@codexo/exojs-physics 0.15.2 → 0.16.0

package/dist/esm/joints/WeldJoint.js

@@ -1,159 +1,163 @@
-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/WeldJoint.ts
+/** Reused output sink - physics steps single-threaded, so a shared scratch is safe. */
+const scratch = {
+	x: 0,
+	y: 0
+};
 /** Box2D-v3 soft-constraint factors at sub-step `h`, or rigid Baumgarte when `hertz === 0`. */
 const computeSoftFactors = (hertz, dampingRatio, h, out) => {
-    if (hertz > 0) {
-        const omega = 2 * Math.PI * hertz;
-        const a1 = 2 * dampingRatio + h * omega;
-        const a2 = h * omega * a1;
-        const a3 = 1 / (1 + a2);
-        out.biasRate = omega / a1;
-        out.massScale = a2 * a3;
-        out.impulseScale = a3;
-    }
-    else {
-        out.biasRate = 0.2 / h;
-        out.massScale = 1;
-        out.impulseScale = 0;
-    }
+	if (hertz > 0) {
+		const omega = 2 * Math.PI * hertz;
+		const a1 = 2 * dampingRatio + h * omega;
+		const a2 = h * omega * a1;
+		const a3 = 1 / (1 + a2);
+		out.biasRate = omega / a1;
+		out.massScale = a2 * a3;
+		out.impulseScale = a3;
+	} else {
+		out.biasRate = .2 / h;
+		out.massScale = 1;
+		out.impulseScale = 0;
+	}
 };
 /**
- * Rigidly fixes the relative position and orientation of two bodies (they move
- * as one rigid body). A 2-DOF point constraint (like {@link RevoluteJoint}) plus
- * a 1-DOF angular constraint, solved in the sub-step loop. Both locks default to
- * rigid; set `linearHertz`/`angularHertz` for a springy weld.
- */
-class WeldJoint extends Joint {
-    /** Locked relative angle `angleB − angleA`. */
-    referenceAngle;
-    /** Soft frequency for the position lock (`0` = rigid). */
-    linearHertz;
-    /** Soft frequency for the angle lock (`0` = rigid). */
-    angularHertz;
-    /** Soft damping ratio. */
-    dampingRatio;
-    _localAnchorAx;
-    _localAnchorAy;
-    _localAnchorBx;
-    _localAnchorBy;
-    _rAx = 0;
-    _rAy = 0;
-    _rBx = 0;
-    _rBy = 0;
-    _cx = 0;
-    _cy = 0;
-    _invK11 = 0;
-    _invK12 = 0;
-    _invK22 = 0;
-    _angleError = 0;
-    _effMassAngle = 0;
-    _linear = { biasRate: 0, massScale: 1, impulseScale: 0 };
-    _angular = { biasRate: 0, massScale: 1, impulseScale: 0 };
-    _impulseX = 0;
-    _impulseY = 0;
-    _impulseAngle = 0;
-    constructor(options) {
-        super(options.bodyA, options.bodyB);
-        const ax = options.anchor?.x ?? (options.bodyA.x + options.bodyB.x) / 2;
-        const ay = options.anchor?.y ?? (options.bodyA.y + options.bodyB.y) / 2;
-        applyInverseTransform(options.bodyA.transform, ax, ay, scratch);
-        this._localAnchorAx = scratch.x;
-        this._localAnchorAy = scratch.y;
-        applyInverseTransform(options.bodyB.transform, ax, ay, scratch);
-        this._localAnchorBx = scratch.x;
-        this._localAnchorBy = scratch.y;
-        this.referenceAngle = options.referenceAngle ?? options.bodyB.angle - options.bodyA.angle;
-        this.linearHertz = options.linearHertz ?? 0;
-        this.angularHertz = options.angularHertz ?? 0;
-        this.dampingRatio = options.dampingRatio ?? 1;
-    }
-    _prepare(h) {
-        const bodyA = this.bodyA;
-        const bodyB = this.bodyB;
-        this._active = this.enabled && !bodyA.isSleeping && !bodyB.isSleeping && (bodyA.invMass > 0 || bodyB.invMass > 0);
-        if (!this._active) {
-            return;
-        }
-        applyTransform(bodyA.transform, this._localAnchorAx, this._localAnchorAy, scratch);
-        const pAx = scratch.x;
-        const pAy = scratch.y;
-        applyTransform(bodyB.transform, this._localAnchorBx, this._localAnchorBy, scratch);
-        const pBx = scratch.x;
-        const pBy = scratch.y;
-        this._rAx = pAx - bodyA.worldCenterOfMassX;
-        this._rAy = pAy - bodyA.worldCenterOfMassY;
-        this._rBx = pBx - bodyB.worldCenterOfMassX;
-        this._rBy = pBy - bodyB.worldCenterOfMassY;
-        this._cx = pBx - pAx;
-        this._cy = pBy - pAy;
-        const mA = bodyA.invMass;
-        const mB = bodyB.invMass;
-        const iA = bodyA.invInertia;
-        const iB = bodyB.invInertia;
-        const k11 = mA + mB + iA * this._rAy * this._rAy + iB * this._rBy * this._rBy;
-        const k12 = -iA * this._rAx * this._rAy - iB * this._rBx * this._rBy;
-        const k22 = mA + mB + iA * this._rAx * this._rAx + iB * this._rBx * this._rBx;
-        const det = k11 * k22 - k12 * k12;
-        const invDet = det !== 0 ? 1 / det : 0;
-        this._invK11 = invDet * k22;
-        this._invK12 = -invDet * k12;
-        this._invK22 = invDet * k11;
-        this._angleError = bodyB.angle - bodyA.angle - this.referenceAngle;
-        const kAngle = iA + iB;
-        this._effMassAngle = kAngle > 0 ? 1 / kAngle : 0;
-        computeSoftFactors(this.linearHertz, this.dampingRatio, h, this._linear);
-        computeSoftFactors(this.angularHertz, this.dampingRatio, h, this._angular);
-    }
-    _warmStart() {
-        if (!this._active) {
-            return;
-        }
-        const bodyA = this.bodyA;
-        const bodyB = this.bodyB;
-        bodyA.angularVelocity -= bodyA.invInertia * this._impulseAngle;
-        bodyB.angularVelocity += bodyB.invInertia * this._impulseAngle;
-        this._applyLinearImpulse(this._impulseX, this._impulseY);
-    }
-    _solve(useBias) {
-        if (!this._active) {
-            return;
-        }
-        const bodyA = this.bodyA;
-        const bodyB = this.bodyB;
-        // Angular lock first.
-        const cdotAngle = bodyB.angularVelocity - bodyA.angularVelocity;
-        const biasAngle = useBias ? this._angular.biasRate * this._angleError : 0;
-        const impulseAngle = -this._effMassAngle * this._angular.massScale * (cdotAngle + biasAngle) - this._angular.impulseScale * this._impulseAngle;
-        this._impulseAngle += impulseAngle;
-        bodyA.angularVelocity -= bodyA.invInertia * impulseAngle;
-        bodyB.angularVelocity += bodyB.invInertia * impulseAngle;
-        // Linear (point) lock.
-        const cdotX = bodyB.linearVelocityX - bodyB.angularVelocity * this._rBy - (bodyA.linearVelocityX - bodyA.angularVelocity * this._rAy);
-        const cdotY = bodyB.linearVelocityY + bodyB.angularVelocity * this._rBx - (bodyA.linearVelocityY + bodyA.angularVelocity * this._rAx);
-        const rhsX = cdotX + (useBias ? this._linear.biasRate * this._cx : 0);
-        const rhsY = cdotY + (useBias ? this._linear.biasRate * this._cy : 0);
-        const solvedX = this._invK11 * rhsX + this._invK12 * rhsY;
-        const solvedY = this._invK12 * rhsX + this._invK22 * rhsY;
-        const impulseX = -this._linear.massScale * solvedX - this._linear.impulseScale * this._impulseX;
-        const impulseY = -this._linear.massScale * solvedY - this._linear.impulseScale * this._impulseY;
-        this._impulseX += impulseX;
-        this._impulseY += impulseY;
-        this._applyLinearImpulse(impulseX, impulseY);
-    }
-    _applyLinearImpulse(jx, jy) {
-        const bodyA = this.bodyA;
-        const bodyB = this.bodyB;
-        bodyA.linearVelocityX -= bodyA.invMass * jx;
-        bodyA.linearVelocityY -= bodyA.invMass * jy;
-        bodyA.angularVelocity -= bodyA.invInertia * (this._rAx * jy - this._rAy * jx);
-        bodyB.linearVelocityX += bodyB.invMass * jx;
-        bodyB.linearVelocityY += bodyB.invMass * jy;
-        bodyB.angularVelocity += bodyB.invInertia * (this._rBx * jy - this._rBy * jx);
-    }
-}
+* Rigidly fixes the relative position and orientation of two bodies (they move
+* as one rigid body). A 2-DOF point constraint (like {@link RevoluteJoint}) plus
+* a 1-DOF angular constraint, solved in the sub-step loop. Both locks default to
+* rigid; set `linearHertz`/`angularHertz` for a springy weld.
+*/
+var WeldJoint = class extends Joint {
+	/** Locked relative angle `angleB − angleA`. */
+	referenceAngle;
+	/** Soft frequency for the position lock (`0` = rigid). */
+	linearHertz;
+	/** Soft frequency for the angle lock (`0` = rigid). */
+	angularHertz;
+	/** Soft damping ratio. */
+	dampingRatio;
+	_localAnchorAx;
+	_localAnchorAy;
+	_localAnchorBx;
+	_localAnchorBy;
+	_rAx = 0;
+	_rAy = 0;
+	_rBx = 0;
+	_rBy = 0;
+	_cx = 0;
+	_cy = 0;
+	_invK11 = 0;
+	_invK12 = 0;
+	_invK22 = 0;
+	_angleError = 0;
+	_effMassAngle = 0;
+	_linear = {
+		biasRate: 0,
+		massScale: 1,
+		impulseScale: 0
+	};
+	_angular = {
+		biasRate: 0,
+		massScale: 1,
+		impulseScale: 0
+	};
+	_impulseX = 0;
+	_impulseY = 0;
+	_impulseAngle = 0;
+	constructor(options) {
+		super(options.bodyA, options.bodyB);
+		const ax = options.anchor?.x ?? (options.bodyA.x + options.bodyB.x) / 2;
+		const ay = options.anchor?.y ?? (options.bodyA.y + options.bodyB.y) / 2;
+		applyInverseTransform(options.bodyA.transform, ax, ay, scratch);
+		this._localAnchorAx = scratch.x;
+		this._localAnchorAy = scratch.y;
+		applyInverseTransform(options.bodyB.transform, ax, ay, scratch);
+		this._localAnchorBx = scratch.x;
+		this._localAnchorBy = scratch.y;
+		this.referenceAngle = options.referenceAngle ?? options.bodyB.angle - options.bodyA.angle;
+		this.linearHertz = options.linearHertz ?? 0;
+		this.angularHertz = options.angularHertz ?? 0;
+		this.dampingRatio = options.dampingRatio ?? 1;
+	}
+	_prepare(h) {
+		const bodyA = this.bodyA;
+		const bodyB = this.bodyB;
+		this._active = this.enabled && !bodyA.isSleeping && !bodyB.isSleeping && (bodyA.invMass > 0 || bodyB.invMass > 0);
+		if (!this._active) return;
+		applyTransform(bodyA.transform, this._localAnchorAx, this._localAnchorAy, scratch);
+		const pAx = scratch.x;
+		const pAy = scratch.y;
+		applyTransform(bodyB.transform, this._localAnchorBx, this._localAnchorBy, scratch);
+		const pBx = scratch.x;
+		const pBy = scratch.y;
+		this._rAx = pAx - bodyA.worldCenterOfMassX;
+		this._rAy = pAy - bodyA.worldCenterOfMassY;
+		this._rBx = pBx - bodyB.worldCenterOfMassX;
+		this._rBy = pBy - bodyB.worldCenterOfMassY;
+		this._cx = pBx - pAx;
+		this._cy = pBy - pAy;
+		const mA = bodyA.invMass;
+		const mB = bodyB.invMass;
+		const iA = bodyA.invInertia;
+		const iB = bodyB.invInertia;
+		const k11 = mA + mB + iA * this._rAy * this._rAy + iB * this._rBy * this._rBy;
+		const k12 = -iA * this._rAx * this._rAy - iB * this._rBx * this._rBy;
+		const k22 = mA + mB + iA * this._rAx * this._rAx + iB * this._rBx * this._rBx;
+		const det = k11 * k22 - k12 * k12;
+		const invDet = det !== 0 ? 1 / det : 0;
+		this._invK11 = invDet * k22;
+		this._invK12 = -invDet * k12;
+		this._invK22 = invDet * k11;
+		this._angleError = bodyB.angle - bodyA.angle - this.referenceAngle;
+		const kAngle = iA + iB;
+		this._effMassAngle = kAngle > 0 ? 1 / kAngle : 0;
+		computeSoftFactors(this.linearHertz, this.dampingRatio, h, this._linear);
+		computeSoftFactors(this.angularHertz, this.dampingRatio, h, this._angular);
+	}
+	_warmStart() {
+		if (!this._active) return;
+		const bodyA = this.bodyA;
+		const bodyB = this.bodyB;
+		bodyA.angularVelocity -= bodyA.invInertia * this._impulseAngle;
+		bodyB.angularVelocity += bodyB.invInertia * this._impulseAngle;
+		this._applyLinearImpulse(this._impulseX, this._impulseY);
+	}
+	_solve(useBias) {
+		if (!this._active) return;
+		const bodyA = this.bodyA;
+		const bodyB = this.bodyB;
+		const cdotAngle = bodyB.angularVelocity - bodyA.angularVelocity;
+		const biasAngle = useBias ? this._angular.biasRate * this._angleError : 0;
+		const impulseAngle = -this._effMassAngle * this._angular.massScale * (cdotAngle + biasAngle) - this._angular.impulseScale * this._impulseAngle;
+		this._impulseAngle += impulseAngle;
+		bodyA.angularVelocity -= bodyA.invInertia * impulseAngle;
+		bodyB.angularVelocity += bodyB.invInertia * impulseAngle;
+		const cdotX = bodyB.linearVelocityX - bodyB.angularVelocity * this._rBy - (bodyA.linearVelocityX - bodyA.angularVelocity * this._rAy);
+		const cdotY = bodyB.linearVelocityY + bodyB.angularVelocity * this._rBx - (bodyA.linearVelocityY + bodyA.angularVelocity * this._rAx);
+		const rhsX = cdotX + (useBias ? this._linear.biasRate * this._cx : 0);
+		const rhsY = cdotY + (useBias ? this._linear.biasRate * this._cy : 0);
+		const solvedX = this._invK11 * rhsX + this._invK12 * rhsY;
+		const solvedY = this._invK12 * rhsX + this._invK22 * rhsY;
+		const impulseX = -this._linear.massScale * solvedX - this._linear.impulseScale * this._impulseX;
+		const impulseY = -this._linear.massScale * solvedY - this._linear.impulseScale * this._impulseY;
+		this._impulseX += impulseX;
+		this._impulseY += impulseY;
+		this._applyLinearImpulse(impulseX, impulseY);
+	}
+	_applyLinearImpulse(jx, jy) {
+		const bodyA = this.bodyA;
+		const bodyB = this.bodyB;
+		bodyA.linearVelocityX -= bodyA.invMass * jx;
+		bodyA.linearVelocityY -= bodyA.invMass * jy;
+		bodyA.angularVelocity -= bodyA.invInertia * (this._rAx * jy - this._rAy * jx);
+		bodyB.linearVelocityX += bodyB.invMass * jx;
+		bodyB.linearVelocityY += bodyB.invMass * jy;
+		bodyB.angularVelocity += bodyB.invInertia * (this._rBx * jy - this._rBy * jx);
+	}
+};
 
+//#endregion
 export { WeldJoint };
-//# sourceMappingURL=WeldJoint.js.map
+//# sourceMappingURL=WeldJoint.js.map

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

@@ -1 +1 @@
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+{"version":3,"file":"WeldJoint.js","names":[],"sources":["../../../src/joints/WeldJoint.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 WeldJoint}. */\nexport interface WeldJointOptions {\n  /** First body. */\n  bodyA: PhysicsBody;\n  /** Second body. */\n  bodyB: PhysicsBody;\n  /** World-space anchor the linear constraint acts at. Default: the midpoint of the two bodies. */\n  anchor?: Readonly<PointLike>;\n  /** Locked relative angle `angleB − angleA`. Default: the current relative angle at creation. */\n  referenceAngle?: number;\n  /** Soft frequency (Hz) for the position lock; `0` (default) is rigid. */\n  linearHertz?: number;\n  /** Soft frequency (Hz) for the angle lock; `0` (default) is rigid. */\n  angularHertz?: number;\n  /** Soft damping ratio (used when a hertz is `> 0`). Default `1`. */\n  dampingRatio?: 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\ninterface SoftFactors {\n  biasRate: number;\n  massScale: number;\n  impulseScale: number;\n}\n\n/** Box2D-v3 soft-constraint factors at sub-step `h`, or rigid Baumgarte when `hertz === 0`. */\nconst computeSoftFactors = (hertz: number, dampingRatio: number, h: number, out: SoftFactors): void => {\n  if (hertz > 0) {\n    const omega = 2 * Math.PI * hertz;\n    const a1 = 2 * dampingRatio + h * omega;\n    const a2 = h * omega * a1;\n    const a3 = 1 / (1 + a2);\n\n    out.biasRate = omega / a1;\n    out.massScale = a2 * a3;\n    out.impulseScale = a3;\n  } else {\n    out.biasRate = 0.2 / h;\n    out.massScale = 1;\n    out.impulseScale = 0;\n  }\n};\n\n/**\n * Rigidly fixes the relative position and orientation of two bodies (they move\n * as one rigid body). A 2-DOF point constraint (like {@link RevoluteJoint}) plus\n * a 1-DOF angular constraint, solved in the sub-step loop. Both locks default to\n * rigid; set `linearHertz`/`angularHertz` for a springy weld.\n */\nexport class WeldJoint extends Joint {\n  /** Locked relative angle `angleB − angleA`. */\n  public referenceAngle: number;\n  /** Soft frequency for the position lock (`0` = rigid). */\n  public linearHertz: number;\n  /** Soft frequency for the angle lock (`0` = rigid). */\n  public angularHertz: number;\n  /** Soft damping ratio. */\n  public dampingRatio: 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 _angleError = 0;\n  private _effMassAngle = 0;\n  private readonly _linear: SoftFactors = { biasRate: 0, massScale: 1, impulseScale: 0 };\n  private readonly _angular: SoftFactors = { biasRate: 0, massScale: 1, impulseScale: 0 };\n  private _impulseX = 0;\n  private _impulseY = 0;\n  private _impulseAngle = 0;\n\n  public constructor(options: WeldJointOptions) {\n    super(options.bodyA, options.bodyB);\n\n    const ax = options.anchor?.x ?? (options.bodyA.x + options.bodyB.x) / 2;\n    const ay = options.anchor?.y ?? (options.bodyA.y + options.bodyB.y) / 2;\n\n    applyInverseTransform(options.bodyA.transform, ax, ay, scratch);\n    this._localAnchorAx = scratch.x;\n    this._localAnchorAy = scratch.y;\n    applyInverseTransform(options.bodyB.transform, ax, ay, scratch);\n    this._localAnchorBx = scratch.x;\n    this._localAnchorBy = scratch.y;\n\n    this.referenceAngle = options.referenceAngle ?? options.bodyB.angle - options.bodyA.angle;\n    this.linearHertz = options.linearHertz ?? 0;\n    this.angularHertz = options.angularHertz ?? 0;\n    this.dampingRatio = options.dampingRatio ?? 1;\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    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    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    this._angleError = bodyB.angle - bodyA.angle - this.referenceAngle;\n    const kAngle = iA + iB;\n    this._effMassAngle = kAngle > 0 ? 1 / kAngle : 0;\n\n    computeSoftFactors(this.linearHertz, this.dampingRatio, h, this._linear);\n    computeSoftFactors(this.angularHertz, this.dampingRatio, h, this._angular);\n  }\n\n  public override _warmStart(): void {\n    if (!this._active) {\n      return;\n    }\n\n    const bodyA = this.bodyA;\n    const bodyB = this.bodyB;\n\n    bodyA.angularVelocity -= bodyA.invInertia * this._impulseAngle;\n    bodyB.angularVelocity += bodyB.invInertia * this._impulseAngle;\n    this._applyLinearImpulse(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\n    // Angular lock first.\n    const cdotAngle = bodyB.angularVelocity - bodyA.angularVelocity;\n    const biasAngle = useBias ? this._angular.biasRate * this._angleError : 0;\n    const impulseAngle = -this._effMassAngle * this._angular.massScale * (cdotAngle + biasAngle) - this._angular.impulseScale * this._impulseAngle;\n\n    this._impulseAngle += impulseAngle;\n    bodyA.angularVelocity -= bodyA.invInertia * impulseAngle;\n    bodyB.angularVelocity += bodyB.invInertia * impulseAngle;\n\n    // Linear (point) lock.\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    const rhsX = cdotX + (useBias ? this._linear.biasRate * this._cx : 0);\n    const rhsY = cdotY + (useBias ? this._linear.biasRate * this._cy : 0);\n    const solvedX = this._invK11 * rhsX + this._invK12 * rhsY;\n    const solvedY = this._invK12 * rhsX + this._invK22 * rhsY;\n    const impulseX = -this._linear.massScale * solvedX - this._linear.impulseScale * this._impulseX;\n    const impulseY = -this._linear.massScale * solvedY - this._linear.impulseScale * this._impulseY;\n\n    this._impulseX += impulseX;\n    this._impulseY += impulseY;\n    this._applyLinearImpulse(impulseX, impulseY);\n  }\n\n  private _applyLinearImpulse(jx: number, jy: number): void {\n    const bodyA = this.bodyA;\n    const bodyB = this.bodyB;\n\n    bodyA.linearVelocityX -= bodyA.invMass * jx;\n    bodyA.linearVelocityY -= bodyA.invMass * jy;\n    bodyA.angularVelocity -= bodyA.invInertia * (this._rAx * jy - this._rAy * jx);\n    bodyB.linearVelocityX += bodyB.invMass * jx;\n    bodyB.linearVelocityY += bodyB.invMass * jy;\n    bodyB.angularVelocity += bodyB.invInertia * (this._rBx * jy - this._rBy * jx);\n  }\n}\n"],"mappings":";;;;;AAyBA,MAAM,UAAqB;CAAE,GAAG;CAAG,GAAG;AAAE;;AASxC,MAAM,sBAAsB,OAAe,cAAsB,GAAW,QAA2B;CACrG,IAAI,QAAQ,GAAG;EACb,MAAM,QAAQ,IAAI,KAAK,KAAK;EAC5B,MAAM,KAAK,IAAI,eAAe,IAAI;EAClC,MAAM,KAAK,IAAI,QAAQ;EACvB,MAAM,KAAK,KAAK,IAAI;EAEpB,IAAI,WAAW,QAAQ;EACvB,IAAI,YAAY,KAAK;EACrB,IAAI,eAAe;CACrB,OAAO;EACL,IAAI,WAAW,KAAM;EACrB,IAAI,YAAY;EAChB,IAAI,eAAe;CACrB;AACF;;;;;;;AAQA,IAAa,YAAb,cAA+B,MAAM;;CAEnC,AAAO;;CAEP,AAAO;;CAEP,AAAO;;CAEP,AAAO;CAEP,AAAiB;CACjB,AAAiB;CACjB,AAAiB;CACjB,AAAiB;CAEjB,AAAQ,OAAO;CACf,AAAQ,OAAO;CACf,AAAQ,OAAO;CACf,AAAQ,OAAO;CACf,AAAQ,MAAM;CACd,AAAQ,MAAM;CACd,AAAQ,UAAU;CAClB,AAAQ,UAAU;CAClB,AAAQ,UAAU;CAClB,AAAQ,cAAc;CACtB,AAAQ,gBAAgB;CACxB,AAAiB,UAAuB;EAAE,UAAU;EAAG,WAAW;EAAG,cAAc;CAAE;CACrF,AAAiB,WAAwB;EAAE,UAAU;EAAG,WAAW;EAAG,cAAc;CAAE;CACtF,AAAQ,YAAY;CACpB,AAAQ,YAAY;CACpB,AAAQ,gBAAgB;CAExB,AAAO,YAAY,SAA2B;EAC5C,MAAM,QAAQ,OAAO,QAAQ,KAAK;EAElC,MAAM,KAAK,QAAQ,QAAQ,MAAM,QAAQ,MAAM,IAAI,QAAQ,MAAM,KAAK;EACtE,MAAM,KAAK,QAAQ,QAAQ,MAAM,QAAQ,MAAM,IAAI,QAAQ,MAAM,KAAK;EAEtE,sBAAsB,QAAQ,MAAM,WAAW,IAAI,IAAI,OAAO;EAC9D,KAAK,iBAAiB,QAAQ;EAC9B,KAAK,iBAAiB,QAAQ;EAC9B,sBAAsB,QAAQ,MAAM,WAAW,IAAI,IAAI,OAAO;EAC9D,KAAK,iBAAiB,QAAQ;EAC9B,KAAK,iBAAiB,QAAQ;EAE9B,KAAK,iBAAiB,QAAQ,kBAAkB,QAAQ,MAAM,QAAQ,QAAQ,MAAM;EACpF,KAAK,cAAc,QAAQ,eAAe;EAC1C,KAAK,eAAe,QAAQ,gBAAgB;EAC5C,KAAK,eAAe,QAAQ,gBAAgB;CAC9C;CAEA,AAAgB,SAAS,GAAiB;EACxC,MAAM,QAAQ,KAAK;EACnB,MAAM,QAAQ,KAAK;EAEnB,KAAK,UAAU,KAAK,WAAW,CAAC,MAAM,cAAc,CAAC,MAAM,eAAe,MAAM,UAAU,KAAK,MAAM,UAAU;EAE/G,IAAI,CAAC,KAAK,SACR;EAGF,eAAe,MAAM,WAAW,KAAK,gBAAgB,KAAK,gBAAgB,OAAO;EACjF,MAAM,MAAM,QAAQ;EACpB,MAAM,MAAM,QAAQ;EACpB,eAAe,MAAM,WAAW,KAAK,gBAAgB,KAAK,gBAAgB,OAAO;EACjF,MAAM,MAAM,QAAQ;EACpB,MAAM,MAAM,QAAQ;EAEpB,KAAK,OAAO,MAAM,MAAM;EACxB,KAAK,OAAO,MAAM,MAAM;EACxB,KAAK,OAAO,MAAM,MAAM;EACxB,KAAK,OAAO,MAAM,MAAM;EACxB,KAAK,MAAM,MAAM;EACjB,KAAK,MAAM,MAAM;EAEjB,MAAM,KAAK,MAAM;EACjB,MAAM,KAAK,MAAM;EACjB,MAAM,KAAK,MAAM;EACjB,MAAM,KAAK,MAAM;EAEjB,MAAM,MAAM,KAAK,KAAK,KAAK,KAAK,OAAO,KAAK,OAAO,KAAK,KAAK,OAAO,KAAK;EACzE,MAAM,MAAM,CAAC,KAAK,KAAK,OAAO,KAAK,OAAO,KAAK,KAAK,OAAO,KAAK;EAChE,MAAM,MAAM,KAAK,KAAK,KAAK,KAAK,OAAO,KAAK,OAAO,KAAK,KAAK,OAAO,KAAK;EACzE,MAAM,MAAM,MAAM,MAAM,MAAM;EAC9B,MAAM,SAAS,QAAQ,IAAI,IAAI,MAAM;EAErC,KAAK,UAAU,SAAS;EACxB,KAAK,UAAU,CAAC,SAAS;EACzB,KAAK,UAAU,SAAS;EAExB,KAAK,cAAc,MAAM,QAAQ,MAAM,QAAQ,KAAK;EACpD,MAAM,SAAS,KAAK;EACpB,KAAK,gBAAgB,SAAS,IAAI,IAAI,SAAS;EAE/C,mBAAmB,KAAK,aAAa,KAAK,cAAc,GAAG,KAAK,OAAO;EACvE,mBAAmB,KAAK,cAAc,KAAK,cAAc,GAAG,KAAK,QAAQ;CAC3E;CAEA,AAAgB,aAAmB;EACjC,IAAI,CAAC,KAAK,SACR;EAGF,MAAM,QAAQ,KAAK;EACnB,MAAM,QAAQ,KAAK;EAEnB,MAAM,mBAAmB,MAAM,aAAa,KAAK;EACjD,MAAM,mBAAmB,MAAM,aAAa,KAAK;EACjD,KAAK,oBAAoB,KAAK,WAAW,KAAK,SAAS;CACzD;CAEA,AAAgB,OAAO,SAAwB;EAC7C,IAAI,CAAC,KAAK,SACR;EAGF,MAAM,QAAQ,KAAK;EACnB,MAAM,QAAQ,KAAK;EAGnB,MAAM,YAAY,MAAM,kBAAkB,MAAM;EAChD,MAAM,YAAY,UAAU,KAAK,SAAS,WAAW,KAAK,cAAc;EACxE,MAAM,eAAe,CAAC,KAAK,gBAAgB,KAAK,SAAS,aAAa,YAAY,aAAa,KAAK,SAAS,eAAe,KAAK;EAEjI,KAAK,iBAAiB;EACtB,MAAM,mBAAmB,MAAM,aAAa;EAC5C,MAAM,mBAAmB,MAAM,aAAa;EAG5C,MAAM,QAAQ,MAAM,kBAAkB,MAAM,kBAAkB,KAAK,QAAQ,MAAM,kBAAkB,MAAM,kBAAkB,KAAK;EAChI,MAAM,QAAQ,MAAM,kBAAkB,MAAM,kBAAkB,KAAK,QAAQ,MAAM,kBAAkB,MAAM,kBAAkB,KAAK;EAChI,MAAM,OAAO,SAAS,UAAU,KAAK,QAAQ,WAAW,KAAK,MAAM;EACnE,MAAM,OAAO,SAAS,UAAU,KAAK,QAAQ,WAAW,KAAK,MAAM;EACnE,MAAM,UAAU,KAAK,UAAU,OAAO,KAAK,UAAU;EACrD,MAAM,UAAU,KAAK,UAAU,OAAO,KAAK,UAAU;EACrD,MAAM,WAAW,CAAC,KAAK,QAAQ,YAAY,UAAU,KAAK,QAAQ,eAAe,KAAK;EACtF,MAAM,WAAW,CAAC,KAAK,QAAQ,YAAY,UAAU,KAAK,QAAQ,eAAe,KAAK;EAEtF,KAAK,aAAa;EAClB,KAAK,aAAa;EAClB,KAAK,oBAAoB,UAAU,QAAQ;CAC7C;CAEA,AAAQ,oBAAoB,IAAY,IAAkB;EACxD,MAAM,QAAQ,KAAK;EACnB,MAAM,QAAQ,KAAK;EAEnB,MAAM,mBAAmB,MAAM,UAAU;EACzC,MAAM,mBAAmB,MAAM,UAAU;EACzC,MAAM,mBAAmB,MAAM,cAAc,KAAK,OAAO,KAAK,KAAK,OAAO;EAC1E,MAAM,mBAAmB,MAAM,UAAU;EACzC,MAAM,mBAAmB,MAAM,UAAU;EACzC,MAAM,mBAAmB,MAAM,cAAc,KAAK,OAAO,KAAK,KAAK,OAAO;CAC5E;AACF"}

package/dist/esm/joints/WheelJoint.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 WheelJoint}. */
 export interface WheelJointOptions {
@@ -8,9 +8,9 @@ export interface WheelJointOptions {
     /** Second body (the wheel). */
     bodyB: PhysicsBody;
     /** Shared world-space anchor at creation (the wheel hub). */
-    anchor: VectorLike;
+    anchor: Readonly<PointLike>;
     /** Suspension axis in world space at creation (normalised internally). */
-    axis: VectorLike;
+    axis: Readonly<PointLike>;
     /** Suspension spring frequency in Hz (`0` makes the axis rigid). Default `0`. */
     hertz?: number;
     /** Suspension spring damping ratio. Default `1`. */
@@ -90,3 +90,4 @@ export declare class WheelJoint extends Joint {
     private _applyAxial;
     private _applyPerp;
 }
+//# sourceMappingURL=WheelJoint.d.ts.map

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

@@ -0,0 +1 @@
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