@codexo/exojs-physics 0.13.0 → 0.15.0

package/dist/esm/joints/PrismaticJoint.d.ts

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+import type { PhysicsBody } from '../PhysicsBody';
+import type { VectorLike } from '../types';
+import { Joint } from './Joint';
+/** Construction options for a {@link PrismaticJoint}. */
+export interface PrismaticJointOptions {
+    /** First body (often a static rail anchor). */
+    bodyA: PhysicsBody;
+    /** Second body (the slider). */
+    bodyB: PhysicsBody;
+    /** Shared world-space anchor at creation. */
+    anchor: VectorLike;
+    /** Slide axis in world space at creation (normalised internally). The body may only translate along this axis. */
+    axis: VectorLike;
+    /** Enable the linear motor (drives translation along the axis toward {@link motorSpeed}). Default `false`. */
+    enableMotor?: boolean;
+    /** Target translation speed along the axis (px/s). Default `0`. */
+    motorSpeed?: number;
+    /** Maximum motor force — clamps the per-step motor impulse. Default `0`. */
+    maxMotorForce?: number;
+    /** Enable the translation limit (keeps the axis translation in `[lowerTranslation, upperTranslation]`). Default `false`. */
+    enableLimit?: boolean;
+    /** Lower translation limit along the axis (relative to the creation position). Default `0`. */
+    lowerTranslation?: number;
+    /** Upper translation limit along the axis. Default `0`. */
+    upperTranslation?: number;
+}
+/**
+ * Constrains a body to **slide along a single axis** relative to another: the
+ * perpendicular translation and the relative rotation are locked (a 2×2 block);
+ * only translation along the axis is free, optionally driven by a motor and/or
+ * bounded by a translation limit. Solved in the sub-step loop, warm-started.
+ */
+export declare class PrismaticJoint extends Joint {
+    /** When `true`, the motor drives the axis translation toward {@link motorSpeed}. */
+    enableMotor: boolean;
+    /** Target translation speed along the axis (px/s). */
+    motorSpeed: number;
+    /** Maximum motor force. */
+    maxMotorForce: number;
+    /** When `true`, the axis translation is constrained to `[lowerTranslation, upperTranslation]`. */
+    enableLimit: boolean;
+    /** Lower translation limit along the axis. */
+    lowerTranslation: number;
+    /** Upper translation limit along the axis. */
+    upperTranslation: number;
+    private readonly _localAnchorAx;
+    private readonly _localAnchorAy;
+    private readonly _localAnchorBx;
+    private readonly _localAnchorBy;
+    private readonly _localAxisAx;
+    private readonly _localAxisAy;
+    private readonly _referenceAngle;
+    private _axisX;
+    private _axisY;
+    private _perpX;
+    private _perpY;
+    private _a1;
+    private _a2;
+    private _s1;
+    private _s2;
+    private _k11;
+    private _k12;
+    private _k22;
+    private _cPerp;
+    private _cAngle;
+    private _translation;
+    private _axialMass;
+    private _h;
+    private _invH;
+    private _perpImpulse;
+    private _angularImpulse;
+    private _motorImpulse;
+    private _lowerImpulse;
+    private _upperImpulse;
+    constructor(options: PrismaticJointOptions);
+    _prepare(h: number): void;
+    _warmStart(): void;
+    _solve(useBias: boolean): void;
+    /** Relative velocity projected onto the axis (plus the rotation cross terms). */
+    private _axisVelocity;
+    /** Relative velocity projected onto the perpendicular (plus the rotation cross terms). */
+    private _perpVelocity;
+    private _applyAxial;
+    private _applyBlock;
+}

package/dist/esm/joints/PrismaticJoint.js

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+import { applyInverseTransform, applyInverseRotation, applyRotation, applyTransform } from '../math.js';
+import { Joint } from './Joint.js';
+
+/** Reused output sink — physics steps single-threaded, so a shared scratch is safe. */
+const scratch = { x: 0, y: 0 };
+/**
+ * Constrains a body to **slide along a single axis** relative to another: the
+ * perpendicular translation and the relative rotation are locked (a 2×2 block);
+ * only translation along the axis is free, optionally driven by a motor and/or
+ * bounded by a translation limit. Solved in the sub-step loop, warm-started.
+ */
+class PrismaticJoint extends Joint {
+    /** When `true`, the motor drives the axis translation toward {@link motorSpeed}. */
+    enableMotor;
+    /** Target translation speed along the axis (px/s). */
+    motorSpeed;
+    /** Maximum motor force. */
+    maxMotorForce;
+    /** When `true`, the axis translation is constrained to `[lowerTranslation, upperTranslation]`. */
+    enableLimit;
+    /** Lower translation limit along the axis. */
+    lowerTranslation;
+    /** Upper translation limit along the axis. */
+    upperTranslation;
+    _localAnchorAx;
+    _localAnchorAy;
+    _localAnchorBx;
+    _localAnchorBy;
+    _localAxisAx;
+    _localAxisAy;
+    _referenceAngle;
+    _axisX = 1;
+    _axisY = 0;
+    _perpX = 0;
+    _perpY = 1;
+    _a1 = 0;
+    _a2 = 0;
+    _s1 = 0;
+    _s2 = 0;
+    _k11 = 0;
+    _k12 = 0;
+    _k22 = 0;
+    _cPerp = 0;
+    _cAngle = 0;
+    _translation = 0;
+    _axialMass = 0;
+    _h = 0;
+    _invH = 0;
+    _perpImpulse = 0;
+    _angularImpulse = 0;
+    _motorImpulse = 0;
+    _lowerImpulse = 0;
+    _upperImpulse = 0;
+    constructor(options) {
+        super(options.bodyA, options.bodyB);
+        applyInverseTransform(options.bodyA.transform, options.anchor.x, options.anchor.y, scratch);
+        this._localAnchorAx = scratch.x;
+        this._localAnchorAy = scratch.y;
+        applyInverseTransform(options.bodyB.transform, options.anchor.x, options.anchor.y, scratch);
+        this._localAnchorBx = scratch.x;
+        this._localAnchorBy = scratch.y;
+        const axisLength = Math.hypot(options.axis.x, options.axis.y) || 1;
+        applyInverseRotation(options.bodyA.transform, options.axis.x / axisLength, options.axis.y / axisLength, scratch);
+        this._localAxisAx = scratch.x;
+        this._localAxisAy = scratch.y;
+        this._referenceAngle = options.bodyB.angle - options.bodyA.angle;
+        this.enableMotor = options.enableMotor ?? false;
+        this.motorSpeed = options.motorSpeed ?? 0;
+        this.maxMotorForce = options.maxMotorForce ?? 0;
+        this.enableLimit = options.enableLimit ?? false;
+        this.lowerTranslation = options.lowerTranslation ?? 0;
+        this.upperTranslation = options.upperTranslation ?? 0;
+    }
+    _prepare(h) {
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        this._active = this.enabled && !bodyA.isSleeping && !bodyB.isSleeping && (bodyA.invMass > 0 || bodyB.invMass > 0);
+        if (!this._active) {
+            return;
+        }
+        // World axis + perpendicular (axis is local to body A).
+        applyRotation(bodyA.transform, this._localAxisAx, this._localAxisAy, scratch);
+        const axisX = scratch.x;
+        const axisY = scratch.y;
+        const perpX = -axisY;
+        const perpY = axisX;
+        this._axisX = axisX;
+        this._axisY = axisY;
+        this._perpX = perpX;
+        this._perpY = perpY;
+        applyTransform(bodyA.transform, this._localAnchorAx, this._localAnchorAy, scratch);
+        const pAx = scratch.x;
+        const pAy = scratch.y;
+        applyTransform(bodyB.transform, this._localAnchorBx, this._localAnchorBy, scratch);
+        const pBx = scratch.x;
+        const pBy = scratch.y;
+        const rAx = pAx - bodyA.worldCenterOfMassX;
+        const rAy = pAy - bodyA.worldCenterOfMassY;
+        const rBx = pBx - bodyB.worldCenterOfMassX;
+        const rBy = pBy - bodyB.worldCenterOfMassY;
+        const dx = pBx - pAx;
+        const dy = pBy - pAy;
+        // Jacobian cross terms for the axis (motor/limit) and the perpendicular (lock).
+        this._a1 = (dx + rAx) * axisY - (dy + rAy) * axisX;
+        this._a2 = rBx * axisY - rBy * axisX;
+        this._s1 = (dx + rAx) * perpY - (dy + rAy) * perpX;
+        this._s2 = rBx * perpY - rBy * perpX;
+        const mA = bodyA.invMass;
+        const mB = bodyB.invMass;
+        const iA = bodyA.invInertia;
+        const iB = bodyB.invInertia;
+        const kAxial = mA + mB + iA * this._a1 * this._a1 + iB * this._a2 * this._a2;
+        this._axialMass = kAxial > 0 ? 1 / kAxial : 0;
+        // Perpendicular + angular 2×2 block.
+        this._k11 = mA + mB + iA * this._s1 * this._s1 + iB * this._s2 * this._s2;
+        this._k12 = iA * this._s1 + iB * this._s2;
+        this._k22 = iA + iB;
+        if (this._k22 === 0) {
+            this._k22 = 1; // both bodies rotation-locked — keep the block invertible
+        }
+        this._cPerp = dx * perpX + dy * perpY;
+        this._cAngle = bodyB.angle - bodyA.angle - this._referenceAngle;
+        this._translation = dx * axisX + dy * axisY;
+        this._h = h;
+        this._invH = 1 / h;
+        if (!this.enableMotor) {
+            this._motorImpulse = 0;
+        }
+        if (!this.enableLimit) {
+            this._lowerImpulse = 0;
+            this._upperImpulse = 0;
+        }
+    }
+    _warmStart() {
+        if (!this._active) {
+            return;
+        }
+        const axial = this._motorImpulse + this._lowerImpulse - this._upperImpulse;
+        this._applyBlock(this._perpImpulse, this._angularImpulse);
+        this._applyAxial(axial);
+    }
+    _solve(useBias) {
+        if (!this._active) {
+            return;
+        }
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        // Motor along the axis.
+        if (this.enableMotor) {
+            const cdot = this._axisVelocity() - this.motorSpeed;
+            const max = this.maxMotorForce * this._h;
+            const old = this._motorImpulse;
+            this._motorImpulse = Math.min(max, Math.max(-max, old - this._axialMass * cdot));
+            this._applyAxial(this._motorImpulse - old);
+        }
+        // Translation limits along the axis.
+        if (this.enableLimit) {
+            // Lower limit (translation ≥ lowerTranslation): positive impulse pushes along +axis.
+            const cLower = this._translation - this.lowerTranslation;
+            let biasLower = 0;
+            if (cLower > 0) {
+                biasLower = cLower * this._invH;
+            }
+            else if (useBias) {
+                biasLower = 0.2 * this._invH * cLower;
+            }
+            const oldLower = this._lowerImpulse;
+            this._lowerImpulse = Math.max(0, oldLower - this._axialMass * (this._axisVelocity() + biasLower));
+            this._applyAxial(this._lowerImpulse - oldLower);
+            // Upper limit (translation ≤ upperTranslation): impulse pushes along −axis.
+            const cUpper = this.upperTranslation - this._translation;
+            let biasUpper = 0;
+            if (cUpper > 0) {
+                biasUpper = cUpper * this._invH;
+            }
+            else if (useBias) {
+                biasUpper = 0.2 * this._invH * cUpper;
+            }
+            const oldUpper = this._upperImpulse;
+            this._upperImpulse = Math.max(0, oldUpper - this._axialMass * (-this._axisVelocity() + biasUpper));
+            this._applyAxial(-(this._upperImpulse - oldUpper));
+        }
+        // Perpendicular + angular lock (2×2 block).
+        const cdotPerp = this._perpVelocity();
+        const cdotAngle = bodyB.angularVelocity - bodyA.angularVelocity;
+        const rhs1 = -(cdotPerp + (useBias ? 0.2 * this._invH * this._cPerp : 0));
+        const rhs2 = -(cdotAngle + (useBias ? 0.2 * this._invH * this._cAngle : 0));
+        const det = this._k11 * this._k22 - this._k12 * this._k12;
+        const invDet = det !== 0 ? 1 / det : 0;
+        const dPerp = invDet * (this._k22 * rhs1 - this._k12 * rhs2);
+        const dAngle = invDet * (-this._k12 * rhs1 + this._k11 * rhs2);
+        this._perpImpulse += dPerp;
+        this._angularImpulse += dAngle;
+        this._applyBlock(dPerp, dAngle);
+    }
+    /** Relative velocity projected onto the axis (plus the rotation cross terms). */
+    _axisVelocity() {
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        return (this._axisX * (bodyB.linearVelocityX - bodyA.linearVelocityX) +
+            this._axisY * (bodyB.linearVelocityY - bodyA.linearVelocityY) +
+            this._a2 * bodyB.angularVelocity -
+            this._a1 * bodyA.angularVelocity);
+    }
+    /** Relative velocity projected onto the perpendicular (plus the rotation cross terms). */
+    _perpVelocity() {
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        return (this._perpX * (bodyB.linearVelocityX - bodyA.linearVelocityX) +
+            this._perpY * (bodyB.linearVelocityY - bodyA.linearVelocityY) +
+            this._s2 * bodyB.angularVelocity -
+            this._s1 * bodyA.angularVelocity);
+    }
+    _applyAxial(impulse) {
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        const px = impulse * this._axisX;
+        const py = impulse * this._axisY;
+        bodyA.linearVelocityX -= bodyA.invMass * px;
+        bodyA.linearVelocityY -= bodyA.invMass * py;
+        bodyA.angularVelocity -= bodyA.invInertia * impulse * this._a1;
+        bodyB.linearVelocityX += bodyB.invMass * px;
+        bodyB.linearVelocityY += bodyB.invMass * py;
+        bodyB.angularVelocity += bodyB.invInertia * impulse * this._a2;
+    }
+    _applyBlock(perpImpulse, angularImpulse) {
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        const px = perpImpulse * this._perpX;
+        const py = perpImpulse * this._perpY;
+        bodyA.linearVelocityX -= bodyA.invMass * px;
+        bodyA.linearVelocityY -= bodyA.invMass * py;
+        bodyA.angularVelocity -= bodyA.invInertia * (perpImpulse * this._s1 + angularImpulse);
+        bodyB.linearVelocityX += bodyB.invMass * px;
+        bodyB.linearVelocityY += bodyB.invMass * py;
+        bodyB.angularVelocity += bodyB.invInertia * (perpImpulse * this._s2 + angularImpulse);
+    }
+}
+
+export { PrismaticJoint };
+//# sourceMappingURL=PrismaticJoint.js.map

package/dist/esm/joints/PrismaticJoint.js.map

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

@@ -0,0 +1,81 @@
+import type { PhysicsBody } from '../PhysicsBody';
+import type { VectorLike } from '../types';
+import { Joint } from './Joint';
+/** Construction options for a {@link RevoluteJoint}. */
+export interface RevoluteJointOptions {
+    /** First body (often a static anchor). */
+    bodyA: PhysicsBody;
+    /** Second body. */
+    bodyB: PhysicsBody;
+    /** Shared world-space pivot point at creation. The two bodies are pinned here and may rotate freely about it. */
+    anchor: VectorLike;
+    /** Soft-spring frequency in Hz; `0` (default) makes it a rigid pin. */
+    hertz?: number;
+    /** Soft-spring damping ratio (used when `hertz > 0`). Default `1`. */
+    dampingRatio?: number;
+    /** Enable the angular motor (drives `ωB − ωA` toward {@link motorSpeed}). Default `false`. */
+    enableMotor?: boolean;
+    /** Target relative angular velocity in rad/s when the motor is enabled. Default `0`. */
+    motorSpeed?: number;
+    /** Maximum motor torque — clamps the per-step motor impulse. Default `0`. */
+    maxMotorTorque?: number;
+    /** Enable the angle limit (keeps the relative angle in `[lowerAngle, upperAngle]`). Default `false`. */
+    enableLimit?: boolean;
+    /** Lower relative-angle limit in radians (relative to the angle at creation). Default `0`. */
+    lowerAngle?: number;
+    /** Upper relative-angle limit in radians. Default `0`. */
+    upperAngle?: number;
+}
+/**
+ * Pins a shared anchor point on two bodies (a hinge): the bodies may rotate
+ * freely about the pivot but the anchor points stay coincident. Solved as a
+ * 2-DOF point constraint (a 2×2 block) in the sub-step loop, warm-started.
+ */
+export declare class RevoluteJoint extends Joint {
+    /** Soft-spring frequency in Hz (`0` = rigid). */
+    hertz: number;
+    /** Soft-spring damping ratio. */
+    dampingRatio: number;
+    /** When `true`, the motor drives `ωB − ωA` toward {@link motorSpeed}. */
+    enableMotor: boolean;
+    /** Target relative angular velocity (rad/s) for the motor. */
+    motorSpeed: number;
+    /** Maximum motor torque. */
+    maxMotorTorque: number;
+    /** When `true`, the relative angle is constrained to `[lowerAngle, upperAngle]`. */
+    enableLimit: boolean;
+    /** Lower relative-angle limit (radians, relative to the creation angle). */
+    lowerAngle: number;
+    /** Upper relative-angle limit (radians). */
+    upperAngle: number;
+    private readonly _localAnchorAx;
+    private readonly _localAnchorAy;
+    private readonly _localAnchorBx;
+    private readonly _localAnchorBy;
+    private _rAx;
+    private _rAy;
+    private _rBx;
+    private _rBy;
+    private _cx;
+    private _cy;
+    private _invK11;
+    private _invK12;
+    private _invK22;
+    private _biasRate;
+    private _massScale;
+    private _impulseScale;
+    private _impulseX;
+    private _impulseY;
+    private readonly _referenceAngle;
+    private _axialMass;
+    private _h;
+    private _invH;
+    private _motorImpulse;
+    private _lowerImpulse;
+    private _upperImpulse;
+    constructor(options: RevoluteJointOptions);
+    _prepare(h: number): void;
+    _warmStart(): void;
+    _solve(useBias: boolean): void;
+    private _applyImpulse;
+}

package/dist/esm/joints/RevoluteJoint.js

@@ -0,0 +1,217 @@
+import { applyInverseTransform, applyTransform } from '../math.js';
+import { Joint } from './Joint.js';
+
+/** Reused output sink — physics steps single-threaded, so a shared scratch is safe. */
+const scratch = { x: 0, y: 0 };
+/**
+ * Pins a shared anchor point on two bodies (a hinge): the bodies may rotate
+ * freely about the pivot but the anchor points stay coincident. Solved as a
+ * 2-DOF point constraint (a 2×2 block) in the sub-step loop, warm-started.
+ */
+class RevoluteJoint extends Joint {
+    /** Soft-spring frequency in Hz (`0` = rigid). */
+    hertz;
+    /** Soft-spring damping ratio. */
+    dampingRatio;
+    /** When `true`, the motor drives `ωB − ωA` toward {@link motorSpeed}. */
+    enableMotor;
+    /** Target relative angular velocity (rad/s) for the motor. */
+    motorSpeed;
+    /** Maximum motor torque. */
+    maxMotorTorque;
+    /** When `true`, the relative angle is constrained to `[lowerAngle, upperAngle]`. */
+    enableLimit;
+    /** Lower relative-angle limit (radians, relative to the creation angle). */
+    lowerAngle;
+    /** Upper relative-angle limit (radians). */
+    upperAngle;
+    _localAnchorAx;
+    _localAnchorAy;
+    _localAnchorBx;
+    _localAnchorBy;
+    _rAx = 0;
+    _rAy = 0;
+    _rBx = 0;
+    _rBy = 0;
+    _cx = 0;
+    _cy = 0;
+    _invK11 = 0;
+    _invK12 = 0;
+    _invK22 = 0;
+    _biasRate = 0;
+    _massScale = 1;
+    _impulseScale = 0;
+    _impulseX = 0;
+    _impulseY = 0;
+    _referenceAngle;
+    _axialMass = 0;
+    _h = 0;
+    _invH = 0;
+    _motorImpulse = 0;
+    _lowerImpulse = 0;
+    _upperImpulse = 0;
+    constructor(options) {
+        super(options.bodyA, options.bodyB);
+        applyInverseTransform(options.bodyA.transform, options.anchor.x, options.anchor.y, scratch);
+        this._localAnchorAx = scratch.x;
+        this._localAnchorAy = scratch.y;
+        applyInverseTransform(options.bodyB.transform, options.anchor.x, options.anchor.y, scratch);
+        this._localAnchorBx = scratch.x;
+        this._localAnchorBy = scratch.y;
+        this.hertz = options.hertz ?? 0;
+        this.dampingRatio = options.dampingRatio ?? 1;
+        this.enableMotor = options.enableMotor ?? false;
+        this.motorSpeed = options.motorSpeed ?? 0;
+        this.maxMotorTorque = options.maxMotorTorque ?? 0;
+        this.enableLimit = options.enableLimit ?? false;
+        this.lowerAngle = options.lowerAngle ?? 0;
+        this.upperAngle = options.upperAngle ?? 0;
+        this._referenceAngle = options.bodyB.angle - options.bodyA.angle;
+    }
+    _prepare(h) {
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        this._active = this.enabled && !bodyA.isSleeping && !bodyB.isSleeping && (bodyA.invMass > 0 || bodyB.invMass > 0);
+        if (!this._active) {
+            return;
+        }
+        applyTransform(bodyA.transform, this._localAnchorAx, this._localAnchorAy, scratch);
+        const pAx = scratch.x;
+        const pAy = scratch.y;
+        applyTransform(bodyB.transform, this._localAnchorBx, this._localAnchorBy, scratch);
+        const pBx = scratch.x;
+        const pBy = scratch.y;
+        this._rAx = pAx - bodyA.worldCenterOfMassX;
+        this._rAy = pAy - bodyA.worldCenterOfMassY;
+        this._rBx = pBx - bodyB.worldCenterOfMassX;
+        this._rBy = pBy - bodyB.worldCenterOfMassY;
+        // Position error (the anchors should coincide).
+        this._cx = pBx - pAx;
+        this._cy = pBy - pAy;
+        const mA = bodyA.invMass;
+        const mB = bodyB.invMass;
+        const iA = bodyA.invInertia;
+        const iB = bodyB.invInertia;
+        // 2×2 effective-mass matrix K and its inverse.
+        const k11 = mA + mB + iA * this._rAy * this._rAy + iB * this._rBy * this._rBy;
+        const k12 = -iA * this._rAx * this._rAy - iB * this._rBx * this._rBy;
+        const k22 = mA + mB + iA * this._rAx * this._rAx + iB * this._rBx * this._rBx;
+        const det = k11 * k22 - k12 * k12;
+        const invDet = det !== 0 ? 1 / det : 0;
+        this._invK11 = invDet * k22;
+        this._invK12 = -invDet * k12;
+        this._invK22 = invDet * k11;
+        // Angular (motor/limit) effective mass + sub-step rate.
+        this._axialMass = iA + iB > 0 ? 1 / (iA + iB) : 0;
+        this._h = h;
+        this._invH = 1 / h;
+        if (!this.enableMotor) {
+            this._motorImpulse = 0;
+        }
+        if (!this.enableLimit) {
+            this._lowerImpulse = 0;
+            this._upperImpulse = 0;
+        }
+        if (this.hertz > 0) {
+            const omega = 2 * Math.PI * this.hertz;
+            const a1 = 2 * this.dampingRatio + h * omega;
+            const a2 = h * omega * a1;
+            const a3 = 1 / (1 + a2);
+            this._biasRate = omega / a1;
+            this._massScale = a2 * a3;
+            this._impulseScale = a3;
+        }
+        else {
+            this._biasRate = 0.2 / h;
+            this._massScale = 1;
+            this._impulseScale = 0;
+        }
+    }
+    _warmStart() {
+        if (!this._active) {
+            return;
+        }
+        // Angular warm-start: motor + limits (lower pushes +, upper pushes −).
+        const axial = this._motorImpulse + this._lowerImpulse - this._upperImpulse;
+        this.bodyA.angularVelocity -= this.bodyA.invInertia * axial;
+        this.bodyB.angularVelocity += this.bodyB.invInertia * axial;
+        this._applyImpulse(this._impulseX, this._impulseY);
+    }
+    _solve(useBias) {
+        if (!this._active) {
+            return;
+        }
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        const iA = bodyA.invInertia;
+        const iB = bodyB.invInertia;
+        // Angular motor: drive ωB − ωA toward motorSpeed, clamped to ±maxMotorTorque·h.
+        if (this.enableMotor) {
+            const cdot = bodyB.angularVelocity - bodyA.angularVelocity - this.motorSpeed;
+            const max = this.maxMotorTorque * this._h;
+            const old = this._motorImpulse;
+            this._motorImpulse = Math.min(max, Math.max(-max, old - this._axialMass * cdot));
+            const applied = this._motorImpulse - old;
+            bodyA.angularVelocity -= iA * applied;
+            bodyB.angularVelocity += iB * applied;
+        }
+        // Angle limits: one-sided constraints keeping the relative angle in [lower, upper].
+        if (this.enableLimit) {
+            const angle = bodyB.angle + bodyB._deltaAngle - (bodyA.angle + bodyA._deltaAngle) - this._referenceAngle;
+            // Lower limit (angle ≥ lowerAngle): a positive impulse increases the angle.
+            const cLower = angle - this.lowerAngle;
+            let biasLower = 0;
+            if (cLower > 0) {
+                biasLower = cLower * this._invH; // speculative: allow approach, engage at the surface
+            }
+            else if (useBias) {
+                biasLower = 0.2 * this._invH * cLower; // Baumgarte push-back when violated
+            }
+            const oldLower = this._lowerImpulse;
+            this._lowerImpulse = Math.max(0, oldLower - this._axialMass * (bodyB.angularVelocity - bodyA.angularVelocity + biasLower));
+            const appliedLower = this._lowerImpulse - oldLower;
+            bodyA.angularVelocity -= iA * appliedLower;
+            bodyB.angularVelocity += iB * appliedLower;
+            // Upper limit (angle ≤ upperAngle): a positive impulse decreases the angle.
+            const cUpper = this.upperAngle - angle;
+            let biasUpper = 0;
+            if (cUpper > 0) {
+                biasUpper = cUpper * this._invH;
+            }
+            else if (useBias) {
+                biasUpper = 0.2 * this._invH * cUpper;
+            }
+            const oldUpper = this._upperImpulse;
+            this._upperImpulse = Math.max(0, oldUpper - this._axialMass * (bodyA.angularVelocity - bodyB.angularVelocity + biasUpper));
+            const appliedUpper = this._upperImpulse - oldUpper;
+            bodyA.angularVelocity += iA * appliedUpper;
+            bodyB.angularVelocity -= iB * appliedUpper;
+        }
+        // Relative velocity of the anchors.
+        const cdotX = bodyB.linearVelocityX - bodyB.angularVelocity * this._rBy - (bodyA.linearVelocityX - bodyA.angularVelocity * this._rAy);
+        const cdotY = bodyB.linearVelocityY + bodyB.angularVelocity * this._rBx - (bodyA.linearVelocityY + bodyA.angularVelocity * this._rAx);
+        const rhsX = cdotX + (useBias ? this._biasRate * this._cx : 0);
+        const rhsY = cdotY + (useBias ? this._biasRate * this._cy : 0);
+        // Solve K·λ = −rhs, then apply the soft mass/impulse scaling.
+        const solvedX = this._invK11 * rhsX + this._invK12 * rhsY;
+        const solvedY = this._invK12 * rhsX + this._invK22 * rhsY;
+        const impulseX = -this._massScale * solvedX - this._impulseScale * this._impulseX;
+        const impulseY = -this._massScale * solvedY - this._impulseScale * this._impulseY;
+        this._impulseX += impulseX;
+        this._impulseY += impulseY;
+        this._applyImpulse(impulseX, impulseY);
+    }
+    _applyImpulse(jx, jy) {
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        bodyA.linearVelocityX -= bodyA.invMass * jx;
+        bodyA.linearVelocityY -= bodyA.invMass * jy;
+        bodyA.angularVelocity -= bodyA.invInertia * (this._rAx * jy - this._rAy * jx);
+        bodyB.linearVelocityX += bodyB.invMass * jx;
+        bodyB.linearVelocityY += bodyB.invMass * jy;
+        bodyB.angularVelocity += bodyB.invInertia * (this._rBx * jy - this._rBy * jx);
+    }
+}
+
+export { RevoluteJoint };
+//# sourceMappingURL=RevoluteJoint.js.map

package/dist/esm/joints/RevoluteJoint.js.map

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