@codexo/exojs-physics 0.15.2 → 0.16.0

package/dist/esm/joints/WheelJoint.js

@@ -1,259 +1,232 @@
-import { applyInverseTransform, applyInverseRotation, applyRotation, applyTransform } from '../math.js';
-import { Joint } from './Joint.js';
+import { applyInverseRotation, applyInverseTransform, applyRotation, applyTransform } from "../math.js";
+import { Joint } from "./Joint.js";
 
-/** Reused output sink — physics steps single-threaded, so a shared scratch is safe. */
-const scratch = { x: 0, y: 0 };
+//#region src/joints/WheelJoint.ts
+/** Reused output sink - physics steps single-threaded, so a shared scratch is safe. */
+const scratch = {
+	x: 0,
+	y: 0
+};
 /**
- * A wheel attached to a chassis: free to **spin** (no rotation lock) and sprung
- * along a **suspension axis** (a soft spring), but locked **laterally** (it
- * cannot slide perpendicular to the axis). Optionally driven by a rotation
- * motor and/or bounded by a suspension-travel limit. Used for vehicles. Solved
- * in the sub-step loop, warm-started.
- */
-class WheelJoint extends Joint {
-    /** Suspension spring frequency in Hz (`0` = rigid axis). */
-    hertz;
-    /** Suspension spring damping ratio. */
-    dampingRatio;
-    /** When `true`, the motor drives the wheel's spin toward {@link motorSpeed}. */
-    enableMotor;
-    /** Target relative angular velocity (rad/s) for the motor. */
-    motorSpeed;
-    /** Maximum motor torque. */
-    maxMotorTorque;
-    /** When `true`, the axis translation is constrained to `[lowerTranslation, upperTranslation]`. */
-    enableLimit;
-    /** Lower suspension-travel limit along the axis. */
-    lowerTranslation;
-    /** Upper suspension-travel limit along the axis. */
-    upperTranslation;
-    _localAnchorAx;
-    _localAnchorAy;
-    _localAnchorBx;
-    _localAnchorBy;
-    _localAxisAx;
-    _localAxisAy;
-    _axisX = 1;
-    _axisY = 0;
-    _perpX = 0;
-    _perpY = 1;
-    _a1 = 0;
-    _a2 = 0;
-    _s1 = 0;
-    _s2 = 0;
-    _perpMass = 0;
-    _axialMass = 0;
-    _angularMass = 0;
-    _springBiasRate = 0;
-    _springMassScale = 1;
-    _springImpulseScale = 0;
-    _cPerp = 0;
-    _translation = 0;
-    _h = 0;
-    _invH = 0;
-    _perpImpulse = 0;
-    _springImpulse = 0;
-    _motorImpulse = 0;
-    _lowerImpulse = 0;
-    _upperImpulse = 0;
-    constructor(options) {
-        super(options.bodyA, options.bodyB);
-        applyInverseTransform(options.bodyA.transform, options.anchor.x, options.anchor.y, scratch);
-        this._localAnchorAx = scratch.x;
-        this._localAnchorAy = scratch.y;
-        applyInverseTransform(options.bodyB.transform, options.anchor.x, options.anchor.y, scratch);
-        this._localAnchorBx = scratch.x;
-        this._localAnchorBy = scratch.y;
-        const axisLength = Math.hypot(options.axis.x, options.axis.y);
-        if (!Number.isFinite(axisLength) || axisLength === 0) {
-            throw new RangeError(`WheelJoint: axis must be a non-zero finite vector, received (${options.axis.x}, ${options.axis.y}).`);
-        }
-        applyInverseRotation(options.bodyA.transform, options.axis.x / axisLength, options.axis.y / axisLength, scratch);
-        this._localAxisAx = scratch.x;
-        this._localAxisAy = scratch.y;
-        this.hertz = options.hertz ?? 0;
-        this.dampingRatio = options.dampingRatio ?? 1;
-        this.enableMotor = options.enableMotor ?? false;
-        this.motorSpeed = options.motorSpeed ?? 0;
-        this.maxMotorTorque = options.maxMotorTorque ?? 0;
-        this.enableLimit = options.enableLimit ?? false;
-        this.lowerTranslation = options.lowerTranslation ?? 0;
-        this.upperTranslation = options.upperTranslation ?? 0;
-    }
-    _prepare(h) {
-        const bodyA = this.bodyA;
-        const bodyB = this.bodyB;
-        this._active = this.enabled && !bodyA.isSleeping && !bodyB.isSleeping && (bodyA.invMass > 0 || bodyB.invMass > 0);
-        if (!this._active) {
-            return;
-        }
-        applyRotation(bodyA.transform, this._localAxisAx, this._localAxisAy, scratch);
-        const axisX = scratch.x;
-        const axisY = scratch.y;
-        const perpX = -axisY;
-        const perpY = axisX;
-        this._axisX = axisX;
-        this._axisY = axisY;
-        this._perpX = perpX;
-        this._perpY = perpY;
-        applyTransform(bodyA.transform, this._localAnchorAx, this._localAnchorAy, scratch);
-        const pAx = scratch.x;
-        const pAy = scratch.y;
-        applyTransform(bodyB.transform, this._localAnchorBx, this._localAnchorBy, scratch);
-        const pBx = scratch.x;
-        const pBy = scratch.y;
-        const rAx = pAx - bodyA.worldCenterOfMassX;
-        const rAy = pAy - bodyA.worldCenterOfMassY;
-        const rBx = pBx - bodyB.worldCenterOfMassX;
-        const rBy = pBy - bodyB.worldCenterOfMassY;
-        const dx = pBx - pAx;
-        const dy = pBy - pAy;
-        this._a1 = (dx + rAx) * axisY - (dy + rAy) * axisX;
-        this._a2 = rBx * axisY - rBy * axisX;
-        this._s1 = (dx + rAx) * perpY - (dy + rAy) * perpX;
-        this._s2 = rBx * perpY - rBy * perpX;
-        const mA = bodyA.invMass;
-        const mB = bodyB.invMass;
-        const iA = bodyA.invInertia;
-        const iB = bodyB.invInertia;
-        const kPerp = mA + mB + iA * this._s1 * this._s1 + iB * this._s2 * this._s2;
-        this._perpMass = kPerp > 0 ? 1 / kPerp : 0;
-        const kAxial = mA + mB + iA * this._a1 * this._a1 + iB * this._a2 * this._a2;
-        this._axialMass = kAxial > 0 ? 1 / kAxial : 0;
-        this._angularMass = iA + iB > 0 ? 1 / (iA + iB) : 0;
-        this._cPerp = dx * perpX + dy * perpY;
-        this._translation = dx * axisX + dy * axisY;
-        this._h = h;
-        this._invH = 1 / h;
-        if (this.hertz > 0) {
-            const omega = 2 * Math.PI * this.hertz;
-            const a1 = 2 * this.dampingRatio + h * omega;
-            const a2 = h * omega * a1;
-            const a3 = 1 / (1 + a2);
-            this._springBiasRate = omega / a1;
-            this._springMassScale = a2 * a3;
-            this._springImpulseScale = a3;
-        }
-        else {
-            this._springBiasRate = 0.2 / h;
-            this._springMassScale = 1;
-            this._springImpulseScale = 0;
-        }
-        if (!this.enableMotor) {
-            this._motorImpulse = 0;
-        }
-        if (!this.enableLimit) {
-            this._lowerImpulse = 0;
-            this._upperImpulse = 0;
-        }
-    }
-    _warmStart() {
-        if (!this._active) {
-            return;
-        }
-        const bodyA = this.bodyA;
-        const bodyB = this.bodyB;
-        // Rotation motor (angular).
-        bodyA.angularVelocity -= bodyA.invInertia * this._motorImpulse;
-        bodyB.angularVelocity += bodyB.invInertia * this._motorImpulse;
-        this._applyAxial(this._springImpulse + this._lowerImpulse - this._upperImpulse);
-        this._applyPerp(this._perpImpulse);
-    }
-    _solve(useBias) {
-        if (!this._active) {
-            return;
-        }
-        const bodyA = this.bodyA;
-        const bodyB = this.bodyB;
-        // Rotation motor — drives the wheel's spin; rotation is otherwise free.
-        if (this.enableMotor) {
-            const cdot = bodyB.angularVelocity - bodyA.angularVelocity - this.motorSpeed;
-            const max = this.maxMotorTorque * this._h;
-            const old = this._motorImpulse;
-            this._motorImpulse = Math.min(max, Math.max(-max, old - this._angularMass * cdot));
-            const applied = this._motorImpulse - old;
-            bodyA.angularVelocity -= bodyA.invInertia * applied;
-            bodyB.angularVelocity += bodyB.invInertia * applied;
-        }
-        // Suspension spring along the axis (soft).
-        const cdotAxis = this._axisVelocity();
-        const springImpulse = -this._axialMass * this._springMassScale * (cdotAxis + this._springBiasRate * this._translation) - this._springImpulseScale * this._springImpulse;
-        this._springImpulse += springImpulse;
-        this._applyAxial(springImpulse);
-        // Suspension-travel limits along the axis.
-        if (this.enableLimit) {
-            // Lower limit (translation ≥ lowerTranslation): positive impulse pushes along +axis.
-            const cLower = this._translation - this.lowerTranslation;
-            let biasLower = 0;
-            if (cLower > 0) {
-                biasLower = cLower * this._invH;
-            }
-            else if (useBias) {
-                biasLower = 0.2 * this._invH * cLower;
-            }
-            const oldLower = this._lowerImpulse;
-            this._lowerImpulse = Math.max(0, oldLower - this._axialMass * (this._axisVelocity() + biasLower));
-            this._applyAxial(this._lowerImpulse - oldLower);
-            // Upper limit (translation ≤ upperTranslation): impulse pushes along −axis.
-            const cUpper = this.upperTranslation - this._translation;
-            let biasUpper = 0;
-            if (cUpper > 0) {
-                biasUpper = cUpper * this._invH;
-            }
-            else if (useBias) {
-                biasUpper = 0.2 * this._invH * cUpper;
-            }
-            const oldUpper = this._upperImpulse;
-            this._upperImpulse = Math.max(0, oldUpper - this._axialMass * (-this._axisVelocity() + biasUpper));
-            this._applyAxial(-(this._upperImpulse - oldUpper));
-        }
-        // Lateral lock (perpendicular, rigid).
-        const cdotPerp = this._perpVelocity();
-        const perpImpulse = -this._perpMass * (cdotPerp + (useBias ? 0.2 * this._invH * this._cPerp : 0));
-        this._perpImpulse += perpImpulse;
-        this._applyPerp(perpImpulse);
-    }
-    _axisVelocity() {
-        const bodyA = this.bodyA;
-        const bodyB = this.bodyB;
-        return (this._axisX * (bodyB.linearVelocityX - bodyA.linearVelocityX) +
-            this._axisY * (bodyB.linearVelocityY - bodyA.linearVelocityY) +
-            this._a2 * bodyB.angularVelocity -
-            this._a1 * bodyA.angularVelocity);
-    }
-    _perpVelocity() {
-        const bodyA = this.bodyA;
-        const bodyB = this.bodyB;
-        return (this._perpX * (bodyB.linearVelocityX - bodyA.linearVelocityX) +
-            this._perpY * (bodyB.linearVelocityY - bodyA.linearVelocityY) +
-            this._s2 * bodyB.angularVelocity -
-            this._s1 * bodyA.angularVelocity);
-    }
-    _applyAxial(impulse) {
-        const bodyA = this.bodyA;
-        const bodyB = this.bodyB;
-        const px = impulse * this._axisX;
-        const py = impulse * this._axisY;
-        bodyA.linearVelocityX -= bodyA.invMass * px;
-        bodyA.linearVelocityY -= bodyA.invMass * py;
-        bodyA.angularVelocity -= bodyA.invInertia * impulse * this._a1;
-        bodyB.linearVelocityX += bodyB.invMass * px;
-        bodyB.linearVelocityY += bodyB.invMass * py;
-        bodyB.angularVelocity += bodyB.invInertia * impulse * this._a2;
-    }
-    _applyPerp(impulse) {
-        const bodyA = this.bodyA;
-        const bodyB = this.bodyB;
-        const px = impulse * this._perpX;
-        const py = impulse * this._perpY;
-        bodyA.linearVelocityX -= bodyA.invMass * px;
-        bodyA.linearVelocityY -= bodyA.invMass * py;
-        bodyA.angularVelocity -= bodyA.invInertia * impulse * this._s1;
-        bodyB.linearVelocityX += bodyB.invMass * px;
-        bodyB.linearVelocityY += bodyB.invMass * py;
-        bodyB.angularVelocity += bodyB.invInertia * impulse * this._s2;
-    }
-}
+* A wheel attached to a chassis: free to **spin** (no rotation lock) and sprung
+* along a **suspension axis** (a soft spring), but locked **laterally** (it
+* cannot slide perpendicular to the axis). Optionally driven by a rotation
+* motor and/or bounded by a suspension-travel limit. Used for vehicles. Solved
+* in the sub-step loop, warm-started.
+*/
+var WheelJoint = class extends Joint {
+	/** Suspension spring frequency in Hz (`0` = rigid axis). */
+	hertz;
+	/** Suspension spring damping ratio. */
+	dampingRatio;
+	/** When `true`, the motor drives the wheel's spin toward {@link motorSpeed}. */
+	enableMotor;
+	/** Target relative angular velocity (rad/s) for the motor. */
+	motorSpeed;
+	/** Maximum motor torque. */
+	maxMotorTorque;
+	/** When `true`, the axis translation is constrained to `[lowerTranslation, upperTranslation]`. */
+	enableLimit;
+	/** Lower suspension-travel limit along the axis. */
+	lowerTranslation;
+	/** Upper suspension-travel limit along the axis. */
+	upperTranslation;
+	_localAnchorAx;
+	_localAnchorAy;
+	_localAnchorBx;
+	_localAnchorBy;
+	_localAxisAx;
+	_localAxisAy;
+	_axisX = 1;
+	_axisY = 0;
+	_perpX = 0;
+	_perpY = 1;
+	_a1 = 0;
+	_a2 = 0;
+	_s1 = 0;
+	_s2 = 0;
+	_perpMass = 0;
+	_axialMass = 0;
+	_angularMass = 0;
+	_springBiasRate = 0;
+	_springMassScale = 1;
+	_springImpulseScale = 0;
+	_cPerp = 0;
+	_translation = 0;
+	_h = 0;
+	_invH = 0;
+	_perpImpulse = 0;
+	_springImpulse = 0;
+	_motorImpulse = 0;
+	_lowerImpulse = 0;
+	_upperImpulse = 0;
+	constructor(options) {
+		super(options.bodyA, options.bodyB);
+		applyInverseTransform(options.bodyA.transform, options.anchor.x, options.anchor.y, scratch);
+		this._localAnchorAx = scratch.x;
+		this._localAnchorAy = scratch.y;
+		applyInverseTransform(options.bodyB.transform, options.anchor.x, options.anchor.y, scratch);
+		this._localAnchorBx = scratch.x;
+		this._localAnchorBy = scratch.y;
+		const axisLength = Math.hypot(options.axis.x, options.axis.y);
+		if (!Number.isFinite(axisLength) || axisLength === 0) throw new RangeError(`WheelJoint: axis must be a non-zero finite vector, received (${options.axis.x}, ${options.axis.y}).`);
+		applyInverseRotation(options.bodyA.transform, options.axis.x / axisLength, options.axis.y / axisLength, scratch);
+		this._localAxisAx = scratch.x;
+		this._localAxisAy = scratch.y;
+		this.hertz = options.hertz ?? 0;
+		this.dampingRatio = options.dampingRatio ?? 1;
+		this.enableMotor = options.enableMotor ?? false;
+		this.motorSpeed = options.motorSpeed ?? 0;
+		this.maxMotorTorque = options.maxMotorTorque ?? 0;
+		this.enableLimit = options.enableLimit ?? false;
+		this.lowerTranslation = options.lowerTranslation ?? 0;
+		this.upperTranslation = options.upperTranslation ?? 0;
+	}
+	_prepare(h) {
+		const bodyA = this.bodyA;
+		const bodyB = this.bodyB;
+		this._active = this.enabled && !bodyA.isSleeping && !bodyB.isSleeping && (bodyA.invMass > 0 || bodyB.invMass > 0);
+		if (!this._active) return;
+		applyRotation(bodyA.transform, this._localAxisAx, this._localAxisAy, scratch);
+		const axisX = scratch.x;
+		const axisY = scratch.y;
+		const perpX = -axisY;
+		const perpY = axisX;
+		this._axisX = axisX;
+		this._axisY = axisY;
+		this._perpX = perpX;
+		this._perpY = perpY;
+		applyTransform(bodyA.transform, this._localAnchorAx, this._localAnchorAy, scratch);
+		const pAx = scratch.x;
+		const pAy = scratch.y;
+		applyTransform(bodyB.transform, this._localAnchorBx, this._localAnchorBy, scratch);
+		const pBx = scratch.x;
+		const pBy = scratch.y;
+		const rAx = pAx - bodyA.worldCenterOfMassX;
+		const rAy = pAy - bodyA.worldCenterOfMassY;
+		const rBx = pBx - bodyB.worldCenterOfMassX;
+		const rBy = pBy - bodyB.worldCenterOfMassY;
+		const dx = pBx - pAx;
+		const dy = pBy - pAy;
+		this._a1 = (dx + rAx) * axisY - (dy + rAy) * axisX;
+		this._a2 = rBx * axisY - rBy * axisX;
+		this._s1 = (dx + rAx) * perpY - (dy + rAy) * perpX;
+		this._s2 = rBx * perpY - rBy * perpX;
+		const mA = bodyA.invMass;
+		const mB = bodyB.invMass;
+		const iA = bodyA.invInertia;
+		const iB = bodyB.invInertia;
+		const kPerp = mA + mB + iA * this._s1 * this._s1 + iB * this._s2 * this._s2;
+		this._perpMass = kPerp > 0 ? 1 / kPerp : 0;
+		const kAxial = mA + mB + iA * this._a1 * this._a1 + iB * this._a2 * this._a2;
+		this._axialMass = kAxial > 0 ? 1 / kAxial : 0;
+		this._angularMass = iA + iB > 0 ? 1 / (iA + iB) : 0;
+		this._cPerp = dx * perpX + dy * perpY;
+		this._translation = dx * axisX + dy * axisY;
+		this._h = h;
+		this._invH = 1 / h;
+		if (this.hertz > 0) {
+			const omega = 2 * Math.PI * this.hertz;
+			const a1 = 2 * this.dampingRatio + h * omega;
+			const a2 = h * omega * a1;
+			const a3 = 1 / (1 + a2);
+			this._springBiasRate = omega / a1;
+			this._springMassScale = a2 * a3;
+			this._springImpulseScale = a3;
+		} else {
+			this._springBiasRate = .2 / h;
+			this._springMassScale = 1;
+			this._springImpulseScale = 0;
+		}
+		if (!this.enableMotor) this._motorImpulse = 0;
+		if (!this.enableLimit) {
+			this._lowerImpulse = 0;
+			this._upperImpulse = 0;
+		}
+	}
+	_warmStart() {
+		if (!this._active) return;
+		const bodyA = this.bodyA;
+		const bodyB = this.bodyB;
+		bodyA.angularVelocity -= bodyA.invInertia * this._motorImpulse;
+		bodyB.angularVelocity += bodyB.invInertia * this._motorImpulse;
+		this._applyAxial(this._springImpulse + this._lowerImpulse - this._upperImpulse);
+		this._applyPerp(this._perpImpulse);
+	}
+	_solve(useBias) {
+		if (!this._active) return;
+		const bodyA = this.bodyA;
+		const bodyB = this.bodyB;
+		if (this.enableMotor) {
+			const cdot = bodyB.angularVelocity - bodyA.angularVelocity - this.motorSpeed;
+			const max = this.maxMotorTorque * this._h;
+			const old = this._motorImpulse;
+			this._motorImpulse = Math.min(max, Math.max(-max, old - this._angularMass * cdot));
+			const applied = this._motorImpulse - old;
+			bodyA.angularVelocity -= bodyA.invInertia * applied;
+			bodyB.angularVelocity += bodyB.invInertia * applied;
+		}
+		const cdotAxis = this._axisVelocity();
+		const springImpulse = -this._axialMass * this._springMassScale * (cdotAxis + this._springBiasRate * this._translation) - this._springImpulseScale * this._springImpulse;
+		this._springImpulse += springImpulse;
+		this._applyAxial(springImpulse);
+		if (this.enableLimit) {
+			const cLower = this._translation - this.lowerTranslation;
+			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 * (this._axisVelocity() + biasLower));
+			this._applyAxial(this._lowerImpulse - oldLower);
+			const cUpper = this.upperTranslation - this._translation;
+			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 * (-this._axisVelocity() + biasUpper));
+			this._applyAxial(-(this._upperImpulse - oldUpper));
+		}
+		const cdotPerp = this._perpVelocity();
+		const perpImpulse = -this._perpMass * (cdotPerp + (useBias ? .2 * this._invH * this._cPerp : 0));
+		this._perpImpulse += perpImpulse;
+		this._applyPerp(perpImpulse);
+	}
+	_axisVelocity() {
+		const bodyA = this.bodyA;
+		const bodyB = this.bodyB;
+		return this._axisX * (bodyB.linearVelocityX - bodyA.linearVelocityX) + this._axisY * (bodyB.linearVelocityY - bodyA.linearVelocityY) + this._a2 * bodyB.angularVelocity - this._a1 * bodyA.angularVelocity;
+	}
+	_perpVelocity() {
+		const bodyA = this.bodyA;
+		const bodyB = this.bodyB;
+		return this._perpX * (bodyB.linearVelocityX - bodyA.linearVelocityX) + this._perpY * (bodyB.linearVelocityY - bodyA.linearVelocityY) + this._s2 * bodyB.angularVelocity - this._s1 * bodyA.angularVelocity;
+	}
+	_applyAxial(impulse) {
+		const bodyA = this.bodyA;
+		const bodyB = this.bodyB;
+		const px = impulse * this._axisX;
+		const py = impulse * this._axisY;
+		bodyA.linearVelocityX -= bodyA.invMass * px;
+		bodyA.linearVelocityY -= bodyA.invMass * py;
+		bodyA.angularVelocity -= bodyA.invInertia * impulse * this._a1;
+		bodyB.linearVelocityX += bodyB.invMass * px;
+		bodyB.linearVelocityY += bodyB.invMass * py;
+		bodyB.angularVelocity += bodyB.invInertia * impulse * this._a2;
+	}
+	_applyPerp(impulse) {
+		const bodyA = this.bodyA;
+		const bodyB = this.bodyB;
+		const px = impulse * this._perpX;
+		const py = impulse * this._perpY;
+		bodyA.linearVelocityX -= bodyA.invMass * px;
+		bodyA.linearVelocityY -= bodyA.invMass * py;
+		bodyA.angularVelocity -= bodyA.invInertia * impulse * this._s1;
+		bodyB.linearVelocityX += bodyB.invMass * px;
+		bodyB.linearVelocityY += bodyB.invMass * py;
+		bodyB.angularVelocity += bodyB.invInertia * impulse * this._s2;
+	}
+};
 
+//#endregion
 export { WheelJoint };
-//# sourceMappingURL=WheelJoint.js.map
+//# sourceMappingURL=WheelJoint.js.map

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

@@ -1 +1 @@
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+{"version":3,"file":"WheelJoint.js","names":[],"sources":["../../../src/joints/WheelJoint.ts"],"sourcesContent":["import type { PointLike } from '@codexo/exojs';\n\nimport { applyInverseRotation, applyInverseTransform, applyRotation, applyTransform } from '../math';\nimport type { PhysicsBody } from '../PhysicsBody';\nimport { Joint } from './Joint';\n\n/** Construction options for a {@link WheelJoint}. */\nexport interface WheelJointOptions {\n  /** First body (the chassis). */\n  bodyA: PhysicsBody;\n  /** Second body (the wheel). */\n  bodyB: PhysicsBody;\n  /** Shared world-space anchor at creation (the wheel hub). */\n  anchor: Readonly<PointLike>;\n  /** Suspension axis in world space at creation (normalised internally). */\n  axis: Readonly<PointLike>;\n  /** Suspension spring frequency in Hz (`0` makes the axis rigid). Default `0`. */\n  hertz?: number;\n  /** Suspension spring damping ratio. Default `1`. */\n  dampingRatio?: number;\n  /** Enable the rotation motor (drives the wheel's spin). Default `false`. */\n  enableMotor?: boolean;\n  /** Target relative angular velocity (rad/s) for the motor. Default `0`. */\n  motorSpeed?: number;\n  /** Maximum motor torque. Default `0`. */\n  maxMotorTorque?: number;\n  /** Enable the suspension-travel limit (keeps the axis translation in `[lowerTranslation, upperTranslation]`). Default `false`. */\n  enableLimit?: boolean;\n  /** Lower suspension-travel limit along the axis (relative to the creation position). Default `0`. */\n  lowerTranslation?: number;\n  /** Upper suspension-travel limit along the axis. Default `0`. */\n  upperTranslation?: 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 * A wheel attached to a chassis: free to **spin** (no rotation lock) and sprung\n * along a **suspension axis** (a soft spring), but locked **laterally** (it\n * cannot slide perpendicular to the axis). Optionally driven by a rotation\n * motor and/or bounded by a suspension-travel limit. Used for vehicles. Solved\n * in the sub-step loop, warm-started.\n */\nexport class WheelJoint extends Joint {\n  /** Suspension spring frequency in Hz (`0` = rigid axis). */\n  public hertz: number;\n  /** Suspension spring damping ratio. */\n  public dampingRatio: number;\n  /** When `true`, the motor drives the wheel's spin 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 axis translation is constrained to `[lowerTranslation, upperTranslation]`. */\n  public enableLimit: boolean;\n  /** Lower suspension-travel limit along the axis. */\n  public lowerTranslation: number;\n  /** Upper suspension-travel limit along the axis. */\n  public upperTranslation: number;\n\n  private readonly _localAnchorAx: number;\n  private readonly _localAnchorAy: number;\n  private readonly _localAnchorBx: number;\n  private readonly _localAnchorBy: number;\n  private readonly _localAxisAx: number;\n  private readonly _localAxisAy: number;\n\n  private _axisX = 1;\n  private _axisY = 0;\n  private _perpX = 0;\n  private _perpY = 1;\n  private _a1 = 0;\n  private _a2 = 0;\n  private _s1 = 0;\n  private _s2 = 0;\n  private _perpMass = 0;\n  private _axialMass = 0;\n  private _angularMass = 0;\n  private _springBiasRate = 0;\n  private _springMassScale = 1;\n  private _springImpulseScale = 0;\n  private _cPerp = 0;\n  private _translation = 0;\n  private _h = 0;\n  private _invH = 0;\n  private _perpImpulse = 0;\n  private _springImpulse = 0;\n  private _motorImpulse = 0;\n  private _lowerImpulse = 0;\n  private _upperImpulse = 0;\n\n  public constructor(options: WheelJointOptions) {\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    const axisLength = Math.hypot(options.axis.x, options.axis.y);\n\n    if (!Number.isFinite(axisLength) || axisLength === 0) {\n      throw new RangeError(`WheelJoint: axis must be a non-zero finite vector, received (${options.axis.x}, ${options.axis.y}).`);\n    }\n\n    applyInverseRotation(options.bodyA.transform, options.axis.x / axisLength, options.axis.y / axisLength, scratch);\n    this._localAxisAx = scratch.x;\n    this._localAxisAy = 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.lowerTranslation = options.lowerTranslation ?? 0;\n    this.upperTranslation = options.upperTranslation ?? 0;\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    applyRotation(bodyA.transform, this._localAxisAx, this._localAxisAy, scratch);\n    const axisX = scratch.x;\n    const axisY = scratch.y;\n    const perpX = -axisY;\n    const perpY = axisX;\n\n    this._axisX = axisX;\n    this._axisY = axisY;\n    this._perpX = perpX;\n    this._perpY = perpY;\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    const rAx = pAx - bodyA.worldCenterOfMassX;\n    const rAy = pAy - bodyA.worldCenterOfMassY;\n    const rBx = pBx - bodyB.worldCenterOfMassX;\n    const rBy = pBy - bodyB.worldCenterOfMassY;\n    const dx = pBx - pAx;\n    const dy = pBy - pAy;\n\n    this._a1 = (dx + rAx) * axisY - (dy + rAy) * axisX;\n    this._a2 = rBx * axisY - rBy * axisX;\n    this._s1 = (dx + rAx) * perpY - (dy + rAy) * perpX;\n    this._s2 = rBx * perpY - rBy * perpX;\n\n    const mA = bodyA.invMass;\n    const mB = bodyB.invMass;\n    const iA = bodyA.invInertia;\n    const iB = bodyB.invInertia;\n\n    const kPerp = mA + mB + iA * this._s1 * this._s1 + iB * this._s2 * this._s2;\n    this._perpMass = kPerp > 0 ? 1 / kPerp : 0;\n    const kAxial = mA + mB + iA * this._a1 * this._a1 + iB * this._a2 * this._a2;\n    this._axialMass = kAxial > 0 ? 1 / kAxial : 0;\n    this._angularMass = iA + iB > 0 ? 1 / (iA + iB) : 0;\n\n    this._cPerp = dx * perpX + dy * perpY;\n    this._translation = dx * axisX + dy * axisY;\n    this._h = h;\n    this._invH = 1 / h;\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._springBiasRate = omega / a1;\n      this._springMassScale = a2 * a3;\n      this._springImpulseScale = a3;\n    } else {\n      this._springBiasRate = 0.2 / h;\n      this._springMassScale = 1;\n      this._springImpulseScale = 0;\n    }\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\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    // Rotation motor (angular).\n    bodyA.angularVelocity -= bodyA.invInertia * this._motorImpulse;\n    bodyB.angularVelocity += bodyB.invInertia * this._motorImpulse;\n\n    this._applyAxial(this._springImpulse + this._lowerImpulse - this._upperImpulse);\n    this._applyPerp(this._perpImpulse);\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    // Rotation motor - drives the wheel's spin; rotation is otherwise free.\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._angularMass * cdot));\n\n      const applied = this._motorImpulse - old;\n      bodyA.angularVelocity -= bodyA.invInertia * applied;\n      bodyB.angularVelocity += bodyB.invInertia * applied;\n    }\n\n    // Suspension spring along the axis (soft).\n    const cdotAxis = this._axisVelocity();\n    const springImpulse =\n      -this._axialMass * this._springMassScale * (cdotAxis + this._springBiasRate * this._translation) - this._springImpulseScale * this._springImpulse;\n\n    this._springImpulse += springImpulse;\n    this._applyAxial(springImpulse);\n\n    // Suspension-travel limits along the axis.\n    if (this.enableLimit) {\n      // Lower limit (translation ≥ lowerTranslation): positive impulse pushes along +axis.\n      const cLower = this._translation - this.lowerTranslation;\n      let biasLower = 0;\n\n      if (cLower > 0) {\n        biasLower = cLower * this._invH;\n      } else if (useBias) {\n        biasLower = 0.2 * this._invH * cLower;\n      }\n\n      const oldLower = this._lowerImpulse;\n      this._lowerImpulse = Math.max(0, oldLower - this._axialMass * (this._axisVelocity() + biasLower));\n      this._applyAxial(this._lowerImpulse - oldLower);\n\n      // Upper limit (translation ≤ upperTranslation): impulse pushes along −axis.\n      const cUpper = this.upperTranslation - this._translation;\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 * (-this._axisVelocity() + biasUpper));\n      this._applyAxial(-(this._upperImpulse - oldUpper));\n    }\n\n    // Lateral lock (perpendicular, rigid).\n    const cdotPerp = this._perpVelocity();\n    const perpImpulse = -this._perpMass * (cdotPerp + (useBias ? 0.2 * this._invH * this._cPerp : 0));\n\n    this._perpImpulse += perpImpulse;\n    this._applyPerp(perpImpulse);\n  }\n\n  private _axisVelocity(): number {\n    const bodyA = this.bodyA;\n    const bodyB = this.bodyB;\n\n    return (\n      this._axisX * (bodyB.linearVelocityX - bodyA.linearVelocityX) +\n      this._axisY * (bodyB.linearVelocityY - bodyA.linearVelocityY) +\n      this._a2 * bodyB.angularVelocity -\n      this._a1 * bodyA.angularVelocity\n    );\n  }\n\n  private _perpVelocity(): number {\n    const bodyA = this.bodyA;\n    const bodyB = this.bodyB;\n\n    return (\n      this._perpX * (bodyB.linearVelocityX - bodyA.linearVelocityX) +\n      this._perpY * (bodyB.linearVelocityY - bodyA.linearVelocityY) +\n      this._s2 * bodyB.angularVelocity -\n      this._s1 * bodyA.angularVelocity\n    );\n  }\n\n  private _applyAxial(impulse: number): void {\n    const bodyA = this.bodyA;\n    const bodyB = this.bodyB;\n    const px = impulse * this._axisX;\n    const py = impulse * this._axisY;\n\n    bodyA.linearVelocityX -= bodyA.invMass * px;\n    bodyA.linearVelocityY -= bodyA.invMass * py;\n    bodyA.angularVelocity -= bodyA.invInertia * impulse * this._a1;\n    bodyB.linearVelocityX += bodyB.invMass * px;\n    bodyB.linearVelocityY += bodyB.invMass * py;\n    bodyB.angularVelocity += bodyB.invInertia * impulse * this._a2;\n  }\n\n  private _applyPerp(impulse: number): void {\n    const bodyA = this.bodyA;\n    const bodyB = this.bodyB;\n    const px = impulse * this._perpX;\n    const py = impulse * this._perpY;\n\n    bodyA.linearVelocityX -= bodyA.invMass * px;\n    bodyA.linearVelocityY -= bodyA.invMass * py;\n    bodyA.angularVelocity -= bodyA.invInertia * impulse * this._s1;\n    bodyB.linearVelocityX += bodyB.invMass * px;\n    bodyB.linearVelocityY += bodyB.invMass * py;\n    bodyB.angularVelocity += bodyB.invInertia * impulse * this._s2;\n  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package/dist/esm/math.d.ts

@@ -1,8 +1,4 @@
-/** A mutable two-component output sink used to avoid per-call allocation. */
-export interface Mutable2D {
-    x: number;
-    y: number;
-}
+import type { PointLike } from '@codexo/exojs';
 /** A rigid 2D transform: translation plus the precomputed sin/cos of `angle`. */
 export interface Transform {
     x: number;
@@ -17,16 +13,17 @@ export declare const createTransform: (x?: number, y?: number, angle?: number) =
 /** Set a transform in place, refreshing sin/cos only when the angle changes. */
 export declare const setTransform: (transform: Transform, x: number, y: number, angle: number) => Transform;
 /** Rotate and translate a local point by `transform`, writing into `out`. */
-export declare const applyTransform: (transform: Transform, x: number, y: number, out: Mutable2D) => Mutable2D;
+export declare const applyTransform: (transform: Transform, x: number, y: number, out: PointLike) => PointLike;
 /** Rotate a local direction by `transform` (no translation), writing into `out`. */
-export declare const applyRotation: (transform: Transform, x: number, y: number, out: Mutable2D) => Mutable2D;
+export declare const applyRotation: (transform: Transform, x: number, y: number, out: PointLike) => PointLike;
 /** Map a world point into `transform`'s local frame, writing into `out`. */
-export declare const applyInverseTransform: (transform: Transform, x: number, y: number, out: Mutable2D) => Mutable2D;
+export declare const applyInverseTransform: (transform: Transform, x: number, y: number, out: PointLike) => PointLike;
 /** Map a world direction into `transform`'s local frame, writing into `out`. */
-export declare const applyInverseRotation: (transform: Transform, x: number, y: number, out: Mutable2D) => Mutable2D;
+export declare const applyInverseRotation: (transform: Transform, x: number, y: number, out: PointLike) => PointLike;
 /**
  * Compose `world = body ∘ local` into `out`. The local transform is expressed
  * in the body frame (a collider's offset + local rotation); the result is the
  * collider's world transform.
  */
 export declare const composeTransforms: (body: Transform, local: Transform, out: Transform) => Transform;
+//# sourceMappingURL=math.d.ts.map

package/dist/esm/math.d.ts.map

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