@codexo/exojs-physics 0.13.0 → 0.15.0

package/dist/esm/PhysicsBody.d.ts

@@ -10,14 +10,18 @@ export interface BodyOptions {
     position?: VectorLike;
     /** Initial rotation in radians. Default `0`. */
     angle?: number;
-    /** Linear damping (applied once dynamics ship). Default `0`. */
+    /** Linear damping applied to the velocity each sub-step. Default `0`. */
     linearDamping?: number;
-    /** Angular damping (applied once dynamics ship). Default `0`. */
+    /** Angular damping applied to the angular velocity each sub-step. Default `0`. */
     angularDamping?: number;
-    /** Per-body multiplier on world gravity (applied once dynamics ship). Default `1`. */
+    /** Per-body multiplier on world gravity (e.g. `0` to ignore gravity). Default `1`. */
     gravityScale?: number;
     /** When `true`, the body never rotates under contacts (infinite rotational inertia). Default `false`. */
     fixedRotation?: boolean;
+    /** When `true`, the body is swept against static geometry each step (CCD) so it cannot tunnel through thin walls. Default `false`. */
+    isBullet?: boolean;
+    /** Colliders to attach up-front. Each may be a {@link Collider} instance or its {@link ColliderOptions}. */
+    colliders?: Array<Collider | ColliderOptions>;
 }
 /**
  * Internal hook the world hands to each body so colliders can be id-allocated
@@ -29,22 +33,25 @@ export interface BodyOwner {
 }
 /**
  * A rigid body: a world transform plus mass properties aggregated from its
- * colliders. In this collision/query release a body holds and reports its
- * transform and mass but is not integrated — it moves only via
- * {@link setTransform} (game-driven / kinematic). Forces, impulses and gravity
- * integration arrive with the dynamics solver.
+ * colliders. Dynamic bodies integrate under gravity, accumulated forces/torque
+ * and contact impulses each fixed sub-step; static bodies never move; kinematic
+ * bodies move by their velocity only and stay immovable under contacts. Drive a
+ * body with {@link applyForce}, {@link applyTorque} and {@link applyImpulse}, or
+ * set {@link linearVelocityX}/{@link linearVelocityY}/{@link angularVelocity}
+ * directly; reposition it (teleport, no velocity) with {@link setTransform}.
  */
 export declare class PhysicsBody {
-    readonly id: number;
     readonly type: BodyType;
-    /** Linear damping (inert until dynamics ship). */
+    /** Linear damping applied to the velocity each sub-step. */
     linearDamping: number;
-    /** Angular damping (inert until dynamics ship). */
+    /** Angular damping applied to the angular velocity each sub-step. */
     angularDamping: number;
-    /** Per-body gravity multiplier (inert until dynamics ship). */
+    /** Per-body multiplier on world gravity (e.g. `0` to ignore gravity). */
     gravityScale: number;
     /** When `true`, rotational inertia is treated as infinite. */
     fixedRotation: boolean;
+    /** When `true`, the body is swept against static geometry each step (CCD) so it cannot tunnel through thin walls. */
+    isBullet: boolean;
     /** Total mass (0 for static/kinematic). */
     mass: number;
     /** Inverse mass (`0` = immovable). */
@@ -53,14 +60,50 @@ export declare class PhysicsBody {
     inertia: number;
     /** Inverse rotational inertia (`0` = no angular response). */
     invInertia: number;
-    private readonly _owner;
+    /** Linear velocity X in px/s. */
+    linearVelocityX: number;
+    /** Linear velocity Y in px/s. */
+    linearVelocityY: number;
+    /** Angular velocity in rad/s. */
+    angularVelocity: number;
+    /** When `false`, this body is never put to sleep. Default `true`. */
+    allowSleep: boolean;
+    /** @internal — Delta position X accumulated across the frame's sub-steps by the TGS integrator; written into the transform once per frame by {@link _finalizePosition}. */
+    _deltaPosX: number;
+    /** @internal — Delta position Y accumulated across the frame's sub-steps by the TGS integrator. */
+    _deltaPosY: number;
+    /** @internal — Delta rotation (radians) accumulated across the frame's sub-steps by the TGS integrator. */
+    _deltaAngle: number;
+    /** @internal — `cos(_deltaAngle)`, cached so the solver can rotate the contact anchors by the live sub-step rotation without a per-contact trig call. */
+    _deltaCos: number;
+    /** @internal — `sin(_deltaAngle)`, cached alongside {@link _deltaCos}. */
+    _deltaSin: number;
+    private _forceX;
+    private _forceY;
+    private _torque;
+    /** @internal — seconds the body has stayed below the sleep thresholds (frozen while asleep). Read by the world's island pass. */
+    _sleepTime: number;
+    /** @internal — dense union-find index assigned by the world's island pass each step. */
+    _islandIndex: number;
+    /** @internal — world-space centre of mass at the start of the current fixed step (CCD swept-test origin). */
+    _ccdPrevX: number;
+    /** @internal — see {@link _ccdPrevX}. */
+    _ccdPrevY: number;
+    private _sleeping;
+    private _id;
+    private _owner;
+    private _attached;
     private readonly _transform;
     private readonly _colliders;
     private _comX;
     private _comY;
     private _massReady;
     private _destroyed;
-    constructor(owner: BodyOwner, id: number, options?: BodyOptions);
+    constructor(options?: BodyOptions);
+    /** Stable id, assigned when the body joins a world via `world.add()`; `-1` until then. */
+    get id(): number;
+    /** `true` once the body has been added to a world (guards against double-add). */
+    get attached(): boolean;
     /** World X. */
     get x(): number;
     /** World Y. */
@@ -85,8 +128,17 @@ export declare class PhysicsBody {
     get isMassReady(): boolean;
     /** `true` after the owning world has destroyed this body. */
     get destroyed(): boolean;
-    /** Attach a new collider, recomputing mass and synchronising world geometry. */
-    createCollider(options: ColliderOptions): Collider;
+    /** `true` when the body is asleep — skipped by the integrator and solver until woken. */
+    get isSleeping(): boolean;
+    /**
+     * Attach a collider to this body. Accepts a {@link Collider} instance or its
+     * {@link ColliderOptions} (a convenience that constructs the collider for you).
+     * When the body is already in a world, the collider is id-allocated, registered,
+     * the mass model is recomputed and the world geometry synchronised immediately;
+     * on a free-standing body the collider is simply held until `world.add()`.
+     * Returns the collider.
+     */
+    addCollider(collider: Collider | ColliderOptions): Collider;
     /**
      * Set the body's world transform. Resets the body's cached collider geometry
      * immediately so subsequent queries see the new placement. Returns `this`.
@@ -94,8 +146,86 @@ export declare class PhysicsBody {
     setTransform(position: VectorLike, angle?: number): this;
     /** Refresh every collider's world geometry from the current transform. */
     synchronizeColliders(): void;
+    /** World-space centre of mass X (body origin + rotated local centre of mass). */
+    get worldCenterOfMassX(): number;
+    /** World-space centre of mass Y. */
+    get worldCenterOfMassY(): number;
+    /**
+     * Accumulate a world-space force at the centre of mass; integrated on the next
+     * sub-step and then cleared. No-op on static/kinematic bodies. Returns `this`.
+     */
+    applyForce(forceX: number, forceY: number): this;
+    /**
+     * Accumulate a torque; integrated on the next sub-step and then cleared. No-op
+     * on static/kinematic bodies (and fixed-rotation bodies). Returns `this`.
+     */
+    applyTorque(torque: number): this;
+    /**
+     * Apply an instantaneous world-space impulse at `(pointX, pointY)` (world space;
+     * defaults to the centre of mass), changing velocity immediately. No-op on
+     * static/kinematic bodies (infinite mass). Returns `this`.
+     */
+    applyImpulse(impulseX: number, impulseY: number, pointX?: number, pointY?: number): this;
+    /**
+     * @internal — integrate velocity from gravity, accumulated forces/torque and
+     * damping over the sub-step `h`. No-op for static/kinematic (infinite mass
+     * keeps their velocity solver-driven only). Called once per TGS sub-step, so
+     * gravity/forces are applied with `h` each sub-step (`N·h = dt`, same total
+     * impulse, but the small-step position error scales with `h²`). The
+     * force/torque accumulators are **not** cleared here — they are consumed by
+     * every sub-step and cleared once per frame by {@link _finalizePosition}.
+     */
+    _integrateVelocity(h: number, gravityX: number, gravityY: number): void;
+    /**
+     * @internal — accumulate this sub-step's velocity into the per-frame delta
+     * position/rotation (TGS sub-stepping). The transform itself is **not** moved
+     * here; {@link _finalizePosition} writes the accumulated delta once per frame.
+     * Tracking the delta (rather than moving the transform each sub-step) lets the
+     * solver recompute contact separation from it without re-running detection or
+     * re-syncing collider geometry per sub-step. Static bodies never move.
+     */
+    _integratePosition(h: number): void;
+    /**
+     * @internal — advance the sleep timer over one fixed step `dt`. A body below
+     * both velocity thresholds accumulates time; a too-fast body, or one that opts
+     * out via {@link allowSleep}, resets it. The sleep/wake decision is made per
+     * island by the world (so a stack sleeps as a unit) from {@link _sleepTime}.
+     */
+    _accumulateSleepTime(dt: number, linearThreshold: number, angularThreshold: number): void;
+    /** @internal — set the sleep state. Sleeping zeroes the velocity; waking resets the sleep timer. */
+    _setSleeping(sleeping: boolean): void;
+    /**
+     * Wake the body if it is asleep, resetting its sleep timer. The rest of its
+     * island wakes with it on the next step (a contact to an awake body keeps the
+     * whole island awake). Returns `this`.
+     */
+    wake(): this;
+    /**
+     * @internal — apply the frame's accumulated delta position/rotation to the
+     * transform (rotating about the centre of mass), re-sync collider geometry and
+     * clear the force/torque accumulators. Called once per frame after the
+     * sub-step loop. Static bodies never move; the force clear still runs (forces
+     * are a no-op on infinite mass but the accumulator is reset for consistency).
+     */
+    _finalizePosition(): void;
+    /** Clear the per-frame TGS delta accumulators (position, rotation and its cached cos/sin). */
+    private _resetDelta;
     /** Internal: detach a collider (called by the world during destruction). */
     _removeCollider(collider: Collider): void;
+    /**
+     * @internal — join `owner`'s world with the allocated `id`. Allocates ids for
+     * and registers every held collider, then aggregates the mass model and
+     * synchronises world geometry. Called once by {@link PhysicsWorld.add}.
+     *
+     * Ordering matters and mirrors the per-collider create path exactly: ids and
+     * the body link go on first, then a single mass recompute over the full
+     * collider set (so the centre of mass / inertia aggregate is correct), then
+     * `synchronize` over every collider (the cached world geometry the broad/narrow
+     * phase reads), then world registration last. Recomputing mass before all
+     * colliders are linked, or syncing before the mass model exists, would feed the
+     * solver a stale CoM and produce subtle integration bugs.
+     */
+    _attachToWorld(owner: BodyOwner, id: number): void;
     /** Internal: mark destroyed (called by the world). */
     _markDestroyed(): void;
     /** Recompute mass, centre of mass and rotational inertia from the colliders. */

package/dist/esm/PhysicsBody.js

@@ -4,22 +4,25 @@ import { createTransform, setTransform, applyTransform } from './math.js';
 
 /**
  * A rigid body: a world transform plus mass properties aggregated from its
- * colliders. In this collision/query release a body holds and reports its
- * transform and mass but is not integrated — it moves only via
- * {@link setTransform} (game-driven / kinematic). Forces, impulses and gravity
- * integration arrive with the dynamics solver.
+ * colliders. Dynamic bodies integrate under gravity, accumulated forces/torque
+ * and contact impulses each fixed sub-step; static bodies never move; kinematic
+ * bodies move by their velocity only and stay immovable under contacts. Drive a
+ * body with {@link applyForce}, {@link applyTorque} and {@link applyImpulse}, or
+ * set {@link linearVelocityX}/{@link linearVelocityY}/{@link angularVelocity}
+ * directly; reposition it (teleport, no velocity) with {@link setTransform}.
  */
 class PhysicsBody {
-    id;
     type;
-    /** Linear damping (inert until dynamics ship). */
+    /** Linear damping applied to the velocity each sub-step. */
     linearDamping;
-    /** Angular damping (inert until dynamics ship). */
+    /** Angular damping applied to the angular velocity each sub-step. */
     angularDamping;
-    /** Per-body gravity multiplier (inert until dynamics ship). */
+    /** Per-body multiplier on world gravity (e.g. `0` to ignore gravity). */
     gravityScale;
     /** When `true`, rotational inertia is treated as infinite. */
     fixedRotation;
+    /** When `true`, the body is swept against static geometry each step (CCD) so it cannot tunnel through thin walls. */
+    isBullet;
     /** Total mass (0 for static/kinematic). */
     mass = 0;
     /** Inverse mass (`0` = immovable). */
@@ -28,22 +31,69 @@ class PhysicsBody {
     inertia = 0;
     /** Inverse rotational inertia (`0` = no angular response). */
     invInertia = 0;
-    _owner;
+    /** Linear velocity X in px/s. */
+    linearVelocityX = 0;
+    /** Linear velocity Y in px/s. */
+    linearVelocityY = 0;
+    /** Angular velocity in rad/s. */
+    angularVelocity = 0;
+    /** When `false`, this body is never put to sleep. Default `true`. */
+    allowSleep = true;
+    /** @internal — Delta position X accumulated across the frame's sub-steps by the TGS integrator; written into the transform once per frame by {@link _finalizePosition}. */
+    _deltaPosX = 0;
+    /** @internal — Delta position Y accumulated across the frame's sub-steps by the TGS integrator. */
+    _deltaPosY = 0;
+    /** @internal — Delta rotation (radians) accumulated across the frame's sub-steps by the TGS integrator. */
+    _deltaAngle = 0;
+    /** @internal — `cos(_deltaAngle)`, cached so the solver can rotate the contact anchors by the live sub-step rotation without a per-contact trig call. */
+    _deltaCos = 1;
+    /** @internal — `sin(_deltaAngle)`, cached alongside {@link _deltaCos}. */
+    _deltaSin = 0;
+    _forceX = 0;
+    _forceY = 0;
+    _torque = 0;
+    /** @internal — seconds the body has stayed below the sleep thresholds (frozen while asleep). Read by the world's island pass. */
+    _sleepTime = 0;
+    /** @internal — dense union-find index assigned by the world's island pass each step. */
+    _islandIndex = 0;
+    /** @internal — world-space centre of mass at the start of the current fixed step (CCD swept-test origin). */
+    _ccdPrevX = 0;
+    /** @internal — see {@link _ccdPrevX}. */
+    _ccdPrevY = 0;
+    _sleeping = false;
+    _id = -1;
+    _owner = null;
+    _attached = false;
     _transform;
     _colliders = [];
     _comX = 0;
     _comY = 0;
     _massReady = false;
     _destroyed = false;
-    constructor(owner, id, options = {}) {
-        this.id = id;
+    constructor(options = {}) {
         this.type = options.type ?? 'dynamic';
-        this._owner = owner;
         this._transform = createTransform(options.position?.x ?? 0, options.position?.y ?? 0, options.angle ?? 0);
         this.linearDamping = options.linearDamping ?? 0;
         this.angularDamping = options.angularDamping ?? 0;
         this.gravityScale = options.gravityScale ?? 1;
         this.fixedRotation = options.fixedRotation ?? false;
+        this.isBullet = options.isBullet ?? false;
+        // Build up-front colliders now (no id/world registration until the body
+        // joins a world via `world.add()`). They sit in `_colliders` unsynchronised;
+        // `_attachToWorld` assigns ids, registers them and computes the mass model.
+        if (options.colliders) {
+            for (const entry of options.colliders) {
+                this._colliders.push(entry instanceof Collider ? entry : new Collider(entry));
+            }
+        }
+    }
+    /** Stable id, assigned when the body joins a world via `world.add()`; `-1` until then. */
+    get id() {
+        return this._id;
+    }
+    /** `true` once the body has been added to a world (guards against double-add). */
+    get attached() {
+        return this._attached;
     }
     /** World X. */
     get x() {
@@ -89,19 +139,36 @@ class PhysicsBody {
     get destroyed() {
         return this._destroyed;
     }
-    /** Attach a new collider, recomputing mass and synchronising world geometry. */
-    createCollider(options) {
+    /** `true` when the body is asleep — skipped by the integrator and solver until woken. */
+    get isSleeping() {
+        return this._sleeping;
+    }
+    /**
+     * Attach a collider to this body. Accepts a {@link Collider} instance or its
+     * {@link ColliderOptions} (a convenience that constructs the collider for you).
+     * When the body is already in a world, the collider is id-allocated, registered,
+     * the mass model is recomputed and the world geometry synchronised immediately;
+     * on a free-standing body the collider is simply held until `world.add()`.
+     * Returns the collider.
+     */
+    addCollider(collider) {
         if (this._destroyed) {
-            throw new Error('PhysicsBody: cannot create a collider on a destroyed body.');
+            throw new Error('PhysicsBody: cannot add a collider to a destroyed body.');
         }
         // Collider imports PhysicsBody type-only (erased), so this value import is
         // one-directional — no runtime cycle.
-        const collider = new Collider(this._owner._allocateColliderId(), this, options);
-        this._colliders.push(collider);
-        this._recomputeMass();
-        collider.synchronize(this._transform);
-        this._owner._registerCollider(collider);
-        return collider;
+        const instance = collider instanceof Collider ? collider : new Collider(collider);
+        this._colliders.push(instance);
+        // Before the body joins a world there is no owner to allocate ids / register
+        // with; `_attachToWorld` does that (and the mass/sync pass) for every held
+        // collider. Once attached, mirror the world's create order exactly.
+        if (this._attached && this._owner) {
+            instance._attach(this, this._owner._allocateColliderId());
+            this._recomputeMass();
+            instance.synchronize(this._transform);
+            this._owner._registerCollider(instance);
+        }
+        return instance;
     }
     /**
      * Set the body's world transform. Resets the body's cached collider geometry
@@ -111,6 +178,7 @@ class PhysicsBody {
         if (this._destroyed) {
             throw new Error('PhysicsBody: cannot move a destroyed body.');
         }
+        this.wake();
         setTransform(this._transform, position.x, position.y, angle);
         for (const collider of this._colliders) {
             collider.synchronize(this._transform);
@@ -123,6 +191,168 @@ class PhysicsBody {
             collider.synchronize(this._transform);
         }
     }
+    /** World-space centre of mass X (body origin + rotated local centre of mass). */
+    get worldCenterOfMassX() {
+        return this._transform.x + this._transform.cos * this._comX - this._transform.sin * this._comY;
+    }
+    /** World-space centre of mass Y. */
+    get worldCenterOfMassY() {
+        return this._transform.y + this._transform.sin * this._comX + this._transform.cos * this._comY;
+    }
+    /**
+     * Accumulate a world-space force at the centre of mass; integrated on the next
+     * sub-step and then cleared. No-op on static/kinematic bodies. Returns `this`.
+     */
+    applyForce(forceX, forceY) {
+        this.wake();
+        this._forceX += forceX;
+        this._forceY += forceY;
+        return this;
+    }
+    /**
+     * Accumulate a torque; integrated on the next sub-step and then cleared. No-op
+     * on static/kinematic bodies (and fixed-rotation bodies). Returns `this`.
+     */
+    applyTorque(torque) {
+        this.wake();
+        this._torque += torque;
+        return this;
+    }
+    /**
+     * Apply an instantaneous world-space impulse at `(pointX, pointY)` (world space;
+     * defaults to the centre of mass), changing velocity immediately. No-op on
+     * static/kinematic bodies (infinite mass). Returns `this`.
+     */
+    applyImpulse(impulseX, impulseY, pointX, pointY) {
+        if (this.invMass === 0) {
+            return this;
+        }
+        this.wake();
+        this.linearVelocityX += impulseX * this.invMass;
+        this.linearVelocityY += impulseY * this.invMass;
+        if (pointX !== undefined && pointY !== undefined && this.invInertia !== 0) {
+            const rx = pointX - this.worldCenterOfMassX;
+            const ry = pointY - this.worldCenterOfMassY;
+            this.angularVelocity += (rx * impulseY - ry * impulseX) * this.invInertia;
+        }
+        return this;
+    }
+    /**
+     * @internal — integrate velocity from gravity, accumulated forces/torque and
+     * damping over the sub-step `h`. No-op for static/kinematic (infinite mass
+     * keeps their velocity solver-driven only). Called once per TGS sub-step, so
+     * gravity/forces are applied with `h` each sub-step (`N·h = dt`, same total
+     * impulse, but the small-step position error scales with `h²`). The
+     * force/torque accumulators are **not** cleared here — they are consumed by
+     * every sub-step and cleared once per frame by {@link _finalizePosition}.
+     */
+    _integrateVelocity(h, gravityX, gravityY) {
+        if (this.invMass === 0 || this._sleeping) {
+            return;
+        }
+        this.linearVelocityX += (gravityX * this.gravityScale + this._forceX * this.invMass) * h;
+        this.linearVelocityY += (gravityY * this.gravityScale + this._forceY * this.invMass) * h;
+        this.angularVelocity += this._torque * this.invInertia * h;
+        // Exponential damping (no-op when damping is 0).
+        this.linearVelocityX /= 1 + h * this.linearDamping;
+        this.linearVelocityY /= 1 + h * this.linearDamping;
+        this.angularVelocity /= 1 + h * this.angularDamping;
+    }
+    /**
+     * @internal — accumulate this sub-step's velocity into the per-frame delta
+     * position/rotation (TGS sub-stepping). The transform itself is **not** moved
+     * here; {@link _finalizePosition} writes the accumulated delta once per frame.
+     * Tracking the delta (rather than moving the transform each sub-step) lets the
+     * solver recompute contact separation from it without re-running detection or
+     * re-syncing collider geometry per sub-step. Static bodies never move.
+     */
+    _integratePosition(h) {
+        if (this.type === 'static' || this._sleeping) {
+            return;
+        }
+        this._deltaPosX += this.linearVelocityX * h;
+        this._deltaPosY += this.linearVelocityY * h;
+        this._deltaAngle += this.angularVelocity * h;
+        // Cache the rotation so the solver can rotate the contact anchors by the
+        // live sub-step rotation (TGS): without it the anchors stay frozen at frame
+        // start and a tilting tower's restoring torque is mis-computed, so the tilt
+        // grows instead of being corrected. Only non-zero rotation pays the trig.
+        if (this._deltaAngle !== 0) {
+            this._deltaCos = Math.cos(this._deltaAngle);
+            this._deltaSin = Math.sin(this._deltaAngle);
+        }
+    }
+    /**
+     * @internal — advance the sleep timer over one fixed step `dt`. A body below
+     * both velocity thresholds accumulates time; a too-fast body, or one that opts
+     * out via {@link allowSleep}, resets it. The sleep/wake decision is made per
+     * island by the world (so a stack sleeps as a unit) from {@link _sleepTime}.
+     */
+    _accumulateSleepTime(dt, linearThreshold, angularThreshold) {
+        const tooFast = this.linearVelocityX * this.linearVelocityX + this.linearVelocityY * this.linearVelocityY > linearThreshold * linearThreshold ||
+            Math.abs(this.angularVelocity) > angularThreshold;
+        this._sleepTime = !this.allowSleep || tooFast ? 0 : this._sleepTime + dt;
+    }
+    /** @internal — set the sleep state. Sleeping zeroes the velocity; waking resets the sleep timer. */
+    _setSleeping(sleeping) {
+        if (this._sleeping === sleeping) {
+            return;
+        }
+        this._sleeping = sleeping;
+        if (sleeping) {
+            this.linearVelocityX = 0;
+            this.linearVelocityY = 0;
+            this.angularVelocity = 0;
+        }
+        else {
+            this._sleepTime = 0;
+        }
+    }
+    /**
+     * Wake the body if it is asleep, resetting its sleep timer. The rest of its
+     * island wakes with it on the next step (a contact to an awake body keeps the
+     * whole island awake). Returns `this`.
+     */
+    wake() {
+        this._setSleeping(false);
+        this._sleepTime = 0;
+        return this;
+    }
+    /**
+     * @internal — apply the frame's accumulated delta position/rotation to the
+     * transform (rotating about the centre of mass), re-sync collider geometry and
+     * clear the force/torque accumulators. Called once per frame after the
+     * sub-step loop. Static bodies never move; the force clear still runs (forces
+     * are a no-op on infinite mass but the accumulator is reset for consistency).
+     */
+    _finalizePosition() {
+        this._forceX = 0;
+        this._forceY = 0;
+        this._torque = 0;
+        if (this.type === 'static' || (this._deltaPosX === 0 && this._deltaPosY === 0 && this._deltaAngle === 0)) {
+            this._resetDelta();
+            return;
+        }
+        const newComX = this.worldCenterOfMassX + this._deltaPosX;
+        const newComY = this.worldCenterOfMassY + this._deltaPosY;
+        const newAngle = this._transform.angle + this._deltaAngle;
+        const cos = Math.cos(newAngle);
+        const sin = Math.sin(newAngle);
+        // origin = newCoM − R(newAngle)·comLocal (so rotation pivots about the CoM).
+        setTransform(this._transform, newComX - (cos * this._comX - sin * this._comY), newComY - (sin * this._comX + cos * this._comY), newAngle);
+        this._resetDelta();
+        for (const collider of this._colliders) {
+            collider.synchronize(this._transform);
+        }
+    }
+    /** Clear the per-frame TGS delta accumulators (position, rotation and its cached cos/sin). */
+    _resetDelta() {
+        this._deltaPosX = 0;
+        this._deltaPosY = 0;
+        this._deltaAngle = 0;
+        this._deltaCos = 1;
+        this._deltaSin = 0;
+    }
     /** Internal: detach a collider (called by the world during destruction). */
     _removeCollider(collider) {
         const index = this._colliders.indexOf(collider);
@@ -131,6 +361,37 @@ class PhysicsBody {
             this._recomputeMass();
         }
     }
+    /**
+     * @internal — join `owner`'s world with the allocated `id`. Allocates ids for
+     * and registers every held collider, then aggregates the mass model and
+     * synchronises world geometry. Called once by {@link PhysicsWorld.add}.
+     *
+     * Ordering matters and mirrors the per-collider create path exactly: ids and
+     * the body link go on first, then a single mass recompute over the full
+     * collider set (so the centre of mass / inertia aggregate is correct), then
+     * `synchronize` over every collider (the cached world geometry the broad/narrow
+     * phase reads), then world registration last. Recomputing mass before all
+     * colliders are linked, or syncing before the mass model exists, would feed the
+     * solver a stale CoM and produce subtle integration bugs.
+     */
+    _attachToWorld(owner, id) {
+        if (this._destroyed) {
+            throw new Error('PhysicsBody: cannot add a destroyed body to a world.');
+        }
+        this._owner = owner;
+        this._id = id;
+        this._attached = true;
+        for (const collider of this._colliders) {
+            collider._attach(this, owner._allocateColliderId());
+        }
+        this._recomputeMass();
+        for (const collider of this._colliders) {
+            collider.synchronize(this._transform);
+        }
+        for (const collider of this._colliders) {
+            owner._registerCollider(collider);
+        }
+    }
     /** Internal: mark destroyed (called by the world). */
     _markDestroyed() {
         this._destroyed = true;

package/dist/esm/PhysicsBody.js.map

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