@codexo/exojs-physics 0.15.2 → 0.16.0

package/dist/esm/query/QueryEngine.js.map

@@ -1 +1 @@
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+{"version":3,"file":"QueryEngine.js","names":[],"sources":["../../../src/query/QueryEngine.ts"],"sourcesContent":["import type { AabbLike, PointLike } from '@codexo/exojs';\n\nimport { aabbContainsPoint, aabbOverlap, createAabb } from '../Aabb';\nimport type { Collider } from '../Collider';\nimport { authoredCollider } from '../Collider';\nimport type { CollisionProxy } from '../collision/CollisionProxy';\nimport { testOverlap } from '../collision/narrowphase';\nimport { closestPointOnSegment, pointSegmentDistanceSquared } from '../collision/segments';\nimport { applyRotation, applyTransform, createTransform } from '../math';\nimport type { PhysicsBody } from '../PhysicsBody';\nimport type { AnyShape } from '../shapes/AnyShape';\nimport type { ChainShape } from '../shapes/ChainShape';\nimport { resolveFilter, shouldCollide } from '../types';\nimport type { SpatialIndex } from './SpatialIndex';\n\n/** Reused sink for the closest-point primitives; queries run sequentially. */\nconst _pointScratch: PointLike = { x: 0, y: 0 };\n\n/** Every shape kind that can be a collision operand - a chain is solved per edge. */\ntype SolverShape = Exclude<AnyShape, ChainShape>;\n\n/** A category/mask/group filter applied to a query. Omitting it matches everything. */\nexport type QueryFilter = Partial<{ category: number; mask: number; group: number }>;\n\n/** A single ray-cast intersection. */\nexport interface RayHit {\n  collider: Collider;\n  body: PhysicsBody;\n  /** World-space hit position. */\n  point: { x: number; y: number };\n  /** Surface normal at the hit (unit, pointing back toward the ray origin). */\n  normal: { x: number; y: number };\n  /** Distance from the origin along the (normalised) ray direction. */\n  distance: number;\n}\n\n/**\n * Spatial queries over the world's live collider set. The engine holds a\n * reference to the world's collider array (kept world-synchronised on every\n * body move), so queries always see current placements. Array-returning queries\n * follow the three explicit allocation forms: fresh array, caller-owned `out`,\n * or an allocation-free callback - never a hidden shared buffer.\n *\n * The engine scans the geometry the broad phase holds, which for a chain\n * collider is its per-edge proxies. Every result is reported as the authored\n * collider, and an overlap query reports a chain once however many of its edges\n * it touches. A ray still reports one hit per edge it crosses, because those are\n * distinct intersections.\n */\nexport class QueryEngine {\n  private readonly _colliders: readonly Collider[];\n  private readonly _spatialIndex: SpatialIndex | undefined;\n  private readonly _scratchHits: Collider[] = [];\n  private readonly _scratchHitsForEach: Collider[] = [];\n  /** Chains already reported by the running `forEachAabbHit`, so one chain is one callback. */\n  private readonly _scratchSeenForEach: Collider[] = [];\n  private readonly _scratchAabb: AabbLike = createAabb();\n\n  public constructor(colliders: readonly Collider[], spatialIndex?: SpatialIndex) {\n    this._colliders = colliders;\n    this._spatialIndex = spatialIndex;\n  }\n\n  /**\n   * Colliders to scan for a query over `bounds` - the spatial index's narrowed\n   * result if one is wired, else every live collider. `sync` is called first so\n   * colliders added/moved since the index's last detection pass (including\n   * before the world's very first `step()`) are still found.\n   *\n   * `buffer` is the scratch array the spatial index writes candidates into\n   * (cleared and refilled in place). Callers whose per-candidate loop can\n   * re-enter `_candidatesFor` - directly or via caller-supplied callback code -\n   * must pass a buffer dedicated to them, so a nested call refilling its own\n   * buffer can't truncate/corrupt an outer call's still-live iteration.\n   */\n  private _candidatesFor(bounds: AabbLike, buffer: Collider[]): readonly Collider[] {\n    if (this._spatialIndex === undefined) {\n      return this._colliders;\n    }\n\n    this._spatialIndex.sync(this._colliders);\n\n    return this._spatialIndex.queryAabb(bounds, buffer);\n  }\n\n  /** Colliders containing `point`. Allocates a fresh array. */\n  public queryPoint(point: Readonly<PointLike>, filter?: QueryFilter): Collider[] {\n    const out: Collider[] = [];\n    const resolved = filter ? resolveFilter(filter) : null;\n    const bounds = this._scratchAabb;\n\n    bounds.minX = point.x;\n    bounds.minY = point.y;\n    bounds.maxX = point.x;\n    bounds.maxY = point.y;\n\n    // A chain edge encloses no area, so a chain can never answer a point query\n    // and no de-duplication is needed here.\n    for (const collider of this._candidatesFor(bounds, this._scratchHits)) {\n      if (resolved && !shouldCollide(resolved, collider.filter)) {\n        continue;\n      }\n\n      if (pointInCollider(collider, point.x, point.y)) {\n        out.push(collider);\n      }\n    }\n\n    return out;\n  }\n\n  /** Colliders whose AABB overlaps `bounds`. Writes into `out` (cleared first) when given, else a fresh array. */\n  public queryAabb(bounds: AabbLike, filter?: QueryFilter, out?: Collider[]): Collider[] {\n    const result = out ?? [];\n    result.length = 0;\n    const resolved = filter ? resolveFilter(filter) : null;\n\n    for (const collider of this._candidatesFor(bounds, this._scratchHits)) {\n      const authored = authoredCollider(collider);\n\n      if (resolved && !shouldCollide(resolved, authored.filter)) {\n        continue;\n      }\n\n      if (aabbOverlap(collider.aabb, bounds) && !alreadyReported(collider, authored, result)) {\n        result.push(authored);\n      }\n    }\n\n    return result;\n  }\n\n  /**\n   * Invoke `callback` for each collider whose AABB overlaps `bounds`. Allocation-free.\n   *\n   * NOT re-entrant on itself: `callback` runs mid-traversal over a scratch\n   * buffer dedicated to this method, so it may safely call `queryPoint`,\n   * `queryAabb`, or `overlapShape` on this same `PhysicsWorld`/`QueryEngine`\n   * (they use a separate buffer and never invoke caller code mid-loop). It\n   * must NOT call `forEachAabbHit` again - directly or indirectly - on the\n   * same instance: the nested call would refill the same shared buffer this\n   * traversal is still iterating, silently truncating/corrupting it. This\n   * mirrors `DynamicAabbTree.query()`'s own non-reentrancy contract.\n   */\n  public forEachAabbHit(bounds: AabbLike, filter: QueryFilter | undefined, callback: (collider: Collider) => void): void {\n    const resolved = filter ? resolveFilter(filter) : null;\n    const reported = this._scratchSeenForEach;\n\n    reported.length = 0;\n\n    for (const collider of this._candidatesFor(bounds, this._scratchHitsForEach)) {\n      const authored = authoredCollider(collider);\n\n      if (resolved && !shouldCollide(resolved, authored.filter)) {\n        continue;\n      }\n\n      if (!aabbOverlap(collider.aabb, bounds) || alreadyReported(collider, authored, reported)) {\n        continue;\n      }\n\n      if (collider !== authored) {\n        reported.push(authored);\n      }\n\n      callback(authored);\n    }\n  }\n\n  /** Nearest collider hit by the ray from `origin` along `direction`, or `null`. */\n  public rayCast(origin: Readonly<PointLike>, direction: Readonly<PointLike>, filter?: QueryFilter, maxDistance = Infinity): RayHit | null {\n    const length = Math.hypot(direction.x, direction.y);\n\n    if (length < 1e-9) {\n      throw new RangeError('QueryEngine.rayCast: direction must be non-zero.');\n    }\n\n    const dx = direction.x / length;\n    const dy = direction.y / length;\n    const resolved = filter ? resolveFilter(filter) : null;\n\n    let best: RayHit | null = null;\n    const consider = (collider: Collider): void => {\n      const authored = authoredCollider(collider);\n\n      if (resolved && !shouldCollide(resolved, authored.filter)) {\n        return;\n      }\n\n      const hit = rayCastCollider(collider, origin.x, origin.y, dx, dy, best ? best.distance : maxDistance);\n\n      if (hit && (best === null || hit.distance < best.distance)) {\n        hit.collider = authored;\n        best = hit;\n      }\n    };\n\n    if (this._spatialIndex === undefined) {\n      for (const collider of this._colliders) {\n        consider(collider);\n      }\n    } else {\n      this._spatialIndex.sync(this._colliders);\n      this._spatialIndex.rayCast(origin.x, origin.y, dx, dy, maxDistance, consider);\n    }\n\n    return best;\n  }\n\n  /** All collider hits along the ray, sorted by distance. Writes into `out` (cleared first) when given. */\n  public rayCastAll(origin: Readonly<PointLike>, direction: Readonly<PointLike>, filter?: QueryFilter, out?: RayHit[], maxDistance = Infinity): RayHit[] {\n    const length = Math.hypot(direction.x, direction.y);\n\n    if (length < 1e-9) {\n      throw new RangeError('QueryEngine.rayCastAll: direction must be non-zero.');\n    }\n\n    const dx = direction.x / length;\n    const dy = direction.y / length;\n    const resolved = filter ? resolveFilter(filter) : null;\n    const result = out ?? [];\n    result.length = 0;\n    const consider = (collider: Collider): void => {\n      const authored = authoredCollider(collider);\n\n      if (resolved && !shouldCollide(resolved, authored.filter)) {\n        return;\n      }\n\n      const hit = rayCastCollider(collider, origin.x, origin.y, dx, dy, maxDistance);\n\n      if (hit) {\n        hit.collider = authored;\n        result.push(hit);\n      }\n    };\n\n    if (this._spatialIndex === undefined) {\n      for (const collider of this._colliders) {\n        consider(collider);\n      }\n    } else {\n      this._spatialIndex.sync(this._colliders);\n      this._spatialIndex.rayCast(origin.x, origin.y, dx, dy, maxDistance, consider);\n    }\n\n    result.sort((a, b) => a.distance - b.distance);\n\n    return result;\n  }\n\n  /**\n   * Colliders overlapping `shape` placed at `position`/`angle`. Allocates a\n   * fresh array.\n   *\n   * A chain query shape is tested edge by edge, exactly as a chain collider is\n   * solved. Two boundaries have no overlap volume, so a chain - like a segment -\n   * never reports another chain or segment.\n   */\n  public overlapShape(shape: AnyShape, position: Readonly<PointLike>, filter?: QueryFilter, angle = 0): Collider[] {\n    const proxies = queryProxies(shape, position.x, position.y, angle);\n    const out: Collider[] = [];\n    const resolved = filter ? resolveFilter(filter) : null;\n    const bounds = proxiesAabb(shape, proxies, this._scratchAabb);\n\n    for (const collider of this._candidatesFor(bounds, this._scratchHits)) {\n      const authored = authoredCollider(collider);\n\n      if (resolved && !shouldCollide(resolved, authored.filter)) {\n        continue;\n      }\n\n      if (alreadyReported(collider, authored, out)) {\n        continue;\n      }\n\n      for (const proxy of proxies) {\n        if (testOverlap(proxy, collider)) {\n          out.push(authored);\n          break;\n        }\n      }\n    }\n\n    return out;\n  }\n}\n\n/** Read a flat vertex/normal buffer in-bounds: callers index within 0..count-1. */\n\n/** `true` when world point `(px, py)` lies inside `collider`'s shape. */\nconst pointInCollider = (collider: Collider, px: number, py: number): boolean => {\n  if (!aabbContainsPoint(collider.aabb, px, py)) {\n    return false;\n  }\n\n  if (collider.shape.type === 'circle') {\n    const c = collider.worldCenter;\n    const r = collider.shape.radius;\n    const dx = px - c.x;\n    const dy = py - c.y;\n\n    return dx * dx + dy * dy <= r * r;\n  }\n\n  if (collider.shape.type === 'chain') {\n    // Unreachable through the world's own geometry - a chain is scanned through\n    // its edge proxies - and the same answer as a segment either way.\n    return false;\n  }\n\n  if (collider.shape.type === 'segment') {\n    // A boundary encloses no area. Reporting a hit within some epsilon would make\n    // the answer depend on an engine constant rather than the authored geometry;\n    // ray casts and AABB queries are the meaningful questions for a segment.\n    return false;\n  }\n\n  if (collider.shape.type === 'capsule') {\n    const spine = collider.worldVertices;\n\n    return pointSegmentDistanceSquared(px, py, spine[0]!, spine[1]!, spine[2]!, spine[3]!, _pointScratch) <= collider.shape.radius * collider.shape.radius;\n  }\n\n  const verts = collider.worldVertices;\n  const normals = collider.worldNormals;\n  const count = collider.shape.count;\n\n  for (let i = 0; i < count; i++) {\n    const nx = normals[i * 2]!;\n    const ny = normals[i * 2 + 1]!;\n    const vx = verts[i * 2]!;\n    const vy = verts[i * 2 + 1]!;\n\n    if (nx * (px - vx) + ny * (py - vy) > 0) {\n      return false;\n    }\n  }\n\n  return true;\n};\n\n/** Cast the (normalised) ray against one collider, returning the entry hit or `null`. */\nconst rayCastCollider = (collider: Collider, ox: number, oy: number, dx: number, dy: number, maxDistance: number): RayHit | null => {\n  switch (collider.shape.type) {\n    case 'circle':\n      return rayCastCircle(collider, ox, oy, dx, dy, maxDistance);\n    case 'capsule':\n      return rayCastCapsule(collider, collider.shape.radius, ox, oy, dx, dy, maxDistance);\n    case 'segment':\n      return rayCastSegment(collider, ox, oy, dx, dy, maxDistance);\n    case 'polygon':\n      return rayCastPolygon(collider, ox, oy, dx, dy, maxDistance);\n    case 'chain':\n      // A chain collider is never scanned itself; its edge proxies are.\n      return null;\n  }\n};\n\n/**\n * Ray against a segment: a plain segment/segment crossing. The reported normal is\n * the segment's own side normal, flipped to face the incoming ray - a boundary\n * blocks from both sides, so which of its two normals applies is decided by where\n * the ray comes from.\n */\nconst rayCastSegment = (collider: Collider, ox: number, oy: number, dx: number, dy: number, maxDistance: number): RayHit | null => {\n  const ends = collider.worldVertices;\n  const ax = ends[0]!;\n  const ay = ends[1]!;\n  const ex = ends[2]! - ax;\n  const ey = ends[3]! - ay;\n  const denominator = dx * ey - dy * ex;\n\n  // Parallel (or collinear): no single crossing point to report.\n  if (Math.abs(denominator) < 1e-12) {\n    return null;\n  }\n\n  const rx = ax - ox;\n  const ry = ay - oy;\n  const distance = (rx * ey - ry * ex) / denominator;\n  const along = (rx * dy - ry * dx) / denominator;\n\n  if (distance < 0 || distance > maxDistance || along < 0 || along > 1) {\n    return null;\n  }\n\n  const nx = collider.worldNormals[0]!;\n  const ny = collider.worldNormals[1]!;\n  const facing = nx * dx + ny * dy > 0 ? -1 : 1;\n\n  return {\n    collider,\n    body: collider.body,\n    point: { x: ox + dx * distance, y: oy + dy * distance },\n    normal: { x: nx * facing, y: ny * facing },\n    distance,\n  };\n};\n\n/**\n * Ray against a capsule: the first point along the ray whose distance to the\n * spine equals the radius.\n *\n * Found by scanning for the first sample inside and bisecting the bracket that\n * produced it, rather than by three closed-form feature tests (two caps and the\n * side slab). The distance-to-spine function is continuous and, approaching the\n * capsule from outside, monotone up to the first touch, so the bracket is valid;\n * a fixed 40 bisections put the result far below the engine's contact slop. The\n * cost is a query-path concern only - the solver never runs this.\n */\nconst rayCastCapsule = (collider: Collider, radius: number, ox: number, oy: number, dx: number, dy: number, maxDistance: number): RayHit | null => {\n  const spine = collider.worldVertices;\n  const ax = spine[0]!;\n  const ay = spine[1]!;\n  const bx = spine[2]!;\n  const by = spine[3]!;\n  const radiusSquared = radius * radius;\n\n  // An origin already inside the solid has no entry point, matching the circle\n  // and polygon paths.\n  if (pointSegmentDistanceSquared(ox, oy, ax, ay, bx, by, _pointScratch) <= radiusSquared) {\n    return null;\n  }\n\n  // Bound the scan by where the ray crosses the collider's AABB. `maxDistance`\n  // is routinely Infinity, and the box already carries the capsule's radius, so\n  // this is both finite and tight.\n  const box = collider.aabb;\n  let near = 0;\n  let far = maxDistance;\n\n  for (let axis = 0; axis < 2; axis++) {\n    const origin = axis === 0 ? ox : oy;\n    const direction = axis === 0 ? dx : dy;\n    const lo = axis === 0 ? box.minX : box.minY;\n    const hi = axis === 0 ? box.maxX : box.maxY;\n\n    if (Math.abs(direction) < 1e-12) {\n      if (origin < lo || origin > hi) {\n        return null;\n      }\n\n      continue;\n    }\n\n    const t0 = (lo - origin) / direction;\n    const t1 = (hi - origin) / direction;\n\n    near = Math.max(near, Math.min(t0, t1));\n    far = Math.min(far, Math.max(t0, t1));\n  }\n\n  if (near > far) {\n    return null;\n  }\n\n  const steps = 32;\n  const stepLength = (far - near) / steps;\n  let entered = -1;\n\n  for (let i = 1; i <= steps; i++) {\n    const t = near + i * stepLength;\n\n    if (pointSegmentDistanceSquared(ox + dx * t, oy + dy * t, ax, ay, bx, by, _pointScratch) <= radiusSquared) {\n      entered = t;\n\n      break;\n    }\n  }\n\n  if (entered < 0) {\n    return null;\n  }\n\n  let lo = entered - stepLength;\n  let hi = entered;\n\n  for (let i = 0; i < 40; i++) {\n    const mid = (lo + hi) / 2;\n\n    if (pointSegmentDistanceSquared(ox + dx * mid, oy + dy * mid, ax, ay, bx, by, _pointScratch) <= radiusSquared) {\n      hi = mid;\n    } else {\n      lo = mid;\n    }\n  }\n\n  const hitX = ox + dx * hi;\n  const hitY = oy + dy * hi;\n\n  closestPointOnSegment(hitX, hitY, ax, ay, bx, by, _pointScratch);\n\n  const nx = hitX - _pointScratch.x;\n  const ny = hitY - _pointScratch.y;\n  const length = Math.hypot(nx, ny) || 1;\n\n  return {\n    collider,\n    body: collider.body,\n    point: { x: hitX, y: hitY },\n    normal: { x: nx / length, y: ny / length },\n    distance: hi,\n  };\n};\n\nconst rayCastCircle = (collider: Collider, ox: number, oy: number, dx: number, dy: number, maxDistance: number): RayHit | null => {\n  const c = collider.worldCenter;\n  // Dispatched only for circle colliders; the fallback is unreachable.\n  const r = collider.shape.type === 'circle' ? collider.shape.radius : 0;\n  const mx = ox - c.x;\n  const my = oy - c.y;\n  const b = mx * dx + my * dy;\n  const cc = mx * mx + my * my - r * r;\n\n  // Origin outside and pointing away.\n  if (cc > 0 && b > 0) {\n    return null;\n  }\n\n  const disc = b * b - cc;\n\n  if (disc < 0) {\n    return null;\n  }\n\n  let t = -b - Math.sqrt(disc);\n\n  if (t < 0) {\n    t = 0;\n  }\n\n  if (t > maxDistance) {\n    return null;\n  }\n\n  const px = ox + dx * t;\n  const py = oy + dy * t;\n  const nx = (px - c.x) / r;\n  const ny = (py - c.y) / r;\n\n  return { collider, body: collider.body, point: { x: px, y: py }, normal: { x: nx, y: ny }, distance: t };\n};\n\nconst rayCastPolygon = (collider: Collider, ox: number, oy: number, dx: number, dy: number, maxDistance: number): RayHit | null => {\n  const verts = collider.worldVertices;\n  const normals = collider.worldNormals;\n  // Dispatched only for polygon colliders; the fallback is unreachable.\n  const count = collider.shape.type === 'polygon' ? collider.shape.count : 0;\n\n  let tmin = 0;\n  let tmax = maxDistance;\n  let enterNx = 0;\n  let enterNy = 0;\n  let entered = false;\n\n  for (let i = 0; i < count; i++) {\n    const nx = normals[i * 2]!;\n    const ny = normals[i * 2 + 1]!;\n    const vx = verts[i * 2]!;\n    const vy = verts[i * 2 + 1]!;\n    const numerator = nx * (vx - ox) + ny * (vy - oy);\n    const denominator = nx * dx + ny * dy;\n\n    if (denominator === 0) {\n      // Parallel to this face: if the origin is outside it, the ray misses.\n      if (numerator < 0) {\n        return null;\n      }\n\n      continue;\n    }\n\n    const t = numerator / denominator;\n\n    if (denominator < 0) {\n      // Entering this half-plane.\n      if (t > tmin) {\n        tmin = t;\n        enterNx = nx;\n        enterNy = ny;\n        entered = true;\n      }\n    } else if (t < tmax) {\n      // Leaving this half-plane.\n      tmax = t;\n    }\n\n    if (tmin > tmax) {\n      return null;\n    }\n  }\n\n  if (!entered || tmin < 0 || tmin > maxDistance) {\n    return null;\n  }\n\n  return {\n    collider,\n    body: collider.body,\n    point: { x: ox + dx * tmin, y: oy + dy * tmin },\n    normal: { x: enterNx, y: enterNy },\n    distance: tmin,\n  };\n};\n\n/**\n * Throwaway collision proxies for a query shape placed at `(x, y)` with `angle`:\n * one, or one per edge for a chain.\n */\nconst queryProxies = (shape: AnyShape, x: number, y: number, angle: number): readonly CollisionProxy[] => {\n  if (shape.type !== 'chain') {\n    return [makeProxy(shape, x, y, angle)];\n  }\n\n  return shape.edges.map(edge => makeProxy(edge, x, y, angle));\n};\n\n/** World AABB covering every proxy of a query shape. */\nconst proxiesAabb = (shape: AnyShape, proxies: readonly CollisionProxy[], out: AabbLike): AabbLike => {\n  if (shape.type !== 'chain') {\n    return proxyAabb(shape, proxies[0]!, out);\n  }\n\n  let minX = Infinity;\n  let minY = Infinity;\n  let maxX = -Infinity;\n  let maxY = -Infinity;\n\n  for (const proxy of proxies) {\n    const edgeBounds = proxyAabb(proxy.shape as SolverShape, proxy, _scratchEdgeAabb);\n\n    minX = edgeBounds.minX < minX ? edgeBounds.minX : minX;\n    minY = edgeBounds.minY < minY ? edgeBounds.minY : minY;\n    maxX = edgeBounds.maxX > maxX ? edgeBounds.maxX : maxX;\n    maxY = edgeBounds.maxY > maxY ? edgeBounds.maxY : maxY;\n  }\n\n  out.minX = minX;\n  out.minY = minY;\n  out.maxX = maxX;\n  out.maxY = maxY;\n\n  return out;\n};\n\n/** Scratch for the per-edge bounds a chain query shape unions. */\nconst _scratchEdgeAabb: AabbLike = createAabb();\n\n/**\n * `true` when `authored` is already in `reported`. Only a chain can be reached\n * twice in one query (once per edge proxy), so nothing else pays for the scan.\n */\nconst alreadyReported = (candidate: Collider, authored: Collider, reported: readonly Collider[]): boolean =>\n  candidate !== authored && reported.includes(authored);\n\n/** Build a throwaway collision proxy for a shape placed at `(x, y)` with `angle`. */\nconst makeProxy = (shape: SolverShape, x: number, y: number, angle: number): CollisionProxy => {\n  if (shape.type === 'circle') {\n    return { shape, worldCenter: { x, y }, worldVertices: [], worldNormals: [] };\n  }\n\n  const count = shape.type === 'polygon' ? shape.count : 2;\n  const transform = createTransform(x, y, angle);\n  const worldVertices: number[] = [];\n  const worldNormals: number[] = [];\n  const out: PointLike = { x: 0, y: 0 };\n\n  for (let i = 0; i < count; i++) {\n    applyTransform(transform, shape.vertices[i * 2]!, shape.vertices[i * 2 + 1]!, out);\n    worldVertices.push(out.x, out.y);\n    applyRotation(transform, shape.normals[i * 2]!, shape.normals[i * 2 + 1]!, out);\n    worldNormals.push(out.x, out.y);\n  }\n\n  return { shape, worldCenter: { x, y }, worldVertices, worldNormals };\n};\n\n/** Compute the world AABB of an already-built collision proxy (reuses its cached vertices/centre - no extra transform work). */\nconst proxyAabb = (shape: SolverShape, proxy: CollisionProxy, out: AabbLike): AabbLike => {\n  if (shape.type === 'circle') {\n    const r = shape.radius;\n\n    out.minX = proxy.worldCenter.x - r;\n    out.minY = proxy.worldCenter.y - r;\n    out.maxX = proxy.worldCenter.x + r;\n    out.maxY = proxy.worldCenter.y + r;\n\n    return out;\n  }\n\n  const verts = proxy.worldVertices;\n  let minX = Infinity;\n  let minY = Infinity;\n  let maxX = -Infinity;\n  let maxY = -Infinity;\n\n  for (let i = 0; i < verts.length; i += 2) {\n    const x = verts[i]!;\n    const y = verts[i + 1]!;\n\n    minX = x < minX ? x : minX;\n    minY = y < minY ? y : minY;\n    maxX = x > maxX ? x : maxX;\n    maxY = y > maxY ? y : maxY;\n  }\n\n  const radius = shape.type === 'capsule' ? shape.radius : 0;\n\n  out.minX = minX - radius;\n  out.minY = minY - radius;\n  out.maxX = maxX + radius;\n  out.maxY = maxY + radius;\n\n  return 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package/dist/esm/query/SpatialIndex.d.ts

@@ -0,0 +1,34 @@
+import type { AabbLike } from '@codexo/exojs';
+import type { Collider } from '../Collider';
+/**
+ * Optional backend capability: an accelerated AABB-overlap query over the
+ * world's live colliders. {@link QueryEngine} narrows its otherwise-linear
+ * scan through this when the active {@link PhysicsBackend} provides one.
+ */
+export interface SpatialIndex {
+    /**
+     * Ensure every live collider in `colliders` is represented in the index
+     * (insert new leaves, reinsert moved ones) before a query. The underlying
+     * tree is normally kept in sync once per physics step (via the broad
+     * phase's own detection pass); a caller that queries before the world's
+     * first `step()` - or between steps, after adding/moving colliders - has
+     * no such guarantee, so {@link QueryEngine} calls this before every
+     * narrowed query. A leaf whose tight AABB stays inside its stored fat AABB
+     * costs nothing to re-sync, so calling this redundantly (e.g. right after
+     * a step already synced it) is cheap.
+     */
+    sync(colliders: readonly Collider[]): void;
+    /** Colliders whose AABB overlaps `aabb`. Writes into `out` (cleared first) and returns it. */
+    queryAabb(aabb: Readonly<AabbLike>, out: Collider[]): Collider[];
+    /**
+     * Invoke `callback` for each collider whose AABB the ray from `originX,
+     * originY` along `dirX, dirY` could cross within `maxDistance` (`Infinity`
+     * for an unbounded ray). Narrows the candidate set for {@link QueryEngine}'s
+     * ray-cast the way {@link queryAabb} does for its overlap queries: the hit
+     * set is conservative (never misses a true intersection, may include AABB
+     * false positives), and {@link QueryEngine} applies the exact per-shape ray
+     * math to each candidate. Order is unspecified.
+     */
+    rayCast(originX: number, originY: number, dirX: number, dirY: number, maxDistance: number, callback: (collider: Collider) => void): void;
+}
+//# sourceMappingURL=SpatialIndex.d.ts.map

package/dist/esm/query/SpatialIndex.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"SpatialIndex.d.ts","sourceRoot":"","sources":["../../../src/query/SpatialIndex.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,QAAQ,EAAE,MAAM,eAAe,CAAC;AAE9C,OAAO,KAAK,EAAE,QAAQ,EAAE,MAAM,aAAa,CAAC;AAE5C;;;;GAIG;AACH,MAAM,WAAW,YAAY;IAC3B;;;;;;;;;;OAUG;IACH,IAAI,CAAC,SAAS,EAAE,SAAS,QAAQ,EAAE,GAAG,IAAI,CAAC;IAC3C,8FAA8F;IAC9F,SAAS,CAAC,IAAI,EAAE,QAAQ,CAAC,QAAQ,CAAC,EAAE,GAAG,EAAE,QAAQ,EAAE,GAAG,QAAQ,EAAE,CAAC;IACjE;;;;;;;;OAQG;IACH,OAAO,CAAC,OAAO,EAAE,MAAM,EAAE,OAAO,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,WAAW,EAAE,MAAM,EAAE,QAAQ,EAAE,CAAC,QAAQ,EAAE,QAAQ,KAAK,IAAI,GAAG,IAAI,CAAC;CAC1I"}

package/dist/esm/shapes/AnyShape.d.ts

@@ -1,9 +1,14 @@
+import type { CapsuleShape } from './CapsuleShape';
+import type { ChainShape } from './ChainShape';
 import type { CircleShape } from './CircleShape';
 import type { PolygonShape } from './PolygonShape';
+import type { SegmentShape } from './SegmentShape';
 /**
  * Discriminated union of the concrete shape kinds. Narrow via the literal
- * `shape.type` discriminant (`'circle'` → {@link CircleShape}, `'polygon'` →
- * {@link PolygonShape}) — no `as` casts needed. {@link BoxShape} is a
- * {@link PolygonShape} subclass and carries `type: 'polygon'`.
+ * `shape.type` discriminant (`'circle'` → {@link CircleShape}, `'capsule'` →
+ * {@link CapsuleShape}, `'polygon'` → {@link PolygonShape}) - no `as` casts
+ * needed. {@link BoxShape} is a {@link PolygonShape} subclass and carries
+ * `type: 'polygon'`.
  */
-export type AnyShape = CircleShape | PolygonShape;
+export type AnyShape = CapsuleShape | ChainShape | CircleShape | PolygonShape | SegmentShape;
+//# sourceMappingURL=AnyShape.d.ts.map

package/dist/esm/shapes/AnyShape.d.ts.map

@@ -0,0 +1 @@
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package/dist/esm/shapes/BoxShape.d.ts

@@ -1,6 +1,6 @@
 import { PolygonShape } from './PolygonShape';
 /**
- * Axis-aligned box of `width × height` centred on the collider's local origin —
+ * Axis-aligned box of `width × height` centred on the collider's local origin -
  * a convenience over {@link PolygonShape}. The result is a regular polygon, so
  * it participates in the polygon narrow phase like any other convex shape.
  */
@@ -9,3 +9,4 @@ export declare class BoxShape extends PolygonShape {
     readonly height: number;
     constructor(width: number, height: number);
 }
+//# sourceMappingURL=BoxShape.d.ts.map

package/dist/esm/shapes/BoxShape.d.ts.map

@@ -0,0 +1 @@
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package/dist/esm/shapes/BoxShape.js

@@ -1,29 +1,41 @@
-import { PolygonShape } from './PolygonShape.js';
+import { PolygonShape } from "./PolygonShape.js";
 
+//#region src/shapes/BoxShape.ts
 /**
- * Axis-aligned box of `width × height` centred on the collider's local origin —
- * a convenience over {@link PolygonShape}. The result is a regular polygon, so
- * it participates in the polygon narrow phase like any other convex shape.
- */
-class BoxShape extends PolygonShape {
-    width;
-    height;
-    constructor(width, height) {
-        if (!Number.isFinite(width) || width <= 0 || !Number.isFinite(height) || height <= 0) {
-            throw new RangeError(`BoxShape: width and height must be positive finite numbers, received ${width} × ${height}.`);
-        }
-        const hw = width / 2;
-        const hh = height / 2;
-        super([
-            { x: -hw, y: -hh },
-            { x: hw, y: -hh },
-            { x: hw, y: hh },
-            { x: -hw, y: hh },
-        ]);
-        this.width = width;
-        this.height = height;
-    }
-}
+* Axis-aligned box of `width × height` centred on the collider's local origin -
+* a convenience over {@link PolygonShape}. The result is a regular polygon, so
+* it participates in the polygon narrow phase like any other convex shape.
+*/
+var BoxShape = class extends PolygonShape {
+	width;
+	height;
+	constructor(width, height) {
+		if (!Number.isFinite(width) || width <= 0 || !Number.isFinite(height) || height <= 0) throw new RangeError(`BoxShape: width and height must be positive finite numbers, received ${width} × ${height}.`);
+		const hw = width / 2;
+		const hh = height / 2;
+		super([
+			{
+				x: -hw,
+				y: -hh
+			},
+			{
+				x: hw,
+				y: -hh
+			},
+			{
+				x: hw,
+				y: hh
+			},
+			{
+				x: -hw,
+				y: hh
+			}
+		]);
+		this.width = width;
+		this.height = height;
+	}
+};
 
+//#endregion
 export { BoxShape };
-//# sourceMappingURL=BoxShape.js.map
+//# sourceMappingURL=BoxShape.js.map

package/dist/esm/shapes/BoxShape.js.map

@@ -1 +1 @@
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+{"version":3,"file":"BoxShape.js","names":[],"sources":["../../../src/shapes/BoxShape.ts"],"sourcesContent":["import { PolygonShape } from './PolygonShape';\n\n/**\n * Axis-aligned box of `width × height` centred on the collider's local origin -\n * a convenience over {@link PolygonShape}. The result is a regular polygon, so\n * it participates in the polygon narrow phase like any other convex shape.\n */\nexport class BoxShape extends PolygonShape {\n  public readonly width: number;\n  public readonly height: number;\n\n  public constructor(width: number, height: number) {\n    if (!Number.isFinite(width) || width <= 0 || !Number.isFinite(height) || height <= 0) {\n      throw new RangeError(`BoxShape: width and height must be positive finite numbers, received ${width} × ${height}.`);\n    }\n\n    const hw = width / 2;\n    const hh = height / 2;\n\n    super([\n      { x: -hw, y: -hh },\n      { x: hw, y: -hh },\n      { x: hw, y: hh },\n      { x: -hw, y: hh },\n    ]);\n\n    this.width = width;\n    this.height = height;\n  }\n}\n"],"mappings":";;;;;;;;AAOA,IAAa,WAAb,cAA8B,aAAa;CACzC,AAAgB;CAChB,AAAgB;CAEhB,AAAO,YAAY,OAAe,QAAgB;EAChD,IAAI,CAAC,OAAO,SAAS,KAAK,KAAK,SAAS,KAAK,CAAC,OAAO,SAAS,MAAM,KAAK,UAAU,GACjF,MAAM,IAAI,WAAW,wEAAwE,MAAM,KAAK,OAAO,EAAE;EAGnH,MAAM,KAAK,QAAQ;EACnB,MAAM,KAAK,SAAS;EAEpB,MAAM;GACJ;IAAE,GAAG,CAAC;IAAI,GAAG,CAAC;GAAG;GACjB;IAAE,GAAG;IAAI,GAAG,CAAC;GAAG;GAChB;IAAE,GAAG;IAAI,GAAG;GAAG;GACf;IAAE,GAAG,CAAC;IAAI,GAAG;GAAG;EAClB,CAAC;EAED,KAAK,QAAQ;EACb,KAAK,SAAS;CAChB;AACF"}

package/dist/esm/shapes/CapsuleShape.d.ts

@@ -0,0 +1,30 @@
+import type { ShapeMassProperties } from './Shape';
+import { Shape } from './Shape';
+/**
+ * A capsule: the set of points within `radius` of the segment between two
+ * local-space endpoints. Exact geometry, never a polygon approximation - the
+ * mass model and the narrow phase both work on the spine and the radius, so
+ * nothing about a capsule depends on a tessellation constant.
+ *
+ * The spine is given as two points rather than a centre, a half-height and an
+ * angle: every consumer needs the two endpoints, and the collider already
+ * carries a local rotation, so an angle on the shape would be a second and
+ * redundant orientation.
+ *
+ * A zero-length spine is rejected rather than quietly becoming a circle - use
+ * {@link CircleShape} to say that.
+ */
+export declare class CapsuleShape extends Shape {
+    readonly type: "capsule";
+    /** Local spine endpoints, flattened - the same layout a polygon uses. */
+    readonly vertices: readonly number[];
+    /** Outward unit normals of the two spine sides, flattened. */
+    readonly normals: readonly number[];
+    readonly radius: number;
+    /** Spine length; the capsule is `length + 2 × radius` long overall. */
+    readonly length: number;
+    readonly boundingRadius: number;
+    readonly massProperties: ShapeMassProperties;
+    constructor(x0: number, y0: number, x1: number, y1: number, radius: number);
+}
+//# sourceMappingURL=CapsuleShape.d.ts.map

package/dist/esm/shapes/CapsuleShape.d.ts.map

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package/dist/esm/shapes/CapsuleShape.js

@@ -0,0 +1,88 @@
+import { Shape } from "./Shape.js";
+
+//#region src/shapes/CapsuleShape.ts
+/** Spines shorter than this (px) have no well-defined orientation. */
+const minimumLength = .001;
+/**
+* A capsule: the set of points within `radius` of the segment between two
+* local-space endpoints. Exact geometry, never a polygon approximation - the
+* mass model and the narrow phase both work on the spine and the radius, so
+* nothing about a capsule depends on a tessellation constant.
+*
+* The spine is given as two points rather than a centre, a half-height and an
+* angle: every consumer needs the two endpoints, and the collider already
+* carries a local rotation, so an angle on the shape would be a second and
+* redundant orientation.
+*
+* A zero-length spine is rejected rather than quietly becoming a circle - use
+* {@link CircleShape} to say that.
+*/
+var CapsuleShape = class extends Shape {
+	type = "capsule";
+	/** Local spine endpoints, flattened - the same layout a polygon uses. */
+	vertices;
+	/** Outward unit normals of the two spine sides, flattened. */
+	normals;
+	radius;
+	/** Spine length; the capsule is `length + 2 × radius` long overall. */
+	length;
+	boundingRadius;
+	massProperties;
+	constructor(x0, y0, x1, y1, radius) {
+		super();
+		if (!Number.isFinite(x0) || !Number.isFinite(y0) || !Number.isFinite(x1) || !Number.isFinite(y1)) throw new RangeError(`CapsuleShape: spine endpoints must be finite, received (${x0}, ${y0}) and (${x1}, ${y1}).`);
+		if (!Number.isFinite(radius) || radius <= 0) throw new RangeError(`CapsuleShape: radius must be a positive finite number, received ${radius}.`);
+		const ex = x1 - x0;
+		const ey = y1 - y0;
+		const length = Math.hypot(ex, ey);
+		if (length < minimumLength) throw new RangeError(`CapsuleShape: the spine is degenerate (length ${length}); use CircleShape for a round collider.`);
+		const nx = ey / length;
+		const ny = -ex / length;
+		this.radius = radius;
+		this.length = length;
+		this.vertices = Object.freeze([
+			x0,
+			y0,
+			x1,
+			y1
+		]);
+		this.normals = Object.freeze([
+			nx,
+			ny,
+			-nx,
+			-ny
+		]);
+		this.boundingRadius = Math.max(Math.hypot(x0, y0), Math.hypot(x1, y1)) + radius;
+		this.massProperties = Object.freeze(capsuleMassProperties(x0, y0, x1, y1, length, radius));
+		Object.freeze(this);
+	}
+};
+/**
+* Exact area-based mass properties: a `2r × L` rectangle plus the two end
+* caps, which together are a full disc of radius `r` displaced to the ends.
+*
+* The second moment about the centroid is the sum of
+* - the rectangle's polar moment `A·((2r)² + L²)/12`, and
+* - the two caps', each shifted from its own centroid to the capsule centre by
+*   the parallel-axis theorem. A half-disc's polar moment about the centre of
+*   its flat edge is `π r⁴/4`, and its centroid sits `4r/(3π)` from that edge.
+*
+* At `L → 0` the cap terms alone give `π r⁴/2`, the disc value {@link CircleShape}
+* computes - which is the check that pins the constants.
+*/
+const capsuleMassProperties = (x0, y0, x1, y1, length, radius) => {
+	const rectangleArea = 2 * radius * length;
+	const capArea = Math.PI * radius * radius;
+	const rectangleInertia = rectangleArea * (4 * radius * radius + length * length) / 12;
+	const capInertia = Math.PI * radius ** 4 / 2 + Math.PI * radius * radius * length * length / 4 + 4 * radius ** 3 * length / 3;
+	return {
+		area: rectangleArea + capArea,
+		centroidX: (x0 + x1) / 2,
+		centroidY: (y0 + y1) / 2,
+		unitInertia: rectangleInertia + capInertia
+	};
+};
+
+//#endregion
+export { CapsuleShape };
+//# sourceMappingURL=CapsuleShape.js.map

package/dist/esm/shapes/CapsuleShape.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"CapsuleShape.js","names":[],"sources":["../../../src/shapes/CapsuleShape.ts"],"sourcesContent":["import type { ShapeMassProperties } from './Shape';\nimport { Shape } from './Shape';\n\n/** Spines shorter than this (px) have no well-defined orientation. */\nconst minimumLength = 1e-3;\n\n/**\n * A capsule: the set of points within `radius` of the segment between two\n * local-space endpoints. Exact geometry, never a polygon approximation - the\n * mass model and the narrow phase both work on the spine and the radius, so\n * nothing about a capsule depends on a tessellation constant.\n *\n * The spine is given as two points rather than a centre, a half-height and an\n * angle: every consumer needs the two endpoints, and the collider already\n * carries a local rotation, so an angle on the shape would be a second and\n * redundant orientation.\n *\n * A zero-length spine is rejected rather than quietly becoming a circle - use\n * {@link CircleShape} to say that.\n */\nexport class CapsuleShape extends Shape {\n  public readonly type = 'capsule' as const;\n\n  /** Local spine endpoints, flattened - the same layout a polygon uses. */\n  public readonly vertices: readonly number[];\n\n  /** Outward unit normals of the two spine sides, flattened. */\n  public readonly normals: readonly number[];\n\n  public readonly radius: number;\n\n  /** Spine length; the capsule is `length + 2 × radius` long overall. */\n  public readonly length: number;\n\n  public readonly boundingRadius: number;\n  public readonly massProperties: ShapeMassProperties;\n\n  public constructor(x0: number, y0: number, x1: number, y1: number, radius: number) {\n    super();\n\n    if (!Number.isFinite(x0) || !Number.isFinite(y0) || !Number.isFinite(x1) || !Number.isFinite(y1)) {\n      throw new RangeError(`CapsuleShape: spine endpoints must be finite, received (${x0}, ${y0}) and (${x1}, ${y1}).`);\n    }\n\n    if (!Number.isFinite(radius) || radius <= 0) {\n      throw new RangeError(`CapsuleShape: radius must be a positive finite number, received ${radius}.`);\n    }\n\n    const ex = x1 - x0;\n    const ey = y1 - y0;\n    const length = Math.hypot(ex, ey);\n\n    if (length < minimumLength) {\n      throw new RangeError(`CapsuleShape: the spine is degenerate (length ${length}); use CircleShape for a round collider.`);\n    }\n\n    // Same convention as PolygonShape: for the counter-clockwise edge i → i+1 the\n    // outward normal is (eY, -eX). A two-vertex ring has two opposite edges, so\n    // the second normal is the negation of the first.\n    const nx = ey / length;\n    const ny = -ex / length;\n\n    this.radius = radius;\n    this.length = length;\n    this.vertices = Object.freeze([x0, y0, x1, y1]);\n    this.normals = Object.freeze([nx, ny, -nx, -ny]);\n    this.boundingRadius = Math.max(Math.hypot(x0, y0), Math.hypot(x1, y1)) + radius;\n    this.massProperties = Object.freeze(capsuleMassProperties(x0, y0, x1, y1, length, radius));\n\n    Object.freeze(this);\n  }\n}\n\n/**\n * Exact area-based mass properties: a `2r × L` rectangle plus the two end\n * caps, which together are a full disc of radius `r` displaced to the ends.\n *\n * The second moment about the centroid is the sum of\n * - the rectangle's polar moment `A·((2r)² + L²)/12`, and\n * - the two caps', each shifted from its own centroid to the capsule centre by\n *   the parallel-axis theorem. A half-disc's polar moment about the centre of\n *   its flat edge is `π r⁴/4`, and its centroid sits `4r/(3π)` from that edge.\n *\n * At `L → 0` the cap terms alone give `π r⁴/2`, the disc value {@link CircleShape}\n * computes - which is the check that pins the constants.\n */\nconst capsuleMassProperties = (x0: number, y0: number, x1: number, y1: number, length: number, radius: number): ShapeMassProperties => {\n  const rectangleArea = 2 * radius * length;\n  const capArea = Math.PI * radius * radius;\n  const rectangleInertia = (rectangleArea * (4 * radius * radius + length * length)) / 12;\n  const capInertia = (Math.PI * radius ** 4) / 2 + (Math.PI * radius * radius * length * length) / 4 + (4 * radius ** 3 * length) / 3;\n\n  return {\n    area: rectangleArea + capArea,\n    // Both the rectangle and the cap pair are symmetric about the spine midpoint.\n    centroidX: (x0 + x1) / 2,\n    centroidY: (y0 + y1) / 2,\n    unitInertia: rectangleInertia + capInertia,\n  };\n};\n"],"mappings":";;;;AAIA,MAAM,gBAAgB;;;;;;;;;;;;;;;AAgBtB,IAAa,eAAb,cAAkC,MAAM;CACtC,AAAgB,OAAO;;CAGvB,AAAgB;;CAGhB,AAAgB;CAEhB,AAAgB;;CAGhB,AAAgB;CAEhB,AAAgB;CAChB,AAAgB;CAEhB,AAAO,YAAY,IAAY,IAAY,IAAY,IAAY,QAAgB;EACjF,MAAM;EAEN,IAAI,CAAC,OAAO,SAAS,EAAE,KAAK,CAAC,OAAO,SAAS,EAAE,KAAK,CAAC,OAAO,SAAS,EAAE,KAAK,CAAC,OAAO,SAAS,EAAE,GAC7F,MAAM,IAAI,WAAW,2DAA2D,GAAG,IAAI,GAAG,SAAS,GAAG,IAAI,GAAG,GAAG;EAGlH,IAAI,CAAC,OAAO,SAAS,MAAM,KAAK,UAAU,GACxC,MAAM,IAAI,WAAW,mEAAmE,OAAO,EAAE;EAGnG,MAAM,KAAK,KAAK;EAChB,MAAM,KAAK,KAAK;EAChB,MAAM,SAAS,KAAK,MAAM,IAAI,EAAE;EAEhC,IAAI,SAAS,eACX,MAAM,IAAI,WAAW,iDAAiD,OAAO,yCAAyC;EAMxH,MAAM,KAAK,KAAK;EAChB,MAAM,KAAK,CAAC,KAAK;EAEjB,KAAK,SAAS;EACd,KAAK,SAAS;EACd,KAAK,WAAW,OAAO,OAAO;GAAC;GAAI;GAAI;GAAI;EAAE,CAAC;EAC9C,KAAK,UAAU,OAAO,OAAO;GAAC;GAAI;GAAI,CAAC;GAAI,CAAC;EAAE,CAAC;EAC/C,KAAK,iBAAiB,KAAK,IAAI,KAAK,MAAM,IAAI,EAAE,GAAG,KAAK,MAAM,IAAI,EAAE,CAAC,IAAI;EACzE,KAAK,iBAAiB,OAAO,OAAO,sBAAsB,IAAI,IAAI,IAAI,IAAI,QAAQ,MAAM,CAAC;EAEzF,OAAO,OAAO,IAAI;CACpB;AACF;;;;;;;;;;;;;;AAeA,MAAM,yBAAyB,IAAY,IAAY,IAAY,IAAY,QAAgB,WAAwC;CACrI,MAAM,gBAAgB,IAAI,SAAS;CACnC,MAAM,UAAU,KAAK,KAAK,SAAS;CACnC,MAAM,mBAAoB,iBAAiB,IAAI,SAAS,SAAS,SAAS,UAAW;CACrF,MAAM,aAAc,KAAK,KAAK,UAAU,IAAK,IAAK,KAAK,KAAK,SAAS,SAAS,SAAS,SAAU,IAAK,IAAI,UAAU,IAAI,SAAU;CAElI,OAAO;EACL,MAAM,gBAAgB;EAEtB,YAAY,KAAK,MAAM;EACvB,YAAY,KAAK,MAAM;EACvB,aAAa,mBAAmB;CAClC;AACF"}

package/dist/esm/shapes/ChainEdgeShape.d.ts

@@ -0,0 +1,30 @@
+import type { ChainShape } from './ChainShape';
+import { SegmentShape } from './SegmentShape';
+/**
+ * One edge of a {@link ChainShape}, the geometry the solver actually sees. Built
+ * and owned by the engine when a chain collider is created; never authored, and
+ * never part of the public collider set.
+ *
+ * It is a segment plus the adjacency of the chain it came from. The adjacency is
+ * stored as the rotation from this edge's outward normal to a neighbour's, which
+ * is invariant under the collider's world transform - so the narrow phase can
+ * compare a world-space contact normal against the neighbouring edges without
+ * knowing the transform and without caching a second set of world normals.
+ *
+ * @internal
+ */
+export declare class ChainEdgeShape extends SegmentShape {
+    /** Index of this edge within the owning chain. */
+    readonly index: number;
+    /** `false` at the free end of an open chain, where a body may pass around the edge. */
+    readonly hasPrevious: boolean;
+    readonly hasNext: boolean;
+    /** Rotation (cos, sin) taking this edge's outward normal onto the previous edge's. */
+    readonly previousCos: number;
+    readonly previousSin: number;
+    /** Rotation (cos, sin) taking this edge's outward normal onto the next edge's. */
+    readonly nextCos: number;
+    readonly nextSin: number;
+    constructor(chain: ChainShape, index: number);
+}
+//# sourceMappingURL=ChainEdgeShape.d.ts.map

package/dist/esm/shapes/ChainEdgeShape.d.ts.map

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package/dist/esm/shapes/ChainEdgeShape.js

@@ -0,0 +1,66 @@
+import { SegmentShape } from "./SegmentShape.js";
+
+//#region src/shapes/ChainEdgeShape.ts
+/**
+* One edge of a {@link ChainShape}, the geometry the solver actually sees. Built
+* and owned by the engine when a chain collider is created; never authored, and
+* never part of the public collider set.
+*
+* It is a segment plus the adjacency of the chain it came from. The adjacency is
+* stored as the rotation from this edge's outward normal to a neighbour's, which
+* is invariant under the collider's world transform - so the narrow phase can
+* compare a world-space contact normal against the neighbouring edges without
+* knowing the transform and without caching a second set of world normals.
+*
+* @internal
+*/
+var ChainEdgeShape = class extends SegmentShape {
+	/** Index of this edge within the owning chain. */
+	index;
+	/** `false` at the free end of an open chain, where a body may pass around the edge. */
+	hasPrevious;
+	hasNext;
+	/** Rotation (cos, sin) taking this edge's outward normal onto the previous edge's. */
+	previousCos;
+	previousSin;
+	/** Rotation (cos, sin) taking this edge's outward normal onto the next edge's. */
+	nextCos;
+	nextSin;
+	constructor(chain, index) {
+		const count = chain.count;
+		const v = chain.vertices;
+		const start = index;
+		const end = (index + 1) % count;
+		super(v[start * 2], v[start * 2 + 1], v[end * 2], v[end * 2 + 1]);
+		const hasPrevious = chain.closed || index > 0;
+		const hasNext = chain.closed || index < chain.edgeCount - 1;
+		const nx = this.normals[0];
+		const ny = this.normals[1];
+		this.index = index;
+		this.hasPrevious = hasPrevious;
+		this.hasNext = hasNext;
+		const previous = hasPrevious ? edgeNormal(v, count, (index - 1 + count) % count) : null;
+		const next = hasNext ? edgeNormal(v, count, (index + 1) % count) : null;
+		this.previousCos = previous ? nx * previous.x + ny * previous.y : 1;
+		this.previousSin = previous ? nx * previous.y - ny * previous.x : 0;
+		this.nextCos = next ? nx * next.x + ny * next.y : 1;
+		this.nextSin = next ? nx * next.y - ny * next.x : 0;
+		Object.freeze(this);
+	}
+};
+/** Outward unit normal of chain edge `index`, in the chain's local space. */
+const edgeNormal = (vertices, count, index) => {
+	const start = index;
+	const end = (index + 1) % count;
+	const ex = vertices[end * 2] - vertices[start * 2];
+	const ey = vertices[end * 2 + 1] - vertices[start * 2 + 1];
+	const length = Math.hypot(ex, ey);
+	return {
+		x: ey / length,
+		y: -ex / length
+	};
+};
+
+//#endregion
+export { ChainEdgeShape };
+//# sourceMappingURL=ChainEdgeShape.js.map

package/dist/esm/shapes/ChainEdgeShape.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"ChainEdgeShape.js","names":[],"sources":["../../../src/shapes/ChainEdgeShape.ts"],"sourcesContent":["import type { ChainShape } from './ChainShape';\nimport { SegmentShape } from './SegmentShape';\n\n/**\n * One edge of a {@link ChainShape}, the geometry the solver actually sees. Built\n * and owned by the engine when a chain collider is created; never authored, and\n * never part of the public collider set.\n *\n * It is a segment plus the adjacency of the chain it came from. The adjacency is\n * stored as the rotation from this edge's outward normal to a neighbour's, which\n * is invariant under the collider's world transform - so the narrow phase can\n * compare a world-space contact normal against the neighbouring edges without\n * knowing the transform and without caching a second set of world normals.\n *\n * @internal\n */\nexport class ChainEdgeShape extends SegmentShape {\n  /** Index of this edge within the owning chain. */\n  public readonly index: number;\n\n  /** `false` at the free end of an open chain, where a body may pass around the edge. */\n  public readonly hasPrevious: boolean;\n  public readonly hasNext: boolean;\n\n  /** Rotation (cos, sin) taking this edge's outward normal onto the previous edge's. */\n  public readonly previousCos: number;\n  public readonly previousSin: number;\n\n  /** Rotation (cos, sin) taking this edge's outward normal onto the next edge's. */\n  public readonly nextCos: number;\n  public readonly nextSin: number;\n\n  public constructor(chain: ChainShape, index: number) {\n    const count = chain.count;\n    const v = chain.vertices;\n    const start = index;\n    const end = (index + 1) % count;\n\n    super(v[start * 2]!, v[start * 2 + 1]!, v[end * 2]!, v[end * 2 + 1]!);\n\n    const hasPrevious = chain.closed || index > 0;\n    const hasNext = chain.closed || index < chain.edgeCount - 1;\n    const nx = this.normals[0]!;\n    const ny = this.normals[1]!;\n\n    this.index = index;\n    this.hasPrevious = hasPrevious;\n    this.hasNext = hasNext;\n\n    const previous = hasPrevious ? edgeNormal(v, count, (index - 1 + count) % count) : null;\n    const next = hasNext ? edgeNormal(v, count, (index + 1) % count) : null;\n\n    this.previousCos = previous ? nx * previous.x + ny * previous.y : 1;\n    this.previousSin = previous ? nx * previous.y - ny * previous.x : 0;\n    this.nextCos = next ? nx * next.x + ny * next.y : 1;\n    this.nextSin = next ? nx * next.y - ny * next.x : 0;\n\n    Object.freeze(this);\n  }\n}\n\n/** Outward unit normal of chain edge `index`, in the chain's local space. */\nconst edgeNormal = (vertices: readonly number[], count: number, index: number): { x: number; y: number } => {\n  const start = index;\n  const end = (index + 1) % count;\n  const ex = vertices[end * 2]! - vertices[start * 2]!;\n  const ey = vertices[end * 2 + 1]! - vertices[start * 2 + 1]!;\n  const length = Math.hypot(ex, ey);\n\n  return { x: ey / length, y: -ex / length };\n};\n"],"mappings":";;;;;;;;;;;;;;;;AAgBA,IAAa,iBAAb,cAAoC,aAAa;;CAE/C,AAAgB;;CAGhB,AAAgB;CAChB,AAAgB;;CAGhB,AAAgB;CAChB,AAAgB;;CAGhB,AAAgB;CAChB,AAAgB;CAEhB,AAAO,YAAY,OAAmB,OAAe;EACnD,MAAM,QAAQ,MAAM;EACpB,MAAM,IAAI,MAAM;EAChB,MAAM,QAAQ;EACd,MAAM,OAAO,QAAQ,KAAK;EAE1B,MAAM,EAAE,QAAQ,IAAK,EAAE,QAAQ,IAAI,IAAK,EAAE,MAAM,IAAK,EAAE,MAAM,IAAI,EAAG;EAEpE,MAAM,cAAc,MAAM,UAAU,QAAQ;EAC5C,MAAM,UAAU,MAAM,UAAU,QAAQ,MAAM,YAAY;EAC1D,MAAM,KAAK,KAAK,QAAQ;EACxB,MAAM,KAAK,KAAK,QAAQ;EAExB,KAAK,QAAQ;EACb,KAAK,cAAc;EACnB,KAAK,UAAU;EAEf,MAAM,WAAW,cAAc,WAAW,GAAG,QAAQ,QAAQ,IAAI,SAAS,KAAK,IAAI;EACnF,MAAM,OAAO,UAAU,WAAW,GAAG,QAAQ,QAAQ,KAAK,KAAK,IAAI;EAEnE,KAAK,cAAc,WAAW,KAAK,SAAS,IAAI,KAAK,SAAS,IAAI;EAClE,KAAK,cAAc,WAAW,KAAK,SAAS,IAAI,KAAK,SAAS,IAAI;EAClE,KAAK,UAAU,OAAO,KAAK,KAAK,IAAI,KAAK,KAAK,IAAI;EAClD,KAAK,UAAU,OAAO,KAAK,KAAK,IAAI,KAAK,KAAK,IAAI;EAElD,OAAO,OAAO,IAAI;CACpB;AACF;;AAGA,MAAM,cAAc,UAA6B,OAAe,UAA4C;CAC1G,MAAM,QAAQ;CACd,MAAM,OAAO,QAAQ,KAAK;CAC1B,MAAM,KAAK,SAAS,MAAM,KAAM,SAAS,QAAQ;CACjD,MAAM,KAAK,SAAS,MAAM,IAAI,KAAM,SAAS,QAAQ,IAAI;CACzD,MAAM,SAAS,KAAK,MAAM,IAAI,EAAE;CAEhC,OAAO;EAAE,GAAG,KAAK;EAAQ,GAAG,CAAC,KAAK;CAAO;AAC3C"}

package/dist/esm/shapes/ChainShape.d.ts

@@ -0,0 +1,52 @@
+import type { PointLike } from '@codexo/exojs';
+import { ChainEdgeShape } from './ChainEdgeShape';
+import { Shape } from './Shape';
+/** Construction options for a {@link ChainShape}. */
+export interface ChainShapeOptions {
+    /** When `true`, the last vertex connects back to the first. Default `false`. */
+    closed?: boolean;
+}
+/**
+ * A connected boundary through a run of local-space vertices: level outlines,
+ * terrain, the ground of a side-scroller. Open (a polyline) or closed (a loop).
+ *
+ * A chain is not an array of {@link SegmentShape}s. At a shared vertex two
+ * independent segments carry two different normals, so a body sliding across the
+ * seam can snag, be launched, or receive a normal pointing into the surface. A
+ * chain owns the adjacency between its edges and uses it to suppress exactly
+ * those contacts, which is why the adjacency belongs to the engine rather than
+ * to the caller.
+ *
+ * Unlike a segment, a chain is **one-sided**: each edge collides only from the
+ * side its outward normal points to. Winding therefore decides which side is
+ * solid, following the polygon convention - a counter-clockwise run is solid on
+ * the outside (an island), a clockwise run is solid on the inside (a container).
+ * Bodies on the hollow side pass through.
+ *
+ * It has no interior, so {@link Shape.massProperties} is `null` and a `dynamic`
+ * body needs at least one mass-bearing collider alongside it. A `static` or
+ * `kinematic` body carries a chain on its own.
+ *
+ * Collinear vertices are kept. A straight run is authoring data, and dropping it
+ * would move the adjacency of the neighbouring edges.
+ */
+export declare class ChainShape extends Shape {
+    readonly type: "chain";
+    /** Local-space vertices, flattened, after welding coincident input. */
+    readonly vertices: readonly number[];
+    /** Number of vertices in {@link vertices}. */
+    readonly count: number;
+    /** Number of edges: `count` when {@link closed}, `count - 1` otherwise. */
+    readonly edgeCount: number;
+    readonly closed: boolean;
+    readonly boundingRadius: number;
+    /** Always `null`: a boundary has no interior and therefore no mass. */
+    readonly massProperties: null;
+    /**
+     * @internal - the per-edge geometry the solver works on, built once with the
+     * chain. Immutable and shared by every collider carrying this shape.
+     */
+    readonly edges: readonly ChainEdgeShape[];
+    constructor(vertices: ReadonlyArray<Readonly<PointLike>>, options?: ChainShapeOptions);
+}
+//# sourceMappingURL=ChainShape.d.ts.map

package/dist/esm/shapes/ChainShape.d.ts.map

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