@codexo/exojs-physics 0.13.0 → 0.15.0

package/dist/esm/public.d.ts

@@ -1,15 +1,22 @@
 export type { Aabb } from './Aabb';
-export type { BindingOptions } from './binding/PhysicsBinding';
 export { PhysicsBinding } from './binding/PhysicsBinding';
 export type { ColliderOptions } from './Collider';
 export { Collider } from './Collider';
 export type { CollisionEvent, ContactPoint, SensorEvent } from './events';
+export { DistanceJoint, type DistanceJointOptions } from './joints/DistanceJoint';
+export { Joint } from './joints/Joint';
+export { MouseJoint, type MouseJointOptions } from './joints/MouseJoint';
+export { PrismaticJoint, type PrismaticJointOptions } from './joints/PrismaticJoint';
+export { RevoluteJoint, type RevoluteJointOptions } from './joints/RevoluteJoint';
+export { WeldJoint, type WeldJointOptions } from './joints/WeldJoint';
+export { WheelJoint, type WheelJointOptions } from './joints/WheelJoint';
 export type { BodyOptions } from './PhysicsBody';
 export { PhysicsBody } from './PhysicsBody';
 export { type PhysicsBuildInfo, physicsBuildInfo } from './physicsBuildInfo';
-export type { PhysicsWorldOptions, StaticColliderOptions } from './PhysicsWorld';
+export type { AttachOptions, PhysicsWorldOptions } from './PhysicsWorld';
 export { PhysicsWorld } from './PhysicsWorld';
 export type { QueryFilter, RayHit } from './query/QueryEngine';
+export type { AnyShape } from './shapes/AnyShape';
 export { BoxShape } from './shapes/BoxShape';
 export { CircleShape } from './shapes/CircleShape';
 export { PolygonShape } from './shapes/PolygonShape';

package/dist/esm/query/QueryEngine.d.ts

@@ -1,7 +1,7 @@
 import type { Aabb } from '../Aabb';
 import type { Collider } from '../Collider';
 import type { PhysicsBody } from '../PhysicsBody';
-import type { Shape } from '../shapes/Shape';
+import type { AnyShape } from '../shapes/AnyShape';
 import type { VectorLike } from '../types';
 /** A category/mask/group filter applied to a query. Omitting it matches everything. */
 export type QueryFilter = Partial<{
@@ -47,5 +47,5 @@ export declare class QueryEngine {
     /** All collider hits along the ray, sorted by distance. Writes into `out` (cleared first) when given. */
     rayCastAll(origin: VectorLike, direction: VectorLike, filter?: QueryFilter, out?: RayHit[], maxDistance?: number): RayHit[];
     /** Colliders overlapping `shape` placed at `position`/`angle`. Allocates a fresh array. */
-    overlapShape(shape: Shape, position: VectorLike, filter?: QueryFilter, angle?: number): Collider[];
+    overlapShape(shape: AnyShape, position: VectorLike, filter?: QueryFilter, angle?: number): Collider[];
 }

package/dist/esm/query/QueryEngine.js

@@ -116,6 +116,7 @@ class QueryEngine {
         return out;
     }
 }
+/** Read a flat vertex/normal buffer in-bounds: callers index within 0..count-1. */
 /** `true` when world point `(px, py)` lies inside `collider`'s shape. */
 const pointInCollider = (collider, px, py) => {
     if (!aabbContainsPoint(collider.aabb, px, py)) {
@@ -132,7 +133,11 @@ const pointInCollider = (collider, px, py) => {
     const normals = collider.worldNormals;
     const count = collider.shape.count;
     for (let i = 0; i < count; i++) {
-        if (normals[i * 2] * (px - verts[i * 2]) + normals[i * 2 + 1] * (py - verts[i * 2 + 1]) > 0) {
+        const nx = normals[i * 2];
+        const ny = normals[i * 2 + 1];
+        const vx = verts[i * 2];
+        const vy = verts[i * 2 + 1];
+        if (nx * (px - vx) + ny * (py - vy) > 0) {
             return false;
         }
     }
@@ -147,7 +152,8 @@ const rayCastCollider = (collider, ox, oy, dx, dy, maxDistance) => {
 };
 const rayCastCircle = (collider, ox, oy, dx, dy, maxDistance) => {
     const c = collider.worldCenter;
-    const r = collider.shape.radius;
+    // Dispatched only for circle colliders; the fallback is unreachable.
+    const r = collider.shape.type === 'circle' ? collider.shape.radius : 0;
     const mx = ox - c.x;
     const my = oy - c.y;
     const b = mx * dx + my * dy;
@@ -176,7 +182,8 @@ const rayCastCircle = (collider, ox, oy, dx, dy, maxDistance) => {
 const rayCastPolygon = (collider, ox, oy, dx, dy, maxDistance) => {
     const verts = collider.worldVertices;
     const normals = collider.worldNormals;
-    const count = collider.shape.count;
+    // Dispatched only for polygon colliders; the fallback is unreachable.
+    const count = collider.shape.type === 'polygon' ? collider.shape.count : 0;
     let tmin = 0;
     let tmax = maxDistance;
     let enterNx = 0;
@@ -185,7 +192,9 @@ const rayCastPolygon = (collider, ox, oy, dx, dy, maxDistance) => {
     for (let i = 0; i < count; i++) {
         const nx = normals[i * 2];
         const ny = normals[i * 2 + 1];
-        const numerator = nx * (verts[i * 2] - ox) + ny * (verts[i * 2 + 1] - oy);
+        const vx = verts[i * 2];
+        const vy = verts[i * 2 + 1];
+        const numerator = nx * (vx - ox) + ny * (vy - oy);
         const denominator = nx * dx + ny * dy;
         if (denominator === 0) {
             // Parallel to this face: if the origin is outside it, the ray misses.

package/dist/esm/query/QueryEngine.js.map

@@ -1 +1 @@
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package/dist/esm/shapes/AnyShape.d.ts

@@ -0,0 +1,9 @@
+import type { CircleShape } from './CircleShape';
+import type { PolygonShape } from './PolygonShape';
+/**
+ * Discriminated union of the concrete shape kinds. Narrow via the literal
+ * `shape.type` discriminant (`'circle'` → {@link CircleShape}, `'polygon'` →
+ * {@link PolygonShape}) — no `as` casts needed. {@link BoxShape} is a
+ * {@link PolygonShape} subclass and carries `type: 'polygon'`.
+ */
+export type AnyShape = CircleShape | PolygonShape;

package/dist/esm/shapes/CircleShape.d.ts

@@ -1,11 +1,10 @@
-import type { ShapeType } from './Shape';
 import { Shape } from './Shape';
 /**
  * A circle of the given `radius` centred on the collider's local origin.
  * The cheapest shape for both broad- and narrow-phase.
  */
 export declare class CircleShape extends Shape {
-    readonly type: ShapeType;
+    readonly type: "circle";
     readonly radius: number;
     readonly boundingRadius: number;
     readonly area: number;

package/dist/esm/shapes/CircleShape.js.map

@@ -1 +1 @@
-{"version":3,"file":"CircleShape.js","sources":["../../../../src/shapes/CircleShape.ts"],"sourcesContent":[null],"names":[],"mappings":";;AAGA;;;AAGG;AACG,MAAO,WAAY,SAAQ,KAAK,CAAA;IACpB,IAAI,GAAc,QAAQ;AAC1B,IAAA,MAAM;AACN,IAAA,cAAc;AACd,IAAA,IAAI;IACJ,SAAS,GAAG,CAAC;IACb,SAAS,GAAG,CAAC;AACb,IAAA,WAAW;AAE3B,IAAA,WAAA,CAAmB,MAAc,EAAA;AAC/B,QAAA,KAAK,EAAE;AAEP,QAAA,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,IAAI,MAAM,IAAI,CAAC,EAAE;AAC3C,YAAA,MAAM,IAAI,UAAU,CAAC,kEAAkE,MAAM,CAAA,CAAA,CAAG,CAAC;QACnG;AAEA,QAAA,IAAI,CAAC,MAAM,GAAG,MAAM;AACpB,QAAA,IAAI,CAAC,cAAc,GAAG,MAAM;QAC5B,IAAI,CAAC,IAAI,GAAG,IAAI,CAAC,EAAE,GAAG,MAAM,GAAG,MAAM;;AAErC,QAAA,IAAI,CAAC,WAAW,GAAG,GAAG,GAAG,IAAI,CAAC,IAAI,GAAG,MAAM,GAAG,MAAM;AAEpD,QAAA,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC;IACrB;AACD;;;;"}
+{"version":3,"file":"CircleShape.js","sources":["../../../../src/shapes/CircleShape.ts"],"sourcesContent":[null],"names":[],"mappings":";;AAEA;;;AAGG;AACG,MAAO,WAAY,SAAQ,KAAK,CAAA;IACpB,IAAI,GAAG,QAAiB;AACxB,IAAA,MAAM;AACN,IAAA,cAAc;AACd,IAAA,IAAI;IACJ,SAAS,GAAG,CAAC;IACb,SAAS,GAAG,CAAC;AACb,IAAA,WAAW;AAE3B,IAAA,WAAA,CAAmB,MAAc,EAAA;AAC/B,QAAA,KAAK,EAAE;AAEP,QAAA,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,IAAI,MAAM,IAAI,CAAC,EAAE;AAC3C,YAAA,MAAM,IAAI,UAAU,CAAC,kEAAkE,MAAM,CAAA,CAAA,CAAG,CAAC;QACnG;AAEA,QAAA,IAAI,CAAC,MAAM,GAAG,MAAM;AACpB,QAAA,IAAI,CAAC,cAAc,GAAG,MAAM;QAC5B,IAAI,CAAC,IAAI,GAAG,IAAI,CAAC,EAAE,GAAG,MAAM,GAAG,MAAM;;AAErC,QAAA,IAAI,CAAC,WAAW,GAAG,GAAG,GAAG,IAAI,CAAC,IAAI,GAAG,MAAM,GAAG,MAAM;AAEpD,QAAA,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC;IACrB;AACD;;;;"}

package/dist/esm/shapes/PolygonShape.d.ts

@@ -1,5 +1,4 @@
 import type { VectorLike } from '../types';
-import type { ShapeType } from './Shape';
 import { Shape } from './Shape';
 /**
  * A convex polygon defined by ≥3 local-space vertices. Input vertices may be
@@ -11,7 +10,7 @@ import { Shape } from './Shape';
  * the narrow phase allocation-free; both are frozen.
  */
 export declare class PolygonShape extends Shape {
-    readonly type: ShapeType;
+    readonly type: "polygon";
     /** Local-space vertices, CCW, flattened. */
     readonly vertices: readonly number[];
     /** Outward unit edge normals (edge `i` spans vertex `i → i+1`), flattened. */

package/dist/esm/shapes/PolygonShape.js

@@ -34,19 +34,16 @@ class PolygonShape extends Shape {
                 throw new RangeError(`PolygonShape: vertex has a non-finite component (${vertex.x}, ${vertex.y}).`);
             }
             // Reject coincident consecutive (and wrap-around) vertices.
-            const px = points.length >= 2 ? points[points.length - 2] : NaN;
-            const py = points.length >= 2 ? points[points.length - 1] : NaN;
+            const px = points.length >= 2 ? (points[points.length - 2] ?? NaN) : NaN;
+            const py = points.length >= 2 ? (points[points.length - 1] ?? NaN) : NaN;
             if (Math.hypot(vertex.x - px, vertex.y - py) < weldEpsilon) {
                 continue;
             }
             points.push(vertex.x, vertex.y);
         }
-        let count = points.length / 2;
         // Drop a wrap-around duplicate (last ≈ first).
-        if (count >= 2 && Math.hypot(points[0] - points[points.length - 2], points[1] - points[points.length - 1]) < weldEpsilon) {
-            points.length -= 2;
-            count -= 1;
-        }
+        dropWrapAroundDuplicate(points);
+        const count = points.length / 2;
         if (count < 3) {
             throw new RangeError(`PolygonShape: needs at least 3 distinct vertices after welding, received ${count}.`);
         }
@@ -66,9 +63,11 @@ class PolygonShape extends Shape {
         let cy = 0;
         let inertiaOrigin = 0;
         for (let i = 0; i < count; i++) {
+            const j = (i + 1) % count;
+            // Indices are provably in-bounds (0..count-1 over a length-2*count array);
+            // the `!` is zero-cost; a violation would surface as NaN, not a silent 0.
             const ix = points[i * 2];
             const iy = points[i * 2 + 1];
-            const j = (i + 1) % count;
             const jx = points[j * 2];
             const jy = points[j * 2 + 1];
             const cross = ix * jy - jx * iy;
@@ -92,13 +91,30 @@ class PolygonShape extends Shape {
         // BoxShape (and any future convex helper) can extend this class.
     }
 }
+/** Strip a trailing vertex that coincides with the first (wrap-around weld). */
+const dropWrapAroundDuplicate = (points) => {
+    if (points.length < 4) {
+        return;
+    }
+    const firstX = points[0] ?? NaN;
+    const firstY = points[1] ?? NaN;
+    const lastX = points[points.length - 2] ?? NaN;
+    const lastY = points[points.length - 1] ?? NaN;
+    if (Math.hypot(firstX - lastX, firstY - lastY) < weldEpsilon) {
+        points.length -= 2;
+    }
+};
 /** Signed area (positive = CCW). */
 const signedArea = (points) => {
     const count = points.length / 2;
     let sum = 0;
     for (let i = 0; i < count; i++) {
         const j = (i + 1) % count;
-        sum += points[i * 2] * points[j * 2 + 1] - points[j * 2] * points[i * 2 + 1];
+        const ix = points[i * 2];
+        const iy = points[i * 2 + 1];
+        const jx = points[j * 2];
+        const jy = points[j * 2 + 1];
+        sum += ix * jy - jx * iy;
     }
     return sum / 2;
 };
@@ -108,8 +124,10 @@ const reverseWinding = (points) => {
         const j = count - 1 - i;
         const ix = points[i * 2];
         const iy = points[i * 2 + 1];
-        points[i * 2] = points[j * 2];
-        points[i * 2 + 1] = points[j * 2 + 1];
+        const jx = points[j * 2];
+        const jy = points[j * 2 + 1];
+        points[i * 2] = jx;
+        points[i * 2 + 1] = jy;
         points[j * 2] = ix;
         points[j * 2 + 1] = iy;
     }
@@ -120,8 +138,12 @@ const computeNormals = (points) => {
     const normals = [];
     for (let i = 0; i < count; i++) {
         const j = (i + 1) % count;
-        const ex = points[j * 2] - points[i * 2];
-        const ey = points[j * 2 + 1] - points[i * 2 + 1];
+        const ix = points[i * 2];
+        const iy = points[i * 2 + 1];
+        const jx = points[j * 2];
+        const jy = points[j * 2 + 1];
+        const ex = jx - ix;
+        const ey = jy - iy;
         const length = Math.hypot(ex, ey);
         normals.push(ey / length, -ex / length);
     }
@@ -134,10 +156,16 @@ const assertConvex = (points) => {
         const a = i;
         const b = (i + 1) % count;
         const c = (i + 2) % count;
-        const e1x = points[b * 2] - points[a * 2];
-        const e1y = points[b * 2 + 1] - points[a * 2 + 1];
-        const e2x = points[c * 2] - points[b * 2];
-        const e2y = points[c * 2 + 1] - points[b * 2 + 1];
+        const ax = points[a * 2];
+        const ay = points[a * 2 + 1];
+        const bx = points[b * 2];
+        const by = points[b * 2 + 1];
+        const cx = points[c * 2];
+        const cy = points[c * 2 + 1];
+        const e1x = bx - ax;
+        const e1y = by - ay;
+        const e2x = cx - bx;
+        const e2y = cy - by;
         // CCW polygon ⇒ every cross product must be ≥ 0 (strictly > 0 for no collinear run).
         if (e1x * e2y - e1y * e2x <= 0) {
             throw new RangeError('PolygonShape: vertices are not strictly convex (or contain collinear edges).');

package/dist/esm/shapes/PolygonShape.js.map

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package/dist/esm/shapes/index.d.ts

@@ -1,3 +1,4 @@
+export type { AnyShape } from './AnyShape';
 export { BoxShape } from './BoxShape';
 export { CircleShape } from './CircleShape';
 export { PolygonShape } from './PolygonShape';

package/dist/esm/solver/ContactSolver.d.ts

@@ -0,0 +1,87 @@
+import type { ContactRecord } from '../ContactGraph';
+/**
+ * Native warm-started **TGS-Soft** contact solver (Box2D-v3 "soft step"). Driven
+ * by {@link PhysicsWorld} as a sub-stepping loop: detection runs once per frame,
+ * then {@link prepare} builds the per-contact constraints (effective masses,
+ * frame-start separation + impact velocity, soft factors, and a 2×2 block matrix
+ * for two-point manifolds) **once**, and each sub-step runs
+ * {@link warmStart} → {@link solveVelocities}(useBias=true) → integrate positions
+ * → {@link solveVelocities}(useBias=false) relax. A final {@link applyRestitution}
+ * pass adds bounce above the threshold.
+ *
+ * The position constraint is folded into the velocity solve as a **soft bias**
+ * (a damped-spring push-out whose stiffness is decoupled from the iteration
+ * count), recomputed each pass from the live per-body delta position/rotation —
+ * so there is no separate NGS geometric pass. The contact anchors are rotated by
+ * the live sub-step rotation each pass, so a tilting stack's restoring torque is
+ * computed against its current orientation (without this the tilt grows instead
+ * of being corrected). Two-point manifolds still solve the normal impulses **as a
+ * 2×2 block LCP** (Box2D-style), which propagates stack loads far better than
+ * solving the points sequentially; the block path carries the soft push-out as
+ * its velocity target (hard mass scale), while single-point contacts use the full
+ * soft mass/impulse scaling. Accumulated impulses are written back to each
+ * {@link ContactRecord} for warm-starting the next frame.
+ *
+ * Internal to {@link NativePhysicsBackend}; not part of the public surface.
+ */
+export declare class ContactSolver {
+    private readonly _constraints;
+    private _count;
+    /**
+     * Build the per-contact constraints for this frame from the touching solid
+     * contacts. `h` is the sub-step duration (`fixedDelta / subStepCount`); the
+     * soft factors are derived from it together with `contactHertz`/`dampingRatio`.
+     * Runs once per frame (detection is not repeated per sub-step).
+     */
+    prepare(contacts: readonly ContactRecord[], h: number, contactHertz: number, dampingRatio: number): void;
+    /** Re-apply the cached impulses from the previous frame (warm-starting); runs each sub-step. */
+    warmStart(): void;
+    /**
+     * One velocity pass over every contact: the normal constraint (block when
+     * possible) then friction (Coulomb cone). With `useBias` the normal solve
+     * carries the soft push-out bias (the main pass, recomputed from the live
+     * separation); without it the relax pass drives the normal velocity to zero so
+     * the bias velocity does not remain in the bodies as injected energy.
+     */
+    solveVelocities(useBias: boolean): void;
+    /**
+     * Restitution pass, run once after the sub-step loop. For each loaded point
+     * whose frame-start impact speed exceeded the threshold, add the impulse that
+     * brings the post-solve normal velocity to `−restitution·impactSpeed`. Kept
+     * separate from the main solve so resting contacts (impact below threshold) do
+     * not micro-bounce.
+     */
+    applyRestitution(): void;
+    /** Refresh the live (rotated) contact arms from each body's accumulated sub-step rotation. */
+    private _updateArms;
+    private _solveVelocityContact;
+    /** Per-point friction: clamp the accumulated tangent impulse to the Coulomb cone `±μ·normalImpulse`. */
+    private _solveFriction;
+    /**
+     * Single-point (or ill-conditioned) soft normal solve, accumulated and clamped
+     * ≥ 0. The Box2D-v3 incremental form: with the soft bias active the impulse is
+     * `−normalMass·massScale·(vn − bias) − impulseScale·accumulated`, which both
+     * pushes out the penetration and bleeds a little stored impulse (the damped
+     * spring). The relax pass passes `useBias=false`, collapsing it to the hard
+     * `−normalMass·vn` (no bias, full mass, no impulse decay).
+     */
+    private _solveNormalSequential;
+    /**
+     * Two-point block normal solve (Box2D LCP): find both new normal impulses
+     * `x ≥ 0` so the post-solve normal velocities equal the push-out targets
+     * (`velocityBias`, zero in the relax pass) and are complementary, trying the
+     * four corners (both active, one active, none). The block path carries the
+     * soft push-out as its target but solves with a hard mass scale.
+     */
+    private _solveNormalBlock;
+    /** Apply the two-point block impulse deltas `(d1, d2)` along the normal at both contact points. */
+    private _applyBlock;
+    private _acquire;
+    /**
+     * Pooled constraint at `ci`. Every caller indexes within `0..this._count-1`
+     * and `_count` never exceeds the pool length, so the entry always exists; the
+     * throw is unreachable and only discharges `noUncheckedIndexedAccess` without a
+     * cast or non-null assertion.
+     */
+    private _at;
+}