@codexo/exojs-physics 0.15.2 → 0.16.0

package/dist/esm/joints/RevoluteJoint.js

@@ -1,217 +1,195 @@
-import { applyInverseTransform, applyTransform } from '../math.js';
-import { Joint } from './Joint.js';
+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 };
+//#region src/joints/RevoluteJoint.ts
+/** Reused output sink - physics steps single-threaded, so a shared scratch is safe. */
+const scratch = {
+	x: 0,
+	y: 0
+};
 /**
- * Pins a shared anchor point on two bodies (a hinge): the bodies may rotate
- * freely about the pivot but the anchor points stay coincident. Solved as a
- * 2-DOF point constraint (a 2×2 block) in the sub-step loop, warm-started.
- */
-class RevoluteJoint extends Joint {
-    /** Soft-spring frequency in Hz (`0` = rigid). */
-    hertz;
-    /** Soft-spring damping ratio. */
-    dampingRatio;
-    /** When `true`, the motor drives `ωB − ωA` toward {@link motorSpeed}. */
-    enableMotor;
-    /** Target relative angular velocity (rad/s) for the motor. */
-    motorSpeed;
-    /** Maximum motor torque. */
-    maxMotorTorque;
-    /** When `true`, the relative angle is constrained to `[lowerAngle, upperAngle]`. */
-    enableLimit;
-    /** Lower relative-angle limit (radians, relative to the creation angle). */
-    lowerAngle;
-    /** Upper relative-angle limit (radians). */
-    upperAngle;
-    _localAnchorAx;
-    _localAnchorAy;
-    _localAnchorBx;
-    _localAnchorBy;
-    _rAx = 0;
-    _rAy = 0;
-    _rBx = 0;
-    _rBy = 0;
-    _cx = 0;
-    _cy = 0;
-    _invK11 = 0;
-    _invK12 = 0;
-    _invK22 = 0;
-    _biasRate = 0;
-    _massScale = 1;
-    _impulseScale = 0;
-    _impulseX = 0;
-    _impulseY = 0;
-    _referenceAngle;
-    _axialMass = 0;
-    _h = 0;
-    _invH = 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;
-        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.lowerAngle = options.lowerAngle ?? 0;
-        this.upperAngle = options.upperAngle ?? 0;
-        this._referenceAngle = options.bodyB.angle - options.bodyA.angle;
-    }
-    _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;
-        // Position error (the anchors should coincide).
-        this._cx = pBx - pAx;
-        this._cy = pBy - pAy;
-        const mA = bodyA.invMass;
-        const mB = bodyB.invMass;
-        const iA = bodyA.invInertia;
-        const iB = bodyB.invInertia;
-        // 2×2 effective-mass matrix K and its inverse.
-        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;
-        // Angular (motor/limit) effective mass + sub-step rate.
-        this._axialMass = iA + iB > 0 ? 1 / (iA + iB) : 0;
-        this._h = h;
-        this._invH = 1 / h;
-        if (!this.enableMotor) {
-            this._motorImpulse = 0;
-        }
-        if (!this.enableLimit) {
-            this._lowerImpulse = 0;
-            this._upperImpulse = 0;
-        }
-        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._biasRate = omega / a1;
-            this._massScale = a2 * a3;
-            this._impulseScale = a3;
-        }
-        else {
-            this._biasRate = 0.2 / h;
-            this._massScale = 1;
-            this._impulseScale = 0;
-        }
-    }
-    _warmStart() {
-        if (!this._active) {
-            return;
-        }
-        // Angular warm-start: motor + limits (lower pushes +, upper pushes −).
-        const axial = this._motorImpulse + this._lowerImpulse - this._upperImpulse;
-        this.bodyA.angularVelocity -= this.bodyA.invInertia * axial;
-        this.bodyB.angularVelocity += this.bodyB.invInertia * axial;
-        this._applyImpulse(this._impulseX, this._impulseY);
-    }
-    _solve(useBias) {
-        if (!this._active) {
-            return;
-        }
-        const bodyA = this.bodyA;
-        const bodyB = this.bodyB;
-        const iA = bodyA.invInertia;
-        const iB = bodyB.invInertia;
-        // Angular motor: drive ωB − ωA toward motorSpeed, clamped to ±maxMotorTorque·h.
-        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._axialMass * cdot));
-            const applied = this._motorImpulse - old;
-            bodyA.angularVelocity -= iA * applied;
-            bodyB.angularVelocity += iB * applied;
-        }
-        // Angle limits: one-sided constraints keeping the relative angle in [lower, upper].
-        if (this.enableLimit) {
-            const angle = bodyB.angle + bodyB._deltaAngle - (bodyA.angle + bodyA._deltaAngle) - this._referenceAngle;
-            // Lower limit (angle ≥ lowerAngle): a positive impulse increases the angle.
-            const cLower = angle - this.lowerAngle;
-            let biasLower = 0;
-            if (cLower > 0) {
-                biasLower = cLower * this._invH; // speculative: allow approach, engage at the surface
-            }
-            else if (useBias) {
-                biasLower = 0.2 * this._invH * cLower; // Baumgarte push-back when violated
-            }
-            const oldLower = this._lowerImpulse;
-            this._lowerImpulse = Math.max(0, oldLower - this._axialMass * (bodyB.angularVelocity - bodyA.angularVelocity + biasLower));
-            const appliedLower = this._lowerImpulse - oldLower;
-            bodyA.angularVelocity -= iA * appliedLower;
-            bodyB.angularVelocity += iB * appliedLower;
-            // Upper limit (angle ≤ upperAngle): a positive impulse decreases the angle.
-            const cUpper = this.upperAngle - angle;
-            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 * (bodyA.angularVelocity - bodyB.angularVelocity + biasUpper));
-            const appliedUpper = this._upperImpulse - oldUpper;
-            bodyA.angularVelocity += iA * appliedUpper;
-            bodyB.angularVelocity -= iB * appliedUpper;
-        }
-        // Relative velocity of the anchors.
-        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._biasRate * this._cx : 0);
-        const rhsY = cdotY + (useBias ? this._biasRate * this._cy : 0);
-        // Solve K·λ = −rhs, then apply the soft mass/impulse scaling.
-        const solvedX = this._invK11 * rhsX + this._invK12 * rhsY;
-        const solvedY = this._invK12 * rhsX + this._invK22 * rhsY;
-        const impulseX = -this._massScale * solvedX - this._impulseScale * this._impulseX;
-        const impulseY = -this._massScale * solvedY - this._impulseScale * this._impulseY;
-        this._impulseX += impulseX;
-        this._impulseY += impulseY;
-        this._applyImpulse(impulseX, impulseY);
-    }
-    _applyImpulse(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);
-    }
-}
+* Pins a shared anchor point on two bodies (a hinge): the bodies may rotate
+* freely about the pivot but the anchor points stay coincident. Solved as a
+* 2-DOF point constraint (a 2×2 block) in the sub-step loop, warm-started.
+*/
+var RevoluteJoint = class extends Joint {
+	/** Soft-spring frequency in Hz (`0` = rigid). */
+	hertz;
+	/** Soft-spring damping ratio. */
+	dampingRatio;
+	/** When `true`, the motor drives `ωB − ωA` toward {@link motorSpeed}. */
+	enableMotor;
+	/** Target relative angular velocity (rad/s) for the motor. */
+	motorSpeed;
+	/** Maximum motor torque. */
+	maxMotorTorque;
+	/** When `true`, the relative angle is constrained to `[lowerAngle, upperAngle]`. */
+	enableLimit;
+	/** Lower relative-angle limit (radians, relative to the creation angle). */
+	lowerAngle;
+	/** Upper relative-angle limit (radians). */
+	upperAngle;
+	_localAnchorAx;
+	_localAnchorAy;
+	_localAnchorBx;
+	_localAnchorBy;
+	_rAx = 0;
+	_rAy = 0;
+	_rBx = 0;
+	_rBy = 0;
+	_cx = 0;
+	_cy = 0;
+	_invK11 = 0;
+	_invK12 = 0;
+	_invK22 = 0;
+	_biasRate = 0;
+	_massScale = 1;
+	_impulseScale = 0;
+	_impulseX = 0;
+	_impulseY = 0;
+	_referenceAngle;
+	_axialMass = 0;
+	_h = 0;
+	_invH = 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;
+		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.lowerAngle = options.lowerAngle ?? 0;
+		this.upperAngle = options.upperAngle ?? 0;
+		this._referenceAngle = options.bodyB.angle - options.bodyA.angle;
+	}
+	_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._axialMass = iA + iB > 0 ? 1 / (iA + iB) : 0;
+		this._h = h;
+		this._invH = 1 / h;
+		if (!this.enableMotor) this._motorImpulse = 0;
+		if (!this.enableLimit) {
+			this._lowerImpulse = 0;
+			this._upperImpulse = 0;
+		}
+		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._biasRate = omega / a1;
+			this._massScale = a2 * a3;
+			this._impulseScale = a3;
+		} else {
+			this._biasRate = .2 / h;
+			this._massScale = 1;
+			this._impulseScale = 0;
+		}
+	}
+	_warmStart() {
+		if (!this._active) return;
+		const axial = this._motorImpulse + this._lowerImpulse - this._upperImpulse;
+		this.bodyA.angularVelocity -= this.bodyA.invInertia * axial;
+		this.bodyB.angularVelocity += this.bodyB.invInertia * axial;
+		this._applyImpulse(this._impulseX, this._impulseY);
+	}
+	_solve(useBias) {
+		if (!this._active) return;
+		const bodyA = this.bodyA;
+		const bodyB = this.bodyB;
+		const iA = bodyA.invInertia;
+		const iB = bodyB.invInertia;
+		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._axialMass * cdot));
+			const applied = this._motorImpulse - old;
+			bodyA.angularVelocity -= iA * applied;
+			bodyB.angularVelocity += iB * applied;
+		}
+		if (this.enableLimit) {
+			const angle = bodyB.angle + bodyB._deltaAngle - (bodyA.angle + bodyA._deltaAngle) - this._referenceAngle;
+			const cLower = angle - this.lowerAngle;
+			let biasLower = 0;
+			if (cLower > 0) biasLower = cLower * this._invH;
+			else if (useBias) biasLower = .2 * this._invH * cLower;
+			const oldLower = this._lowerImpulse;
+			this._lowerImpulse = Math.max(0, oldLower - this._axialMass * (bodyB.angularVelocity - bodyA.angularVelocity + biasLower));
+			const appliedLower = this._lowerImpulse - oldLower;
+			bodyA.angularVelocity -= iA * appliedLower;
+			bodyB.angularVelocity += iB * appliedLower;
+			const cUpper = this.upperAngle - angle;
+			let biasUpper = 0;
+			if (cUpper > 0) biasUpper = cUpper * this._invH;
+			else if (useBias) biasUpper = .2 * this._invH * cUpper;
+			const oldUpper = this._upperImpulse;
+			this._upperImpulse = Math.max(0, oldUpper - this._axialMass * (bodyA.angularVelocity - bodyB.angularVelocity + biasUpper));
+			const appliedUpper = this._upperImpulse - oldUpper;
+			bodyA.angularVelocity += iA * appliedUpper;
+			bodyB.angularVelocity -= iB * appliedUpper;
+		}
+		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._biasRate * this._cx : 0);
+		const rhsY = cdotY + (useBias ? this._biasRate * this._cy : 0);
+		const solvedX = this._invK11 * rhsX + this._invK12 * rhsY;
+		const solvedY = this._invK12 * rhsX + this._invK22 * rhsY;
+		const impulseX = -this._massScale * solvedX - this._impulseScale * this._impulseX;
+		const impulseY = -this._massScale * solvedY - this._impulseScale * this._impulseY;
+		this._impulseX += impulseX;
+		this._impulseY += impulseY;
+		this._applyImpulse(impulseX, impulseY);
+	}
+	_applyImpulse(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);
+	}
+};
 
+//#endregion
 export { RevoluteJoint };
-//# sourceMappingURL=RevoluteJoint.js.map
+//# sourceMappingURL=RevoluteJoint.js.map

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

@@ -1 +1 @@
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+{"version":3,"file":"RevoluteJoint.js","names":[],"sources":["../../../src/joints/RevoluteJoint.ts"],"sourcesContent":["import type { PointLike } from '@codexo/exojs';\n\nimport { applyInverseTransform, applyTransform } from '../math';\nimport type { PhysicsBody } from '../PhysicsBody';\nimport { Joint } from './Joint';\n\n/** Construction options for a {@link RevoluteJoint}. */\nexport interface RevoluteJointOptions {\n  /** First body (often a static anchor). */\n  bodyA: PhysicsBody;\n  /** Second body. */\n  bodyB: PhysicsBody;\n  /** Shared world-space pivot point at creation. The two bodies are pinned here and may rotate freely about it. */\n  anchor: Readonly<PointLike>;\n  /** Soft-spring frequency in Hz; `0` (default) makes it a rigid pin. */\n  hertz?: number;\n  /** Soft-spring damping ratio (used when `hertz > 0`). Default `1`. */\n  dampingRatio?: number;\n  /** Enable the angular motor (drives `ωB − ωA` toward {@link motorSpeed}). Default `false`. */\n  enableMotor?: boolean;\n  /** Target relative angular velocity in rad/s when the motor is enabled. Default `0`. */\n  motorSpeed?: number;\n  /** Maximum motor torque - clamps the per-step motor impulse. Default `0`. */\n  maxMotorTorque?: number;\n  /** Enable the angle limit (keeps the relative angle in `[lowerAngle, upperAngle]`). Default `false`. */\n  enableLimit?: boolean;\n  /** Lower relative-angle limit in radians (relative to the angle at creation). Default `0`. */\n  lowerAngle?: number;\n  /** Upper relative-angle limit in radians. Default `0`. */\n  upperAngle?: number;\n}\n\n/** Reused output sink - physics steps single-threaded, so a shared scratch is safe. */\nconst scratch: PointLike = { x: 0, y: 0 };\n\n/**\n * Pins a shared anchor point on two bodies (a hinge): the bodies may rotate\n * freely about the pivot but the anchor points stay coincident. Solved as a\n * 2-DOF point constraint (a 2×2 block) in the sub-step loop, warm-started.\n */\nexport class RevoluteJoint extends Joint {\n  /** Soft-spring frequency in Hz (`0` = rigid). */\n  public hertz: number;\n  /** Soft-spring damping ratio. */\n  public dampingRatio: number;\n  /** When `true`, the motor drives `ωB − ωA` toward {@link motorSpeed}. */\n  public enableMotor: boolean;\n  /** Target relative angular velocity (rad/s) for the motor. */\n  public motorSpeed: number;\n  /** Maximum motor torque. */\n  public maxMotorTorque: number;\n  /** When `true`, the relative angle is constrained to `[lowerAngle, upperAngle]`. */\n  public enableLimit: boolean;\n  /** Lower relative-angle limit (radians, relative to the creation angle). */\n  public lowerAngle: number;\n  /** Upper relative-angle limit (radians). */\n  public upperAngle: number;\n\n  private readonly _localAnchorAx: number;\n  private readonly _localAnchorAy: number;\n  private readonly _localAnchorBx: number;\n  private readonly _localAnchorBy: number;\n\n  private _rAx = 0;\n  private _rAy = 0;\n  private _rBx = 0;\n  private _rBy = 0;\n  private _cx = 0;\n  private _cy = 0;\n  private _invK11 = 0;\n  private _invK12 = 0;\n  private _invK22 = 0;\n  private _biasRate = 0;\n  private _massScale = 1;\n  private _impulseScale = 0;\n  private _impulseX = 0;\n  private _impulseY = 0;\n  private readonly _referenceAngle: number;\n  private _axialMass = 0;\n  private _h = 0;\n  private _invH = 0;\n  private _motorImpulse = 0;\n  private _lowerImpulse = 0;\n  private _upperImpulse = 0;\n\n  public constructor(options: RevoluteJointOptions) {\n    super(options.bodyA, options.bodyB);\n\n    applyInverseTransform(options.bodyA.transform, options.anchor.x, options.anchor.y, scratch);\n    this._localAnchorAx = scratch.x;\n    this._localAnchorAy = scratch.y;\n    applyInverseTransform(options.bodyB.transform, options.anchor.x, options.anchor.y, scratch);\n    this._localAnchorBx = scratch.x;\n    this._localAnchorBy = scratch.y;\n\n    this.hertz = options.hertz ?? 0;\n    this.dampingRatio = options.dampingRatio ?? 1;\n    this.enableMotor = options.enableMotor ?? false;\n    this.motorSpeed = options.motorSpeed ?? 0;\n    this.maxMotorTorque = options.maxMotorTorque ?? 0;\n    this.enableLimit = options.enableLimit ?? false;\n    this.lowerAngle = options.lowerAngle ?? 0;\n    this.upperAngle = options.upperAngle ?? 0;\n    this._referenceAngle = options.bodyB.angle - options.bodyA.angle;\n  }\n\n  public override _prepare(h: number): void {\n    const bodyA = this.bodyA;\n    const bodyB = this.bodyB;\n\n    this._active = this.enabled && !bodyA.isSleeping && !bodyB.isSleeping && (bodyA.invMass > 0 || bodyB.invMass > 0);\n\n    if (!this._active) {\n      return;\n    }\n\n    applyTransform(bodyA.transform, this._localAnchorAx, this._localAnchorAy, scratch);\n    const pAx = scratch.x;\n    const pAy = scratch.y;\n    applyTransform(bodyB.transform, this._localAnchorBx, this._localAnchorBy, scratch);\n    const pBx = scratch.x;\n    const pBy = scratch.y;\n\n    this._rAx = pAx - bodyA.worldCenterOfMassX;\n    this._rAy = pAy - bodyA.worldCenterOfMassY;\n    this._rBx = pBx - bodyB.worldCenterOfMassX;\n    this._rBy = pBy - bodyB.worldCenterOfMassY;\n\n    // Position error (the anchors should coincide).\n    this._cx = pBx - pAx;\n    this._cy = pBy - pAy;\n\n    const mA = bodyA.invMass;\n    const mB = bodyB.invMass;\n    const iA = bodyA.invInertia;\n    const iB = bodyB.invInertia;\n\n    // 2×2 effective-mass matrix K and its inverse.\n    const k11 = mA + mB + iA * this._rAy * this._rAy + iB * this._rBy * this._rBy;\n    const k12 = -iA * this._rAx * this._rAy - iB * this._rBx * this._rBy;\n    const k22 = mA + mB + iA * this._rAx * this._rAx + iB * this._rBx * this._rBx;\n    const det = k11 * k22 - k12 * k12;\n    const invDet = det !== 0 ? 1 / det : 0;\n\n    this._invK11 = invDet * k22;\n    this._invK12 = -invDet * k12;\n    this._invK22 = invDet * k11;\n\n    // Angular (motor/limit) effective mass + sub-step rate.\n    this._axialMass = iA + iB > 0 ? 1 / (iA + iB) : 0;\n    this._h = h;\n    this._invH = 1 / h;\n\n    if (!this.enableMotor) {\n      this._motorImpulse = 0;\n    }\n\n    if (!this.enableLimit) {\n      this._lowerImpulse = 0;\n      this._upperImpulse = 0;\n    }\n\n    if (this.hertz > 0) {\n      const omega = 2 * Math.PI * this.hertz;\n      const a1 = 2 * this.dampingRatio + h * omega;\n      const a2 = h * omega * a1;\n      const a3 = 1 / (1 + a2);\n\n      this._biasRate = omega / a1;\n      this._massScale = a2 * a3;\n      this._impulseScale = a3;\n    } else {\n      this._biasRate = 0.2 / h;\n      this._massScale = 1;\n      this._impulseScale = 0;\n    }\n  }\n\n  public override _warmStart(): void {\n    if (!this._active) {\n      return;\n    }\n\n    // Angular warm-start: motor + limits (lower pushes +, upper pushes −).\n    const axial = this._motorImpulse + this._lowerImpulse - this._upperImpulse;\n    this.bodyA.angularVelocity -= this.bodyA.invInertia * axial;\n    this.bodyB.angularVelocity += this.bodyB.invInertia * axial;\n\n    this._applyImpulse(this._impulseX, this._impulseY);\n  }\n\n  public override _solve(useBias: boolean): void {\n    if (!this._active) {\n      return;\n    }\n\n    const bodyA = this.bodyA;\n    const bodyB = this.bodyB;\n    const iA = bodyA.invInertia;\n    const iB = bodyB.invInertia;\n\n    // Angular motor: drive ωB − ωA toward motorSpeed, clamped to ±maxMotorTorque·h.\n    if (this.enableMotor) {\n      const cdot = bodyB.angularVelocity - bodyA.angularVelocity - this.motorSpeed;\n      const max = this.maxMotorTorque * this._h;\n      const old = this._motorImpulse;\n\n      this._motorImpulse = Math.min(max, Math.max(-max, old - this._axialMass * cdot));\n\n      const applied = this._motorImpulse - old;\n      bodyA.angularVelocity -= iA * applied;\n      bodyB.angularVelocity += iB * applied;\n    }\n\n    // Angle limits: one-sided constraints keeping the relative angle in [lower, upper].\n    if (this.enableLimit) {\n      const angle = bodyB.angle + bodyB._deltaAngle - (bodyA.angle + bodyA._deltaAngle) - this._referenceAngle;\n\n      // Lower limit (angle ≥ lowerAngle): a positive impulse increases the angle.\n      const cLower = angle - this.lowerAngle;\n      let biasLower = 0;\n\n      if (cLower > 0) {\n        biasLower = cLower * this._invH; // speculative: allow approach, engage at the surface\n      } else if (useBias) {\n        biasLower = 0.2 * this._invH * cLower; // Baumgarte push-back when violated\n      }\n\n      const oldLower = this._lowerImpulse;\n      this._lowerImpulse = Math.max(0, oldLower - this._axialMass * (bodyB.angularVelocity - bodyA.angularVelocity + biasLower));\n\n      const appliedLower = this._lowerImpulse - oldLower;\n      bodyA.angularVelocity -= iA * appliedLower;\n      bodyB.angularVelocity += iB * appliedLower;\n\n      // Upper limit (angle ≤ upperAngle): a positive impulse decreases the angle.\n      const cUpper = this.upperAngle - angle;\n      let biasUpper = 0;\n\n      if (cUpper > 0) {\n        biasUpper = cUpper * this._invH;\n      } else if (useBias) {\n        biasUpper = 0.2 * this._invH * cUpper;\n      }\n\n      const oldUpper = this._upperImpulse;\n      this._upperImpulse = Math.max(0, oldUpper - this._axialMass * (bodyA.angularVelocity - bodyB.angularVelocity + biasUpper));\n\n      const appliedUpper = this._upperImpulse - oldUpper;\n      bodyA.angularVelocity += iA * appliedUpper;\n      bodyB.angularVelocity -= iB * appliedUpper;\n    }\n\n    // Relative velocity of the anchors.\n    const cdotX = bodyB.linearVelocityX - bodyB.angularVelocity * this._rBy - (bodyA.linearVelocityX - bodyA.angularVelocity * this._rAy);\n    const cdotY = bodyB.linearVelocityY + bodyB.angularVelocity * this._rBx - (bodyA.linearVelocityY + bodyA.angularVelocity * this._rAx);\n\n    const rhsX = cdotX + (useBias ? 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package/dist/esm/joints/WeldJoint.d.ts

@@ -1,5 +1,5 @@
+import type { PointLike } from '@codexo/exojs';
 import type { PhysicsBody } from '../PhysicsBody';
-import type { VectorLike } from '../types';
 import { Joint } from './Joint';
 /** Construction options for a {@link WeldJoint}. */
 export interface WeldJointOptions {
@@ -8,7 +8,7 @@ export interface WeldJointOptions {
     /** Second body. */
     bodyB: PhysicsBody;
     /** World-space anchor the linear constraint acts at. Default: the midpoint of the two bodies. */
-    anchor?: VectorLike;
+    anchor?: Readonly<PointLike>;
     /** Locked relative angle `angleB − angleA`. Default: the current relative angle at creation. */
     referenceAngle?: number;
     /** Soft frequency (Hz) for the position lock; `0` (default) is rigid. */
@@ -59,3 +59,4 @@ export declare class WeldJoint extends Joint {
     _solve(useBias: boolean): void;
     private _applyLinearImpulse;
 }
+//# sourceMappingURL=WeldJoint.d.ts.map

package/dist/esm/joints/WeldJoint.d.ts.map

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