape, CircleShape, PhysicsWorld } from '@codexo/exojs-physics';
+import { BoxShape, CircleShape, Collider, PhysicsBody, PhysicsWorld } from '@codexo/exojs-physics';
 
 class GameScene extends Scene {
   private readonly world = new PhysicsWorld({ gravity: new Vector(0, 980) });
 
   public override onStart(): void {
+    // Construct bodies/colliders freely, then hand them to the world: `add`
+    // assigns ids, registers the colliders and aggregates the mass model.
     // Static ground (an explicit static body + box collider).
-    this.world.createStaticCollider({ shape: new BoxShape(800, 32), position: new Vector(400, 600), friction: 0.9 });
+    this.world.add(
+      new PhysicsBody({ type: 'static', position: new Vector(400, 600), colliders: [new Collider({ shape: new BoxShape(800, 32), friction: 0.9 })] }),
+    );
 
-    // A kinematic platform you move yourself.
-    const platform = this.world.createBody({ type: 'kinematic', position: new Vector(200, 400) });
-    platform.createCollider({ shape: new BoxShape(120, 16) });
+    // A kinematic platform you move yourself. Attach more colliders any time.
+    const platform = new PhysicsBody({ type: 'kinematic', position: new Vector(200, 400) });
+    platform.addCollider(new Collider({ shape: new BoxShape(120, 16) }));
+    this.world.add(platform);
 
     // A sensor trigger.
-    const trigger = this.world.createStaticCollider({ shape: new CircleShape(40), position: new Vector(600, 500), isSensor: true });
-    this.world.onSensorEnter.add(({ sensor, other }) => {
-      if (sensor === trigger) console.log('entered the trigger');
+    const triggerCollider = new Collider({ shape: new CircleShape(40), isSensor: true });
+    this.world.add(new PhysicsBody({ type: 'static', position: new Vector(600, 500), colliders: [triggerCollider] }));
+    this.world.onSensorEnter.add(({ sensor }) => {
+      if (sensor === triggerCollider) console.log('entered the trigger');
     });
   }
 
@@ -54,8 +60,9 @@ class GameScene extends Scene {
 | Area | API |
 |---|---|
 | World | `PhysicsWorld`, `step`, `gravity`, `timeStepper`, `destroy` |
-| Bodies | `createBody` (`dynamic`/`static`/`kinematic`), `setTransform`, mass/inertia from colliders |
-| Colliders | `createCollider`, `createStaticCollider`, density/friction/restitution, `isSensor`, filter, offset |
+| Bodies | `new PhysicsBody` + `world.add` (`dynamic`/`static`/`kinematic`), `setTransform`, mass/inertia from colliders |
+| Colliders | `new Collider` + `body.addCollider` / `colliders: [...]`, density/friction/restitution, `isSensor`, filter, offset |
+| Attach | `world.attach(node, def)` — body + collider + `bind` in one call |
 | Shapes | `CircleShape`, `PolygonShape` (convex-validated), `BoxShape` |
 | Filtering | `CollisionFilter` (category/mask/group), `shouldCollide` |
 | Events | `onCollisionStart` / `onCollisionEnd` / `onSensorEnter` / `onSensorExit` — immutable snapshots |

package/dist/esm/Collider.d.ts

@@ -1,12 +1,12 @@
 import type { Aabb } from './Aabb';
 import type { Mutable2D, Transform } from './math';
 import type { PhysicsBody } from './PhysicsBody';
-import type { Shape } from './shapes/Shape';
+import type { AnyShape } from './shapes/AnyShape';
 import type { CollisionFilter, VectorLike } from './types';
 /** Construction options for a collider. */
 export interface ColliderOptions {
     /** The collision geometry. */
-    shape: Shape;
+    shape: AnyShape;
     /** Density (mass per px²) for the owning body's mass; ignored for static/kinematic. Default `1`. */
     density?: number;
     /** Coulomb friction coefficient (used by the solver once dynamics ship). Default `0.2`. */
@@ -33,9 +33,8 @@ export interface ColliderOptions {
  * immutable (rebuild the collider to change geometry).
  */
 export declare class Collider {
-    readonly id: number;
-    readonly body: PhysicsBody;
-    readonly shape: Shape;
+    /** Stable id, assigned when the owning body joins a world (`-1` until then). */
+    readonly shape: AnyShape;
     readonly offsetX: number;
     readonly offsetY: number;
     readonly localRotation: number;
@@ -44,14 +43,24 @@ export declare class Collider {
     restitution: number;
     isSensor: boolean;
     readonly filter: CollisionFilter;
+    private _id;
+    private _body;
     private readonly _localTransform;
     private readonly _worldTransform;
     private readonly _aabb;
     private readonly _worldCenter;
+    private readonly _syncScratch;
     private readonly _worldVertices;
     private readonly _worldNormals;
     private _destroyed;
-    constructor(id: number, body: PhysicsBody, options: ColliderOptions);
+    constructor(options: ColliderOptions);
+    /** Stable id, assigned when the owning body joins a world via `world.add()`; `-1` until then. */
+    get id(): number;
+    /**
+     * The body this collider belongs to. `null` until the collider has been added
+     * to a body that has joined a world (free-standing colliders have no body yet).
+     */
+    get body(): PhysicsBody;
     /** The collider's world AABB (valid after the latest {@link synchronize}). */
     get aabb(): Readonly<Aabb>;
     /** The collider's world transform (offset/rotation composed with the body's). */
@@ -72,6 +81,8 @@ export declare class Collider {
      * detection pass.
      */
     synchronize(bodyTransform: Transform): void;
+    /** @internal — bind this collider to its body and id (called when the body joins a world). */
+    _attach(body: PhysicsBody, id: number): void;
     /** Internal: mark destroyed (called by the world). */
     _markDestroyed(): void;
 }

package/dist/esm/Collider.js

@@ -13,8 +13,7 @@ import { resolveFilter } from './types.js';
  * immutable (rebuild the collider to change geometry).
  */
 class Collider {
-    id;
-    body;
+    /** Stable id, assigned when the owning body joins a world (`-1` until then). */
     shape;
     offsetX;
     offsetY;
@@ -24,20 +23,24 @@ class Collider {
     restitution;
     isSensor;
     filter;
+    _id = -1;
+    _body = null;
     _localTransform;
     _worldTransform = createTransform();
     _aabb = createAabb();
     _worldCenter = { x: 0, y: 0 };
+    // Reused per-vertex scratch for synchronize()'s polygon transform loop so a
+    // collider sync allocates nothing. Instance-private: never held across the
+    // call, never aliased between colliders.
+    _syncScratch = { x: 0, y: 0 };
     _worldVertices;
     _worldNormals;
     _destroyed = false;
-    constructor(id, body, options) {
+    constructor(options) {
         const density = options.density ?? 1;
         if (!Number.isFinite(density) || density < 0) {
             throw new RangeError(`Collider: density must be a non-negative finite number, received ${density}.`);
         }
-        this.id = id;
-        this.body = body;
         this.shape = options.shape;
         this.offsetX = options.offset?.x ?? 0;
         this.offsetY = options.offset?.y ?? 0;
@@ -58,6 +61,20 @@ class Collider {
             this._worldNormals = [];
         }
     }
+    /** Stable id, assigned when the owning body joins a world via `world.add()`; `-1` until then. */
+    get id() {
+        return this._id;
+    }
+    /**
+     * The body this collider belongs to. `null` until the collider has been added
+     * to a body that has joined a world (free-standing colliders have no body yet).
+     */
+    get body() {
+        if (this._body === null) {
+            throw new Error('Collider: this collider has not been attached to a body in a world yet.');
+        }
+        return this._body;
+    }
     /** The collider's world AABB (valid after the latest {@link synchronize}). */
     get aabb() {
         return this._aabb;
@@ -106,7 +123,7 @@ class Collider {
         const polygon = this.shape;
         const local = polygon.vertices;
         const normals = polygon.normals;
-        const out = { x: 0, y: 0 };
+        const out = this._syncScratch;
         let minX = Infinity;
         let minY = Infinity;
         let maxX = -Infinity;
@@ -128,6 +145,11 @@ class Collider {
         this._aabb.maxX = maxX;
         this._aabb.maxY = maxY;
     }
+    /** @internal — bind this collider to its body and id (called when the body joins a world). */
+    _attach(body, id) {
+        this._body = body;
+        this._id = id;
+    }
     /** Internal: mark destroyed (called by the world). */
     _markDestroyed() {
         this._destroyed = true;

package/dist/esm/Collider.js.map

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package/dist/esm/ContactGraph.d.ts

@@ -1,6 +1,27 @@
 import type { CandidatePair } from './broadphase/BroadPhase';
 import type { Collider } from './Collider';
+import { Manifold } from './collision/Manifold';
 import type { CollisionEvent, SensorEvent } from './events';
+/**
+ * Persistent per-pair contact state. For solid contacts it carries a manifold
+ * reused across passes plus the accumulated normal/tangent impulses (warm-start
+ * cache), keyed by manifold-point feature ids. Consumed by the {@link ContactSolver}.
+ */
+export interface ContactRecord {
+    readonly a: Collider;
+    readonly b: Collider;
+    readonly isSensor: boolean;
+    touching: boolean;
+    seen: boolean;
+    /** Persistent manifold (solid contacts), refreshed each pass by the narrow phase. */
+    readonly manifold: Manifold;
+    /** Accumulated normal impulse per contact point, carried across steps (warm-start). */
+    readonly normalImpulse: [number, number];
+    /** Accumulated tangent impulse per contact point, carried across steps (warm-start). */
+    readonly tangentImpulse: [number, number];
+    /** Feature ids the cached impulses belong to (for warm-start matching). */
+    readonly pointIds: [number, number];
+}
 /**
  * The persistent contact set. Each detection pass it diffs the currently
  * touching collider pairs against the previous pass and produces immutable
@@ -8,7 +29,9 @@ import type { CollisionEvent, SensorEvent } from './events';
  * is suppressed by the persistent records, and the produced event arrays are
  * sorted by collider id for deterministic dispatch (gate SG-D1/SG-X4).
  *
- * The graph holds no module-level state — each world owns one.
+ * Touching solid contacts are also collected into {@link solidContacts} (with a
+ * warm-start impulse cache) for the dynamics solver. The graph holds no
+ * module-level state — each world owns one.
  */
 export declare class ContactGraph {
     /** Immutable solid-contact begin snapshots produced by the latest {@link update}. */
@@ -19,11 +42,12 @@ export declare class ContactGraph {
     readonly sensorEnter: SensorEvent[];
     /** Immutable sensor-exit snapshots produced by the latest {@link update}. */
     readonly sensorExit: SensorEvent[];
+    /** Touching solid contacts this pass, in deterministic order — consumed by the solver. */
+    readonly solidContacts: ContactRecord[];
     private readonly _records;
-    private readonly _manifold;
     /** Touching pairs currently tracked (for debug draw). */
     get recordCount(): number;
-    /** Diff this pass's candidate pairs against the persistent set, collecting events. */
+    /** Diff this pass's candidate pairs against the persistent set, collecting events + solid contacts. */
     update(pairs: readonly CandidatePair[]): void;
     /** Remove every record referencing `collider` (called when a collider is destroyed). */
     removeCollider(collider: Collider): void;
@@ -31,4 +55,26 @@ export declare class ContactGraph {
     clear(): void;
     private _emitBegin;
     private _emitEnd;
+    /**
+     * `Map.forEach` callback (its `this` bound via the forEach thisArg) — drops a
+     * record the latest pass did not see, firing an end event if it was touching.
+     * A method reference + thisArg keeps the per-step iteration allocation-free,
+     * unlike `for (const [key, record] of map)` which allocates an entry tuple per
+     * record (~1000/step). Deleting the current entry during forEach is safe.
+     */
+    private _removeIfUnseen;
 }
+/**
+ * Stride for packing two collider ids into one pair key. Multiplying by this
+ * (rather than a 32-bit `<<`) keeps the key collision-free up to ~67M (2^26)
+ * ids per world, within JS's 2^53 safe-integer range.
+ * @internal
+ */
+export declare const pairKeyStride = 67108864;
+/**
+ * Integer key for an unordered collider pair (`aId < bId` is guaranteed by the
+ * broad phase). The previous `(aId << 16) | bId` silently collided once any id
+ * reached 65536, because JS bitwise operators wrap at 32 bits.
+ * @internal
+ */
+export declare const pairKey: (aId: number, bId: number) => number;

package/dist/esm/ContactGraph.js

@@ -1,5 +1,6 @@
 import { Manifold } from './collision/Manifold.js';
 import { testOverlap, collide } from './collision/narrowphase.js';
+import { sortInPlace } from './sort.js';
 import { shouldCollide } from './types.js';
 
 /**
@@ -9,7 +10,9 @@ import { shouldCollide } from './types.js';
  * is suppressed by the persistent records, and the produced event arrays are
  * sorted by collider id for deterministic dispatch (gate SG-D1/SG-X4).
  *
- * The graph holds no module-level state — each world owns one.
+ * Touching solid contacts are also collected into {@link solidContacts} (with a
+ * warm-start impulse cache) for the dynamics solver. The graph holds no
+ * module-level state — each world owns one.
  */
 class ContactGraph {
     /** Immutable solid-contact begin snapshots produced by the latest {@link update}. */
@@ -20,21 +23,24 @@ class ContactGraph {
     sensorEnter = [];
     /** Immutable sensor-exit snapshots produced by the latest {@link update}. */
     sensorExit = [];
+    /** Touching solid contacts this pass, in deterministic order — consumed by the solver. */
+    solidContacts = [];
+    // Integer pair-keys (`(a.id << 16) | b.id`, a.id < b.id guaranteed by the broad
+    // phase) — cheaper than string keys on the per-step solver hot path.
     _records = new Map();
-    _manifold = new Manifold();
     /** Touching pairs currently tracked (for debug draw). */
     get recordCount() {
         return this._records.size;
     }
-    /** Diff this pass's candidate pairs against the persistent set, collecting events. */
+    /** Diff this pass's candidate pairs against the persistent set, collecting events + solid contacts. */
     update(pairs) {
         this.collisionStart.length = 0;
         this.collisionEnd.length = 0;
         this.sensorEnter.length = 0;
         this.sensorExit.length = 0;
-        for (const record of this._records.values()) {
-            record.seen = false;
-        }
+        this.solidContacts.length = 0;
+        // eslint-disable-next-line unicorn/no-array-for-each -- forEach is the allocation-free path; for…of over a Map allocates an iterator every step (W7 10a).
+        this._records.forEach(resetSeen);
         for (const pair of pairs) {
             const a = pair.a;
             const b = pair.b;
@@ -42,42 +48,42 @@ class ContactGraph {
                 continue;
             }
             const isSensor = a.isSensor || b.isSensor;
-            const touching = isSensor ? testOverlap(a, b) : collide(a, b, this._manifold);
-            const key = pairKey(a, b);
-            const record = this._records.get(key);
+            const key = pairKey(a.id, b.id);
+            const existing = this._records.get(key);
+            const record = existing ?? createRecord(a, b, isSensor);
+            const touching = isSensor ? testOverlap(a, b) : collide(a, b, record.manifold);
             if (touching) {
-                if (!record) {
-                    this._records.set(key, { a, b, isSensor, touching: true, seen: true });
-                    this._emitBegin(a, b, isSensor);
+                record.seen = true;
+                if (existing === undefined) {
+                    this._records.set(key, record);
                 }
-                else {
-                    record.seen = true;
-                    if (!record.touching) {
-                        record.touching = true;
-                        this._emitBegin(a, b, isSensor);
-                    }
+                if (!record.touching) {
+                    record.touching = true;
+                    this._emitBegin(record);
                 }
-            }
-            else if (record) {
-                if (record.touching) {
-                    this._emitEnd(a, b, isSensor);
+                if (!isSensor) {
+                    warmStartMatch(record);
+                    this.solidContacts.push(record);
                 }
-                this._records.delete(key);
             }
-        }
-        // Pairs that left the broad phase entirely while touching → fire end.
-        for (const [key, record] of this._records) {
-            if (!record.seen) {
+            else if (existing !== undefined) {
                 if (record.touching) {
-                    this._emitEnd(record.a, record.b, record.isSensor);
+                    this._emitEnd(record);
                 }
                 this._records.delete(key);
             }
         }
-        this.collisionStart.sort(byColliderPair);
-        this.collisionEnd.sort(byColliderPair);
-        this.sensorEnter.sort(bySensorPair);
-        this.sensorExit.sort(bySensorPair);
+        // Pairs that left the broad phase entirely while touching → fire end. forEach
+        // + thisArg is the allocation-free iteration (for…of allocates an entry tuple
+        // per record each step); the thisArg binds `this`, so unbound-method is a
+        // false positive here (W7 10a).
+        // eslint-disable-next-line unicorn/no-array-for-each, @typescript-eslint/unbound-method
+        this._records.forEach(this._removeIfUnseen, this);
+        sortInPlace(this.collisionStart, byColliderPair);
+        sortInPlace(this.collisionEnd, byColliderPair);
+        sortInPlace(this.sensorEnter, bySensorPair);
+        sortInPlace(this.sensorExit, bySensorPair);
+        sortInPlace(this.solidContacts, byRecordPair);
     }
     /** Remove every record referencing `collider` (called when a collider is destroyed). */
     removeCollider(collider) {
@@ -91,29 +97,110 @@ class ContactGraph {
     clear() {
         this._records.clear();
     }
-    _emitBegin(a, b, isSensor) {
-        if (isSensor) {
-            this.sensorEnter.push(makeSensorEvent(a, b));
+    _emitBegin(record) {
+        if (record.isSensor) {
+            this.sensorEnter.push(makeSensorEvent(record.a, record.b));
         }
         else {
-            this.collisionStart.push(makeCollisionEvent(a, b, this._manifold));
+            this.collisionStart.push(makeCollisionEvent(record.a, record.b, record.manifold));
         }
     }
-    _emitEnd(a, b, isSensor) {
-        if (isSensor) {
-            this.sensorExit.push(makeSensorEvent(a, b));
+    _emitEnd(record) {
+        if (record.isSensor) {
+            this.sensorExit.push(makeSensorEvent(record.a, record.b));
         }
         else {
-            this.collisionEnd.push(makeEndEvent(a, b));
+            this.collisionEnd.push(makeEndEvent(record.a, record.b));
+        }
+    }
+    /**
+     * `Map.forEach` callback (its `this` bound via the forEach thisArg) — drops a
+     * record the latest pass did not see, firing an end event if it was touching.
+     * A method reference + thisArg keeps the per-step iteration allocation-free,
+     * unlike `for (const [key, record] of map)` which allocates an entry tuple per
+     * record (~1000/step). Deleting the current entry during forEach is safe.
+     */
+    _removeIfUnseen(record, key) {
+        if (!record.seen) {
+            if (record.touching) {
+                this._emitEnd(record);
+            }
+            this._records.delete(key);
         }
     }
 }
-/** Stable key for an unordered collider pair (`a.id < b.id` is guaranteed by the broad phase). */
-const pairKey = (a, b) => `${a.id}:${b.id}`;
+/** `Map.forEach` callback — clears the per-pass `seen` flag (no iterator allocation). */
+const resetSeen = (record) => {
+    record.seen = false;
+};
+/**
+ * Stride for packing two collider ids into one pair key. Multiplying by this
+ * (rather than a 32-bit `<<`) keeps the key collision-free up to ~67M (2^26)
+ * ids per world, within JS's 2^53 safe-integer range.
+ * @internal
+ */
+const pairKeyStride = 0x4000000; // 2^26
+/**
+ * Integer key for an unordered collider pair (`aId < bId` is guaranteed by the
+ * broad phase). The previous `(aId << 16) | bId` silently collided once any id
+ * reached 65536, because JS bitwise operators wrap at 32 bits.
+ * @internal
+ */
+const pairKey = (aId, bId) => aId * pairKeyStride + bId;
+const createRecord = (a, b, isSensor) => ({
+    a,
+    b,
+    isSensor,
+    touching: false,
+    seen: true,
+    manifold: new Manifold(),
+    normalImpulse: [0, 0],
+    tangentImpulse: [0, 0],
+    pointIds: [0, 0],
+});
+/**
+ * Map the previously accumulated impulses onto the new manifold points by feature
+ * id (warm-starting). Unmatched points start at zero; the cache is re-keyed to the
+ * new ids. Runs after `collide` has refreshed `record.manifold`.
+ */
+const warmStartMatch = (record) => {
+    const manifold = record.manifold;
+    const pn0 = record.normalImpulse[0];
+    const pn1 = record.normalImpulse[1];
+    const pt0 = record.tangentImpulse[0];
+    const pt1 = record.tangentImpulse[1];
+    const pid0 = record.pointIds[0];
+    const pid1 = record.pointIds[1];
+    for (let i = 0; i < 2; i++) {
+        if (i < manifold.pointCount) {
+            // i ∈ {0,1} and within pointCount, so the manifold point exists.
+            const id = (i === 0 ? manifold.points[0] : manifold.points[1]).id;
+            let normal = 0;
+            let tangent = 0;
+            if (id === pid0) {
+                normal = pn0;
+                tangent = pt0;
+            }
+            else if (id === pid1) {
+                normal = pn1;
+                tangent = pt1;
+            }
+            record.normalImpulse[i] = normal;
+            record.tangentImpulse[i] = tangent;
+            record.pointIds[i] = id;
+        }
+        else {
+            record.normalImpulse[i] = 0;
+            record.tangentImpulse[i] = 0;
+            record.pointIds[i] = 0;
+        }
+    }
+};
 const makeCollisionEvent = (a, b, manifold) => {
     const points = [];
     for (let i = 0; i < manifold.pointCount; i++) {
-        const p = manifold.points[i];
+        // i in 0..pointCount-1 and pointCount ≤ 2, so the manifold point exists.
+        const p = i === 0 ? manifold.points[0] : manifold.points[1];
         points.push(Object.freeze({ x: p.x, y: p.y, penetration: p.penetration }));
     }
     return Object.freeze({
@@ -152,6 +239,7 @@ const makeSensorEvent = (a, b) => {
 };
 const byColliderPair = (x, y) => x.colliderA.id - y.colliderA.id || x.colliderB.id - y.colliderB.id;
 const bySensorPair = (x, y) => x.sensor.id - y.sensor.id || x.other.id - y.other.id;
+const byRecordPair = (x, y) => x.a.id - y.a.id || x.b.id - y.b.id;
 
-export { ContactGraph };
+export { ContactGraph, pairKey, pairKeyStride };
 //# sourceMappingURL=ContactGraph.js.map

package/dist/esm/ContactGraph.js.map

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