@codexo/exojs-physics 0.14.0 → 0.15.0

package/dist/esm/PhysicsBody.d.ts

@@ -18,6 +18,8 @@ export interface BodyOptions {
     gravityScale?: number;
     /** When `true`, the body never rotates under contacts (infinite rotational inertia). Default `false`. */
     fixedRotation?: boolean;
+    /** When `true`, the body is swept against static geometry each step (CCD) so it cannot tunnel through thin walls. Default `false`. */
+    isBullet?: boolean;
     /** Colliders to attach up-front. Each may be a {@link Collider} instance or its {@link ColliderOptions}. */
     colliders?: Array<Collider | ColliderOptions>;
 }
@@ -48,6 +50,8 @@ export declare class PhysicsBody {
     gravityScale: number;
     /** When `true`, rotational inertia is treated as infinite. */
     fixedRotation: boolean;
+    /** When `true`, the body is swept against static geometry each step (CCD) so it cannot tunnel through thin walls. */
+    isBullet: boolean;
     /** Total mass (0 for static/kinematic). */
     mass: number;
     /** Inverse mass (`0` = immovable). */
@@ -62,6 +66,8 @@ export declare class PhysicsBody {
     linearVelocityY: number;
     /** Angular velocity in rad/s. */
     angularVelocity: number;
+    /** When `false`, this body is never put to sleep. Default `true`. */
+    allowSleep: boolean;
     /** @internal — Delta position X accumulated across the frame's sub-steps by the TGS integrator; written into the transform once per frame by {@link _finalizePosition}. */
     _deltaPosX: number;
     /** @internal — Delta position Y accumulated across the frame's sub-steps by the TGS integrator. */
@@ -75,6 +81,15 @@ export declare class PhysicsBody {
     private _forceX;
     private _forceY;
     private _torque;
+    /** @internal — seconds the body has stayed below the sleep thresholds (frozen while asleep). Read by the world's island pass. */
+    _sleepTime: number;
+    /** @internal — dense union-find index assigned by the world's island pass each step. */
+    _islandIndex: number;
+    /** @internal — world-space centre of mass at the start of the current fixed step (CCD swept-test origin). */
+    _ccdPrevX: number;
+    /** @internal — see {@link _ccdPrevX}. */
+    _ccdPrevY: number;
+    private _sleeping;
     private _id;
     private _owner;
     private _attached;
@@ -113,6 +128,8 @@ export declare class PhysicsBody {
     get isMassReady(): boolean;
     /** `true` after the owning world has destroyed this body. */
     get destroyed(): boolean;
+    /** `true` when the body is asleep — skipped by the integrator and solver until woken. */
+    get isSleeping(): boolean;
     /**
      * Attach a collider to this body. Accepts a {@link Collider} instance or its
      * {@link ColliderOptions} (a convenience that constructs the collider for you).
@@ -168,6 +185,21 @@ export declare class PhysicsBody {
      * re-syncing collider geometry per sub-step. Static bodies never move.
      */
     _integratePosition(h: number): void;
+    /**
+     * @internal — advance the sleep timer over one fixed step `dt`. A body below
+     * both velocity thresholds accumulates time; a too-fast body, or one that opts
+     * out via {@link allowSleep}, resets it. The sleep/wake decision is made per
+     * island by the world (so a stack sleeps as a unit) from {@link _sleepTime}.
+     */
+    _accumulateSleepTime(dt: number, linearThreshold: number, angularThreshold: number): void;
+    /** @internal — set the sleep state. Sleeping zeroes the velocity; waking resets the sleep timer. */
+    _setSleeping(sleeping: boolean): void;
+    /**
+     * Wake the body if it is asleep, resetting its sleep timer. The rest of its
+     * island wakes with it on the next step (a contact to an awake body keeps the
+     * whole island awake). Returns `this`.
+     */
+    wake(): this;
     /**
      * @internal — apply the frame's accumulated delta position/rotation to the
      * transform (rotating about the centre of mass), re-sync collider geometry and

package/dist/esm/PhysicsBody.js

@@ -21,6 +21,8 @@ class PhysicsBody {
     gravityScale;
     /** When `true`, rotational inertia is treated as infinite. */
     fixedRotation;
+    /** When `true`, the body is swept against static geometry each step (CCD) so it cannot tunnel through thin walls. */
+    isBullet;
     /** Total mass (0 for static/kinematic). */
     mass = 0;
     /** Inverse mass (`0` = immovable). */
@@ -35,6 +37,8 @@ class PhysicsBody {
     linearVelocityY = 0;
     /** Angular velocity in rad/s. */
     angularVelocity = 0;
+    /** When `false`, this body is never put to sleep. Default `true`. */
+    allowSleep = true;
     /** @internal — Delta position X accumulated across the frame's sub-steps by the TGS integrator; written into the transform once per frame by {@link _finalizePosition}. */
     _deltaPosX = 0;
     /** @internal — Delta position Y accumulated across the frame's sub-steps by the TGS integrator. */
@@ -48,6 +52,15 @@ class PhysicsBody {
     _forceX = 0;
     _forceY = 0;
     _torque = 0;
+    /** @internal — seconds the body has stayed below the sleep thresholds (frozen while asleep). Read by the world's island pass. */
+    _sleepTime = 0;
+    /** @internal — dense union-find index assigned by the world's island pass each step. */
+    _islandIndex = 0;
+    /** @internal — world-space centre of mass at the start of the current fixed step (CCD swept-test origin). */
+    _ccdPrevX = 0;
+    /** @internal — see {@link _ccdPrevX}. */
+    _ccdPrevY = 0;
+    _sleeping = false;
     _id = -1;
     _owner = null;
     _attached = false;
@@ -64,6 +77,7 @@ class PhysicsBody {
         this.angularDamping = options.angularDamping ?? 0;
         this.gravityScale = options.gravityScale ?? 1;
         this.fixedRotation = options.fixedRotation ?? false;
+        this.isBullet = options.isBullet ?? false;
         // Build up-front colliders now (no id/world registration until the body
         // joins a world via `world.add()`). They sit in `_colliders` unsynchronised;
         // `_attachToWorld` assigns ids, registers them and computes the mass model.
@@ -125,6 +139,10 @@ class PhysicsBody {
     get destroyed() {
         return this._destroyed;
     }
+    /** `true` when the body is asleep — skipped by the integrator and solver until woken. */
+    get isSleeping() {
+        return this._sleeping;
+    }
     /**
      * Attach a collider to this body. Accepts a {@link Collider} instance or its
      * {@link ColliderOptions} (a convenience that constructs the collider for you).
@@ -160,6 +178,7 @@ class PhysicsBody {
         if (this._destroyed) {
             throw new Error('PhysicsBody: cannot move a destroyed body.');
         }
+        this.wake();
         setTransform(this._transform, position.x, position.y, angle);
         for (const collider of this._colliders) {
             collider.synchronize(this._transform);
@@ -185,6 +204,7 @@ class PhysicsBody {
      * sub-step and then cleared. No-op on static/kinematic bodies. Returns `this`.
      */
     applyForce(forceX, forceY) {
+        this.wake();
         this._forceX += forceX;
         this._forceY += forceY;
         return this;
@@ -194,6 +214,7 @@ class PhysicsBody {
      * on static/kinematic bodies (and fixed-rotation bodies). Returns `this`.
      */
     applyTorque(torque) {
+        this.wake();
         this._torque += torque;
         return this;
     }
@@ -206,6 +227,7 @@ class PhysicsBody {
         if (this.invMass === 0) {
             return this;
         }
+        this.wake();
         this.linearVelocityX += impulseX * this.invMass;
         this.linearVelocityY += impulseY * this.invMass;
         if (pointX !== undefined && pointY !== undefined && this.invInertia !== 0) {
@@ -225,7 +247,7 @@ class PhysicsBody {
      * every sub-step and cleared once per frame by {@link _finalizePosition}.
      */
     _integrateVelocity(h, gravityX, gravityY) {
-        if (this.invMass === 0) {
+        if (this.invMass === 0 || this._sleeping) {
             return;
         }
         this.linearVelocityX += (gravityX * this.gravityScale + this._forceX * this.invMass) * h;
@@ -245,7 +267,7 @@ class PhysicsBody {
      * re-syncing collider geometry per sub-step. Static bodies never move.
      */
     _integratePosition(h) {
-        if (this.type === 'static') {
+        if (this.type === 'static' || this._sleeping) {
             return;
         }
         this._deltaPosX += this.linearVelocityX * h;
@@ -260,6 +282,42 @@ class PhysicsBody {
             this._deltaSin = Math.sin(this._deltaAngle);
         }
     }
+    /**
+     * @internal — advance the sleep timer over one fixed step `dt`. A body below
+     * both velocity thresholds accumulates time; a too-fast body, or one that opts
+     * out via {@link allowSleep}, resets it. The sleep/wake decision is made per
+     * island by the world (so a stack sleeps as a unit) from {@link _sleepTime}.
+     */
+    _accumulateSleepTime(dt, linearThreshold, angularThreshold) {
+        const tooFast = this.linearVelocityX * this.linearVelocityX + this.linearVelocityY * this.linearVelocityY > linearThreshold * linearThreshold ||
+            Math.abs(this.angularVelocity) > angularThreshold;
+        this._sleepTime = !this.allowSleep || tooFast ? 0 : this._sleepTime + dt;
+    }
+    /** @internal — set the sleep state. Sleeping zeroes the velocity; waking resets the sleep timer. */
+    _setSleeping(sleeping) {
+        if (this._sleeping === sleeping) {
+            return;
+        }
+        this._sleeping = sleeping;
+        if (sleeping) {
+            this.linearVelocityX = 0;
+            this.linearVelocityY = 0;
+            this.angularVelocity = 0;
+        }
+        else {
+            this._sleepTime = 0;
+        }
+    }
+    /**
+     * Wake the body if it is asleep, resetting its sleep timer. The rest of its
+     * island wakes with it on the next step (a contact to an awake body keeps the
+     * whole island awake). Returns `this`.
+     */
+    wake() {
+        this._setSleeping(false);
+        this._sleepTime = 0;
+        return this;
+    }
     /**
      * @internal — apply the frame's accumulated delta position/rotation to the
      * transform (rotating about the centre of mass), re-sync collider geometry and

package/dist/esm/PhysicsBody.js.map

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package/dist/esm/PhysicsWorld.d.ts

@@ -2,9 +2,10 @@ import type { SceneNode } from '@codexo/exojs';
 import { Signal, Vector } from '@codexo/exojs';
 import type { Aabb } from './Aabb';
 import type { PhysicsBackend } from './backend/PhysicsBackend';
-import type { BindingOptions, PhysicsBinding } from './binding/PhysicsBinding';
+import type { PhysicsBinding } from './binding/PhysicsBinding';
 import { Collider } from './Collider';
 import type { CollisionEvent, SensorEvent } from './events';
+import type { Joint } from './joints/Joint';
 import type { BodyOwner } from './PhysicsBody';
 import { PhysicsBody } from './PhysicsBody';
 import type { QueryFilter, RayHit } from './query/QueryEngine';
@@ -30,8 +31,14 @@ export interface PhysicsWorldOptions {
     contactHertz?: number;
     /** Soft-contact damping ratio (≥ 1 keeps contacts from oscillating). Default `10`. */
     dampingRatio?: number;
-    /** Interpolate bound nodes between fixed steps (reserved; no effect yet). Default `true`. */
-    interpolation?: boolean;
+    /** Put resting bodies to sleep so they skip integration and solving. Default `true`. */
+    enableSleeping?: boolean;
+    /** Linear speed at or below which a body is a sleep candidate, px/s. Default `5`. */
+    sleepLinearVelocity?: number;
+    /** Angular speed at or below which a body is a sleep candidate, rad/s. Default `0.06`. */
+    sleepAngularVelocity?: number;
+    /** Seconds a body must stay below the sleep thresholds before it sleeps. Default `0.5`. */
+    timeToSleep?: number;
 }
 /**
  * {@link PhysicsWorld.attach} convenience options: a body type plus a single
@@ -64,8 +71,6 @@ export interface AttachOptions {
     isSensor?: boolean;
     /** Category/mask/group collision filter; partials merge over the defaults. */
     filter?: Partial<CollisionFilter>;
-    /** Binding options forwarded to {@link PhysicsWorld.bind}. */
-    binding?: BindingOptions;
 }
 /**
  * The collision/query world: owns bodies, colliders, the detection backend,
@@ -113,20 +118,35 @@ export declare class PhysicsWorld implements BodyOwner {
     readonly gravity: Vector;
     /** The fixed-step accumulator. */
     readonly timeStepper: TimeStepper;
-    /** Whether bound nodes interpolate between fixed steps (reserved; no effect yet). */
-    readonly interpolation: boolean;
     /** TGS-Soft sub-steps per fixed step. */
     readonly subStepCount: number;
     /** Soft-contact stiffness in Hz. */
     readonly contactHertz: number;
     /** Soft-contact damping ratio. */
     readonly dampingRatio: number;
+    /** Whether resting bodies are put to sleep. */
+    readonly enableSleeping: boolean;
+    /** Linear sleep threshold (px/s). */
+    readonly sleepLinearVelocity: number;
+    /** Angular sleep threshold (rad/s). */
+    readonly sleepAngularVelocity: number;
+    /** Seconds below the thresholds before a body sleeps. */
+    readonly timeToSleep: number;
     private readonly _backend;
     private readonly _bodies;
     private readonly _colliders;
+    private readonly _joints;
     private readonly _bindings;
     private readonly _query;
     private readonly _commands;
+    /** Pooled union-find parent array for the per-step island pass (reused; sized to the body count). */
+    private readonly _islandParent;
+    /** Pooled per-island minimum sleep time, indexed by union-find root. */
+    private readonly _islandMinSleep;
+    /** Pooled ray-hit buffer + origin/direction for the CCD swept test. */
+    private readonly _ccdHits;
+    private readonly _ccdOrigin;
+    private readonly _ccdDir;
     private _nextBodyId;
     private _nextColliderId;
     private _dispatching;
@@ -156,6 +176,16 @@ export declare class PhysicsWorld implements BodyOwner {
     destroyBody(body: PhysicsBody): void;
     /** Destroy a single collider, recomputing its body's mass. Deferred when called inside a callback. */
     destroyCollider(collider: Collider): void;
+    /** Live joints (read-only view). */
+    get joints(): readonly Joint[];
+    /**
+     * Add a constraint joint. Construct it first (`new DistanceJoint({ … })`),
+     * then add it. Wakes both bodies; safe inside a callback (registration is
+     * deferred). Returns the joint.
+     */
+    addJoint<T extends Joint>(joint: T): T;
+    /** Remove a joint, waking both bodies so they respond to the lost constraint. Deferred when called inside a callback. */
+    removeJoint(joint: Joint): void;
     /**
      * Advance the world by `frameDeltaSeconds`. Accumulates into fixed steps; each
      * fixed step runs detection once, then a TGS-Soft sub-step loop (integrate
@@ -165,7 +195,7 @@ export declare class PhysicsWorld implements BodyOwner {
      */
     step(frameDeltaSeconds: number): void;
     /** Link a body to a scene node; the node tracks the body after each step. */
-    bind(body: PhysicsBody, node: SceneNode, options?: BindingOptions): PhysicsBinding;
+    bind(body: PhysicsBody, node: SceneNode): PhysicsBinding;
     /** Remove a body↔node link. */
     unbind(body: PhysicsBody): void;
     /** Colliders containing `point`. Fresh array. */
@@ -187,6 +217,42 @@ export declare class PhysicsWorld implements BodyOwner {
     /** The detection backend (internal; consumed by the debug draw layer). */
     get backend(): PhysicsBackend;
     private _dispatchEvents;
+    /**
+     * Accumulate per-body sleep timers and put/keep islands of resting bodies
+     * asleep so a stack sleeps and wakes as one unit. An island is a connected
+     * component of dynamic bodies joined by touching solid contacts (static and
+     * kinematic bodies are boundaries, not nodes); it sleeps once every member has
+     * stayed below the sleep thresholds for `timeToSleep`, and wakes the instant
+     * any member does (e.g. an awake body merges into it via a new contact).
+     * Deterministic: union-find roots break ties by lower index and the contact
+     * set is id-sorted.
+     */
+    private _updateSleeping;
+    /** Union-find union by lower index (deterministic roots). */
+    private _union;
+    /** Union-find find with path halving. */
+    private _find;
+    /** Build each joint's per-frame constraint data (once per fixed step). */
+    private _prepareJoints;
+    /** Re-apply each joint's accumulated impulse (each sub-step). */
+    private _warmStartJoints;
+    /** One joint velocity pass (each sub-step, after the contacts). */
+    private _solveJoints;
+    /** Whether any dynamic body is flagged for continuous collision (bullet mode). */
+    private _hasBullets;
+    /** Snapshot each bullet's centre of mass at the start of the fixed step (the swept-test origin). */
+    private _recordBulletPositions;
+    /**
+     * Sweep each bullet's centre of mass along this fixed step's motion against every
+     * other body's colliders; if it would cross one, clamp the body just short of the
+     * surface and resolve the impact about the surface normal (a slide for a non-bouncy
+     * body, an elastic reflection as restitution → 1) so it cannot tunnel. Sweeps the
+     * centre point — good for small/point-like projectiles; a full swept-shape TOI for
+     * large fast bodies is backlog (raise sub-steps or thicken geometry meanwhile).
+     */
+    private _advanceBullets;
+    /** The highest restitution among a body's colliders (its CCD bounce factor). */
+    private _bulletRestitution;
     /** Run `command` now, or queue it when inside an event dispatch (deferred to end of step). */
     private _defer;
     private _drainCommands;