@codexo/exojs-physics 0.13.0 → 0.14.0

package/dist/esm/PhysicsWorld.d.ts

@@ -3,47 +3,102 @@ import { Signal, Vector } from '@codexo/exojs';
 import type { Aabb } from './Aabb';
 import type { PhysicsBackend } from './backend/PhysicsBackend';
 import type { BindingOptions, PhysicsBinding } from './binding/PhysicsBinding';
-import type { Collider, ColliderOptions } from './Collider';
+import { Collider } from './Collider';
 import type { CollisionEvent, SensorEvent } from './events';
-import type { BodyOptions, BodyOwner } from './PhysicsBody';
+import type { BodyOwner } from './PhysicsBody';
 import { PhysicsBody } from './PhysicsBody';
 import type { QueryFilter, RayHit } from './query/QueryEngine';
-import type { Shape } from './shapes/Shape';
+import type { AnyShape } from './shapes/AnyShape';
 import { TimeStepper } from './TimeStepper';
-import type { VectorLike } from './types';
+import type { BodyType, CollisionFilter, VectorLike } from './types';
 /** Construction options for a {@link PhysicsWorld}. */
 export interface PhysicsWorldOptions {
-    /** Gravity in px/s² (+Y down). Stored; applied once the dynamics solver ships. Default `(0, 0)`. */
+    /** Gravity in px/s² (+Y down). Integrated each sub-step. Default `(0, 0)`. */
     gravity?: VectorLike;
     /** Fixed timestep in seconds. Default `1 / 60`. */
     fixedDelta?: number;
-    /** Maximum sub-steps per `step` (spiral-of-death guard). Default `8`. */
+    /** Maximum fixed steps per `step` call (spiral-of-death guard). Default `8`. */
     maxSubSteps?: number;
-    /** Solver velocity iterations (stored for forward-compat). Default `8`. */
-    velocityIterations?: number;
-    /** Solver position iterations (stored for forward-compat). Default `3`. */
-    positionIterations?: number;
-    /** Interpolate bound nodes between sub-steps (no effect until dynamics integrate). Default `true`. */
+    /**
+     * TGS-Soft sub-steps per fixed step (the solver's stiffness scales with this,
+     * not iteration count). Default `4`. Must be ≥ 1. Values below `2` visibly
+     * degrade tall-stack stability (a 10-box tower jitters at `1`), so the default
+     * is load-bearing — do not lower it for performance.
+     */
+    subStepCount?: number;
+    /** Soft-contact stiffness in Hz (the contact behaves as a damped spring at this frequency). Default `30`. */
+    contactHertz?: number;
+    /** Soft-contact damping ratio (≥ 1 keeps contacts from oscillating). Default `10`. */
+    dampingRatio?: number;
+    /** Interpolate bound nodes between fixed steps (reserved; no effect yet). Default `true`. */
     interpolation?: boolean;
 }
-/** {@link PhysicsWorld.createStaticCollider} options: a collider plus its static body placement. */
-export interface StaticColliderOptions extends ColliderOptions {
-    /** World position of the implicit static body. Default `(0, 0)`. */
+/**
+ * {@link PhysicsWorld.attach} convenience options: a body type plus a single
+ * collider, attached to a scene node in one call.
+ */
+export interface AttachOptions {
+    /** Simulation role of the created body. Default `'dynamic'`. */
+    type?: BodyType;
+    /** Initial world position of the body. Default the node's position is left untouched and `(0, 0)` is used. */
     position?: VectorLike;
-    /** Rotation (radians) of the implicit static body. Default `0`. */
+    /** Initial rotation (radians) of the body. Default `0`. */
     angle?: number;
+    /** Per-body multiplier on world gravity. Default `1`. */
+    gravityScale?: number;
+    /** When `true`, the body never rotates under contacts. Default `false`. */
+    fixedRotation?: boolean;
+    /** The collider geometry. */
+    shape: AnyShape;
+    /** Body-local offset of the collider. Default `(0, 0)`. */
+    offset?: VectorLike;
+    /** Body-local rotation of the collider (radians). Default `0`. */
+    rotation?: number;
+    /** Collider density (mass per px²). Default `1`. */
+    density?: number;
+    /** Coulomb friction coefficient. Default `0.2`. */
+    friction?: number;
+    /** Restitution / bounciness in `[0, 1]`. Default `0`. */
+    restitution?: number;
+    /** When `true`, the collider generates overlap events but no contact response. Default `false`. */
+    isSensor?: boolean;
+    /** Category/mask/group collision filter; partials merge over the defaults. */
+    filter?: Partial<CollisionFilter>;
+    /** Binding options forwarded to {@link PhysicsWorld.bind}. */
+    binding?: BindingOptions;
 }
 /**
  * The collision/query world: owns bodies, colliders, the detection backend,
  * bindings, the query engine and the fixed-step accumulator. Stepped by the
- * caller (commonly from a `Scene.update`), it runs broad- and narrow-phase
- * detection, fires immutable contact/sensor events, and writes bound node
- * transforms. It holds **no module-level state**, so any number of worlds run
- * in isolation (gate I-1).
+ * caller (commonly from a `Scene.update`), each fixed sub-step it integrates
+ * body velocities, runs broad- and narrow-phase detection, solves contacts and
+ * integrates positions, then fires immutable contact/sensor events and writes
+ * bound node transforms. It holds **no module-level state**, so any number of
+ * worlds run in isolation (gate I-1).
+ *
+ * The dynamics are a native, warm-started **TGS-Soft** solver (Box2D-v3 "soft
+ * step"): each fixed step runs detection once, then several sub-steps, each
+ * integrating gravity over the sub-step and solving contacts with a soft
+ * position bias plus a bias-free relax pass; a 2-point block normal solve
+ * propagates stack loads, and restitution is a separate final pass. Decoupling
+ * stiffness from the iteration count keeps tall towers stable. The detection
+ * backend sits behind an internal seam, so the solver is swappable without
+ * touching this public surface.
  *
- * This release performs collision detection, sensors, events, queries and
- * binding; bodies move only via {@link PhysicsBody.setTransform}. Gravity,
- * forces and impulse integration arrive with the dynamics solver.
+ * **Operating envelope.** The soft solver trades a little accuracy for
+ * robustness, so it has a few documented limits — each stays finite/stable and
+ * each is pinned by a gate in `dynamics.test.ts`:
+ * - **Mass ratio** — resting stacks are slop-accurate up to ~100:1. Beyond that
+ *   the velocity-capped soft push-out (`maxBiasVelocity`) lets the lighter body
+ *   settle progressively deeper (≈6px at 500:1, fully through a thin floor by
+ *   ~5000:1) — always finite, never exploding (SG-MR3).
+ * - **No CCD** — detection runs once per fixed step with no swept test, so a
+ *   body that travels farther than an obstacle's thickness in one step tunnels
+ *   straight through it (it stays finite). Reliably stopping fast projectiles is
+ *   a future bullet-mode feature (SG-X5).
+ * - **{@link PhysicsWorldOptions.subStepCount}** — the default `4` is
+ *   load-bearing for tall-stack stability; lowering it below `2` visibly
+ *   degrades stacking, so do not reduce it for performance.
  */
 export declare class PhysicsWorld implements BodyOwner {
     /** Fires when two solid colliders begin touching. Argument is an immutable snapshot. */
@@ -54,16 +109,18 @@ export declare class PhysicsWorld implements BodyOwner {
     readonly onSensorEnter: Signal<[SensorEvent]>;
     /** Fires when a collider leaves a sensor. */
     readonly onSensorExit: Signal<[SensorEvent]>;
-    /** World gravity (px/s², +Y down). Stored until dynamics ship. */
+    /** World gravity (px/s², +Y down). Integrated each sub-step. */
     readonly gravity: Vector;
     /** The fixed-step accumulator. */
     readonly timeStepper: TimeStepper;
-    /** Whether bound nodes interpolate between sub-steps (no effect until dynamics). */
+    /** Whether bound nodes interpolate between fixed steps (reserved; no effect yet). */
     readonly interpolation: boolean;
-    /** Solver velocity iterations (stored for forward-compat). */
-    readonly velocityIterations: number;
-    /** Solver position iterations (stored for forward-compat). */
-    readonly positionIterations: number;
+    /** TGS-Soft sub-steps per fixed step. */
+    readonly subStepCount: number;
+    /** Soft-contact stiffness in Hz. */
+    readonly contactHertz: number;
+    /** Soft-contact damping ratio. */
+    readonly dampingRatio: number;
     private readonly _backend;
     private readonly _bodies;
     private readonly _colliders;
@@ -79,17 +136,32 @@ export declare class PhysicsWorld implements BodyOwner {
     get bodies(): readonly PhysicsBody[];
     /** Live colliders (read-only view). */
     get colliders(): readonly Collider[];
-    /** Create a body. Safe to call inside an event callback (deferred to end of step). */
-    createBody(options?: BodyOptions): PhysicsBody;
-    /** Sugar: an explicit static body carrying a single collider. The body is addressable via `collider.body`. */
-    createStaticCollider(options: StaticColliderOptions): Collider;
+    /**
+     * Add a body to the world: allocates the body and its collider ids, registers
+     * the colliders, computes the mass model and tracks the body for stepping.
+     * Construct the body freely first (`new PhysicsBody({ … })`), then add it.
+     * Safe to call inside an event callback — the body push is deferred to the end
+     * of the step, exactly like collider registration. Returns the body.
+     *
+     * @throws if the body has already been added to a world.
+     */
+    add(body: PhysicsBody): PhysicsBody;
+    /**
+     * Convenience: create a body carrying a single collider, add it to the world
+     * and bind it to `node` in one call. The node tracks `body.position` after each
+     * step. Returns the body. Equivalent to `new PhysicsBody(...)` + `add` + `bind`.
+     */
+    attach(node: SceneNode, options: AttachOptions): PhysicsBody;
     /** Destroy a body and its colliders. Deferred when called inside a callback. */
     destroyBody(body: PhysicsBody): void;
     /** Destroy a single collider, recomputing its body's mass. Deferred when called inside a callback. */
     destroyCollider(collider: Collider): void;
     /**
-     * Advance the world by `frameDeltaSeconds`. Accumulates into fixed sub-steps,
-     * runs detection, dispatches events, then writes bound node transforms.
+     * Advance the world by `frameDeltaSeconds`. Accumulates into fixed steps; each
+     * fixed step runs detection once, then a TGS-Soft sub-step loop (integrate
+     * gravity, solve contacts with a soft bias, integrate positions, relax) and a
+     * restitution pass, then writes the accumulated motion into each body. Finally
+     * dispatches events and writes bound node transforms.
      */
     step(frameDeltaSeconds: number): void;
     /** Link a body to a scene node; the node tracks the body after each step. */
@@ -107,7 +179,7 @@ export declare class PhysicsWorld implements BodyOwner {
     /** All collider hits along the ray, sorted by distance. Writes into `out` (cleared) if given. */
     rayCastAll(origin: VectorLike, direction: VectorLike, filter?: QueryFilter, out?: RayHit[], maxDistance?: number): RayHit[];
     /** Colliders overlapping `shape` placed at `position`/`angle`. Fresh array. */
-    overlapShape(shape: Shape, position: VectorLike, filter?: QueryFilter, angle?: number): Collider[];
+    overlapShape(shape: AnyShape, position: VectorLike, filter?: QueryFilter, angle?: number): Collider[];
     /** Release every body, collider, binding and backend resource. */
     destroy(): void;
     _allocateColliderId(): number;

package/dist/esm/PhysicsWorld.js

@@ -1,6 +1,7 @@
 import { Signal, Vector } from '@codexo/exojs';
 import { NativePhysicsBackend } from './backend/NativePhysicsBackend.js';
 import { BindingRegistry } from './binding/BindingRegistry.js';
+import { Collider } from './Collider.js';
 import { PhysicsBody } from './PhysicsBody.js';
 import { QueryEngine } from './query/QueryEngine.js';
 import { TimeStepper } from './TimeStepper.js';
@@ -8,14 +9,35 @@ import { TimeStepper } from './TimeStepper.js';
 /**
  * The collision/query world: owns bodies, colliders, the detection backend,
  * bindings, the query engine and the fixed-step accumulator. Stepped by the
- * caller (commonly from a `Scene.update`), it runs broad- and narrow-phase
- * detection, fires immutable contact/sensor events, and writes bound node
- * transforms. It holds **no module-level state**, so any number of worlds run
- * in isolation (gate I-1).
+ * caller (commonly from a `Scene.update`), each fixed sub-step it integrates
+ * body velocities, runs broad- and narrow-phase detection, solves contacts and
+ * integrates positions, then fires immutable contact/sensor events and writes
+ * bound node transforms. It holds **no module-level state**, so any number of
+ * worlds run in isolation (gate I-1).
  *
- * This release performs collision detection, sensors, events, queries and
- * binding; bodies move only via {@link PhysicsBody.setTransform}. Gravity,
- * forces and impulse integration arrive with the dynamics solver.
+ * The dynamics are a native, warm-started **TGS-Soft** solver (Box2D-v3 "soft
+ * step"): each fixed step runs detection once, then several sub-steps, each
+ * integrating gravity over the sub-step and solving contacts with a soft
+ * position bias plus a bias-free relax pass; a 2-point block normal solve
+ * propagates stack loads, and restitution is a separate final pass. Decoupling
+ * stiffness from the iteration count keeps tall towers stable. The detection
+ * backend sits behind an internal seam, so the solver is swappable without
+ * touching this public surface.
+ *
+ * **Operating envelope.** The soft solver trades a little accuracy for
+ * robustness, so it has a few documented limits — each stays finite/stable and
+ * each is pinned by a gate in `dynamics.test.ts`:
+ * - **Mass ratio** — resting stacks are slop-accurate up to ~100:1. Beyond that
+ *   the velocity-capped soft push-out (`maxBiasVelocity`) lets the lighter body
+ *   settle progressively deeper (≈6px at 500:1, fully through a thin floor by
+ *   ~5000:1) — always finite, never exploding (SG-MR3).
+ * - **No CCD** — detection runs once per fixed step with no swept test, so a
+ *   body that travels farther than an obstacle's thickness in one step tunnels
+ *   straight through it (it stays finite). Reliably stopping fast projectiles is
+ *   a future bullet-mode feature (SG-X5).
+ * - **{@link PhysicsWorldOptions.subStepCount}** — the default `4` is
+ *   load-bearing for tall-stack stability; lowering it below `2` visibly
+ *   degrades stacking, so do not reduce it for performance.
  */
 class PhysicsWorld {
     /** Fires when two solid colliders begin touching. Argument is an immutable snapshot. */
@@ -26,16 +48,18 @@ class PhysicsWorld {
     onSensorEnter = new Signal();
     /** Fires when a collider leaves a sensor. */
     onSensorExit = new Signal();
-    /** World gravity (px/s², +Y down). Stored until dynamics ship. */
+    /** World gravity (px/s², +Y down). Integrated each sub-step. */
     gravity;
     /** The fixed-step accumulator. */
     timeStepper;
-    /** Whether bound nodes interpolate between sub-steps (no effect until dynamics). */
+    /** Whether bound nodes interpolate between fixed steps (reserved; no effect yet). */
     interpolation;
-    /** Solver velocity iterations (stored for forward-compat). */
-    velocityIterations;
-    /** Solver position iterations (stored for forward-compat). */
-    positionIterations;
+    /** TGS-Soft sub-steps per fixed step. */
+    subStepCount;
+    /** Soft-contact stiffness in Hz. */
+    contactHertz;
+    /** Soft-contact damping ratio. */
+    dampingRatio;
     _backend = new NativePhysicsBackend();
     _bodies = [];
     _colliders = [];
@@ -48,10 +72,18 @@ class PhysicsWorld {
     _destroyed = false;
     constructor(options = {}) {
         this.gravity = new Vector(options.gravity?.x ?? 0, options.gravity?.y ?? 0);
-        this.timeStepper = new TimeStepper({ fixedDelta: options.fixedDelta, maxSubSteps: options.maxSubSteps });
+        this.timeStepper = new TimeStepper({
+            ...(options.fixedDelta !== undefined && { fixedDelta: options.fixedDelta }),
+            ...(options.maxSubSteps !== undefined && { maxSubSteps: options.maxSubSteps }),
+        });
         this.interpolation = options.interpolation ?? true;
-        this.velocityIterations = options.velocityIterations ?? 8;
-        this.positionIterations = options.positionIterations ?? 3;
+        const subStepCount = options.subStepCount ?? 4;
+        if (!Number.isInteger(subStepCount) || subStepCount < 1) {
+            throw new RangeError(`PhysicsWorld: subStepCount must be an integer ≥ 1, received ${subStepCount}.`);
+        }
+        this.subStepCount = subStepCount;
+        this.contactHertz = options.contactHertz ?? 30;
+        this.dampingRatio = options.dampingRatio ?? 10;
         this._query = new QueryEngine(this._colliders);
     }
     /** Live bodies (read-only view). */
@@ -63,10 +95,24 @@ class PhysicsWorld {
         return this._colliders;
     }
     // ── lifecycle ──────────────────────────────────────────────────────────
-    /** Create a body. Safe to call inside an event callback (deferred to end of step). */
-    createBody(options) {
+    /**
+     * Add a body to the world: allocates the body and its collider ids, registers
+     * the colliders, computes the mass model and tracks the body for stepping.
+     * Construct the body freely first (`new PhysicsBody({ … })`), then add it.
+     * Safe to call inside an event callback — the body push is deferred to the end
+     * of the step, exactly like collider registration. Returns the body.
+     *
+     * @throws if the body has already been added to a world.
+     */
+    add(body) {
         this._assertAlive();
-        const body = new PhysicsBody(this, this._nextBodyId++, options);
+        if (body.attached) {
+            throw new Error('PhysicsWorld.add: this body has already been added to a world.');
+        }
+        // Allocate the id + link/register colliders + aggregate mass now (matches the
+        // old createBody, which allocated the id synchronously); only the body-list
+        // push is deferred so it is safe inside an event dispatch.
+        body._attachToWorld(this, this._nextBodyId++);
         this._defer(() => {
             if (!body.destroyed) {
                 this._bodies.push(body);
@@ -74,10 +120,34 @@ class PhysicsWorld {
         });
         return body;
     }
-    /** Sugar: an explicit static body carrying a single collider. The body is addressable via `collider.body`. */
-    createStaticCollider(options) {
-        const body = this.createBody({ type: 'static', position: options.position, angle: options.angle });
-        return body.createCollider(options);
+    /**
+     * Convenience: create a body carrying a single collider, add it to the world
+     * and bind it to `node` in one call. The node tracks `body.position` after each
+     * step. Returns the body. Equivalent to `new PhysicsBody(...)` + `add` + `bind`.
+     */
+    attach(node, options) {
+        const body = new PhysicsBody({
+            ...(options.type !== undefined && { type: options.type }),
+            ...(options.position !== undefined && { position: options.position }),
+            ...(options.angle !== undefined && { angle: options.angle }),
+            ...(options.gravityScale !== undefined && { gravityScale: options.gravityScale }),
+            ...(options.fixedRotation !== undefined && { fixedRotation: options.fixedRotation }),
+            colliders: [
+                new Collider({
+                    shape: options.shape,
+                    ...(options.offset !== undefined && { offset: options.offset }),
+                    ...(options.rotation !== undefined && { rotation: options.rotation }),
+                    ...(options.density !== undefined && { density: options.density }),
+                    ...(options.friction !== undefined && { friction: options.friction }),
+                    ...(options.restitution !== undefined && { restitution: options.restitution }),
+                    ...(options.isSensor !== undefined && { isSensor: options.isSensor }),
+                    ...(options.filter !== undefined && { filter: options.filter }),
+                }),
+            ],
+        });
+        this.add(body);
+        this.bind(body, node, options.binding);
+        return body;
     }
     /** Destroy a body and its colliders. Deferred when called inside a callback. */
     destroyBody(body) {
@@ -89,20 +159,55 @@ class PhysicsWorld {
     }
     // ── stepping ───────────────────────────────────────────────────────────
     /**
-     * Advance the world by `frameDeltaSeconds`. Accumulates into fixed sub-steps,
-     * runs detection, dispatches events, then writes bound node transforms.
+     * Advance the world by `frameDeltaSeconds`. Accumulates into fixed steps; each
+     * fixed step runs detection once, then a TGS-Soft sub-step loop (integrate
+     * gravity, solve contacts with a soft bias, integrate positions, relax) and a
+     * restitution pass, then writes the accumulated motion into each body. Finally
+     * dispatches events and writes bound node transforms.
      */
     step(frameDeltaSeconds) {
         this._assertAlive();
         const steps = this.timeStepper.advance(frameDeltaSeconds);
         if (steps > 0) {
-            // Without dynamics, geometry is unchanged across sub-steps, so a single
-            // detection pass per frame suffices; the dynamics solver will run per
-            // sub-step here.
-            for (const body of this._bodies) {
-                body.synchronizeColliders();
+            const subStepCount = this.subStepCount;
+            const h = this.timeStepper.fixedDelta / subStepCount;
+            const gravityX = this.gravity.x;
+            const gravityY = this.gravity.y;
+            const contactHertz = this.contactHertz;
+            const dampingRatio = this.dampingRatio;
+            for (let step = 0; step < steps; step++) {
+                // Detection runs once per fixed step (collider geometry is already current
+                // from the previous frame's finalize / attach / setTransform). TGS-Soft
+                // reuses the manifolds across the sub-steps below.
+                this._backend.detect(this._colliders);
+                this._backend.prepareSolve(h, contactHertz, dampingRatio);
+                for (let subStep = 0; subStep < subStepCount; subStep++) {
+                    // Integrate gravity/forces over the sub-step (forces persist across
+                    // sub-steps; cleared once per frame by `_finalizePosition`).
+                    for (const body of this._bodies) {
+                        body._integrateVelocity(h, gravityX, gravityY);
+                    }
+                    // Warm-start every sub-step (Box2D-v3 soft step): the relax pass leaves
+                    // each contact's normal velocity at zero, so re-applying the
+                    // accumulated impulse re-balances exactly this sub-step's gravity — the
+                    // impulse converges to the per-sub-step load (m·h·g), not the per-frame
+                    // load, which is what keeps tall stacks from pumping energy.
+                    this._backend.warmStart();
+                    // Main soft-bias velocity solve, integrate positions (accumulating
+                    // per-body delta), then the bias-free relax pass.
+                    this._backend.solveVelocities(true);
+                    for (const body of this._bodies) {
+                        body._integratePosition(h);
+                    }
+                    this._backend.solveVelocities(false);
+                }
+                // Separate restitution pass, then write the accumulated delta into each
+                // body's transform and re-sync collider geometry.
+                this._backend.applyRestitution();
+                for (const body of this._bodies) {
+                    body._finalizePosition();
+                }
             }
-            this._backend.detect(this._colliders);
             this._dispatchEvents();
         }
         this._bindings.sync();

package/dist/esm/PhysicsWorld.js.map

@@ -1 +1 @@
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package/dist/esm/backend/NativePhysicsBackend.d.ts

@@ -11,9 +11,14 @@ import type { PhysicsBackend } from './PhysicsBackend';
 export declare class NativePhysicsBackend implements PhysicsBackend {
     readonly contactGraph: ContactGraph;
     private readonly _broadPhase;
+    private readonly _solver;
     private readonly _pairs;
     get candidatePairs(): readonly CandidatePair[];
     detect(colliders: readonly Collider[]): void;
+    prepareSolve(h: number, contactHertz: number, dampingRatio: number): void;
+    warmStart(): void;
+    solveVelocities(useBias: boolean): void;
+    applyRestitution(): void;
     removeCollider(collider: Collider): void;
     destroy(): void;
 }

package/dist/esm/backend/NativePhysicsBackend.js

@@ -1,5 +1,6 @@
 import { SweepAndPrune } from '../broadphase/SweepAndPrune.js';
 import { ContactGraph } from '../ContactGraph.js';
+import { ContactSolver } from '../solver/ContactSolver.js';
 
 /**
  * The native, dependency-free backend: a {@link BroadPhase} (sweep-and-prune in
@@ -10,6 +11,7 @@ import { ContactGraph } from '../ContactGraph.js';
 class NativePhysicsBackend {
     contactGraph = new ContactGraph();
     _broadPhase = new SweepAndPrune();
+    _solver = new ContactSolver();
     _pairs = [];
     get candidatePairs() {
         return this._pairs;
@@ -18,6 +20,18 @@ class NativePhysicsBackend {
         this._broadPhase.computePairs(colliders, this._pairs);
         this.contactGraph.update(this._pairs);
     }
+    prepareSolve(h, contactHertz, dampingRatio) {
+        this._solver.prepare(this.contactGraph.solidContacts, h, contactHertz, dampingRatio);
+    }
+    warmStart() {
+        this._solver.warmStart();
+    }
+    solveVelocities(useBias) {
+        this._solver.solveVelocities(useBias);
+    }
+    applyRestitution() {
+        this._solver.applyRestitution();
+    }
     removeCollider(collider) {
         this.contactGraph.removeCollider(collider);
     }

package/dist/esm/backend/NativePhysicsBackend.js.map

@@ -1 +1 @@
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package/dist/esm/backend/PhysicsBackend.d.ts

@@ -14,8 +14,16 @@ export interface PhysicsBackend {
     readonly contactGraph: ContactGraph;
     /** The latest broad-phase candidate pairs (read-only; for debug draw). */
     readonly candidatePairs: readonly CandidatePair[];
-    /** Run one detection pass over `colliders`, refreshing the contact graph. */
+    /** Run one detection pass over `colliders`, refreshing the contact graph. Once per frame (TGS reuses the manifolds across sub-steps). */
     detect(colliders: readonly Collider[]): void;
+    /** Build the per-frame contact constraints from the solid contacts. `h` is the sub-step duration; the soft factors derive from it plus `contactHertz`/`dampingRatio`. Call once per frame after {@link detect}. */
+    prepareSolve(h: number, contactHertz: number, dampingRatio: number): void;
+    /** Re-apply the cached warm-start impulses to the contacting bodies (first sub-step only). */
+    warmStart(): void;
+    /** One velocity pass over the solid contacts. `useBias` selects the main soft-bias pass; `false` is the relax pass. */
+    solveVelocities(useBias: boolean): void;
+    /** Restitution pass, run once per frame after the sub-step loop. */
+    applyRestitution(): void;
     /** Forget any state referencing `collider` (called on destruction). */
     removeCollider(collider: Collider): void;
     /** Release all backend state. */

package/dist/esm/binding/PhysicsBinding.d.ts

@@ -1,4 +1,4 @@
-import type { SceneNode } from '@codexo/exojs';
+import { type SceneNode } from '@codexo/exojs';
 import type { PhysicsBody } from '../PhysicsBody';
 /** Options for {@link PhysicsWorld.bind}. */
 export interface BindingOptions {
@@ -12,16 +12,16 @@ export interface BindingOptions {
 }
 /**
  * A link between a {@link PhysicsBody} and a {@link SceneNode}. After each
- * {@link PhysicsWorld.step}, the body's world position is written onto the node.
- * Rotation is written once dynamics ship (a body cannot rotate under contacts in
- * this collision/query release). The node must be world-space-rooted; runtime
- * scale is ignored and non-zero skew is rejected at bind time.
+ * {@link PhysicsWorld.step}, the body's world position **and rotation** are
+ * written onto the node (the body's angle is radians; the node's rotation is
+ * degrees). The node must be world-space-rooted; runtime scale is ignored and
+ * non-zero skew is rejected at bind time.
  */
 export declare class PhysicsBinding {
     readonly body: PhysicsBody;
     readonly node: SceneNode;
     readonly drive: 'body-to-node' | 'node-to-body';
     constructor(body: PhysicsBody, node: SceneNode, drive?: 'body-to-node' | 'node-to-body');
-    /** Write the body's current transform onto the bound node. */
+    /** Write the body's current transform (position + rotation) onto the bound node. */
     sync(): void;
 }

package/dist/esm/binding/PhysicsBinding.js

@@ -1,9 +1,11 @@
+import { MathUtils } from '@codexo/exojs';
+
 /**
  * A link between a {@link PhysicsBody} and a {@link SceneNode}. After each
- * {@link PhysicsWorld.step}, the body's world position is written onto the node.
- * Rotation is written once dynamics ship (a body cannot rotate under contacts in
- * this collision/query release). The node must be world-space-rooted; runtime
- * scale is ignored and non-zero skew is rejected at bind time.
+ * {@link PhysicsWorld.step}, the body's world position **and rotation** are
+ * written onto the node (the body's angle is radians; the node's rotation is
+ * degrees). The node must be world-space-rooted; runtime scale is ignored and
+ * non-zero skew is rejected at bind time.
  */
 class PhysicsBinding {
     body;
@@ -14,9 +16,10 @@ class PhysicsBinding {
         this.node = node;
         this.drive = drive;
     }
-    /** Write the body's current transform onto the bound node. */
+    /** Write the body's current transform (position + rotation) onto the bound node. */
     sync() {
         this.node.setPosition(this.body.x, this.body.y);
+        this.node.setRotation(MathUtils.radiansToDegrees(this.body.angle));
     }
 }
 

package/dist/esm/binding/PhysicsBinding.js.map

@@ -1 +1 @@
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+{"version":3,"file":"PhysicsBinding.js","sources":["../../../../src/binding/PhysicsBinding.ts"],"sourcesContent":[null],"names":[],"mappings":";;AAeA;;;;;;AAMG;MACU,cAAc,CAAA;AAEP,IAAA,IAAA;AACA,IAAA,IAAA;AACA,IAAA,KAAA;AAHlB,IAAA,WAAA,CACkB,IAAiB,EACjB,IAAe,EACf,QAAyC,cAAc,EAAA;QAFvD,IAAA,CAAA,IAAI,GAAJ,IAAI;QACJ,IAAA,CAAA,IAAI,GAAJ,IAAI;QACJ,IAAA,CAAA,KAAK,GAAL,KAAK;IACpB;;IAGI,IAAI,GAAA;AACT,QAAA,IAAI,CAAC,IAAI,CAAC,WAAW,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC,EAAE,IAAI,CAAC,IAAI,CAAC,CAAC,CAAC;AAC/C,QAAA,IAAI,CAAC,IAAI,CAAC,WAAW,CAAC,SAAS,CAAC,gBAAgB,CAAC,IAAI,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;IACpE;AACD;;;;"}

package/dist/esm/broadphase/SweepAndPrune.d.ts

@@ -10,5 +10,6 @@ import type { BroadPhase, CandidatePair } from './BroadPhase';
  */
 export declare class SweepAndPrune implements BroadPhase {
     private readonly _sorted;
+    private readonly _pairPool;
     computePairs(colliders: readonly Collider[], out: CandidatePair[]): CandidatePair[];
 }