@codexo/exojs-physics 0.15.2 → 0.16.0

package/dist/esm/collision/narrowphase.js.map

@@ -1 +1 @@
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+{"version":3,"file":"narrowphase.js","names":[],"sources":["../../../src/collision/narrowphase.ts"],"sourcesContent":["import type { PointLike } from '@codexo/exojs';\n\nimport { chainEdgeAdmits } from './chainAdjacency';\nimport type { CollisionProxy } from './CollisionProxy';\nimport type { PairTable } from './dispatch';\nimport { needsFlip, symmetricEntry, symmetricTable } from './dispatch';\nimport type { Manifold } from './Manifold';\nimport { closestPointOnSegment, pointSegmentDistanceSquared } from './segments';\n\nconst eps = 1e-9;\n\n/** Reused closest-point sink; the narrow phase is single-threaded and non-reentrant. */\nconst _segmentScratch: PointLike = { x: 0, y: 0 };\n\n/**\n * Solves one unordered shape pair. `a` is always the operand of the lower shape\n * kind; `flip` is `true` when the caller's operands were swapped to get there,\n * and the routine must reverse the manifold normal so it still points from the\n * caller's `a` toward its `b`.\n */\ntype CollidePair = (a: CollisionProxy, b: CollisionProxy, manifold: Manifold, flip: boolean) => boolean;\n\n/** Boolean form of {@link CollidePair}; no normal, so no flip to honour. */\ntype OverlapPair = (a: CollisionProxy, b: CollisionProxy) => boolean;\n\n/**\n * Generate the contact manifold for `a` vs `b`, writing into `manifold` and\n * returning `true` when the colliders touch. The manifold normal is oriented\n * from `a` toward `b`.\n *\n * A pair with no entry in the table is deliberately unsupported and reports no\n * contact rather than an approximation.\n */\nexport const collide = (a: CollisionProxy, b: CollisionProxy, manifold: Manifold): boolean => {\n  manifold.reset();\n\n  const ta = a.shape.type;\n  const tb = b.shape.type;\n  const solver = symmetricEntry(collideTable, ta, tb);\n\n  if (solver === undefined) {\n    return false;\n  }\n\n  const touching = needsFlip(ta, tb) ? solver(b, a, manifold, true) : solver(a, b, manifold, false);\n\n  if (!touching) {\n    return false;\n  }\n\n  // The manifold normal points a → b, so it is the direction `a` pushes `b`\n  // away along; from b's side the outward direction is its negation.\n  if (!chainEdgeAdmits(a, manifold.normalX, manifold.normalY) || !chainEdgeAdmits(b, -manifold.normalX, -manifold.normalY)) {\n    manifold.reset();\n\n    return false;\n  }\n\n  return true;\n};\n\n// Both helpers stay cast-free and allocation-free. A capsule is a two-vertex\n// ring with a radius, which is exactly why it shares the polygon routines: the\n// ring supplies `count` and `worldVertices`/`worldNormals`, the radius rounds\n// the result off.\nconst radiusOf = (collider: CollisionProxy): number => (collider.shape.type === 'circle' || collider.shape.type === 'capsule' ? collider.shape.radius : 0);\nconst countOf = (collider: CollisionProxy): number => {\n  switch (collider.shape.type) {\n    case 'polygon':\n      return collider.shape.count;\n    case 'capsule':\n    case 'segment':\n      return 2;\n    case 'circle':\n    case 'chain':\n      // A chain is never an operand here - it is solved through its edge proxies.\n      return 0;\n  }\n};\n\nconst collideCircles: CollidePair = (a, b, manifold) => {\n  const ca = a.worldCenter;\n  const cb = b.worldCenter;\n  const ra = radiusOf(a);\n  const rb = radiusOf(b);\n\n  let nx = cb.x - ca.x;\n  let ny = cb.y - ca.y;\n  const rsum = ra + rb;\n  const distSq = nx * nx + ny * ny;\n\n  if (distSq > rsum * rsum) {\n    return false;\n  }\n\n  const dist = Math.sqrt(distSq);\n\n  if (dist > eps) {\n    nx /= dist;\n    ny /= dist;\n  } else {\n    nx = 0;\n    ny = 1;\n  }\n\n  manifold.normalX = nx;\n  manifold.normalY = ny;\n\n  const point = manifold.points[0];\n  // Midpoint of the two surface contact points.\n  point.x = (ca.x + nx * ra + cb.x - nx * rb) * 0.5;\n  point.y = (ca.y + ny * ra + cb.y - ny * rb) * 0.5;\n  point.penetration = rsum - dist;\n  point.id = 0;\n  manifold.pointCount = 1;\n\n  return true;\n};\n\n/**\n * Circle (the `circle` collider) vs polygon. Produces the normal pointing from\n * the circle toward the polygon; when `flip` is set (the polygon is collider A),\n * the normal is negated so it stays `a → b`.\n */\nconst collideCirclePolygon: CollidePair = (circle, polygon, manifold, flip) => {\n  const c = circle.worldCenter;\n  const r = radiusOf(circle);\n  const verts = polygon.worldVertices;\n  const normals = polygon.worldNormals;\n  const count = countOf(polygon);\n\n  let maxSep = -Infinity;\n  let refEdge = 0;\n\n  for (let i = 0; i < count; i++) {\n    // Loop indices are provably in-bounds (0..count-1); the `!` is zero-cost.\n    const enx = normals[i * 2]!;\n    const eny = normals[i * 2 + 1]!;\n    const evx = verts[i * 2]!;\n    const evy = verts[i * 2 + 1]!;\n    const s = enx * (c.x - evx) + eny * (c.y - evy);\n\n    if (s > r) {\n      return false;\n    }\n\n    if (s > maxSep) {\n      maxSep = s;\n      refEdge = i;\n    }\n  }\n\n  // refEdge/j stay in 0..count-1, so these reads are in-bounds too.\n  const refNx = normals[refEdge * 2]!;\n  const refNy = normals[refEdge * 2 + 1]!;\n\n  let nx: number;\n  let ny: number;\n  let penetration: number;\n  let px: number;\n  let py: number;\n  let id: number;\n\n  if (maxSep < eps) {\n    // Centre inside the polygon: push out along the least-penetrating face.\n    nx = -refNx;\n    ny = -refNy;\n    penetration = r - maxSep;\n    px = c.x + nx * r;\n    py = c.y + ny * r;\n    id = refEdge;\n  } else {\n    const j = (refEdge + 1) % count;\n    const v1x = verts[refEdge * 2]!;\n    const v1y = verts[refEdge * 2 + 1]!;\n    const v2x = verts[j * 2]!;\n    const v2y = verts[j * 2 + 1]!;\n    const u1 = (c.x - v1x) * (v2x - v1x) + (c.y - v1y) * (v2y - v1y);\n    const u2 = (c.x - v2x) * (v1x - v2x) + (c.y - v2y) * (v1y - v2y);\n\n    if (u1 <= 0) {\n      // Nearest feature is vertex v1 (Voronoi corner region).\n      const dx = c.x - v1x;\n      const dy = c.y - v1y;\n      const d2 = dx * dx + dy * dy;\n\n      if (d2 > r * r) {\n        return false;\n      }\n\n      const d = Math.sqrt(d2);\n\n      nx = d > eps ? -dx / d : -refNx;\n      ny = d > eps ? -dy / d : -refNy;\n      penetration = r - d;\n      px = v1x;\n      py = v1y;\n      id = refEdge;\n    } else if (u2 <= 0) {\n      const dx = c.x - v2x;\n      const dy = c.y - v2y;\n      const d2 = dx * dx + dy * dy;\n\n      if (d2 > r * r) {\n        return false;\n      }\n\n      const d = Math.sqrt(d2);\n\n      nx = d > eps ? -dx / d : -refNx;\n      ny = d > eps ? -dy / d : -refNy;\n      penetration = r - d;\n      px = v2x;\n      py = v2y;\n      id = j;\n    } else {\n      // Face region.\n      nx = -refNx;\n      ny = -refNy;\n      penetration = r - maxSep;\n      px = c.x + nx * r;\n      py = c.y + ny * r;\n      id = refEdge;\n    }\n  }\n\n  if (flip) {\n    nx = -nx;\n    ny = -ny;\n  }\n\n  manifold.normalX = nx;\n  manifold.normalY = ny;\n\n  const point = manifold.points[0];\n  point.x = px;\n  point.y = py;\n  point.penetration = penetration < 0 ? 0 : penetration;\n  point.id = id;\n  manifold.pointCount = 1;\n\n  return true;\n};\n\ninterface ClipVertex {\n  x: number;\n  y: number;\n  id: number;\n}\n\nconst newClipPair = (): [ClipVertex, ClipVertex] => [\n  { x: 0, y: 0, id: 0 },\n  { x: 0, y: 0, id: 0 },\n];\n\n// Module-local clip scratch reused across collidePolygons calls instead of\n// allocating a fresh pair per contact. The narrow phase is single-threaded and\n// non-reentrant - a world step calls `collide` strictly sequentially per pair,\n// with no nested self-call or async - so module-global scratch is safe and may\n// be shared across worlds (world-isolation.test.ts guards the multi-world\n// invariant). The three pairs MUST stay separate: incident → clipped1 →\n// clipped2 are simultaneously live (each clip reads the previous clip's output).\nconst _incidentScratch = newClipPair();\nconst _clipped1Scratch = newClipPair();\nconst _clipped2Scratch = newClipPair();\n\ninterface Separation {\n  separation: number;\n  edge: number;\n}\n\n// Two separate scratches: collidePolygons holds sepA and sepB at the same time.\nconst _sepA: Separation = { separation: 0, edge: 0 };\nconst _sepB: Separation = { separation: 0, edge: 0 };\n\n/** Max separation of `b` from any face of `a`, with the supporting face index. Writes into and returns `out` (allocation-free). */\nconst findMaxSeparation = (a: CollisionProxy, b: CollisionProxy, out: Separation): Separation => {\n  const av = a.worldVertices;\n  const an = a.worldNormals;\n  const ac = countOf(a);\n  const bv = b.worldVertices;\n  const bc = countOf(b);\n\n  let best = -Infinity;\n  let bestEdge = 0;\n\n  for (let i = 0; i < ac; i++) {\n    // i in 0..ac-1 and j in 0..bc-1, so every read below is in-bounds.\n    const nx = an[i * 2]!;\n    const ny = an[i * 2 + 1]!;\n    const vx = av[i * 2]!;\n    const vy = av[i * 2 + 1]!;\n\n    // Support of b along -n = vertex of b minimising dot(n, vertex).\n    let minDot = Infinity;\n    let sx = 0;\n    let sy = 0;\n\n    for (let j = 0; j < bc; j++) {\n      const bjx = bv[j * 2]!;\n      const bjy = bv[j * 2 + 1]!;\n      const d = nx * bjx + ny * bjy;\n\n      if (d < minDot) {\n        minDot = d;\n        sx = bjx;\n        sy = bjy;\n      }\n    }\n\n    const separation = nx * (sx - vx) + ny * (sy - vy);\n\n    if (separation > best) {\n      best = separation;\n      bestEdge = i;\n    }\n  }\n\n  out.separation = best;\n  out.edge = bestEdge;\n\n  return out;\n};\n\n/** Incident face of `inc` = the face most anti-parallel to the reference normal. */\nconst findIncidentFace = (refNx: number, refNy: number, inc: CollisionProxy, out: [ClipVertex, ClipVertex]): void => {\n  const iv = inc.worldVertices;\n  const inrm = inc.worldNormals;\n  const ic = countOf(inc);\n\n  let minDot = Infinity;\n  let idx = 0;\n\n  for (let i = 0; i < ic; i++) {\n    const inx = inrm[i * 2]!;\n    const iny = inrm[i * 2 + 1]!;\n    const d = refNx * inx + refNy * iny;\n\n    if (d < minDot) {\n      minDot = d;\n      idx = i;\n    }\n  }\n\n  const j = (idx + 1) % ic;\n\n  // idx/j in 0..ic-1; reads in-bounds. out is a fixed 2-tuple.\n  out[0].x = iv[idx * 2]!;\n  out[0].y = iv[idx * 2 + 1]!;\n  out[0].id = idx;\n  out[1].x = iv[j * 2]!;\n  out[1].y = iv[j * 2 + 1]!;\n  out[1].id = j;\n};\n\n/** Clip the 2-vertex segment `input` to the half-plane `dot(n, p) ≤ offset`. */\nconst clipSegment = (\n  nx: number,\n  ny: number,\n  offset: number,\n  input: readonly [ClipVertex, ClipVertex],\n  output: [ClipVertex, ClipVertex],\n  syntheticId: number,\n): number => {\n  // input/output are fixed 2-tuples; count never exceeds 2 (two boundary\n  // copies, or one copy plus the guarded intersection), so output[0]/output[1]\n  // are the only slots written and both always exist.\n  const in0 = input[0];\n  const in1 = input[1];\n  let count = 0;\n  const d1 = nx * in0.x + ny * in0.y - offset;\n  const d2 = nx * in1.x + ny * in1.y - offset;\n\n  if (d1 <= 0) {\n    copyClip(in0, count === 0 ? output[0] : output[1]);\n    count++;\n  }\n\n  if (d2 <= 0) {\n    copyClip(in1, count === 0 ? output[0] : output[1]);\n    count++;\n  }\n\n  if (d1 * d2 < 0 && count < 2) {\n    const alpha = d1 / (d1 - d2);\n    const target = count === 0 ? output[0] : output[1];\n\n    target.x = in0.x + alpha * (in1.x - in0.x);\n    target.y = in0.y + alpha * (in1.y - in0.y);\n    target.id = syntheticId;\n    count++;\n  }\n\n  return count;\n};\n\nconst copyClip = (from: ClipVertex, to: ClipVertex): void => {\n  to.x = from.x;\n  to.y = from.y;\n  to.id = from.id;\n};\n\nconst encodeId = (flip: boolean, refEdge: number, incidentId: number): number => (flip ? 1 << 20 : 0) | ((refEdge & 0xff) << 12) | (incidentId & 0xfff);\n\n/**\n * Convex ring vs convex ring: SAT reference face + Sutherland-Hodgman clip, with\n * each operand allowed a radius that rounds its outline off.\n *\n * The separations the SAT computes are between the two **cores**; the radii only\n * move where touching begins, and since both candidate axes shift by the same\n * sum, the reference face the SAT picks is unaffected. A capsule is a two-vertex\n * core with a radius and a polygon a many-vertex core without one, so\n * polygon/polygon, capsule/polygon and capsule/capsule are all this one routine.\n */\nconst collideRoundedPolygons: CollidePair = (a, b, manifold, callerFlip) => {\n  const totalRadius = radiusOf(a) + radiusOf(b);\n  const sepA = findMaxSeparation(a, b, _sepA);\n\n  if (sepA.separation >= totalRadius) {\n    return false;\n  }\n\n  const sepB = findMaxSeparation(b, a, _sepB);\n\n  if (sepB.separation >= totalRadius) {\n    return false;\n  }\n\n  let ref: CollisionProxy;\n  let inc: CollisionProxy;\n  let refEdge: number;\n  // Whether the REFERENCE role went to `b`. Distinct from `callerFlip`, which\n  // records that the caller's own operands were swapped to reach the canonical\n  // order; the final normal has to undo both.\n  let refSwapped: boolean;\n\n  // Bias toward keeping A as the reference for stability (reduces ref/incident\n  // role flapping when a body rocks slightly).\n  if (sepA.separation >= sepB.separation * 0.95 + sepA.separation * 0.01) {\n    ref = a;\n    inc = b;\n    refEdge = sepA.edge;\n    refSwapped = false;\n  } else {\n    ref = b;\n    inc = a;\n    refEdge = sepB.edge;\n    refSwapped = true;\n  }\n\n  const rv = ref.worldVertices;\n  const rn = ref.worldNormals;\n  const rc = countOf(ref);\n  const i2 = (refEdge + 1) % rc;\n  // refEdge/i2 in 0..rc-1, so these reads are in-bounds.\n  const v1x = rv[refEdge * 2]!;\n  const v1y = rv[refEdge * 2 + 1]!;\n  const v2x = rv[i2 * 2]!;\n  const v2y = rv[i2 * 2 + 1]!;\n  const refNx = rn[refEdge * 2]!;\n  const refNy = rn[refEdge * 2 + 1]!;\n\n  const incident = _incidentScratch;\n  findIncidentFace(refNx, refNy, inc, incident);\n\n  // Reference-face tangent (the side-plane direction).\n  let tx = v2x - v1x;\n  let ty = v2y - v1y;\n  // sqrt(x²+y²) over Math.hypot - avoids hypot's variadic/internal-allocation\n  // path on the narrow-phase hot path; the operands are bounded edge lengths,\n  // so the overflow protection hypot adds is not needed here.\n  const tl = Math.sqrt(tx * tx + ty * ty);\n  tx /= tl;\n  ty /= tl;\n\n  const negSide = -(tx * v1x + ty * v1y);\n  const posSide = tx * v2x + ty * v2y;\n\n  const clipped1 = _clipped1Scratch;\n\n  if (clipSegment(-tx, -ty, negSide, incident, clipped1, encodeId(refSwapped, refEdge, 0xffe)) < 2) {\n    return false;\n  }\n\n  const clipped2 = _clipped2Scratch;\n\n  if (clipSegment(tx, ty, posSide, clipped1, clipped2, encodeId(refSwapped, refEdge, 0xfff)) < 2) {\n    return false;\n  }\n\n  const flipNormal = refSwapped !== callerFlip;\n\n  manifold.normalX = flipNormal ? -refNx : refNx;\n  manifold.normalY = flipNormal ? -refNy : refNy;\n\n  const refC = refNx * v1x + refNy * v1y;\n  const incidentRadius = radiusOf(inc);\n  const points = manifold.points;\n  let cp = 0;\n\n  for (let k = 0; k < 2; k++) {\n    // clipped2 is a fixed 2-tuple; k in {0,1} so the clip vertex always exists.\n    const cv = k === 0 ? clipped2[0] : clipped2[1];\n    const separation = refNx * cv.x + refNy * cv.y - refC;\n\n    if (separation <= totalRadius) {\n      // The clip vertex lies on the incident CORE; pulling it back along the\n      // reference normal by the incident radius puts it on that shape's real\n      // surface. A radius-free incident polygon shifts by zero, so the point is\n      // the clip vertex exactly as it was before capsules existed.\n      // cp reaches at most 2 (one per clip vertex); points[0]/points[1] exist.\n      const point = cp === 0 ? points[0] : points[1];\n      point.x = cv.x - refNx * incidentRadius;\n      point.y = cv.y - refNy * incidentRadius;\n      point.penetration = totalRadius - separation;\n      point.id = encodeId(refSwapped, refEdge, cv.id);\n      cp++;\n    }\n  }\n\n  manifold.pointCount = cp;\n\n  return cp > 0;\n};\n\n/**\n * Boolean overlap test (no manifold) used by sensors and shape-overlap queries.\n * Exact for the circle/circle, circle/polygon and polygon/polygon pairs.\n */\nexport const testOverlap = (a: CollisionProxy, b: CollisionProxy): boolean => {\n  const ta = a.shape.type;\n  const tb = b.shape.type;\n  const test = symmetricEntry(overlapTable, ta, tb);\n\n  if (test === undefined) {\n    return false;\n  }\n\n  return needsFlip(ta, tb) ? test(b, a) : test(a, b);\n};\n\nconst circlesOverlap: OverlapPair = (a, b) => {\n  const ca = a.worldCenter;\n  const cb = b.worldCenter;\n  const rsum = radiusOf(a) + radiusOf(b);\n  const dx = cb.x - ca.x;\n  const dy = cb.y - ca.y;\n\n  return dx * dx + dy * dy <= rsum * rsum;\n};\n\nconst roundedPolygonsOverlap: OverlapPair = (a, b) => {\n  const totalRadius = radiusOf(a) + radiusOf(b);\n\n  return findMaxSeparation(a, b, _sepA).separation < totalRadius && findMaxSeparation(b, a, _sepB).separation < totalRadius;\n};\n\n/**\n * Circle vs capsule: a capsule is every point within its radius of the spine, so\n * this is a circle/circle test against the spine point nearest the circle centre.\n * One contact point - a circle meets a rounded surface in one place, and a second\n * would be invented noise for the solver.\n */\nconst collideCircleSpine: CollidePair = (circle, spineShape, manifold, flip) => {\n  const spine = spineShape.worldVertices;\n  const centre = circle.worldCenter;\n  const circleRadius = radiusOf(circle);\n  const radiusSum = circleRadius + radiusOf(spineShape);\n\n  closestPointOnSegment(centre.x, centre.y, spine[0]!, spine[1]!, spine[2]!, spine[3]!, _segmentScratch);\n\n  let nx = _segmentScratch.x - centre.x;\n  let ny = _segmentScratch.y - centre.y;\n  const distanceSquared = nx * nx + ny * ny;\n\n  if (distanceSquared > radiusSum * radiusSum) {\n    return false;\n  }\n\n  const distance = Math.sqrt(distanceSquared);\n\n  if (distance > eps) {\n    nx /= distance;\n    ny /= distance;\n  } else {\n    // Centre exactly on the spine: the direction is undefined, so take the\n    // capsule's own side normal. It is stable from frame to frame, which an\n    // axis-aligned guess would not be.\n    nx = spineShape.worldNormals[0]!;\n    ny = spineShape.worldNormals[1]!;\n  }\n\n  manifold.normalX = flip ? -nx : nx;\n  manifold.normalY = flip ? -ny : ny;\n\n  const point = manifold.points[0];\n  // Midway between the two surfaces along the contact normal.\n  const along = circleRadius + (distance - radiusSum) * 0.5;\n\n  point.x = centre.x + nx * along;\n  point.y = centre.y + ny * along;\n  point.penetration = radiusSum - distance;\n  point.id = 0;\n  manifold.pointCount = 1;\n\n  return true;\n};\n\nconst circleSpineOverlap: OverlapPair = (circle, spineShape) => {\n  const spine = spineShape.worldVertices;\n  const centre = circle.worldCenter;\n  const radiusSum = radiusOf(circle) + radiusOf(spineShape);\n\n  return pointSegmentDistanceSquared(centre.x, centre.y, spine[0]!, spine[1]!, spine[2]!, spine[3]!, _segmentScratch) <= radiusSum * radiusSum;\n};\n\nconst circlePolygonOverlap: OverlapPair = (circle, polygon) => {\n  const c = circle.worldCenter;\n  const r = radiusOf(circle);\n  const verts = polygon.worldVertices;\n  const normals = polygon.worldNormals;\n  const count = countOf(polygon);\n\n  let maxSep = -Infinity;\n  let refEdge = 0;\n\n  for (let i = 0; i < count; i++) {\n    // Loop indices are provably in-bounds (0..count-1); the `!` is zero-cost.\n    const enx = normals[i * 2]!;\n    const eny = normals[i * 2 + 1]!;\n    const evx = verts[i * 2]!;\n    const evy = verts[i * 2 + 1]!;\n    const s = enx * (c.x - evx) + eny * (c.y - evy);\n\n    if (s > r) {\n      return false;\n    }\n\n    if (s > maxSep) {\n      maxSep = s;\n      refEdge = i;\n    }\n  }\n\n  if (maxSep < eps) {\n    return true;\n  }\n\n  const j = (refEdge + 1) % count;\n  const v1x = verts[refEdge * 2]!;\n  const v1y = verts[refEdge * 2 + 1]!;\n  const v2x = verts[j * 2]!;\n  const v2y = verts[j * 2 + 1]!;\n  const u1 = (c.x - v1x) * (v2x - v1x) + (c.y - v1y) * (v2y - v1y);\n  const u2 = (c.x - v2x) * (v1x - v2x) + (c.y - v2y) * (v1y - v2y);\n\n  if (u1 <= 0) {\n    const dx = c.x - v1x;\n    const dy = c.y - v1y;\n\n    return dx * dx + dy * dy <= r * r;\n  }\n\n  if (u2 <= 0) {\n    const dx = c.x - v2x;\n    const dy = c.y - v2y;\n\n    return dx * dx + dy * dy <= r * r;\n  }\n\n  return maxSep <= r;\n};\n\n// Pair tables, built once at module init. Every unordered pair the engine\n// supports appears exactly once; anything absent reports no contact.\nconst collideTable: PairTable<CollidePair> = symmetricTable<CollidePair>([\n  ['circle', 'circle', collideCircles],\n  ['circle', 'capsule', collideCircleSpine],\n  ['circle', 'segment', collideCircleSpine],\n  ['circle', 'polygon', collideCirclePolygon],\n  ['capsule', 'capsule', collideRoundedPolygons],\n  ['capsule', 'segment', collideRoundedPolygons],\n  ['capsule', 'polygon', collideRoundedPolygons],\n  // segment/segment is deliberately absent - see `collide`.\n  ['segment', 'polygon', collideRoundedPolygons],\n  ['polygon', 'polygon', collideRoundedPolygons],\n]);\n\nconst overlapTable: PairTable<OverlapPair> = symmetricTable<OverlapPair>([\n  ['circle', 'circle', circlesOverlap],\n  ['circle', 'capsule', circleSpineOverlap],\n  ['circle', 'segment', circleSpineOverlap],\n  ['circle', 'polygon', circlePolygonOverlap],\n  ['capsule', 'capsule', roundedPolygonsOverlap],\n  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package/dist/esm/collision/segments.d.ts

@@ -0,0 +1,19 @@
+import type { PointLike } from '@codexo/exojs';
+/**
+ * Closest point on the segment `a → b` to `(px, py)`, written into `out`.
+ * Returns the parameter along the segment, clamped to `[0, 1]`.
+ */
+export declare const closestPointOnSegment: (px: number, py: number, ax: number, ay: number, bx: number, by: number, out: PointLike) => number;
+/** Squared distance from `(px, py)` to the segment `a → b`. */
+export declare const pointSegmentDistanceSquared: (px: number, py: number, ax: number, ay: number, bx: number, by: number, scratch: PointLike) => number;
+/**
+ * Closest points between the segments `a0 → a1` and `b0 → b1`, written into
+ * `outA` and `outB`. Returns the squared distance between them.
+ *
+ * Parallel and overlapping segments have a whole interval of closest pairs; this
+ * returns one of them, chosen deterministically. Callers that need a stable
+ * two-point manifold for such a case must derive it from the face geometry, not
+ * from this single pair.
+ */
+export declare const segmentSegmentDistanceSquared: (a0x: number, a0y: number, a1x: number, a1y: number, b0x: number, b0y: number, b1x: number, b1y: number, outA: PointLike, outB: PointLike) => number;
+//# sourceMappingURL=segments.d.ts.map

package/dist/esm/collision/segments.d.ts.map

@@ -0,0 +1 @@
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package/dist/esm/collision/segments.js

@@ -0,0 +1,36 @@
+//#region src/collision/segments.ts
+/** Below this squared length a segment is treated as a single point. */
+const degenerateLengthSquared = 1e-12;
+/**
+* Closest point on the segment `a → b` to `(px, py)`, written into `out`.
+* Returns the parameter along the segment, clamped to `[0, 1]`.
+*/
+const closestPointOnSegment = (px, py, ax, ay, bx, by, out) => {
+	const ex = bx - ax;
+	const ey = by - ay;
+	const lengthSquared = ex * ex + ey * ey;
+	if (lengthSquared <= degenerateLengthSquared) {
+		out.x = ax;
+		out.y = ay;
+		return 0;
+	}
+	const t = clamp01(((px - ax) * ex + (py - ay) * ey) / lengthSquared);
+	out.x = ax + ex * t;
+	out.y = ay + ey * t;
+	return t;
+};
+/** Squared distance from `(px, py)` to the segment `a → b`. */
+const pointSegmentDistanceSquared = (px, py, ax, ay, bx, by, scratch) => {
+	closestPointOnSegment(px, py, ax, ay, bx, by, scratch);
+	const dx = px - scratch.x;
+	const dy = py - scratch.y;
+	return dx * dx + dy * dy;
+};
+const clamp01 = (value) => {
+	if (value < 0) return 0;
+	return value > 1 ? 1 : value;
+};
+
+//#endregion
+export { closestPointOnSegment, pointSegmentDistanceSquared };
+//# sourceMappingURL=segments.js.map

package/dist/esm/collision/segments.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"segments.js","names":[],"sources":["../../../src/collision/segments.ts"],"sourcesContent":["import type { PointLike } from '@codexo/exojs';\n\n// Closest-feature primitives shared by every rounded shape. A capsule is a\n// segment with a radius and a chain edge is a segment without one, so all of\n// them reduce to these two questions - point-to-segment and segment-to-segment.\n// Kept as free functions taking output sinks, like the transform helpers, so the\n// narrow phase, the queries and the sweep can all use them allocation-free.\n\n/** Below this squared length a segment is treated as a single point. */\nconst degenerateLengthSquared = 1e-12;\n\n/**\n * Closest point on the segment `a → b` to `(px, py)`, written into `out`.\n * Returns the parameter along the segment, clamped to `[0, 1]`.\n */\nexport const closestPointOnSegment = (px: number, py: number, ax: number, ay: number, bx: number, by: number, out: PointLike): number => {\n  const ex = bx - ax;\n  const ey = by - ay;\n  const lengthSquared = ex * ex + ey * ey;\n\n  if (lengthSquared <= degenerateLengthSquared) {\n    out.x = ax;\n    out.y = ay;\n\n    return 0;\n  }\n\n  const t = clamp01(((px - ax) * ex + (py - ay) * ey) / lengthSquared);\n\n  out.x = ax + ex * t;\n  out.y = ay + ey * t;\n\n  return t;\n};\n\n/** Squared distance from `(px, py)` to the segment `a → b`. */\nexport const pointSegmentDistanceSquared = (px: number, py: number, ax: number, ay: number, bx: number, by: number, scratch: PointLike): number => {\n  closestPointOnSegment(px, py, ax, ay, bx, by, scratch);\n\n  const dx = px - scratch.x;\n  const dy = py - scratch.y;\n\n  return dx * dx + dy * dy;\n};\n\n/**\n * Closest points between the segments `a0 → a1` and `b0 → b1`, written into\n * `outA` and `outB`. Returns the squared distance between them.\n *\n * Parallel and overlapping segments have a whole interval of closest pairs; this\n * returns one of them, chosen deterministically. Callers that need a stable\n * two-point manifold for such a case must derive it from the face geometry, not\n * from this single pair.\n */\nexport const segmentSegmentDistanceSquared = (\n  a0x: number,\n  a0y: number,\n  a1x: number,\n  a1y: number,\n  b0x: number,\n  b0y: number,\n  b1x: number,\n  b1y: number,\n  outA: PointLike,\n  outB: PointLike,\n): number => {\n  const dax = a1x - a0x;\n  const day = a1y - a0y;\n  const dbx = b1x - b0x;\n  const dby = b1y - b0y;\n  const rx = a0x - b0x;\n  const ry = a0y - b0y;\n  const aa = dax * dax + day * day;\n  const bb = dbx * dbx + dby * dby;\n  const f = dbx * rx + dby * ry;\n\n  let s: number;\n  let t: number;\n\n  if (aa <= degenerateLengthSquared && bb <= degenerateLengthSquared) {\n    outA.x = a0x;\n    outA.y = a0y;\n    outB.x = b0x;\n    outB.y = b0y;\n\n    return rx * rx + ry * ry;\n  }\n\n  if (aa <= degenerateLengthSquared) {\n    s = 0;\n    t = clamp01(f / bb);\n  } else {\n    const c = dax * rx + day * ry;\n\n    if (bb <= degenerateLengthSquared) {\n      t = 0;\n      s = clamp01(-c / aa);\n    } else {\n      const b = dax * dbx + day * dby;\n      const denom = aa * bb - b * b;\n\n      // Parallel segments leave `denom` at zero; pinning s = 0 picks the pair at\n      // a0, which is deterministic and as good as any other on the interval.\n      s = denom > 0 ? clamp01((b * f - c * bb) / denom) : 0;\n      t = (b * s + f) / bb;\n\n      if (t < 0) {\n        t = 0;\n        s = clamp01(-c / aa);\n      } else if (t > 1) {\n        t = 1;\n        s = clamp01((b - c) / aa);\n      }\n    }\n  }\n\n  outA.x = a0x + dax * s;\n  outA.y = a0y + day * s;\n  outB.x = b0x + dbx * t;\n  outB.y = b0y + dby * t;\n\n  const dx = outA.x - outB.x;\n  const dy = outA.y - outB.y;\n\n  return dx * dx + dy * dy;\n};\n\nconst clamp01 = (value: number): number => {\n  if (value < 0) {\n    return 0;\n  }\n\n  return value > 1 ? 1 : value;\n};\n"],"mappings":";;AASA,MAAM,0BAA0B;;;;;AAMhC,MAAa,yBAAyB,IAAY,IAAY,IAAY,IAAY,IAAY,IAAY,QAA2B;CACvI,MAAM,KAAK,KAAK;CAChB,MAAM,KAAK,KAAK;CAChB,MAAM,gBAAgB,KAAK,KAAK,KAAK;CAErC,IAAI,iBAAiB,yBAAyB;EAC5C,IAAI,IAAI;EACR,IAAI,IAAI;EAER,OAAO;CACT;CAEA,MAAM,IAAI,UAAU,KAAK,MAAM,MAAM,KAAK,MAAM,MAAM,aAAa;CAEnE,IAAI,IAAI,KAAK,KAAK;CAClB,IAAI,IAAI,KAAK,KAAK;CAElB,OAAO;AACT;;AAGA,MAAa,+BAA+B,IAAY,IAAY,IAAY,IAAY,IAAY,IAAY,YAA+B;CACjJ,sBAAsB,IAAI,IAAI,IAAI,IAAI,IAAI,IAAI,OAAO;CAErD,MAAM,KAAK,KAAK,QAAQ;CACxB,MAAM,KAAK,KAAK,QAAQ;CAExB,OAAO,KAAK,KAAK,KAAK;AACxB;AAoFA,MAAM,WAAW,UAA0B;CACzC,IAAI,QAAQ,GACV,OAAO;CAGT,OAAO,QAAQ,IAAI,IAAI;AACzB"}

package/dist/esm/collision/sweep.d.ts

@@ -0,0 +1,35 @@
+import type { ShapeType } from '../shapes/Shape';
+import type { CollisionProxy } from './CollisionProxy';
+/**
+ * First time of impact of a translation-only shape cast, written by
+ * {@link sweepProxies} (allocation-free: the caller owns the struct).
+ */
+export interface SweepHit {
+    /** Fraction of the motion at first contact, in `(0, 1]`. */
+    t: number;
+    /** Unit surface normal on the target at the hit, pointing back toward the moving shape (opposing the motion). */
+    normalX: number;
+    /** See {@link SweepHit.normalX}. */
+    normalY: number;
+}
+/**
+ * Translation-only shape cast of `moving` against a static `target`: `moving`
+ * is given at its **end-of-motion** pose (its cached world geometry) and is
+ * swept from `pose − (dx, dy)` to `pose`. Rotation over the motion is not swept
+ * - the moving shape keeps its end orientation for the whole cast, matching the
+ * bullet CCD model (the step's rotation is applied before the sweep).
+ *
+ * Returns `true` with the first time of impact and the target-surface normal
+ * written into `out`. Pairs already overlapping (or exactly touching) at the
+ * start of the motion return `false` - they cannot tunnel within this motion
+ * and the discrete solver owns them. Allocation-free.
+ *
+ * Boundary geometry (a segment, a chain edge) is a target, never the moving
+ * operand: a chain edge blocks a bullet under the same one-sided adjacency rule
+ * the discrete narrow phase applies, while a fast segment or chain is not swept
+ * at all.
+ */
+export declare const sweepProxies: (moving: CollisionProxy, dx: number, dy: number, target: CollisionProxy, out: SweepHit) => boolean;
+/** `true` when {@link sweepProxies} has an implementation for this ordered pair. */
+export declare const canSweep: (moving: ShapeType, target: ShapeType) => boolean;
+//# sourceMappingURL=sweep.d.ts.map

package/dist/esm/collision/sweep.d.ts.map

@@ -0,0 +1 @@
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package/dist/esm/collision/sweep.js

@@ -0,0 +1,437 @@
+import { chainEdgeAdmits } from "./chainAdjacency.js";
+import { orderedEntry, orderedTable } from "./dispatch.js";
+import { pointSegmentDistanceSquared } from "./segments.js";
+
+//#region src/collision/sweep.ts
+const eps = 1e-9;
+const _pointScratch = {
+	x: 0,
+	y: 0
+};
+/**
+* Translation-only shape cast of `moving` against a static `target`: `moving`
+* is given at its **end-of-motion** pose (its cached world geometry) and is
+* swept from `pose − (dx, dy)` to `pose`. Rotation over the motion is not swept
+* - the moving shape keeps its end orientation for the whole cast, matching the
+* bullet CCD model (the step's rotation is applied before the sweep).
+*
+* Returns `true` with the first time of impact and the target-surface normal
+* written into `out`. Pairs already overlapping (or exactly touching) at the
+* start of the motion return `false` - they cannot tunnel within this motion
+* and the discrete solver owns them. Allocation-free.
+*
+* Boundary geometry (a segment, a chain edge) is a target, never the moving
+* operand: a chain edge blocks a bullet under the same one-sided adjacency rule
+* the discrete narrow phase applies, while a fast segment or chain is not swept
+* at all.
+*/
+const sweepProxies = (moving, dx, dy, target, out) => {
+	const cast = orderedEntry(sweepTable, moving.shape.type, target.shape.type);
+	if (cast === void 0) return false;
+	if (!cast(moving, dx, dy, target, out)) return false;
+	return chainEdgeAdmits(target, out.normalX, out.normalY);
+};
+/**
+* Vertex count of a proxy's **core**: the geometry left once its radius is taken
+* off. A circle is a point (no core ring), a capsule and a segment are both a
+* two-vertex ring - with and without a radius - and a polygon is its own ring.
+*/
+const coreCount = (proxy) => {
+	switch (proxy.shape.type) {
+		case "polygon": return proxy.shape.count;
+		case "capsule":
+		case "segment": return 2;
+		case "circle":
+		case "chain": return 0;
+	}
+};
+const radiusOf = (proxy) => proxy.shape.type === "circle" || proxy.shape.type === "capsule" ? proxy.shape.radius : 0;
+/** Moving circle vs static circle: a ray against the Minkowski-summed circle. */
+const sweepCircleCircle = (moving, dx, dy, target, out) => {
+	const rsum = radiusOf(moving) + radiusOf(target);
+	const cx = target.worldCenter.x;
+	const cy = target.worldCenter.y;
+	const ox = moving.worldCenter.x - dx;
+	const oy = moving.worldCenter.y - dy;
+	const mx = ox - cx;
+	const my = oy - cy;
+	if (mx * mx + my * my <= rsum * rsum) return false;
+	const a = dx * dx + dy * dy;
+	const b = mx * dx + my * dy;
+	const c = mx * mx + my * my - rsum * rsum;
+	if (b >= 0) return false;
+	const disc = b * b - a * c;
+	if (disc < 0) return false;
+	const t = (-b - Math.sqrt(disc)) / a;
+	if (t < 0 || t > 1) return false;
+	out.t = t;
+	out.normalX = (ox + dx * t - cx) / rsum;
+	out.normalY = (oy + dy * t - cy) / rsum;
+	return true;
+};
+/**
+* Moving circle vs a static core ring (polygon, capsule or segment): a ray
+* against that ring inflated by both radii - offset faces plus vertex arcs, the
+* exact swept geometry.
+*/
+const sweepCircleRing = (moving, dx, dy, target, out) => {
+	const rsum = radiusOf(moving) + radiusOf(target);
+	const ox = moving.worldCenter.x - dx;
+	const oy = moving.worldCenter.y - dy;
+	const verts = target.worldVertices;
+	const normals = target.worldNormals;
+	const count = coreCount(target);
+	if (pointRingDistanceSquared(ox, oy, verts, normals, count) <= rsum * rsum) return false;
+	return castPointAtRing(ox, oy, dx, dy, rsum, verts, normals, count, out);
+};
+/**
+* Moving core ring (polygon or capsule) vs static circle, solved in the moving
+* shape's frame: the circle sweeps backward (`−d`) from a start displaced by
+* `+d`, against the ring's end-pose geometry - the same relative motion, so the
+* same time of impact.
+*/
+const sweepRingCircle = (moving, dx, dy, target, out) => {
+	const rsum = radiusOf(moving) + radiusOf(target);
+	const ox = target.worldCenter.x + dx;
+	const oy = target.worldCenter.y + dy;
+	const verts = moving.worldVertices;
+	const normals = moving.worldNormals;
+	const count = coreCount(moving);
+	if (pointRingDistanceSquared(ox, oy, verts, normals, count) <= rsum * rsum) return false;
+	if (!castPointAtRing(ox, oy, -dx, -dy, rsum, verts, normals, count, out)) return false;
+	out.normalX = -out.normalX;
+	out.normalY = -out.normalY;
+	return true;
+};
+/**
+* Two core rings of which at least one carries a radius (any pair involving a
+* capsule): built as one configuration-space ring and cast as a point, which is
+* exact where a radius-inflated SAT would square off the rounded corners.
+*/
+const sweepRoundedRings = (moving, dx, dy, target, out) => {
+	const rsum = radiusOf(moving) + radiusOf(target);
+	if (!buildConfigurationRing(moving, dx, dy, target)) return false;
+	const verts = _configurationRing.vertices;
+	const normals = _configurationRing.normals;
+	const count = _configurationRing.count;
+	if (pointRingDistanceSquared(0, 0, verts, normals, count) <= rsum * rsum) return false;
+	return castPointAtRing(0, 0, dx, dy, rsum, verts, normals, count, out);
+};
+/**
+* Cast the point `(ox, oy)` along `(dx, dy)` (t ∈ [0, 1]) against `count`-vertex
+* convex ring inflated by `r`: offset faces plus vertex arcs - the exact swept
+* geometry. Writes the earliest hit into `out`; the normal points from the ring
+* surface toward the point.
+*/
+const castPointAtRing = (ox, oy, dx, dy, r, verts, normals, count, out) => {
+	out.t = Infinity;
+	castAtOffsetFaces(ox, oy, dx, dy, r, verts, normals, count, out);
+	castAtVertexArcs(ox, oy, dx, dy, r, verts, count, out);
+	return out.t !== Infinity;
+};
+/** Offset-face pass of {@link castPointAtRing}: the face plane pushed out by `r`, hits valid within the edge span. */
+const castAtOffsetFaces = (ox, oy, dx, dy, r, verts, normals, count, out) => {
+	for (let i = 0; i < count; i++) {
+		const nx = normals[i * 2];
+		const ny = normals[i * 2 + 1];
+		const denom = nx * dx + ny * dy;
+		if (denom >= 0) continue;
+		const v1x = verts[i * 2];
+		const v1y = verts[i * 2 + 1];
+		const t = (nx * (v1x - ox) + ny * (v1y - oy) + r) / denom;
+		if (t < 0 || t > 1 || t >= out.t) continue;
+		const j = (i + 1) % count;
+		const v2x = verts[j * 2];
+		const v2y = verts[j * 2 + 1];
+		const ex = v2x - v1x;
+		const ey = v2y - v1y;
+		const px = ox + dx * t;
+		const py = oy + dy * t;
+		const u = (px - v1x) * ex + (py - v1y) * ey;
+		if (u < 0 || u > ex * ex + ey * ey) continue;
+		out.t = t;
+		out.normalX = nx;
+		out.normalY = ny;
+	}
+};
+/** Vertex-arc pass of {@link castPointAtRing}: a ray against the circle of radius `r` around each vertex. */
+const castAtVertexArcs = (ox, oy, dx, dy, r, verts, count, out) => {
+	if (r <= 0) return;
+	const a = dx * dx + dy * dy;
+	for (let i = 0; i < count; i++) {
+		const vx = verts[i * 2];
+		const vy = verts[i * 2 + 1];
+		const mx = ox - vx;
+		const my = oy - vy;
+		const b = mx * dx + my * dy;
+		if (b >= 0) continue;
+		const c = mx * mx + my * my - r * r;
+		if (c < 0) continue;
+		const disc = b * b - a * c;
+		if (disc < 0) continue;
+		const t = (-b - Math.sqrt(disc)) / a;
+		if (t < 0 || t > 1 || t >= out.t) continue;
+		out.t = t;
+		out.normalX = (ox + dx * t - vx) / r;
+		out.normalY = (oy + dy * t - vy) / r;
+	}
+};
+/**
+* Squared distance from `(px, py)` to a convex core ring, `0` inside it. A
+* two-vertex ring has no interior, so it is always the distance to the segment.
+*/
+const pointRingDistanceSquared = (px, py, verts, normals, count) => {
+	if (count >= 3) {
+		let inside = true;
+		for (let i = 0; i < count && inside; i++) inside = normals[i * 2] * (px - verts[i * 2]) + normals[i * 2 + 1] * (py - verts[i * 2 + 1]) <= 0;
+		if (inside) return 0;
+	}
+	let best = Infinity;
+	for (let i = 0; i < count; i++) {
+		const j = (i + 1) % count;
+		const distance = pointSegmentDistanceSquared(px, py, verts[i * 2], verts[i * 2 + 1], verts[j * 2], verts[j * 2 + 1], _pointScratch);
+		best = distance < best ? distance : best;
+	}
+	return best;
+};
+const _configurationRing = {
+	vertices: [],
+	normals: [],
+	count: 0
+};
+const _sumPoints = [];
+const _sumOrder = [];
+const _hull = [];
+/**
+* Build the pair's configuration-space obstacle into {@link _configurationRing}:
+* the Minkowski sum of the target's core and the negated start-pose core of the
+* moving shape. A translational cast of the pair is then a cast of the origin
+* point against that single ring, inflated by the two radii - which is why every
+* rounded pair reduces to {@link castPointAtRing} instead of its own algorithm.
+*/
+const buildConfigurationRing = (moving, dx, dy, target) => {
+	const movingCount = coreCount(moving);
+	const targetCount = coreCount(target);
+	if (movingCount < 2 || targetCount < 2) return false;
+	const movingVerts = moving.worldVertices;
+	const targetVerts = target.worldVertices;
+	const total = movingCount * targetCount;
+	grow(_sumPoints, total * 2);
+	grow(_sumOrder, total);
+	for (let j = 0, k = 0; j < targetCount; j++) for (let i = 0; i < movingCount; i++, k++) {
+		_sumPoints[k * 2] = targetVerts[j * 2] - (movingVerts[i * 2] - dx);
+		_sumPoints[k * 2 + 1] = targetVerts[j * 2 + 1] - (movingVerts[i * 2 + 1] - dy);
+		_sumOrder[k] = k;
+	}
+	const count = convexHull(total);
+	if (count < 2) return false;
+	grow(_configurationRing.vertices, count * 2);
+	grow(_configurationRing.normals, count * 2);
+	_configurationRing.count = count;
+	const verts = _configurationRing.vertices;
+	const normals = _configurationRing.normals;
+	for (let i = 0; i < count; i++) {
+		const point = _hull[i];
+		verts[i * 2] = _sumPoints[point * 2];
+		verts[i * 2 + 1] = _sumPoints[point * 2 + 1];
+	}
+	for (let i = 0; i < count; i++) {
+		const j = (i + 1) % count;
+		const ex = verts[j * 2] - verts[i * 2];
+		const ey = verts[j * 2 + 1] - verts[i * 2 + 1];
+		const length = Math.sqrt(ex * ex + ey * ey) || 1;
+		normals[i * 2] = ey / length;
+		normals[i * 2 + 1] = -ex / length;
+	}
+	return true;
+};
+/**
+* Counter-clockwise convex hull of the first `total` points in
+* {@link _sumPoints} (Andrew's monotone chain), written as point indices into
+* {@link _hull}; returns the hull size. Collinear points are dropped, so a
+* degenerate sum - two parallel spines - comes out as a two-vertex ring rather
+* than a zero-area polygon.
+*/
+const convexHull = (total) => {
+	for (let i = 1; i < total; i++) {
+		const value = _sumOrder[i];
+		let j = i - 1;
+		while (j >= 0 && comparePoints(_sumOrder[j], value) > 0) {
+			_sumOrder[j + 1] = _sumOrder[j];
+			j--;
+		}
+		_sumOrder[j + 1] = value;
+	}
+	grow(_hull, total * 2 + 1);
+	let size = 0;
+	for (let i = 0; i < total; i++) size = pushHullPoint(_sumOrder[i], size, 2);
+	const upperFloor = size + 1;
+	for (let i = total - 2; i >= 0; i--) size = pushHullPoint(_sumOrder[i], size, upperFloor);
+	return size > 1 ? size - 1 : size;
+};
+/** One monotone-chain step: drop hull points that a left turn onto `point` makes interior. */
+const pushHullPoint = (point, size, floor) => {
+	while (size >= floor && cross(_hull[size - 2], _hull[size - 1], point) <= 0) size--;
+	_hull[size] = point;
+	return size + 1;
+};
+const comparePoints = (a, b) => {
+	const ax = _sumPoints[a * 2];
+	const bx = _sumPoints[b * 2];
+	if (ax !== bx) return ax < bx ? -1 : 1;
+	const ay = _sumPoints[a * 2 + 1];
+	const by = _sumPoints[b * 2 + 1];
+	if (ay === by) return 0;
+	return ay < by ? -1 : 1;
+};
+/** Cross product of `o → a` and `o → b`; positive for a counter-clockwise turn. */
+const cross = (o, a, b) => {
+	const ox = _sumPoints[o * 2];
+	const oy = _sumPoints[o * 2 + 1];
+	return (_sumPoints[a * 2] - ox) * (_sumPoints[b * 2 + 1] - oy) - (_sumPoints[a * 2 + 1] - oy) * (_sumPoints[b * 2] - ox);
+};
+/** Extend a scratch array to `length`, keeping it a plain packed number array. */
+const grow = (array, length) => {
+	while (array.length < length) array.push(0);
+};
+const _satState = {
+	tEnter: 0,
+	tLeave: 0,
+	normalX: 0,
+	normalY: 0
+};
+/**
+* Two radius-free core rings (polygon or segment) via swept SAT: for every
+* candidate axis (both rings' face normals) intersect the moving projection
+* interval with the static one over t ∈ [0, 1]; the latest entry over all axes
+* is the time of impact, and its axis (oriented against the motion) the normal.
+* Exact for linear motion of convex shapes.
+*/
+const sweepRings = (moving, dx, dy, target, out) => {
+	const state = _satState;
+	state.tEnter = -Infinity;
+	state.tLeave = Infinity;
+	if (!sweptSatAxes(target, moving, dx, dy, target, state) || !sweptSatAxes(moving, moving, dx, dy, target, state)) return false;
+	if (state.tEnter <= 0 || state.tEnter > 1) return false;
+	out.t = state.tEnter;
+	out.normalX = state.normalX;
+	out.normalY = state.normalY;
+	return true;
+};
+/**
+* One swept-SAT axis pass over `axisOwner`'s face normals, tightening the
+* `state` entry/exit window of `moving` (translated by `(dx, dy)`, given at its
+* end pose) against the static `target`. Returns `false` as soon as an axis
+* proves the shapes never meet within the motion.
+*/
+const sweptSatAxes = (axisOwner, moving, dx, dy, target, state) => {
+	const axes = axisOwner.worldNormals;
+	const axisCount = coreCount(axisOwner);
+	const mv = moving.worldVertices;
+	const mc = coreCount(moving);
+	const tv = target.worldVertices;
+	const tc = coreCount(target);
+	for (let i = 0; i < axisCount; i++) {
+		const nx = axes[i * 2];
+		const ny = axes[i * 2 + 1];
+		const dn = nx * dx + ny * dy;
+		let minA = Infinity;
+		let maxA = -Infinity;
+		for (let k = 0; k < mc; k++) {
+			const p = nx * mv[k * 2] + ny * mv[k * 2 + 1];
+			minA = p < minA ? p : minA;
+			maxA = p > maxA ? p : maxA;
+		}
+		minA -= dn;
+		maxA -= dn;
+		let minB = Infinity;
+		let maxB = -Infinity;
+		for (let k = 0; k < tc; k++) {
+			const p = nx * tv[k * 2] + ny * tv[k * 2 + 1];
+			minB = p < minB ? p : minB;
+			maxB = p > maxB ? p : maxB;
+		}
+		if (dn > -1e-9 && dn < eps) {
+			if (maxA <= minB || maxB <= minA) return false;
+			continue;
+		}
+		const t0 = (minB - maxA) / dn;
+		const t1 = (maxB - minA) / dn;
+		const entry = t0 < t1 ? t0 : t1;
+		const exit = t0 < t1 ? t1 : t0;
+		if (entry > state.tEnter) {
+			state.tEnter = entry;
+			state.normalX = dn < 0 ? nx : -nx;
+			state.normalY = dn < 0 ? ny : -ny;
+		}
+		if (exit < state.tLeave) state.tLeave = exit;
+		if (state.tEnter >= state.tLeave) return false;
+	}
+	return true;
+};
+const sweepTable = orderedTable([
+	[
+		"circle",
+		"circle",
+		sweepCircleCircle
+	],
+	[
+		"circle",
+		"capsule",
+		sweepCircleRing
+	],
+	[
+		"circle",
+		"segment",
+		sweepCircleRing
+	],
+	[
+		"circle",
+		"polygon",
+		sweepCircleRing
+	],
+	[
+		"capsule",
+		"circle",
+		sweepRingCircle
+	],
+	[
+		"capsule",
+		"capsule",
+		sweepRoundedRings
+	],
+	[
+		"capsule",
+		"segment",
+		sweepRoundedRings
+	],
+	[
+		"capsule",
+		"polygon",
+		sweepRoundedRings
+	],
+	[
+		"polygon",
+		"circle",
+		sweepRingCircle
+	],
+	[
+		"polygon",
+		"capsule",
+		sweepRoundedRings
+	],
+	[
+		"polygon",
+		"segment",
+		sweepRings
+	],
+	[
+		"polygon",
+		"polygon",
+		sweepRings
+	]
+]);
+
+//#endregion
+export { sweepProxies };
+//# sourceMappingURL=sweep.js.map