@codexo/exojs-physics 0.15.2 → 0.16.0

package/dist/esm/ContactGraph.js

@@ -1,245 +1,304 @@
-import { Manifold } from './collision/Manifold.js';
-import { testOverlap, collide } from './collision/narrowphase.js';
-import { sortInPlace } from './sort.js';
-import { shouldCollide } from './types.js';
+import { shouldCollide } from "./types.js";
+import { authoredCollider } from "./Collider.js";
+import { Manifold } from "./collision/Manifold.js";
+import { collide, testOverlap } from "./collision/narrowphase.js";
+import { MutableContactModifierContext } from "./ContactModifier.js";
+import { sortInPlace } from "./sort.js";
 
+//#region src/ContactGraph.ts
 /**
- * The persistent contact set. Each detection pass it diffs the currently
- * touching collider pairs against the previous pass and produces immutable
- * begin/end (and sensor enter/exit) event snapshots. Duplicate begin/end churn
- * is suppressed by the persistent records, and the produced event arrays are
- * sorted by collider id for deterministic dispatch (gate SG-D1/SG-X4).
- *
- * Touching solid contacts are also collected into {@link solidContacts} (with a
- * warm-start impulse cache) for the dynamics solver. The graph holds no
- * module-level state — each world owns one.
- */
-class ContactGraph {
-    /** Immutable solid-contact begin snapshots produced by the latest {@link update}. */
-    collisionStart = [];
-    /** Immutable solid-contact end snapshots produced by the latest {@link update}. */
-    collisionEnd = [];
-    /** Immutable sensor-enter snapshots produced by the latest {@link update}. */
-    sensorEnter = [];
-    /** Immutable sensor-exit snapshots produced by the latest {@link update}. */
-    sensorExit = [];
-    /** Touching solid contacts this pass, in deterministic order — consumed by the solver. */
-    solidContacts = [];
-    // Integer pair-keys (`(a.id << 16) | b.id`, a.id < b.id guaranteed by the broad
-    // phase) — cheaper than string keys on the per-step solver hot path.
-    _records = new Map();
-    /** Touching pairs currently tracked (for debug draw). */
-    get recordCount() {
-        return this._records.size;
-    }
-    /** Diff this pass's candidate pairs against the persistent set, collecting events + solid contacts. */
-    update(pairs) {
-        this.collisionStart.length = 0;
-        this.collisionEnd.length = 0;
-        this.sensorEnter.length = 0;
-        this.sensorExit.length = 0;
-        this.solidContacts.length = 0;
-        // eslint-disable-next-line unicorn/no-array-for-each -- forEach is the allocation-free path; for…of over a Map allocates an iterator every step (W7 10a).
-        this._records.forEach(resetSeen);
-        for (const pair of pairs) {
-            const a = pair.a;
-            const b = pair.b;
-            if (!shouldCollide(a.filter, b.filter)) {
-                continue;
-            }
-            const isSensor = a.isSensor || b.isSensor;
-            const key = pairKey(a.id, b.id);
-            const existing = this._records.get(key);
-            const record = existing ?? createRecord(a, b, isSensor);
-            const touching = isSensor ? testOverlap(a, b) : collide(a, b, record.manifold);
-            if (touching) {
-                record.seen = true;
-                if (existing === undefined) {
-                    this._records.set(key, record);
-                }
-                if (!record.touching) {
-                    record.touching = true;
-                    this._emitBegin(record);
-                }
-                if (!isSensor) {
-                    warmStartMatch(record);
-                    this.solidContacts.push(record);
-                }
-            }
-            else if (existing !== undefined) {
-                if (record.touching) {
-                    this._emitEnd(record);
-                }
-                this._records.delete(key);
-            }
-        }
-        // Pairs that left the broad phase entirely while touching → fire end. forEach
-        // + thisArg is the allocation-free iteration (for…of allocates an entry tuple
-        // per record each step); the thisArg binds `this`, so unbound-method is a
-        // false positive here (W7 10a).
-        // eslint-disable-next-line unicorn/no-array-for-each, @typescript-eslint/unbound-method
-        this._records.forEach(this._removeIfUnseen, this);
-        sortInPlace(this.collisionStart, byColliderPair);
-        sortInPlace(this.collisionEnd, byColliderPair);
-        sortInPlace(this.sensorEnter, bySensorPair);
-        sortInPlace(this.sensorExit, bySensorPair);
-        sortInPlace(this.solidContacts, byRecordPair);
-    }
-    /** Remove every record referencing `collider` (called when a collider is destroyed). */
-    removeCollider(collider) {
-        for (const [key, record] of this._records) {
-            if (record.a === collider || record.b === collider) {
-                this._records.delete(key);
-            }
-        }
-    }
-    /** Drop all records (world reset/destroy). */
-    clear() {
-        this._records.clear();
-    }
-    _emitBegin(record) {
-        if (record.isSensor) {
-            this.sensorEnter.push(makeSensorEvent(record.a, record.b));
-        }
-        else {
-            this.collisionStart.push(makeCollisionEvent(record.a, record.b, record.manifold));
-        }
-    }
-    _emitEnd(record) {
-        if (record.isSensor) {
-            this.sensorExit.push(makeSensorEvent(record.a, record.b));
-        }
-        else {
-            this.collisionEnd.push(makeEndEvent(record.a, record.b));
-        }
-    }
-    /**
-     * `Map.forEach` callback (its `this` bound via the forEach thisArg) — drops a
-     * record the latest pass did not see, firing an end event if it was touching.
-     * A method reference + thisArg keeps the per-step iteration allocation-free,
-     * unlike `for (const [key, record] of map)` which allocates an entry tuple per
-     * record (~1000/step). Deleting the current entry during forEach is safe.
-     */
-    _removeIfUnseen(record, key) {
-        if (!record.seen) {
-            if (record.touching) {
-                this._emitEnd(record);
-            }
-            this._records.delete(key);
-        }
-    }
-}
-/** `Map.forEach` callback — clears the per-pass `seen` flag (no iterator allocation). */
+* The persistent contact set. Each detection pass it diffs the currently
+* touching collider pairs against the previous pass and produces immutable
+* begin/end (and sensor enter/exit) event snapshots. Duplicate begin/end churn
+* is suppressed by the persistent records, and the produced event arrays are
+* sorted by collider id for deterministic dispatch.
+*
+* Touching solid contacts are also collected into {@link solidContacts} (with a
+* warm-start impulse cache) for the dynamics solver. The graph holds no
+* module-level state - each world owns one.
+*
+* Records are keyed on the pair the solver sees, which for a chain collider is
+* one of its edge proxies. Events are not: a body touching several edges of one
+* chain is one authored contact, so the graph reference-counts the authored pair
+* behind its records and emits begin/end only on the first and last of them.
+*/
+var ContactGraph = class {
+	/** Immutable solid-contact begin snapshots produced by the latest {@link update}. */
+	collisionStart = [];
+	/** Immutable solid-contact end snapshots produced by the latest {@link update}. */
+	collisionEnd = [];
+	/** Immutable sensor-enter snapshots produced by the latest {@link update}. */
+	sensorEnter = [];
+	/** Immutable sensor-exit snapshots produced by the latest {@link update}. */
+	sensorExit = [];
+	/** Touching solid contacts this pass, in deterministic order - consumed by the solver. */
+	solidContacts = [];
+	_records = /* @__PURE__ */ new Map();
+	_authoredPairs = /* @__PURE__ */ new Map();
+	_modifierContext = new MutableContactModifierContext();
+	/** Touching pairs currently tracked (for debug draw). */
+	get recordCount() {
+		return this._records.size;
+	}
+	/** Diff this pass's candidate pairs against the persistent set, collecting events + solid contacts. */
+	update(pairs) {
+		this.collisionStart.length = 0;
+		this.collisionEnd.length = 0;
+		this.sensorEnter.length = 0;
+		this.sensorExit.length = 0;
+		this.solidContacts.length = 0;
+		this._records.forEach(resetSeen);
+		for (const pair of pairs) {
+			const a = pair.a;
+			const b = pair.b;
+			const ownerA = authoredCollider(a);
+			const ownerB = authoredCollider(b);
+			if (!shouldCollide(ownerA.filter, ownerB.filter)) continue;
+			const isSensor = ownerA.isSensor || ownerB.isSensor;
+			const key = pairKey(a.id, b.id);
+			const existing = this._records.get(key);
+			const record = existing ?? createRecord(a, b, ownerA, ownerB, isSensor);
+			if (isSensor ? testOverlap(a, b) : collide(a, b, record.manifold)) {
+				record.seen = true;
+				if (existing === void 0) this._records.set(key, record);
+				if (!record.touching) {
+					record.touching = true;
+					this._emitBegin(record);
+				}
+				if (!isSensor) {
+					record.enabled = true;
+					record.friction = Math.sqrt(ownerA.friction * ownerB.friction);
+					record.restitution = Math.max(ownerA.restitution, ownerB.restitution);
+					warmStartMatch(record);
+					this.solidContacts.push(record);
+				}
+			} else if (existing !== void 0) {
+				if (record.touching) this._emitEnd(record);
+				this._records.delete(key);
+			}
+		}
+		this._records.forEach(this._removeIfUnseen, this);
+		sortInPlace(this.collisionStart, byColliderPair);
+		sortInPlace(this.collisionEnd, byColliderPair);
+		sortInPlace(this.sensorEnter, bySensorPair);
+		sortInPlace(this.sensorExit, bySensorPair);
+		sortInPlace(this.solidContacts, byRecordPair);
+	}
+	/**
+	* Run `modifier` over every touching solid contact of this pass. Called after
+	* detection and before island building, so a contact the modifier disables
+	* neither reaches the solver nor couples its two bodies into one sleeping
+	* island. A disabled contact's warm-start cache is dropped, so re-enabling it
+	* later starts from zero instead of releasing a stale impulse.
+	*/
+	applyModifier(modifier) {
+		const context = this._modifierContext;
+		for (const record of this.solidContacts) {
+			context.bind(record);
+			modifier(context);
+			context.flush(record);
+			if (!record.enabled) {
+				record.normalImpulse[0] = 0;
+				record.normalImpulse[1] = 0;
+				record.tangentImpulse[0] = 0;
+				record.tangentImpulse[1] = 0;
+				record.pointIds[0] = 0;
+				record.pointIds[1] = 0;
+			}
+		}
+	}
+	/**
+	* Remove every record referencing `collider` (called when a collider is
+	* destroyed). Passing an authored chain collider also drops the records of
+	* every edge proxy it owns.
+	*/
+	removeCollider(collider) {
+		for (const [key, record] of this._records) if (record.a === collider || record.b === collider || record.ownerA === collider || record.ownerB === collider) {
+			if (record.touching) this._releaseAuthoredPair(record);
+			this._records.delete(key);
+		}
+	}
+	/** Drop all records (world reset/destroy). */
+	clear() {
+		this._records.clear();
+		this._authoredPairs.clear();
+	}
+	_emitBegin(record) {
+		if (!this._retainAuthoredPair(record)) return;
+		if (record.isSensor) this.sensorEnter.push(makeSensorEvent(record.ownerA, record.ownerB));
+		else this.collisionStart.push(makeCollisionEvent(record.ownerA, record.ownerB, record.manifold));
+	}
+	_emitEnd(record) {
+		if (!this._releaseAuthoredPair(record)) return;
+		if (record.isSensor) this.sensorExit.push(makeSensorEvent(record.ownerA, record.ownerB));
+		else this.collisionEnd.push(makeEndEvent(record.ownerA, record.ownerB));
+	}
+	/**
+	* Count one more solver contact against the authored pair, reporting whether
+	* it is the first - the only one that may emit a begin event. A record whose
+	* colliders are the authored ones needs no counting at all, so a world without
+	* chains never touches the map.
+	*/
+	_retainAuthoredPair(record) {
+		if (record.a === record.ownerA && record.b === record.ownerB) return true;
+		const key = authoredPairKey(record);
+		const count = this._authoredPairs.get(key) ?? 0;
+		this._authoredPairs.set(key, count + 1);
+		return count === 0;
+	}
+	/** Counterpart of {@link _retainAuthoredPair}: `true` on the last contact of the pair. */
+	_releaseAuthoredPair(record) {
+		if (record.a === record.ownerA && record.b === record.ownerB) return true;
+		const key = authoredPairKey(record);
+		const count = (this._authoredPairs.get(key) ?? 1) - 1;
+		if (count <= 0) {
+			this._authoredPairs.delete(key);
+			return true;
+		}
+		this._authoredPairs.set(key, count);
+		return false;
+	}
+	/**
+	* `Map.forEach` callback (its `this` bound via the forEach thisArg) - drops a
+	* record the latest pass did not see, firing an end event if it was touching.
+	* A method reference + thisArg keeps the per-step iteration allocation-free,
+	* unlike `for (const [key, record] of map)` which allocates an entry tuple per
+	* record (~1000/step). Deleting the current entry during forEach is safe.
+	*/
+	_removeIfUnseen(record, key) {
+		if (!record.seen) {
+			if (record.touching) this._emitEnd(record);
+			this._records.delete(key);
+		}
+	}
+};
+/** `Map.forEach` callback - clears the per-pass `seen` flag (no iterator allocation). */
 const resetSeen = (record) => {
-    record.seen = false;
+	record.seen = false;
 };
 /**
- * Stride for packing two collider ids into one pair key. Multiplying by this
- * (rather than a 32-bit `<<`) keeps the key collision-free up to ~67M (2^26)
- * ids per world, within JS's 2^53 safe-integer range.
- * @internal
- */
-const pairKeyStride = 0x4000000; // 2^26
+* Stride for packing two collider ids into one pair key. Multiplying by this
+* (rather than a 32-bit `<<`) keeps the key collision-free up to ~67M (2^26)
+* ids per world, within JS's 2^53 safe-integer range.
+* @internal
+*/
+const pairKeyStride = 67108864;
 /**
- * Integer key for an unordered collider pair (`aId < bId` is guaranteed by the
- * broad phase). The previous `(aId << 16) | bId` silently collided once any id
- * reached 65536, because JS bitwise operators wrap at 32 bits.
- * @internal
- */
+* Integer key for an unordered collider pair (`aId < bId` is guaranteed by the
+* broad phase). The previous `(aId << 16) | bId` silently collided once any id
+* reached 65536, because JS bitwise operators wrap at 32 bits.
+* @internal
+*/
 const pairKey = (aId, bId) => aId * pairKeyStride + bId;
-const createRecord = (a, b, isSensor) => ({
-    a,
-    b,
-    isSensor,
-    touching: false,
-    seen: true,
-    manifold: new Manifold(),
-    normalImpulse: [0, 0],
-    tangentImpulse: [0, 0],
-    pointIds: [0, 0],
+const authoredPairKey = (record) => {
+	const first = record.ownerA.id;
+	const second = record.ownerB.id;
+	return first < second ? pairKey(first, second) : pairKey(second, first);
+};
+const createRecord = (a, b, ownerA, ownerB, isSensor) => ({
+	a,
+	b,
+	ownerA,
+	ownerB,
+	isSensor,
+	touching: false,
+	seen: true,
+	enabled: true,
+	friction: 0,
+	restitution: 0,
+	manifold: new Manifold(),
+	normalImpulse: [0, 0],
+	tangentImpulse: [0, 0],
+	pointIds: [0, 0]
 });
 /**
- * Map the previously accumulated impulses onto the new manifold points by feature
- * id (warm-starting). Unmatched points start at zero; the cache is re-keyed to the
- * new ids. Runs after `collide` has refreshed `record.manifold`.
- */
+* Map the previously accumulated impulses onto the new manifold points by feature
+* id (warm-starting). Unmatched points start at zero; the cache is re-keyed to the
+* new ids. Runs after `collide` has refreshed `record.manifold`.
+*/
 const warmStartMatch = (record) => {
-    const manifold = record.manifold;
-    const pn0 = record.normalImpulse[0];
-    const pn1 = record.normalImpulse[1];
-    const pt0 = record.tangentImpulse[0];
-    const pt1 = record.tangentImpulse[1];
-    const pid0 = record.pointIds[0];
-    const pid1 = record.pointIds[1];
-    for (let i = 0; i < 2; i++) {
-        if (i < manifold.pointCount) {
-            // i ∈ {0,1} and within pointCount, so the manifold point exists.
-            const id = (i === 0 ? manifold.points[0] : manifold.points[1]).id;
-            let normal = 0;
-            let tangent = 0;
-            if (id === pid0) {
-                normal = pn0;
-                tangent = pt0;
-            }
-            else if (id === pid1) {
-                normal = pn1;
-                tangent = pt1;
-            }
-            record.normalImpulse[i] = normal;
-            record.tangentImpulse[i] = tangent;
-            record.pointIds[i] = id;
-        }
-        else {
-            record.normalImpulse[i] = 0;
-            record.tangentImpulse[i] = 0;
-            record.pointIds[i] = 0;
-        }
-    }
+	const manifold = record.manifold;
+	const pn0 = record.normalImpulse[0];
+	const pn1 = record.normalImpulse[1];
+	const pt0 = record.tangentImpulse[0];
+	const pt1 = record.tangentImpulse[1];
+	const pid0 = record.pointIds[0];
+	const pid1 = record.pointIds[1];
+	for (let i = 0; i < 2; i++) if (i < manifold.pointCount) {
+		const id = (i === 0 ? manifold.points[0] : manifold.points[1]).id;
+		let normal = 0;
+		let tangent = 0;
+		if (id === pid0) {
+			normal = pn0;
+			tangent = pt0;
+		} else if (id === pid1) {
+			normal = pn1;
+			tangent = pt1;
+		}
+		record.normalImpulse[i] = normal;
+		record.tangentImpulse[i] = tangent;
+		record.pointIds[i] = id;
+	} else {
+		record.normalImpulse[i] = 0;
+		record.tangentImpulse[i] = 0;
+		record.pointIds[i] = 0;
+	}
 };
 const makeCollisionEvent = (a, b, manifold) => {
-    const points = [];
-    for (let i = 0; i < manifold.pointCount; i++) {
-        // i in 0..pointCount-1 and pointCount ≤ 2, so the manifold point exists.
-        const p = i === 0 ? manifold.points[0] : manifold.points[1];
-        points.push(Object.freeze({ x: p.x, y: p.y, penetration: p.penetration }));
-    }
-    return Object.freeze({
-        bodyA: a.body,
-        bodyB: b.body,
-        colliderA: a,
-        colliderB: b,
-        normal: Object.freeze({ x: manifold.normalX, y: manifold.normalY }),
-        points: Object.freeze(points),
-    });
+	const points = [];
+	for (let i = 0; i < manifold.pointCount; i++) {
+		const p = i === 0 ? manifold.points[0] : manifold.points[1];
+		points.push(Object.freeze({
+			x: p.x,
+			y: p.y,
+			penetration: p.penetration
+		}));
+	}
+	return Object.freeze({
+		bodyA: a.body,
+		bodyB: b.body,
+		colliderA: a,
+		colliderB: b,
+		normal: Object.freeze({
+			x: manifold.normalX,
+			y: manifold.normalY
+		}),
+		points: Object.freeze(points)
+	});
 };
 const makeEndEvent = (a, b) => Object.freeze({
-    bodyA: a.body,
-    bodyB: b.body,
-    colliderA: a,
-    colliderB: b,
-    normal: Object.freeze({ x: 0, y: 0 }),
-    points: Object.freeze([]),
+	bodyA: a.body,
+	bodyB: b.body,
+	colliderA: a,
+	colliderB: b,
+	normal: Object.freeze({
+		x: 0,
+		y: 0
+	}),
+	points: Object.freeze([])
 });
 const makeSensorEvent = (a, b) => {
-    let sensor;
-    let other;
-    if (a.isSensor && b.isSensor) {
-        sensor = a.id < b.id ? a : b;
-        other = sensor === a ? b : a;
-    }
-    else if (a.isSensor) {
-        sensor = a;
-        other = b;
-    }
-    else {
-        sensor = b;
-        other = a;
-    }
-    return Object.freeze({ sensor, other });
+	let sensor;
+	let other;
+	if (a.isSensor && b.isSensor) {
+		sensor = a.id < b.id ? a : b;
+		other = sensor === a ? b : a;
+	} else if (a.isSensor) {
+		sensor = a;
+		other = b;
+	} else {
+		sensor = b;
+		other = a;
+	}
+	return Object.freeze({
+		sensor,
+		other
+	});
 };
 const byColliderPair = (x, y) => x.colliderA.id - y.colliderA.id || x.colliderB.id - y.colliderB.id;
 const bySensorPair = (x, y) => x.sensor.id - y.sensor.id || x.other.id - y.other.id;
 const byRecordPair = (x, y) => x.a.id - y.a.id || x.b.id - y.b.id;
 
+//#endregion
 export { ContactGraph, pairKey, pairKeyStride };
-//# sourceMappingURL=ContactGraph.js.map
+//# sourceMappingURL=ContactGraph.js.map

package/dist/esm/ContactGraph.js.map

@@ -1 +1 @@
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+{"version":3,"file":"ContactGraph.js","names":[],"sources":["../../src/ContactGraph.ts"],"sourcesContent":["import type { CandidatePair } from './broadphase/BroadPhase';\nimport type { Collider } from './Collider';\nimport { authoredCollider } from './Collider';\nimport { Manifold } from './collision/Manifold';\nimport { collide, testOverlap } from './collision/narrowphase';\nimport type { ContactModifier } from './ContactModifier';\nimport { MutableContactModifierContext } from './ContactModifier';\nimport type { CollisionEvent, ContactPoint, SensorEvent } from './events';\nimport { sortInPlace } from './sort';\nimport { shouldCollide } from './types';\n\n/**\n * Persistent per-pair contact state. For solid contacts it carries a manifold\n * reused across passes plus the accumulated normal/tangent impulses (warm-start\n * cache), keyed by manifold-point feature ids. Consumed by the {@link ContactSolver}.\n */\nexport interface ContactRecord {\n  readonly a: Collider;\n  readonly b: Collider;\n  /**\n   * Authored collider behind {@link a} - itself, unless `a` is an engine-owned\n   * chain edge proxy, in which case it is the chain collider the caller made.\n   * Solver identity is the proxy pair; public identity is the authored pair.\n   */\n  readonly ownerA: Collider;\n  readonly ownerB: Collider;\n  readonly isSensor: boolean;\n  touching: boolean;\n  seen: boolean;\n  /**\n   * Per-step solver participation. Re-derived to `true` for every touching solid\n   * contact each pass, then optionally cleared by the world's `ContactModifier`.\n   */\n  enabled: boolean;\n  /** Per-step Coulomb friction, re-derived from the two colliders each pass. */\n  friction: number;\n  /** Per-step restitution, re-derived from the two colliders each pass. */\n  restitution: number;\n  /** Persistent manifold (solid contacts), refreshed each pass by the narrow phase. */\n  readonly manifold: Manifold;\n  /** Accumulated normal impulse per contact point, carried across steps (warm-start). */\n  readonly normalImpulse: [number, number];\n  /** Accumulated tangent impulse per contact point, carried across steps (warm-start). */\n  readonly tangentImpulse: [number, number];\n  /** Feature ids the cached impulses belong to (for warm-start matching). */\n  readonly pointIds: [number, number];\n}\n\n/**\n * The persistent contact set. Each detection pass it diffs the currently\n * touching collider pairs against the previous pass and produces immutable\n * begin/end (and sensor enter/exit) event snapshots. Duplicate begin/end churn\n * is suppressed by the persistent records, and the produced event arrays are\n * sorted by collider id for deterministic dispatch.\n *\n * Touching solid contacts are also collected into {@link solidContacts} (with a\n * warm-start impulse cache) for the dynamics solver. The graph holds no\n * module-level state - each world owns one.\n *\n * Records are keyed on the pair the solver sees, which for a chain collider is\n * one of its edge proxies. Events are not: a body touching several edges of one\n * chain is one authored contact, so the graph reference-counts the authored pair\n * behind its records and emits begin/end only on the first and last of them.\n */\nexport class ContactGraph {\n  /** Immutable solid-contact begin snapshots produced by the latest {@link update}. */\n  public readonly collisionStart: CollisionEvent[] = [];\n  /** Immutable solid-contact end snapshots produced by the latest {@link update}. */\n  public readonly collisionEnd: CollisionEvent[] = [];\n  /** Immutable sensor-enter snapshots produced by the latest {@link update}. */\n  public readonly sensorEnter: SensorEvent[] = [];\n  /** Immutable sensor-exit snapshots produced by the latest {@link update}. */\n  public readonly sensorExit: SensorEvent[] = [];\n  /** Touching solid contacts this pass, in deterministic order - consumed by the solver. */\n  public readonly solidContacts: ContactRecord[] = [];\n\n  // Integer pair-keys (`(a.id << 16) | b.id`, a.id < b.id guaranteed by the broad\n  // phase) - cheaper than string keys on the per-step solver hot path.\n  private readonly _records = new Map<number, ContactRecord>();\n  // Live solver contacts per authored collider pair. Only pairs whose records\n  // are engine-owned proxies appear here; everything else emits directly.\n  private readonly _authoredPairs = new Map<number, number>();\n  private readonly _modifierContext = new MutableContactModifierContext();\n\n  /** Touching pairs currently tracked (for debug draw). */\n  public get recordCount(): number {\n    return this._records.size;\n  }\n\n  /** Diff this pass's candidate pairs against the persistent set, collecting events + solid contacts. */\n  public update(pairs: readonly CandidatePair[]): void {\n    this.collisionStart.length = 0;\n    this.collisionEnd.length = 0;\n    this.sensorEnter.length = 0;\n    this.sensorExit.length = 0;\n    this.solidContacts.length = 0;\n\n    this._records.forEach(resetSeen);\n\n    for (const pair of pairs) {\n      const a = pair.a;\n      const b = pair.b;\n\n      // Material, filter and sensor flag live on the authored collider; an edge\n      // proxy carries none of its own, so a chain stays one collider to configure.\n      const ownerA = authoredCollider(a);\n      const ownerB = authoredCollider(b);\n\n      if (!shouldCollide(ownerA.filter, ownerB.filter)) {\n        continue;\n      }\n\n      const isSensor = ownerA.isSensor || ownerB.isSensor;\n      const key = pairKey(a.id, b.id);\n      const existing = this._records.get(key);\n      const record = existing ?? createRecord(a, b, ownerA, ownerB, isSensor);\n      const touching = isSensor ? testOverlap(a, b) : collide(a, b, record.manifold);\n\n      if (touching) {\n        record.seen = true;\n\n        if (existing === undefined) {\n          this._records.set(key, record);\n        }\n\n        if (!record.touching) {\n          record.touching = true;\n          this._emitBegin(record);\n        }\n\n        if (!isSensor) {\n          // Per-step controls start from the collider-derived defaults every\n          // pass, so a modifier that skipped a contact last step does not leak\n          // into this one.\n          record.enabled = true;\n          record.friction = Math.sqrt(ownerA.friction * ownerB.friction);\n          record.restitution = Math.max(ownerA.restitution, ownerB.restitution);\n          warmStartMatch(record);\n          this.solidContacts.push(record);\n        }\n      } else if (existing !== undefined) {\n        if (record.touching) {\n          this._emitEnd(record);\n        }\n\n        this._records.delete(key);\n      }\n    }\n\n    // Pairs that left the broad phase entirely while touching → fire end. forEach\n    // + thisArg is the allocation-free iteration (for...of allocates an entry tuple\n    // per record each step); the thisArg binds `this`, so unbound-method is a\n    // false positive here.\n    // eslint-disable-next-line @typescript-eslint/unbound-method -- the thisArg above binds it\n    this._records.forEach(this._removeIfUnseen, this);\n\n    sortInPlace(this.collisionStart, byColliderPair);\n    sortInPlace(this.collisionEnd, byColliderPair);\n    sortInPlace(this.sensorEnter, bySensorPair);\n    sortInPlace(this.sensorExit, bySensorPair);\n    sortInPlace(this.solidContacts, byRecordPair);\n  }\n\n  /**\n   * Run `modifier` over every touching solid contact of this pass. Called after\n   * detection and before island building, so a contact the modifier disables\n   * neither reaches the solver nor couples its two bodies into one sleeping\n   * island. A disabled contact's warm-start cache is dropped, so re-enabling it\n   * later starts from zero instead of releasing a stale impulse.\n   */\n  public applyModifier(modifier: ContactModifier): void {\n    const context = this._modifierContext;\n\n    for (const record of this.solidContacts) {\n      context.bind(record);\n      modifier(context);\n      context.flush(record);\n\n      if (!record.enabled) {\n        record.normalImpulse[0] = 0;\n        record.normalImpulse[1] = 0;\n        record.tangentImpulse[0] = 0;\n        record.tangentImpulse[1] = 0;\n        record.pointIds[0] = 0;\n        record.pointIds[1] = 0;\n      }\n    }\n  }\n\n  /**\n   * Remove every record referencing `collider` (called when a collider is\n   * destroyed). Passing an authored chain collider also drops the records of\n   * every edge proxy it owns.\n   */\n  public removeCollider(collider: Collider): void {\n    for (const [key, record] of this._records) {\n      if (record.a === collider || record.b === collider || record.ownerA === collider || record.ownerB === collider) {\n        if (record.touching) {\n          this._releaseAuthoredPair(record);\n        }\n\n        this._records.delete(key);\n      }\n    }\n  }\n\n  /** Drop all records (world reset/destroy). */\n  public clear(): void {\n    this._records.clear();\n    this._authoredPairs.clear();\n  }\n\n  private _emitBegin(record: ContactRecord): void {\n    if (!this._retainAuthoredPair(record)) {\n      return;\n    }\n\n    if (record.isSensor) {\n      this.sensorEnter.push(makeSensorEvent(record.ownerA, record.ownerB));\n    } else {\n      this.collisionStart.push(makeCollisionEvent(record.ownerA, record.ownerB, record.manifold));\n    }\n  }\n\n  private _emitEnd(record: ContactRecord): void {\n    if (!this._releaseAuthoredPair(record)) {\n      return;\n    }\n\n    if (record.isSensor) {\n      this.sensorExit.push(makeSensorEvent(record.ownerA, record.ownerB));\n    } else {\n      this.collisionEnd.push(makeEndEvent(record.ownerA, record.ownerB));\n    }\n  }\n\n  /**\n   * Count one more solver contact against the authored pair, reporting whether\n   * it is the first - the only one that may emit a begin event. A record whose\n   * colliders are the authored ones needs no counting at all, so a world without\n   * chains never touches the map.\n   */\n  private _retainAuthoredPair(record: ContactRecord): boolean {\n    if (record.a === record.ownerA && record.b === record.ownerB) {\n      return true;\n    }\n\n    const key = authoredPairKey(record);\n    const count = this._authoredPairs.get(key) ?? 0;\n\n    this._authoredPairs.set(key, count + 1);\n\n    return count === 0;\n  }\n\n  /** Counterpart of {@link _retainAuthoredPair}: `true` on the last contact of the pair. */\n  private _releaseAuthoredPair(record: ContactRecord): boolean {\n    if (record.a === record.ownerA && record.b === record.ownerB) {\n      return true;\n    }\n\n    const key = authoredPairKey(record);\n    const count = (this._authoredPairs.get(key) ?? 1) - 1;\n\n    if (count <= 0) {\n      this._authoredPairs.delete(key);\n\n      return true;\n    }\n\n    this._authoredPairs.set(key, count);\n\n    return false;\n  }\n\n  /**\n   * `Map.forEach` callback (its `this` bound via the forEach thisArg) - drops a\n   * record the latest pass did not see, firing an end event if it was touching.\n   * A method reference + thisArg keeps the per-step iteration allocation-free,\n   * unlike `for (const [key, record] of map)` which allocates an entry tuple per\n   * record (~1000/step). Deleting the current entry during forEach is safe.\n   */\n  private _removeIfUnseen(record: ContactRecord, key: number): void {\n    if (!record.seen) {\n      if (record.touching) {\n        this._emitEnd(record);\n      }\n\n      this._records.delete(key);\n    }\n  }\n}\n\n/** `Map.forEach` callback - clears the per-pass `seen` flag (no iterator allocation). */\nconst resetSeen = (record: ContactRecord): void => {\n  record.seen = false;\n};\n\n/**\n * Stride for packing two collider ids into one pair key. Multiplying by this\n * (rather than a 32-bit `<<`) keeps the key collision-free up to ~67M (2^26)\n * ids per world, within JS's 2^53 safe-integer range.\n * @internal\n */\nexport const pairKeyStride = 0x4000000; // 2^26\n\n/**\n * Integer key for an unordered collider pair (`aId < bId` is guaranteed by the\n * broad phase). The previous `(aId << 16) | bId` silently collided once any id\n * reached 65536, because JS bitwise operators wrap at 32 bits.\n * @internal\n */\nexport const pairKey = (aId: number, bId: number): number => aId * pairKeyStride + bId;\n\nconst authoredPairKey = (record: ContactRecord): number => {\n  const first = record.ownerA.id;\n  const second = record.ownerB.id;\n\n  return first < second ? pairKey(first, second) : pairKey(second, first);\n};\n\nconst createRecord = (a: Collider, b: Collider, ownerA: Collider, ownerB: Collider, isSensor: boolean): ContactRecord => ({\n  a,\n  b,\n  ownerA,\n  ownerB,\n  isSensor,\n  touching: false,\n  seen: true,\n  enabled: true,\n  friction: 0,\n  restitution: 0,\n  manifold: new Manifold(),\n  normalImpulse: [0, 0],\n  tangentImpulse: [0, 0],\n  pointIds: [0, 0],\n});\n\n/**\n * Map the previously accumulated impulses onto the new manifold points by feature\n * id (warm-starting). Unmatched points start at zero; the cache is re-keyed to the\n * new ids. Runs after `collide` has refreshed `record.manifold`.\n */\nconst warmStartMatch = (record: ContactRecord): void => {\n  const manifold = record.manifold;\n  const pn0 = record.normalImpulse[0];\n  const pn1 = record.normalImpulse[1];\n  const pt0 = record.tangentImpulse[0];\n  const pt1 = record.tangentImpulse[1];\n  const pid0 = record.pointIds[0];\n  const pid1 = record.pointIds[1];\n\n  for (let i = 0; i < 2; i++) {\n    if (i < manifold.pointCount) {\n      // i ∈ {0,1} and within pointCount, so the manifold point exists.\n      const id = (i === 0 ? manifold.points[0] : manifold.points[1]).id;\n      let normal = 0;\n      let tangent = 0;\n\n      if (id === pid0) {\n        normal = pn0;\n        tangent = pt0;\n      } else if (id === pid1) {\n        normal = pn1;\n        tangent = pt1;\n      }\n\n      record.normalImpulse[i] = normal;\n      record.tangentImpulse[i] = tangent;\n      record.pointIds[i] = id;\n    } else {\n      record.normalImpulse[i] = 0;\n      record.tangentImpulse[i] = 0;\n      record.pointIds[i] = 0;\n    }\n  }\n};\n\nconst makeCollisionEvent = (a: Collider, b: Collider, manifold: Manifold): CollisionEvent => {\n  const points: ContactPoint[] = [];\n\n  for (let i = 0; i < manifold.pointCount; i++) {\n    // i in 0..pointCount-1 and pointCount ≤ 2, so the manifold point exists.\n    const p = i === 0 ? manifold.points[0] : manifold.points[1];\n\n    points.push(Object.freeze({ x: p.x, y: p.y, penetration: p.penetration }));\n  }\n\n  return Object.freeze({\n    bodyA: a.body,\n    bodyB: b.body,\n    colliderA: a,\n    colliderB: b,\n    normal: Object.freeze({ x: manifold.normalX, y: manifold.normalY }),\n    points: Object.freeze(points),\n  });\n};\n\nconst makeEndEvent = (a: Collider, b: Collider): CollisionEvent =>\n  Object.freeze({\n    bodyA: a.body,\n    bodyB: b.body,\n    colliderA: a,\n    colliderB: b,\n    normal: Object.freeze({ x: 0, y: 0 }),\n    points: Object.freeze([] as ContactPoint[]),\n  });\n\nconst makeSensorEvent = (a: Collider, b: Collider): SensorEvent => {\n  let sensor: Collider;\n  let other: Collider;\n\n  if (a.isSensor && b.isSensor) {\n    sensor = a.id < b.id ? a : b;\n    other = sensor === a ? b : a;\n  } else if (a.isSensor) {\n    sensor = a;\n    other = b;\n  } else {\n    sensor = b;\n    other = a;\n  }\n\n  return Object.freeze({ sensor, other });\n};\n\nconst byColliderPair = (x: CollisionEvent, y: CollisionEvent): number => x.colliderA.id - y.colliderA.id || x.colliderB.id - y.colliderB.id;\n\nconst bySensorPair = (x: SensorEvent, y: SensorEvent): number => x.sensor.id - y.sensor.id || x.other.id - y.other.id;\n\nconst byRecordPair = (x: ContactRecord, y: ContactRecord): number => x.a.id - y.a.id || x.b.id - 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