@codexo/exojs-physics 0.13.0

package/dist/esm/collision/narrowphase.js

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+const eps = 1e-9;
+/**
+ * Generate the contact manifold for `a` vs `b`, writing into `manifold` and
+ * returning `true` when the colliders touch. The manifold normal is oriented
+ * from `a` toward `b`. Dispatches on shape pair; polygon/circle is handled by
+ * the circle/polygon routine with a `flip` so the normal stays `a → b`.
+ */
+const collide = (a, b, manifold) => {
+    manifold.reset();
+    const ta = a.shape.type;
+    const tb = b.shape.type;
+    if (ta === 'circle') {
+        return tb === 'circle' ? collideCircles(a, b, manifold) : collideCirclePolygon(a, b, manifold, false);
+    }
+    return tb === 'circle' ? collideCirclePolygon(b, a, manifold, true) : collidePolygons(a, b, manifold);
+};
+const radiusOf = (collider) => collider.shape.radius;
+const countOf = (collider) => collider.shape.count;
+const collideCircles = (a, b, manifold) => {
+    const ca = a.worldCenter;
+    const cb = b.worldCenter;
+    const ra = radiusOf(a);
+    const rb = radiusOf(b);
+    let nx = cb.x - ca.x;
+    let ny = cb.y - ca.y;
+    const rsum = ra + rb;
+    const distSq = nx * nx + ny * ny;
+    if (distSq > rsum * rsum) {
+        return false;
+    }
+    const dist = Math.sqrt(distSq);
+    if (dist > eps) {
+        nx /= dist;
+        ny /= dist;
+    }
+    else {
+        nx = 0;
+        ny = 1;
+    }
+    manifold.normalX = nx;
+    manifold.normalY = ny;
+    const point = manifold.points[0];
+    // Midpoint of the two surface contact points.
+    point.x = (ca.x + nx * ra + cb.x - nx * rb) * 0.5;
+    point.y = (ca.y + ny * ra + cb.y - ny * rb) * 0.5;
+    point.penetration = rsum - dist;
+    point.id = 0;
+    manifold.pointCount = 1;
+    return true;
+};
+/**
+ * Circle (the `circle` collider) vs polygon. Produces the normal pointing from
+ * the circle toward the polygon; when `flip` is set (the polygon is collider A),
+ * the normal is negated so it stays `a → b`.
+ */
+const collideCirclePolygon = (circle, polygon, manifold, flip) => {
+    const c = circle.worldCenter;
+    const r = radiusOf(circle);
+    const verts = polygon.worldVertices;
+    const normals = polygon.worldNormals;
+    const count = countOf(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]);
+        if (s > r) {
+            return false;
+        }
+        if (s > maxSep) {
+            maxSep = s;
+            refEdge = i;
+        }
+    }
+    let nx;
+    let ny;
+    let penetration;
+    let px;
+    let py;
+    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];
+        penetration = r - maxSep;
+        px = c.x + nx * r;
+        py = c.y + ny * r;
+        id = refEdge;
+    }
+    else {
+        const j = (refEdge + 1) % count;
+        const v1x = verts[refEdge * 2];
+        const v1y = verts[refEdge * 2 + 1];
+        const v2x = verts[j * 2];
+        const v2y = verts[j * 2 + 1];
+        const u1 = (c.x - v1x) * (v2x - v1x) + (c.y - v1y) * (v2y - v1y);
+        const u2 = (c.x - v2x) * (v1x - v2x) + (c.y - v2y) * (v1y - v2y);
+        if (u1 <= 0) {
+            // Nearest feature is vertex v1 (Voronoi corner region).
+            const dx = c.x - v1x;
+            const dy = c.y - v1y;
+            const d2 = dx * dx + dy * dy;
+            if (d2 > r * r) {
+                return false;
+            }
+            const d = Math.sqrt(d2);
+            nx = d > eps ? -dx / d : -normals[refEdge * 2];
+            ny = d > eps ? -dy / d : -normals[refEdge * 2 + 1];
+            penetration = r - d;
+            px = v1x;
+            py = v1y;
+            id = refEdge;
+        }
+        else if (u2 <= 0) {
+            const dx = c.x - v2x;
+            const dy = c.y - v2y;
+            const d2 = dx * dx + dy * dy;
+            if (d2 > r * r) {
+                return false;
+            }
+            const d = Math.sqrt(d2);
+            nx = d > eps ? -dx / d : -normals[refEdge * 2];
+            ny = d > eps ? -dy / d : -normals[refEdge * 2 + 1];
+            penetration = r - d;
+            px = v2x;
+            py = v2y;
+            id = j;
+        }
+        else {
+            // Face region.
+            nx = -normals[refEdge * 2];
+            ny = -normals[refEdge * 2 + 1];
+            penetration = r - maxSep;
+            px = c.x + nx * r;
+            py = c.y + ny * r;
+            id = refEdge;
+        }
+    }
+    if (flip) {
+        nx = -nx;
+        ny = -ny;
+    }
+    manifold.normalX = nx;
+    manifold.normalY = ny;
+    const point = manifold.points[0];
+    point.x = px;
+    point.y = py;
+    point.penetration = penetration < 0 ? 0 : penetration;
+    point.id = id;
+    manifold.pointCount = 1;
+    return true;
+};
+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) => {
+    const av = a.worldVertices;
+    const an = a.worldNormals;
+    const ac = countOf(a);
+    const bv = b.worldVertices;
+    const bc = countOf(b);
+    let best = -Infinity;
+    let bestEdge = 0;
+    for (let i = 0; i < ac; i++) {
+        const nx = an[i * 2];
+        const ny = an[i * 2 + 1];
+        const vx = av[i * 2];
+        const vy = av[i * 2 + 1];
+        // Support of b along -n = vertex of b minimising dot(n, vertex).
+        let minDot = Infinity;
+        let sx = 0;
+        let sy = 0;
+        for (let j = 0; j < bc; j++) {
+            const d = nx * bv[j * 2] + ny * bv[j * 2 + 1];
+            if (d < minDot) {
+                minDot = d;
+                sx = bv[j * 2];
+                sy = bv[j * 2 + 1];
+            }
+        }
+        const separation = nx * (sx - vx) + ny * (sy - vy);
+        if (separation > best) {
+            best = separation;
+            bestEdge = i;
+        }
+    }
+    return { separation: best, edge: bestEdge };
+};
+/** Incident face of `inc` = the face most anti-parallel to the reference normal. */
+const findIncidentFace = (refNx, refNy, inc, out) => {
+    const iv = inc.worldVertices;
+    const inrm = inc.worldNormals;
+    const ic = countOf(inc);
+    let minDot = Infinity;
+    let idx = 0;
+    for (let i = 0; i < ic; i++) {
+        const d = refNx * inrm[i * 2] + refNy * inrm[i * 2 + 1];
+        if (d < minDot) {
+            minDot = d;
+            idx = i;
+        }
+    }
+    const j = (idx + 1) % ic;
+    out[0].x = iv[idx * 2];
+    out[0].y = iv[idx * 2 + 1];
+    out[0].id = idx;
+    out[1].x = iv[j * 2];
+    out[1].y = iv[j * 2 + 1];
+    out[1].id = j;
+};
+/** Clip the 2-vertex segment `input` to the half-plane `dot(n, p) ≤ offset`. */
+const clipSegment = (nx, ny, offset, input, output, syntheticId) => {
+    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;
+    if (d1 <= 0) {
+        copyClip(input[0], output[count++]);
+    }
+    if (d2 <= 0) {
+        copyClip(input[1], output[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);
+        target.id = syntheticId;
+    }
+    return count;
+};
+const copyClip = (from, to) => {
+    to.x = from.x;
+    to.y = from.y;
+    to.id = from.id;
+};
+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);
+    if (sepA.separation >= 0) {
+        return false;
+    }
+    const sepB = findMaxSeparation(b, a);
+    if (sepB.separation >= 0) {
+        return false;
+    }
+    let ref;
+    let inc;
+    let refEdge;
+    let flip;
+    // Bias toward keeping A as the reference for stability (reduces ref/incident
+    // role flapping when a body rocks slightly — gate SG-M3).
+    if (sepA.separation >= sepB.separation * 0.95 + sepA.separation * 0.01) {
+        ref = a;
+        inc = b;
+        refEdge = sepA.edge;
+        flip = false;
+    }
+    else {
+        ref = b;
+        inc = a;
+        refEdge = sepB.edge;
+        flip = true;
+    }
+    const rv = ref.worldVertices;
+    const rn = ref.worldNormals;
+    const rc = countOf(ref);
+    const i2 = (refEdge + 1) % rc;
+    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();
+    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);
+    tx /= tl;
+    ty /= tl;
+    const negSide = -(tx * v1x + ty * v1y);
+    const posSide = tx * v2x + ty * v2y;
+    const clipped1 = newClipPair();
+    if (clipSegment(-tx, -ty, negSide, incident, clipped1, encodeId(flip, refEdge, 0xffe)) < 2) {
+        return false;
+    }
+    const clipped2 = newClipPair();
+    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;
+    let cp = 0;
+    for (let k = 0; k < 2; k++) {
+        const separation = refNx * clipped2[k].x + refNy * clipped2[k].y - refC;
+        if (separation <= 0) {
+            const point = manifold.points[cp];
+            point.x = clipped2[k].x;
+            point.y = clipped2[k].y;
+            point.penetration = -separation;
+            point.id = encodeId(flip, refEdge, clipped2[k].id);
+            cp++;
+        }
+    }
+    manifold.pointCount = cp;
+    return cp > 0;
+};
+/**
+ * Boolean overlap test (no manifold) used by sensors and shape-overlap queries.
+ * Exact for the circle/circle, circle/polygon and polygon/polygon pairs.
+ */
+const testOverlap = (a, b) => {
+    const ta = a.shape.type;
+    const tb = b.shape.type;
+    if (ta === 'circle') {
+        if (tb === 'circle') {
+            const ca = a.worldCenter;
+            const cb = b.worldCenter;
+            const rsum = radiusOf(a) + radiusOf(b);
+            const dx = cb.x - ca.x;
+            const dy = cb.y - ca.y;
+            return dx * dx + dy * dy <= rsum * rsum;
+        }
+        return circlePolygonOverlap(a, b);
+    }
+    if (tb === 'circle') {
+        return circlePolygonOverlap(b, a);
+    }
+    return findMaxSeparation(a, b).separation < 0 && findMaxSeparation(b, a).separation < 0;
+};
+const circlePolygonOverlap = (circle, polygon) => {
+    const c = circle.worldCenter;
+    const r = radiusOf(circle);
+    const verts = polygon.worldVertices;
+    const normals = polygon.worldNormals;
+    const count = countOf(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]);
+        if (s > r) {
+            return false;
+        }
+        if (s > maxSep) {
+            maxSep = s;
+            refEdge = i;
+        }
+    }
+    if (maxSep < eps) {
+        return true;
+    }
+    const j = (refEdge + 1) % count;
+    const v1x = verts[refEdge * 2];
+    const v1y = verts[refEdge * 2 + 1];
+    const v2x = verts[j * 2];
+    const v2y = verts[j * 2 + 1];
+    const u1 = (c.x - v1x) * (v2x - v1x) + (c.y - v1y) * (v2y - v1y);
+    const u2 = (c.x - v2x) * (v1x - v2x) + (c.y - v2y) * (v1y - v2y);
+    if (u1 <= 0) {
+        const dx = c.x - v1x;
+        const dy = c.y - v1y;
+        return dx * dx + dy * dy <= r * r;
+    }
+    if (u2 <= 0) {
+        const dx = c.x - v2x;
+        const dy = c.y - v2y;
+        return dx * dx + dy * dy <= r * r;
+    }
+    return maxSep <= r;
+};
+
+export { collide, testOverlap };
+//# sourceMappingURL=narrowphase.js.map

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

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

@@ -0,0 +1,46 @@
+import type { Application, RenderBackend } from '@codexo/exojs';
+import type { DebugLayerViewMode } from '@codexo/exojs/debug';
+import { DebugLayer } from '@codexo/exojs/debug';
+import type { PhysicsWorld } from '../PhysicsWorld';
+/** Toggles for the physics debug overlay. */
+export interface PhysicsDebugDrawOptions {
+    /** Collider shape outlines, coloured by body type. Default `true`. */
+    drawShapes?: boolean;
+    /** Collider world AABBs. Default `false`. */
+    drawAabb?: boolean;
+    /** Contact points. Default `false`. */
+    drawContacts?: boolean;
+    /** Contact normals. Default `false`. */
+    drawNormals?: boolean;
+    /** Body origins (centre markers). Default `false`. */
+    drawCenters?: boolean;
+    /** Broad-phase candidate links between AABB-overlapping colliders. Default `false`. */
+    drawBroadphase?: boolean;
+}
+/**
+ * `DebugLayer` that visualises a {@link PhysicsWorld} — shapes, AABBs, contacts,
+ * normals, centres and broad-phase links. It reads the world's public state and
+ * recomputes contacts/broad-phase locally only while visible, so it never
+ * perturbs the simulation and works over any backend. Lives in the `./debug`
+ * subpath so it tree-shakes out of production bundles.
+ */
+export declare class PhysicsDebugDraw extends DebugLayer {
+    /** Mutable option flags (read each frame). */
+    readonly options: Required<PhysicsDebugDrawOptions>;
+    private readonly _world;
+    private _graphics;
+    private readonly _broadPhase;
+    private readonly _manifold;
+    private readonly _pairs;
+    constructor(app: Application, world: PhysicsWorld, options?: PhysicsDebugDrawOptions);
+    get viewMode(): DebugLayerViewMode;
+    update(): void;
+    render(backend: RenderBackend): void;
+    destroy(): void;
+    private _strokeShape;
+    private _strokeAabb;
+    private _strokeCircle;
+    private _strokeCross;
+    private _renderBroadphase;
+    private _renderContacts;
+}

package/dist/esm/debug/PhysicsDebugDraw.js

@@ -0,0 +1,171 @@
+import { Color, Graphics } from '@codexo/exojs';
+import { DebugLayer } from '@codexo/exojs/debug';
+import { SweepAndPrune } from '../broadphase/SweepAndPrune.js';
+import { Manifold } from '../collision/Manifold.js';
+import { collide } from '../collision/narrowphase.js';
+
+const segments = 24;
+const colorStatic = new Color(0.3, 0.9, 0.4, 0.9);
+const colorKinematic = new Color(0.4, 0.7, 1, 0.9);
+const colorDynamic = new Color(1, 0.85, 0.3, 0.9);
+const colorSensor = new Color(1, 0.3, 1, 0.9);
+const colorAabb = new Color(0.5, 0.5, 0.5, 0.5);
+const colorContact = new Color(1, 0.2, 0.2, 1);
+const colorNormal = new Color(1, 0.6, 0.1, 1);
+const colorCenter = new Color(1, 1, 1, 0.9);
+const colorBroadphase = new Color(0.2, 0.8, 0.8, 0.5);
+/**
+ * `DebugLayer` that visualises a {@link PhysicsWorld} — shapes, AABBs, contacts,
+ * normals, centres and broad-phase links. It reads the world's public state and
+ * recomputes contacts/broad-phase locally only while visible, so it never
+ * perturbs the simulation and works over any backend. Lives in the `./debug`
+ * subpath so it tree-shakes out of production bundles.
+ */
+class PhysicsDebugDraw extends DebugLayer {
+    /** Mutable option flags (read each frame). */
+    options;
+    _world;
+    _graphics = null;
+    _broadPhase = new SweepAndPrune();
+    _manifold = new Manifold();
+    _pairs = [];
+    constructor(app, world, options = {}) {
+        super(app);
+        this._world = world;
+        this.options = {
+            drawShapes: options.drawShapes ?? true,
+            drawAabb: options.drawAabb ?? false,
+            drawContacts: options.drawContacts ?? false,
+            drawNormals: options.drawNormals ?? false,
+            drawCenters: options.drawCenters ?? false,
+            drawBroadphase: options.drawBroadphase ?? false,
+        };
+    }
+    get viewMode() {
+        return 'world';
+    }
+    update() {
+        // All state is read from the world in render().
+    }
+    render(backend) {
+        const gfx = (this._graphics ??= new Graphics());
+        const options = this.options;
+        gfx.clear();
+        gfx.lineWidth = 1;
+        if (options.drawBroadphase) {
+            this._renderBroadphase(gfx);
+        }
+        if (options.drawAabb) {
+            for (const collider of this._world.colliders) {
+                this._strokeAabb(gfx, collider);
+            }
+        }
+        if (options.drawShapes) {
+            for (const collider of this._world.colliders) {
+                this._strokeShape(gfx, collider);
+            }
+        }
+        if (options.drawCenters) {
+            gfx.lineColor = colorCenter;
+            for (const body of this._world.bodies) {
+                this._strokeCross(gfx, body.x, body.y, 4);
+            }
+        }
+        if (options.drawContacts || options.drawNormals) {
+            this._renderContacts(gfx);
+        }
+        gfx.render(backend);
+    }
+    destroy() {
+        if (this._graphics !== null) {
+            this._graphics.destroy();
+            this._graphics = null;
+        }
+    }
+    // ── helpers ────────────────────────────────────────────────────────────
+    _strokeShape(gfx, collider) {
+        gfx.lineColor = collider.isSensor ? colorSensor : colorForType(collider.body.type);
+        if (collider.shape.type === 'circle') {
+            const c = collider.worldCenter;
+            const r = collider.shape.radius;
+            this._strokeCircle(gfx, c.x, c.y, r);
+            // A spoke to the surface conveys orientation once bodies rotate.
+            gfx.moveTo(c.x, c.y);
+            gfx.lineTo(c.x + collider.worldTransform.cos * r, c.y + collider.worldTransform.sin * r);
+            return;
+        }
+        const verts = collider.worldVertices;
+        const count = collider.shape.count;
+        gfx.moveTo(verts[0], verts[1]);
+        for (let i = 1; i <= count; i++) {
+            const j = i % count;
+            gfx.lineTo(verts[j * 2], verts[j * 2 + 1]);
+        }
+    }
+    _strokeAabb(gfx, collider) {
+        const box = collider.aabb;
+        gfx.lineColor = colorAabb;
+        gfx.moveTo(box.minX, box.minY);
+        gfx.lineTo(box.maxX, box.minY);
+        gfx.lineTo(box.maxX, box.maxY);
+        gfx.lineTo(box.minX, box.maxY);
+        gfx.lineTo(box.minX, box.minY);
+    }
+    _strokeCircle(gfx, cx, cy, r) {
+        gfx.moveTo(cx + r, cy);
+        for (let i = 1; i <= segments; i++) {
+            const a = (i / segments) * Math.PI * 2;
+            gfx.lineTo(cx + Math.cos(a) * r, cy + Math.sin(a) * r);
+        }
+    }
+    _strokeCross(gfx, x, y, size) {
+        gfx.moveTo(x - size, y);
+        gfx.lineTo(x + size, y);
+        gfx.moveTo(x, y - size);
+        gfx.lineTo(x, y + size);
+    }
+    _renderBroadphase(gfx) {
+        this._broadPhase.computePairs(this._world.colliders, this._pairs);
+        gfx.lineColor = colorBroadphase;
+        for (const pair of this._pairs) {
+            const a = pair.a.aabb;
+            const b = pair.b.aabb;
+            gfx.moveTo((a.minX + a.maxX) * 0.5, (a.minY + a.maxY) * 0.5);
+            gfx.lineTo((b.minX + b.maxX) * 0.5, (b.minY + b.maxY) * 0.5);
+        }
+    }
+    _renderContacts(gfx) {
+        this._broadPhase.computePairs(this._world.colliders, this._pairs);
+        for (const pair of this._pairs) {
+            const a = pair.a;
+            const b = pair.b;
+            if (a.isSensor || b.isSensor) {
+                continue;
+            }
+            if (!collide(a, b, this._manifold)) {
+                continue;
+            }
+            for (let i = 0; i < this._manifold.pointCount; i++) {
+                const point = this._manifold.points[i];
+                if (this.options.drawContacts) {
+                    gfx.lineColor = colorContact;
+                    this._strokeCross(gfx, point.x, point.y, 3);
+                }
+                if (this.options.drawNormals) {
+                    gfx.lineColor = colorNormal;
+                    gfx.moveTo(point.x, point.y);
+                    gfx.lineTo(point.x + this._manifold.normalX * 12, point.y + this._manifold.normalY * 12);
+                }
+            }
+        }
+    }
+}
+const colorForType = (type) => {
+    if (type === 'static') {
+        return colorStatic;
+    }
+    return type === 'kinematic' ? colorKinematic : colorDynamic;
+};
+
+export { PhysicsDebugDraw };
+//# sourceMappingURL=PhysicsDebugDraw.js.map

package/dist/esm/debug/PhysicsDebugDraw.js.map

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

@@ -0,0 +1 @@
+export { PhysicsDebugDraw, type PhysicsDebugDrawOptions } from './PhysicsDebugDraw';

package/dist/esm/debug/index.js

@@ -0,0 +1,2 @@
+export { PhysicsDebugDraw } from './PhysicsDebugDraw.js';
+//# sourceMappingURL=index.js.map

package/dist/esm/debug/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","sources":[],"sourcesContent":[],"names":[],"mappings":""}