@codexo/exojs-physics 0.13.0 → 0.15.0

package/dist/esm/PhysicsWorld.js

@@ -1,21 +1,45 @@
 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';
 
+/** Gap left between a clamped bullet and the surface it hit (so it does not re-hit from inside). */
+const ccdSkin = 0.05;
 /**
  * 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. */
@@ -26,32 +50,60 @@ 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). */
-    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;
+    /** Whether resting bodies are put to sleep. */
+    enableSleeping;
+    /** Linear sleep threshold (px/s). */
+    sleepLinearVelocity;
+    /** Angular sleep threshold (rad/s). */
+    sleepAngularVelocity;
+    /** Seconds below the thresholds before a body sleeps. */
+    timeToSleep;
     _backend = new NativePhysicsBackend();
     _bodies = [];
     _colliders = [];
+    _joints = [];
     _bindings = new BindingRegistry();
     _query;
     _commands = [];
+    /** Pooled union-find parent array for the per-step island pass (reused; sized to the body count). */
+    _islandParent = [];
+    /** Pooled per-island minimum sleep time, indexed by union-find root. */
+    _islandMinSleep = [];
+    /** Pooled ray-hit buffer + origin/direction for the CCD swept test. */
+    _ccdHits = [];
+    _ccdOrigin = { x: 0, y: 0 };
+    _ccdDir = { x: 0, y: 0 };
     _nextBodyId = 1;
     _nextColliderId = 1;
     _dispatching = false;
     _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.interpolation = options.interpolation ?? true;
-        this.velocityIterations = options.velocityIterations ?? 8;
-        this.positionIterations = options.positionIterations ?? 3;
+        this.timeStepper = new TimeStepper({
+            ...(options.fixedDelta !== undefined && { fixedDelta: options.fixedDelta }),
+            ...(options.maxSubSteps !== undefined && { maxSubSteps: options.maxSubSteps }),
+        });
+        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.enableSleeping = options.enableSleeping ?? true;
+        this.sleepLinearVelocity = options.sleepLinearVelocity ?? 5;
+        this.sleepAngularVelocity = options.sleepAngularVelocity ?? 0.06;
+        this.timeToSleep = options.timeToSleep ?? 0.5;
         this._query = new QueryEngine(this._colliders);
     }
     /** Live bodies (read-only view). */
@@ -63,10 +115,24 @@ 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 +140,34 @@ 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);
+        return body;
     }
     /** Destroy a body and its colliders. Deferred when called inside a callback. */
     destroyBody(body) {
@@ -87,22 +177,115 @@ class PhysicsWorld {
     destroyCollider(collider) {
         this._defer(() => this._removeCollider(collider));
     }
+    /** Live joints (read-only view). */
+    get joints() {
+        return this._joints;
+    }
+    /**
+     * Add a constraint joint. Construct it first (`new DistanceJoint({ … })`),
+     * then add it. Wakes both bodies; safe inside a callback (registration is
+     * deferred). Returns the joint.
+     */
+    addJoint(joint) {
+        this._assertAlive();
+        joint.bodyA.wake();
+        joint.bodyB.wake();
+        this._defer(() => {
+            if (!this._joints.includes(joint)) {
+                this._joints.push(joint);
+            }
+        });
+        return joint;
+    }
+    /** Remove a joint, waking both bodies so they respond to the lost constraint. Deferred when called inside a callback. */
+    removeJoint(joint) {
+        joint.bodyA.wake();
+        joint.bodyB.wake();
+        this._defer(() => {
+            const index = this._joints.indexOf(joint);
+            if (index !== -1) {
+                this._joints.splice(index, 1);
+            }
+        });
+    }
     // ── 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;
+            const hasJoints = this._joints.length > 0;
+            const hasBullets = this._hasBullets();
+            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);
+                // Sleep decision runs after detection (islands need the current contact
+                // set) and before the solver (so sleeping contacts are skipped, and a
+                // sleeping island touched by an awake body is woken first).
+                if (this.enableSleeping) {
+                    this._updateSleeping(this.timeStepper.fixedDelta);
+                }
+                this._backend.prepareSolve(h, contactHertz, dampingRatio);
+                if (hasJoints) {
+                    this._prepareJoints(h);
+                }
+                if (hasBullets) {
+                    this._recordBulletPositions();
+                }
+                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();
+                    if (hasJoints) {
+                        this._warmStartJoints();
+                    }
+                    // Main soft-bias velocity solve, integrate positions (accumulating
+                    // per-body delta), then the bias-free relax pass. Joints solve right
+                    // after the contacts in each pass (contacts are the stiffer constraint).
+                    this._backend.solveVelocities(true);
+                    if (hasJoints) {
+                        this._solveJoints(true);
+                    }
+                    for (const body of this._bodies) {
+                        body._integratePosition(h);
+                    }
+                    this._backend.solveVelocities(false);
+                    if (hasJoints) {
+                        this._solveJoints(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();
+                }
+                if (hasBullets) {
+                    this._advanceBullets();
+                }
             }
-            this._backend.detect(this._colliders);
             this._dispatchEvents();
         }
         this._bindings.sync();
@@ -110,8 +293,8 @@ class PhysicsWorld {
     }
     // ── binding ────────────────────────────────────────────────────────────
     /** Link a body to a scene node; the node tracks the body after each step. */
-    bind(body, node, options) {
-        return this._bindings.bind(body, node, options);
+    bind(body, node) {
+        return this._bindings.bind(body, node);
     }
     /** Remove a body↔node link. */
     unbind(body) {
@@ -153,6 +336,7 @@ class PhysicsWorld {
         }
         this._bodies.length = 0;
         this._colliders.length = 0;
+        this._joints.length = 0;
         this._commands.length = 0;
         this._bindings.clear();
         this._backend.destroy();
@@ -194,6 +378,199 @@ class PhysicsWorld {
         }
         this._dispatching = false;
     }
+    /**
+     * Accumulate per-body sleep timers and put/keep islands of resting bodies
+     * asleep so a stack sleeps and wakes as one unit. An island is a connected
+     * component of dynamic bodies joined by touching solid contacts (static and
+     * kinematic bodies are boundaries, not nodes); it sleeps once every member has
+     * stayed below the sleep thresholds for `timeToSleep`, and wakes the instant
+     * any member does (e.g. an awake body merges into it via a new contact).
+     * Deterministic: union-find roots break ties by lower index and the contact
+     * set is id-sorted.
+     */
+    _updateSleeping(dt) {
+        const bodies = this._bodies;
+        const count = bodies.length;
+        const parent = this._islandParent;
+        const minSleep = this._islandMinSleep;
+        // Assign dense indices, reset the union-find, and accumulate sleep timers for
+        // awake dynamic bodies (a sleeping body's timer stays frozen ≥ timeToSleep).
+        for (let i = 0; i < count; i++) {
+            const body = bodies[i];
+            body._islandIndex = i;
+            parent[i] = i;
+            minSleep[i] = Infinity;
+            if (body.type === 'dynamic' && !body.isSleeping) {
+                body._accumulateSleepTime(dt, this.sleepLinearVelocity, this.sleepAngularVelocity);
+            }
+        }
+        parent.length = count;
+        minSleep.length = count;
+        // Union dynamic↔dynamic solid contacts into islands.
+        for (const contact of this._backend.contactGraph.solidContacts) {
+            const bodyA = contact.a.body;
+            const bodyB = contact.b.body;
+            if (bodyA.type === 'dynamic' && bodyB.type === 'dynamic') {
+                this._union(bodyA._islandIndex, bodyB._islandIndex);
+            }
+        }
+        // Joints couple their two bodies into the same island (sleep/wake together).
+        for (const joint of this._joints) {
+            const bodyA = joint.bodyA;
+            const bodyB = joint.bodyB;
+            if (joint.enabled && bodyA.type === 'dynamic' && bodyB.type === 'dynamic') {
+                this._union(bodyA._islandIndex, bodyB._islandIndex);
+            }
+        }
+        // Per-island minimum sleep time over its dynamic members.
+        for (let i = 0; i < count; i++) {
+            const body = bodies[i];
+            if (body.type === 'dynamic') {
+                const root = this._find(i);
+                if (body._sleepTime < minSleep[root]) {
+                    minSleep[root] = body._sleepTime;
+                }
+            }
+        }
+        // Sleep an island iff every member has rested for `timeToSleep`; otherwise
+        // wake it (which also wakes any member dragged awake by a fresh contact).
+        const timeToSleep = this.timeToSleep;
+        for (let i = 0; i < count; i++) {
+            const body = bodies[i];
+            if (body.type === 'dynamic') {
+                body._setSleeping(minSleep[this._find(i)] >= timeToSleep);
+            }
+        }
+    }
+    /** Union-find union by lower index (deterministic roots). */
+    _union(a, b) {
+        const rootA = this._find(a);
+        const rootB = this._find(b);
+        if (rootA < rootB) {
+            this._islandParent[rootB] = rootA;
+        }
+        else if (rootB < rootA) {
+            this._islandParent[rootA] = rootB;
+        }
+    }
+    /** Union-find find with path halving. */
+    _find(index) {
+        const parent = this._islandParent;
+        while (parent[index] !== index) {
+            const grandparent = parent[parent[index]];
+            parent[index] = grandparent;
+            index = grandparent;
+        }
+        return index;
+    }
+    /** Build each joint's per-frame constraint data (once per fixed step). */
+    _prepareJoints(h) {
+        for (const joint of this._joints) {
+            joint._prepare(h);
+        }
+    }
+    /** Re-apply each joint's accumulated impulse (each sub-step). */
+    _warmStartJoints() {
+        for (const joint of this._joints) {
+            joint._warmStart();
+        }
+    }
+    /** One joint velocity pass (each sub-step, after the contacts). */
+    _solveJoints(useBias) {
+        for (const joint of this._joints) {
+            joint._solve(useBias);
+        }
+    }
+    /** Whether any dynamic body is flagged for continuous collision (bullet mode). */
+    _hasBullets() {
+        for (const body of this._bodies) {
+            if (body.isBullet && body.type === 'dynamic') {
+                return true;
+            }
+        }
+        return false;
+    }
+    /** Snapshot each bullet's centre of mass at the start of the fixed step (the swept-test origin). */
+    _recordBulletPositions() {
+        for (const body of this._bodies) {
+            if (body.isBullet && body.type === 'dynamic') {
+                body._ccdPrevX = body.worldCenterOfMassX;
+                body._ccdPrevY = body.worldCenterOfMassY;
+            }
+        }
+    }
+    /**
+     * Sweep each bullet's centre of mass along this fixed step's motion against every
+     * other body's colliders; if it would cross one, clamp the body just short of the
+     * surface and resolve the impact about the surface normal (a slide for a non-bouncy
+     * body, an elastic reflection as restitution → 1) so it cannot tunnel. Sweeps the
+     * centre point — good for small/point-like projectiles; a full swept-shape TOI for
+     * large fast bodies is backlog (raise sub-steps or thicken geometry meanwhile).
+     */
+    _advanceBullets() {
+        for (const body of this._bodies) {
+            if (!body.isBullet || body.type !== 'dynamic' || body.isSleeping) {
+                continue;
+            }
+            const newX = body.worldCenterOfMassX;
+            const newY = body.worldCenterOfMassY;
+            let dirX = newX - body._ccdPrevX;
+            let dirY = newY - body._ccdPrevY;
+            const distance = Math.hypot(dirX, dirY);
+            if (distance < 1e-6) {
+                continue;
+            }
+            dirX /= distance;
+            dirY /= distance;
+            this._ccdOrigin.x = body._ccdPrevX;
+            this._ccdOrigin.y = body._ccdPrevY;
+            this._ccdDir.x = dirX;
+            this._ccdDir.y = dirY;
+            const hits = this._query.rayCastAll(this._ccdOrigin, this._ccdDir, undefined, this._ccdHits, distance);
+            let blocked = null;
+            for (const hit of hits) {
+                // Sweep against every other body (static, kinematic, dynamic); sensors never
+                // block. Hits are distance-sorted, so the first match is the nearest surface.
+                if (hit.body !== body && !hit.collider.isSensor) {
+                    blocked = hit;
+                    break;
+                }
+            }
+            if (blocked === null) {
+                continue;
+            }
+            // Clamp the CoM just short of the surface (a pure translation — the rotation
+            // is already applied), then resolve the impact about the surface normal.
+            const clampDistance = Math.max(0, blocked.distance - ccdSkin);
+            const deltaX = body._ccdPrevX + dirX * clampDistance - newX;
+            const deltaY = body._ccdPrevY + dirY * clampDistance - newY;
+            this._ccdOrigin.x = body.x + deltaX;
+            this._ccdOrigin.y = body.y + deltaY;
+            body.setTransform(this._ccdOrigin, body.angle);
+            // Reflect about the true surface normal: a slide for a non-bouncy body
+            // (restitution 0), an elastic bounce as restitution → 1. The body's own
+            // restitution combines (max) with the surface's, matching the contact solver.
+            const nx = blocked.normal.x;
+            const ny = blocked.normal.y;
+            const vn = body.linearVelocityX * nx + body.linearVelocityY * ny;
+            if (vn < 0) {
+                const restitution = vn < -1 ? Math.max(this._bulletRestitution(body), blocked.collider.restitution) : 0;
+                const impulse = -(1 + restitution) * vn;
+                body.linearVelocityX += impulse * nx;
+                body.linearVelocityY += impulse * ny;
+            }
+        }
+    }
+    /** The highest restitution among a body's colliders (its CCD bounce factor). */
+    _bulletRestitution(body) {
+        let restitution = 0;
+        for (const collider of body.colliders) {
+            if (collider.restitution > restitution) {
+                restitution = collider.restitution;
+            }
+        }
+        return restitution;
+    }
     /** Run `command` now, or queue it when inside an event dispatch (deferred to end of step). */
     _defer(command) {
         if (this._dispatching) {

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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