@codexo/exojs-physics 0.15.2 → 0.16.0

package/dist/esm/solver/ContactSolver.js

@@ -1,490 +1,444 @@
-/** Relative normal speed (px/s) below which a contact is treated as resting (no restitution). */
-/**
- * Penetration allowance (px) the soft bias leaves uncorrected. The narrow phase
- * only produces a manifold while the colliders overlap, so pushing penetration
- * fully to zero lets a resting contact wink out for a frame (free-fall, then
- * re-detect) — a periodic energy spike. Leaving a small slop keeps the contact
- * persistently overlapping and the warm-start cache alive.
- */
-const slop = 0.25;
+import { contactSlop } from "./tolerances.js";
+
+//#region src/solver/ContactSolver.ts
 /**
- * Cap on the soft-constraint push-out velocity (px/s). Bounds how fast the bias
- * resolves deep penetration so a large overlap cannot fling bodies apart; the
- * Box2D-v3 analogue is `contactSpeed = 3·lengthUnit`, retuned for ExoJS pixels.
- */
+* Cap on the soft-constraint push-out velocity (px/s). Bounds how fast the bias
+* resolves deep penetration so a large overlap cannot fling bodies apart; the
+* Box2D-v3 analogue is `contactSpeed = 3·lengthUnit`, retuned for ExoJS pixels.
+*/
 const maxBiasVelocity = 4;
 /** Reject the 2-point block solve when the contact matrix is worse-conditioned than this (fall back to sequential). */
-const maxConditionNumber = 1000;
+const maxConditionNumber = 1e3;
 /**
- * Per-contact velocity constraint (1–2 points), computed once per **frame** in
- * {@link ContactSolver.prepare} and reused across all sub-steps and passes.
- * Pooled and reused across frames, so steady-state stepping allocates nothing.
- */
-class ContactConstraint {
-    record;
-    bodyA;
-    bodyB;
-    nx = 0;
-    ny = 0;
-    tx = 0;
-    ty = 0;
-    friction = 0;
-    restitution = 0;
-    pointCount = 0;
-    // Soft-constraint factors (Box2D-v3 "soft step"), derived once per frame from
-    // contactHertz/dampingRatio and the sub-step `h`. Shared by both points.
-    biasRate = 0;
-    massScale = 1;
-    impulseScale = 0;
-    // Per-point contact arms at frame start (relative to each body's centre of mass).
-    rAx = [0, 0];
-    rAy = [0, 0];
-    rBx = [0, 0];
-    rBy = [0, 0];
-    // Per-point arms rotated by the live sub-step rotation (refreshed each pass by
-    // {@link ContactSolver._updateArms}); the solve reads these so a rotating body's
-    // contact torque tracks its current orientation.
-    rotAx = [0, 0];
-    rotAy = [0, 0];
-    rotBx = [0, 0];
-    rotBy = [0, 0];
-    normalMass = [0, 0];
-    tangentMass = [0, 0];
-    /** Contact separation at frame start (= −penetration; negative when overlapping). */
-    baseSeparation = [0, 0];
-    /** Relative normal velocity at frame start (the impact speed the restitution pass keys off). */
-    relativeVelocity = [0, 0];
-    /** Push-out target normal velocity for the current pass (set per pass from the live separation). */
-    velocityBias = [0, 0];
-    // 2-point block: the contact matrix `K` and its inverse (set only when the
-    // manifold has two points and `K` is well-conditioned; else sequential).
-    block = false;
-    k11 = 0;
-    k12 = 0;
-    k22 = 0;
-    invK11 = 0;
-    invK12 = 0;
-    invK22 = 0;
-}
+* Per-contact velocity constraint (1-2 points), computed once per **frame** in
+* {@link ContactSolver.prepare} and reused across all sub-steps and passes.
+* Pooled and reused across frames, so a steady-state step constructs no
+* constraint of its own. It is not allocation-free in the wider sense: a double
+* handed to a function the optimiser declines to inline is boxed on the heap for
+* the duration of that call, which is why the hot paths below apply their
+* results in place instead of through helpers.
+*/
+var ContactConstraint = class {
+	record;
+	bodyA;
+	bodyB;
+	nx = 0;
+	ny = 0;
+	tx = 0;
+	ty = 0;
+	friction = 0;
+	restitution = 0;
+	pointCount = 0;
+	biasRate = 0;
+	massScale = 1;
+	impulseScale = 0;
+	rAx = [0, 0];
+	rAy = [0, 0];
+	rBx = [0, 0];
+	rBy = [0, 0];
+	rotAx = [0, 0];
+	rotAy = [0, 0];
+	rotBx = [0, 0];
+	rotBy = [0, 0];
+	normalMass = [0, 0];
+	tangentMass = [0, 0];
+	/** Contact separation at frame start (= −penetration; negative when overlapping). */
+	baseSeparation = [0, 0];
+	/** Relative normal velocity at frame start (the impact speed the restitution pass keys off). */
+	relativeVelocity = [0, 0];
+	/** Push-out target normal velocity for the current pass (set per pass from the live separation). */
+	velocityBias = [0, 0];
+	/**
+	* Whether the point's push-out target was clamped to `maxBiasVelocity` this
+	* pass. A clamped target is no longer the spring response the soft scaling
+	* models, so the single-point solve drops that scaling while it holds.
+	*/
+	biasClamped = [false, false];
+	block = false;
+	k11 = 0;
+	k12 = 0;
+	k22 = 0;
+	invK11 = 0;
+	invK12 = 0;
+	invK22 = 0;
+};
 /**
- * Native warm-started **TGS-Soft** contact solver (Box2D-v3 "soft step"). Driven
- * by {@link PhysicsWorld} as a sub-stepping loop: detection runs once per frame,
- * then {@link prepare} builds the per-contact constraints (effective masses,
- * frame-start separation + impact velocity, soft factors, and a 2×2 block matrix
- * for two-point manifolds) **once**, and each sub-step runs
- * {@link warmStart} → {@link solveVelocities}(useBias=true) → integrate positions
- * → {@link solveVelocities}(useBias=false) relax. A final {@link applyRestitution}
- * pass adds bounce above the threshold.
- *
- * The position constraint is folded into the velocity solve as a **soft bias**
- * (a damped-spring push-out whose stiffness is decoupled from the iteration
- * count), recomputed each pass from the live per-body delta position/rotation —
- * so there is no separate NGS geometric pass. The contact anchors are rotated by
- * the live sub-step rotation each pass, so a tilting stack's restoring torque is
- * computed against its current orientation (without this the tilt grows instead
- * of being corrected). Two-point manifolds still solve the normal impulses **as a
- * 2×2 block LCP** (Box2D-style), which propagates stack loads far better than
- * solving the points sequentially; the block path carries the soft push-out as
- * its velocity target (hard mass scale), while single-point contacts use the full
- * soft mass/impulse scaling. Accumulated impulses are written back to each
- * {@link ContactRecord} for warm-starting the next frame.
- *
- * Internal to {@link NativePhysicsBackend}; not part of the public surface.
- */
-class ContactSolver {
-    _constraints = [];
-    _count = 0;
-    /**
-     * Build the per-contact constraints for this frame from the touching solid
-     * contacts. `h` is the sub-step duration (`fixedDelta / subStepCount`); the
-     * soft factors are derived from it together with `contactHertz`/`dampingRatio`.
-     * Runs once per frame (detection is not repeated per sub-step).
-     */
-    prepare(contacts, h, contactHertz, dampingRatio) {
-        this._count = 0;
-        // Box2D-v3 soft-constraint factors from a damped spring (hertz, zeta) at the
-        // sub-step `h`: omega = 2πf; a1 = 2ζ + hω; a2 = hω·a1; a3 = 1/(1+a2).
-        const omega = 2 * Math.PI * contactHertz;
-        const a1 = 2 * dampingRatio + h * omega;
-        const a2 = h * omega * a1;
-        const a3 = 1 / (1 + a2);
-        const biasRate = contactHertz > 0 ? omega / a1 : 0;
-        const massScale = contactHertz > 0 ? a2 * a3 : 1;
-        const impulseScale = contactHertz > 0 ? a3 : 0;
-        for (const contact of contacts) {
-            const manifold = contact.manifold;
-            const pointCount = manifold.pointCount;
-            if (pointCount === 0) {
-                continue;
-            }
-            const bodyA = contact.a.body;
-            const bodyB = contact.b.body;
-            // Skip contacts where either body is asleep: a sleeping island's solid
-            // contacts are all sleeping↔sleeping or sleeping↔static (both at rest), so
-            // there is nothing to solve. A sleeping body touched by an awake one is
-            // woken (island merge) before this runs, so it is never skipped wrongly.
-            if (bodyA.isSleeping || bodyB.isSleeping) {
-                continue;
-            }
-            const constraint = this._acquire();
-            const nx = manifold.normalX;
-            const ny = manifold.normalY;
-            const tx = -ny;
-            const ty = nx;
-            constraint.record = contact;
-            constraint.bodyA = bodyA;
-            constraint.bodyB = bodyB;
-            constraint.nx = nx;
-            constraint.ny = ny;
-            constraint.tx = tx;
-            constraint.ty = ty;
-            constraint.friction = Math.sqrt(contact.a.friction * contact.b.friction);
-            constraint.restitution = Math.max(contact.a.restitution, contact.b.restitution);
-            constraint.pointCount = pointCount;
-            constraint.block = false;
-            constraint.biasRate = biasRate;
-            constraint.massScale = massScale;
-            constraint.impulseScale = impulseScale;
-            const mA = bodyA.invMass;
-            const mB = bodyB.invMass;
-            const iA = bodyA.invInertia;
-            const iB = bodyB.invInertia;
-            const comAx = bodyA.worldCenterOfMassX;
-            const comAy = bodyA.worldCenterOfMassY;
-            const comBx = bodyB.worldCenterOfMassX;
-            const comBy = bodyB.worldCenterOfMassY;
-            for (let i = 0; i < pointCount; i++) {
-                // i in 0..pointCount-1 and pointCount ≤ 2, so the manifold point exists.
-                const point = i === 0 ? manifold.points[0] : manifold.points[1];
-                const rAx = point.x - comAx;
-                const rAy = point.y - comAy;
-                const rBx = point.x - comBx;
-                const rBy = point.y - comBy;
-                constraint.rAx[i] = rAx;
-                constraint.rAy[i] = rAy;
-                constraint.rBx[i] = rBx;
-                constraint.rBy[i] = rBy;
-                // Frame start: no accumulated rotation yet, so the live arms equal the base arms.
-                constraint.rotAx[i] = rAx;
-                constraint.rotAy[i] = rAy;
-                constraint.rotBx[i] = rBx;
-                constraint.rotBy[i] = rBy;
-                const rnA = rAx * ny - rAy * nx;
-                const rnB = rBx * ny - rBy * nx;
-                const kn = mA + mB + iA * rnA * rnA + iB * rnB * rnB;
-                const rtA = rAx * ty - rAy * tx;
-                const rtB = rBx * ty - rBy * tx;
-                const kt = mA + mB + iA * rtA * rtA + iB * rtB * rtB;
-                constraint.normalMass[i] = kn > 0 ? 1 / kn : 0;
-                constraint.tangentMass[i] = kt > 0 ? 1 / kt : 0;
-                constraint.baseSeparation[i] = -point.penetration;
-                constraint.velocityBias[i] = 0;
-                // Frame-start relative normal velocity (the true impact speed, captured
-                // before this frame's gravity since prepare runs ahead of the sub-step
-                // loop) — keys the restitution pass so a resting contact does not
-                // perpetually micro-bounce off the per-step gravity increment.
-                constraint.relativeVelocity[i] = normalVelocity(bodyA, bodyB, rAx, rAy, rBx, rBy, nx, ny);
-            }
-            if (pointCount === 2) {
-                const rn1A = n(constraint.rAx, 0) * ny - n(constraint.rAy, 0) * nx;
-                const rn1B = n(constraint.rBx, 0) * ny - n(constraint.rBy, 0) * nx;
-                const rn2A = n(constraint.rAx, 1) * ny - n(constraint.rAy, 1) * nx;
-                const rn2B = n(constraint.rBx, 1) * ny - n(constraint.rBy, 1) * nx;
-                const k11 = mA + mB + iA * rn1A * rn1A + iB * rn1B * rn1B;
-                const k22 = mA + mB + iA * rn2A * rn2A + iB * rn2B * rn2B;
-                const k12 = mA + mB + iA * rn1A * rn2A + iB * rn1B * rn2B;
-                const det = k11 * k22 - k12 * k12;
-                // Only block-solve when `K` is well-conditioned (parallel-ish contacts
-                // produce a near-singular matrix → fall back to sequential).
-                if (det > 0 && k11 * k11 < maxConditionNumber * det) {
-                    const invDet = 1 / det;
-                    constraint.k11 = k11;
-                    constraint.k12 = k12;
-                    constraint.k22 = k22;
-                    constraint.invK11 = invDet * k22;
-                    constraint.invK12 = -invDet * k12;
-                    constraint.invK22 = invDet * k11;
-                    constraint.block = true;
-                }
-            }
-        }
-    }
-    /** Re-apply the cached impulses from the previous frame (warm-starting); runs each sub-step. */
-    warmStart() {
-        for (let ci = 0; ci < this._count; ci++) {
-            const constraint = this._at(ci);
-            const bodyA = constraint.bodyA;
-            const bodyB = constraint.bodyB;
-            this._updateArms(constraint);
-            for (let i = 0; i < constraint.pointCount; i++) {
-                const normalImpulse = n(constraint.record.normalImpulse, i);
-                const tangentImpulse = n(constraint.record.tangentImpulse, i);
-                const jx = normalImpulse * constraint.nx + tangentImpulse * constraint.tx;
-                const jy = normalImpulse * constraint.ny + tangentImpulse * constraint.ty;
-                applyImpulse(bodyA, bodyB, n(constraint.rotAx, i), n(constraint.rotAy, i), n(constraint.rotBx, i), n(constraint.rotBy, i), jx, jy);
-            }
-        }
-    }
-    /**
-     * One velocity pass over every contact: the normal constraint (block when
-     * possible) then friction (Coulomb cone). With `useBias` the normal solve
-     * carries the soft push-out bias (the main pass, recomputed from the live
-     * separation); without it the relax pass drives the normal velocity to zero so
-     * the bias velocity does not remain in the bodies as injected energy.
-     */
-    solveVelocities(useBias) {
-        for (let ci = 0; ci < this._count; ci++) {
-            this._solveVelocityContact(this._at(ci), useBias);
-        }
-    }
-    /**
-     * Restitution pass, run once after the sub-step loop. For each loaded point
-     * whose frame-start impact speed exceeded the threshold, add the impulse that
-     * brings the post-solve normal velocity to `−restitution·impactSpeed`. Kept
-     * separate from the main solve so resting contacts (impact below threshold) do
-     * not micro-bounce.
-     */
-    applyRestitution() {
-        for (let ci = 0; ci < this._count; ci++) {
-            const constraint = this._at(ci);
-            if (constraint.restitution === 0) {
-                continue;
-            }
-            const bodyA = constraint.bodyA;
-            const bodyB = constraint.bodyB;
-            const nx = constraint.nx;
-            const ny = constraint.ny;
-            this._updateArms(constraint);
-            for (let i = 0; i < constraint.pointCount; i++) {
-                const relativeVelocity = n(constraint.relativeVelocity, i);
-                // Only points that carried load (normalImpulse > 0) and were struck
-                // above the resting threshold bounce.
-                if (relativeVelocity > -1 || n(constraint.record.normalImpulse, i) <= 0) {
-                    continue;
-                }
-                const rAx = n(constraint.rotAx, i);
-                const rAy = n(constraint.rotAy, i);
-                const rBx = n(constraint.rotBx, i);
-                const rBy = n(constraint.rotBy, i);
-                const vn = normalVelocity(bodyA, bodyB, rAx, rAy, rBx, rBy, nx, ny);
-                const oldNormal = n(constraint.record.normalImpulse, i);
-                const newNormal = Math.max(0, oldNormal - n(constraint.normalMass, i) * (vn + constraint.restitution * relativeVelocity));
-                const deltaNormal = newNormal - oldNormal;
-                constraint.record.normalImpulse[i] = newNormal;
-                applyImpulse(bodyA, bodyB, rAx, rAy, rBx, rBy, deltaNormal * nx, deltaNormal * ny);
-            }
-        }
-    }
-    /** Refresh the live (rotated) contact arms from each body's accumulated sub-step rotation. */
-    _updateArms(constraint) {
-        const cosA = constraint.bodyA._deltaCos;
-        const sinA = constraint.bodyA._deltaSin;
-        const cosB = constraint.bodyB._deltaCos;
-        const sinB = constraint.bodyB._deltaSin;
-        for (let i = 0; i < constraint.pointCount; i++) {
-            const rAx = n(constraint.rAx, i);
-            const rAy = n(constraint.rAy, i);
-            const rBx = n(constraint.rBx, i);
-            const rBy = n(constraint.rBy, i);
-            constraint.rotAx[i] = rAx * cosA - rAy * sinA;
-            constraint.rotAy[i] = rAx * sinA + rAy * cosA;
-            constraint.rotBx[i] = rBx * cosB - rBy * sinB;
-            constraint.rotBy[i] = rBx * sinB + rBy * cosB;
-        }
-    }
-    _solveVelocityContact(constraint, useBias) {
-        this._updateArms(constraint);
-        // Recompute the per-point push-out target from the live separation (folds the
-        // position constraint into the velocity solve as a soft bias). With useBias
-        // off (relax pass) the target is zero — the plain hard normal solve.
-        for (let i = 0; i < constraint.pointCount; i++) {
-            // Push out only the penetration beyond the slop, capped — leaving the slop
-            // keeps the contact overlapping so the narrow phase does not drop it.
-            const excess = -currentSeparation(constraint, i) - slop;
-            constraint.velocityBias[i] = useBias && excess > 0 ? Math.min(constraint.biasRate * excess, maxBiasVelocity) : 0;
-        }
-        // Normal before friction (Box2D-v3 order): friction's Coulomb cone clamps to
-        // `μ·normalImpulse`, so it must see this pass's freshly-solved normal impulse —
-        // solving friction first uses last pass's cone and lets stacks creep laterally.
-        if (constraint.block) {
-            this._solveNormalBlock(constraint);
-        }
-        else {
-            this._solveNormalSequential(constraint, useBias);
-        }
-        this._solveFriction(constraint);
-    }
-    /** Per-point friction: clamp the accumulated tangent impulse to the Coulomb cone `±μ·normalImpulse`. */
-    _solveFriction(constraint) {
-        const bodyA = constraint.bodyA;
-        const bodyB = constraint.bodyB;
-        for (let i = 0; i < constraint.pointCount; i++) {
-            const rAx = n(constraint.rotAx, i);
-            const rAy = n(constraint.rotAy, i);
-            const rBx = n(constraint.rotBx, i);
-            const rBy = n(constraint.rotBy, i);
-            const vtX = bodyB.linearVelocityX - bodyB.angularVelocity * rBy - (bodyA.linearVelocityX - bodyA.angularVelocity * rAy);
-            const vtY = bodyB.linearVelocityY + bodyB.angularVelocity * rBx - (bodyA.linearVelocityY + bodyA.angularVelocity * rAx);
-            const vt = vtX * constraint.tx + vtY * constraint.ty;
-            const maxFriction = constraint.friction * n(constraint.record.normalImpulse, i);
-            const oldTangent = n(constraint.record.tangentImpulse, i);
-            const newTangent = clamp(oldTangent - n(constraint.tangentMass, i) * vt, -maxFriction, maxFriction);
-            const deltaTangent = newTangent - oldTangent;
-            constraint.record.tangentImpulse[i] = newTangent;
-            applyImpulse(bodyA, bodyB, rAx, rAy, rBx, rBy, deltaTangent * constraint.tx, deltaTangent * constraint.ty);
-        }
-    }
-    /**
-     * Single-point (or ill-conditioned) soft normal solve, accumulated and clamped
-     * ≥ 0. The Box2D-v3 incremental form: with the soft bias active the impulse is
-     * `−normalMass·massScale·(vn − bias) − impulseScale·accumulated`, which both
-     * pushes out the penetration and bleeds a little stored impulse (the damped
-     * spring). The relax pass passes `useBias=false`, collapsing it to the hard
-     * `−normalMass·vn` (no bias, full mass, no impulse decay).
-     */
-    _solveNormalSequential(constraint, useBias) {
-        const bodyA = constraint.bodyA;
-        const bodyB = constraint.bodyB;
-        const nx = constraint.nx;
-        const ny = constraint.ny;
-        const massScale = useBias ? constraint.massScale : 1;
-        const impulseScale = useBias ? constraint.impulseScale : 0;
-        for (let i = 0; i < constraint.pointCount; i++) {
-            const rAx = n(constraint.rotAx, i);
-            const rAy = n(constraint.rotAy, i);
-            const rBx = n(constraint.rotBx, i);
-            const rBy = n(constraint.rotBy, i);
-            const vn = normalVelocity(bodyA, bodyB, rAx, rAy, rBx, rBy, nx, ny);
-            const oldNormal = n(constraint.record.normalImpulse, i);
-            const impulse = -n(constraint.normalMass, i) * massScale * (vn - n(constraint.velocityBias, i)) - impulseScale * oldNormal;
-            const newNormal = Math.max(0, oldNormal + impulse);
-            const deltaNormal = newNormal - oldNormal;
-            constraint.record.normalImpulse[i] = newNormal;
-            applyImpulse(bodyA, bodyB, rAx, rAy, rBx, rBy, deltaNormal * nx, deltaNormal * ny);
-        }
-    }
-    /**
-     * Two-point block normal solve (Box2D LCP): find both new normal impulses
-     * `x ≥ 0` so the post-solve normal velocities equal the push-out targets
-     * (`velocityBias`, zero in the relax pass) and are complementary, trying the
-     * four corners (both active, one active, none). The block path carries the
-     * soft push-out as its target but solves with a hard mass scale.
-     */
-    _solveNormalBlock(constraint) {
-        const bodyA = constraint.bodyA;
-        const bodyB = constraint.bodyB;
-        const nx = constraint.nx;
-        const ny = constraint.ny;
-        const a1 = n(constraint.record.normalImpulse, 0);
-        const a2 = n(constraint.record.normalImpulse, 1);
-        const vn1 = normalVelocity(bodyA, bodyB, n(constraint.rotAx, 0), n(constraint.rotAy, 0), n(constraint.rotBx, 0), n(constraint.rotBy, 0), nx, ny);
-        const vn2 = normalVelocity(bodyA, bodyB, n(constraint.rotAx, 1), n(constraint.rotAy, 1), n(constraint.rotBx, 1), n(constraint.rotBy, 1), nx, ny);
-        // Residual at the current impulse: b = (vn − bias) − K·a.
-        const bx = vn1 - n(constraint.velocityBias, 0) - (constraint.k11 * a1 + constraint.k12 * a2);
-        const by = vn2 - n(constraint.velocityBias, 1) - (constraint.k12 * a1 + constraint.k22 * a2);
-        // Case 1 — both points active: x = −K⁻¹·b.
-        let x1 = -(constraint.invK11 * bx + constraint.invK12 * by);
-        let x2 = -(constraint.invK12 * bx + constraint.invK22 * by);
-        if (x1 >= 0 && x2 >= 0) {
-            this._applyBlock(constraint, x1 - a1, x2 - a2);
-            constraint.record.normalImpulse[0] = x1;
-            constraint.record.normalImpulse[1] = x2;
-            return;
-        }
-        // Case 2 — only point 1 active (x2 = 0).
-        x1 = -n(constraint.normalMass, 0) * bx;
-        x2 = 0;
-        if (x1 >= 0 && constraint.k12 * x1 + by >= 0) {
-            this._applyBlock(constraint, x1 - a1, x2 - a2);
-            constraint.record.normalImpulse[0] = x1;
-            constraint.record.normalImpulse[1] = x2;
-            return;
-        }
-        // Case 3 — only point 2 active (x1 = 0).
-        x1 = 0;
-        x2 = -n(constraint.normalMass, 1) * by;
-        if (x2 >= 0 && constraint.k12 * x2 + bx >= 0) {
-            this._applyBlock(constraint, x1 - a1, x2 - a2);
-            constraint.record.normalImpulse[0] = x1;
-            constraint.record.normalImpulse[1] = x2;
-            return;
-        }
-        // Case 4 — neither active (separating). Only valid when both residuals are non-negative.
-        if (bx >= 0 && by >= 0) {
-            this._applyBlock(constraint, -a1, -a2);
-            constraint.record.normalImpulse[0] = 0;
-            constraint.record.normalImpulse[1] = 0;
-        }
-    }
-    /** Apply the two-point block impulse deltas `(d1, d2)` along the normal at both contact points. */
-    _applyBlock(constraint, d1, d2) {
-        const bodyA = constraint.bodyA;
-        const bodyB = constraint.bodyB;
-        const nx = constraint.nx;
-        const ny = constraint.ny;
-        applyImpulse(bodyA, bodyB, n(constraint.rotAx, 0), n(constraint.rotAy, 0), n(constraint.rotBx, 0), n(constraint.rotBy, 0), d1 * nx, d1 * ny);
-        applyImpulse(bodyA, bodyB, n(constraint.rotAx, 1), n(constraint.rotAy, 1), n(constraint.rotBx, 1), n(constraint.rotBy, 1), d2 * nx, d2 * ny);
-    }
-    _acquire() {
-        if (this._count === this._constraints.length) {
-            this._constraints.push(new ContactConstraint());
-        }
-        return this._at(this._count++);
-    }
-    /**
-     * Pooled constraint at `ci`. Every caller indexes within `0..this._count-1`
-     * and `_count` never exceeds the pool length, so the entry always exists; the
-     * throw is unreachable and only discharges `noUncheckedIndexedAccess` without a
-     * cast or non-null assertion.
-     */
-    _at(ci) {
-        const constraint = this._constraints[ci];
-        if (constraint === undefined) {
-            throw new RangeError(`ContactSolver: constraint pool index ${ci} out of range.`);
-        }
-        return constraint;
-    }
-}
+* Native warm-started **TGS-Soft** contact solver (Box2D-v3 "soft step"). Driven
+* by {@link PhysicsWorld} as a sub-stepping loop: detection runs once per frame,
+* then {@link prepare} builds the per-contact constraints (effective masses,
+* frame-start separation + impact velocity, soft factors, and a 2×2 block matrix
+* for two-point manifolds) **once**, and each sub-step runs
+* {@link warmStart} → {@link solveVelocities}(useBias=true) → integrate positions
+* → {@link solveVelocities}(useBias=false) relax. A final {@link applyRestitution}
+* pass adds bounce above the threshold.
+*
+* The position constraint is folded into the velocity solve as a **soft bias**
+* (a damped-spring push-out whose stiffness is decoupled from the iteration
+* count), recomputed each pass from the live per-body delta position/rotation -
+* so there is no separate NGS geometric pass. The contact anchors are rotated by
+* the live sub-step rotation each pass, so a tilting stack's restoring torque is
+* computed against its current orientation (without this the tilt grows instead
+* of being corrected). Two-point manifolds still solve the normal impulses **as a
+* 2×2 block LCP** (Box2D-style), which propagates stack loads far better than
+* solving the points sequentially; the block path carries the soft push-out as
+* its velocity target (hard mass scale), while single-point contacts use the full
+* soft mass/impulse scaling for as long as their push-out target stays inside
+* the cap, and the hard scale once it is clamped. Accumulated impulses are
+* written back to each {@link ContactRecord} for warm-starting the next frame.
+*
+* Internal to {@link NativePhysicsBackend}; not part of the public surface.
+*/
+var ContactSolver = class {
+	_constraints = [];
+	_count = 0;
+	/**
+	* Build the per-contact constraints for this frame from the touching solid
+	* contacts. `h` is the sub-step duration (`fixedDelta / subStepCount`); the
+	* soft factors are derived from it together with `contactHertz`/`dampingRatio`.
+	* Runs once per frame (detection is not repeated per sub-step).
+	*/
+	prepare(contacts, h, contactHertz, dampingRatio) {
+		this._count = 0;
+		const omega = 2 * Math.PI * contactHertz;
+		const a1 = 2 * dampingRatio + h * omega;
+		const a2 = h * omega * a1;
+		const a3 = 1 / (1 + a2);
+		const biasRate = contactHertz > 0 ? omega / a1 : 0;
+		const massScale = contactHertz > 0 ? a2 * a3 : 1;
+		const impulseScale = contactHertz > 0 ? a3 : 0;
+		for (const contact of contacts) {
+			const manifold = contact.manifold;
+			const pointCount = manifold.pointCount;
+			if (pointCount === 0 || !contact.enabled) continue;
+			const bodyA = contact.a.body;
+			const bodyB = contact.b.body;
+			if (bodyA.isSleeping || bodyB.isSleeping) continue;
+			const constraint = this._acquire();
+			const nx = manifold.normalX;
+			const ny = manifold.normalY;
+			const tx = -ny;
+			const ty = nx;
+			constraint.record = contact;
+			constraint.bodyA = bodyA;
+			constraint.bodyB = bodyB;
+			constraint.nx = nx;
+			constraint.ny = ny;
+			constraint.tx = tx;
+			constraint.ty = ty;
+			constraint.friction = contact.friction;
+			constraint.restitution = contact.restitution;
+			constraint.pointCount = pointCount;
+			constraint.block = false;
+			constraint.biasRate = biasRate;
+			constraint.massScale = massScale;
+			constraint.impulseScale = impulseScale;
+			const mA = bodyA.invMass;
+			const mB = bodyB.invMass;
+			const iA = bodyA.invInertia;
+			const iB = bodyB.invInertia;
+			const comAx = bodyA.worldCenterOfMassX;
+			const comAy = bodyA.worldCenterOfMassY;
+			const comBx = bodyB.worldCenterOfMassX;
+			const comBy = bodyB.worldCenterOfMassY;
+			for (let i = 0; i < pointCount; i++) {
+				const point = i === 0 ? manifold.points[0] : manifold.points[1];
+				const rAx = point.x - comAx;
+				const rAy = point.y - comAy;
+				const rBx = point.x - comBx;
+				const rBy = point.y - comBy;
+				constraint.rAx[i] = rAx;
+				constraint.rAy[i] = rAy;
+				constraint.rBx[i] = rBx;
+				constraint.rBy[i] = rBy;
+				constraint.rotAx[i] = rAx;
+				constraint.rotAy[i] = rAy;
+				constraint.rotBx[i] = rBx;
+				constraint.rotBy[i] = rBy;
+				const rnA = rAx * ny - rAy * nx;
+				const rnB = rBx * ny - rBy * nx;
+				const kn = mA + mB + iA * rnA * rnA + iB * rnB * rnB;
+				const rtA = rAx * ty - rAy * tx;
+				const rtB = rBx * ty - rBy * tx;
+				const kt = mA + mB + iA * rtA * rtA + iB * rtB * rtB;
+				constraint.normalMass[i] = kn > 0 ? 1 / kn : 0;
+				constraint.tangentMass[i] = kt > 0 ? 1 / kt : 0;
+				constraint.baseSeparation[i] = -point.penetration;
+				constraint.velocityBias[i] = 0;
+				constraint.relativeVelocity[i] = normalVelocity(bodyA, bodyB, rAx, rAy, rBx, rBy, nx, ny);
+			}
+			if (pointCount === 2) {
+				const rn1A = n(constraint.rAx, 0) * ny - n(constraint.rAy, 0) * nx;
+				const rn1B = n(constraint.rBx, 0) * ny - n(constraint.rBy, 0) * nx;
+				const rn2A = n(constraint.rAx, 1) * ny - n(constraint.rAy, 1) * nx;
+				const rn2B = n(constraint.rBx, 1) * ny - n(constraint.rBy, 1) * nx;
+				const k11 = mA + mB + iA * rn1A * rn1A + iB * rn1B * rn1B;
+				const k22 = mA + mB + iA * rn2A * rn2A + iB * rn2B * rn2B;
+				const k12 = mA + mB + iA * rn1A * rn2A + iB * rn1B * rn2B;
+				const det = k11 * k22 - k12 * k12;
+				if (det > 0 && k11 * k11 < maxConditionNumber * det) {
+					const invDet = 1 / det;
+					constraint.k11 = k11;
+					constraint.k12 = k12;
+					constraint.k22 = k22;
+					constraint.invK11 = invDet * k22;
+					constraint.invK12 = -invDet * k12;
+					constraint.invK22 = invDet * k11;
+					constraint.block = true;
+				}
+			}
+		}
+	}
+	/** Re-apply the cached impulses from the previous frame (warm-starting); runs each sub-step. */
+	warmStart() {
+		for (let ci = 0; ci < this._count; ci++) {
+			const constraint = this._at(ci);
+			const bodyA = constraint.bodyA;
+			const bodyB = constraint.bodyB;
+			this._updateArms(constraint);
+			for (let i = 0; i < constraint.pointCount; i++) {
+				const normalImpulse = n(constraint.record.normalImpulse, i);
+				const tangentImpulse = n(constraint.record.tangentImpulse, i);
+				const jx = normalImpulse * constraint.nx + tangentImpulse * constraint.tx;
+				const jy = normalImpulse * constraint.ny + tangentImpulse * constraint.ty;
+				applyImpulse(bodyA, bodyB, n(constraint.rotAx, i), n(constraint.rotAy, i), n(constraint.rotBx, i), n(constraint.rotBy, i), jx, jy);
+			}
+		}
+	}
+	/**
+	* One velocity pass over every contact: the normal constraint (block when
+	* possible) then friction (Coulomb cone). With `useBias` the normal solve
+	* carries the soft push-out bias (the main pass, recomputed from the live
+	* separation); without it the relax pass drives the normal velocity to zero so
+	* the bias velocity does not remain in the bodies as injected energy.
+	*/
+	solveVelocities(useBias) {
+		for (let ci = 0; ci < this._count; ci++) this._solveVelocityContact(this._at(ci), useBias);
+	}
+	/**
+	* Restitution pass, run once after the sub-step loop. For each loaded point
+	* whose frame-start impact speed exceeded the threshold, add the impulse that
+	* brings the post-solve normal velocity to `−restitution·impactSpeed`. Kept
+	* separate from the main solve so resting contacts (impact below threshold) do
+	* not micro-bounce.
+	*/
+	applyRestitution() {
+		for (let ci = 0; ci < this._count; ci++) {
+			const constraint = this._at(ci);
+			if (constraint.restitution === 0) continue;
+			const bodyA = constraint.bodyA;
+			const bodyB = constraint.bodyB;
+			const nx = constraint.nx;
+			const ny = constraint.ny;
+			this._updateArms(constraint);
+			for (let i = 0; i < constraint.pointCount; i++) {
+				const relativeVelocity = n(constraint.relativeVelocity, i);
+				if (relativeVelocity > -1 || n(constraint.record.normalImpulse, i) <= 0) continue;
+				const rAx = n(constraint.rotAx, i);
+				const rAy = n(constraint.rotAy, i);
+				const rBx = n(constraint.rotBx, i);
+				const rBy = n(constraint.rotBy, i);
+				const vn = normalVelocity(bodyA, bodyB, rAx, rAy, rBx, rBy, nx, ny);
+				const oldNormal = n(constraint.record.normalImpulse, i);
+				const newNormal = Math.max(0, oldNormal - n(constraint.normalMass, i) * (vn + constraint.restitution * relativeVelocity));
+				const deltaNormal = newNormal - oldNormal;
+				constraint.record.normalImpulse[i] = newNormal;
+				applyImpulse(bodyA, bodyB, rAx, rAy, rBx, rBy, deltaNormal * nx, deltaNormal * ny);
+			}
+		}
+	}
+	/** Refresh the live (rotated) contact arms from each body's accumulated sub-step rotation. */
+	_updateArms(constraint) {
+		const cosA = constraint.bodyA._deltaCos;
+		const sinA = constraint.bodyA._deltaSin;
+		const cosB = constraint.bodyB._deltaCos;
+		const sinB = constraint.bodyB._deltaSin;
+		for (let i = 0; i < constraint.pointCount; i++) {
+			const rAx = n(constraint.rAx, i);
+			const rAy = n(constraint.rAy, i);
+			const rBx = n(constraint.rBx, i);
+			const rBy = n(constraint.rBy, i);
+			constraint.rotAx[i] = rAx * cosA - rAy * sinA;
+			constraint.rotAy[i] = rAx * sinA + rAy * cosA;
+			constraint.rotBx[i] = rBx * cosB - rBy * sinB;
+			constraint.rotBy[i] = rBx * sinB + rBy * cosB;
+		}
+	}
+	_solveVelocityContact(constraint, useBias) {
+		this._updateArms(constraint);
+		for (let i = 0; i < constraint.pointCount; i++) {
+			const excess = -currentSeparation(constraint, i) - contactSlop;
+			const target = useBias && excess > 0 ? constraint.biasRate * excess : 0;
+			constraint.velocityBias[i] = Math.min(target, maxBiasVelocity);
+			constraint.biasClamped[i] = target > maxBiasVelocity;
+		}
+		if (constraint.block) this._solveNormalBlock(constraint);
+		else this._solveNormalSequential(constraint, useBias);
+		this._solveFriction(constraint);
+	}
+	/** Per-point friction: clamp the accumulated tangent impulse to the Coulomb cone `±μ·normalImpulse`. */
+	_solveFriction(constraint) {
+		const bodyA = constraint.bodyA;
+		const bodyB = constraint.bodyB;
+		for (let i = 0; i < constraint.pointCount; i++) {
+			const rAx = n(constraint.rotAx, i);
+			const rAy = n(constraint.rotAy, i);
+			const rBx = n(constraint.rotBx, i);
+			const rBy = n(constraint.rotBy, i);
+			const vtX = bodyB.linearVelocityX - bodyB.angularVelocity * rBy - (bodyA.linearVelocityX - bodyA.angularVelocity * rAy);
+			const vtY = bodyB.linearVelocityY + bodyB.angularVelocity * rBx - (bodyA.linearVelocityY + bodyA.angularVelocity * rAx);
+			const vt = vtX * constraint.tx + vtY * constraint.ty;
+			const maxFriction = constraint.friction * n(constraint.record.normalImpulse, i);
+			const oldTangent = n(constraint.record.tangentImpulse, i);
+			const newTangent = clamp(oldTangent - n(constraint.tangentMass, i) * vt, -maxFriction, maxFriction);
+			const deltaTangent = newTangent - oldTangent;
+			constraint.record.tangentImpulse[i] = newTangent;
+			applyImpulse(bodyA, bodyB, rAx, rAy, rBx, rBy, deltaTangent * constraint.tx, deltaTangent * constraint.ty);
+		}
+	}
+	/**
+	* Single-point (or ill-conditioned) soft normal solve, accumulated and clamped
+	* ≥ 0. The Box2D-v3 incremental form: with the soft bias active the impulse is
+	* `−normalMass·massScale·(vn − bias) − impulseScale·accumulated`, which both
+	* pushes out the penetration and bleeds a little stored impulse (the damped
+	* spring). The relax pass passes `useBias=false`, collapsing it to the hard
+	* `−normalMass·vn` (no bias, full mass, no impulse decay).
+	*
+	* A point whose push-out target was clamped to `maxBiasVelocity` is solved
+	* with the hard scale as well: the soft scaling models a spring, and once the
+	* target is capped the point would otherwise reach only a fraction of an
+	* already limited push-out. That deficit grows with the load, so past the
+	* acceleration at which the cap binds the contact would sink without bound
+	* instead of settling into a slightly deeper limit cycle.
+	*/
+	_solveNormalSequential(constraint, useBias) {
+		const bodyA = constraint.bodyA;
+		const bodyB = constraint.bodyB;
+		const nx = constraint.nx;
+		const ny = constraint.ny;
+		for (let i = 0; i < constraint.pointCount; i++) {
+			const rAx = n(constraint.rotAx, i);
+			const rAy = n(constraint.rotAy, i);
+			const rBx = n(constraint.rotBx, i);
+			const rBy = n(constraint.rotBy, i);
+			const vn = normalVelocity(bodyA, bodyB, rAx, rAy, rBx, rBy, nx, ny);
+			const oldNormal = n(constraint.record.normalImpulse, i);
+			const clamped = constraint.biasClamped[i] ?? false;
+			const massScale = useBias && !clamped ? constraint.massScale : 1;
+			const impulseScale = useBias && !clamped ? constraint.impulseScale : 0;
+			const impulse = -n(constraint.normalMass, i) * massScale * (vn - n(constraint.velocityBias, i)) - impulseScale * oldNormal;
+			const newNormal = Math.max(0, oldNormal + impulse);
+			const deltaNormal = newNormal - oldNormal;
+			constraint.record.normalImpulse[i] = newNormal;
+			applyImpulse(bodyA, bodyB, rAx, rAy, rBx, rBy, deltaNormal * nx, deltaNormal * ny);
+		}
+	}
+	/**
+	* Two-point block normal solve (Box2D LCP): find both new normal impulses
+	* `x ≥ 0` so the post-solve normal velocities equal the push-out targets
+	* (`velocityBias`, zero in the relax pass) and are complementary, trying the
+	* four corners (both active, one active, none). The block path carries the
+	* soft push-out as its target but solves with a hard mass scale.
+	*/
+	_solveNormalBlock(constraint) {
+		const bodyA = constraint.bodyA;
+		const bodyB = constraint.bodyB;
+		const nx = constraint.nx;
+		const ny = constraint.ny;
+		const a1 = n(constraint.record.normalImpulse, 0);
+		const a2 = n(constraint.record.normalImpulse, 1);
+		const vn1 = normalVelocity(bodyA, bodyB, n(constraint.rotAx, 0), n(constraint.rotAy, 0), n(constraint.rotBx, 0), n(constraint.rotBy, 0), nx, ny);
+		const vn2 = normalVelocity(bodyA, bodyB, n(constraint.rotAx, 1), n(constraint.rotAy, 1), n(constraint.rotBx, 1), n(constraint.rotBy, 1), nx, ny);
+		const bx = vn1 - n(constraint.velocityBias, 0) - (constraint.k11 * a1 + constraint.k12 * a2);
+		const by = vn2 - n(constraint.velocityBias, 1) - (constraint.k12 * a1 + constraint.k22 * a2);
+		let x1 = -(constraint.invK11 * bx + constraint.invK12 * by);
+		let x2 = -(constraint.invK12 * bx + constraint.invK22 * by);
+		let solved = x1 >= 0 && x2 >= 0;
+		if (!solved) {
+			x1 = -n(constraint.normalMass, 0) * bx;
+			x2 = 0;
+			solved = x1 >= 0 && constraint.k12 * x1 + by >= 0;
+		}
+		if (!solved) {
+			x1 = 0;
+			x2 = -n(constraint.normalMass, 1) * by;
+			solved = x2 >= 0 && constraint.k12 * x2 + bx >= 0;
+		}
+		if (!solved) {
+			if (bx < 0 || by < 0) return;
+			x1 = 0;
+			x2 = 0;
+		}
+		const d1 = x1 - a1;
+		const d2 = x2 - a2;
+		const jx = (d1 + d2) * nx;
+		const jy = (d1 + d2) * ny;
+		const torqueA = (n(constraint.rotAx, 0) * ny - n(constraint.rotAy, 0) * nx) * d1 + (n(constraint.rotAx, 1) * ny - n(constraint.rotAy, 1) * nx) * d2;
+		const torqueB = (n(constraint.rotBx, 0) * ny - n(constraint.rotBy, 0) * nx) * d1 + (n(constraint.rotBx, 1) * ny - n(constraint.rotBy, 1) * nx) * d2;
+		bodyA.linearVelocityX -= jx * bodyA.invMass;
+		bodyA.linearVelocityY -= jy * bodyA.invMass;
+		bodyA.angularVelocity -= torqueA * bodyA.invInertia;
+		bodyB.linearVelocityX += jx * bodyB.invMass;
+		bodyB.linearVelocityY += jy * bodyB.invMass;
+		bodyB.angularVelocity += torqueB * bodyB.invInertia;
+		constraint.record.normalImpulse[0] = x1;
+		constraint.record.normalImpulse[1] = x2;
+	}
+	_acquire() {
+		if (this._count === this._constraints.length) this._constraints.push(new ContactConstraint());
+		return this._at(this._count++);
+	}
+	/**
+	* Pooled constraint at `ci`. Every caller indexes within `0..this._count-1`
+	* and `_count` never exceeds the pool length, so the entry always exists; the
+	* throw is unreachable and only discharges `noUncheckedIndexedAccess` without a
+	* cast or non-null assertion.
+	*/
+	_at(ci) {
+		const constraint = this._constraints[ci];
+		if (constraint === void 0) throw new RangeError(`ContactSolver: constraint pool index ${ci} out of range.`);
+		return constraint;
+	}
+};
 /**
- * Live contact separation at point `i`, recomputed from each body's accumulated
- * delta position plus the rotation-induced shift of the (rotated) anchor since
- * frame start, projected onto the normal. Negative when overlapping. This is what
- * folds the position constraint into the velocity solve without a separate
- * geometric pass or re-running detection per sub-step.
- */
+* Live contact separation at point `i`, recomputed from each body's accumulated
+* delta position plus the rotation-induced shift of the (rotated) anchor since
+* frame start, projected onto the normal. Negative when overlapping. This is what
+* folds the position constraint into the velocity solve without a separate
+* geometric pass or re-running detection per sub-step.
+*/
 const currentSeparation = (constraint, i) => {
-    const bodyA = constraint.bodyA;
-    const bodyB = constraint.bodyB;
-    // Anchor displacement since frame start = linear delta + (rotated arm − base arm).
-    const dispAx = bodyA._deltaPosX + n(constraint.rotAx, i) - n(constraint.rAx, i);
-    const dispAy = bodyA._deltaPosY + n(constraint.rotAy, i) - n(constraint.rAy, i);
-    const dispBx = bodyB._deltaPosX + n(constraint.rotBx, i) - n(constraint.rBx, i);
-    const dispBy = bodyB._deltaPosY + n(constraint.rotBy, i) - n(constraint.rBy, i);
-    return n(constraint.baseSeparation, i) + (dispBx - dispAx) * constraint.nx + (dispBy - dispAy) * constraint.ny;
+	const bodyA = constraint.bodyA;
+	const bodyB = constraint.bodyB;
+	const dispAx = bodyA._deltaPosX + n(constraint.rotAx, i) - n(constraint.rAx, i);
+	const dispAy = bodyA._deltaPosY + n(constraint.rotAy, i) - n(constraint.rAy, i);
+	const dispBx = bodyB._deltaPosX + n(constraint.rotBx, i) - n(constraint.rBx, i);
+	const dispBy = bodyB._deltaPosY + n(constraint.rotBy, i) - n(constraint.rBy, i);
+	return n(constraint.baseSeparation, i) + (dispBx - dispAx) * constraint.nx + (dispBy - dispAy) * constraint.ny;
 };
 /** Relative normal velocity at a contact point: `dot(vB + ωB×rB − vA − ωA×rA, n)`. */
 const normalVelocity = (bodyA, bodyB, rAx, rAy, rBx, rBy, nx, ny) => {
-    const dvx = bodyB.linearVelocityX - bodyB.angularVelocity * rBy - (bodyA.linearVelocityX - bodyA.angularVelocity * rAy);
-    const dvy = bodyB.linearVelocityY + bodyB.angularVelocity * rBx - (bodyA.linearVelocityY + bodyA.angularVelocity * rAx);
-    return dvx * nx + dvy * ny;
+	const dvx = bodyB.linearVelocityX - bodyB.angularVelocity * rBy - (bodyA.linearVelocityX - bodyA.angularVelocity * rAy);
+	const dvy = bodyB.linearVelocityY + bodyB.angularVelocity * rBx - (bodyA.linearVelocityY + bodyA.angularVelocity * rAx);
+	return dvx * nx + dvy * ny;
 };
 /** Apply impulse `(jx, jy)` to B and its negation to A about their contact arms. */
 const applyImpulse = (bodyA, bodyB, rAx, rAy, rBx, rBy, jx, jy) => {
-    bodyA.linearVelocityX -= jx * bodyA.invMass;
-    bodyA.linearVelocityY -= jy * bodyA.invMass;
-    bodyA.angularVelocity -= (rAx * jy - rAy * jx) * bodyA.invInertia;
-    bodyB.linearVelocityX += jx * bodyB.invMass;
-    bodyB.linearVelocityY += jy * bodyB.invMass;
-    bodyB.angularVelocity += (rBx * jy - rBy * jx) * bodyB.invInertia;
+	bodyA.linearVelocityX -= jx * bodyA.invMass;
+	bodyA.linearVelocityY -= jy * bodyA.invMass;
+	bodyA.angularVelocity -= (rAx * jy - rAy * jx) * bodyA.invInertia;
+	bodyB.linearVelocityX += jx * bodyB.invMass;
+	bodyB.linearVelocityY += jy * bodyB.invMass;
+	bodyB.angularVelocity += (rBx * jy - rBy * jx) * bodyB.invInertia;
 };
 const clamp = (value, low, high) => Math.min(Math.max(value, low), high);
 /**
- * In-bounds read of a fixed-size (length-2) per-point scratch array. Every
- * caller indexes within `0..pointCount-1` (pointCount ≤ 2), so the element
- * always exists; the `0` fallback only discharges `noUncheckedIndexedAccess`
- * for the unreachable case and keeps the `??` out of caller complexity.
- */
+* In-bounds read of a fixed-size (length-2) per-point scratch array. Every
+* caller indexes within `0..pointCount-1` (pointCount ≤ 2), so the element
+* always exists; the `0` fallback only discharges `noUncheckedIndexedAccess`
+* for the unreachable case and keeps the `??` out of caller complexity.
+*/
 const n = (arr, i) => arr[i] ?? 0;
 
+//#endregion
 export { ContactSolver };
-//# sourceMappingURL=ContactSolver.js.map
+//# sourceMappingURL=ContactSolver.js.map