@codexo/exojs-physics 0.14.0 → 0.15.1

package/dist/esm/PhysicsWorld.js

@@ -6,6 +6,8 @@ import { PhysicsBody } from './PhysicsBody.js';
 import { QueryEngine } from './query/QueryEngine.js';
 import { TimeStepper } from './TimeStepper.js';
 
+/** Gap left between a clamped bullet and the surface it hit (so it does not re-hit from inside). */
+const ccdSkin = 0.05;
 /**
  * The collision/query world: owns bodies, colliders, the detection backend,
  * bindings, the query engine and the fixed-step accumulator. Stepped by the
@@ -52,20 +54,35 @@ class PhysicsWorld {
     gravity;
     /** The fixed-step accumulator. */
     timeStepper;
-    /** Whether bound nodes interpolate between fixed steps (reserved; no effect yet). */
-    interpolation;
     /** TGS-Soft sub-steps per fixed step. */
     subStepCount;
     /** Soft-contact stiffness in Hz. */
     contactHertz;
     /** Soft-contact damping ratio. */
     dampingRatio;
+    /** Whether resting bodies are put to sleep. */
+    enableSleeping;
+    /** Linear sleep threshold (px/s). */
+    sleepLinearVelocity;
+    /** Angular sleep threshold (rad/s). */
+    sleepAngularVelocity;
+    /** Seconds below the thresholds before a body sleeps. */
+    timeToSleep;
     _backend = new NativePhysicsBackend();
     _bodies = [];
     _colliders = [];
+    _joints = [];
     _bindings = new BindingRegistry();
     _query;
     _commands = [];
+    /** Pooled union-find parent array for the per-step island pass (reused; sized to the body count). */
+    _islandParent = [];
+    /** Pooled per-island minimum sleep time, indexed by union-find root. */
+    _islandMinSleep = [];
+    /** Pooled ray-hit buffer + origin/direction for the CCD swept test. */
+    _ccdHits = [];
+    _ccdOrigin = { x: 0, y: 0 };
+    _ccdDir = { x: 0, y: 0 };
     _nextBodyId = 1;
     _nextColliderId = 1;
     _dispatching = false;
@@ -76,7 +93,6 @@ class PhysicsWorld {
             ...(options.fixedDelta !== undefined && { fixedDelta: options.fixedDelta }),
             ...(options.maxSubSteps !== undefined && { maxSubSteps: options.maxSubSteps }),
         });
-        this.interpolation = options.interpolation ?? true;
         const subStepCount = options.subStepCount ?? 4;
         if (!Number.isInteger(subStepCount) || subStepCount < 1) {
             throw new RangeError(`PhysicsWorld: subStepCount must be an integer ≥ 1, received ${subStepCount}.`);
@@ -84,6 +100,10 @@ class PhysicsWorld {
         this.subStepCount = subStepCount;
         this.contactHertz = options.contactHertz ?? 30;
         this.dampingRatio = options.dampingRatio ?? 10;
+        this.enableSleeping = options.enableSleeping ?? true;
+        this.sleepLinearVelocity = options.sleepLinearVelocity ?? 5;
+        this.sleepAngularVelocity = options.sleepAngularVelocity ?? 0.06;
+        this.timeToSleep = options.timeToSleep ?? 0.5;
         this._query = new QueryEngine(this._colliders);
     }
     /** Live bodies (read-only view). */
@@ -146,7 +166,7 @@ class PhysicsWorld {
             ],
         });
         this.add(body);
-        this.bind(body, node, options.binding);
+        this.bind(body, node);
         return body;
     }
     /** Destroy a body and its colliders. Deferred when called inside a callback. */
@@ -157,6 +177,37 @@ class PhysicsWorld {
     destroyCollider(collider) {
         this._defer(() => this._removeCollider(collider));
     }
+    /** Live joints (read-only view). */
+    get joints() {
+        return this._joints;
+    }
+    /**
+     * 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(joint) {
+        this._assertAlive();
+        joint.bodyA.wake();
+        joint.bodyB.wake();
+        this._defer(() => {
+            if (!this._joints.includes(joint)) {
+                this._joints.push(joint);
+            }
+        });
+        return joint;
+    }
+    /** Remove a joint, waking both bodies so they respond to the lost constraint. Deferred when called inside a callback. */
+    removeJoint(joint) {
+        joint.bodyA.wake();
+        joint.bodyB.wake();
+        this._defer(() => {
+            const index = this._joints.indexOf(joint);
+            if (index !== -1) {
+                this._joints.splice(index, 1);
+            }
+        });
+    }
     // ── stepping ───────────────────────────────────────────────────────────
     /**
      * Advance the world by `frameDeltaSeconds`. Accumulates into fixed steps; each
@@ -175,12 +226,26 @@ class PhysicsWorld {
             const gravityY = this.gravity.y;
             const contactHertz = this.contactHertz;
             const dampingRatio = this.dampingRatio;
+            const hasJoints = this._joints.length > 0;
+            const hasBullets = this._hasBullets();
             for (let step = 0; step < steps; step++) {
                 // Detection runs once per fixed step (collider geometry is already current
                 // from the previous frame's finalize / attach / setTransform). TGS-Soft
                 // reuses the manifolds across the sub-steps below.
                 this._backend.detect(this._colliders);
+                // Sleep decision runs after detection (islands need the current contact
+                // set) and before the solver (so sleeping contacts are skipped, and a
+                // sleeping island touched by an awake body is woken first).
+                if (this.enableSleeping) {
+                    this._updateSleeping(this.timeStepper.fixedDelta);
+                }
                 this._backend.prepareSolve(h, contactHertz, dampingRatio);
+                if (hasJoints) {
+                    this._prepareJoints(h);
+                }
+                if (hasBullets) {
+                    this._recordBulletPositions();
+                }
                 for (let subStep = 0; subStep < subStepCount; subStep++) {
                     // Integrate gravity/forces over the sub-step (forces persist across
                     // sub-steps; cleared once per frame by `_finalizePosition`).
@@ -193,13 +258,23 @@ class PhysicsWorld {
                     // impulse converges to the per-sub-step load (m·h·g), not the per-frame
                     // load, which is what keeps tall stacks from pumping energy.
                     this._backend.warmStart();
+                    if (hasJoints) {
+                        this._warmStartJoints();
+                    }
                     // Main soft-bias velocity solve, integrate positions (accumulating
-                    // per-body delta), then the bias-free relax pass.
+                    // per-body delta), then the bias-free relax pass. Joints solve right
+                    // after the contacts in each pass (contacts are the stiffer constraint).
                     this._backend.solveVelocities(true);
+                    if (hasJoints) {
+                        this._solveJoints(true);
+                    }
                     for (const body of this._bodies) {
                         body._integratePosition(h);
                     }
                     this._backend.solveVelocities(false);
+                    if (hasJoints) {
+                        this._solveJoints(false);
+                    }
                 }
                 // Separate restitution pass, then write the accumulated delta into each
                 // body's transform and re-sync collider geometry.
@@ -207,6 +282,9 @@ class PhysicsWorld {
                 for (const body of this._bodies) {
                     body._finalizePosition();
                 }
+                if (hasBullets) {
+                    this._advanceBullets();
+                }
             }
             this._dispatchEvents();
         }
@@ -215,8 +293,8 @@ class PhysicsWorld {
     }
     // ── binding ────────────────────────────────────────────────────────────
     /** Link a body to a scene node; the node tracks the body after each step. */
-    bind(body, node, options) {
-        return this._bindings.bind(body, node, options);
+    bind(body, node) {
+        return this._bindings.bind(body, node);
     }
     /** Remove a body↔node link. */
     unbind(body) {
@@ -258,6 +336,7 @@ class PhysicsWorld {
         }
         this._bodies.length = 0;
         this._colliders.length = 0;
+        this._joints.length = 0;
         this._commands.length = 0;
         this._bindings.clear();
         this._backend.destroy();
@@ -299,6 +378,199 @@ class PhysicsWorld {
         }
         this._dispatching = false;
     }
+    /**
+     * 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.
+     */
+    _updateSleeping(dt) {
+        const bodies = this._bodies;
+        const count = bodies.length;
+        const parent = this._islandParent;
+        const minSleep = this._islandMinSleep;
+        // Assign dense indices, reset the union-find, and accumulate sleep timers for
+        // awake dynamic bodies (a sleeping body's timer stays frozen ≥ timeToSleep).
+        for (let i = 0; i < count; i++) {
+            const body = bodies[i];
+            body._islandIndex = i;
+            parent[i] = i;
+            minSleep[i] = Infinity;
+            if (body.type === 'dynamic' && !body.isSleeping) {
+                body._accumulateSleepTime(dt, this.sleepLinearVelocity, this.sleepAngularVelocity);
+            }
+        }
+        parent.length = count;
+        minSleep.length = count;
+        // Union dynamic↔dynamic solid contacts into islands.
+        for (const contact of this._backend.contactGraph.solidContacts) {
+            const bodyA = contact.a.body;
+            const bodyB = contact.b.body;
+            if (bodyA.type === 'dynamic' && bodyB.type === 'dynamic') {
+                this._union(bodyA._islandIndex, bodyB._islandIndex);
+            }
+        }
+        // Joints couple their two bodies into the same island (sleep/wake together).
+        for (const joint of this._joints) {
+            const bodyA = joint.bodyA;
+            const bodyB = joint.bodyB;
+            if (joint.enabled && bodyA.type === 'dynamic' && bodyB.type === 'dynamic') {
+                this._union(bodyA._islandIndex, bodyB._islandIndex);
+            }
+        }
+        // Per-island minimum sleep time over its dynamic members.
+        for (let i = 0; i < count; i++) {
+            const body = bodies[i];
+            if (body.type === 'dynamic') {
+                const root = this._find(i);
+                if (body._sleepTime < minSleep[root]) {
+                    minSleep[root] = body._sleepTime;
+                }
+            }
+        }
+        // Sleep an island iff every member has rested for `timeToSleep`; otherwise
+        // wake it (which also wakes any member dragged awake by a fresh contact).
+        const timeToSleep = this.timeToSleep;
+        for (let i = 0; i < count; i++) {
+            const body = bodies[i];
+            if (body.type === 'dynamic') {
+                body._setSleeping(minSleep[this._find(i)] >= timeToSleep);
+            }
+        }
+    }
+    /** Union-find union by lower index (deterministic roots). */
+    _union(a, b) {
+        const rootA = this._find(a);
+        const rootB = this._find(b);
+        if (rootA < rootB) {
+            this._islandParent[rootB] = rootA;
+        }
+        else if (rootB < rootA) {
+            this._islandParent[rootA] = rootB;
+        }
+    }
+    /** Union-find find with path halving. */
+    _find(index) {
+        const parent = this._islandParent;
+        while (parent[index] !== index) {
+            const grandparent = parent[parent[index]];
+            parent[index] = grandparent;
+            index = grandparent;
+        }
+        return index;
+    }
+    /** Build each joint's per-frame constraint data (once per fixed step). */
+    _prepareJoints(h) {
+        for (const joint of this._joints) {
+            joint._prepare(h);
+        }
+    }
+    /** Re-apply each joint's accumulated impulse (each sub-step). */
+    _warmStartJoints() {
+        for (const joint of this._joints) {
+            joint._warmStart();
+        }
+    }
+    /** One joint velocity pass (each sub-step, after the contacts). */
+    _solveJoints(useBias) {
+        for (const joint of this._joints) {
+            joint._solve(useBias);
+        }
+    }
+    /** Whether any dynamic body is flagged for continuous collision (bullet mode). */
+    _hasBullets() {
+        for (const body of this._bodies) {
+            if (body.isBullet && body.type === 'dynamic') {
+                return true;
+            }
+        }
+        return false;
+    }
+    /** Snapshot each bullet's centre of mass at the start of the fixed step (the swept-test origin). */
+    _recordBulletPositions() {
+        for (const body of this._bodies) {
+            if (body.isBullet && body.type === 'dynamic') {
+                body._ccdPrevX = body.worldCenterOfMassX;
+                body._ccdPrevY = body.worldCenterOfMassY;
+            }
+        }
+    }
+    /**
+     * 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).
+     */
+    _advanceBullets() {
+        for (const body of this._bodies) {
+            if (!body.isBullet || body.type !== 'dynamic' || body.isSleeping) {
+                continue;
+            }
+            const newX = body.worldCenterOfMassX;
+            const newY = body.worldCenterOfMassY;
+            let dirX = newX - body._ccdPrevX;
+            let dirY = newY - body._ccdPrevY;
+            const distance = Math.hypot(dirX, dirY);
+            if (distance < 1e-6) {
+                continue;
+            }
+            dirX /= distance;
+            dirY /= distance;
+            this._ccdOrigin.x = body._ccdPrevX;
+            this._ccdOrigin.y = body._ccdPrevY;
+            this._ccdDir.x = dirX;
+            this._ccdDir.y = dirY;
+            const hits = this._query.rayCastAll(this._ccdOrigin, this._ccdDir, undefined, this._ccdHits, distance);
+            let blocked = null;
+            for (const hit of hits) {
+                // Sweep against every other body (static, kinematic, dynamic); sensors never
+                // block. Hits are distance-sorted, so the first match is the nearest surface.
+                if (hit.body !== body && !hit.collider.isSensor) {
+                    blocked = hit;
+                    break;
+                }
+            }
+            if (blocked === null) {
+                continue;
+            }
+            // Clamp the CoM just short of the surface (a pure translation — the rotation
+            // is already applied), then resolve the impact about the surface normal.
+            const clampDistance = Math.max(0, blocked.distance - ccdSkin);
+            const deltaX = body._ccdPrevX + dirX * clampDistance - newX;
+            const deltaY = body._ccdPrevY + dirY * clampDistance - newY;
+            this._ccdOrigin.x = body.x + deltaX;
+            this._ccdOrigin.y = body.y + deltaY;
+            body.setTransform(this._ccdOrigin, body.angle);
+            // Reflect about the true surface normal: a slide for a non-bouncy body
+            // (restitution 0), an elastic bounce as restitution → 1. The body's own
+            // restitution combines (max) with the surface's, matching the contact solver.
+            const nx = blocked.normal.x;
+            const ny = blocked.normal.y;
+            const vn = body.linearVelocityX * nx + body.linearVelocityY * ny;
+            if (vn < 0) {
+                const restitution = vn < -1 ? Math.max(this._bulletRestitution(body), blocked.collider.restitution) : 0;
+                const impulse = -(1 + restitution) * vn;
+                body.linearVelocityX += impulse * nx;
+                body.linearVelocityY += impulse * ny;
+            }
+        }
+    }
+    /** The highest restitution among a body's colliders (its CCD bounce factor). */
+    _bulletRestitution(body) {
+        let restitution = 0;
+        for (const collider of body.colliders) {
+            if (collider.restitution > restitution) {
+                restitution = collider.restitution;
+            }
+        }
+        return restitution;
+    }
     /** Run `command` now, or queue it when inside an event dispatch (deferred to end of step). */
     _defer(command) {
         if (this._dispatching) {

package/dist/esm/PhysicsWorld.js.map

@@ -1 +1 @@
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package/dist/esm/binding/BindingRegistry.d.ts

@@ -1,6 +1,5 @@
 import type { SceneNode } from '@codexo/exojs';
 import type { PhysicsBody } from '../PhysicsBody';
-import type { BindingOptions } from './PhysicsBinding';
 import { PhysicsBinding } from './PhysicsBinding';
 /**
  * Owns the body ↔ node links and writes bound node transforms after each step.
@@ -9,7 +8,7 @@ import { PhysicsBinding } from './PhysicsBinding';
 export declare class BindingRegistry {
     private readonly _bindings;
     /** Link `body` to `node`. Rejects nodes with non-zero skew; runtime scale is ignored. */
-    bind(body: PhysicsBody, node: SceneNode, options?: BindingOptions): PhysicsBinding;
+    bind(body: PhysicsBody, node: SceneNode): PhysicsBinding;
     /** Remove the link for `body`, if any. */
     unbind(body: PhysicsBody): void;
     /** Write every bound node's transform from its body. */

package/dist/esm/binding/BindingRegistry.js

@@ -7,11 +7,11 @@ import { PhysicsBinding } from './PhysicsBinding.js';
 class BindingRegistry {
     _bindings = new Map();
     /** Link `body` to `node`. Rejects nodes with non-zero skew; runtime scale is ignored. */
-    bind(body, node, options) {
+    bind(body, node) {
         if (node.skewX !== 0 || node.skewY !== 0) {
             throw new Error(`PhysicsBinding: the bound node has non-zero skew (${node.skewX}°, ${node.skewY}°); skewed nodes are not supported.`);
         }
-        const binding = new PhysicsBinding(body, node, options?.drive ?? 'body-to-node');
+        const binding = new PhysicsBinding(body, node);
         this._bindings.set(body, binding);
         binding.sync();
         return binding;

package/dist/esm/binding/BindingRegistry.js.map

@@ -1 +1 @@
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+{"version":3,"file":"BindingRegistry.js","sources":["../../../../src/binding/BindingRegistry.ts"],"sourcesContent":[null],"names":[],"mappings":";;AAKA;;;AAGG;MACU,eAAe,CAAA;AACT,IAAA,SAAS,GAAG,IAAI,GAAG,EAA+B;;IAG5D,IAAI,CAAC,IAAiB,EAAE,IAAe,EAAA;AAC5C,QAAA,IAAI,IAAI,CAAC,KAAK,KAAK,CAAC,IAAI,IAAI,CAAC,KAAK,KAAK,CAAC,EAAE;AACxC,YAAA,MAAM,IAAI,KAAK,CAAC,CAAA,kDAAA,EAAqD,IAAI,CAAC,KAAK,CAAA,GAAA,EAAM,IAAI,CAAC,KAAK,CAAA,mCAAA,CAAqC,CAAC;QACvI;QAEA,MAAM,OAAO,GAAG,IAAI,cAAc,CAAC,IAAI,EAAE,IAAI,CAAC;QAE9C,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,IAAI,EAAE,OAAO,CAAC;QACjC,OAAO,CAAC,IAAI,EAAE;AAEd,QAAA,OAAO,OAAO;IAChB;;AAGO,IAAA,MAAM,CAAC,IAAiB,EAAA;AAC7B,QAAA,IAAI,CAAC,SAAS,CAAC,MAAM,CAAC,IAAI,CAAC;IAC7B;;IAGO,IAAI,GAAA;QACT,KAAK,MAAM,OAAO,IAAI,IAAI,CAAC,SAAS,CAAC,MAAM,EAAE,EAAE;YAC7C,OAAO,CAAC,IAAI,EAAE;QAChB;IACF;;AAGA,IAAA,IAAW,IAAI,GAAA;AACb,QAAA,OAAO,IAAI,CAAC,SAAS,CAAC,IAAI;IAC5B;;IAGO,KAAK,GAAA;AACV,QAAA,IAAI,CAAC,SAAS,CAAC,KAAK,EAAE;IACxB;AACD;;;;"}

package/dist/esm/binding/PhysicsBinding.d.ts

@@ -1,15 +1,5 @@
 import { type SceneNode } from '@codexo/exojs';
 import type { PhysicsBody } from '../PhysicsBody';
-/** Options for {@link PhysicsWorld.bind}. */
-export interface BindingOptions {
-    /**
-     * Which way the transform flows. `'body-to-node'` (default) writes the body's
-     * transform onto the node each step — for dynamic and kinematic-position
-     * bodies. `'node-to-body'` (read the node, drive the body) is reserved for the
-     * kinematic-velocity follow-up and currently behaves like `'body-to-node'`.
-     */
-    drive?: 'body-to-node' | 'node-to-body';
-}
 /**
  * A link between a {@link PhysicsBody} and a {@link SceneNode}. After each
  * {@link PhysicsWorld.step}, the body's world position **and rotation** are
@@ -20,8 +10,7 @@ export interface BindingOptions {
 export declare class PhysicsBinding {
     readonly body: PhysicsBody;
     readonly node: SceneNode;
-    readonly drive: 'body-to-node' | 'node-to-body';
-    constructor(body: PhysicsBody, node: SceneNode, drive?: 'body-to-node' | 'node-to-body');
+    constructor(body: PhysicsBody, node: SceneNode);
     /** Write the body's current transform (position + rotation) onto the bound node. */
     sync(): void;
 }

package/dist/esm/binding/PhysicsBinding.js

@@ -10,11 +10,9 @@ import { MathUtils } from '@codexo/exojs';
 class PhysicsBinding {
     body;
     node;
-    drive;
-    constructor(body, node, drive = 'body-to-node') {
+    constructor(body, node) {
         this.body = body;
         this.node = node;
-        this.drive = drive;
     }
     /** Write the body's current transform (position + rotation) onto the bound node. */
     sync() {

package/dist/esm/binding/PhysicsBinding.js.map

@@ -1 +1 @@
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+{"version":3,"file":"PhysicsBinding.js","sources":["../../../../src/binding/PhysicsBinding.ts"],"sourcesContent":[null],"names":[],"mappings":";;AAIA;;;;;;AAMG;MACU,cAAc,CAAA;AAEP,IAAA,IAAA;AACA,IAAA,IAAA;IAFlB,WAAA,CACkB,IAAiB,EACjB,IAAe,EAAA;QADf,IAAA,CAAA,IAAI,GAAJ,IAAI;QACJ,IAAA,CAAA,IAAI,GAAJ,IAAI;IACnB;;IAGI,IAAI,GAAA;AACT,QAAA,IAAI,CAAC,IAAI,CAAC,WAAW,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC,EAAE,IAAI,CAAC,IAAI,CAAC,CAAC,CAAC;AAC/C,QAAA,IAAI,CAAC,IAAI,CAAC,WAAW,CAAC,SAAS,CAAC,gBAAgB,CAAC,IAAI,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;IACpE;AACD;;;;"}

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

@@ -17,6 +17,10 @@ export interface PhysicsDebugDrawOptions {
     drawCenters?: boolean;
     /** Broad-phase candidate links between AABB-overlapping colliders. Default `false`. */
     drawBroadphase?: boolean;
+    /** Tint sleeping bodies distinctly (applies to the shape outline). Default `false`. */
+    drawSleeping?: boolean;
+    /** Lines connecting the bodies of each joint. Default `false`. */
+    drawJoints?: boolean;
 }
 /**
  * `DebugLayer` that visualises a {@link PhysicsWorld} — shapes, AABBs, contacts,
@@ -37,7 +41,9 @@ export declare class PhysicsDebugDraw extends DebugLayer {
     get viewMode(): DebugLayerViewMode;
     update(): void;
     render(backend: RenderBackend): void;
+    private _renderJoints;
     destroy(): void;
+    private _outlineColor;
     private _strokeShape;
     private _strokeAabb;
     private _strokeCircle;

package/dist/esm/debug/PhysicsDebugDraw.js

@@ -14,6 +14,8 @@ 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);
+const colorSleeping = new Color(0.45, 0.45, 0.5, 0.7);
+const colorJoint = new Color(0.9, 0.5, 1, 0.8);
 /**
  * `DebugLayer` that visualises a {@link PhysicsWorld} — shapes, AABBs, contacts,
  * normals, centres and broad-phase links. It reads the world's public state and
@@ -39,6 +41,8 @@ class PhysicsDebugDraw extends DebugLayer {
             drawNormals: options.drawNormals ?? false,
             drawCenters: options.drawCenters ?? false,
             drawBroadphase: options.drawBroadphase ?? false,
+            drawSleeping: options.drawSleeping ?? false,
+            drawJoints: options.drawJoints ?? false,
         };
     }
     get viewMode() {
@@ -74,8 +78,18 @@ class PhysicsDebugDraw extends DebugLayer {
         if (options.drawContacts || options.drawNormals) {
             this._renderContacts(gfx);
         }
+        if (options.drawJoints) {
+            this._renderJoints(gfx);
+        }
         gfx.render(backend);
     }
+    _renderJoints(gfx) {
+        gfx.lineColor = colorJoint;
+        for (const joint of this._world.joints) {
+            gfx.moveTo(joint.bodyA.x, joint.bodyA.y);
+            gfx.lineTo(joint.bodyB.x, joint.bodyB.y);
+        }
+    }
     destroy() {
         if (this._graphics !== null) {
             this._graphics.destroy();
@@ -83,8 +97,17 @@ class PhysicsDebugDraw extends DebugLayer {
         }
     }
     // ── helpers ────────────────────────────────────────────────────────────
+    _outlineColor(collider) {
+        if (collider.isSensor) {
+            return colorSensor;
+        }
+        if (this.options.drawSleeping && collider.body.isSleeping) {
+            return colorSleeping;
+        }
+        return colorForType(collider.body.type);
+    }
     _strokeShape(gfx, collider) {
-        gfx.lineColor = collider.isSensor ? colorSensor : colorForType(collider.body.type);
+        gfx.lineColor = this._outlineColor(collider);
         if (collider.shape.type === 'circle') {
             const c = collider.worldCenter;
             const r = collider.shape.radius;

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

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