@codexo/exojs-physics 0.13.0 → 0.15.0

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/BindingRegistry.d.ts

@@ -1,6 +1,5 @@
 import type { SceneNode } from '@codexo/exojs';
 import type { PhysicsBody } from '../PhysicsBody';
-import type { BindingOptions } from './PhysicsBinding';
 import { PhysicsBinding } from './PhysicsBinding';
 /**
  * Owns the body ↔ node links and writes bound node transforms after each step.
@@ -9,7 +8,7 @@ import { PhysicsBinding } from './PhysicsBinding';
 export declare class BindingRegistry {
     private readonly _bindings;
     /** Link `body` to `node`. Rejects nodes with non-zero skew; runtime scale is ignored. */
-    bind(body: PhysicsBody, node: SceneNode, options?: BindingOptions): PhysicsBinding;
+    bind(body: PhysicsBody, node: SceneNode): PhysicsBinding;
     /** Remove the link for `body`, if any. */
     unbind(body: PhysicsBody): void;
     /** Write every bound node's transform from its body. */

package/dist/esm/binding/BindingRegistry.js

@@ -7,11 +7,11 @@ import { PhysicsBinding } from './PhysicsBinding.js';
 class BindingRegistry {
     _bindings = new Map();
     /** Link `body` to `node`. Rejects nodes with non-zero skew; runtime scale is ignored. */
-    bind(body, node, options) {
+    bind(body, node) {
         if (node.skewX !== 0 || node.skewY !== 0) {
             throw new Error(`PhysicsBinding: the bound node has non-zero skew (${node.skewX}°, ${node.skewY}°); skewed nodes are not supported.`);
         }
-        const binding = new PhysicsBinding(body, node, options?.drive ?? 'body-to-node');
+        const binding = new PhysicsBinding(body, node);
         this._bindings.set(body, binding);
         binding.sync();
         return binding;

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

@@ -1 +1 @@
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package/dist/esm/binding/PhysicsBinding.d.ts

@@ -1,27 +1,16 @@
-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 {
-    /**
-     * Which way the transform flows. `'body-to-node'` (default) writes the body's
-     * transform onto the node each step — for dynamic and kinematic-position
-     * bodies. `'node-to-body'` (read the node, drive the body) is reserved for the
-     * kinematic-velocity follow-up and currently behaves like `'body-to-node'`.
-     */
-    drive?: 'body-to-node' | 'node-to-body';
-}
 /**
  * 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. */
+    constructor(body: PhysicsBody, node: SceneNode);
+    /** Write the body's current transform (position + rotation) onto the bound node. */
     sync(): void;
 }

package/dist/esm/binding/PhysicsBinding.js

@@ -1,22 +1,23 @@
+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;
     node;
-    drive;
-    constructor(body, node, drive = 'body-to-node') {
+    constructor(body, node) {
         this.body = body;
         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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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[];
 }

package/dist/esm/broadphase/SweepAndPrune.js

@@ -1,3 +1,5 @@
+import { sortInPlace } from '../sort.js';
+
 /**
  * Sort-and-sweep broad phase on the X axis. Each query sorts the live colliders
  * by their AABB `minX`, then sweeps once, comparing each collider only against
@@ -8,23 +10,38 @@
  */
 class SweepAndPrune {
     _sorted = [];
+    // Pooled CandidatePair objects, reused across steps instead of allocating one
+    // per overlapping pair. `out` holds references into the pool and is consumed
+    // within the same step (ContactGraph reads pair.a/pair.b before the next
+    // computePairs overwrites the pool), so the reuse is safe.
+    _pairPool = [];
     computePairs(colliders, out) {
         out.length = 0;
         const sorted = this._sorted;
         sorted.length = 0;
+        const pool = this._pairPool;
+        let poolCount = 0;
         for (const collider of colliders) {
             sorted.push(collider);
         }
-        sorted.sort(byMinX);
+        sortInPlace(sorted, byMinX);
         const count = sorted.length;
         for (let i = 0; i < count; i++) {
+            // i/j stay within 0..count-1, so the entries always exist; the guards only
+            // discharge `noUncheckedIndexedAccess` and never actually skip a collider.
             const a = sorted[i];
+            if (a === undefined) {
+                continue;
+            }
             const aBox = a.aabb;
             const aMaxX = aBox.maxX;
             const aMinY = aBox.minY;
             const aMaxY = aBox.maxY;
             for (let j = i + 1; j < count; j++) {
                 const b = sorted[j];
+                if (b === undefined) {
+                    continue;
+                }
                 const bBox = b.aabb;
                 // X intervals are sorted: once b starts past a's right edge, so do all
                 // later colliders — stop scanning this i.
@@ -34,10 +51,22 @@ class SweepAndPrune {
                 if (bBox.minY > aMaxY || bBox.maxY < aMinY) {
                     continue;
                 }
-                out.push(a.id < b.id ? { a, b } : { a: b, b: a });
+                const lo = a.id < b.id ? a : b;
+                const hi = a.id < b.id ? b : a;
+                let pair = pool[poolCount];
+                if (pair === undefined) {
+                    pair = { a: lo, b: hi };
+                    pool.push(pair);
+                }
+                else {
+                    pair.a = lo;
+                    pair.b = hi;
+                }
+                poolCount++;
+                out.push(pair);
             }
         }
-        out.sort(byPairId);
+        sortInPlace(out, byPairId);
         return out;
     }
 }

package/dist/esm/broadphase/SweepAndPrune.js.map

@@ -1 +1 @@
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package/dist/esm/collision/CollisionProxy.d.ts

@@ -1,5 +1,5 @@
 import type { Mutable2D } from '../math';
-import type { Shape } from '../shapes/Shape';
+import type { AnyShape } from '../shapes/AnyShape';
 /**
  * The geometric surface the narrow phase needs: a shape plus its cached world
  * data. {@link Collider} satisfies this structurally, and shape-overlap queries
@@ -7,7 +7,7 @@ import type { Shape } from '../shapes/Shape';
  * allocating a body/collider.
  */
 export interface CollisionProxy {
-    readonly shape: Shape;
+    readonly shape: AnyShape;
     readonly worldCenter: Readonly<Mutable2D>;
     readonly worldVertices: readonly number[];
     readonly worldNormals: readonly number[];

package/dist/esm/collision/narrowphase.js

@@ -14,8 +14,11 @@ const collide = (a, b, manifold) => {
     }
     return tb === 'circle' ? collideCirclePolygon(b, a, manifold, true) : collidePolygons(a, b, manifold);
 };
-const radiusOf = (collider) => collider.shape.radius;
-const countOf = (collider) => collider.shape.count;
+// radiusOf/countOf are only ever called after the `collide` dispatch has matched
+// the shape kind, so the discriminant always holds; the fallback is unreachable
+// but keeps these allocation-free helpers cast-free and type-safe.
+const radiusOf = (collider) => (collider.shape.type === 'circle' ? collider.shape.radius : 0);
+const countOf = (collider) => (collider.shape.type === 'polygon' ? collider.shape.count : 0);
 const collideCircles = (a, b, manifold) => {
     const ca = a.worldCenter;
     const cb = b.worldCenter;
@@ -62,7 +65,12 @@ const collideCirclePolygon = (circle, polygon, manifold, flip) => {
     let maxSep = -Infinity;
     let refEdge = 0;
     for (let i = 0; i < count; i++) {
-        const s = normals[i * 2] * (c.x - verts[i * 2]) + normals[i * 2 + 1] * (c.y - verts[i * 2 + 1]);
+        // Loop indices are provably in-bounds (0..count-1); the `!` is zero-cost.
+        const enx = normals[i * 2];
+        const eny = normals[i * 2 + 1];
+        const evx = verts[i * 2];
+        const evy = verts[i * 2 + 1];
+        const s = enx * (c.x - evx) + eny * (c.y - evy);
         if (s > r) {
             return false;
         }
@@ -71,6 +79,9 @@ const collideCirclePolygon = (circle, polygon, manifold, flip) => {
             refEdge = i;
         }
     }
+    // refEdge/j stay in 0..count-1, so these reads are in-bounds too.
+    const refNx = normals[refEdge * 2];
+    const refNy = normals[refEdge * 2 + 1];
     let nx;
     let ny;
     let penetration;
@@ -79,8 +90,8 @@ const collideCirclePolygon = (circle, polygon, manifold, flip) => {
     let id;
     if (maxSep < eps) {
         // Centre inside the polygon: push out along the least-penetrating face.
-        nx = -normals[refEdge * 2];
-        ny = -normals[refEdge * 2 + 1];
+        nx = -refNx;
+        ny = -refNy;
         penetration = r - maxSep;
         px = c.x + nx * r;
         py = c.y + ny * r;
@@ -103,8 +114,8 @@ const collideCirclePolygon = (circle, polygon, manifold, flip) => {
                 return false;
             }
             const d = Math.sqrt(d2);
-            nx = d > eps ? -dx / d : -normals[refEdge * 2];
-            ny = d > eps ? -dy / d : -normals[refEdge * 2 + 1];
+            nx = d > eps ? -dx / d : -refNx;
+            ny = d > eps ? -dy / d : -refNy;
             penetration = r - d;
             px = v1x;
             py = v1y;
@@ -118,8 +129,8 @@ const collideCirclePolygon = (circle, polygon, manifold, flip) => {
                 return false;
             }
             const d = Math.sqrt(d2);
-            nx = d > eps ? -dx / d : -normals[refEdge * 2];
-            ny = d > eps ? -dy / d : -normals[refEdge * 2 + 1];
+            nx = d > eps ? -dx / d : -refNx;
+            ny = d > eps ? -dy / d : -refNy;
             penetration = r - d;
             px = v2x;
             py = v2y;
@@ -127,8 +138,8 @@ const collideCirclePolygon = (circle, polygon, manifold, flip) => {
         }
         else {
             // Face region.
-            nx = -normals[refEdge * 2];
-            ny = -normals[refEdge * 2 + 1];
+            nx = -refNx;
+            ny = -refNy;
             penetration = r - maxSep;
             px = c.x + nx * r;
             py = c.y + ny * r;
@@ -153,8 +164,21 @@ const newClipPair = () => [
     { x: 0, y: 0, id: 0 },
     { x: 0, y: 0, id: 0 },
 ];
-/** Max separation of `b` from any face of `a`, with the supporting face index. */
-const findMaxSeparation = (a, b) => {
+// Module-local clip scratch reused across collidePolygons calls instead of
+// allocating a fresh pair per contact. The narrow phase is single-threaded and
+// non-reentrant — a world step calls `collide` strictly sequentially per pair,
+// with no nested self-call or async — so module-global scratch is safe and may
+// be shared across worlds (world-isolation.test.ts guards the multi-world
+// invariant). The three pairs MUST stay separate: incident → clipped1 →
+// clipped2 are simultaneously live (each clip reads the previous clip's output).
+const _incidentScratch = newClipPair();
+const _clipped1Scratch = newClipPair();
+const _clipped2Scratch = newClipPair();
+// Two separate scratches: collidePolygons holds sepA and sepB at the same time.
+const _sepA = { separation: 0, edge: 0 };
+const _sepB = { separation: 0, edge: 0 };
+/** Max separation of `b` from any face of `a`, with the supporting face index. Writes into and returns `out` (allocation-free). */
+const findMaxSeparation = (a, b, out) => {
     const av = a.worldVertices;
     const an = a.worldNormals;
     const ac = countOf(a);
@@ -163,6 +187,7 @@ const findMaxSeparation = (a, b) => {
     let best = -Infinity;
     let bestEdge = 0;
     for (let i = 0; i < ac; i++) {
+        // i in 0..ac-1 and j in 0..bc-1, so every read below is in-bounds.
         const nx = an[i * 2];
         const ny = an[i * 2 + 1];
         const vx = av[i * 2];
@@ -172,11 +197,13 @@ const findMaxSeparation = (a, b) => {
         let sx = 0;
         let sy = 0;
         for (let j = 0; j < bc; j++) {
-            const d = nx * bv[j * 2] + ny * bv[j * 2 + 1];
+            const bjx = bv[j * 2];
+            const bjy = bv[j * 2 + 1];
+            const d = nx * bjx + ny * bjy;
             if (d < minDot) {
                 minDot = d;
-                sx = bv[j * 2];
-                sy = bv[j * 2 + 1];
+                sx = bjx;
+                sy = bjy;
             }
         }
         const separation = nx * (sx - vx) + ny * (sy - vy);
@@ -185,7 +212,9 @@ const findMaxSeparation = (a, b) => {
             bestEdge = i;
         }
     }
-    return { separation: best, edge: bestEdge };
+    out.separation = best;
+    out.edge = bestEdge;
+    return out;
 };
 /** Incident face of `inc` = the face most anti-parallel to the reference normal. */
 const findIncidentFace = (refNx, refNy, inc, out) => {
@@ -195,13 +224,16 @@ const findIncidentFace = (refNx, refNy, inc, out) => {
     let minDot = Infinity;
     let idx = 0;
     for (let i = 0; i < ic; i++) {
-        const d = refNx * inrm[i * 2] + refNy * inrm[i * 2 + 1];
+        const inx = inrm[i * 2];
+        const iny = inrm[i * 2 + 1];
+        const d = refNx * inx + refNy * iny;
         if (d < minDot) {
             minDot = d;
             idx = i;
         }
     }
     const j = (idx + 1) % ic;
+    // idx/j in 0..ic-1; reads in-bounds. out is a fixed 2-tuple.
     out[0].x = iv[idx * 2];
     out[0].y = iv[idx * 2 + 1];
     out[0].id = idx;
@@ -211,21 +243,29 @@ const findIncidentFace = (refNx, refNy, inc, out) => {
 };
 /** Clip the 2-vertex segment `input` to the half-plane `dot(n, p) ≤ offset`. */
 const clipSegment = (nx, ny, offset, input, output, syntheticId) => {
+    // input/output are fixed 2-tuples; count never exceeds 2 (two boundary
+    // copies, or one copy plus the guarded intersection), so output[0]/output[1]
+    // are the only slots written and both always exist.
+    const in0 = input[0];
+    const in1 = input[1];
     let count = 0;
-    const d1 = nx * input[0].x + ny * input[0].y - offset;
-    const d2 = nx * input[1].x + ny * input[1].y - offset;
+    const d1 = nx * in0.x + ny * in0.y - offset;
+    const d2 = nx * in1.x + ny * in1.y - offset;
     if (d1 <= 0) {
-        copyClip(input[0], output[count++]);
+        copyClip(in0, count === 0 ? output[0] : output[1]);
+        count++;
     }
     if (d2 <= 0) {
-        copyClip(input[1], output[count++]);
+        copyClip(in1, count === 0 ? output[0] : output[1]);
+        count++;
     }
     if (d1 * d2 < 0 && count < 2) {
         const alpha = d1 / (d1 - d2);
-        const target = output[count++];
-        target.x = input[0].x + alpha * (input[1].x - input[0].x);
-        target.y = input[0].y + alpha * (input[1].y - input[0].y);
+        const target = count === 0 ? output[0] : output[1];
+        target.x = in0.x + alpha * (in1.x - in0.x);
+        target.y = in0.y + alpha * (in1.y - in0.y);
         target.id = syntheticId;
+        count++;
     }
     return count;
 };
@@ -237,11 +277,11 @@ const copyClip = (from, to) => {
 const encodeId = (flip, refEdge, incidentId) => (flip ? 1 << 20 : 0) | ((refEdge & 0xff) << 12) | (incidentId & 0xfff);
 /** Convex polygon vs convex polygon: SAT reference face + Sutherland-Hodgman clip. */
 const collidePolygons = (a, b, manifold) => {
-    const sepA = findMaxSeparation(a, b);
+    const sepA = findMaxSeparation(a, b, _sepA);
     if (sepA.separation >= 0) {
         return false;
     }
-    const sepB = findMaxSeparation(b, a);
+    const sepB = findMaxSeparation(b, a, _sepB);
     if (sepB.separation >= 0) {
         return false;
     }
@@ -267,42 +307,50 @@ const collidePolygons = (a, b, manifold) => {
     const rn = ref.worldNormals;
     const rc = countOf(ref);
     const i2 = (refEdge + 1) % rc;
+    // refEdge/i2 in 0..rc-1, so these reads are in-bounds.
     const v1x = rv[refEdge * 2];
     const v1y = rv[refEdge * 2 + 1];
     const v2x = rv[i2 * 2];
     const v2y = rv[i2 * 2 + 1];
     const refNx = rn[refEdge * 2];
     const refNy = rn[refEdge * 2 + 1];
-    const incident = newClipPair();
+    const incident = _incidentScratch;
     findIncidentFace(refNx, refNy, inc, incident);
     // Reference-face tangent (the side-plane direction).
     let tx = v2x - v1x;
     let ty = v2y - v1y;
-    const tl = Math.hypot(tx, ty);
+    // sqrt(x²+y²) over Math.hypot — avoids hypot's variadic/internal-allocation
+    // path on the narrow-phase hot path; the operands are bounded edge lengths,
+    // so the overflow protection hypot adds is not needed here.
+    const tl = Math.sqrt(tx * tx + ty * ty);
     tx /= tl;
     ty /= tl;
     const negSide = -(tx * v1x + ty * v1y);
     const posSide = tx * v2x + ty * v2y;
-    const clipped1 = newClipPair();
+    const clipped1 = _clipped1Scratch;
     if (clipSegment(-tx, -ty, negSide, incident, clipped1, encodeId(flip, refEdge, 0xffe)) < 2) {
         return false;
     }
-    const clipped2 = newClipPair();
+    const clipped2 = _clipped2Scratch;
     if (clipSegment(tx, ty, posSide, clipped1, clipped2, encodeId(flip, refEdge, 0xfff)) < 2) {
         return false;
     }
     manifold.normalX = flip ? -refNx : refNx;
     manifold.normalY = flip ? -refNy : refNy;
     const refC = refNx * v1x + refNy * v1y;
+    const points = manifold.points;
     let cp = 0;
     for (let k = 0; k < 2; k++) {
-        const separation = refNx * clipped2[k].x + refNy * clipped2[k].y - refC;
+        // clipped2 is a fixed 2-tuple; k in {0,1} so the clip vertex always exists.
+        const cv = k === 0 ? clipped2[0] : clipped2[1];
+        const separation = refNx * cv.x + refNy * cv.y - refC;
         if (separation <= 0) {
-            const point = manifold.points[cp];
-            point.x = clipped2[k].x;
-            point.y = clipped2[k].y;
+            // cp reaches at most 2 (one per clip vertex); points[0]/points[1] exist.
+            const point = cp === 0 ? points[0] : points[1];
+            point.x = cv.x;
+            point.y = cv.y;
             point.penetration = -separation;
-            point.id = encodeId(flip, refEdge, clipped2[k].id);
+            point.id = encodeId(flip, refEdge, cv.id);
             cp++;
         }
     }
@@ -330,7 +378,7 @@ const testOverlap = (a, b) => {
     if (tb === 'circle') {
         return circlePolygonOverlap(b, a);
     }
-    return findMaxSeparation(a, b).separation < 0 && findMaxSeparation(b, a).separation < 0;
+    return findMaxSeparation(a, b, _sepA).separation < 0 && findMaxSeparation(b, a, _sepB).separation < 0;
 };
 const circlePolygonOverlap = (circle, polygon) => {
     const c = circle.worldCenter;
@@ -341,7 +389,12 @@ const circlePolygonOverlap = (circle, polygon) => {
     let maxSep = -Infinity;
     let refEdge = 0;
     for (let i = 0; i < count; i++) {
-        const s = normals[i * 2] * (c.x - verts[i * 2]) + normals[i * 2 + 1] * (c.y - verts[i * 2 + 1]);
+        // Loop indices are provably in-bounds (0..count-1); the `!` is zero-cost.
+        const enx = normals[i * 2];
+        const eny = normals[i * 2 + 1];
+        const evx = verts[i * 2];
+        const evy = verts[i * 2 + 1];
+        const s = enx * (c.x - evx) + eny * (c.y - evy);
         if (s > r) {
             return false;
         }

package/dist/esm/collision/narrowphase.js.map

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package/dist/esm/debug/PhysicsDebugDraw.d.ts

@@ -1,6 +1,7 @@
-import type { Application, RenderBackend } from '@codexo/exojs';
+import type { Application } from '@codexo/exojs';
 import type { DebugLayerViewMode } from '@codexo/exojs/debug';
 import { DebugLayer } from '@codexo/exojs/debug';
+import type { RenderBackend } from '@codexo/exojs/renderer-sdk';
 import type { PhysicsWorld } from '../PhysicsWorld';
 /** Toggles for the physics debug overlay. */
 export interface PhysicsDebugDrawOptions {
@@ -16,6 +17,10 @@ export interface PhysicsDebugDrawOptions {
     drawCenters?: boolean;
     /** Broad-phase candidate links between AABB-overlapping colliders. Default `false`. */
     drawBroadphase?: boolean;
+    /** Tint sleeping bodies distinctly (applies to the shape outline). Default `false`. */
+    drawSleeping?: boolean;
+    /** Lines connecting the bodies of each joint. Default `false`. */
+    drawJoints?: boolean;
 }
 /**
  * `DebugLayer` that visualises a {@link PhysicsWorld} — shapes, AABBs, contacts,
@@ -36,7 +41,9 @@ export declare class PhysicsDebugDraw extends DebugLayer {
     get viewMode(): DebugLayerViewMode;
     update(): void;
     render(backend: RenderBackend): void;
+    private _renderJoints;
     destroy(): void;
+    private _outlineColor;
     private _strokeShape;
     private _strokeAabb;
     private _strokeCircle;