@codexo/exojs-physics 0.15.2 → 0.16.0

package/dist/esm/collision/narrowphase.js

@@ -1,430 +1,555 @@
+import { chainEdgeAdmits } from "./chainAdjacency.js";
+import { needsFlip, symmetricEntry, symmetricTable } from "./dispatch.js";
+import { closestPointOnSegment, pointSegmentDistanceSquared } from "./segments.js";
+
+//#region src/collision/narrowphase.ts
 const eps = 1e-9;
+/** Reused closest-point sink; the narrow phase is single-threaded and non-reentrant. */
+const _segmentScratch = {
+	x: 0,
+	y: 0
+};
 /**
- * Generate the contact manifold for `a` vs `b`, writing into `manifold` and
- * returning `true` when the colliders touch. The manifold normal is oriented
- * from `a` toward `b`. Dispatches on shape pair; polygon/circle is handled by
- * the circle/polygon routine with a `flip` so the normal stays `a → b`.
- */
+* Generate the contact manifold for `a` vs `b`, writing into `manifold` and
+* returning `true` when the colliders touch. The manifold normal is oriented
+* from `a` toward `b`.
+*
+* A pair with no entry in the table is deliberately unsupported and reports no
+* contact rather than an approximation.
+*/
 const collide = (a, b, manifold) => {
-    manifold.reset();
-    const ta = a.shape.type;
-    const tb = b.shape.type;
-    if (ta === 'circle') {
-        return tb === 'circle' ? collideCircles(a, b, manifold) : collideCirclePolygon(a, b, manifold, false);
-    }
-    return tb === 'circle' ? collideCirclePolygon(b, a, manifold, true) : collidePolygons(a, b, manifold);
+	manifold.reset();
+	const ta = a.shape.type;
+	const tb = b.shape.type;
+	const solver = symmetricEntry(collideTable, ta, tb);
+	if (solver === void 0) return false;
+	if (!(needsFlip(ta, tb) ? solver(b, a, manifold, true) : solver(a, b, manifold, false))) return false;
+	if (!chainEdgeAdmits(a, manifold.normalX, manifold.normalY) || !chainEdgeAdmits(b, -manifold.normalX, -manifold.normalY)) {
+		manifold.reset();
+		return false;
+	}
+	return true;
+};
+const radiusOf = (collider) => collider.shape.type === "circle" || collider.shape.type === "capsule" ? collider.shape.radius : 0;
+const countOf = (collider) => {
+	switch (collider.shape.type) {
+		case "polygon": return collider.shape.count;
+		case "capsule":
+		case "segment": return 2;
+		case "circle":
+		case "chain": return 0;
+	}
 };
-// radiusOf/countOf are only ever called after the `collide` dispatch has matched
-// the shape kind, so the discriminant always holds; the fallback is unreachable
-// but keeps these allocation-free helpers cast-free and type-safe.
-const radiusOf = (collider) => (collider.shape.type === 'circle' ? collider.shape.radius : 0);
-const countOf = (collider) => (collider.shape.type === 'polygon' ? collider.shape.count : 0);
 const collideCircles = (a, b, manifold) => {
-    const ca = a.worldCenter;
-    const cb = b.worldCenter;
-    const ra = radiusOf(a);
-    const rb = radiusOf(b);
-    let nx = cb.x - ca.x;
-    let ny = cb.y - ca.y;
-    const rsum = ra + rb;
-    const distSq = nx * nx + ny * ny;
-    if (distSq > rsum * rsum) {
-        return false;
-    }
-    const dist = Math.sqrt(distSq);
-    if (dist > eps) {
-        nx /= dist;
-        ny /= dist;
-    }
-    else {
-        nx = 0;
-        ny = 1;
-    }
-    manifold.normalX = nx;
-    manifold.normalY = ny;
-    const point = manifold.points[0];
-    // Midpoint of the two surface contact points.
-    point.x = (ca.x + nx * ra + cb.x - nx * rb) * 0.5;
-    point.y = (ca.y + ny * ra + cb.y - ny * rb) * 0.5;
-    point.penetration = rsum - dist;
-    point.id = 0;
-    manifold.pointCount = 1;
-    return true;
+	const ca = a.worldCenter;
+	const cb = b.worldCenter;
+	const ra = radiusOf(a);
+	const rb = radiusOf(b);
+	let nx = cb.x - ca.x;
+	let ny = cb.y - ca.y;
+	const rsum = ra + rb;
+	const distSq = nx * nx + ny * ny;
+	if (distSq > rsum * rsum) return false;
+	const dist = Math.sqrt(distSq);
+	if (dist > eps) {
+		nx /= dist;
+		ny /= dist;
+	} else {
+		nx = 0;
+		ny = 1;
+	}
+	manifold.normalX = nx;
+	manifold.normalY = ny;
+	const point = manifold.points[0];
+	point.x = (ca.x + nx * ra + cb.x - nx * rb) * .5;
+	point.y = (ca.y + ny * ra + cb.y - ny * rb) * .5;
+	point.penetration = rsum - dist;
+	point.id = 0;
+	manifold.pointCount = 1;
+	return true;
 };
 /**
- * Circle (the `circle` collider) vs polygon. Produces the normal pointing from
- * the circle toward the polygon; when `flip` is set (the polygon is collider A),
- * the normal is negated so it stays `a → b`.
- */
+* Circle (the `circle` collider) vs polygon. Produces the normal pointing from
+* the circle toward the polygon; when `flip` is set (the polygon is collider A),
+* the normal is negated so it stays `a → b`.
+*/
 const collideCirclePolygon = (circle, polygon, manifold, flip) => {
-    const c = circle.worldCenter;
-    const r = radiusOf(circle);
-    const verts = polygon.worldVertices;
-    const normals = polygon.worldNormals;
-    const count = countOf(polygon);
-    let maxSep = -Infinity;
-    let refEdge = 0;
-    for (let i = 0; i < count; i++) {
-        // Loop indices are provably in-bounds (0..count-1); the `!` is zero-cost.
-        const enx = normals[i * 2];
-        const eny = normals[i * 2 + 1];
-        const evx = verts[i * 2];
-        const evy = verts[i * 2 + 1];
-        const s = enx * (c.x - evx) + eny * (c.y - evy);
-        if (s > r) {
-            return false;
-        }
-        if (s > maxSep) {
-            maxSep = s;
-            refEdge = i;
-        }
-    }
-    // refEdge/j stay in 0..count-1, so these reads are in-bounds too.
-    const refNx = normals[refEdge * 2];
-    const refNy = normals[refEdge * 2 + 1];
-    let nx;
-    let ny;
-    let penetration;
-    let px;
-    let py;
-    let id;
-    if (maxSep < eps) {
-        // Centre inside the polygon: push out along the least-penetrating face.
-        nx = -refNx;
-        ny = -refNy;
-        penetration = r - maxSep;
-        px = c.x + nx * r;
-        py = c.y + ny * r;
-        id = refEdge;
-    }
-    else {
-        const j = (refEdge + 1) % count;
-        const v1x = verts[refEdge * 2];
-        const v1y = verts[refEdge * 2 + 1];
-        const v2x = verts[j * 2];
-        const v2y = verts[j * 2 + 1];
-        const u1 = (c.x - v1x) * (v2x - v1x) + (c.y - v1y) * (v2y - v1y);
-        const u2 = (c.x - v2x) * (v1x - v2x) + (c.y - v2y) * (v1y - v2y);
-        if (u1 <= 0) {
-            // Nearest feature is vertex v1 (Voronoi corner region).
-            const dx = c.x - v1x;
-            const dy = c.y - v1y;
-            const d2 = dx * dx + dy * dy;
-            if (d2 > r * r) {
-                return false;
-            }
-            const d = Math.sqrt(d2);
-            nx = d > eps ? -dx / d : -refNx;
-            ny = d > eps ? -dy / d : -refNy;
-            penetration = r - d;
-            px = v1x;
-            py = v1y;
-            id = refEdge;
-        }
-        else if (u2 <= 0) {
-            const dx = c.x - v2x;
-            const dy = c.y - v2y;
-            const d2 = dx * dx + dy * dy;
-            if (d2 > r * r) {
-                return false;
-            }
-            const d = Math.sqrt(d2);
-            nx = d > eps ? -dx / d : -refNx;
-            ny = d > eps ? -dy / d : -refNy;
-            penetration = r - d;
-            px = v2x;
-            py = v2y;
-            id = j;
-        }
-        else {
-            // Face region.
-            nx = -refNx;
-            ny = -refNy;
-            penetration = r - maxSep;
-            px = c.x + nx * r;
-            py = c.y + ny * r;
-            id = refEdge;
-        }
-    }
-    if (flip) {
-        nx = -nx;
-        ny = -ny;
-    }
-    manifold.normalX = nx;
-    manifold.normalY = ny;
-    const point = manifold.points[0];
-    point.x = px;
-    point.y = py;
-    point.penetration = penetration < 0 ? 0 : penetration;
-    point.id = id;
-    manifold.pointCount = 1;
-    return true;
+	const c = circle.worldCenter;
+	const r = radiusOf(circle);
+	const verts = polygon.worldVertices;
+	const normals = polygon.worldNormals;
+	const count = countOf(polygon);
+	let maxSep = -Infinity;
+	let refEdge = 0;
+	for (let i = 0; i < count; i++) {
+		const enx = normals[i * 2];
+		const eny = normals[i * 2 + 1];
+		const evx = verts[i * 2];
+		const evy = verts[i * 2 + 1];
+		const s = enx * (c.x - evx) + eny * (c.y - evy);
+		if (s > r) return false;
+		if (s > maxSep) {
+			maxSep = s;
+			refEdge = i;
+		}
+	}
+	const refNx = normals[refEdge * 2];
+	const refNy = normals[refEdge * 2 + 1];
+	let nx;
+	let ny;
+	let penetration;
+	let px;
+	let py;
+	let id;
+	if (maxSep < eps) {
+		nx = -refNx;
+		ny = -refNy;
+		penetration = r - maxSep;
+		px = c.x + nx * r;
+		py = c.y + ny * r;
+		id = refEdge;
+	} else {
+		const j = (refEdge + 1) % count;
+		const v1x = verts[refEdge * 2];
+		const v1y = verts[refEdge * 2 + 1];
+		const v2x = verts[j * 2];
+		const v2y = verts[j * 2 + 1];
+		const u1 = (c.x - v1x) * (v2x - v1x) + (c.y - v1y) * (v2y - v1y);
+		const u2 = (c.x - v2x) * (v1x - v2x) + (c.y - v2y) * (v1y - v2y);
+		if (u1 <= 0) {
+			const dx = c.x - v1x;
+			const dy = c.y - v1y;
+			const d2 = dx * dx + dy * dy;
+			if (d2 > r * r) return false;
+			const d = Math.sqrt(d2);
+			nx = d > eps ? -dx / d : -refNx;
+			ny = d > eps ? -dy / d : -refNy;
+			penetration = r - d;
+			px = v1x;
+			py = v1y;
+			id = refEdge;
+		} else if (u2 <= 0) {
+			const dx = c.x - v2x;
+			const dy = c.y - v2y;
+			const d2 = dx * dx + dy * dy;
+			if (d2 > r * r) return false;
+			const d = Math.sqrt(d2);
+			nx = d > eps ? -dx / d : -refNx;
+			ny = d > eps ? -dy / d : -refNy;
+			penetration = r - d;
+			px = v2x;
+			py = v2y;
+			id = j;
+		} else {
+			nx = -refNx;
+			ny = -refNy;
+			penetration = r - maxSep;
+			px = c.x + nx * r;
+			py = c.y + ny * r;
+			id = refEdge;
+		}
+	}
+	if (flip) {
+		nx = -nx;
+		ny = -ny;
+	}
+	manifold.normalX = nx;
+	manifold.normalY = ny;
+	const point = manifold.points[0];
+	point.x = px;
+	point.y = py;
+	point.penetration = penetration < 0 ? 0 : penetration;
+	point.id = id;
+	manifold.pointCount = 1;
+	return true;
 };
-const newClipPair = () => [
-    { x: 0, y: 0, id: 0 },
-    { x: 0, y: 0, id: 0 },
-];
-// Module-local clip scratch reused across collidePolygons calls instead of
-// allocating a fresh pair per contact. The narrow phase is single-threaded and
-// non-reentrant — a world step calls `collide` strictly sequentially per pair,
-// with no nested self-call or async — so module-global scratch is safe and may
-// be shared across worlds (world-isolation.test.ts guards the multi-world
-// invariant). The three pairs MUST stay separate: incident → clipped1 →
-// clipped2 are simultaneously live (each clip reads the previous clip's output).
+const newClipPair = () => [{
+	x: 0,
+	y: 0,
+	id: 0
+}, {
+	x: 0,
+	y: 0,
+	id: 0
+}];
 const _incidentScratch = newClipPair();
 const _clipped1Scratch = newClipPair();
 const _clipped2Scratch = newClipPair();
-// Two separate scratches: collidePolygons holds sepA and sepB at the same time.
-const _sepA = { separation: 0, edge: 0 };
-const _sepB = { separation: 0, edge: 0 };
+const _sepA = {
+	separation: 0,
+	edge: 0
+};
+const _sepB = {
+	separation: 0,
+	edge: 0
+};
 /** Max separation of `b` from any face of `a`, with the supporting face index. Writes into and returns `out` (allocation-free). */
 const findMaxSeparation = (a, b, out) => {
-    const av = a.worldVertices;
-    const an = a.worldNormals;
-    const ac = countOf(a);
-    const bv = b.worldVertices;
-    const bc = countOf(b);
-    let best = -Infinity;
-    let bestEdge = 0;
-    for (let i = 0; i < ac; i++) {
-        // i in 0..ac-1 and j in 0..bc-1, so every read below is in-bounds.
-        const nx = an[i * 2];
-        const ny = an[i * 2 + 1];
-        const vx = av[i * 2];
-        const vy = av[i * 2 + 1];
-        // Support of b along -n = vertex of b minimising dot(n, vertex).
-        let minDot = Infinity;
-        let sx = 0;
-        let sy = 0;
-        for (let j = 0; j < bc; j++) {
-            const bjx = bv[j * 2];
-            const bjy = bv[j * 2 + 1];
-            const d = nx * bjx + ny * bjy;
-            if (d < minDot) {
-                minDot = d;
-                sx = bjx;
-                sy = bjy;
-            }
-        }
-        const separation = nx * (sx - vx) + ny * (sy - vy);
-        if (separation > best) {
-            best = separation;
-            bestEdge = i;
-        }
-    }
-    out.separation = best;
-    out.edge = bestEdge;
-    return out;
+	const av = a.worldVertices;
+	const an = a.worldNormals;
+	const ac = countOf(a);
+	const bv = b.worldVertices;
+	const bc = countOf(b);
+	let best = -Infinity;
+	let bestEdge = 0;
+	for (let i = 0; i < ac; i++) {
+		const nx = an[i * 2];
+		const ny = an[i * 2 + 1];
+		const vx = av[i * 2];
+		const vy = av[i * 2 + 1];
+		let minDot = Infinity;
+		let sx = 0;
+		let sy = 0;
+		for (let j = 0; j < bc; j++) {
+			const bjx = bv[j * 2];
+			const bjy = bv[j * 2 + 1];
+			const d = nx * bjx + ny * bjy;
+			if (d < minDot) {
+				minDot = d;
+				sx = bjx;
+				sy = bjy;
+			}
+		}
+		const separation = nx * (sx - vx) + ny * (sy - vy);
+		if (separation > best) {
+			best = separation;
+			bestEdge = i;
+		}
+	}
+	out.separation = best;
+	out.edge = bestEdge;
+	return out;
 };
 /** Incident face of `inc` = the face most anti-parallel to the reference normal. */
 const findIncidentFace = (refNx, refNy, inc, out) => {
-    const iv = inc.worldVertices;
-    const inrm = inc.worldNormals;
-    const ic = countOf(inc);
-    let minDot = Infinity;
-    let idx = 0;
-    for (let i = 0; i < ic; i++) {
-        const inx = inrm[i * 2];
-        const iny = inrm[i * 2 + 1];
-        const d = refNx * inx + refNy * iny;
-        if (d < minDot) {
-            minDot = d;
-            idx = i;
-        }
-    }
-    const j = (idx + 1) % ic;
-    // idx/j in 0..ic-1; reads in-bounds. out is a fixed 2-tuple.
-    out[0].x = iv[idx * 2];
-    out[0].y = iv[idx * 2 + 1];
-    out[0].id = idx;
-    out[1].x = iv[j * 2];
-    out[1].y = iv[j * 2 + 1];
-    out[1].id = j;
+	const iv = inc.worldVertices;
+	const inrm = inc.worldNormals;
+	const ic = countOf(inc);
+	let minDot = Infinity;
+	let idx = 0;
+	for (let i = 0; i < ic; i++) {
+		const inx = inrm[i * 2];
+		const iny = inrm[i * 2 + 1];
+		const d = refNx * inx + refNy * iny;
+		if (d < minDot) {
+			minDot = d;
+			idx = i;
+		}
+	}
+	const j = (idx + 1) % ic;
+	out[0].x = iv[idx * 2];
+	out[0].y = iv[idx * 2 + 1];
+	out[0].id = idx;
+	out[1].x = iv[j * 2];
+	out[1].y = iv[j * 2 + 1];
+	out[1].id = j;
 };
 /** Clip the 2-vertex segment `input` to the half-plane `dot(n, p) ≤ offset`. */
 const clipSegment = (nx, ny, offset, input, output, syntheticId) => {
-    // input/output are fixed 2-tuples; count never exceeds 2 (two boundary
-    // copies, or one copy plus the guarded intersection), so output[0]/output[1]
-    // are the only slots written and both always exist.
-    const in0 = input[0];
-    const in1 = input[1];
-    let count = 0;
-    const d1 = nx * in0.x + ny * in0.y - offset;
-    const d2 = nx * in1.x + ny * in1.y - offset;
-    if (d1 <= 0) {
-        copyClip(in0, count === 0 ? output[0] : output[1]);
-        count++;
-    }
-    if (d2 <= 0) {
-        copyClip(in1, count === 0 ? output[0] : output[1]);
-        count++;
-    }
-    if (d1 * d2 < 0 && count < 2) {
-        const alpha = d1 / (d1 - d2);
-        const target = count === 0 ? output[0] : output[1];
-        target.x = in0.x + alpha * (in1.x - in0.x);
-        target.y = in0.y + alpha * (in1.y - in0.y);
-        target.id = syntheticId;
-        count++;
-    }
-    return count;
+	const in0 = input[0];
+	const in1 = input[1];
+	let count = 0;
+	const d1 = nx * in0.x + ny * in0.y - offset;
+	const d2 = nx * in1.x + ny * in1.y - offset;
+	if (d1 <= 0) {
+		copyClip(in0, count === 0 ? output[0] : output[1]);
+		count++;
+	}
+	if (d2 <= 0) {
+		copyClip(in1, count === 0 ? output[0] : output[1]);
+		count++;
+	}
+	if (d1 * d2 < 0 && count < 2) {
+		const alpha = d1 / (d1 - d2);
+		const target = count === 0 ? output[0] : output[1];
+		target.x = in0.x + alpha * (in1.x - in0.x);
+		target.y = in0.y + alpha * (in1.y - in0.y);
+		target.id = syntheticId;
+		count++;
+	}
+	return count;
 };
 const copyClip = (from, to) => {
-    to.x = from.x;
-    to.y = from.y;
-    to.id = from.id;
+	to.x = from.x;
+	to.y = from.y;
+	to.id = from.id;
 };
-const encodeId = (flip, refEdge, incidentId) => (flip ? 1 << 20 : 0) | ((refEdge & 0xff) << 12) | (incidentId & 0xfff);
-/** Convex polygon vs convex polygon: SAT reference face + Sutherland-Hodgman clip. */
-const collidePolygons = (a, b, manifold) => {
-    const sepA = findMaxSeparation(a, b, _sepA);
-    if (sepA.separation >= 0) {
-        return false;
-    }
-    const sepB = findMaxSeparation(b, a, _sepB);
-    if (sepB.separation >= 0) {
-        return false;
-    }
-    let ref;
-    let inc;
-    let refEdge;
-    let flip;
-    // Bias toward keeping A as the reference for stability (reduces ref/incident
-    // role flapping when a body rocks slightly — gate SG-M3).
-    if (sepA.separation >= sepB.separation * 0.95 + sepA.separation * 0.01) {
-        ref = a;
-        inc = b;
-        refEdge = sepA.edge;
-        flip = false;
-    }
-    else {
-        ref = b;
-        inc = a;
-        refEdge = sepB.edge;
-        flip = true;
-    }
-    const rv = ref.worldVertices;
-    const rn = ref.worldNormals;
-    const rc = countOf(ref);
-    const i2 = (refEdge + 1) % rc;
-    // refEdge/i2 in 0..rc-1, so these reads are in-bounds.
-    const v1x = rv[refEdge * 2];
-    const v1y = rv[refEdge * 2 + 1];
-    const v2x = rv[i2 * 2];
-    const v2y = rv[i2 * 2 + 1];
-    const refNx = rn[refEdge * 2];
-    const refNy = rn[refEdge * 2 + 1];
-    const incident = _incidentScratch;
-    findIncidentFace(refNx, refNy, inc, incident);
-    // Reference-face tangent (the side-plane direction).
-    let tx = v2x - v1x;
-    let ty = v2y - v1y;
-    // sqrt(x²+y²) over Math.hypot — avoids hypot's variadic/internal-allocation
-    // path on the narrow-phase hot path; the operands are bounded edge lengths,
-    // so the overflow protection hypot adds is not needed here.
-    const tl = Math.sqrt(tx * tx + ty * ty);
-    tx /= tl;
-    ty /= tl;
-    const negSide = -(tx * v1x + ty * v1y);
-    const posSide = tx * v2x + ty * v2y;
-    const clipped1 = _clipped1Scratch;
-    if (clipSegment(-tx, -ty, negSide, incident, clipped1, encodeId(flip, refEdge, 0xffe)) < 2) {
-        return false;
-    }
-    const clipped2 = _clipped2Scratch;
-    if (clipSegment(tx, ty, posSide, clipped1, clipped2, encodeId(flip, refEdge, 0xfff)) < 2) {
-        return false;
-    }
-    manifold.normalX = flip ? -refNx : refNx;
-    manifold.normalY = flip ? -refNy : refNy;
-    const refC = refNx * v1x + refNy * v1y;
-    const points = manifold.points;
-    let cp = 0;
-    for (let k = 0; k < 2; k++) {
-        // clipped2 is a fixed 2-tuple; k in {0,1} so the clip vertex always exists.
-        const cv = k === 0 ? clipped2[0] : clipped2[1];
-        const separation = refNx * cv.x + refNy * cv.y - refC;
-        if (separation <= 0) {
-            // cp reaches at most 2 (one per clip vertex); points[0]/points[1] exist.
-            const point = cp === 0 ? points[0] : points[1];
-            point.x = cv.x;
-            point.y = cv.y;
-            point.penetration = -separation;
-            point.id = encodeId(flip, refEdge, cv.id);
-            cp++;
-        }
-    }
-    manifold.pointCount = cp;
-    return cp > 0;
+const encodeId = (flip, refEdge, incidentId) => (flip ? 1 << 20 : 0) | (refEdge & 255) << 12 | incidentId & 4095;
+/**
+* Convex ring vs convex ring: SAT reference face + Sutherland-Hodgman clip, with
+* each operand allowed a radius that rounds its outline off.
+*
+* The separations the SAT computes are between the two **cores**; the radii only
+* move where touching begins, and since both candidate axes shift by the same
+* sum, the reference face the SAT picks is unaffected. A capsule is a two-vertex
+* core with a radius and a polygon a many-vertex core without one, so
+* polygon/polygon, capsule/polygon and capsule/capsule are all this one routine.
+*/
+const collideRoundedPolygons = (a, b, manifold, callerFlip) => {
+	const totalRadius = radiusOf(a) + radiusOf(b);
+	const sepA = findMaxSeparation(a, b, _sepA);
+	if (sepA.separation >= totalRadius) return false;
+	const sepB = findMaxSeparation(b, a, _sepB);
+	if (sepB.separation >= totalRadius) return false;
+	let ref;
+	let inc;
+	let refEdge;
+	let refSwapped;
+	if (sepA.separation >= sepB.separation * .95 + sepA.separation * .01) {
+		ref = a;
+		inc = b;
+		refEdge = sepA.edge;
+		refSwapped = false;
+	} else {
+		ref = b;
+		inc = a;
+		refEdge = sepB.edge;
+		refSwapped = true;
+	}
+	const rv = ref.worldVertices;
+	const rn = ref.worldNormals;
+	const rc = countOf(ref);
+	const i2 = (refEdge + 1) % rc;
+	const v1x = rv[refEdge * 2];
+	const v1y = rv[refEdge * 2 + 1];
+	const v2x = rv[i2 * 2];
+	const v2y = rv[i2 * 2 + 1];
+	const refNx = rn[refEdge * 2];
+	const refNy = rn[refEdge * 2 + 1];
+	const incident = _incidentScratch;
+	findIncidentFace(refNx, refNy, inc, incident);
+	let tx = v2x - v1x;
+	let ty = v2y - v1y;
+	const tl = Math.sqrt(tx * tx + ty * ty);
+	tx /= tl;
+	ty /= tl;
+	const negSide = -(tx * v1x + ty * v1y);
+	const posSide = tx * v2x + ty * v2y;
+	const clipped1 = _clipped1Scratch;
+	if (clipSegment(-tx, -ty, negSide, incident, clipped1, encodeId(refSwapped, refEdge, 4094)) < 2) return false;
+	const clipped2 = _clipped2Scratch;
+	if (clipSegment(tx, ty, posSide, clipped1, clipped2, encodeId(refSwapped, refEdge, 4095)) < 2) return false;
+	const flipNormal = refSwapped !== callerFlip;
+	manifold.normalX = flipNormal ? -refNx : refNx;
+	manifold.normalY = flipNormal ? -refNy : refNy;
+	const refC = refNx * v1x + refNy * v1y;
+	const incidentRadius = radiusOf(inc);
+	const points = manifold.points;
+	let cp = 0;
+	for (let k = 0; k < 2; k++) {
+		const cv = k === 0 ? clipped2[0] : clipped2[1];
+		const separation = refNx * cv.x + refNy * cv.y - refC;
+		if (separation <= totalRadius) {
+			const point = cp === 0 ? points[0] : points[1];
+			point.x = cv.x - refNx * incidentRadius;
+			point.y = cv.y - refNy * incidentRadius;
+			point.penetration = totalRadius - separation;
+			point.id = encodeId(refSwapped, refEdge, cv.id);
+			cp++;
+		}
+	}
+	manifold.pointCount = cp;
+	return cp > 0;
 };
 /**
- * Boolean overlap test (no manifold) used by sensors and shape-overlap queries.
- * Exact for the circle/circle, circle/polygon and polygon/polygon pairs.
- */
+* Boolean overlap test (no manifold) used by sensors and shape-overlap queries.
+* Exact for the circle/circle, circle/polygon and polygon/polygon pairs.
+*/
 const testOverlap = (a, b) => {
-    const ta = a.shape.type;
-    const tb = b.shape.type;
-    if (ta === 'circle') {
-        if (tb === 'circle') {
-            const ca = a.worldCenter;
-            const cb = b.worldCenter;
-            const rsum = radiusOf(a) + radiusOf(b);
-            const dx = cb.x - ca.x;
-            const dy = cb.y - ca.y;
-            return dx * dx + dy * dy <= rsum * rsum;
-        }
-        return circlePolygonOverlap(a, b);
-    }
-    if (tb === 'circle') {
-        return circlePolygonOverlap(b, a);
-    }
-    return findMaxSeparation(a, b, _sepA).separation < 0 && findMaxSeparation(b, a, _sepB).separation < 0;
+	const ta = a.shape.type;
+	const tb = b.shape.type;
+	const test = symmetricEntry(overlapTable, ta, tb);
+	if (test === void 0) return false;
+	return needsFlip(ta, tb) ? test(b, a) : test(a, b);
+};
+const circlesOverlap = (a, b) => {
+	const ca = a.worldCenter;
+	const cb = b.worldCenter;
+	const rsum = radiusOf(a) + radiusOf(b);
+	const dx = cb.x - ca.x;
+	const dy = cb.y - ca.y;
+	return dx * dx + dy * dy <= rsum * rsum;
+};
+const roundedPolygonsOverlap = (a, b) => {
+	const totalRadius = radiusOf(a) + radiusOf(b);
+	return findMaxSeparation(a, b, _sepA).separation < totalRadius && findMaxSeparation(b, a, _sepB).separation < totalRadius;
+};
+/**
+* Circle vs capsule: a capsule is every point within its radius of the spine, so
+* this is a circle/circle test against the spine point nearest the circle centre.
+* One contact point - a circle meets a rounded surface in one place, and a second
+* would be invented noise for the solver.
+*/
+const collideCircleSpine = (circle, spineShape, manifold, flip) => {
+	const spine = spineShape.worldVertices;
+	const centre = circle.worldCenter;
+	const circleRadius = radiusOf(circle);
+	const radiusSum = circleRadius + radiusOf(spineShape);
+	closestPointOnSegment(centre.x, centre.y, spine[0], spine[1], spine[2], spine[3], _segmentScratch);
+	let nx = _segmentScratch.x - centre.x;
+	let ny = _segmentScratch.y - centre.y;
+	const distanceSquared = nx * nx + ny * ny;
+	if (distanceSquared > radiusSum * radiusSum) return false;
+	const distance = Math.sqrt(distanceSquared);
+	if (distance > eps) {
+		nx /= distance;
+		ny /= distance;
+	} else {
+		nx = spineShape.worldNormals[0];
+		ny = spineShape.worldNormals[1];
+	}
+	manifold.normalX = flip ? -nx : nx;
+	manifold.normalY = flip ? -ny : ny;
+	const point = manifold.points[0];
+	const along = circleRadius + (distance - radiusSum) * .5;
+	point.x = centre.x + nx * along;
+	point.y = centre.y + ny * along;
+	point.penetration = radiusSum - distance;
+	point.id = 0;
+	manifold.pointCount = 1;
+	return true;
+};
+const circleSpineOverlap = (circle, spineShape) => {
+	const spine = spineShape.worldVertices;
+	const centre = circle.worldCenter;
+	const radiusSum = radiusOf(circle) + radiusOf(spineShape);
+	return pointSegmentDistanceSquared(centre.x, centre.y, spine[0], spine[1], spine[2], spine[3], _segmentScratch) <= radiusSum * radiusSum;
 };
 const circlePolygonOverlap = (circle, polygon) => {
-    const c = circle.worldCenter;
-    const r = radiusOf(circle);
-    const verts = polygon.worldVertices;
-    const normals = polygon.worldNormals;
-    const count = countOf(polygon);
-    let maxSep = -Infinity;
-    let refEdge = 0;
-    for (let i = 0; i < count; i++) {
-        // Loop indices are provably in-bounds (0..count-1); the `!` is zero-cost.
-        const enx = normals[i * 2];
-        const eny = normals[i * 2 + 1];
-        const evx = verts[i * 2];
-        const evy = verts[i * 2 + 1];
-        const s = enx * (c.x - evx) + eny * (c.y - evy);
-        if (s > r) {
-            return false;
-        }
-        if (s > maxSep) {
-            maxSep = s;
-            refEdge = i;
-        }
-    }
-    if (maxSep < eps) {
-        return true;
-    }
-    const j = (refEdge + 1) % count;
-    const v1x = verts[refEdge * 2];
-    const v1y = verts[refEdge * 2 + 1];
-    const v2x = verts[j * 2];
-    const v2y = verts[j * 2 + 1];
-    const u1 = (c.x - v1x) * (v2x - v1x) + (c.y - v1y) * (v2y - v1y);
-    const u2 = (c.x - v2x) * (v1x - v2x) + (c.y - v2y) * (v1y - v2y);
-    if (u1 <= 0) {
-        const dx = c.x - v1x;
-        const dy = c.y - v1y;
-        return dx * dx + dy * dy <= r * r;
-    }
-    if (u2 <= 0) {
-        const dx = c.x - v2x;
-        const dy = c.y - v2y;
-        return dx * dx + dy * dy <= r * r;
-    }
-    return maxSep <= r;
+	const c = circle.worldCenter;
+	const r = radiusOf(circle);
+	const verts = polygon.worldVertices;
+	const normals = polygon.worldNormals;
+	const count = countOf(polygon);
+	let maxSep = -Infinity;
+	let refEdge = 0;
+	for (let i = 0; i < count; i++) {
+		const enx = normals[i * 2];
+		const eny = normals[i * 2 + 1];
+		const evx = verts[i * 2];
+		const evy = verts[i * 2 + 1];
+		const s = enx * (c.x - evx) + eny * (c.y - evy);
+		if (s > r) return false;
+		if (s > maxSep) {
+			maxSep = s;
+			refEdge = i;
+		}
+	}
+	if (maxSep < eps) return true;
+	const j = (refEdge + 1) % count;
+	const v1x = verts[refEdge * 2];
+	const v1y = verts[refEdge * 2 + 1];
+	const v2x = verts[j * 2];
+	const v2y = verts[j * 2 + 1];
+	const u1 = (c.x - v1x) * (v2x - v1x) + (c.y - v1y) * (v2y - v1y);
+	const u2 = (c.x - v2x) * (v1x - v2x) + (c.y - v2y) * (v1y - v2y);
+	if (u1 <= 0) {
+		const dx = c.x - v1x;
+		const dy = c.y - v1y;
+		return dx * dx + dy * dy <= r * r;
+	}
+	if (u2 <= 0) {
+		const dx = c.x - v2x;
+		const dy = c.y - v2y;
+		return dx * dx + dy * dy <= r * r;
+	}
+	return maxSep <= r;
 };
+const collideTable = symmetricTable([
+	[
+		"circle",
+		"circle",
+		collideCircles
+	],
+	[
+		"circle",
+		"capsule",
+		collideCircleSpine
+	],
+	[
+		"circle",
+		"segment",
+		collideCircleSpine
+	],
+	[
+		"circle",
+		"polygon",
+		collideCirclePolygon
+	],
+	[
+		"capsule",
+		"capsule",
+		collideRoundedPolygons
+	],
+	[
+		"capsule",
+		"segment",
+		collideRoundedPolygons
+	],
+	[
+		"capsule",
+		"polygon",
+		collideRoundedPolygons
+	],
+	[
+		"segment",
+		"polygon",
+		collideRoundedPolygons
+	],
+	[
+		"polygon",
+		"polygon",
+		collideRoundedPolygons
+	]
+]);
+const overlapTable = symmetricTable([
+	[
+		"circle",
+		"circle",
+		circlesOverlap
+	],
+	[
+		"circle",
+		"capsule",
+		circleSpineOverlap
+	],
+	[
+		"circle",
+		"segment",
+		circleSpineOverlap
+	],
+	[
+		"circle",
+		"polygon",
+		circlePolygonOverlap
+	],
+	[
+		"capsule",
+		"capsule",
+		roundedPolygonsOverlap
+	],
+	[
+		"capsule",
+		"segment",
+		roundedPolygonsOverlap
+	],
+	[
+		"capsule",
+		"polygon",
+		roundedPolygonsOverlap
+	],
+	[
+		"segment",
+		"polygon",
+		roundedPolygonsOverlap
+	],
+	[
+		"polygon",
+		"polygon",
+		roundedPolygonsOverlap
+	]
+]);
 
+//#endregion
 export { collide, testOverlap };
-//# sourceMappingURL=narrowphase.js.map
+//# sourceMappingURL=narrowphase.js.map