@codexo/exojs-physics 0.14.0 → 0.15.1

package/dist/esm/joints/WeldJoint.js

@@ -0,0 +1,159 @@
+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 };
+/** Box2D-v3 soft-constraint factors at sub-step `h`, or rigid Baumgarte when `hertz === 0`. */
+const computeSoftFactors = (hertz, dampingRatio, h, out) => {
+    if (hertz > 0) {
+        const omega = 2 * Math.PI * hertz;
+        const a1 = 2 * dampingRatio + h * omega;
+        const a2 = h * omega * a1;
+        const a3 = 1 / (1 + a2);
+        out.biasRate = omega / a1;
+        out.massScale = a2 * a3;
+        out.impulseScale = a3;
+    }
+    else {
+        out.biasRate = 0.2 / h;
+        out.massScale = 1;
+        out.impulseScale = 0;
+    }
+};
+/**
+ * Rigidly fixes the relative position and orientation of two bodies (they move
+ * as one rigid body). A 2-DOF point constraint (like {@link RevoluteJoint}) plus
+ * a 1-DOF angular constraint, solved in the sub-step loop. Both locks default to
+ * rigid; set `linearHertz`/`angularHertz` for a springy weld.
+ */
+class WeldJoint extends Joint {
+    /** Locked relative angle `angleB − angleA`. */
+    referenceAngle;
+    /** Soft frequency for the position lock (`0` = rigid). */
+    linearHertz;
+    /** Soft frequency for the angle lock (`0` = rigid). */
+    angularHertz;
+    /** Soft damping ratio. */
+    dampingRatio;
+    _localAnchorAx;
+    _localAnchorAy;
+    _localAnchorBx;
+    _localAnchorBy;
+    _rAx = 0;
+    _rAy = 0;
+    _rBx = 0;
+    _rBy = 0;
+    _cx = 0;
+    _cy = 0;
+    _invK11 = 0;
+    _invK12 = 0;
+    _invK22 = 0;
+    _angleError = 0;
+    _effMassAngle = 0;
+    _linear = { biasRate: 0, massScale: 1, impulseScale: 0 };
+    _angular = { biasRate: 0, massScale: 1, impulseScale: 0 };
+    _impulseX = 0;
+    _impulseY = 0;
+    _impulseAngle = 0;
+    constructor(options) {
+        super(options.bodyA, options.bodyB);
+        const ax = options.anchor?.x ?? (options.bodyA.x + options.bodyB.x) / 2;
+        const ay = options.anchor?.y ?? (options.bodyA.y + options.bodyB.y) / 2;
+        applyInverseTransform(options.bodyA.transform, ax, ay, scratch);
+        this._localAnchorAx = scratch.x;
+        this._localAnchorAy = scratch.y;
+        applyInverseTransform(options.bodyB.transform, ax, ay, scratch);
+        this._localAnchorBx = scratch.x;
+        this._localAnchorBy = scratch.y;
+        this.referenceAngle = options.referenceAngle ?? options.bodyB.angle - options.bodyA.angle;
+        this.linearHertz = options.linearHertz ?? 0;
+        this.angularHertz = options.angularHertz ?? 0;
+        this.dampingRatio = options.dampingRatio ?? 1;
+    }
+    _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;
+        this._cx = pBx - pAx;
+        this._cy = pBy - pAy;
+        const mA = bodyA.invMass;
+        const mB = bodyB.invMass;
+        const iA = bodyA.invInertia;
+        const iB = bodyB.invInertia;
+        const k11 = mA + mB + iA * this._rAy * this._rAy + iB * this._rBy * this._rBy;
+        const k12 = -iA * this._rAx * this._rAy - iB * this._rBx * this._rBy;
+        const k22 = mA + mB + iA * this._rAx * this._rAx + iB * this._rBx * this._rBx;
+        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._angleError = bodyB.angle - bodyA.angle - this.referenceAngle;
+        const kAngle = iA + iB;
+        this._effMassAngle = kAngle > 0 ? 1 / kAngle : 0;
+        computeSoftFactors(this.linearHertz, this.dampingRatio, h, this._linear);
+        computeSoftFactors(this.angularHertz, this.dampingRatio, h, this._angular);
+    }
+    _warmStart() {
+        if (!this._active) {
+            return;
+        }
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        bodyA.angularVelocity -= bodyA.invInertia * this._impulseAngle;
+        bodyB.angularVelocity += bodyB.invInertia * this._impulseAngle;
+        this._applyLinearImpulse(this._impulseX, this._impulseY);
+    }
+    _solve(useBias) {
+        if (!this._active) {
+            return;
+        }
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        // Angular lock first.
+        const cdotAngle = bodyB.angularVelocity - bodyA.angularVelocity;
+        const biasAngle = useBias ? this._angular.biasRate * this._angleError : 0;
+        const impulseAngle = -this._effMassAngle * this._angular.massScale * (cdotAngle + biasAngle) - this._angular.impulseScale * this._impulseAngle;
+        this._impulseAngle += impulseAngle;
+        bodyA.angularVelocity -= bodyA.invInertia * impulseAngle;
+        bodyB.angularVelocity += bodyB.invInertia * impulseAngle;
+        // Linear (point) lock.
+        const cdotX = bodyB.linearVelocityX - bodyB.angularVelocity * this._rBy - (bodyA.linearVelocityX - bodyA.angularVelocity * this._rAy);
+        const cdotY = bodyB.linearVelocityY + bodyB.angularVelocity * this._rBx - (bodyA.linearVelocityY + bodyA.angularVelocity * this._rAx);
+        const rhsX = cdotX + (useBias ? this._linear.biasRate * this._cx : 0);
+        const rhsY = cdotY + (useBias ? this._linear.biasRate * this._cy : 0);
+        const solvedX = this._invK11 * rhsX + this._invK12 * rhsY;
+        const solvedY = this._invK12 * rhsX + this._invK22 * rhsY;
+        const impulseX = -this._linear.massScale * solvedX - this._linear.impulseScale * this._impulseX;
+        const impulseY = -this._linear.massScale * solvedY - this._linear.impulseScale * this._impulseY;
+        this._impulseX += impulseX;
+        this._impulseY += impulseY;
+        this._applyLinearImpulse(impulseX, impulseY);
+    }
+    _applyLinearImpulse(jx, jy) {
+        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 { WeldJoint };
+//# sourceMappingURL=WeldJoint.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"WeldJoint.js","sources":["../../../../src/joints/WeldJoint.ts"],"sourcesContent":[null],"names":[],"mappings":";;;AAuBA;AACA,MAAM,OAAO,GAAc,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE;AAQzC;AACA,MAAM,kBAAkB,GAAG,CAAC,KAAa,EAAE,YAAoB,EAAE,CAAS,EAAE,GAAgB,KAAU;AACpG,IAAA,IAAI,KAAK,GAAG,CAAC,EAAE;QACb,MAAM,KAAK,GAAG,CAAC,GAAG,IAAI,CAAC,EAAE,GAAG,KAAK;QACjC,MAAM,EAAE,GAAG,CAAC,GAAG,YAAY,GAAG,CAAC,GAAG,KAAK;AACvC,QAAA,MAAM,EAAE,GAAG,CAAC,GAAG,KAAK,GAAG,EAAE;QACzB,MAAM,EAAE,GAAG,CAAC,IAAI,CAAC,GAAG,EAAE,CAAC;AAEvB,QAAA,GAAG,CAAC,QAAQ,GAAG,KAAK,GAAG,EAAE;AACzB,QAAA,GAAG,CAAC,SAAS,GAAG,EAAE,GAAG,EAAE;AACvB,QAAA,GAAG,CAAC,YAAY,GAAG,EAAE;IACvB;SAAO;AACL,QAAA,GAAG,CAAC,QAAQ,GAAG,GAAG,GAAG,CAAC;AACtB,QAAA,GAAG,CAAC,SAAS,GAAG,CAAC;AACjB,QAAA,GAAG,CAAC,YAAY,GAAG,CAAC;IACtB;AACF,CAAC;AAED;;;;;AAKG;AACG,MAAO,SAAU,SAAQ,KAAK,CAAA;;AAE3B,IAAA,cAAc;;AAEd,IAAA,WAAW;;AAEX,IAAA,YAAY;;AAEZ,IAAA,YAAY;AAEF,IAAA,cAAc;AACd,IAAA,cAAc;AACd,IAAA,cAAc;AACd,IAAA,cAAc;IAEvB,IAAI,GAAG,CAAC;IACR,IAAI,GAAG,CAAC;IACR,IAAI,GAAG,CAAC;IACR,IAAI,GAAG,CAAC;IACR,GAAG,GAAG,CAAC;IACP,GAAG,GAAG,CAAC;IACP,OAAO,GAAG,CAAC;IACX,OAAO,GAAG,CAAC;IACX,OAAO,GAAG,CAAC;IACX,WAAW,GAAG,CAAC;IACf,aAAa,GAAG,CAAC;AACR,IAAA,OAAO,GAAgB,EAAE,QAAQ,EAAE,CAAC,EAAE,SAAS,EAAE,CAAC,EAAE,YAAY,EAAE,CAAC,EAAE;AACrE,IAAA,QAAQ,GAAgB,EAAE,QAAQ,EAAE,CAAC,EAAE,SAAS,EAAE,CAAC,EAAE,YAAY,EAAE,CAAC,EAAE;IAC/E,SAAS,GAAG,CAAC;IACb,SAAS,GAAG,CAAC;IACb,aAAa,GAAG,CAAC;AAEzB,IAAA,WAAA,CAAmB,OAAyB,EAAA;QAC1C,KAAK,CAAC,OAAO,CAAC,KAAK,EAAE,OAAO,CAAC,KAAK,CAAC;QAEnC,MAAM,EAAE,GAAG,OAAO,CAAC,MAAM,EAAE,CAAC,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,GAAG,OAAO,CAAC,KAAK,CAAC,CAAC,IAAI,CAAC;QACvE,MAAM,EAAE,GAAG,OAAO,CAAC,MAAM,EAAE,CAAC,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,GAAG,OAAO,CAAC,KAAK,CAAC,CAAC,IAAI,CAAC;AAEvE,QAAA,qBAAqB,CAAC,OAAO,CAAC,KAAK,CAAC,SAAS,EAAE,EAAE,EAAE,EAAE,EAAE,OAAO,CAAC;AAC/D,QAAA,IAAI,CAAC,cAAc,GAAG,OAAO,CAAC,CAAC;AAC/B,QAAA,IAAI,CAAC,cAAc,GAAG,OAAO,CAAC,CAAC;AAC/B,QAAA,qBAAqB,CAAC,OAAO,CAAC,KAAK,CAAC,SAAS,EAAE,EAAE,EAAE,EAAE,EAAE,OAAO,CAAC;AAC/D,QAAA,IAAI,CAAC,cAAc,GAAG,OAAO,CAAC,CAAC;AAC/B,QAAA,IAAI,CAAC,cAAc,GAAG,OAAO,CAAC,CAAC;AAE/B,QAAA,IAAI,CAAC,cAAc,GAAG,OAAO,CAAC,cAAc,IAAI,OAAO,CAAC,KAAK,CAAC,KAAK,GAAG,OAAO,CAAC,KAAK,CAAC,KAAK;QACzF,IAAI,CAAC,WAAW,GAAG,OAAO,CAAC,WAAW,IAAI,CAAC;QAC3C,IAAI,CAAC,YAAY,GAAG,OAAO,CAAC,YAAY,IAAI,CAAC;QAC7C,IAAI,CAAC,YAAY,GAAG,OAAO,CAAC,YAAY,IAAI,CAAC;IAC/C;AAEgB,IAAA,QAAQ,CAAC,CAAS,EAAA;AAChC,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;AACxB,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;AAExB,QAAA,IAAI,CAAC,OAAO,GAAG,IAAI,CAAC,OAAO,IAAI,CAAC,KAAK,CAAC,UAAU,IAAI,CAAC,KAAK,CAAC,UAAU,KAAK,KAAK,CAAC,OAAO,GAAG,CAAC,IAAI,KAAK,CAAC,OAAO,GAAG,CAAC,CAAC;AAEjH,QAAA,IAAI,CAAC,IAAI,CAAC,OAAO,EAAE;YACjB;QACF;AAEA,QAAA,cAAc,CAAC,KAAK,CAAC,SAAS,EAAE,IAAI,CAAC,cAAc,EAAE,IAAI,CAAC,cAAc,EAAE,OAAO,CAAC;AAClF,QAAA,MAAM,GAAG,GAAG,OAAO,CAAC,CAAC;AACrB,QAAA,MAAM,GAAG,GAAG,OAAO,CAAC,CAAC;AACrB,QAAA,cAAc,CAAC,KAAK,CAAC,SAAS,EAAE,IAAI,CAAC,cAAc,EAAE,IAAI,CAAC,cAAc,EAAE,OAAO,CAAC;AAClF,QAAA,MAAM,GAAG,GAAG,OAAO,CAAC,CAAC;AACrB,QAAA,MAAM,GAAG,GAAG,OAAO,CAAC,CAAC;QAErB,IAAI,CAAC,IAAI,GAAG,GAAG,GAAG,KAAK,CAAC,kBAAkB;QAC1C,IAAI,CAAC,IAAI,GAAG,GAAG,GAAG,KAAK,CAAC,kBAAkB;QAC1C,IAAI,CAAC,IAAI,GAAG,GAAG,GAAG,KAAK,CAAC,kBAAkB;QAC1C,IAAI,CAAC,IAAI,GAAG,GAAG,GAAG,KAAK,CAAC,kBAAkB;AAC1C,QAAA,IAAI,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG;AACpB,QAAA,IAAI,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG;AAEpB,QAAA,MAAM,EAAE,GAAG,KAAK,CAAC,OAAO;AACxB,QAAA,MAAM,EAAE,GAAG,KAAK,CAAC,OAAO;AACxB,QAAA,MAAM,EAAE,GAAG,KAAK,CAAC,UAAU;AAC3B,QAAA,MAAM,EAAE,GAAG,KAAK,CAAC,UAAU;QAE3B,MAAM,GAAG,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,IAAI,CAAC,IAAI,GAAG,IAAI,CAAC,IAAI,GAAG,EAAE,GAAG,IAAI,CAAC,IAAI,GAAG,IAAI,CAAC,IAAI;QAC7E,MAAM,GAAG,GAAG,CAAC,EAAE,GAAG,IAAI,CAAC,IAAI,GAAG,IAAI,CAAC,IAAI,GAAG,EAAE,GAAG,IAAI,CAAC,IAAI,GAAG,IAAI,CAAC,IAAI;QACpE,MAAM,GAAG,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,IAAI,CAAC,IAAI,GAAG,IAAI,CAAC,IAAI,GAAG,EAAE,GAAG,IAAI,CAAC,IAAI,GAAG,IAAI,CAAC,IAAI;QAC7E,MAAM,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG;AACjC,QAAA,MAAM,MAAM,GAAG,GAAG,KAAK,CAAC,GAAG,CAAC,GAAG,GAAG,GAAG,CAAC;AAEtC,QAAA,IAAI,CAAC,OAAO,GAAG,MAAM,GAAG,GAAG;AAC3B,QAAA,IAAI,CAAC,OAAO,GAAG,CAAC,MAAM,GAAG,GAAG;AAC5B,QAAA,IAAI,CAAC,OAAO,GAAG,MAAM,GAAG,GAAG;AAE3B,QAAA,IAAI,CAAC,WAAW,GAAG,KAAK,CAAC,KAAK,GAAG,KAAK,CAAC,KAAK,GAAG,IAAI,CAAC,cAAc;AAClE,QAAA,MAAM,MAAM,GAAG,EAAE,GAAG,EAAE;AACtB,QAAA,IAAI,CAAC,aAAa,GAAG,MAAM,GAAG,CAAC,GAAG,CAAC,GAAG,MAAM,GAAG,CAAC;AAEhD,QAAA,kBAAkB,CAAC,IAAI,CAAC,WAAW,EAAE,IAAI,CAAC,YAAY,EAAE,CAAC,EAAE,IAAI,CAAC,OAAO,CAAC;AACxE,QAAA,kBAAkB,CAAC,IAAI,CAAC,YAAY,EAAE,IAAI,CAAC,YAAY,EAAE,CAAC,EAAE,IAAI,CAAC,QAAQ,CAAC;IAC5E;IAEgB,UAAU,GAAA;AACxB,QAAA,IAAI,CAAC,IAAI,CAAC,OAAO,EAAE;YACjB;QACF;AAEA,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;AACxB,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;QAExB,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,UAAU,GAAG,IAAI,CAAC,aAAa;QAC9D,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,UAAU,GAAG,IAAI,CAAC,aAAa;QAC9D,IAAI,CAAC,mBAAmB,CAAC,IAAI,CAAC,SAAS,EAAE,IAAI,CAAC,SAAS,CAAC;IAC1D;AAEgB,IAAA,MAAM,CAAC,OAAgB,EAAA;AACrC,QAAA,IAAI,CAAC,IAAI,CAAC,OAAO,EAAE;YACjB;QACF;AAEA,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;AACxB,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;;QAGxB,MAAM,SAAS,GAAG,KAAK,CAAC,eAAe,GAAG,KAAK,CAAC,eAAe;AAC/D,QAAA,MAAM,SAAS,GAAG,OAAO,GAAG,IAAI,CAAC,QAAQ,CAAC,QAAQ,GAAG,IAAI,CAAC,WAAW,GAAG,CAAC;AACzE,QAAA,MAAM,YAAY,GAAG,CAAC,IAAI,CAAC,aAAa,GAAG,IAAI,CAAC,QAAQ,CAAC,SAAS,IAAI,SAAS,GAAG,SAAS,CAAC,GAAG,IAAI,CAAC,QAAQ,CAAC,YAAY,GAAG,IAAI,CAAC,aAAa;AAE9I,QAAA,IAAI,CAAC,aAAa,IAAI,YAAY;QAClC,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,UAAU,GAAG,YAAY;QACxD,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,UAAU,GAAG,YAAY;;QAGxD,MAAM,KAAK,GAAG,KAAK,CAAC,eAAe,GAAG,KAAK,CAAC,eAAe,GAAG,IAAI,CAAC,IAAI,IAAI,KAAK,CAAC,eAAe,GAAG,KAAK,CAAC,eAAe,GAAG,IAAI,CAAC,IAAI,CAAC;QACrI,MAAM,KAAK,GAAG,KAAK,CAAC,eAAe,GAAG,KAAK,CAAC,eAAe,GAAG,IAAI,CAAC,IAAI,IAAI,KAAK,CAAC,eAAe,GAAG,KAAK,CAAC,eAAe,GAAG,IAAI,CAAC,IAAI,CAAC;QACrI,MAAM,IAAI,GAAG,KAAK,IAAI,OAAO,GAAG,IAAI,CAAC,OAAO,CAAC,QAAQ,GAAG,IAAI,CAAC,GAAG,GAAG,CAAC,CAAC;QACrE,MAAM,IAAI,GAAG,KAAK,IAAI,OAAO,GAAG,IAAI,CAAC,OAAO,CAAC,QAAQ,GAAG,IAAI,CAAC,GAAG,GAAG,CAAC,CAAC;AACrE,QAAA,MAAM,OAAO,GAAG,IAAI,CAAC,OAAO,GAAG,IAAI,GAAG,IAAI,CAAC,OAAO,GAAG,IAAI;AACzD,QAAA,MAAM,OAAO,GAAG,IAAI,CAAC,OAAO,GAAG,IAAI,GAAG,IAAI,CAAC,OAAO,GAAG,IAAI;QACzD,MAAM,QAAQ,GAAG,CAAC,IAAI,CAAC,OAAO,CAAC,SAAS,GAAG,OAAO,GAAG,IAAI,CAAC,OAAO,CAAC,YAAY,GAAG,IAAI,CAAC,SAAS;QAC/F,MAAM,QAAQ,GAAG,CAAC,IAAI,CAAC,OAAO,CAAC,SAAS,GAAG,OAAO,GAAG,IAAI,CAAC,OAAO,CAAC,YAAY,GAAG,IAAI,CAAC,SAAS;AAE/F,QAAA,IAAI,CAAC,SAAS,IAAI,QAAQ;AAC1B,QAAA,IAAI,CAAC,SAAS,IAAI,QAAQ;AAC1B,QAAA,IAAI,CAAC,mBAAmB,CAAC,QAAQ,EAAE,QAAQ,CAAC;IAC9C;IAEQ,mBAAmB,CAAC,EAAU,EAAE,EAAU,EAAA;AAChD,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;AACxB,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;QAExB,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,OAAO,GAAG,EAAE;QAC3C,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,OAAO,GAAG,EAAE;QAC3C,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,UAAU,IAAI,IAAI,CAAC,IAAI,GAAG,EAAE,GAAG,IAAI,CAAC,IAAI,GAAG,EAAE,CAAC;QAC7E,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,OAAO,GAAG,EAAE;QAC3C,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,OAAO,GAAG,EAAE;QAC3C,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,UAAU,IAAI,IAAI,CAAC,IAAI,GAAG,EAAE,GAAG,IAAI,CAAC,IAAI,GAAG,EAAE,CAAC;IAC/E;AACD;;;;"}

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

@@ -0,0 +1,92 @@
+import type { PhysicsBody } from '../PhysicsBody';
+import type { VectorLike } from '../types';
+import { Joint } from './Joint';
+/** Construction options for a {@link WheelJoint}. */
+export interface WheelJointOptions {
+    /** First body (the chassis). */
+    bodyA: PhysicsBody;
+    /** Second body (the wheel). */
+    bodyB: PhysicsBody;
+    /** Shared world-space anchor at creation (the wheel hub). */
+    anchor: VectorLike;
+    /** Suspension axis in world space at creation (normalised internally). */
+    axis: VectorLike;
+    /** Suspension spring frequency in Hz (`0` makes the axis rigid). Default `0`. */
+    hertz?: number;
+    /** Suspension spring damping ratio. Default `1`. */
+    dampingRatio?: number;
+    /** Enable the rotation motor (drives the wheel's spin). Default `false`. */
+    enableMotor?: boolean;
+    /** Target relative angular velocity (rad/s) for the motor. Default `0`. */
+    motorSpeed?: number;
+    /** Maximum motor torque. Default `0`. */
+    maxMotorTorque?: number;
+    /** Enable the suspension-travel limit (keeps the axis translation in `[lowerTranslation, upperTranslation]`). Default `false`. */
+    enableLimit?: boolean;
+    /** Lower suspension-travel limit along the axis (relative to the creation position). Default `0`. */
+    lowerTranslation?: number;
+    /** Upper suspension-travel limit along the axis. Default `0`. */
+    upperTranslation?: number;
+}
+/**
+ * A wheel attached to a chassis: free to **spin** (no rotation lock) and sprung
+ * along a **suspension axis** (a soft spring), but locked **laterally** (it
+ * cannot slide perpendicular to the axis). Optionally driven by a rotation
+ * motor and/or bounded by a suspension-travel limit. Used for vehicles. Solved
+ * in the sub-step loop, warm-started.
+ */
+export declare class WheelJoint extends Joint {
+    /** Suspension spring frequency in Hz (`0` = rigid axis). */
+    hertz: number;
+    /** Suspension spring damping ratio. */
+    dampingRatio: number;
+    /** When `true`, the motor drives the wheel's spin toward {@link motorSpeed}. */
+    enableMotor: boolean;
+    /** Target relative angular velocity (rad/s) for the motor. */
+    motorSpeed: number;
+    /** Maximum motor torque. */
+    maxMotorTorque: number;
+    /** When `true`, the axis translation is constrained to `[lowerTranslation, upperTranslation]`. */
+    enableLimit: boolean;
+    /** Lower suspension-travel limit along the axis. */
+    lowerTranslation: number;
+    /** Upper suspension-travel 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 _axisX;
+    private _axisY;
+    private _perpX;
+    private _perpY;
+    private _a1;
+    private _a2;
+    private _s1;
+    private _s2;
+    private _perpMass;
+    private _axialMass;
+    private _angularMass;
+    private _springBiasRate;
+    private _springMassScale;
+    private _springImpulseScale;
+    private _cPerp;
+    private _translation;
+    private _h;
+    private _invH;
+    private _perpImpulse;
+    private _springImpulse;
+    private _motorImpulse;
+    private _lowerImpulse;
+    private _upperImpulse;
+    constructor(options: WheelJointOptions);
+    _prepare(h: number): void;
+    _warmStart(): void;
+    _solve(useBias: boolean): void;
+    private _axisVelocity;
+    private _perpVelocity;
+    private _applyAxial;
+    private _applyPerp;
+}

package/dist/esm/joints/WheelJoint.js

@@ -0,0 +1,256 @@
+import { applyInverseTransform, applyInverseRotation, applyRotation, 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 };
+/**
+ * A wheel attached to a chassis: free to **spin** (no rotation lock) and sprung
+ * along a **suspension axis** (a soft spring), but locked **laterally** (it
+ * cannot slide perpendicular to the axis). Optionally driven by a rotation
+ * motor and/or bounded by a suspension-travel limit. Used for vehicles. Solved
+ * in the sub-step loop, warm-started.
+ */
+class WheelJoint extends Joint {
+    /** Suspension spring frequency in Hz (`0` = rigid axis). */
+    hertz;
+    /** Suspension spring damping ratio. */
+    dampingRatio;
+    /** When `true`, the motor drives the wheel's spin toward {@link motorSpeed}. */
+    enableMotor;
+    /** Target relative angular velocity (rad/s) for the motor. */
+    motorSpeed;
+    /** Maximum motor torque. */
+    maxMotorTorque;
+    /** When `true`, the axis translation is constrained to `[lowerTranslation, upperTranslation]`. */
+    enableLimit;
+    /** Lower suspension-travel limit along the axis. */
+    lowerTranslation;
+    /** Upper suspension-travel limit along the axis. */
+    upperTranslation;
+    _localAnchorAx;
+    _localAnchorAy;
+    _localAnchorBx;
+    _localAnchorBy;
+    _localAxisAx;
+    _localAxisAy;
+    _axisX = 1;
+    _axisY = 0;
+    _perpX = 0;
+    _perpY = 1;
+    _a1 = 0;
+    _a2 = 0;
+    _s1 = 0;
+    _s2 = 0;
+    _perpMass = 0;
+    _axialMass = 0;
+    _angularMass = 0;
+    _springBiasRate = 0;
+    _springMassScale = 1;
+    _springImpulseScale = 0;
+    _cPerp = 0;
+    _translation = 0;
+    _h = 0;
+    _invH = 0;
+    _perpImpulse = 0;
+    _springImpulse = 0;
+    _motorImpulse = 0;
+    _lowerImpulse = 0;
+    _upperImpulse = 0;
+    constructor(options) {
+        super(options.bodyA, options.bodyB);
+        applyInverseTransform(options.bodyA.transform, options.anchor.x, options.anchor.y, scratch);
+        this._localAnchorAx = scratch.x;
+        this._localAnchorAy = scratch.y;
+        applyInverseTransform(options.bodyB.transform, options.anchor.x, options.anchor.y, scratch);
+        this._localAnchorBx = scratch.x;
+        this._localAnchorBy = scratch.y;
+        const axisLength = Math.hypot(options.axis.x, options.axis.y) || 1;
+        applyInverseRotation(options.bodyA.transform, options.axis.x / axisLength, options.axis.y / axisLength, scratch);
+        this._localAxisAx = scratch.x;
+        this._localAxisAy = scratch.y;
+        this.hertz = options.hertz ?? 0;
+        this.dampingRatio = options.dampingRatio ?? 1;
+        this.enableMotor = options.enableMotor ?? false;
+        this.motorSpeed = options.motorSpeed ?? 0;
+        this.maxMotorTorque = options.maxMotorTorque ?? 0;
+        this.enableLimit = options.enableLimit ?? false;
+        this.lowerTranslation = options.lowerTranslation ?? 0;
+        this.upperTranslation = options.upperTranslation ?? 0;
+    }
+    _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;
+        }
+        applyRotation(bodyA.transform, this._localAxisAx, this._localAxisAy, scratch);
+        const axisX = scratch.x;
+        const axisY = scratch.y;
+        const perpX = -axisY;
+        const perpY = axisX;
+        this._axisX = axisX;
+        this._axisY = axisY;
+        this._perpX = perpX;
+        this._perpY = perpY;
+        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;
+        const rAx = pAx - bodyA.worldCenterOfMassX;
+        const rAy = pAy - bodyA.worldCenterOfMassY;
+        const rBx = pBx - bodyB.worldCenterOfMassX;
+        const rBy = pBy - bodyB.worldCenterOfMassY;
+        const dx = pBx - pAx;
+        const dy = pBy - pAy;
+        this._a1 = (dx + rAx) * axisY - (dy + rAy) * axisX;
+        this._a2 = rBx * axisY - rBy * axisX;
+        this._s1 = (dx + rAx) * perpY - (dy + rAy) * perpX;
+        this._s2 = rBx * perpY - rBy * perpX;
+        const mA = bodyA.invMass;
+        const mB = bodyB.invMass;
+        const iA = bodyA.invInertia;
+        const iB = bodyB.invInertia;
+        const kPerp = mA + mB + iA * this._s1 * this._s1 + iB * this._s2 * this._s2;
+        this._perpMass = kPerp > 0 ? 1 / kPerp : 0;
+        const kAxial = mA + mB + iA * this._a1 * this._a1 + iB * this._a2 * this._a2;
+        this._axialMass = kAxial > 0 ? 1 / kAxial : 0;
+        this._angularMass = iA + iB > 0 ? 1 / (iA + iB) : 0;
+        this._cPerp = dx * perpX + dy * perpY;
+        this._translation = dx * axisX + dy * axisY;
+        this._h = h;
+        this._invH = 1 / h;
+        if (this.hertz > 0) {
+            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._springBiasRate = omega / a1;
+            this._springMassScale = a2 * a3;
+            this._springImpulseScale = a3;
+        }
+        else {
+            this._springBiasRate = 0.2 / h;
+            this._springMassScale = 1;
+            this._springImpulseScale = 0;
+        }
+        if (!this.enableMotor) {
+            this._motorImpulse = 0;
+        }
+        if (!this.enableLimit) {
+            this._lowerImpulse = 0;
+            this._upperImpulse = 0;
+        }
+    }
+    _warmStart() {
+        if (!this._active) {
+            return;
+        }
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        // Rotation motor (angular).
+        bodyA.angularVelocity -= bodyA.invInertia * this._motorImpulse;
+        bodyB.angularVelocity += bodyB.invInertia * this._motorImpulse;
+        this._applyAxial(this._springImpulse + this._lowerImpulse - this._upperImpulse);
+        this._applyPerp(this._perpImpulse);
+    }
+    _solve(useBias) {
+        if (!this._active) {
+            return;
+        }
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        // Rotation motor — drives the wheel's spin; rotation is otherwise free.
+        if (this.enableMotor) {
+            const cdot = bodyB.angularVelocity - bodyA.angularVelocity - this.motorSpeed;
+            const max = this.maxMotorTorque * this._h;
+            const old = this._motorImpulse;
+            this._motorImpulse = Math.min(max, Math.max(-max, old - this._angularMass * cdot));
+            const applied = this._motorImpulse - old;
+            bodyA.angularVelocity -= bodyA.invInertia * applied;
+            bodyB.angularVelocity += bodyB.invInertia * applied;
+        }
+        // Suspension spring along the axis (soft).
+        const cdotAxis = this._axisVelocity();
+        const springImpulse = -this._axialMass * this._springMassScale * (cdotAxis + this._springBiasRate * this._translation) - this._springImpulseScale * this._springImpulse;
+        this._springImpulse += springImpulse;
+        this._applyAxial(springImpulse);
+        // Suspension-travel limits along the axis.
+        if (this.enableLimit) {
+            // Lower limit (translation ≥ lowerTranslation): positive impulse pushes along +axis.
+            const cLower = this._translation - this.lowerTranslation;
+            let biasLower = 0;
+            if (cLower > 0) {
+                biasLower = cLower * this._invH;
+            }
+            else if (useBias) {
+                biasLower = 0.2 * this._invH * cLower;
+            }
+            const oldLower = this._lowerImpulse;
+            this._lowerImpulse = Math.max(0, oldLower - this._axialMass * (this._axisVelocity() + biasLower));
+            this._applyAxial(this._lowerImpulse - oldLower);
+            // Upper limit (translation ≤ upperTranslation): impulse pushes along −axis.
+            const cUpper = this.upperTranslation - this._translation;
+            let biasUpper = 0;
+            if (cUpper > 0) {
+                biasUpper = cUpper * this._invH;
+            }
+            else if (useBias) {
+                biasUpper = 0.2 * this._invH * cUpper;
+            }
+            const oldUpper = this._upperImpulse;
+            this._upperImpulse = Math.max(0, oldUpper - this._axialMass * (-this._axisVelocity() + biasUpper));
+            this._applyAxial(-(this._upperImpulse - oldUpper));
+        }
+        // Lateral lock (perpendicular, rigid).
+        const cdotPerp = this._perpVelocity();
+        const perpImpulse = -this._perpMass * (cdotPerp + (useBias ? 0.2 * this._invH * this._cPerp : 0));
+        this._perpImpulse += perpImpulse;
+        this._applyPerp(perpImpulse);
+    }
+    _axisVelocity() {
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        return (this._axisX * (bodyB.linearVelocityX - bodyA.linearVelocityX) +
+            this._axisY * (bodyB.linearVelocityY - bodyA.linearVelocityY) +
+            this._a2 * bodyB.angularVelocity -
+            this._a1 * bodyA.angularVelocity);
+    }
+    _perpVelocity() {
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        return (this._perpX * (bodyB.linearVelocityX - bodyA.linearVelocityX) +
+            this._perpY * (bodyB.linearVelocityY - bodyA.linearVelocityY) +
+            this._s2 * bodyB.angularVelocity -
+            this._s1 * bodyA.angularVelocity);
+    }
+    _applyAxial(impulse) {
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        const px = impulse * this._axisX;
+        const py = impulse * this._axisY;
+        bodyA.linearVelocityX -= bodyA.invMass * px;
+        bodyA.linearVelocityY -= bodyA.invMass * py;
+        bodyA.angularVelocity -= bodyA.invInertia * impulse * this._a1;
+        bodyB.linearVelocityX += bodyB.invMass * px;
+        bodyB.linearVelocityY += bodyB.invMass * py;
+        bodyB.angularVelocity += bodyB.invInertia * impulse * this._a2;
+    }
+    _applyPerp(impulse) {
+        const bodyA = this.bodyA;
+        const bodyB = this.bodyB;
+        const px = impulse * this._perpX;
+        const py = impulse * this._perpY;
+        bodyA.linearVelocityX -= bodyA.invMass * px;
+        bodyA.linearVelocityY -= bodyA.invMass * py;
+        bodyA.angularVelocity -= bodyA.invInertia * impulse * this._s1;
+        bodyB.linearVelocityX += bodyB.invMass * px;
+        bodyB.linearVelocityY += bodyB.invMass * py;
+        bodyB.angularVelocity += bodyB.invInertia * impulse * this._s2;
+    }
+}
+
+export { WheelJoint };
+//# sourceMappingURL=WheelJoint.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"WheelJoint.js","sources":["../../../../src/joints/WheelJoint.ts"],"sourcesContent":[null],"names":[],"mappings":";;;AAiCA;AACA,MAAM,OAAO,GAAc,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE;AAEzC;;;;;;AAMG;AACG,MAAO,UAAW,SAAQ,KAAK,CAAA;;AAE5B,IAAA,KAAK;;AAEL,IAAA,YAAY;;AAEZ,IAAA,WAAW;;AAEX,IAAA,UAAU;;AAEV,IAAA,cAAc;;AAEd,IAAA,WAAW;;AAEX,IAAA,gBAAgB;;AAEhB,IAAA,gBAAgB;AAEN,IAAA,cAAc;AACd,IAAA,cAAc;AACd,IAAA,cAAc;AACd,IAAA,cAAc;AACd,IAAA,YAAY;AACZ,IAAA,YAAY;IAErB,MAAM,GAAG,CAAC;IACV,MAAM,GAAG,CAAC;IACV,MAAM,GAAG,CAAC;IACV,MAAM,GAAG,CAAC;IACV,GAAG,GAAG,CAAC;IACP,GAAG,GAAG,CAAC;IACP,GAAG,GAAG,CAAC;IACP,GAAG,GAAG,CAAC;IACP,SAAS,GAAG,CAAC;IACb,UAAU,GAAG,CAAC;IACd,YAAY,GAAG,CAAC;IAChB,eAAe,GAAG,CAAC;IACnB,gBAAgB,GAAG,CAAC;IACpB,mBAAmB,GAAG,CAAC;IACvB,MAAM,GAAG,CAAC;IACV,YAAY,GAAG,CAAC;IAChB,EAAE,GAAG,CAAC;IACN,KAAK,GAAG,CAAC;IACT,YAAY,GAAG,CAAC;IAChB,cAAc,GAAG,CAAC;IAClB,aAAa,GAAG,CAAC;IACjB,aAAa,GAAG,CAAC;IACjB,aAAa,GAAG,CAAC;AAEzB,IAAA,WAAA,CAAmB,OAA0B,EAAA;QAC3C,KAAK,CAAC,OAAO,CAAC,KAAK,EAAE,OAAO,CAAC,KAAK,CAAC;QAEnC,qBAAqB,CAAC,OAAO,CAAC,KAAK,CAAC,SAAS,EAAE,OAAO,CAAC,MAAM,CAAC,CAAC,EAAE,OAAO,CAAC,MAAM,CAAC,CAAC,EAAE,OAAO,CAAC;AAC3F,QAAA,IAAI,CAAC,cAAc,GAAG,OAAO,CAAC,CAAC;AAC/B,QAAA,IAAI,CAAC,cAAc,GAAG,OAAO,CAAC,CAAC;QAC/B,qBAAqB,CAAC,OAAO,CAAC,KAAK,CAAC,SAAS,EAAE,OAAO,CAAC,MAAM,CAAC,CAAC,EAAE,OAAO,CAAC,MAAM,CAAC,CAAC,EAAE,OAAO,CAAC;AAC3F,QAAA,IAAI,CAAC,cAAc,GAAG,OAAO,CAAC,CAAC;AAC/B,QAAA,IAAI,CAAC,cAAc,GAAG,OAAO,CAAC,CAAC;QAE/B,MAAM,UAAU,GAAG,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC,EAAE,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC;QAClE,oBAAoB,CAAC,OAAO,CAAC,KAAK,CAAC,SAAS,EAAE,OAAO,CAAC,IAAI,CAAC,CAAC,GAAG,UAAU,EAAE,OAAO,CAAC,IAAI,CAAC,CAAC,GAAG,UAAU,EAAE,OAAO,CAAC;AAChH,QAAA,IAAI,CAAC,YAAY,GAAG,OAAO,CAAC,CAAC;AAC7B,QAAA,IAAI,CAAC,YAAY,GAAG,OAAO,CAAC,CAAC;QAE7B,IAAI,CAAC,KAAK,GAAG,OAAO,CAAC,KAAK,IAAI,CAAC;QAC/B,IAAI,CAAC,YAAY,GAAG,OAAO,CAAC,YAAY,IAAI,CAAC;QAC7C,IAAI,CAAC,WAAW,GAAG,OAAO,CAAC,WAAW,IAAI,KAAK;QAC/C,IAAI,CAAC,UAAU,GAAG,OAAO,CAAC,UAAU,IAAI,CAAC;QACzC,IAAI,CAAC,cAAc,GAAG,OAAO,CAAC,cAAc,IAAI,CAAC;QACjD,IAAI,CAAC,WAAW,GAAG,OAAO,CAAC,WAAW,IAAI,KAAK;QAC/C,IAAI,CAAC,gBAAgB,GAAG,OAAO,CAAC,gBAAgB,IAAI,CAAC;QACrD,IAAI,CAAC,gBAAgB,GAAG,OAAO,CAAC,gBAAgB,IAAI,CAAC;IACvD;AAEgB,IAAA,QAAQ,CAAC,CAAS,EAAA;AAChC,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;AACxB,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;AAExB,QAAA,IAAI,CAAC,OAAO,GAAG,IAAI,CAAC,OAAO,IAAI,CAAC,KAAK,CAAC,UAAU,IAAI,CAAC,KAAK,CAAC,UAAU,KAAK,KAAK,CAAC,OAAO,GAAG,CAAC,IAAI,KAAK,CAAC,OAAO,GAAG,CAAC,CAAC;AAEjH,QAAA,IAAI,CAAC,IAAI,CAAC,OAAO,EAAE;YACjB;QACF;AAEA,QAAA,aAAa,CAAC,KAAK,CAAC,SAAS,EAAE,IAAI,CAAC,YAAY,EAAE,IAAI,CAAC,YAAY,EAAE,OAAO,CAAC;AAC7E,QAAA,MAAM,KAAK,GAAG,OAAO,CAAC,CAAC;AACvB,QAAA,MAAM,KAAK,GAAG,OAAO,CAAC,CAAC;AACvB,QAAA,MAAM,KAAK,GAAG,CAAC,KAAK;QACpB,MAAM,KAAK,GAAG,KAAK;AAEnB,QAAA,IAAI,CAAC,MAAM,GAAG,KAAK;AACnB,QAAA,IAAI,CAAC,MAAM,GAAG,KAAK;AACnB,QAAA,IAAI,CAAC,MAAM,GAAG,KAAK;AACnB,QAAA,IAAI,CAAC,MAAM,GAAG,KAAK;AAEnB,QAAA,cAAc,CAAC,KAAK,CAAC,SAAS,EAAE,IAAI,CAAC,cAAc,EAAE,IAAI,CAAC,cAAc,EAAE,OAAO,CAAC;AAClF,QAAA,MAAM,GAAG,GAAG,OAAO,CAAC,CAAC;AACrB,QAAA,MAAM,GAAG,GAAG,OAAO,CAAC,CAAC;AACrB,QAAA,cAAc,CAAC,KAAK,CAAC,SAAS,EAAE,IAAI,CAAC,cAAc,EAAE,IAAI,CAAC,cAAc,EAAE,OAAO,CAAC;AAClF,QAAA,MAAM,GAAG,GAAG,OAAO,CAAC,CAAC;AACrB,QAAA,MAAM,GAAG,GAAG,OAAO,CAAC,CAAC;AAErB,QAAA,MAAM,GAAG,GAAG,GAAG,GAAG,KAAK,CAAC,kBAAkB;AAC1C,QAAA,MAAM,GAAG,GAAG,GAAG,GAAG,KAAK,CAAC,kBAAkB;AAC1C,QAAA,MAAM,GAAG,GAAG,GAAG,GAAG,KAAK,CAAC,kBAAkB;AAC1C,QAAA,MAAM,GAAG,GAAG,GAAG,GAAG,KAAK,CAAC,kBAAkB;AAC1C,QAAA,MAAM,EAAE,GAAG,GAAG,GAAG,GAAG;AACpB,QAAA,MAAM,EAAE,GAAG,GAAG,GAAG,GAAG;AAEpB,QAAA,IAAI,CAAC,GAAG,GAAG,CAAC,EAAE,GAAG,GAAG,IAAI,KAAK,GAAG,CAAC,EAAE,GAAG,GAAG,IAAI,KAAK;QAClD,IAAI,CAAC,GAAG,GAAG,GAAG,GAAG,KAAK,GAAG,GAAG,GAAG,KAAK;AACpC,QAAA,IAAI,CAAC,GAAG,GAAG,CAAC,EAAE,GAAG,GAAG,IAAI,KAAK,GAAG,CAAC,EAAE,GAAG,GAAG,IAAI,KAAK;QAClD,IAAI,CAAC,GAAG,GAAG,GAAG,GAAG,KAAK,GAAG,GAAG,GAAG,KAAK;AAEpC,QAAA,MAAM,EAAE,GAAG,KAAK,CAAC,OAAO;AACxB,QAAA,MAAM,EAAE,GAAG,KAAK,CAAC,OAAO;AACxB,QAAA,MAAM,EAAE,GAAG,KAAK,CAAC,UAAU;AAC3B,QAAA,MAAM,EAAE,GAAG,KAAK,CAAC,UAAU;QAE3B,MAAM,KAAK,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,IAAI,CAAC,GAAG,GAAG,IAAI,CAAC,GAAG,GAAG,EAAE,GAAG,IAAI,CAAC,GAAG,GAAG,IAAI,CAAC,GAAG;AAC3E,QAAA,IAAI,CAAC,SAAS,GAAG,KAAK,GAAG,CAAC,GAAG,CAAC,GAAG,KAAK,GAAG,CAAC;QAC1C,MAAM,MAAM,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,IAAI,CAAC,GAAG,GAAG,IAAI,CAAC,GAAG,GAAG,EAAE,GAAG,IAAI,CAAC,GAAG,GAAG,IAAI,CAAC,GAAG;AAC5E,QAAA,IAAI,CAAC,UAAU,GAAG,MAAM,GAAG,CAAC,GAAG,CAAC,GAAG,MAAM,GAAG,CAAC;QAC7C,IAAI,CAAC,YAAY,GAAG,EAAE,GAAG,EAAE,GAAG,CAAC,GAAG,CAAC,IAAI,EAAE,GAAG,EAAE,CAAC,GAAG,CAAC;QAEnD,IAAI,CAAC,MAAM,GAAG,EAAE,GAAG,KAAK,GAAG,EAAE,GAAG,KAAK;QACrC,IAAI,CAAC,YAAY,GAAG,EAAE,GAAG,KAAK,GAAG,EAAE,GAAG,KAAK;AAC3C,QAAA,IAAI,CAAC,EAAE,GAAG,CAAC;AACX,QAAA,IAAI,CAAC,KAAK,GAAG,CAAC,GAAG,CAAC;AAElB,QAAA,IAAI,IAAI,CAAC,KAAK,GAAG,CAAC,EAAE;YAClB,MAAM,KAAK,GAAG,CAAC,GAAG,IAAI,CAAC,EAAE,GAAG,IAAI,CAAC,KAAK;YACtC,MAAM,EAAE,GAAG,CAAC,GAAG,IAAI,CAAC,YAAY,GAAG,CAAC,GAAG,KAAK;AAC5C,YAAA,MAAM,EAAE,GAAG,CAAC,GAAG,KAAK,GAAG,EAAE;YACzB,MAAM,EAAE,GAAG,CAAC,IAAI,CAAC,GAAG,EAAE,CAAC;AAEvB,YAAA,IAAI,CAAC,eAAe,GAAG,KAAK,GAAG,EAAE;AACjC,YAAA,IAAI,CAAC,gBAAgB,GAAG,EAAE,GAAG,EAAE;AAC/B,YAAA,IAAI,CAAC,mBAAmB,GAAG,EAAE;QAC/B;aAAO;AACL,YAAA,IAAI,CAAC,eAAe,GAAG,GAAG,GAAG,CAAC;AAC9B,YAAA,IAAI,CAAC,gBAAgB,GAAG,CAAC;AACzB,YAAA,IAAI,CAAC,mBAAmB,GAAG,CAAC;QAC9B;AAEA,QAAA,IAAI,CAAC,IAAI,CAAC,WAAW,EAAE;AACrB,YAAA,IAAI,CAAC,aAAa,GAAG,CAAC;QACxB;AAEA,QAAA,IAAI,CAAC,IAAI,CAAC,WAAW,EAAE;AACrB,YAAA,IAAI,CAAC,aAAa,GAAG,CAAC;AACtB,YAAA,IAAI,CAAC,aAAa,GAAG,CAAC;QACxB;IACF;IAEgB,UAAU,GAAA;AACxB,QAAA,IAAI,CAAC,IAAI,CAAC,OAAO,EAAE;YACjB;QACF;AAEA,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;AACxB,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;;QAGxB,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,UAAU,GAAG,IAAI,CAAC,aAAa;QAC9D,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,UAAU,GAAG,IAAI,CAAC,aAAa;AAE9D,QAAA,IAAI,CAAC,WAAW,CAAC,IAAI,CAAC,cAAc,GAAG,IAAI,CAAC,aAAa,GAAG,IAAI,CAAC,aAAa,CAAC;AAC/E,QAAA,IAAI,CAAC,UAAU,CAAC,IAAI,CAAC,YAAY,CAAC;IACpC;AAEgB,IAAA,MAAM,CAAC,OAAgB,EAAA;AACrC,QAAA,IAAI,CAAC,IAAI,CAAC,OAAO,EAAE;YACjB;QACF;AAEA,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;AACxB,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;;AAGxB,QAAA,IAAI,IAAI,CAAC,WAAW,EAAE;AACpB,YAAA,MAAM,IAAI,GAAG,KAAK,CAAC,eAAe,GAAG,KAAK,CAAC,eAAe,GAAG,IAAI,CAAC,UAAU;YAC5E,MAAM,GAAG,GAAG,IAAI,CAAC,cAAc,GAAG,IAAI,CAAC,EAAE;AACzC,YAAA,MAAM,GAAG,GAAG,IAAI,CAAC,aAAa;YAE9B,IAAI,CAAC,aAAa,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,EAAE,GAAG,GAAG,IAAI,CAAC,YAAY,GAAG,IAAI,CAAC,CAAC;AAElF,YAAA,MAAM,OAAO,GAAG,IAAI,CAAC,aAAa,GAAG,GAAG;YACxC,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,UAAU,GAAG,OAAO;YACnD,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,UAAU,GAAG,OAAO;QACrD;;AAGA,QAAA,MAAM,QAAQ,GAAG,IAAI,CAAC,aAAa,EAAE;AACrC,QAAA,MAAM,aAAa,GACjB,CAAC,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC,gBAAgB,IAAI,QAAQ,GAAG,IAAI,CAAC,eAAe,GAAG,IAAI,CAAC,YAAY,CAAC,GAAG,IAAI,CAAC,mBAAmB,GAAG,IAAI,CAAC,cAAc;AAEnJ,QAAA,IAAI,CAAC,cAAc,IAAI,aAAa;AACpC,QAAA,IAAI,CAAC,WAAW,CAAC,aAAa,CAAC;;AAG/B,QAAA,IAAI,IAAI,CAAC,WAAW,EAAE;;YAEpB,MAAM,MAAM,GAAG,IAAI,CAAC,YAAY,GAAG,IAAI,CAAC,gBAAgB;YACxD,IAAI,SAAS,GAAG,CAAC;AAEjB,YAAA,IAAI,MAAM,GAAG,CAAC,EAAE;AACd,gBAAA,SAAS,GAAG,MAAM,GAAG,IAAI,CAAC,KAAK;YACjC;iBAAO,IAAI,OAAO,EAAE;gBAClB,SAAS,GAAG,GAAG,GAAG,IAAI,CAAC,KAAK,GAAG,MAAM;YACvC;AAEA,YAAA,MAAM,QAAQ,GAAG,IAAI,CAAC,aAAa;YACnC,IAAI,CAAC,aAAa,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,QAAQ,GAAG,IAAI,CAAC,UAAU,IAAI,IAAI,CAAC,aAAa,EAAE,GAAG,SAAS,CAAC,CAAC;YACjG,IAAI,CAAC,WAAW,CAAC,IAAI,CAAC,aAAa,GAAG,QAAQ,CAAC;;YAG/C,MAAM,MAAM,GAAG,IAAI,CAAC,gBAAgB,GAAG,IAAI,CAAC,YAAY;YACxD,IAAI,SAAS,GAAG,CAAC;AAEjB,YAAA,IAAI,MAAM,GAAG,CAAC,EAAE;AACd,gBAAA,SAAS,GAAG,MAAM,GAAG,IAAI,CAAC,KAAK;YACjC;iBAAO,IAAI,OAAO,EAAE;gBAClB,SAAS,GAAG,GAAG,GAAG,IAAI,CAAC,KAAK,GAAG,MAAM;YACvC;AAEA,YAAA,MAAM,QAAQ,GAAG,IAAI,CAAC,aAAa;YACnC,IAAI,CAAC,aAAa,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,QAAQ,GAAG,IAAI,CAAC,UAAU,IAAI,CAAC,IAAI,CAAC,aAAa,EAAE,GAAG,SAAS,CAAC,CAAC;AAClG,YAAA,IAAI,CAAC,WAAW,CAAC,EAAE,IAAI,CAAC,aAAa,GAAG,QAAQ,CAAC,CAAC;QACpD;;AAGA,QAAA,MAAM,QAAQ,GAAG,IAAI,CAAC,aAAa,EAAE;AACrC,QAAA,MAAM,WAAW,GAAG,CAAC,IAAI,CAAC,SAAS,IAAI,QAAQ,IAAI,OAAO,GAAG,GAAG,GAAG,IAAI,CAAC,KAAK,GAAG,IAAI,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC;AAEjG,QAAA,IAAI,CAAC,YAAY,IAAI,WAAW;AAChC,QAAA,IAAI,CAAC,UAAU,CAAC,WAAW,CAAC;IAC9B;IAEQ,aAAa,GAAA;AACnB,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;AACxB,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;AAExB,QAAA,QACE,IAAI,CAAC,MAAM,IAAI,KAAK,CAAC,eAAe,GAAG,KAAK,CAAC,eAAe,CAAC;YAC7D,IAAI,CAAC,MAAM,IAAI,KAAK,CAAC,eAAe,GAAG,KAAK,CAAC,eAAe,CAAC;AAC7D,YAAA,IAAI,CAAC,GAAG,GAAG,KAAK,CAAC,eAAe;AAChC,YAAA,IAAI,CAAC,GAAG,GAAG,KAAK,CAAC,eAAe;IAEpC;IAEQ,aAAa,GAAA;AACnB,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;AACxB,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;AAExB,QAAA,QACE,IAAI,CAAC,MAAM,IAAI,KAAK,CAAC,eAAe,GAAG,KAAK,CAAC,eAAe,CAAC;YAC7D,IAAI,CAAC,MAAM,IAAI,KAAK,CAAC,eAAe,GAAG,KAAK,CAAC,eAAe,CAAC;AAC7D,YAAA,IAAI,CAAC,GAAG,GAAG,KAAK,CAAC,eAAe;AAChC,YAAA,IAAI,CAAC,GAAG,GAAG,KAAK,CAAC,eAAe;IAEpC;AAEQ,IAAA,WAAW,CAAC,OAAe,EAAA;AACjC,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;AACxB,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;AACxB,QAAA,MAAM,EAAE,GAAG,OAAO,GAAG,IAAI,CAAC,MAAM;AAChC,QAAA,MAAM,EAAE,GAAG,OAAO,GAAG,IAAI,CAAC,MAAM;QAEhC,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,OAAO,GAAG,EAAE;QAC3C,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,OAAO,GAAG,EAAE;AAC3C,QAAA,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,UAAU,GAAG,OAAO,GAAG,IAAI,CAAC,GAAG;QAC9D,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,OAAO,GAAG,EAAE;QAC3C,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,OAAO,GAAG,EAAE;AAC3C,QAAA,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,UAAU,GAAG,OAAO,GAAG,IAAI,CAAC,GAAG;IAChE;AAEQ,IAAA,UAAU,CAAC,OAAe,EAAA;AAChC,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;AACxB,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK;AACxB,QAAA,MAAM,EAAE,GAAG,OAAO,GAAG,IAAI,CAAC,MAAM;AAChC,QAAA,MAAM,EAAE,GAAG,OAAO,GAAG,IAAI,CAAC,MAAM;QAEhC,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,OAAO,GAAG,EAAE;QAC3C,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,OAAO,GAAG,EAAE;AAC3C,QAAA,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,UAAU,GAAG,OAAO,GAAG,IAAI,CAAC,GAAG;QAC9D,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,OAAO,GAAG,EAAE;QAC3C,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,OAAO,GAAG,EAAE;AAC3C,QAAA,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,UAAU,GAAG,OAAO,GAAG,IAAI,CAAC,GAAG;IAChE;AACD;;;;"}

package/dist/esm/math.js

@@ -33,6 +33,20 @@ const applyRotation = (transform, x, y, out) => {
     out.y = transform.sin * x + transform.cos * y;
     return out;
 };
+/** Map a world point into `transform`'s local frame, writing into `out`. */
+const applyInverseTransform = (transform, x, y, out) => {
+    const dx = x - transform.x;
+    const dy = y - transform.y;
+    out.x = transform.cos * dx + transform.sin * dy;
+    out.y = -transform.sin * dx + transform.cos * dy;
+    return out;
+};
+/** Map a world direction into `transform`'s local frame, writing into `out`. */
+const applyInverseRotation = (transform, x, y, out) => {
+    out.x = transform.cos * x + transform.sin * y;
+    out.y = -transform.sin * x + transform.cos * y;
+    return out;
+};
 /**
  * Compose `world = body ∘ local` into `out`. The local transform is expressed
  * in the body frame (a collider's offset + local rotation); the result is the
@@ -44,5 +58,5 @@ const composeTransforms = (body, local, out) => {
     return setTransform(out, x, y, body.angle + local.angle);
 };
 
-export { applyRotation, applyTransform, composeTransforms, createTransform, setTransform };
+export { applyInverseRotation, applyInverseTransform, applyRotation, applyTransform, composeTransforms, createTransform, setTransform };
 //# sourceMappingURL=math.js.map

package/dist/esm/math.js.map

@@ -1 +1 @@
-{"version":3,"file":"math.js","sources":["../../../src/math.ts"],"sourcesContent":[null],"names":[],"mappings":"AAAA;AACA;AACA;AACA;AAkBA;AACO,MAAM,eAAe,GAAG,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,EAAE,KAAK,GAAG,CAAC,MAAiB;IACtE,CAAC;IACD,CAAC;IACD,KAAK;AACL,IAAA,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC;AACpB,IAAA,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC;AACrB,CAAA;AAED;AACO,MAAM,YAAY,GAAG,CAAC,SAAoB,EAAE,CAAS,EAAE,CAAS,EAAE,KAAa,KAAe;AACnG,IAAA,SAAS,CAAC,CAAC,GAAG,CAAC;AACf,IAAA,SAAS,CAAC,CAAC,GAAG,CAAC;AAEf,IAAA,IAAI,SAAS,CAAC,KAAK,KAAK,KAAK,EAAE;AAC7B,QAAA,SAAS,CAAC,KAAK,GAAG,KAAK;QACvB,SAAS,CAAC,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC;QAC/B,SAAS,CAAC,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC;IACjC;AAEA,IAAA,OAAO,SAAS;AAClB;AAEA;AACO,MAAM,cAAc,GAAG,CAAC,SAAoB,EAAE,CAAS,EAAE,CAAS,EAAE,GAAc,KAAe;AACtG,IAAA,GAAG,CAAC,CAAC,GAAG,SAAS,CAAC,GAAG,GAAG,CAAC,GAAG,SAAS,CAAC,GAAG,GAAG,CAAC,GAAG,SAAS,CAAC,CAAC;AAC3D,IAAA,GAAG,CAAC,CAAC,GAAG,SAAS,CAAC,GAAG,GAAG,CAAC,GAAG,SAAS,CAAC,GAAG,GAAG,CAAC,GAAG,SAAS,CAAC,CAAC;AAE3D,IAAA,OAAO,GAAG;AACZ;AAEA;AACO,MAAM,aAAa,GAAG,CAAC,SAAoB,EAAE,CAAS,EAAE,CAAS,EAAE,GAAc,KAAe;AACrG,IAAA,GAAG,CAAC,CAAC,GAAG,SAAS,CAAC,GAAG,GAAG,CAAC,GAAG,SAAS,CAAC,GAAG,GAAG,CAAC;AAC7C,IAAA,GAAG,CAAC,CAAC,GAAG,SAAS,CAAC,GAAG,GAAG,CAAC,GAAG,SAAS,CAAC,GAAG,GAAG,CAAC;AAE7C,IAAA,OAAO,GAAG;AACZ;AAqBA;;;;AAIG;AACI,MAAM,iBAAiB,GAAG,CAAC,IAAe,EAAE,KAAgB,EAAE,GAAc,KAAe;IAChG,MAAM,CAAC,GAAG,IAAI,CAAC,GAAG,GAAG,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,GAAG,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC;IAC1D,MAAM,CAAC,GAAG,IAAI,CAAC,GAAG,GAAG,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,GAAG,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC;AAE1D,IAAA,OAAO,YAAY,CAAC,GAAG,EAAE,CAAC,EAAE,CAAC,EAAE,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC,KAAK,CAAC;AAC1D;;;;"}
+{"version":3,"file":"math.js","sources":["../../../src/math.ts"],"sourcesContent":[null],"names":[],"mappings":"AAAA;AACA;AACA;AACA;AAkBA;AACO,MAAM,eAAe,GAAG,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,EAAE,KAAK,GAAG,CAAC,MAAiB;IACtE,CAAC;IACD,CAAC;IACD,KAAK;AACL,IAAA,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC;AACpB,IAAA,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC;AACrB,CAAA;AAED;AACO,MAAM,YAAY,GAAG,CAAC,SAAoB,EAAE,CAAS,EAAE,CAAS,EAAE,KAAa,KAAe;AACnG,IAAA,SAAS,CAAC,CAAC,GAAG,CAAC;AACf,IAAA,SAAS,CAAC,CAAC,GAAG,CAAC;AAEf,IAAA,IAAI,SAAS,CAAC,KAAK,KAAK,KAAK,EAAE;AAC7B,QAAA,SAAS,CAAC,KAAK,GAAG,KAAK;QACvB,SAAS,CAAC,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC;QAC/B,SAAS,CAAC,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC;IACjC;AAEA,IAAA,OAAO,SAAS;AAClB;AAEA;AACO,MAAM,cAAc,GAAG,CAAC,SAAoB,EAAE,CAAS,EAAE,CAAS,EAAE,GAAc,KAAe;AACtG,IAAA,GAAG,CAAC,CAAC,GAAG,SAAS,CAAC,GAAG,GAAG,CAAC,GAAG,SAAS,CAAC,GAAG,GAAG,CAAC,GAAG,SAAS,CAAC,CAAC;AAC3D,IAAA,GAAG,CAAC,CAAC,GAAG,SAAS,CAAC,GAAG,GAAG,CAAC,GAAG,SAAS,CAAC,GAAG,GAAG,CAAC,GAAG,SAAS,CAAC,CAAC;AAE3D,IAAA,OAAO,GAAG;AACZ;AAEA;AACO,MAAM,aAAa,GAAG,CAAC,SAAoB,EAAE,CAAS,EAAE,CAAS,EAAE,GAAc,KAAe;AACrG,IAAA,GAAG,CAAC,CAAC,GAAG,SAAS,CAAC,GAAG,GAAG,CAAC,GAAG,SAAS,CAAC,GAAG,GAAG,CAAC;AAC7C,IAAA,GAAG,CAAC,CAAC,GAAG,SAAS,CAAC,GAAG,GAAG,CAAC,GAAG,SAAS,CAAC,GAAG,GAAG,CAAC;AAE7C,IAAA,OAAO,GAAG;AACZ;AAEA;AACO,MAAM,qBAAqB,GAAG,CAAC,SAAoB,EAAE,CAAS,EAAE,CAAS,EAAE,GAAc,KAAe;AAC7G,IAAA,MAAM,EAAE,GAAG,CAAC,GAAG,SAAS,CAAC,CAAC;AAC1B,IAAA,MAAM,EAAE,GAAG,CAAC,GAAG,SAAS,CAAC,CAAC;AAE1B,IAAA,GAAG,CAAC,CAAC,GAAG,SAAS,CAAC,GAAG,GAAG,EAAE,GAAG,SAAS,CAAC,GAAG,GAAG,EAAE;AAC/C,IAAA,GAAG,CAAC,CAAC,GAAG,CAAC,SAAS,CAAC,GAAG,GAAG,EAAE,GAAG,SAAS,CAAC,GAAG,GAAG,EAAE;AAEhD,IAAA,OAAO,GAAG;AACZ;AAEA;AACO,MAAM,oBAAoB,GAAG,CAAC,SAAoB,EAAE,CAAS,EAAE,CAAS,EAAE,GAAc,KAAe;AAC5G,IAAA,GAAG,CAAC,CAAC,GAAG,SAAS,CAAC,GAAG,GAAG,CAAC,GAAG,SAAS,CAAC,GAAG,GAAG,CAAC;AAC7C,IAAA,GAAG,CAAC,CAAC,GAAG,CAAC,SAAS,CAAC,GAAG,GAAG,CAAC,GAAG,SAAS,CAAC,GAAG,GAAG,CAAC;AAE9C,IAAA,OAAO,GAAG;AACZ;AAEA;;;;AAIG;AACI,MAAM,iBAAiB,GAAG,CAAC,IAAe,EAAE,KAAgB,EAAE,GAAc,KAAe;IAChG,MAAM,CAAC,GAAG,IAAI,CAAC,GAAG,GAAG,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,GAAG,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC;IAC1D,MAAM,CAAC,GAAG,IAAI,CAAC,GAAG,GAAG,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,GAAG,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC;AAE1D,IAAA,OAAO,YAAY,CAAC,GAAG,EAAE,CAAC,EAAE,CAAC,EAAE,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC,KAAK,CAAC;AAC1D;;;;"}

package/dist/esm/physicsBuildInfo.js

@@ -1,6 +1,6 @@
 const physicsBuildInfo = Object.freeze({
-    version: "0.14.0",
-    revision: "e4d9d55",
+    version: "0.15.1",
+    revision: "6f825a8",
     development: false,
 });
 

package/dist/esm/public.d.ts

@@ -1,9 +1,15 @@
 export type { Aabb } from './Aabb';
-export type { BindingOptions } from './binding/PhysicsBinding';
 export { PhysicsBinding } from './binding/PhysicsBinding';
 export type { ColliderOptions } from './Collider';
 export { Collider } from './Collider';
 export type { CollisionEvent, ContactPoint, SensorEvent } from './events';
+export { DistanceJoint, type DistanceJointOptions } from './joints/DistanceJoint';
+export { Joint } from './joints/Joint';
+export { MouseJoint, type MouseJointOptions } from './joints/MouseJoint';
+export { PrismaticJoint, type PrismaticJointOptions } from './joints/PrismaticJoint';
+export { RevoluteJoint, type RevoluteJointOptions } from './joints/RevoluteJoint';
+export { WeldJoint, type WeldJointOptions } from './joints/WeldJoint';
+export { WheelJoint, type WheelJointOptions } from './joints/WheelJoint';
 export type { BodyOptions } from './PhysicsBody';
 export { PhysicsBody } from './PhysicsBody';
 export { type PhysicsBuildInfo, physicsBuildInfo } from './physicsBuildInfo';

package/dist/esm/solver/ContactSolver.js

@@ -119,6 +119,13 @@ class ContactSolver {
             }
             const bodyA = contact.a.body;
             const bodyB = contact.b.body;
+            // Skip contacts where either body is asleep: a sleeping island's solid
+            // contacts are all sleeping↔sleeping or sleeping↔static (both at rest), so
+            // there is nothing to solve. A sleeping body touched by an awake one is
+            // woken (island merge) before this runs, so it is never skipped wrongly.
+            if (bodyA.isSleeping || bodyB.isSleeping) {
+                continue;
+            }
             const constraint = this._acquire();
             const nx = manifold.normalX;
             const ny = manifold.normalY;