@codexo/exojs-physics 0.15.3 → 0.16.0

package/dist/esm/debug/PhysicsDebugDraw.js.map

@@ -1 +1 @@
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+{"version":3,"file":"PhysicsDebugDraw.js","names":[],"sources":["../../../src/debug/PhysicsDebugDraw.ts"],"sourcesContent":["import type { Application } from '@codexo/exojs';\nimport { Color, Graphics } from '@codexo/exojs';\nimport type { DebugLayerViewMode } from '@codexo/exojs/debug';\nimport { DebugLayer } from '@codexo/exojs/debug';\nimport type { RenderBackend } from '@codexo/exojs/renderer-sdk';\n\nimport { aabbOverlap } from '../Aabb';\nimport type { CandidatePair } from '../broadphase/BroadPhase';\nimport type { Collider } from '../Collider';\nimport { authoredCollider } from '../Collider';\nimport { Manifold } from '../collision/Manifold';\nimport { collide } from '../collision/narrowphase';\nimport type { PhysicsWorld } from '../PhysicsWorld';\nimport type { BodyType } from '../types';\n\n/** Toggles for the physics debug overlay. */\nexport interface PhysicsDebugDrawOptions {\n  /** Collider shape outlines, coloured by body type. Default `true`. */\n  drawShapes?: boolean;\n  /** World AABBs of the geometry the broad phase holds - a chain as its per-edge leaves. Default `false`. */\n  drawAabb?: boolean;\n  /** Contact points. Default `false`. */\n  drawContacts?: boolean;\n  /** Contact normals. Default `false`. */\n  drawNormals?: boolean;\n  /** Body origins (centre markers). Default `false`. */\n  drawCenters?: boolean;\n  /** Broad-phase candidate links between AABB-overlapping leaves - a chain links per edge. Default `false`. */\n  drawBroadphase?: boolean;\n  /** Tint sleeping bodies distinctly (applies to the shape outline). Default `false`. */\n  drawSleeping?: boolean;\n  /** Lines connecting the bodies of each joint. Default `false`. */\n  drawJoints?: boolean;\n}\n\nconst segments = 24;\n\nconst colorStatic = new Color(0.3, 0.9, 0.4, 0.9);\nconst colorKinematic = new Color(0.4, 0.7, 1, 0.9);\nconst colorDynamic = new Color(1, 0.85, 0.3, 0.9);\nconst colorSensor = new Color(1, 0.3, 1, 0.9);\nconst colorAabb = new Color(0.5, 0.5, 0.5, 0.5);\nconst colorContact = new Color(1, 0.2, 0.2, 1);\nconst colorNormal = new Color(1, 0.6, 0.1, 1);\nconst colorCenter = new Color(1, 1, 1, 0.9);\nconst colorBroadphase = new Color(0.2, 0.8, 0.8, 0.5);\nconst colorSleeping = new Color(0.45, 0.45, 0.5, 0.7);\nconst colorJoint = new Color(0.9, 0.5, 1, 0.8);\n\n/**\n * `DebugLayer` that visualises a {@link PhysicsWorld} - shapes, AABBs, contacts,\n * normals, centres and broad-phase links. It reads the world's public state and\n * recomputes contacts/broad-phase locally only while visible, so it never\n * perturbs the simulation and works over any backend. Lives in the `./debug`\n * subpath so it tree-shakes out of production bundles.\n */\nexport class PhysicsDebugDraw extends DebugLayer {\n  /** Mutable option flags (read each frame). */\n  public readonly options: Required<PhysicsDebugDrawOptions>;\n\n  private readonly _world: PhysicsWorld;\n  private _graphics: Graphics | null = null;\n  private readonly _manifold = new Manifold();\n  private readonly _pairs: CandidatePair[] = [];\n\n  public constructor(app: Application, world: PhysicsWorld, options: PhysicsDebugDrawOptions = {}) {\n    super(app);\n\n    this._world = world;\n    this.options = {\n      drawShapes: options.drawShapes ?? true,\n      drawAabb: options.drawAabb ?? false,\n      drawContacts: options.drawContacts ?? false,\n      drawNormals: options.drawNormals ?? false,\n      drawCenters: options.drawCenters ?? false,\n      drawBroadphase: options.drawBroadphase ?? false,\n      drawSleeping: options.drawSleeping ?? false,\n      drawJoints: options.drawJoints ?? false,\n    };\n  }\n\n  public override get viewMode(): DebugLayerViewMode {\n    return 'world';\n  }\n\n  public override update(): void {\n    // All state is read from the world in render().\n  }\n\n  public override render(backend: RenderBackend): void {\n    const gfx = (this._graphics ??= new Graphics());\n    const options = this.options;\n\n    gfx.clear();\n    gfx.lineWidth = 1;\n\n    if (options.drawBroadphase) {\n      this._renderBroadphase(gfx);\n    }\n\n    if (options.drawAabb) {\n      // The solver-side geometry, so a chain shows the leaves the broad phase\n      // actually holds rather than the union box no phase ever tests.\n      for (const collider of this._world.detectionGeometry) {\n        this._strokeAabb(gfx, collider);\n      }\n    }\n\n    if (options.drawShapes) {\n      for (const collider of this._world.colliders) {\n        this._strokeShape(gfx, collider);\n      }\n    }\n\n    if (options.drawCenters) {\n      gfx.lineColor = colorCenter;\n\n      for (const body of this._world.bodies) {\n        this._strokeCross(gfx, body.x, body.y, 4);\n      }\n    }\n\n    if (options.drawContacts || options.drawNormals) {\n      this._renderContacts(gfx);\n    }\n\n    if (options.drawJoints) {\n      this._renderJoints(gfx);\n    }\n\n    gfx.render(backend);\n  }\n\n  private _renderJoints(gfx: Graphics): void {\n    gfx.lineColor = colorJoint;\n\n    for (const joint of this._world.joints) {\n      gfx.moveTo(joint.bodyA.x, joint.bodyA.y);\n      gfx.lineTo(joint.bodyB.x, joint.bodyB.y);\n    }\n  }\n\n  public override destroy(): void {\n    if (this._graphics !== null) {\n      this._graphics.destroy();\n      this._graphics = null;\n    }\n  }\n\n  // ── helpers ────────────────────────────────────────────────────────────\n\n  private _outlineColor(collider: Collider): Color {\n    if (collider.isSensor) {\n      return colorSensor;\n    }\n\n    if (this.options.drawSleeping && collider.body.isSleeping) {\n      return colorSleeping;\n    }\n\n    return colorForType(collider.body.type);\n  }\n\n  private _strokeShape(gfx: Graphics, collider: Collider): void {\n    gfx.lineColor = this._outlineColor(collider);\n\n    if (collider.shape.type === 'circle') {\n      const c = collider.worldCenter;\n      const r = collider.shape.radius;\n\n      this._strokeCircle(gfx, c.x, c.y, r);\n      // A spoke to the surface conveys orientation once bodies rotate.\n      gfx.moveTo(c.x, c.y);\n      gfx.lineTo(c.x + collider.worldTransform.cos * r, c.y + collider.worldTransform.sin * r);\n\n      return;\n    }\n\n    if (collider.shape.type === 'capsule') {\n      this._strokeCapsule(gfx, collider.worldVertices, collider.shape.radius);\n\n      return;\n    }\n\n    if (collider.shape.type === 'segment') {\n      const ends = collider.worldVertices;\n\n      gfx.moveTo(ends[0]!, ends[1]!);\n      gfx.lineTo(ends[2]!, ends[3]!);\n\n      return;\n    }\n\n    if (collider.shape.type === 'chain') {\n      // A chain keeps no world geometry of its own - its edge proxies do, and\n      // drawing them is drawing exactly what the solver sees, closing edge\n      // included.\n      for (const edge of collider.chainEdges ?? []) {\n        const ends = edge.worldVertices;\n\n        gfx.moveTo(ends[0]!, ends[1]!);\n        gfx.lineTo(ends[2]!, ends[3]!);\n      }\n\n      return;\n    }\n\n    const verts = collider.worldVertices;\n    const count = collider.shape.count;\n\n    gfx.moveTo(verts[0]!, verts[1]!);\n\n    for (let i = 1; i <= count; i++) {\n      const j = i % count;\n\n      gfx.lineTo(verts[j * 2]!, verts[j * 2 + 1]!);\n    }\n  }\n\n  /**\n   * Capsule outline: the two straight sides offset from the spine, joined by a\n   * half-circle at each end. The arcs are approximated - a visualisation may\n   * tessellate, the solver never does.\n   */\n  private _strokeCapsule(gfx: Graphics, spine: readonly number[], radius: number): void {\n    const ax = spine[0]!;\n    const ay = spine[1]!;\n    const bx = spine[2]!;\n    const by = spine[3]!;\n    const along = Math.atan2(by - ay, bx - ax);\n    const arcSegments = 12;\n\n    gfx.moveTo(ax + Math.cos(along + Math.PI / 2) * radius, ay + Math.sin(along + Math.PI / 2) * radius);\n    gfx.lineTo(bx + Math.cos(along + Math.PI / 2) * radius, by + Math.sin(along + Math.PI / 2) * radius);\n\n    for (let i = 1; i <= arcSegments; i++) {\n      const angle = along + Math.PI / 2 - (Math.PI * i) / arcSegments;\n\n      gfx.lineTo(bx + Math.cos(angle) * radius, by + Math.sin(angle) * radius);\n    }\n\n    for (let i = 1; i <= arcSegments; i++) {\n      const angle = along - Math.PI / 2 - (Math.PI * i) / arcSegments;\n\n      gfx.lineTo(ax + Math.cos(angle) * radius, ay + Math.sin(angle) * radius);\n    }\n  }\n\n  private _strokeAabb(gfx: Graphics, collider: Collider): void {\n    const box = collider.aabb;\n\n    gfx.lineColor = colorAabb;\n    gfx.moveTo(box.minX, box.minY);\n    gfx.lineTo(box.maxX, box.minY);\n    gfx.lineTo(box.maxX, box.maxY);\n    gfx.lineTo(box.minX, box.maxY);\n    gfx.lineTo(box.minX, box.minY);\n  }\n\n  private _strokeCircle(gfx: Graphics, cx: number, cy: number, r: number): void {\n    gfx.moveTo(cx + r, cy);\n\n    for (let i = 1; i <= segments; i++) {\n      const a = (i / segments) * Math.PI * 2;\n\n      gfx.lineTo(cx + Math.cos(a) * r, cy + Math.sin(a) * r);\n    }\n  }\n\n  private _strokeCross(gfx: Graphics, x: number, y: number, size: number): void {\n    gfx.moveTo(x - size, y);\n    gfx.lineTo(x + size, y);\n    gfx.moveTo(x, y - size);\n    gfx.lineTo(x, y + size);\n  }\n\n  /**\n   * Recomputes candidate pairs from scratch for the current frame via a plain\n   * brute-force AABB-overlap scan - deliberately NOT `AabbTreeBroadPhase`.\n   * That class relies on `Collider._treeProxy`, a field shared on the\n   * Collider object and valid only for whichever ONE broad phase currently\n   * owns it (the world's own `NativePhysicsBackend`); a second instance here\n   * would silently corrupt that ownership every time debug draw and a\n   * physics step interleave. Debug-only/opt-in (tree-shaken from production\n   * bundles), recomputed from scratch every visible frame regardless, so an\n   * O(n^2) scan is an appropriate, fully self-contained trade for\n   * correctness - it touches no state outside this method.\n   */\n  private _collectPairs(): void {\n    // The solver-side geometry: a chain contributes one leaf per edge, which is\n    // both what the broad phase pairs and what the narrow phase can solve.\n    const colliders = this._world.detectionGeometry;\n    const pairs = this._pairs;\n\n    pairs.length = 0;\n\n    for (let i = 0; i < colliders.length; i++) {\n      const a = colliders[i]!;\n\n      for (let j = i + 1; j < colliders.length; j++) {\n        const b = colliders[j]!;\n\n        if (a.body !== b.body && aabbOverlap(a.aabb, b.aabb)) {\n          pairs.push(a.id < b.id ? { a, b } : { a: b, b: a });\n        }\n      }\n    }\n  }\n\n  private _renderBroadphase(gfx: Graphics): void {\n    this._collectPairs();\n    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package/dist/esm/debug/index.d.ts

@@ -1 +1,2 @@
 export { PhysicsDebugDraw, type PhysicsDebugDrawOptions } from './PhysicsDebugDraw';
+//# sourceMappingURL=index.d.ts.map

package/dist/esm/debug/index.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../../src/debug/index.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,gBAAgB,EAAE,KAAK,uBAAuB,EAAE,MAAM,oBAAoB,CAAC"}

package/dist/esm/debug/index.js

@@ -1,2 +1,3 @@
-export { PhysicsDebugDraw } from './PhysicsDebugDraw.js';
-//# sourceMappingURL=index.js.map
+import { PhysicsDebugDraw } from "./PhysicsDebugDraw.js";
+
+export { PhysicsDebugDraw };

package/dist/esm/events.d.ts

@@ -33,3 +33,4 @@ export interface SensorEvent {
     readonly sensor: Collider;
     readonly other: Collider;
 }
+//# sourceMappingURL=events.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"events.d.ts","sourceRoot":"","sources":["../../src/events.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,QAAQ,EAAE,MAAM,YAAY,CAAC;AAC3C,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,eAAe,CAAC;AAEjD,uEAAuE;AACvE,MAAM,WAAW,YAAY;IAC3B,QAAQ,CAAC,CAAC,EAAE,MAAM,CAAC;IACnB,QAAQ,CAAC,CAAC,EAAE,MAAM,CAAC;IACnB,qCAAqC;IACrC,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;CAC9B;AAED;;;;;GAKG;AACH,MAAM,WAAW,cAAc;IAC7B,QAAQ,CAAC,KAAK,EAAE,WAAW,CAAC;IAC5B,QAAQ,CAAC,KAAK,EAAE,WAAW,CAAC;IAC5B,QAAQ,CAAC,SAAS,EAAE,QAAQ,CAAC;IAC7B,QAAQ,CAAC,SAAS,EAAE,QAAQ,CAAC;IAC7B,QAAQ,CAAC,MAAM,EAAE,QAAQ,CAAC;QAAE,CAAC,EAAE,MAAM,CAAC;QAAC,CAAC,EAAE,MAAM,CAAA;KAAE,CAAC,CAAC;IACpD,QAAQ,CAAC,MAAM,EAAE,SAAS,YAAY,EAAE,CAAC;CAC1C;AAED;;;;GAIG;AACH,MAAM,WAAW,WAAW;IAC1B,QAAQ,CAAC,MAAM,EAAE,QAAQ,CAAC;IAC1B,QAAQ,CAAC,KAAK,EAAE,QAAQ,CAAC;CAC1B"}

package/dist/esm/index.d.ts

@@ -1 +1,2 @@
 export * from './public';
+//# sourceMappingURL=index.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../src/index.ts"],"names":[],"mappings":"AAIA,cAAc,UAAU,CAAC"}

package/dist/esm/index.js

@@ -1,19 +1,24 @@
-export { PhysicsBinding } from './binding/PhysicsBinding.js';
-export { Collider } from './Collider.js';
-export { DistanceJoint } from './joints/DistanceJoint.js';
-export { Joint } from './joints/Joint.js';
-export { MouseJoint } from './joints/MouseJoint.js';
-export { PrismaticJoint } from './joints/PrismaticJoint.js';
-export { RevoluteJoint } from './joints/RevoluteJoint.js';
-export { WeldJoint } from './joints/WeldJoint.js';
-export { WheelJoint } from './joints/WheelJoint.js';
-export { PhysicsBody } from './PhysicsBody.js';
-export { physicsBuildInfo } from './physicsBuildInfo.js';
-export { PhysicsWorld } from './PhysicsWorld.js';
-export { BoxShape } from './shapes/BoxShape.js';
-export { CircleShape } from './shapes/CircleShape.js';
-export { PolygonShape } from './shapes/PolygonShape.js';
-export { Shape } from './shapes/Shape.js';
-export { TimeStepper } from './TimeStepper.js';
-export { defaultFilter, shouldCollide } from './types.js';
-//# sourceMappingURL=index.js.map
+import { PhysicsBinding } from "./binding/PhysicsBinding.js";
+import { defaultFilter, shouldCollide } from "./types.js";
+import { Collider } from "./Collider.js";
+import { Joint } from "./joints/Joint.js";
+import { DistanceJoint } from "./joints/DistanceJoint.js";
+import { PhysicsBody } from "./PhysicsBody.js";
+import { MouseJoint } from "./joints/MouseJoint.js";
+import { PrismaticJoint } from "./joints/PrismaticJoint.js";
+import { RevoluteJoint } from "./joints/RevoluteJoint.js";
+import { WeldJoint } from "./joints/WeldJoint.js";
+import { WheelJoint } from "./joints/WheelJoint.js";
+import { physicsBuildInfo } from "./physicsBuildInfo.js";
+import { Shape } from "./shapes/Shape.js";
+import { SegmentShape } from "./shapes/SegmentShape.js";
+import { TimeStepper } from "./TimeStepper.js";
+import { PhysicsWorld } from "./PhysicsWorld.js";
+import { PolygonShape } from "./shapes/PolygonShape.js";
+import { BoxShape } from "./shapes/BoxShape.js";
+import { CapsuleShape } from "./shapes/CapsuleShape.js";
+import { ChainShape } from "./shapes/ChainShape.js";
+import { CircleShape } from "./shapes/CircleShape.js";
+import { toConvexPolygonShapes } from "./shapes/convexParts.js";
+
+export { BoxShape, CapsuleShape, ChainShape, CircleShape, Collider, DistanceJoint, Joint, MouseJoint, PhysicsBinding, PhysicsBody, PhysicsWorld, PolygonShape, PrismaticJoint, RevoluteJoint, SegmentShape, Shape, TimeStepper, WeldJoint, WheelJoint, defaultFilter, physicsBuildInfo, shouldCollide, toConvexPolygonShapes };

package/dist/esm/joints/DistanceJoint.d.ts

@@ -1,5 +1,5 @@
+import type { PointLike } from '@codexo/exojs';
 import type { PhysicsBody } from '../PhysicsBody';
-import type { VectorLike } from '../types';
 import { Joint } from './Joint';
 /** Construction options for a {@link DistanceJoint}. */
 export interface DistanceJointOptions {
@@ -8,9 +8,9 @@ export interface DistanceJointOptions {
     /** Second body. */
     bodyB: PhysicsBody;
     /** World-space anchor on body A at creation. Default: body A's position. */
-    anchorA?: VectorLike;
+    anchorA?: Readonly<PointLike>;
     /** World-space anchor on body B at creation. Default: body B's position. */
-    anchorB?: VectorLike;
+    anchorB?: Readonly<PointLike>;
     /** Target distance between the anchors. Default: their initial distance. */
     length?: number;
     /** Soft-spring frequency in Hz; `0` (default) makes it a rigid constraint. */
@@ -69,3 +69,4 @@ export declare class DistanceJoint extends Joint {
     _solve(useBias: boolean): void;
     private _applyAxisImpulse;
 }
+//# sourceMappingURL=DistanceJoint.d.ts.map

package/dist/esm/joints/DistanceJoint.d.ts.map

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package/dist/esm/joints/DistanceJoint.js

@@ -1,176 +1,164 @@
-import { applyInverseTransform, applyTransform } from '../math.js';
-import { Joint } from './Joint.js';
+import { applyInverseTransform, applyTransform } from "../math.js";
+import { Joint } from "./Joint.js";
 
-/** Reused output sink — physics steps single-threaded, so a shared scratch is safe. */
-const scratch = { x: 0, y: 0 };
+//#region src/joints/DistanceJoint.ts
+/** Reused output sink - physics steps single-threaded, so a shared scratch is safe. */
+const scratch = {
+	x: 0,
+	y: 0
+};
 /**
- * Holds the anchor points on two bodies at a target {@link length} along their
- * connecting axis. With `hertz === 0` it is rigid; with `hertz > 0` it behaves
- * as a damped spring. Solved as a soft constraint in the sub-step loop, warm-
- * started across frames.
- */
-class DistanceJoint extends Joint {
-    /** Target distance between the anchors. */
-    length;
-    /** Soft-spring frequency in Hz (`0` = rigid). */
-    hertz;
-    /** Soft-spring damping ratio. */
-    dampingRatio;
-    /** Minimum allowed distance (rope/limit mode). */
-    minLength;
-    /** Maximum allowed distance (rope/limit mode). */
-    maxLength;
-    _limited;
-    _minImpulse = -Infinity;
-    _maxImpulse = Infinity;
-    _localAnchorAx;
-    _localAnchorAy;
-    _localAnchorBx;
-    _localAnchorBy;
-    _rAx = 0;
-    _rAy = 0;
-    _rBx = 0;
-    _rBy = 0;
-    _nx = 0;
-    _ny = 0;
-    _separation = 0;
-    _effMass = 0;
-    _biasRate = 0;
-    _massScale = 1;
-    _impulseScale = 0;
-    _impulse = 0;
-    constructor(options) {
-        super(options.bodyA, options.bodyB);
-        const ax = options.anchorA?.x ?? options.bodyA.x;
-        const ay = options.anchorA?.y ?? options.bodyA.y;
-        const bx = options.anchorB?.x ?? options.bodyB.x;
-        const by = options.anchorB?.y ?? options.bodyB.y;
-        applyInverseTransform(options.bodyA.transform, ax, ay, scratch);
-        this._localAnchorAx = scratch.x;
-        this._localAnchorAy = scratch.y;
-        applyInverseTransform(options.bodyB.transform, bx, by, scratch);
-        this._localAnchorBx = scratch.x;
-        this._localAnchorBy = scratch.y;
-        this.length = options.length ?? Math.hypot(bx - ax, by - ay);
-        this.hertz = options.hertz ?? 0;
-        this.dampingRatio = options.dampingRatio ?? 1;
-        this._limited = options.minLength !== undefined || options.maxLength !== undefined;
-        this.minLength = options.minLength ?? (this._limited ? 0 : this.length);
-        this.maxLength = options.maxLength ?? (this._limited ? Infinity : this.length);
-    }
-    _prepare(h) {
-        const bodyA = this.bodyA;
-        const bodyB = this.bodyB;
-        this._active = this.enabled && !bodyA.isSleeping && !bodyB.isSleeping && (bodyA.invMass > 0 || bodyB.invMass > 0);
-        if (!this._active) {
-            return;
-        }
-        applyTransform(bodyA.transform, this._localAnchorAx, this._localAnchorAy, scratch);
-        const pAx = scratch.x;
-        const pAy = scratch.y;
-        applyTransform(bodyB.transform, this._localAnchorBx, this._localAnchorBy, scratch);
-        const pBx = scratch.x;
-        const pBy = scratch.y;
-        this._rAx = pAx - bodyA.worldCenterOfMassX;
-        this._rAy = pAy - bodyA.worldCenterOfMassY;
-        this._rBx = pBx - bodyB.worldCenterOfMassX;
-        this._rBy = pBy - bodyB.worldCenterOfMassY;
-        let dx = pBx - pAx;
-        let dy = pBy - pAy;
-        const len = Math.hypot(dx, dy);
-        if (len > 1e-9) {
-            dx /= len;
-            dy /= len;
-        }
-        else {
-            dx = 1;
-            dy = 0;
-        }
-        this._nx = dx;
-        this._ny = dy;
-        const crA = this._rAx * dy - this._rAy * dx;
-        const crB = this._rBx * dy - this._rBy * dx;
-        const k = bodyA.invMass + bodyB.invMass + bodyA.invInertia * crA * crA + bodyB.invInertia * crB * crB;
-        this._effMass = k > 0 ? 1 / k : 0;
-        if (this._limited) {
-            // Rope/limit: solve only the violated bound; slack between min and max.
-            if (len > this.maxLength) {
-                this._separation = len - this.maxLength;
-                this._minImpulse = -Infinity; // pull together only (tension)
-                this._maxImpulse = 0;
-            }
-            else if (len < this.minLength) {
-                this._separation = len - this.minLength;
-                this._minImpulse = 0; // push apart only (compression)
-                this._maxImpulse = Infinity;
-            }
-            else {
-                this._active = false; // slack — nothing to solve this frame
-                this._impulse = 0;
-                return;
-            }
-        }
-        else {
-            this._separation = len - this.length;
-            this._minImpulse = -Infinity;
-            this._maxImpulse = Infinity;
-        }
-        // Soft spring only for the equality joint; rope limits are rigid.
-        if (this.hertz > 0 && !this._limited) {
-            // Box2D-v3 soft factors from a damped spring at the sub-step `h`.
-            const omega = 2 * Math.PI * this.hertz;
-            const a1 = 2 * this.dampingRatio + h * omega;
-            const a2 = h * omega * a1;
-            const a3 = 1 / (1 + a2);
-            this._biasRate = omega / a1;
-            this._massScale = a2 * a3;
-            this._impulseScale = a3;
-        }
-        else {
-            // Rigid: full mass, Baumgarte position bias, no impulse decay.
-            this._biasRate = 0.2 / h;
-            this._massScale = 1;
-            this._impulseScale = 0;
-        }
-    }
-    _warmStart() {
-        if (this._active) {
-            this._applyAxisImpulse(this._impulse);
-        }
-    }
-    _solve(useBias) {
-        if (!this._active) {
-            return;
-        }
-        const bodyA = this.bodyA;
-        const bodyB = this.bodyB;
-        // Relative velocity of the anchors projected onto the axis.
-        const vax = bodyA.linearVelocityX - bodyA.angularVelocity * this._rAy;
-        const vay = bodyA.linearVelocityY + bodyA.angularVelocity * this._rAx;
-        const vbx = bodyB.linearVelocityX - bodyB.angularVelocity * this._rBy;
-        const vby = bodyB.linearVelocityY + bodyB.angularVelocity * this._rBx;
-        const cdot = (vbx - vax) * this._nx + (vby - vay) * this._ny;
-        const bias = useBias ? this._biasRate * this._separation : 0;
-        const raw = -this._effMass * this._massScale * (cdot + bias) - this._impulseScale * this._impulse;
-        // Clamp the accumulated impulse to the limit's sign range (±Infinity = equality, no clamp).
-        const clamped = Math.min(this._maxImpulse, Math.max(this._minImpulse, this._impulse + raw));
-        const applied = clamped - this._impulse;
-        this._impulse = clamped;
-        this._applyAxisImpulse(applied);
-    }
-    _applyAxisImpulse(impulse) {
-        const jx = impulse * this._nx;
-        const jy = impulse * this._ny;
-        const bodyA = this.bodyA;
-        const bodyB = this.bodyB;
-        bodyA.linearVelocityX -= bodyA.invMass * jx;
-        bodyA.linearVelocityY -= bodyA.invMass * jy;
-        bodyA.angularVelocity -= bodyA.invInertia * (this._rAx * jy - this._rAy * jx);
-        bodyB.linearVelocityX += bodyB.invMass * jx;
-        bodyB.linearVelocityY += bodyB.invMass * jy;
-        bodyB.angularVelocity += bodyB.invInertia * (this._rBx * jy - this._rBy * jx);
-    }
-}
+* Holds the anchor points on two bodies at a target {@link length} along their
+* connecting axis. With `hertz === 0` it is rigid; with `hertz > 0` it behaves
+* as a damped spring. Solved as a soft constraint in the sub-step loop, warm-
+* started across frames.
+*/
+var DistanceJoint = class extends Joint {
+	/** Target distance between the anchors. */
+	length;
+	/** Soft-spring frequency in Hz (`0` = rigid). */
+	hertz;
+	/** Soft-spring damping ratio. */
+	dampingRatio;
+	/** Minimum allowed distance (rope/limit mode). */
+	minLength;
+	/** Maximum allowed distance (rope/limit mode). */
+	maxLength;
+	_limited;
+	_minImpulse = -Infinity;
+	_maxImpulse = Infinity;
+	_localAnchorAx;
+	_localAnchorAy;
+	_localAnchorBx;
+	_localAnchorBy;
+	_rAx = 0;
+	_rAy = 0;
+	_rBx = 0;
+	_rBy = 0;
+	_nx = 0;
+	_ny = 0;
+	_separation = 0;
+	_effMass = 0;
+	_biasRate = 0;
+	_massScale = 1;
+	_impulseScale = 0;
+	_impulse = 0;
+	constructor(options) {
+		super(options.bodyA, options.bodyB);
+		const ax = options.anchorA?.x ?? options.bodyA.x;
+		const ay = options.anchorA?.y ?? options.bodyA.y;
+		const bx = options.anchorB?.x ?? options.bodyB.x;
+		const by = options.anchorB?.y ?? options.bodyB.y;
+		applyInverseTransform(options.bodyA.transform, ax, ay, scratch);
+		this._localAnchorAx = scratch.x;
+		this._localAnchorAy = scratch.y;
+		applyInverseTransform(options.bodyB.transform, bx, by, scratch);
+		this._localAnchorBx = scratch.x;
+		this._localAnchorBy = scratch.y;
+		this.length = options.length ?? Math.hypot(bx - ax, by - ay);
+		this.hertz = options.hertz ?? 0;
+		this.dampingRatio = options.dampingRatio ?? 1;
+		this._limited = options.minLength !== void 0 || options.maxLength !== void 0;
+		this.minLength = options.minLength ?? (this._limited ? 0 : this.length);
+		this.maxLength = options.maxLength ?? (this._limited ? Infinity : this.length);
+	}
+	_prepare(h) {
+		const bodyA = this.bodyA;
+		const bodyB = this.bodyB;
+		this._active = this.enabled && !bodyA.isSleeping && !bodyB.isSleeping && (bodyA.invMass > 0 || bodyB.invMass > 0);
+		if (!this._active) return;
+		applyTransform(bodyA.transform, this._localAnchorAx, this._localAnchorAy, scratch);
+		const pAx = scratch.x;
+		const pAy = scratch.y;
+		applyTransform(bodyB.transform, this._localAnchorBx, this._localAnchorBy, scratch);
+		const pBx = scratch.x;
+		const pBy = scratch.y;
+		this._rAx = pAx - bodyA.worldCenterOfMassX;
+		this._rAy = pAy - bodyA.worldCenterOfMassY;
+		this._rBx = pBx - bodyB.worldCenterOfMassX;
+		this._rBy = pBy - bodyB.worldCenterOfMassY;
+		let dx = pBx - pAx;
+		let dy = pBy - pAy;
+		const len = Math.hypot(dx, dy);
+		if (len > 1e-9) {
+			dx /= len;
+			dy /= len;
+		} else {
+			dx = 1;
+			dy = 0;
+		}
+		this._nx = dx;
+		this._ny = dy;
+		const crA = this._rAx * dy - this._rAy * dx;
+		const crB = this._rBx * dy - this._rBy * dx;
+		const k = bodyA.invMass + bodyB.invMass + bodyA.invInertia * crA * crA + bodyB.invInertia * crB * crB;
+		this._effMass = k > 0 ? 1 / k : 0;
+		if (this._limited) {
+			if (len > this.maxLength) {
+				this._separation = len - this.maxLength;
+				this._minImpulse = -Infinity;
+				this._maxImpulse = 0;
+			} else if (len < this.minLength) {
+				this._separation = len - this.minLength;
+				this._minImpulse = 0;
+				this._maxImpulse = Infinity;
+			} else {
+				this._active = false;
+				this._impulse = 0;
+				return;
+			}
+		} else {
+			this._separation = len - this.length;
+			this._minImpulse = -Infinity;
+			this._maxImpulse = Infinity;
+		}
+		if (this.hertz > 0 && !this._limited) {
+			const omega = 2 * Math.PI * this.hertz;
+			const a1 = 2 * this.dampingRatio + h * omega;
+			const a2 = h * omega * a1;
+			const a3 = 1 / (1 + a2);
+			this._biasRate = omega / a1;
+			this._massScale = a2 * a3;
+			this._impulseScale = a3;
+		} else {
+			this._biasRate = .2 / h;
+			this._massScale = 1;
+			this._impulseScale = 0;
+		}
+	}
+	_warmStart() {
+		if (this._active) this._applyAxisImpulse(this._impulse);
+	}
+	_solve(useBias) {
+		if (!this._active) return;
+		const bodyA = this.bodyA;
+		const bodyB = this.bodyB;
+		const vax = bodyA.linearVelocityX - bodyA.angularVelocity * this._rAy;
+		const vay = bodyA.linearVelocityY + bodyA.angularVelocity * this._rAx;
+		const vbx = bodyB.linearVelocityX - bodyB.angularVelocity * this._rBy;
+		const vby = bodyB.linearVelocityY + bodyB.angularVelocity * this._rBx;
+		const cdot = (vbx - vax) * this._nx + (vby - vay) * this._ny;
+		const bias = useBias ? this._biasRate * this._separation : 0;
+		const raw = -this._effMass * this._massScale * (cdot + bias) - this._impulseScale * this._impulse;
+		const clamped = Math.min(this._maxImpulse, Math.max(this._minImpulse, this._impulse + raw));
+		const applied = clamped - this._impulse;
+		this._impulse = clamped;
+		this._applyAxisImpulse(applied);
+	}
+	_applyAxisImpulse(impulse) {
+		const jx = impulse * this._nx;
+		const jy = impulse * this._ny;
+		const bodyA = this.bodyA;
+		const bodyB = this.bodyB;
+		bodyA.linearVelocityX -= bodyA.invMass * jx;
+		bodyA.linearVelocityY -= bodyA.invMass * jy;
+		bodyA.angularVelocity -= bodyA.invInertia * (this._rAx * jy - this._rAy * jx);
+		bodyB.linearVelocityX += bodyB.invMass * jx;
+		bodyB.linearVelocityY += bodyB.invMass * jy;
+		bodyB.angularVelocity += bodyB.invInertia * (this._rBx * jy - this._rBy * jx);
+	}
+};
 
+//#endregion
 export { DistanceJoint };
-//# sourceMappingURL=DistanceJoint.js.map
+//# sourceMappingURL=DistanceJoint.js.map

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

@@ -1 +1 @@
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+{"version":3,"file":"DistanceJoint.js","names":[],"sources":["../../../src/joints/DistanceJoint.ts"],"sourcesContent":["import type { PointLike } from '@codexo/exojs';\n\nimport { applyInverseTransform, applyTransform } from '../math';\nimport type { PhysicsBody } from '../PhysicsBody';\nimport { Joint } from './Joint';\n\n/** Construction options for a {@link DistanceJoint}. */\nexport interface DistanceJointOptions {\n  /** First body (often a static anchor). */\n  bodyA: PhysicsBody;\n  /** Second body. */\n  bodyB: PhysicsBody;\n  /** World-space anchor on body A at creation. Default: body A's position. */\n  anchorA?: Readonly<PointLike>;\n  /** World-space anchor on body B at creation. Default: body B's position. */\n  anchorB?: Readonly<PointLike>;\n  /** Target distance between the anchors. Default: their initial distance. */\n  length?: number;\n  /** Soft-spring frequency in Hz; `0` (default) makes it a rigid constraint. */\n  hertz?: number;\n  /** Soft-spring damping ratio (used when `hertz > 0`). Default `1`. */\n  dampingRatio?: number;\n  /**\n   * Minimum allowed distance. Specifying `minLength` and/or `maxLength` turns the\n   * joint into a **rope/limit** (distance kept within `[minLength, maxLength]`,\n   * slack between, rigid limits). Otherwise the joint is a rigid/soft **equality**\n   * at `length`. Defaults to `0` in limit mode.\n   */\n  minLength?: number;\n  /** Maximum allowed distance (the rope length). See {@link minLength}. Defaults to `Infinity` in limit mode. */\n  maxLength?: number;\n}\n\n/** Reused output sink - physics steps single-threaded, so a shared scratch is safe. */\nconst scratch: PointLike = { x: 0, y: 0 };\n\n/**\n * Holds the anchor points on two bodies at a target {@link length} along their\n * connecting axis. With `hertz === 0` it is rigid; with `hertz > 0` it behaves\n * as a damped spring. Solved as a soft constraint in the sub-step loop, warm-\n * started across frames.\n */\nexport class DistanceJoint extends Joint {\n  /** Target distance between the anchors. */\n  public length: number;\n  /** Soft-spring frequency in Hz (`0` = rigid). */\n  public hertz: number;\n  /** Soft-spring damping ratio. */\n  public dampingRatio: number;\n  /** Minimum allowed distance (rope/limit mode). */\n  public minLength: number;\n  /** Maximum allowed distance (rope/limit mode). */\n  public maxLength: number;\n\n  private readonly _limited: boolean;\n  private _minImpulse = -Infinity;\n  private _maxImpulse = Infinity;\n  private readonly _localAnchorAx: number;\n  private readonly _localAnchorAy: number;\n  private readonly _localAnchorBx: number;\n  private readonly _localAnchorBy: number;\n\n  private _rAx = 0;\n  private _rAy = 0;\n  private _rBx = 0;\n  private _rBy = 0;\n  private _nx = 0;\n  private _ny = 0;\n  private _separation = 0;\n  private _effMass = 0;\n  private _biasRate = 0;\n  private _massScale = 1;\n  private _impulseScale = 0;\n  private _impulse = 0;\n\n  public constructor(options: DistanceJointOptions) {\n    super(options.bodyA, options.bodyB);\n\n    const ax = options.anchorA?.x ?? options.bodyA.x;\n    const ay = options.anchorA?.y ?? options.bodyA.y;\n    const bx = options.anchorB?.x ?? options.bodyB.x;\n    const by = options.anchorB?.y ?? options.bodyB.y;\n\n    applyInverseTransform(options.bodyA.transform, ax, ay, scratch);\n    this._localAnchorAx = scratch.x;\n    this._localAnchorAy = scratch.y;\n    applyInverseTransform(options.bodyB.transform, bx, by, scratch);\n    this._localAnchorBx = scratch.x;\n    this._localAnchorBy = scratch.y;\n\n    this.length = options.length ?? Math.hypot(bx - ax, by - ay);\n    this.hertz = options.hertz ?? 0;\n    this.dampingRatio = options.dampingRatio ?? 1;\n    this._limited = options.minLength !== undefined || options.maxLength !== undefined;\n    this.minLength = options.minLength ?? (this._limited ? 0 : this.length);\n    this.maxLength = options.maxLength ?? (this._limited ? Infinity : this.length);\n  }\n\n  public override _prepare(h: number): void {\n    const bodyA = this.bodyA;\n    const bodyB = this.bodyB;\n\n    this._active = this.enabled && !bodyA.isSleeping && !bodyB.isSleeping && (bodyA.invMass > 0 || bodyB.invMass > 0);\n\n    if (!this._active) {\n      return;\n    }\n\n    applyTransform(bodyA.transform, this._localAnchorAx, this._localAnchorAy, scratch);\n    const pAx = scratch.x;\n    const pAy = scratch.y;\n    applyTransform(bodyB.transform, this._localAnchorBx, this._localAnchorBy, scratch);\n    const pBx = scratch.x;\n    const pBy = scratch.y;\n\n    this._rAx = pAx - bodyA.worldCenterOfMassX;\n    this._rAy = pAy - bodyA.worldCenterOfMassY;\n    this._rBx = pBx - bodyB.worldCenterOfMassX;\n    this._rBy = pBy - bodyB.worldCenterOfMassY;\n\n    let dx = pBx - pAx;\n    let dy = pBy - pAy;\n    const len = Math.hypot(dx, dy);\n\n    if (len > 1e-9) {\n      dx /= len;\n      dy /= len;\n    } else {\n      dx = 1;\n      dy = 0;\n    }\n\n    this._nx = dx;\n    this._ny = dy;\n\n    const crA = this._rAx * dy - this._rAy * dx;\n    const crB = this._rBx * dy - this._rBy * dx;\n    const k = bodyA.invMass + bodyB.invMass + bodyA.invInertia * crA * crA + bodyB.invInertia * crB * crB;\n    this._effMass = k > 0 ? 1 / k : 0;\n\n    if (this._limited) {\n      // Rope/limit: solve only the violated bound; slack between min and max.\n      if (len > this.maxLength) {\n        this._separation = len - this.maxLength;\n        this._minImpulse = -Infinity; // pull together only (tension)\n        this._maxImpulse = 0;\n      } else if (len < this.minLength) {\n        this._separation = len - this.minLength;\n        this._minImpulse = 0; // push apart only (compression)\n        this._maxImpulse = Infinity;\n      } else {\n        this._active = false; // slack — nothing to solve this frame\n        this._impulse = 0;\n\n        return;\n      }\n    } else {\n      this._separation = len - this.length;\n      this._minImpulse = -Infinity;\n      this._maxImpulse = Infinity;\n    }\n\n    // Soft spring only for the equality joint; rope limits are rigid.\n    if (this.hertz > 0 && !this._limited) {\n      // Box2D-v3 soft factors from a damped spring at the sub-step `h`.\n      const omega = 2 * Math.PI * this.hertz;\n      const a1 = 2 * this.dampingRatio + h * omega;\n      const a2 = h * omega * a1;\n      const a3 = 1 / (1 + a2);\n\n      this._biasRate = omega / a1;\n      this._massScale = a2 * a3;\n      this._impulseScale = a3;\n    } else {\n      // Rigid: full mass, Baumgarte position bias, no impulse decay.\n      this._biasRate = 0.2 / h;\n      this._massScale = 1;\n      this._impulseScale = 0;\n    }\n  }\n\n  public override _warmStart(): void {\n    if (this._active) {\n      this._applyAxisImpulse(this._impulse);\n    }\n  }\n\n  public override _solve(useBias: boolean): void {\n    if (!this._active) {\n      return;\n    }\n\n    const bodyA = this.bodyA;\n    const bodyB = this.bodyB;\n\n    // Relative velocity of the anchors projected onto the axis.\n    const vax = bodyA.linearVelocityX - bodyA.angularVelocity * this._rAy;\n    const vay = bodyA.linearVelocityY + bodyA.angularVelocity * this._rAx;\n    const vbx = bodyB.linearVelocityX - bodyB.angularVelocity * this._rBy;\n    const vby = bodyB.linearVelocityY + bodyB.angularVelocity * this._rBx;\n    const cdot = (vbx - vax) * this._nx + (vby - vay) * this._ny;\n\n    const bias = useBias ? 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package/dist/esm/joints/Joint.d.ts

@@ -13,13 +13,14 @@ export declare abstract class Joint {
     readonly bodyB: PhysicsBody;
     /** When `false`, the joint is skipped by the solver (but still tracked by the world). */
     enabled: boolean;
-    /** Whether this joint solves this frame — set in {@link _prepare} (disabled, sleeping or two static bodies → `false`). */
+    /** Whether this joint solves this frame - set in {@link _prepare} (disabled, sleeping or two static bodies → `false`). */
     protected _active: boolean;
     protected constructor(bodyA: PhysicsBody, bodyB: PhysicsBody);
-    /** @internal — build this frame's constraint data; called once per fixed step after detection. */
+    /** @internal - build this frame's constraint data; called once per fixed step after detection. */
     abstract _prepare(h: number): void;
-    /** @internal — re-apply the accumulated impulse; called each sub-step (TGS-Soft warm-start). */
+    /** @internal - re-apply the accumulated impulse; called each sub-step (TGS-Soft warm-start). */
     abstract _warmStart(): void;
-    /** @internal — one velocity pass; `useBias` is the soft-bias pass, `false` the relax pass. */
+    /** @internal - one velocity pass; `useBias` is the soft-bias pass, `false` the relax pass. */
     abstract _solve(useBias: boolean): void;
 }
+//# sourceMappingURL=Joint.d.ts.map

package/dist/esm/joints/Joint.d.ts.map

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