@codexo/exojs-physics 0.13.0 → 0.15.0

package/dist/esm/solver/ContactSolver.js

@@ -0,0 +1,490 @@
+/** Relative normal speed (px/s) below which a contact is treated as resting (no restitution). */
+/**
+ * Penetration allowance (px) the soft bias leaves uncorrected. The narrow phase
+ * only produces a manifold while the colliders overlap, so pushing penetration
+ * fully to zero lets a resting contact wink out for a frame (free-fall, then
+ * re-detect) — a periodic energy spike. Leaving a small slop keeps the contact
+ * persistently overlapping and the warm-start cache alive.
+ */
+const slop = 0.25;
+/**
+ * Cap on the soft-constraint push-out velocity (px/s). Bounds how fast the bias
+ * resolves deep penetration so a large overlap cannot fling bodies apart; the
+ * Box2D-v3 analogue is `contactSpeed = 3·lengthUnit`, retuned for ExoJS pixels.
+ */
+const maxBiasVelocity = 4;
+/** Reject the 2-point block solve when the contact matrix is worse-conditioned than this (fall back to sequential). */
+const maxConditionNumber = 1000;
+/**
+ * Per-contact velocity constraint (1–2 points), computed once per **frame** in
+ * {@link ContactSolver.prepare} and reused across all sub-steps and passes.
+ * Pooled and reused across frames, so steady-state stepping allocates nothing.
+ */
+class ContactConstraint {
+    record;
+    bodyA;
+    bodyB;
+    nx = 0;
+    ny = 0;
+    tx = 0;
+    ty = 0;
+    friction = 0;
+    restitution = 0;
+    pointCount = 0;
+    // Soft-constraint factors (Box2D-v3 "soft step"), derived once per frame from
+    // contactHertz/dampingRatio and the sub-step `h`. Shared by both points.
+    biasRate = 0;
+    massScale = 1;
+    impulseScale = 0;
+    // Per-point contact arms at frame start (relative to each body's centre of mass).
+    rAx = [0, 0];
+    rAy = [0, 0];
+    rBx = [0, 0];
+    rBy = [0, 0];
+    // Per-point arms rotated by the live sub-step rotation (refreshed each pass by
+    // {@link ContactSolver._updateArms}); the solve reads these so a rotating body's
+    // contact torque tracks its current orientation.
+    rotAx = [0, 0];
+    rotAy = [0, 0];
+    rotBx = [0, 0];
+    rotBy = [0, 0];
+    normalMass = [0, 0];
+    tangentMass = [0, 0];
+    /** Contact separation at frame start (= −penetration; negative when overlapping). */
+    baseSeparation = [0, 0];
+    /** Relative normal velocity at frame start (the impact speed the restitution pass keys off). */
+    relativeVelocity = [0, 0];
+    /** Push-out target normal velocity for the current pass (set per pass from the live separation). */
+    velocityBias = [0, 0];
+    // 2-point block: the contact matrix `K` and its inverse (set only when the
+    // manifold has two points and `K` is well-conditioned; else sequential).
+    block = false;
+    k11 = 0;
+    k12 = 0;
+    k22 = 0;
+    invK11 = 0;
+    invK12 = 0;
+    invK22 = 0;
+}
+/**
+ * Native warm-started **TGS-Soft** contact solver (Box2D-v3 "soft step"). Driven
+ * by {@link PhysicsWorld} as a sub-stepping loop: detection runs once per frame,
+ * then {@link prepare} builds the per-contact constraints (effective masses,
+ * frame-start separation + impact velocity, soft factors, and a 2×2 block matrix
+ * for two-point manifolds) **once**, and each sub-step runs
+ * {@link warmStart} → {@link solveVelocities}(useBias=true) → integrate positions
+ * → {@link solveVelocities}(useBias=false) relax. A final {@link applyRestitution}
+ * pass adds bounce above the threshold.
+ *
+ * The position constraint is folded into the velocity solve as a **soft bias**
+ * (a damped-spring push-out whose stiffness is decoupled from the iteration
+ * count), recomputed each pass from the live per-body delta position/rotation —
+ * so there is no separate NGS geometric pass. The contact anchors are rotated by
+ * the live sub-step rotation each pass, so a tilting stack's restoring torque is
+ * computed against its current orientation (without this the tilt grows instead
+ * of being corrected). Two-point manifolds still solve the normal impulses **as a
+ * 2×2 block LCP** (Box2D-style), which propagates stack loads far better than
+ * solving the points sequentially; the block path carries the soft push-out as
+ * its velocity target (hard mass scale), while single-point contacts use the full
+ * soft mass/impulse scaling. Accumulated impulses are written back to each
+ * {@link ContactRecord} for warm-starting the next frame.
+ *
+ * Internal to {@link NativePhysicsBackend}; not part of the public surface.
+ */
+class ContactSolver {
+    _constraints = [];
+    _count = 0;
+    /**
+     * Build the per-contact constraints for this frame from the touching solid
+     * contacts. `h` is the sub-step duration (`fixedDelta / subStepCount`); the
+     * soft factors are derived from it together with `contactHertz`/`dampingRatio`.
+     * Runs once per frame (detection is not repeated per sub-step).
+     */
+    prepare(contacts, h, contactHertz, dampingRatio) {
+        this._count = 0;
+        // Box2D-v3 soft-constraint factors from a damped spring (hertz, zeta) at the
+        // sub-step `h`: omega = 2πf; a1 = 2ζ + hω; a2 = hω·a1; a3 = 1/(1+a2).
+        const omega = 2 * Math.PI * contactHertz;
+        const a1 = 2 * dampingRatio + h * omega;
+        const a2 = h * omega * a1;
+        const a3 = 1 / (1 + a2);
+        const biasRate = contactHertz > 0 ? omega / a1 : 0;
+        const massScale = contactHertz > 0 ? a2 * a3 : 1;
+        const impulseScale = contactHertz > 0 ? a3 : 0;
+        for (const contact of contacts) {
+            const manifold = contact.manifold;
+            const pointCount = manifold.pointCount;
+            if (pointCount === 0) {
+                continue;
+            }
+            const bodyA = contact.a.body;
+            const bodyB = contact.b.body;
+            // Skip contacts where either body is asleep: a sleeping island's solid
+            // contacts are all sleeping↔sleeping or sleeping↔static (both at rest), so
+            // there is nothing to solve. A sleeping body touched by an awake one is
+            // woken (island merge) before this runs, so it is never skipped wrongly.
+            if (bodyA.isSleeping || bodyB.isSleeping) {
+                continue;
+            }
+            const constraint = this._acquire();
+            const nx = manifold.normalX;
+            const ny = manifold.normalY;
+            const tx = -ny;
+            const ty = nx;
+            constraint.record = contact;
+            constraint.bodyA = bodyA;
+            constraint.bodyB = bodyB;
+            constraint.nx = nx;
+            constraint.ny = ny;
+            constraint.tx = tx;
+            constraint.ty = ty;
+            constraint.friction = Math.sqrt(contact.a.friction * contact.b.friction);
+            constraint.restitution = Math.max(contact.a.restitution, contact.b.restitution);
+            constraint.pointCount = pointCount;
+            constraint.block = false;
+            constraint.biasRate = biasRate;
+            constraint.massScale = massScale;
+            constraint.impulseScale = impulseScale;
+            const mA = bodyA.invMass;
+            const mB = bodyB.invMass;
+            const iA = bodyA.invInertia;
+            const iB = bodyB.invInertia;
+            const comAx = bodyA.worldCenterOfMassX;
+            const comAy = bodyA.worldCenterOfMassY;
+            const comBx = bodyB.worldCenterOfMassX;
+            const comBy = bodyB.worldCenterOfMassY;
+            for (let i = 0; i < pointCount; i++) {
+                // i in 0..pointCount-1 and pointCount ≤ 2, so the manifold point exists.
+                const point = i === 0 ? manifold.points[0] : manifold.points[1];
+                const rAx = point.x - comAx;
+                const rAy = point.y - comAy;
+                const rBx = point.x - comBx;
+                const rBy = point.y - comBy;
+                constraint.rAx[i] = rAx;
+                constraint.rAy[i] = rAy;
+                constraint.rBx[i] = rBx;
+                constraint.rBy[i] = rBy;
+                // Frame start: no accumulated rotation yet, so the live arms equal the base arms.
+                constraint.rotAx[i] = rAx;
+                constraint.rotAy[i] = rAy;
+                constraint.rotBx[i] = rBx;
+                constraint.rotBy[i] = rBy;
+                const rnA = rAx * ny - rAy * nx;
+                const rnB = rBx * ny - rBy * nx;
+                const kn = mA + mB + iA * rnA * rnA + iB * rnB * rnB;
+                const rtA = rAx * ty - rAy * tx;
+                const rtB = rBx * ty - rBy * tx;
+                const kt = mA + mB + iA * rtA * rtA + iB * rtB * rtB;
+                constraint.normalMass[i] = kn > 0 ? 1 / kn : 0;
+                constraint.tangentMass[i] = kt > 0 ? 1 / kt : 0;
+                constraint.baseSeparation[i] = -point.penetration;
+                constraint.velocityBias[i] = 0;
+                // Frame-start relative normal velocity (the true impact speed, captured
+                // before this frame's gravity since prepare runs ahead of the sub-step
+                // loop) — keys the restitution pass so a resting contact does not
+                // perpetually micro-bounce off the per-step gravity increment.
+                constraint.relativeVelocity[i] = normalVelocity(bodyA, bodyB, rAx, rAy, rBx, rBy, nx, ny);
+            }
+            if (pointCount === 2) {
+                const rn1A = n(constraint.rAx, 0) * ny - n(constraint.rAy, 0) * nx;
+                const rn1B = n(constraint.rBx, 0) * ny - n(constraint.rBy, 0) * nx;
+                const rn2A = n(constraint.rAx, 1) * ny - n(constraint.rAy, 1) * nx;
+                const rn2B = n(constraint.rBx, 1) * ny - n(constraint.rBy, 1) * nx;
+                const k11 = mA + mB + iA * rn1A * rn1A + iB * rn1B * rn1B;
+                const k22 = mA + mB + iA * rn2A * rn2A + iB * rn2B * rn2B;
+                const k12 = mA + mB + iA * rn1A * rn2A + iB * rn1B * rn2B;
+                const det = k11 * k22 - k12 * k12;
+                // Only block-solve when `K` is well-conditioned (parallel-ish contacts
+                // produce a near-singular matrix → fall back to sequential).
+                if (det > 0 && k11 * k11 < maxConditionNumber * det) {
+                    const invDet = 1 / det;
+                    constraint.k11 = k11;
+                    constraint.k12 = k12;
+                    constraint.k22 = k22;
+                    constraint.invK11 = invDet * k22;
+                    constraint.invK12 = -invDet * k12;
+                    constraint.invK22 = invDet * k11;
+                    constraint.block = true;
+                }
+            }
+        }
+    }
+    /** Re-apply the cached impulses from the previous frame (warm-starting); runs each sub-step. */
+    warmStart() {
+        for (let ci = 0; ci < this._count; ci++) {
+            const constraint = this._at(ci);
+            const bodyA = constraint.bodyA;
+            const bodyB = constraint.bodyB;
+            this._updateArms(constraint);
+            for (let i = 0; i < constraint.pointCount; i++) {
+                const normalImpulse = n(constraint.record.normalImpulse, i);
+                const tangentImpulse = n(constraint.record.tangentImpulse, i);
+                const jx = normalImpulse * constraint.nx + tangentImpulse * constraint.tx;
+                const jy = normalImpulse * constraint.ny + tangentImpulse * constraint.ty;
+                applyImpulse(bodyA, bodyB, n(constraint.rotAx, i), n(constraint.rotAy, i), n(constraint.rotBx, i), n(constraint.rotBy, i), jx, jy);
+            }
+        }
+    }
+    /**
+     * One velocity pass over every contact: the normal constraint (block when
+     * possible) then friction (Coulomb cone). With `useBias` the normal solve
+     * carries the soft push-out bias (the main pass, recomputed from the live
+     * separation); without it the relax pass drives the normal velocity to zero so
+     * the bias velocity does not remain in the bodies as injected energy.
+     */
+    solveVelocities(useBias) {
+        for (let ci = 0; ci < this._count; ci++) {
+            this._solveVelocityContact(this._at(ci), useBias);
+        }
+    }
+    /**
+     * Restitution pass, run once after the sub-step loop. For each loaded point
+     * whose frame-start impact speed exceeded the threshold, add the impulse that
+     * brings the post-solve normal velocity to `−restitution·impactSpeed`. Kept
+     * separate from the main solve so resting contacts (impact below threshold) do
+     * not micro-bounce.
+     */
+    applyRestitution() {
+        for (let ci = 0; ci < this._count; ci++) {
+            const constraint = this._at(ci);
+            if (constraint.restitution === 0) {
+                continue;
+            }
+            const bodyA = constraint.bodyA;
+            const bodyB = constraint.bodyB;
+            const nx = constraint.nx;
+            const ny = constraint.ny;
+            this._updateArms(constraint);
+            for (let i = 0; i < constraint.pointCount; i++) {
+                const relativeVelocity = n(constraint.relativeVelocity, i);
+                // Only points that carried load (normalImpulse > 0) and were struck
+                // above the resting threshold bounce.
+                if (relativeVelocity > -1 || n(constraint.record.normalImpulse, i) <= 0) {
+                    continue;
+                }
+                const rAx = n(constraint.rotAx, i);
+                const rAy = n(constraint.rotAy, i);
+                const rBx = n(constraint.rotBx, i);
+                const rBy = n(constraint.rotBy, i);
+                const vn = normalVelocity(bodyA, bodyB, rAx, rAy, rBx, rBy, nx, ny);
+                const oldNormal = n(constraint.record.normalImpulse, i);
+                const newNormal = Math.max(0, oldNormal - n(constraint.normalMass, i) * (vn + constraint.restitution * relativeVelocity));
+                const deltaNormal = newNormal - oldNormal;
+                constraint.record.normalImpulse[i] = newNormal;
+                applyImpulse(bodyA, bodyB, rAx, rAy, rBx, rBy, deltaNormal * nx, deltaNormal * ny);
+            }
+        }
+    }
+    /** Refresh the live (rotated) contact arms from each body's accumulated sub-step rotation. */
+    _updateArms(constraint) {
+        const cosA = constraint.bodyA._deltaCos;
+        const sinA = constraint.bodyA._deltaSin;
+        const cosB = constraint.bodyB._deltaCos;
+        const sinB = constraint.bodyB._deltaSin;
+        for (let i = 0; i < constraint.pointCount; i++) {
+            const rAx = n(constraint.rAx, i);
+            const rAy = n(constraint.rAy, i);
+            const rBx = n(constraint.rBx, i);
+            const rBy = n(constraint.rBy, i);
+            constraint.rotAx[i] = rAx * cosA - rAy * sinA;
+            constraint.rotAy[i] = rAx * sinA + rAy * cosA;
+            constraint.rotBx[i] = rBx * cosB - rBy * sinB;
+            constraint.rotBy[i] = rBx * sinB + rBy * cosB;
+        }
+    }
+    _solveVelocityContact(constraint, useBias) {
+        this._updateArms(constraint);
+        // Recompute the per-point push-out target from the live separation (folds the
+        // position constraint into the velocity solve as a soft bias). With useBias
+        // off (relax pass) the target is zero — the plain hard normal solve.
+        for (let i = 0; i < constraint.pointCount; i++) {
+            // Push out only the penetration beyond the slop, capped — leaving the slop
+            // keeps the contact overlapping so the narrow phase does not drop it.
+            const excess = -currentSeparation(constraint, i) - slop;
+            constraint.velocityBias[i] = useBias && excess > 0 ? Math.min(constraint.biasRate * excess, maxBiasVelocity) : 0;
+        }
+        // Normal before friction (Box2D-v3 order): friction's Coulomb cone clamps to
+        // `μ·normalImpulse`, so it must see this pass's freshly-solved normal impulse —
+        // solving friction first uses last pass's cone and lets stacks creep laterally.
+        if (constraint.block) {
+            this._solveNormalBlock(constraint);
+        }
+        else {
+            this._solveNormalSequential(constraint, useBias);
+        }
+        this._solveFriction(constraint);
+    }
+    /** Per-point friction: clamp the accumulated tangent impulse to the Coulomb cone `±μ·normalImpulse`. */
+    _solveFriction(constraint) {
+        const bodyA = constraint.bodyA;
+        const bodyB = constraint.bodyB;
+        for (let i = 0; i < constraint.pointCount; i++) {
+            const rAx = n(constraint.rotAx, i);
+            const rAy = n(constraint.rotAy, i);
+            const rBx = n(constraint.rotBx, i);
+            const rBy = n(constraint.rotBy, i);
+            const vtX = bodyB.linearVelocityX - bodyB.angularVelocity * rBy - (bodyA.linearVelocityX - bodyA.angularVelocity * rAy);
+            const vtY = bodyB.linearVelocityY + bodyB.angularVelocity * rBx - (bodyA.linearVelocityY + bodyA.angularVelocity * rAx);
+            const vt = vtX * constraint.tx + vtY * constraint.ty;
+            const maxFriction = constraint.friction * n(constraint.record.normalImpulse, i);
+            const oldTangent = n(constraint.record.tangentImpulse, i);
+            const newTangent = clamp(oldTangent - n(constraint.tangentMass, i) * vt, -maxFriction, maxFriction);
+            const deltaTangent = newTangent - oldTangent;
+            constraint.record.tangentImpulse[i] = newTangent;
+            applyImpulse(bodyA, bodyB, rAx, rAy, rBx, rBy, deltaTangent * constraint.tx, deltaTangent * constraint.ty);
+        }
+    }
+    /**
+     * Single-point (or ill-conditioned) soft normal solve, accumulated and clamped
+     * ≥ 0. The Box2D-v3 incremental form: with the soft bias active the impulse is
+     * `−normalMass·massScale·(vn − bias) − impulseScale·accumulated`, which both
+     * pushes out the penetration and bleeds a little stored impulse (the damped
+     * spring). The relax pass passes `useBias=false`, collapsing it to the hard
+     * `−normalMass·vn` (no bias, full mass, no impulse decay).
+     */
+    _solveNormalSequential(constraint, useBias) {
+        const bodyA = constraint.bodyA;
+        const bodyB = constraint.bodyB;
+        const nx = constraint.nx;
+        const ny = constraint.ny;
+        const massScale = useBias ? constraint.massScale : 1;
+        const impulseScale = useBias ? constraint.impulseScale : 0;
+        for (let i = 0; i < constraint.pointCount; i++) {
+            const rAx = n(constraint.rotAx, i);
+            const rAy = n(constraint.rotAy, i);
+            const rBx = n(constraint.rotBx, i);
+            const rBy = n(constraint.rotBy, i);
+            const vn = normalVelocity(bodyA, bodyB, rAx, rAy, rBx, rBy, nx, ny);
+            const oldNormal = n(constraint.record.normalImpulse, i);
+            const impulse = -n(constraint.normalMass, i) * massScale * (vn - n(constraint.velocityBias, i)) - impulseScale * oldNormal;
+            const newNormal = Math.max(0, oldNormal + impulse);
+            const deltaNormal = newNormal - oldNormal;
+            constraint.record.normalImpulse[i] = newNormal;
+            applyImpulse(bodyA, bodyB, rAx, rAy, rBx, rBy, deltaNormal * nx, deltaNormal * ny);
+        }
+    }
+    /**
+     * Two-point block normal solve (Box2D LCP): find both new normal impulses
+     * `x ≥ 0` so the post-solve normal velocities equal the push-out targets
+     * (`velocityBias`, zero in the relax pass) and are complementary, trying the
+     * four corners (both active, one active, none). The block path carries the
+     * soft push-out as its target but solves with a hard mass scale.
+     */
+    _solveNormalBlock(constraint) {
+        const bodyA = constraint.bodyA;
+        const bodyB = constraint.bodyB;
+        const nx = constraint.nx;
+        const ny = constraint.ny;
+        const a1 = n(constraint.record.normalImpulse, 0);
+        const a2 = n(constraint.record.normalImpulse, 1);
+        const vn1 = normalVelocity(bodyA, bodyB, n(constraint.rotAx, 0), n(constraint.rotAy, 0), n(constraint.rotBx, 0), n(constraint.rotBy, 0), nx, ny);
+        const vn2 = normalVelocity(bodyA, bodyB, n(constraint.rotAx, 1), n(constraint.rotAy, 1), n(constraint.rotBx, 1), n(constraint.rotBy, 1), nx, ny);
+        // Residual at the current impulse: b = (vn − bias) − K·a.
+        const bx = vn1 - n(constraint.velocityBias, 0) - (constraint.k11 * a1 + constraint.k12 * a2);
+        const by = vn2 - n(constraint.velocityBias, 1) - (constraint.k12 * a1 + constraint.k22 * a2);
+        // Case 1 — both points active: x = −K⁻¹·b.
+        let x1 = -(constraint.invK11 * bx + constraint.invK12 * by);
+        let x2 = -(constraint.invK12 * bx + constraint.invK22 * by);
+        if (x1 >= 0 && x2 >= 0) {
+            this._applyBlock(constraint, x1 - a1, x2 - a2);
+            constraint.record.normalImpulse[0] = x1;
+            constraint.record.normalImpulse[1] = x2;
+            return;
+        }
+        // Case 2 — only point 1 active (x2 = 0).
+        x1 = -n(constraint.normalMass, 0) * bx;
+        x2 = 0;
+        if (x1 >= 0 && constraint.k12 * x1 + by >= 0) {
+            this._applyBlock(constraint, x1 - a1, x2 - a2);
+            constraint.record.normalImpulse[0] = x1;
+            constraint.record.normalImpulse[1] = x2;
+            return;
+        }
+        // Case 3 — only point 2 active (x1 = 0).
+        x1 = 0;
+        x2 = -n(constraint.normalMass, 1) * by;
+        if (x2 >= 0 && constraint.k12 * x2 + bx >= 0) {
+            this._applyBlock(constraint, x1 - a1, x2 - a2);
+            constraint.record.normalImpulse[0] = x1;
+            constraint.record.normalImpulse[1] = x2;
+            return;
+        }
+        // Case 4 — neither active (separating). Only valid when both residuals are non-negative.
+        if (bx >= 0 && by >= 0) {
+            this._applyBlock(constraint, -a1, -a2);
+            constraint.record.normalImpulse[0] = 0;
+            constraint.record.normalImpulse[1] = 0;
+        }
+    }
+    /** Apply the two-point block impulse deltas `(d1, d2)` along the normal at both contact points. */
+    _applyBlock(constraint, d1, d2) {
+        const bodyA = constraint.bodyA;
+        const bodyB = constraint.bodyB;
+        const nx = constraint.nx;
+        const ny = constraint.ny;
+        applyImpulse(bodyA, bodyB, n(constraint.rotAx, 0), n(constraint.rotAy, 0), n(constraint.rotBx, 0), n(constraint.rotBy, 0), d1 * nx, d1 * ny);
+        applyImpulse(bodyA, bodyB, n(constraint.rotAx, 1), n(constraint.rotAy, 1), n(constraint.rotBx, 1), n(constraint.rotBy, 1), d2 * nx, d2 * ny);
+    }
+    _acquire() {
+        if (this._count === this._constraints.length) {
+            this._constraints.push(new ContactConstraint());
+        }
+        return this._at(this._count++);
+    }
+    /**
+     * Pooled constraint at `ci`. Every caller indexes within `0..this._count-1`
+     * and `_count` never exceeds the pool length, so the entry always exists; the
+     * throw is unreachable and only discharges `noUncheckedIndexedAccess` without a
+     * cast or non-null assertion.
+     */
+    _at(ci) {
+        const constraint = this._constraints[ci];
+        if (constraint === undefined) {
+            throw new RangeError(`ContactSolver: constraint pool index ${ci} out of range.`);
+        }
+        return constraint;
+    }
+}
+/**
+ * Live contact separation at point `i`, recomputed from each body's accumulated
+ * delta position plus the rotation-induced shift of the (rotated) anchor since
+ * frame start, projected onto the normal. Negative when overlapping. This is what
+ * folds the position constraint into the velocity solve without a separate
+ * geometric pass or re-running detection per sub-step.
+ */
+const currentSeparation = (constraint, i) => {
+    const bodyA = constraint.bodyA;
+    const bodyB = constraint.bodyB;
+    // Anchor displacement since frame start = linear delta + (rotated arm − base arm).
+    const dispAx = bodyA._deltaPosX + n(constraint.rotAx, i) - n(constraint.rAx, i);
+    const dispAy = bodyA._deltaPosY + n(constraint.rotAy, i) - n(constraint.rAy, i);
+    const dispBx = bodyB._deltaPosX + n(constraint.rotBx, i) - n(constraint.rBx, i);
+    const dispBy = bodyB._deltaPosY + n(constraint.rotBy, i) - n(constraint.rBy, i);
+    return n(constraint.baseSeparation, i) + (dispBx - dispAx) * constraint.nx + (dispBy - dispAy) * constraint.ny;
+};
+/** Relative normal velocity at a contact point: `dot(vB + ωB×rB − vA − ωA×rA, n)`. */
+const normalVelocity = (bodyA, bodyB, rAx, rAy, rBx, rBy, nx, ny) => {
+    const dvx = bodyB.linearVelocityX - bodyB.angularVelocity * rBy - (bodyA.linearVelocityX - bodyA.angularVelocity * rAy);
+    const dvy = bodyB.linearVelocityY + bodyB.angularVelocity * rBx - (bodyA.linearVelocityY + bodyA.angularVelocity * rAx);
+    return dvx * nx + dvy * ny;
+};
+/** Apply impulse `(jx, jy)` to B and its negation to A about their contact arms. */
+const applyImpulse = (bodyA, bodyB, rAx, rAy, rBx, rBy, jx, jy) => {
+    bodyA.linearVelocityX -= jx * bodyA.invMass;
+    bodyA.linearVelocityY -= jy * bodyA.invMass;
+    bodyA.angularVelocity -= (rAx * jy - rAy * jx) * bodyA.invInertia;
+    bodyB.linearVelocityX += jx * bodyB.invMass;
+    bodyB.linearVelocityY += jy * bodyB.invMass;
+    bodyB.angularVelocity += (rBx * jy - rBy * jx) * bodyB.invInertia;
+};
+const clamp = (value, low, high) => Math.min(Math.max(value, low), high);
+/**
+ * In-bounds read of a fixed-size (length-2) per-point scratch array. Every
+ * caller indexes within `0..pointCount-1` (pointCount ≤ 2), so the element
+ * always exists; the `0` fallback only discharges `noUncheckedIndexedAccess`
+ * for the unreachable case and keeps the `??` out of caller complexity.
+ */
+const n = (arr, i) => arr[i] ?? 0;
+
+export { ContactSolver };
+//# sourceMappingURL=ContactSolver.js.map

package/dist/esm/solver/ContactSolver.js.map

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

@@ -0,0 +1,17 @@
+/**
+ * In-place heap sort — deterministic, O(n log n) regardless of input order, and
+ * allocation-free. `Array.prototype.sort` allocates an internal temp buffer in
+ * V8's TimSort for arrays larger than ~10 elements; the broad-phase and contact
+ * sorts run over ~1,000 elements every step, so that temp buffer is per-step
+ * garbage. Heap sort sorts in place with only a constant number of locals.
+ *
+ * Heap sort is not stable, but every physics comparator (`byMinX`, `byPairId`,
+ * `byRecordPair`, `byColliderPair`, `bySensorPair`) breaks ties on collider id,
+ * so no two elements ever compare equal — the ordering is total and therefore
+ * bit-identical to the `Array.prototype.sort` it replaces (gate SG-D1, replay
+ * determinism). Do not use this with a comparator that can return 0 for distinct
+ * elements; the result order would then differ from a stable sort.
+ *
+ * @internal
+ */
+export declare function sortInPlace<T>(array: T[], compare: (a: T, b: T) => number): void;

package/dist/esm/sort.js

@@ -0,0 +1,54 @@
+/**
+ * In-place heap sort — deterministic, O(n log n) regardless of input order, and
+ * allocation-free. `Array.prototype.sort` allocates an internal temp buffer in
+ * V8's TimSort for arrays larger than ~10 elements; the broad-phase and contact
+ * sorts run over ~1,000 elements every step, so that temp buffer is per-step
+ * garbage. Heap sort sorts in place with only a constant number of locals.
+ *
+ * Heap sort is not stable, but every physics comparator (`byMinX`, `byPairId`,
+ * `byRecordPair`, `byColliderPair`, `bySensorPair`) breaks ties on collider id,
+ * so no two elements ever compare equal — the ordering is total and therefore
+ * bit-identical to the `Array.prototype.sort` it replaces (gate SG-D1, replay
+ * determinism). Do not use this with a comparator that can return 0 for distinct
+ * elements; the result order would then differ from a stable sort.
+ *
+ * @internal
+ */
+function sortInPlace(array, compare) {
+    const n = array.length;
+    // Heapify: turn the array into a max-heap bottom-up.
+    for (let i = (n >> 1) - 1; i >= 0; i--) {
+        siftDown(array, i, n, compare);
+    }
+    // Repeatedly move the max (root) to the sorted tail, then restore the heap.
+    for (let end = n - 1; end > 0; end--) {
+        const root = array[0];
+        array[0] = array[end];
+        array[end] = root;
+        siftDown(array, 0, end, compare);
+    }
+}
+function siftDown(array, start, end, compare) {
+    let parent = start;
+    for (;;) {
+        let child = parent * 2 + 1;
+        if (child >= end) {
+            break;
+        }
+        // Pick the larger of the two children.
+        if (child + 1 < end && compare(array[child], array[child + 1]) < 0) {
+            child++;
+        }
+        // Parent already dominates the larger child — heap property restored.
+        if (compare(array[parent], array[child]) >= 0) {
+            break;
+        }
+        const tmp = array[parent];
+        array[parent] = array[child];
+        array[child] = tmp;
+        parent = child;
+    }
+}
+
+export { sortInPlace };
+//# sourceMappingURL=sort.js.map

package/dist/esm/sort.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"sort.js","sources":["../../../src/sort.ts"],"sourcesContent":[null],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;AAeG;AACG,SAAU,WAAW,CAAI,KAAU,EAAE,OAA+B,EAAA;AACxE,IAAA,MAAM,CAAC,GAAG,KAAK,CAAC,MAAM;;AAGtB,IAAA,KAAK,IAAI,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,EAAE,CAAC,IAAI,CAAC,EAAE,CAAC,EAAE,EAAE;QACtC,QAAQ,CAAC,KAAK,EAAE,CAAC,EAAE,CAAC,EAAE,OAAO,CAAC;IAChC;;AAGA,IAAA,KAAK,IAAI,GAAG,GAAG,CAAC,GAAG,CAAC,EAAE,GAAG,GAAG,CAAC,EAAE,GAAG,EAAE,EAAE;AACpC,QAAA,MAAM,IAAI,GAAG,KAAK,CAAC,CAAC,CAAE;QACtB,KAAK,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,GAAG,CAAE;AACtB,QAAA,KAAK,CAAC,GAAG,CAAC,GAAG,IAAI;QACjB,QAAQ,CAAC,KAAK,EAAE,CAAC,EAAE,GAAG,EAAE,OAAO,CAAC;IAClC;AACF;AAEA,SAAS,QAAQ,CAAI,KAAU,EAAE,KAAa,EAAE,GAAW,EAAE,OAA+B,EAAA;IAC1F,IAAI,MAAM,GAAG,KAAK;AAElB,IAAA,SAAS;AACP,QAAA,IAAI,KAAK,GAAG,MAAM,GAAG,CAAC,GAAG,CAAC;AAE1B,QAAA,IAAI,KAAK,IAAI,GAAG,EAAE;YAChB;QACF;;QAGA,IAAI,KAAK,GAAG,CAAC,GAAG,GAAG,IAAI,OAAO,CAAC,KAAK,CAAC,KAAK,CAAE,EAAE,KAAK,CAAC,KAAK,GAAG,CAAC,CAAE,CAAC,GAAG,CAAC,EAAE;AACpE,YAAA,KAAK,EAAE;QACT;;AAGA,QAAA,IAAI,OAAO,CAAC,KAAK,CAAC,MAAM,CAAE,EAAE,KAAK,CAAC,KAAK,CAAE,CAAC,IAAI,CAAC,EAAE;YAC/C;QACF;AAEA,QAAA,MAAM,GAAG,GAAG,KAAK,CAAC,MAAM,CAAE;QAC1B,KAAK,CAAC,MAAM,CAAC,GAAG,KAAK,CAAC,KAAK,CAAE;AAC7B,QAAA,KAAK,CAAC,KAAK,CAAC,GAAG,GAAG;QAClB,MAAM,GAAG,KAAK;IAChB;AACF;;;;"}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@codexo/exojs-physics",
-  "version": "0.13.0",
+  "version": "0.15.0",
   "description": "Native 2D collision, query and sensor runtime for ExoJS.",
   "repository": {
     "type": "git",
@@ -31,10 +31,10 @@
     "LICENSE"
   ],
   "peerDependencies": {
-    "@codexo/exojs": "0.13.x"
+    "@codexo/exojs": "0.15.x"
   },
   "devDependencies": {
-    "@codexo/exojs": "0.13.0",
+    "@codexo/exojs": "0.15.0",
     "@codexo/exojs-config": "0.0.0"
   },
   "license": "MIT",