@codexo/exojs-physics 0.13.0

package/LICENSE

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+MIT License
+
+Copyright (c) 2026 Codexo
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

package/README.md

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+# @codexo/exojs-physics
+
+Native 2D **collision, query and sensor** runtime for [ExoJS](https://github.com/Exoridus/ExoJS).
+
+Zero production dependencies, ESM-only, version-locked with the core engine. This
+first release ships a complete **collision/query world without dynamics**:
+shapes, colliders, bodies, a broad phase, a manifold-generating narrow phase,
+collision filters, sensors, events, spatial queries, scene-node binding and a
+debug overlay. Forces, impulses and gravity integration (the rigid-body solver)
+arrive in a follow-up — the public surface here is forward-compatible with it.
+
+> **Library, not an extension.** Physics contributes no renderer or asset
+> bindings, so there is no `/register` entry. Construct a `PhysicsWorld`
+> directly. `@codexo/exojs` is a peer dependency.
+
+## Install
+
+```sh
+npm install @codexo/exojs @codexo/exojs-physics
+```
+
+## Quick start
+
+```ts
+import { Scene, Sprite, Vector, type Time } from '@codexo/exojs';
+import { BoxShape, CircleShape, PhysicsWorld } from '@codexo/exojs-physics';
+
+class GameScene extends Scene {
+  private readonly world = new PhysicsWorld({ gravity: new Vector(0, 980) });
+
+  public override onStart(): void {
+    // Static ground (an explicit static body + box collider).
+    this.world.createStaticCollider({ shape: new BoxShape(800, 32), position: new Vector(400, 600), friction: 0.9 });
+
+    // A kinematic platform you move yourself.
+    const platform = this.world.createBody({ type: 'kinematic', position: new Vector(200, 400) });
+    platform.createCollider({ shape: new BoxShape(120, 16) });
+
+    // A sensor trigger.
+    const trigger = this.world.createStaticCollider({ shape: new CircleShape(40), position: new Vector(600, 500), isSensor: true });
+    this.world.onSensorEnter.add(({ sensor, other }) => {
+      if (sensor === trigger) console.log('entered the trigger');
+    });
+  }
+
+  public override update(delta: Time): void {
+    this.world.step(delta.seconds); // fixed-step detection + events + binding
+  }
+}
+```
+
+## What it does
+
+| Area | API |
+|---|---|
+| World | `PhysicsWorld`, `step`, `gravity`, `timeStepper`, `destroy` |
+| Bodies | `createBody` (`dynamic`/`static`/`kinematic`), `setTransform`, mass/inertia from colliders |
+| Colliders | `createCollider`, `createStaticCollider`, density/friction/restitution, `isSensor`, filter, offset |
+| Shapes | `CircleShape`, `PolygonShape` (convex-validated), `BoxShape` |
+| Filtering | `CollisionFilter` (category/mask/group), `shouldCollide` |
+| Events | `onCollisionStart` / `onCollisionEnd` / `onSensorEnter` / `onSensorExit` — immutable snapshots |
+| Queries | `queryPoint`, `queryAabb` (+ `out` / `forEachAabbHit`), `rayCast`, `rayCastAll`, `overlapShape` |
+| Binding | `bind(body, node)` — node tracks the body's position each step |
+| Debug | `@codexo/exojs-physics/debug` → `PhysicsDebugDraw` (shapes/AABBs/contacts/normals/centres/broad-phase) |
+
+## Determinism & non-goals
+
+Stepping is fully **caller-driven** and uses a fixed timestep with an
+accumulator (`world.step(frameDeltaSeconds)`); the same build replays a scene
+identically given the same inputs. There are **no rollback/lockstep determinism
+guarantees across builds or machines** (floating-point reality). The package is
+single-threaded and 2D only — no workers, GPU, 3D, soft bodies, fluids or
+vehicles.
+
+This release contains **no dynamics solver**: bodies move only via
+`setTransform`. The narrow phase already produces full contact manifolds (normal,
+1–2 points, stable feature ids) so the solver can be added without changing the
+public API.
+
+## License
+
+MIT © Codexo

package/dist/esm/Aabb.d.ts

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+export interface Aabb {
+    minX: number;
+    minY: number;
+    maxX: number;
+    maxY: number;
+}
+/** Create a zero-extent AABB at the origin. */
+export declare const createAabb: () => Aabb;
+/** `true` when two AABBs overlap (touching edges count as overlapping). */
+export declare const aabbOverlap: (a: Aabb, b: Aabb) => boolean;
+/** `true` when `(x, y)` lies inside (or on the edge of) `aabb`. */
+export declare const aabbContainsPoint: (aabb: Aabb, x: number, y: number) => boolean;
+/** Grow `aabb` outward by `margin` on every side, in place. */
+export declare const expandAabb: (aabb: Aabb, margin: number) => Aabb;

package/dist/esm/Aabb.js

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+// Axis-aligned bounding box used by the broad phase and AABB queries. Stored as
+// min/max extents (not centre + half-extent) because the sweep-and-prune broad
+// phase and overlap tests read the edges directly.
+/** Create a zero-extent AABB at the origin. */
+const createAabb = () => ({ minX: 0, minY: 0, maxX: 0, maxY: 0 });
+/** `true` when two AABBs overlap (touching edges count as overlapping). */
+const aabbOverlap = (a, b) => a.minX <= b.maxX && a.maxX >= b.minX && a.minY <= b.maxY && a.maxY >= b.minY;
+/** `true` when `(x, y)` lies inside (or on the edge of) `aabb`. */
+const aabbContainsPoint = (aabb, x, y) => x >= aabb.minX && x <= aabb.maxX && y >= aabb.minY && y <= aabb.maxY;
+
+export { aabbContainsPoint, aabbOverlap, createAabb };
+//# sourceMappingURL=Aabb.js.map

package/dist/esm/Aabb.js.map

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package/dist/esm/Collider.d.ts

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+import type { Aabb } from './Aabb';
+import type { Mutable2D, Transform } from './math';
+import type { PhysicsBody } from './PhysicsBody';
+import type { Shape } from './shapes/Shape';
+import type { CollisionFilter, VectorLike } from './types';
+/** Construction options for a collider. */
+export interface ColliderOptions {
+    /** The collision geometry. */
+    shape: Shape;
+    /** Density (mass per px²) for the owning body's mass; ignored for static/kinematic. Default `1`. */
+    density?: number;
+    /** Coulomb friction coefficient (used by the solver once dynamics ship). Default `0.2`. */
+    friction?: number;
+    /** Restitution / bounciness in `[0, 1]` (used by the solver once dynamics ship). Default `0`. */
+    restitution?: number;
+    /** When `true`, generates overlap events but no contact response. Default `false`. */
+    isSensor?: boolean;
+    /** Category/mask/group filter; partials merge over the defaults. */
+    filter?: Partial<CollisionFilter>;
+    /** Body-local offset of the shape origin. Default `(0, 0)`. */
+    offset?: VectorLike;
+    /** Body-local rotation of the shape in radians (compound colliders). Default `0`. */
+    rotation?: number;
+}
+/**
+ * Geometry attached to a {@link PhysicsBody}: a {@link Shape} plus a body-local
+ * offset/rotation, material (friction/restitution/density) and a collision
+ * filter. A body may own several colliders (compound). The collider also caches
+ * its world-space geometry — refreshed by {@link synchronize} — which the broad
+ * phase, narrow phase and queries read directly.
+ *
+ * Material fields and the filter are mutable; the shape and local placement are
+ * immutable (rebuild the collider to change geometry).
+ */
+export declare class Collider {
+    readonly id: number;
+    readonly body: PhysicsBody;
+    readonly shape: Shape;
+    readonly offsetX: number;
+    readonly offsetY: number;
+    readonly localRotation: number;
+    density: number;
+    friction: number;
+    restitution: number;
+    isSensor: boolean;
+    readonly filter: CollisionFilter;
+    private readonly _localTransform;
+    private readonly _worldTransform;
+    private readonly _aabb;
+    private readonly _worldCenter;
+    private readonly _worldVertices;
+    private readonly _worldNormals;
+    private _destroyed;
+    constructor(id: number, body: PhysicsBody, options: ColliderOptions);
+    /** The collider's world AABB (valid after the latest {@link synchronize}). */
+    get aabb(): Readonly<Aabb>;
+    /** The collider's world transform (offset/rotation composed with the body's). */
+    get worldTransform(): Readonly<Transform>;
+    /** The collider's body-local transform (offset + local rotation). */
+    get localTransform(): Readonly<Transform>;
+    /** World-space circle centre (only meaningful for circle shapes). */
+    get worldCenter(): Readonly<Mutable2D>;
+    /** World-space polygon vertices `[x0, y0, …]` (only meaningful for polygon shapes). */
+    get worldVertices(): readonly number[];
+    /** World-space polygon outward normals `[x0, y0, …]` (only meaningful for polygon shapes). */
+    get worldNormals(): readonly number[];
+    /** `true` after the owning world has destroyed this collider. */
+    get destroyed(): boolean;
+    /**
+     * Recompute the cached world geometry from the body's transform. Called by the
+     * body on `setTransform`, on collider creation, and by the world before each
+     * detection pass.
+     */
+    synchronize(bodyTransform: Transform): void;
+    /** Internal: mark destroyed (called by the world). */
+    _markDestroyed(): void;
+}

package/dist/esm/Collider.js

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+import { createAabb } from './Aabb.js';
+import { createTransform, composeTransforms, applyTransform, applyRotation } from './math.js';
+import { resolveFilter } from './types.js';
+
+/**
+ * Geometry attached to a {@link PhysicsBody}: a {@link Shape} plus a body-local
+ * offset/rotation, material (friction/restitution/density) and a collision
+ * filter. A body may own several colliders (compound). The collider also caches
+ * its world-space geometry — refreshed by {@link synchronize} — which the broad
+ * phase, narrow phase and queries read directly.
+ *
+ * Material fields and the filter are mutable; the shape and local placement are
+ * immutable (rebuild the collider to change geometry).
+ */
+class Collider {
+    id;
+    body;
+    shape;
+    offsetX;
+    offsetY;
+    localRotation;
+    density;
+    friction;
+    restitution;
+    isSensor;
+    filter;
+    _localTransform;
+    _worldTransform = createTransform();
+    _aabb = createAabb();
+    _worldCenter = { x: 0, y: 0 };
+    _worldVertices;
+    _worldNormals;
+    _destroyed = false;
+    constructor(id, body, options) {
+        const density = options.density ?? 1;
+        if (!Number.isFinite(density) || density < 0) {
+            throw new RangeError(`Collider: density must be a non-negative finite number, received ${density}.`);
+        }
+        this.id = id;
+        this.body = body;
+        this.shape = options.shape;
+        this.offsetX = options.offset?.x ?? 0;
+        this.offsetY = options.offset?.y ?? 0;
+        this.localRotation = options.rotation ?? 0;
+        this.density = density;
+        this.friction = options.friction ?? 0.2;
+        this.restitution = options.restitution ?? 0;
+        this.isSensor = options.isSensor ?? false;
+        this.filter = resolveFilter(options.filter);
+        this._localTransform = createTransform(this.offsetX, this.offsetY, this.localRotation);
+        if (this.shape.type === 'polygon') {
+            const polygon = this.shape;
+            this._worldVertices = new Array(polygon.count * 2).fill(0);
+            this._worldNormals = new Array(polygon.count * 2).fill(0);
+        }
+        else {
+            this._worldVertices = [];
+            this._worldNormals = [];
+        }
+    }
+    /** The collider's world AABB (valid after the latest {@link synchronize}). */
+    get aabb() {
+        return this._aabb;
+    }
+    /** The collider's world transform (offset/rotation composed with the body's). */
+    get worldTransform() {
+        return this._worldTransform;
+    }
+    /** The collider's body-local transform (offset + local rotation). */
+    get localTransform() {
+        return this._localTransform;
+    }
+    /** World-space circle centre (only meaningful for circle shapes). */
+    get worldCenter() {
+        return this._worldCenter;
+    }
+    /** World-space polygon vertices `[x0, y0, …]` (only meaningful for polygon shapes). */
+    get worldVertices() {
+        return this._worldVertices;
+    }
+    /** World-space polygon outward normals `[x0, y0, …]` (only meaningful for polygon shapes). */
+    get worldNormals() {
+        return this._worldNormals;
+    }
+    /** `true` after the owning world has destroyed this collider. */
+    get destroyed() {
+        return this._destroyed;
+    }
+    /**
+     * Recompute the cached world geometry from the body's transform. Called by the
+     * body on `setTransform`, on collider creation, and by the world before each
+     * detection pass.
+     */
+    synchronize(bodyTransform) {
+        const world = composeTransforms(bodyTransform, this._localTransform, this._worldTransform);
+        if (this.shape.type === 'circle') {
+            const radius = this.shape.radius;
+            this._worldCenter.x = world.x;
+            this._worldCenter.y = world.y;
+            this._aabb.minX = world.x - radius;
+            this._aabb.minY = world.y - radius;
+            this._aabb.maxX = world.x + radius;
+            this._aabb.maxY = world.y + radius;
+            return;
+        }
+        const polygon = this.shape;
+        const local = polygon.vertices;
+        const normals = polygon.normals;
+        const out = { x: 0, y: 0 };
+        let minX = Infinity;
+        let minY = Infinity;
+        let maxX = -Infinity;
+        let maxY = -Infinity;
+        for (let i = 0; i < polygon.count; i++) {
+            applyTransform(world, local[i * 2], local[i * 2 + 1], out);
+            this._worldVertices[i * 2] = out.x;
+            this._worldVertices[i * 2 + 1] = out.y;
+            minX = out.x < minX ? out.x : minX;
+            minY = out.y < minY ? out.y : minY;
+            maxX = out.x > maxX ? out.x : maxX;
+            maxY = out.y > maxY ? out.y : maxY;
+            applyRotation(world, normals[i * 2], normals[i * 2 + 1], out);
+            this._worldNormals[i * 2] = out.x;
+            this._worldNormals[i * 2 + 1] = out.y;
+        }
+        this._aabb.minX = minX;
+        this._aabb.minY = minY;
+        this._aabb.maxX = maxX;
+        this._aabb.maxY = maxY;
+    }
+    /** Internal: mark destroyed (called by the world). */
+    _markDestroyed() {
+        this._destroyed = true;
+    }
+}
+
+export { Collider };
+//# sourceMappingURL=Collider.js.map

package/dist/esm/Collider.js.map

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package/dist/esm/ContactGraph.d.ts

@@ -0,0 +1,34 @@
+import type { CandidatePair } from './broadphase/BroadPhase';
+import type { Collider } from './Collider';
+import type { CollisionEvent, SensorEvent } from './events';
+/**
+ * The persistent contact set. Each detection pass it diffs the currently
+ * touching collider pairs against the previous pass and produces immutable
+ * begin/end (and sensor enter/exit) event snapshots. Duplicate begin/end churn
+ * is suppressed by the persistent records, and the produced event arrays are
+ * sorted by collider id for deterministic dispatch (gate SG-D1/SG-X4).
+ *
+ * The graph holds no module-level state — each world owns one.
+ */
+export declare class ContactGraph {
+    /** Immutable solid-contact begin snapshots produced by the latest {@link update}. */
+    readonly collisionStart: CollisionEvent[];
+    /** Immutable solid-contact end snapshots produced by the latest {@link update}. */
+    readonly collisionEnd: CollisionEvent[];
+    /** Immutable sensor-enter snapshots produced by the latest {@link update}. */
+    readonly sensorEnter: SensorEvent[];
+    /** Immutable sensor-exit snapshots produced by the latest {@link update}. */
+    readonly sensorExit: SensorEvent[];
+    private readonly _records;
+    private readonly _manifold;
+    /** Touching pairs currently tracked (for debug draw). */
+    get recordCount(): number;
+    /** Diff this pass's candidate pairs against the persistent set, collecting events. */
+    update(pairs: readonly CandidatePair[]): void;
+    /** Remove every record referencing `collider` (called when a collider is destroyed). */
+    removeCollider(collider: Collider): void;
+    /** Drop all records (world reset/destroy). */
+    clear(): void;
+    private _emitBegin;
+    private _emitEnd;
+}

package/dist/esm/ContactGraph.js

@@ -0,0 +1,157 @@
+import { Manifold } from './collision/Manifold.js';
+import { testOverlap, collide } from './collision/narrowphase.js';
+import { shouldCollide } from './types.js';
+
+/**
+ * The persistent contact set. Each detection pass it diffs the currently
+ * touching collider pairs against the previous pass and produces immutable
+ * begin/end (and sensor enter/exit) event snapshots. Duplicate begin/end churn
+ * is suppressed by the persistent records, and the produced event arrays are
+ * sorted by collider id for deterministic dispatch (gate SG-D1/SG-X4).
+ *
+ * The graph holds no module-level state — each world owns one.
+ */
+class ContactGraph {
+    /** Immutable solid-contact begin snapshots produced by the latest {@link update}. */
+    collisionStart = [];
+    /** Immutable solid-contact end snapshots produced by the latest {@link update}. */
+    collisionEnd = [];
+    /** Immutable sensor-enter snapshots produced by the latest {@link update}. */
+    sensorEnter = [];
+    /** Immutable sensor-exit snapshots produced by the latest {@link update}. */
+    sensorExit = [];
+    _records = new Map();
+    _manifold = new Manifold();
+    /** Touching pairs currently tracked (for debug draw). */
+    get recordCount() {
+        return this._records.size;
+    }
+    /** Diff this pass's candidate pairs against the persistent set, collecting events. */
+    update(pairs) {
+        this.collisionStart.length = 0;
+        this.collisionEnd.length = 0;
+        this.sensorEnter.length = 0;
+        this.sensorExit.length = 0;
+        for (const record of this._records.values()) {
+            record.seen = false;
+        }
+        for (const pair of pairs) {
+            const a = pair.a;
+            const b = pair.b;
+            if (!shouldCollide(a.filter, b.filter)) {
+                continue;
+            }
+            const isSensor = a.isSensor || b.isSensor;
+            const touching = isSensor ? testOverlap(a, b) : collide(a, b, this._manifold);
+            const key = pairKey(a, b);
+            const record = this._records.get(key);
+            if (touching) {
+                if (!record) {
+                    this._records.set(key, { a, b, isSensor, touching: true, seen: true });
+                    this._emitBegin(a, b, isSensor);
+                }
+                else {
+                    record.seen = true;
+                    if (!record.touching) {
+                        record.touching = true;
+                        this._emitBegin(a, b, isSensor);
+                    }
+                }
+            }
+            else if (record) {
+                if (record.touching) {
+                    this._emitEnd(a, b, isSensor);
+                }
+                this._records.delete(key);
+            }
+        }
+        // Pairs that left the broad phase entirely while touching → fire end.
+        for (const [key, record] of this._records) {
+            if (!record.seen) {
+                if (record.touching) {
+                    this._emitEnd(record.a, record.b, record.isSensor);
+                }
+                this._records.delete(key);
+            }
+        }
+        this.collisionStart.sort(byColliderPair);
+        this.collisionEnd.sort(byColliderPair);
+        this.sensorEnter.sort(bySensorPair);
+        this.sensorExit.sort(bySensorPair);
+    }
+    /** Remove every record referencing `collider` (called when a collider is destroyed). */
+    removeCollider(collider) {
+        for (const [key, record] of this._records) {
+            if (record.a === collider || record.b === collider) {
+                this._records.delete(key);
+            }
+        }
+    }
+    /** Drop all records (world reset/destroy). */
+    clear() {
+        this._records.clear();
+    }
+    _emitBegin(a, b, isSensor) {
+        if (isSensor) {
+            this.sensorEnter.push(makeSensorEvent(a, b));
+        }
+        else {
+            this.collisionStart.push(makeCollisionEvent(a, b, this._manifold));
+        }
+    }
+    _emitEnd(a, b, isSensor) {
+        if (isSensor) {
+            this.sensorExit.push(makeSensorEvent(a, b));
+        }
+        else {
+            this.collisionEnd.push(makeEndEvent(a, b));
+        }
+    }
+}
+/** Stable key for an unordered collider pair (`a.id < b.id` is guaranteed by the broad phase). */
+const pairKey = (a, b) => `${a.id}:${b.id}`;
+const makeCollisionEvent = (a, b, manifold) => {
+    const points = [];
+    for (let i = 0; i < manifold.pointCount; i++) {
+        const p = manifold.points[i];
+        points.push(Object.freeze({ x: p.x, y: p.y, penetration: p.penetration }));
+    }
+    return Object.freeze({
+        bodyA: a.body,
+        bodyB: b.body,
+        colliderA: a,
+        colliderB: b,
+        normal: Object.freeze({ x: manifold.normalX, y: manifold.normalY }),
+        points: Object.freeze(points),
+    });
+};
+const makeEndEvent = (a, b) => Object.freeze({
+    bodyA: a.body,
+    bodyB: b.body,
+    colliderA: a,
+    colliderB: b,
+    normal: Object.freeze({ x: 0, y: 0 }),
+    points: Object.freeze([]),
+});
+const makeSensorEvent = (a, b) => {
+    let sensor;
+    let other;
+    if (a.isSensor && b.isSensor) {
+        sensor = a.id < b.id ? a : b;
+        other = sensor === a ? b : a;
+    }
+    else if (a.isSensor) {
+        sensor = a;
+        other = b;
+    }
+    else {
+        sensor = b;
+        other = a;
+    }
+    return Object.freeze({ sensor, other });
+};
+const byColliderPair = (x, y) => x.colliderA.id - y.colliderA.id || x.colliderB.id - y.colliderB.id;
+const bySensorPair = (x, y) => x.sensor.id - y.sensor.id || x.other.id - y.other.id;
+
+export { ContactGraph };
+//# sourceMappingURL=ContactGraph.js.map

package/dist/esm/ContactGraph.js.map

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

@@ -0,0 +1,103 @@
+import { Vector } from '@codexo/exojs';
+import { Collider, type ColliderOptions } from './Collider';
+import type { Transform } from './math';
+import type { BodyType, VectorLike } from './types';
+/** Construction options for a body. */
+export interface BodyOptions {
+    /** Simulation role. Default `'dynamic'`. */
+    type?: BodyType;
+    /** Initial world position. Default `(0, 0)`. */
+    position?: VectorLike;
+    /** Initial rotation in radians. Default `0`. */
+    angle?: number;
+    /** Linear damping (applied once dynamics ship). Default `0`. */
+    linearDamping?: number;
+    /** Angular damping (applied once dynamics ship). Default `0`. */
+    angularDamping?: number;
+    /** Per-body multiplier on world gravity (applied once dynamics ship). Default `1`. */
+    gravityScale?: number;
+    /** When `true`, the body never rotates under contacts (infinite rotational inertia). Default `false`. */
+    fixedRotation?: boolean;
+}
+/**
+ * Internal hook the world hands to each body so colliders can be id-allocated
+ * and registered without the body importing the concrete world class.
+ */
+export interface BodyOwner {
+    _allocateColliderId(): number;
+    _registerCollider(collider: Collider): void;
+}
+/**
+ * A rigid body: a world transform plus mass properties aggregated from its
+ * colliders. In this collision/query release a body holds and reports its
+ * transform and mass but is not integrated — it moves only via
+ * {@link setTransform} (game-driven / kinematic). Forces, impulses and gravity
+ * integration arrive with the dynamics solver.
+ */
+export declare class PhysicsBody {
+    readonly id: number;
+    readonly type: BodyType;
+    /** Linear damping (inert until dynamics ship). */
+    linearDamping: number;
+    /** Angular damping (inert until dynamics ship). */
+    angularDamping: number;
+    /** Per-body gravity multiplier (inert until dynamics ship). */
+    gravityScale: number;
+    /** When `true`, rotational inertia is treated as infinite. */
+    fixedRotation: boolean;
+    /** Total mass (0 for static/kinematic). */
+    mass: number;
+    /** Inverse mass (`0` = immovable). */
+    invMass: number;
+    /** Rotational inertia about the centre of mass (0 for static/kinematic or fixed rotation). */
+    inertia: number;
+    /** Inverse rotational inertia (`0` = no angular response). */
+    invInertia: number;
+    private readonly _owner;
+    private readonly _transform;
+    private readonly _colliders;
+    private _comX;
+    private _comY;
+    private _massReady;
+    private _destroyed;
+    constructor(owner: BodyOwner, id: number, options?: BodyOptions);
+    /** World X. */
+    get x(): number;
+    /** World Y. */
+    get y(): number;
+    /** Rotation in radians. */
+    get angle(): number;
+    /** A fresh `Vector` copy of the body's world position. */
+    get position(): Vector;
+    /** The body's world transform (read-only; mutate via {@link setTransform}). */
+    get transform(): Readonly<Transform>;
+    /** The body's colliders (read-only view). */
+    get colliders(): readonly Collider[];
+    /** Centre of mass in body-local space (relative to the body origin). */
+    get centerOfMassX(): number;
+    /** Centre of mass in body-local space (relative to the body origin). */
+    get centerOfMassY(): number;
+    /**
+     * `true` when the body is ready to simulate. Static/kinematic bodies are
+     * always ready (infinite-mass semantics); a dynamic body is ready only once
+     * it has at least one positive-density collider.
+     */
+    get isMassReady(): boolean;
+    /** `true` after the owning world has destroyed this body. */
+    get destroyed(): boolean;
+    /** Attach a new collider, recomputing mass and synchronising world geometry. */
+    createCollider(options: ColliderOptions): Collider;
+    /**
+     * Set the body's world transform. Resets the body's cached collider geometry
+     * immediately so subsequent queries see the new placement. Returns `this`.
+     */
+    setTransform(position: VectorLike, angle?: number): this;
+    /** Refresh every collider's world geometry from the current transform. */
+    synchronizeColliders(): void;
+    /** Internal: detach a collider (called by the world during destruction). */
+    _removeCollider(collider: Collider): void;
+    /** Internal: mark destroyed (called by the world). */
+    _markDestroyed(): void;
+    /** Recompute mass, centre of mass and rotational inertia from the colliders. */
+    private _recomputeMass;
+}