@codexo/exojs-physics 0.14.0 → 0.15.1

package/dist/esm/index.js

@@ -1,5 +1,12 @@
 export { PhysicsBinding } from './binding/PhysicsBinding.js';
 export { Collider } from './Collider.js';
+export { DistanceJoint } from './joints/DistanceJoint.js';
+export { Joint } from './joints/Joint.js';
+export { MouseJoint } from './joints/MouseJoint.js';
+export { PrismaticJoint } from './joints/PrismaticJoint.js';
+export { RevoluteJoint } from './joints/RevoluteJoint.js';
+export { WeldJoint } from './joints/WeldJoint.js';
+export { WheelJoint } from './joints/WheelJoint.js';
 export { PhysicsBody } from './PhysicsBody.js';
 export { physicsBuildInfo } from './physicsBuildInfo.js';
 export { PhysicsWorld } from './PhysicsWorld.js';

package/dist/esm/index.js.map

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

package/dist/esm/joints/DistanceJoint.d.ts

@@ -0,0 +1,71 @@
+import type { PhysicsBody } from '../PhysicsBody';
+import type { VectorLike } from '../types';
+import { Joint } from './Joint';
+/** Construction options for a {@link DistanceJoint}. */
+export interface DistanceJointOptions {
+    /** First body (often a static anchor). */
+    bodyA: PhysicsBody;
+    /** Second body. */
+    bodyB: PhysicsBody;
+    /** World-space anchor on body A at creation. Default: body A's position. */
+    anchorA?: VectorLike;
+    /** World-space anchor on body B at creation. Default: body B's position. */
+    anchorB?: VectorLike;
+    /** Target distance between the anchors. Default: their initial distance. */
+    length?: number;
+    /** Soft-spring frequency in Hz; `0` (default) makes it a rigid constraint. */
+    hertz?: number;
+    /** Soft-spring damping ratio (used when `hertz > 0`). Default `1`. */
+    dampingRatio?: number;
+    /**
+     * Minimum allowed distance. Specifying `minLength` and/or `maxLength` turns the
+     * joint into a **rope/limit** (distance kept within `[minLength, maxLength]`,
+     * slack between, rigid limits). Otherwise the joint is a rigid/soft **equality**
+     * at `length`. Defaults to `0` in limit mode.
+     */
+    minLength?: number;
+    /** Maximum allowed distance (the rope length). See {@link minLength}. Defaults to `Infinity` in limit mode. */
+    maxLength?: number;
+}
+/**
+ * Holds the anchor points on two bodies at a target {@link length} along their
+ * connecting axis. With `hertz === 0` it is rigid; with `hertz > 0` it behaves
+ * as a damped spring. Solved as a soft constraint in the sub-step loop, warm-
+ * started across frames.
+ */
+export declare class DistanceJoint extends Joint {
+    /** Target distance between the anchors. */
+    length: number;
+    /** Soft-spring frequency in Hz (`0` = rigid). */
+    hertz: number;
+    /** Soft-spring damping ratio. */
+    dampingRatio: number;
+    /** Minimum allowed distance (rope/limit mode). */
+    minLength: number;
+    /** Maximum allowed distance (rope/limit mode). */
+    maxLength: number;
+    private readonly _limited;
+    private _minImpulse;
+    private _maxImpulse;
+    private readonly _localAnchorAx;
+    private readonly _localAnchorAy;
+    private readonly _localAnchorBx;
+    private readonly _localAnchorBy;
+    private _rAx;
+    private _rAy;
+    private _rBx;
+    private _rBy;
+    private _nx;
+    private _ny;
+    private _separation;
+    private _effMass;
+    private _biasRate;
+    private _massScale;
+    private _impulseScale;
+    private _impulse;
+    constructor(options: DistanceJointOptions);
+    _prepare(h: number): void;
+    _warmStart(): void;
+    _solve(useBias: boolean): void;
+    private _applyAxisImpulse;
+}

package/dist/esm/joints/DistanceJoint.js

@@ -0,0 +1,176 @@
+import { applyInverseTransform, applyTransform } from '../math.js';
+import { Joint } from './Joint.js';
+
+/** Reused output sink — physics steps single-threaded, so a shared scratch is safe. */
+const scratch = { x: 0, y: 0 };
+/**
+ * Holds the anchor points on two bodies at a target {@link length} along their
+ * connecting axis. With `hertz === 0` it is rigid; with `hertz > 0` it behaves
+ * as a damped spring. Solved as a soft constraint in the sub-step loop, warm-
+ * started across frames.
+ */
+class DistanceJoint extends Joint {
+    /** Target distance between the anchors. */
+    length;
+    /** Soft-spring frequency in Hz (`0` = rigid). */
+    hertz;
+    /** Soft-spring damping ratio. */
+    dampingRatio;
+    /** Minimum allowed distance (rope/limit mode). */
+    minLength;
+    /** Maximum allowed distance (rope/limit mode). */
+    maxLength;
+    _limited;
+    _minImpulse = -Infinity;
+    _maxImpulse = Infinity;
+    _localAnchorAx;
+    _localAnchorAy;
+    _localAnchorBx;
+    _localAnchorBy;
+    _rAx = 0;
+    _rAy = 0;
+    _rBx = 0;
+    _rBy = 0;
+    _nx = 0;
+    _ny = 0;
+    _separation = 0;
+    _effMass = 0;
+    _biasRate = 0;
+    _massScale = 1;
+    _impulseScale = 0;
+    _impulse = 0;
+    constructor(options) {
+        super(options.bodyA, options.bodyB);
+        const ax = options.anchorA?.x ?? options.bodyA.x;
+        const ay = options.anchorA?.y ?? options.bodyA.y;
+        const bx = options.anchorB?.x ?? options.bodyB.x;
+        const by = options.anchorB?.y ?? options.bodyB.y;
+        applyInverseTransform(options.bodyA.transform, ax, ay, scratch);
+        this._localAnchorAx = scratch.x;
+        this._localAnchorAy = scratch.y;
+        applyInverseTransform(options.bodyB.transform, bx, by, scratch);
+        this._localAnchorBx = scratch.x;
+        this._localAnchorBy = scratch.y;
+        this.length = options.length ?? Math.hypot(bx - ax, by - ay);
+        this.hertz = options.hertz ?? 0;
+        this.dampingRatio = options.dampingRatio ?? 1;
+        this._limited = options.minLength !== undefined || options.maxLength !== undefined;
+        this.minLength = options.minLength ?? (this._limited ? 0 : this.length);
+        this.maxLength = options.maxLength ?? (this._limited ? Infinity : this.length);
+    }
+    _prepare(h) {
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        this._active = this.enabled && !bodyA.isSleeping && !bodyB.isSleeping && (bodyA.invMass > 0 || bodyB.invMass > 0);
+        if (!this._active) {
+            return;
+        }
+        applyTransform(bodyA.transform, this._localAnchorAx, this._localAnchorAy, scratch);
+        const pAx = scratch.x;
+        const pAy = scratch.y;
+        applyTransform(bodyB.transform, this._localAnchorBx, this._localAnchorBy, scratch);
+        const pBx = scratch.x;
+        const pBy = scratch.y;
+        this._rAx = pAx - bodyA.worldCenterOfMassX;
+        this._rAy = pAy - bodyA.worldCenterOfMassY;
+        this._rBx = pBx - bodyB.worldCenterOfMassX;
+        this._rBy = pBy - bodyB.worldCenterOfMassY;
+        let dx = pBx - pAx;
+        let dy = pBy - pAy;
+        const len = Math.hypot(dx, dy);
+        if (len > 1e-9) {
+            dx /= len;
+            dy /= len;
+        }
+        else {
+            dx = 1;
+            dy = 0;
+        }
+        this._nx = dx;
+        this._ny = dy;
+        const crA = this._rAx * dy - this._rAy * dx;
+        const crB = this._rBx * dy - this._rBy * dx;
+        const k = bodyA.invMass + bodyB.invMass + bodyA.invInertia * crA * crA + bodyB.invInertia * crB * crB;
+        this._effMass = k > 0 ? 1 / k : 0;
+        if (this._limited) {
+            // Rope/limit: solve only the violated bound; slack between min and max.
+            if (len > this.maxLength) {
+                this._separation = len - this.maxLength;
+                this._minImpulse = -Infinity; // pull together only (tension)
+                this._maxImpulse = 0;
+            }
+            else if (len < this.minLength) {
+                this._separation = len - this.minLength;
+                this._minImpulse = 0; // push apart only (compression)
+                this._maxImpulse = Infinity;
+            }
+            else {
+                this._active = false; // slack — nothing to solve this frame
+                this._impulse = 0;
+                return;
+            }
+        }
+        else {
+            this._separation = len - this.length;
+            this._minImpulse = -Infinity;
+            this._maxImpulse = Infinity;
+        }
+        // Soft spring only for the equality joint; rope limits are rigid.
+        if (this.hertz > 0 && !this._limited) {
+            // Box2D-v3 soft factors from a damped spring at the sub-step `h`.
+            const omega = 2 * Math.PI * this.hertz;
+            const a1 = 2 * this.dampingRatio + h * omega;
+            const a2 = h * omega * a1;
+            const a3 = 1 / (1 + a2);
+            this._biasRate = omega / a1;
+            this._massScale = a2 * a3;
+            this._impulseScale = a3;
+        }
+        else {
+            // Rigid: full mass, Baumgarte position bias, no impulse decay.
+            this._biasRate = 0.2 / h;
+            this._massScale = 1;
+            this._impulseScale = 0;
+        }
+    }
+    _warmStart() {
+        if (this._active) {
+            this._applyAxisImpulse(this._impulse);
+        }
+    }
+    _solve(useBias) {
+        if (!this._active) {
+            return;
+        }
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        // Relative velocity of the anchors projected onto the axis.
+        const vax = bodyA.linearVelocityX - bodyA.angularVelocity * this._rAy;
+        const vay = bodyA.linearVelocityY + bodyA.angularVelocity * this._rAx;
+        const vbx = bodyB.linearVelocityX - bodyB.angularVelocity * this._rBy;
+        const vby = bodyB.linearVelocityY + bodyB.angularVelocity * this._rBx;
+        const cdot = (vbx - vax) * this._nx + (vby - vay) * this._ny;
+        const bias = useBias ? this._biasRate * this._separation : 0;
+        const raw = -this._effMass * this._massScale * (cdot + bias) - this._impulseScale * this._impulse;
+        // Clamp the accumulated impulse to the limit's sign range (±Infinity = equality, no clamp).
+        const clamped = Math.min(this._maxImpulse, Math.max(this._minImpulse, this._impulse + raw));
+        const applied = clamped - this._impulse;
+        this._impulse = clamped;
+        this._applyAxisImpulse(applied);
+    }
+    _applyAxisImpulse(impulse) {
+        const jx = impulse * this._nx;
+        const jy = impulse * this._ny;
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        bodyA.linearVelocityX -= bodyA.invMass * jx;
+        bodyA.linearVelocityY -= bodyA.invMass * jy;
+        bodyA.angularVelocity -= bodyA.invInertia * (this._rAx * jy - this._rAy * jx);
+        bodyB.linearVelocityX += bodyB.invMass * jx;
+        bodyB.linearVelocityY += bodyB.invMass * jy;
+        bodyB.angularVelocity += bodyB.invInertia * (this._rBx * jy - this._rBy * jx);
+    }
+}
+
+export { DistanceJoint };
+//# sourceMappingURL=DistanceJoint.js.map

package/dist/esm/joints/DistanceJoint.js.map

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package/dist/esm/joints/Joint.d.ts

@@ -0,0 +1,25 @@
+import type { PhysicsBody } from '../PhysicsBody';
+/**
+ * Base class for a two-body constraint solved alongside contacts in the
+ * sub-step loop. Concrete joints (distance, revolute, weld) implement the
+ * three solver hooks; the world owns the joint list and drives them, and joins
+ * the two bodies into one sleep island so a jointed pair sleeps and wakes
+ * together.
+ */
+export declare abstract class Joint {
+    /** First constrained body. */
+    readonly bodyA: PhysicsBody;
+    /** Second constrained body. */
+    readonly bodyB: PhysicsBody;
+    /** When `false`, the joint is skipped by the solver (but still tracked by the world). */
+    enabled: boolean;
+    /** Whether this joint solves this frame — set in {@link _prepare} (disabled, sleeping or two static bodies → `false`). */
+    protected _active: boolean;
+    protected constructor(bodyA: PhysicsBody, bodyB: PhysicsBody);
+    /** @internal — build this frame's constraint data; called once per fixed step after detection. */
+    abstract _prepare(h: number): void;
+    /** @internal — re-apply the accumulated impulse; called each sub-step (TGS-Soft warm-start). */
+    abstract _warmStart(): void;
+    /** @internal — one velocity pass; `useBias` is the soft-bias pass, `false` the relax pass. */
+    abstract _solve(useBias: boolean): void;
+}

package/dist/esm/joints/Joint.js

@@ -0,0 +1,24 @@
+/**
+ * Base class for a two-body constraint solved alongside contacts in the
+ * sub-step loop. Concrete joints (distance, revolute, weld) implement the
+ * three solver hooks; the world owns the joint list and drives them, and joins
+ * the two bodies into one sleep island so a jointed pair sleeps and wakes
+ * together.
+ */
+class Joint {
+    /** First constrained body. */
+    bodyA;
+    /** Second constrained body. */
+    bodyB;
+    /** When `false`, the joint is skipped by the solver (but still tracked by the world). */
+    enabled = true;
+    /** Whether this joint solves this frame — set in {@link _prepare} (disabled, sleeping or two static bodies → `false`). */
+    _active = false;
+    constructor(bodyA, bodyB) {
+        this.bodyA = bodyA;
+        this.bodyB = bodyB;
+    }
+}
+
+export { Joint };
+//# sourceMappingURL=Joint.js.map

package/dist/esm/joints/Joint.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"Joint.js","sources":["../../../../src/joints/Joint.ts"],"sourcesContent":[null],"names":[],"mappings":"AAEA;;;;;;AAMG;MACmB,KAAK,CAAA;;AAET,IAAA,KAAK;;AAEL,IAAA,KAAK;;IAEd,OAAO,GAAG,IAAI;;IAGX,OAAO,GAAG,KAAK;IAEzB,WAAA,CAAsB,KAAkB,EAAE,KAAkB,EAAA;AAC1D,QAAA,IAAI,CAAC,KAAK,GAAG,KAAK;AAClB,QAAA,IAAI,CAAC,KAAK,GAAG,KAAK;IACpB;AAQD;;;;"}

package/dist/esm/joints/MouseJoint.d.ts

@@ -0,0 +1,57 @@
+import { PhysicsBody } from '../PhysicsBody';
+import type { VectorLike } from '../types';
+import { Joint } from './Joint';
+/** Construction options for a {@link MouseJoint}. */
+export interface MouseJointOptions {
+    /** The body to drag. */
+    body: PhysicsBody;
+    /** World point to pull the body toward — also the grab point on the body at creation. */
+    target: VectorLike;
+    /** Soft-spring frequency in Hz (higher = snappier). Default `5`. */
+    hertz?: number;
+    /** Soft-spring damping ratio. Default `0.7`. */
+    dampingRatio?: number;
+    /** Maximum pulling force — clamps the per-step impulse so heavy bodies lag. Default `Infinity`. */
+    maxForce?: number;
+}
+/**
+ * Softly pulls a single body's grab point toward a movable **target** point
+ * (typically the mouse cursor). The grab point is fixed on the body at creation;
+ * update {@link target} each frame to drag. A soft constraint bounded by
+ * {@link maxForce} — solved in the sub-step loop, warm-started. Internally the
+ * "other" body is a private static ground sentinel, so this is a single-body
+ * constraint that touches only the dragged body.
+ */
+export declare class MouseJoint extends Joint {
+    /** Soft-spring frequency in Hz. */
+    hertz: number;
+    /** Soft-spring damping ratio. */
+    dampingRatio: number;
+    /** Maximum pulling force. */
+    maxForce: number;
+    private readonly _localAnchorX;
+    private readonly _localAnchorY;
+    private _targetX;
+    private _targetY;
+    private _rx;
+    private _ry;
+    private _cx;
+    private _cy;
+    private _invK11;
+    private _invK12;
+    private _invK22;
+    private _biasRate;
+    private _massScale;
+    private _impulseScale;
+    private _impulseX;
+    private _impulseY;
+    private _maxImpulse;
+    constructor(options: MouseJointOptions);
+    /** The world point the body is pulled toward. Reassigning wakes the body so a drag tracks live. */
+    get target(): VectorLike;
+    set target(value: VectorLike);
+    _prepare(h: number): void;
+    _warmStart(): void;
+    _solve(useBias: boolean): void;
+    private _applyImpulse;
+}

package/dist/esm/joints/MouseJoint.js

@@ -0,0 +1,137 @@
+import { applyInverseTransform, applyTransform } from '../math.js';
+import { PhysicsBody } from '../PhysicsBody.js';
+import { Joint } from './Joint.js';
+
+/** Reused output sink — physics steps single-threaded, so a shared scratch is safe. */
+const scratch = { x: 0, y: 0 };
+/**
+ * Softly pulls a single body's grab point toward a movable **target** point
+ * (typically the mouse cursor). The grab point is fixed on the body at creation;
+ * update {@link target} each frame to drag. A soft constraint bounded by
+ * {@link maxForce} — solved in the sub-step loop, warm-started. Internally the
+ * "other" body is a private static ground sentinel, so this is a single-body
+ * constraint that touches only the dragged body.
+ */
+class MouseJoint extends Joint {
+    /** Soft-spring frequency in Hz. */
+    hertz;
+    /** Soft-spring damping ratio. */
+    dampingRatio;
+    /** Maximum pulling force. */
+    maxForce;
+    _localAnchorX;
+    _localAnchorY;
+    _targetX;
+    _targetY;
+    _rx = 0;
+    _ry = 0;
+    _cx = 0;
+    _cy = 0;
+    _invK11 = 0;
+    _invK12 = 0;
+    _invK22 = 0;
+    _biasRate = 0;
+    _massScale = 1;
+    _impulseScale = 0;
+    _impulseX = 0;
+    _impulseY = 0;
+    _maxImpulse = 0;
+    constructor(options) {
+        // Single-body constraint: a private static ground stands in for bodyA so the
+        // island/solver machinery (which assumes two bodies) sees a static anchor that
+        // it never integrates, unions or mutates.
+        super(new PhysicsBody({ type: 'static', position: options.target }), options.body);
+        applyInverseTransform(options.body.transform, options.target.x, options.target.y, scratch);
+        this._localAnchorX = scratch.x;
+        this._localAnchorY = scratch.y;
+        this._targetX = options.target.x;
+        this._targetY = options.target.y;
+        this.hertz = options.hertz ?? 5;
+        this.dampingRatio = options.dampingRatio ?? 0.7;
+        this.maxForce = options.maxForce ?? Infinity;
+    }
+    /** The world point the body is pulled toward. Reassigning wakes the body so a drag tracks live. */
+    get target() {
+        return { x: this._targetX, y: this._targetY };
+    }
+    set target(value) {
+        this._targetX = value.x;
+        this._targetY = value.y;
+        this.bodyB.wake();
+    }
+    _prepare(h) {
+        const body = this.bodyB;
+        this._active = this.enabled && !body.isSleeping && body.invMass > 0;
+        if (!this._active) {
+            return;
+        }
+        applyTransform(body.transform, this._localAnchorX, this._localAnchorY, scratch);
+        this._rx = scratch.x - body.worldCenterOfMassX;
+        this._ry = scratch.y - body.worldCenterOfMassY;
+        this._cx = scratch.x - this._targetX;
+        this._cy = scratch.y - this._targetY;
+        const m = body.invMass;
+        const i = body.invInertia;
+        // 2×2 effective-mass matrix K (only the dragged body contributes) and its inverse.
+        const k11 = m + i * this._ry * this._ry;
+        const k12 = -i * this._rx * this._ry;
+        const k22 = m + i * this._rx * this._rx;
+        const det = k11 * k22 - k12 * k12;
+        const invDet = det !== 0 ? 1 / det : 0;
+        this._invK11 = invDet * k22;
+        this._invK12 = -invDet * k12;
+        this._invK22 = invDet * k11;
+        this._maxImpulse = this.maxForce * h;
+        const omega = 2 * Math.PI * this.hertz;
+        const a1 = 2 * this.dampingRatio + h * omega;
+        const a2 = h * omega * a1;
+        const a3 = 1 / (1 + a2);
+        this._biasRate = omega / a1;
+        this._massScale = a2 * a3;
+        this._impulseScale = a3;
+    }
+    _warmStart() {
+        if (!this._active) {
+            return;
+        }
+        this._applyImpulse(this._impulseX, this._impulseY);
+    }
+    _solve(useBias) {
+        if (!this._active) {
+            return;
+        }
+        const body = this.bodyB;
+        // Velocity of the grab point.
+        const cdotX = body.linearVelocityX - body.angularVelocity * this._ry;
+        const cdotY = body.linearVelocityY + body.angularVelocity * this._rx;
+        const rhsX = cdotX + (useBias ? this._biasRate * this._cx : 0);
+        const rhsY = cdotY + (useBias ? this._biasRate * this._cy : 0);
+        const solvedX = this._invK11 * rhsX + this._invK12 * rhsY;
+        const solvedY = this._invK12 * rhsX + this._invK22 * rhsY;
+        let impulseX = -this._massScale * solvedX - this._impulseScale * this._impulseX;
+        let impulseY = -this._massScale * solvedY - this._impulseScale * this._impulseY;
+        // Clamp the accumulated impulse magnitude to maxForce·h (a heavy body lags).
+        const oldX = this._impulseX;
+        const oldY = this._impulseY;
+        this._impulseX += impulseX;
+        this._impulseY += impulseY;
+        const magnitude = Math.hypot(this._impulseX, this._impulseY);
+        if (magnitude > this._maxImpulse) {
+            const scale = this._maxImpulse / magnitude;
+            this._impulseX *= scale;
+            this._impulseY *= scale;
+        }
+        impulseX = this._impulseX - oldX;
+        impulseY = this._impulseY - oldY;
+        this._applyImpulse(impulseX, impulseY);
+    }
+    _applyImpulse(jx, jy) {
+        const body = this.bodyB;
+        body.linearVelocityX += body.invMass * jx;
+        body.linearVelocityY += body.invMass * jy;
+        body.angularVelocity += body.invInertia * (this._rx * jy - this._ry * jx);
+    }
+}
+
+export { MouseJoint };
+//# sourceMappingURL=MouseJoint.js.map

package/dist/esm/joints/MouseJoint.js.map

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

@@ -0,0 +1,85 @@
+import type { PhysicsBody } from '../PhysicsBody';
+import type { VectorLike } from '../types';
+import { Joint } from './Joint';
+/** Construction options for a {@link PrismaticJoint}. */
+export interface PrismaticJointOptions {
+    /** First body (often a static rail anchor). */
+    bodyA: PhysicsBody;
+    /** Second body (the slider). */
+    bodyB: PhysicsBody;
+    /** Shared world-space anchor at creation. */
+    anchor: VectorLike;
+    /** Slide axis in world space at creation (normalised internally). The body may only translate along this axis. */
+    axis: VectorLike;
+    /** Enable the linear motor (drives translation along the axis toward {@link motorSpeed}). Default `false`. */
+    enableMotor?: boolean;
+    /** Target translation speed along the axis (px/s). Default `0`. */
+    motorSpeed?: number;
+    /** Maximum motor force — clamps the per-step motor impulse. Default `0`. */
+    maxMotorForce?: number;
+    /** Enable the translation limit (keeps the axis translation in `[lowerTranslation, upperTranslation]`). Default `false`. */
+    enableLimit?: boolean;
+    /** Lower translation limit along the axis (relative to the creation position). Default `0`. */
+    lowerTranslation?: number;
+    /** Upper translation limit along the axis. Default `0`. */
+    upperTranslation?: number;
+}
+/**
+ * Constrains a body to **slide along a single axis** relative to another: the
+ * perpendicular translation and the relative rotation are locked (a 2×2 block);
+ * only translation along the axis is free, optionally driven by a motor and/or
+ * bounded by a translation limit. Solved in the sub-step loop, warm-started.
+ */
+export declare class PrismaticJoint extends Joint {
+    /** When `true`, the motor drives the axis translation toward {@link motorSpeed}. */
+    enableMotor: boolean;
+    /** Target translation speed along the axis (px/s). */
+    motorSpeed: number;
+    /** Maximum motor force. */
+    maxMotorForce: number;
+    /** When `true`, the axis translation is constrained to `[lowerTranslation, upperTranslation]`. */
+    enableLimit: boolean;
+    /** Lower translation limit along the axis. */
+    lowerTranslation: number;
+    /** Upper translation limit along the axis. */
+    upperTranslation: number;
+    private readonly _localAnchorAx;
+    private readonly _localAnchorAy;
+    private readonly _localAnchorBx;
+    private readonly _localAnchorBy;
+    private readonly _localAxisAx;
+    private readonly _localAxisAy;
+    private readonly _referenceAngle;
+    private _axisX;
+    private _axisY;
+    private _perpX;
+    private _perpY;
+    private _a1;
+    private _a2;
+    private _s1;
+    private _s2;
+    private _k11;
+    private _k12;
+    private _k22;
+    private _cPerp;
+    private _cAngle;
+    private _translation;
+    private _axialMass;
+    private _h;
+    private _invH;
+    private _perpImpulse;
+    private _angularImpulse;
+    private _motorImpulse;
+    private _lowerImpulse;
+    private _upperImpulse;
+    constructor(options: PrismaticJointOptions);
+    _prepare(h: number): void;
+    _warmStart(): void;
+    _solve(useBias: boolean): void;
+    /** Relative velocity projected onto the axis (plus the rotation cross terms). */
+    private _axisVelocity;
+    /** Relative velocity projected onto the perpendicular (plus the rotation cross terms). */
+    private _perpVelocity;
+    private _applyAxial;
+    private _applyBlock;
+}