@codexo/exojs-physics 0.15.3 → 0.16.0

package/README.md

@@ -1,13 +1,13 @@
 # @codexo/exojs-physics
 
-Native 2D **collision, query and sensor** runtime for [ExoJS](https://github.com/Exoridus/ExoJS).
+Native 2D **rigid-body** runtime for [ExoJS](https://github.com/Exoridus/ExoJS).
 
-Zero production dependencies, ESM-only, version-locked with the core engine. This
-first release ships a complete **collision/query world without dynamics**:
-shapes, colliders, bodies, a broad phase, a manifold-generating narrow phase,
-collision filters, sensors, events, spatial queries, scene-node binding and a
-debug overlay. Forces, impulses and gravity integration (the rigid-body solver)
-arrive in a follow-up — the public surface here is forward-compatible with it.
+Zero production dependencies, ESM-only, version-locked with the core engine.
+It ships a fixed-step world with a warm-started **TGS-Soft** solver: shapes,
+colliders, bodies, a dynamic-AABB broad phase, a manifold-generating narrow
+phase, joints, sleeping islands, continuous collision for fast bodies, a
+per-contact modifier, collision filters, sensors, events, spatial queries,
+scene-node binding with interpolation, and a debug overlay.
 
 > **Library, not an extension.** Physics contributes no renderer or asset
 > bindings, so there is no `/register` entry. Construct a `PhysicsWorld`
@@ -57,18 +57,27 @@ class GameScene extends Scene {
 
 ## What it does
 
-| Area | API |
-|---|---|
-| World | `PhysicsWorld`, `step`, `gravity`, `timeStepper`, `destroy` |
-| Bodies | `new PhysicsBody` + `world.add` (`dynamic`/`static`/`kinematic`), `setTransform`, mass/inertia from colliders |
-| Colliders | `new Collider` + `body.addCollider` / `colliders: [...]`, density/friction/restitution, `isSensor`, filter, offset |
-| Attach | `world.attach(node, def)` — body + collider + `bind` in one call |
-| Shapes | `CircleShape`, `PolygonShape` (convex-validated), `BoxShape` |
-| Filtering | `CollisionFilter` (category/mask/group), `shouldCollide` |
-| Events | `onCollisionStart` / `onCollisionEnd` / `onSensorEnter` / `onSensorExit` — immutable snapshots |
-| Queries | `queryPoint`, `queryAabb` (+ `out` / `forEachAabbHit`), `rayCast`, `rayCastAll`, `overlapShape` |
-| Binding | `bind(body, node)` — node tracks the body's position each step |
-| Debug | `@codexo/exojs-physics/debug` → `PhysicsDebugDraw` (shapes/AABBs/contacts/normals/centres/broad-phase) |
+| Area                 | API                                                                                                                         |
+| -------------------- | --------------------------------------------------------------------------------------------------------------------------- |
+| World                | `PhysicsWorld`, `step`, `gravity`, `timeStepper`, `destroy`                                                                 |
+| Bodies               | `new PhysicsBody` + `world.add` (`dynamic`/`static`/`kinematic`), `setTransform`, mass/inertia from colliders               |
+| Colliders            | `new Collider` + `body.addCollider` / `colliders: [...]`, density/friction/restitution, `isSensor`, filter, offset          |
+| Attach               | `world.attach(node, def)` — body + collider + `bind` in one call                                                            |
+| Shapes               | solid: `CircleShape`, `CapsuleShape`, `PolygonShape` (convex-validated), `BoxShape`; boundary: `SegmentShape`, `ChainShape` |
+| Concave outlines     | `toConvexPolygonShapes(vertices)` — one possibly-concave outline into the convex `PolygonShape`s for a single body          |
+| Dynamics             | fixed-step TGS-Soft solver, gravity, forces/impulses, friction/restitution, sleeping islands                                |
+| Joints               | `DistanceJoint`, `RevoluteJoint`, `PrismaticJoint`, `WheelJoint`, `WeldJoint`, `MouseJoint`                                 |
+| Continuous collision | `body.isBullet` — exact translational shape cast of the whole shape, not just its centre                                    |
+| Contact policy       | `world.contactModifier` — per-contact material/enable decisions (one-way platforms, conditional friction)                   |
+| Filtering            | `CollisionFilter` (category/mask/group), `shouldCollide`                                                                    |
+| Events               | `onCollisionStart` / `onCollisionEnd` / `onSensorEnter` / `onSensorExit` — immutable snapshots                              |
+| Queries              | `queryPoint`, `queryAabb` (+ `out` / `forEachAabbHit`), `rayCast`, `rayCastAll`, `overlapShape`                             |
+| Binding              | `bind(body, node)` — node tracks the body's position each step                                                              |
+| Debug                | `@codexo/exojs-physics/debug` → `PhysicsDebugDraw` (shapes/AABBs/contacts/normals/centres/broad-phase/joints)               |
+
+Building a level out of a tilemap? `@codexo/exojs-tilemap-physics` turns
+`@codexo/exojs-tilemap` collision geometry into static bodies and keeps them in
+sync with streamed chunks.
 
 ## Determinism & non-goals
 
@@ -79,10 +88,29 @@ guarantees across builds or machines** (floating-point reality). The package is
 single-threaded and 2D only — no workers, GPU, 3D, soft bodies, fluids or
 vehicles.
 
-This release contains **no dynamics solver**: bodies move only via
-`setTransform`. The narrow phase already produces full contact manifolds (normal,
-1–2 points, stable feature ids) so the solver can be added without changing the
-public API.
+`step()` owns its own fixed-timestep accumulator, so you can drive it from
+either the engine's `Scene.fixedUpdate` (already a constant-rate hook — the
+idiomatic choice) or straight from `Scene.update`'s raw, variable per-frame
+delta; either way `step` converts whatever it's given into the right number of
+fixed sub-steps. See the "Stepping the world" section of the
+[physics guide](https://exoridus.github.io/ExoJS/en/guide/physics/physics-basics/)
+for the details and an interpolation note (`world.timeStepper.alpha`).
+
+**Broad-phase scale.** Collision detection uses a dynamic AABB tree
+(Box2D-style), incrementally updated across steps: a collider whose AABB
+stays within its stored margin is never reinserted, so the dominant cost
+tracks how much actually moved rather than the total live collider count
+(there's still a cheap linear pass over all live colliders each step). Scales
+to tens of thousands of simultaneously-live colliders.
+
+**Solid and boundary geometry.** `CircleShape`, `CapsuleShape`, `PolygonShape`
+and `BoxShape` enclose an area and carry mass; `SegmentShape` and `ChainShape`
+are boundaries with no interior, so they contribute collision only and a
+`dynamic` body needs at least one solid collider alongside them. A chain is one
+authored collider that the engine solves edge by edge with shared-vertex
+adjacency, so a body slides across a seam without snagging. Two boundaries never
+collide with each other, and a boundary is never the _moving_ operand of a
+continuous shape cast — level structure is swept against, not swept.
 
 ## License
 

package/dist/esm/Aabb.d.ts

@@ -1,14 +1,10 @@
-export interface Aabb {
-    minX: number;
-    minY: number;
-    maxX: number;
-    maxY: number;
-}
+import type { AabbLike } from '@codexo/exojs';
 /** Create a zero-extent AABB at the origin. */
-export declare const createAabb: () => Aabb;
+export declare const createAabb: () => AabbLike;
 /** `true` when two AABBs overlap (touching edges count as overlapping). */
-export declare const aabbOverlap: (a: Aabb, b: Aabb) => boolean;
+export declare const aabbOverlap: (a: AabbLike, b: AabbLike) => boolean;
 /** `true` when `(x, y)` lies inside (or on the edge of) `aabb`. */
-export declare const aabbContainsPoint: (aabb: Aabb, x: number, y: number) => boolean;
+export declare const aabbContainsPoint: (aabb: AabbLike, x: number, y: number) => boolean;
 /** Grow `aabb` outward by `margin` on every side, in place. */
-export declare const expandAabb: (aabb: Aabb, margin: number) => Aabb;
+export declare const expandAabb: (aabb: AabbLike, margin: number) => AabbLike;
+//# sourceMappingURL=Aabb.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"Aabb.d.ts","sourceRoot":"","sources":["../../src/Aabb.ts"],"names":[],"mappings":"AAMA,OAAO,KAAK,EAAE,QAAQ,EAAE,MAAM,eAAe,CAAC;AAE9C,+CAA+C;AAC/C,eAAO,MAAM,UAAU,QAAO,QAAoD,CAAC;AAEnF,2EAA2E;AAC3E,eAAO,MAAM,WAAW,GAAI,GAAG,QAAQ,EAAE,GAAG,QAAQ,KAAG,OAAuF,CAAC;AAE/I,mEAAmE;AACnE,eAAO,MAAM,iBAAiB,GAAI,MAAM,QAAQ,EAAE,GAAG,MAAM,EAAE,GAAG,MAAM,KAAG,OAA+E,CAAC;AAEzJ,+DAA+D;AAC/D,eAAO,MAAM,UAAU,GAAI,MAAM,QAAQ,EAAE,QAAQ,MAAM,KAAG,QAO3D,CAAC"}

package/dist/esm/Aabb.js

@@ -1,12 +1,16 @@
-// Axis-aligned bounding box used by the broad phase and AABB queries. Stored as
-// min/max extents (not centre + half-extent) because the sweep-and-prune broad
-// phase and overlap tests read the edges directly.
+//#region src/Aabb.ts
 /** Create a zero-extent AABB at the origin. */
-const createAabb = () => ({ minX: 0, minY: 0, maxX: 0, maxY: 0 });
+const createAabb = () => ({
+	minX: 0,
+	minY: 0,
+	maxX: 0,
+	maxY: 0
+});
 /** `true` when two AABBs overlap (touching edges count as overlapping). */
 const aabbOverlap = (a, b) => a.minX <= b.maxX && a.maxX >= b.minX && a.minY <= b.maxY && a.maxY >= b.minY;
 /** `true` when `(x, y)` lies inside (or on the edge of) `aabb`. */
 const aabbContainsPoint = (aabb, x, y) => x >= aabb.minX && x <= aabb.maxX && y >= aabb.minY && y <= aabb.maxY;
 
+//#endregion
 export { aabbContainsPoint, aabbOverlap, createAabb };
-//# sourceMappingURL=Aabb.js.map
+//# sourceMappingURL=Aabb.js.map

package/dist/esm/Aabb.js.map

@@ -1 +1 @@
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+{"version":3,"file":"Aabb.js","names":[],"sources":["../../src/Aabb.ts"],"sourcesContent":["// Axis-aligned bounding box helpers for the broad phase and AABB queries. The\n// box itself is core's structural `AabbLike` (min/max extents, not centre +\n// half-extent) - the broad-phase tree and the overlap tests read the edges\n// directly, and sharing one contract keeps colliders, spatial trees and query\n// bounds interchangeable across package boundaries.\n\nimport type { AabbLike } from '@codexo/exojs';\n\n/** Create a zero-extent AABB at the origin. */\nexport const createAabb = (): AabbLike => ({ minX: 0, minY: 0, maxX: 0, maxY: 0 });\n\n/** `true` when two AABBs overlap (touching edges count as overlapping). */\nexport const aabbOverlap = (a: AabbLike, b: AabbLike): boolean => a.minX <= b.maxX && a.maxX >= b.minX && a.minY <= b.maxY && a.maxY >= b.minY;\n\n/** `true` when `(x, y)` lies inside (or on the edge of) `aabb`. */\nexport const aabbContainsPoint = (aabb: AabbLike, x: number, y: number): boolean => x >= aabb.minX && x <= aabb.maxX && y >= aabb.minY && y <= aabb.maxY;\n\n/** Grow `aabb` outward by `margin` on every side, in place. */\nexport const expandAabb = (aabb: AabbLike, margin: number): AabbLike => {\n  aabb.minX -= margin;\n  aabb.minY -= margin;\n  aabb.maxX += margin;\n  aabb.maxY += margin;\n\n  return aabb;\n};\n"],"mappings":";;AASA,MAAa,oBAA8B;CAAE,MAAM;CAAG,MAAM;CAAG,MAAM;CAAG,MAAM;AAAE;;AAGhF,MAAa,eAAe,GAAa,MAAyB,EAAE,QAAQ,EAAE,QAAQ,EAAE,QAAQ,EAAE,QAAQ,EAAE,QAAQ,EAAE,QAAQ,EAAE,QAAQ,EAAE;;AAG1I,MAAa,qBAAqB,MAAgB,GAAW,MAAuB,KAAK,KAAK,QAAQ,KAAK,KAAK,QAAQ,KAAK,KAAK,QAAQ,KAAK,KAAK"}

package/dist/esm/Collider.d.ts

@@ -1,8 +1,8 @@
-import type { Aabb } from './Aabb';
-import type { Mutable2D, Transform } from './math';
+import type { AabbLike, PointLike } from '@codexo/exojs';
+import type { Transform } from './math';
 import type { PhysicsBody } from './PhysicsBody';
 import type { AnyShape } from './shapes/AnyShape';
-import type { CollisionFilter, VectorLike } from './types';
+import type { CollisionFilter } from './types';
 /** Construction options for a collider. */
 export interface ColliderOptions {
     /** The collision geometry. */
@@ -18,7 +18,7 @@ export interface ColliderOptions {
     /** Category/mask/group filter; partials merge over the defaults. */
     filter?: Partial<CollisionFilter>;
     /** Body-local offset of the shape origin. Default `(0, 0)`. */
-    offset?: VectorLike;
+    offset?: Readonly<PointLike>;
     /** Body-local rotation of the shape in radians (compound colliders). Default `0`. */
     rotation?: number;
 }
@@ -26,7 +26,7 @@ export interface ColliderOptions {
  * Geometry attached to a {@link PhysicsBody}: a {@link Shape} plus a body-local
  * offset/rotation, material (friction/restitution/density) and a collision
  * filter. A body may own several colliders (compound). The collider also caches
- * its world-space geometry — refreshed by {@link synchronize} — which the broad
+ * its world-space geometry - refreshed by {@link synchronize} - which the broad
  * phase, narrow phase and queries read directly.
  *
  * Material fields and the filter are mutable; the shape and local placement are
@@ -45,6 +45,8 @@ export declare class Collider {
     readonly filter: CollisionFilter;
     private _id;
     private _body;
+    private readonly _chainEdges;
+    private _chainParent;
     private readonly _localTransform;
     private readonly _worldTransform;
     private readonly _aabb;
@@ -53,6 +55,15 @@ export declare class Collider {
     private readonly _worldVertices;
     private readonly _worldNormals;
     private _destroyed;
+    /**
+     * @internal - proxy id in the physics world's broad-phase spatial tree; `-1`
+     * when not inserted. Like `PhysicsBody._islandIndex`/`_sleepTime`, this is a
+     * single-owner slot: exactly ONE `AabbTreeBroadPhase` may track this collider
+     * at a time (in production, the world's own broad phase for the collider's
+     * whole lifetime). A second broad phase over the same collider would clobber
+     * this value and corrupt the first's tree - never do that.
+     */
+    _treeProxy: number;
     constructor(options: ColliderOptions);
     /** Stable id, assigned when the owning body joins a world via `world.add()`; `-1` until then. */
     get id(): number;
@@ -62,17 +73,28 @@ export declare class Collider {
      */
     get body(): PhysicsBody;
     /** The collider's world AABB (valid after the latest {@link synchronize}). */
-    get aabb(): Readonly<Aabb>;
+    get aabb(): Readonly<AabbLike>;
     /** The collider's world transform (offset/rotation composed with the body's). */
     get worldTransform(): Readonly<Transform>;
     /** The collider's body-local transform (offset + local rotation). */
     get localTransform(): Readonly<Transform>;
     /** World-space circle centre (only meaningful for circle shapes). */
-    get worldCenter(): Readonly<Mutable2D>;
-    /** World-space polygon vertices `[x0, y0, …]` (only meaningful for polygon shapes). */
+    get worldCenter(): Readonly<PointLike>;
+    /** World-space polygon vertices `[x0, y0, ...]` (only meaningful for polygon shapes). */
     get worldVertices(): readonly number[];
-    /** World-space polygon outward normals `[x0, y0, …]` (only meaningful for polygon shapes). */
+    /** World-space polygon outward normals `[x0, y0, ...]` (only meaningful for polygon shapes). */
     get worldNormals(): readonly number[];
+    /**
+     * @internal - the engine-owned edge proxies a chain collider fans out into,
+     * one per chain edge; `null` for every other shape. They are what the broad
+     * phase, the narrow phase and the solver see, so a chain contact reuses the
+     * one-manifold-per-pair model unchanged. They are never part of
+     * `body.colliders`, `world.colliders` or any query result - the authored
+     * collider is the public identity of every contact they produce.
+     */
+    get chainEdges(): readonly Collider[] | null;
+    /** @internal - the authored chain collider this edge proxy belongs to; `null` for an authored collider. */
+    get chainParent(): Collider | null;
     /** `true` after the owning world has destroyed this collider. */
     get destroyed(): boolean;
     /**
@@ -81,8 +103,38 @@ export declare class Collider {
      * detection pass.
      */
     synchronize(bodyTransform: Transform): void;
-    /** @internal — bind this collider to its body and id (called when the body joins a world). */
+    /**
+     * A chain's world geometry is its edge proxies': each of them shares the
+     * chain's local placement and syncs its own two endpoints, and the chain's own
+     * AABB is their union. Nothing is transformed twice, and no proxy is rebuilt.
+     */
+    private _synchronizeChain;
+    /** A circle is its transformed centre; the local vertex buffers stay unused. */
+    private _synchronizeCircle;
+    /**
+     * Transform a local vertex/normal ring into the world buffers and take the
+     * AABB while doing it. `radius` inflates the box for a rounded outline (a
+     * capsule's spine); it is `0` for a plain polygon.
+     */
+    private _synchronizePolygon;
+    /** @internal - bind this collider to its body and id (called when the body joins a world). */
     _attach(body: PhysicsBody, id: number): void;
+    /**
+     * Fan a chain out into one proxy per edge. Each proxy carries the chain's own
+     * local placement, so it needs no transform of its own, and its shape carries
+     * the adjacency that keeps a body from snagging at a shared vertex.
+     */
+    private _buildChainEdges;
     /** Internal: mark destroyed (called by the world). */
     _markDestroyed(): void;
 }
+/**
+ * The authored collider a contact, query hit or sweep target belongs to: the
+ * collider itself, or the chain it is an engine-owned edge proxy of. Every
+ * public identity - events, query results, the contact modifier - goes through
+ * this, so a solver-side partition never reaches a caller.
+ *
+ * @internal
+ */
+export declare const authoredCollider: (collider: Collider) => Collider;
+//# sourceMappingURL=Collider.d.ts.map

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