@codexo/exojs-physics 0.15.3 → 0.16.0

package/dist/esm/joints/Joint.js

@@ -1,24 +1,26 @@
+//#region src/joints/Joint.ts
 /**
- * Base class for a two-body constraint solved alongside contacts in the
- * sub-step loop. Concrete joints (distance, revolute, weld) implement the
- * three solver hooks; the world owns the joint list and drives them, and joins
- * the two bodies into one sleep island so a jointed pair sleeps and wakes
- * together.
- */
-class Joint {
-    /** First constrained body. */
-    bodyA;
-    /** Second constrained body. */
-    bodyB;
-    /** When `false`, the joint is skipped by the solver (but still tracked by the world). */
-    enabled = true;
-    /** Whether this joint solves this frame — set in {@link _prepare} (disabled, sleeping or two static bodies → `false`). */
-    _active = false;
-    constructor(bodyA, bodyB) {
-        this.bodyA = bodyA;
-        this.bodyB = bodyB;
-    }
-}
+* Base class for a two-body constraint solved alongside contacts in the
+* sub-step loop. Concrete joints (distance, revolute, weld) implement the
+* three solver hooks; the world owns the joint list and drives them, and joins
+* the two bodies into one sleep island so a jointed pair sleeps and wakes
+* together.
+*/
+var Joint = class {
+	/** First constrained body. */
+	bodyA;
+	/** Second constrained body. */
+	bodyB;
+	/** When `false`, the joint is skipped by the solver (but still tracked by the world). */
+	enabled = true;
+	/** Whether this joint solves this frame - set in {@link _prepare} (disabled, sleeping or two static bodies → `false`). */
+	_active = false;
+	constructor(bodyA, bodyB) {
+		this.bodyA = bodyA;
+		this.bodyB = bodyB;
+	}
+};
 
+//#endregion
 export { Joint };
-//# sourceMappingURL=Joint.js.map
+//# sourceMappingURL=Joint.js.map

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

@@ -1 +1 @@
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+{"version":3,"file":"Joint.js","names":[],"sources":["../../../src/joints/Joint.ts"],"sourcesContent":["import type { PhysicsBody } from '../PhysicsBody';\n\n/**\n * Base class for a two-body constraint solved alongside contacts in the\n * sub-step loop. Concrete joints (distance, revolute, weld) implement the\n * three solver hooks; the world owns the joint list and drives them, and joins\n * the two bodies into one sleep island so a jointed pair sleeps and wakes\n * together.\n */\nexport abstract class Joint {\n  /** First constrained body. */\n  public readonly bodyA: PhysicsBody;\n  /** Second constrained body. */\n  public readonly bodyB: PhysicsBody;\n  /** When `false`, the joint is skipped by the solver (but still tracked by the world). */\n  public enabled = true;\n\n  /** Whether this joint solves this frame - set in {@link _prepare} (disabled, sleeping or two static bodies → `false`). */\n  protected _active = false;\n\n  protected constructor(bodyA: PhysicsBody, bodyB: PhysicsBody) {\n    this.bodyA = bodyA;\n    this.bodyB = bodyB;\n  }\n\n  /** @internal - build this frame's constraint data; called once per fixed step after detection. */\n  public abstract _prepare(h: number): void;\n  /** @internal - re-apply the accumulated impulse; called each sub-step (TGS-Soft warm-start). */\n  public abstract _warmStart(): void;\n  /** @internal - one velocity pass; `useBias` is the soft-bias pass, `false` the relax pass. */\n  public abstract _solve(useBias: boolean): void;\n}\n"],"mappings":";;;;;;;;AASA,IAAsB,QAAtB,MAA4B;;CAE1B,AAAgB;;CAEhB,AAAgB;;CAEhB,AAAO,UAAU;;CAGjB,AAAU,UAAU;CAEpB,AAAU,YAAY,OAAoB,OAAoB;EAC5D,KAAK,QAAQ;EACb,KAAK,QAAQ;CACf;AAQF"}

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

@@ -1,24 +1,24 @@
+import type { PointLike } from '@codexo/exojs';
 import { PhysicsBody } from '../PhysicsBody';
-import type { VectorLike } from '../types';
 import { Joint } from './Joint';
 /** Construction options for a {@link MouseJoint}. */
 export interface MouseJointOptions {
     /** The body to drag. */
     body: PhysicsBody;
-    /** World point to pull the body toward — also the grab point on the body at creation. */
-    target: VectorLike;
+    /** World point to pull the body toward - also the grab point on the body at creation. */
+    target: Readonly<PointLike>;
     /** Soft-spring frequency in Hz (higher = snappier). Default `5`. */
     hertz?: number;
     /** Soft-spring damping ratio. Default `0.7`. */
     dampingRatio?: number;
-    /** Maximum pulling force — clamps the per-step impulse so heavy bodies lag. Default `Infinity`. */
+    /** Maximum pulling force - clamps the per-step impulse so heavy bodies lag. Default `Infinity`. */
     maxForce?: number;
 }
 /**
  * Softly pulls a single body's grab point toward a movable **target** point
  * (typically the mouse cursor). The grab point is fixed on the body at creation;
  * update {@link target} each frame to drag. A soft constraint bounded by
- * {@link maxForce} — solved in the sub-step loop, warm-started. Internally the
+ * {@link maxForce} - solved in the sub-step loop, warm-started. Internally the
  * "other" body is a private static ground sentinel, so this is a single-body
  * constraint that touches only the dragged body.
  */
@@ -48,10 +48,11 @@ export declare class MouseJoint extends Joint {
     private _maxImpulse;
     constructor(options: MouseJointOptions);
     /** The world point the body is pulled toward. Reassigning wakes the body so a drag tracks live. */
-    get target(): VectorLike;
-    set target(value: VectorLike);
+    get target(): Readonly<PointLike>;
+    set target(value: Readonly<PointLike>);
     _prepare(h: number): void;
     _warmStart(): void;
     _solve(useBias: boolean): void;
     private _applyImpulse;
 }
+//# sourceMappingURL=MouseJoint.d.ts.map

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

@@ -0,0 +1 @@
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package/dist/esm/joints/MouseJoint.js

@@ -1,137 +1,136 @@
-import { applyInverseTransform, applyTransform } from '../math.js';
-import { PhysicsBody } from '../PhysicsBody.js';
-import { Joint } from './Joint.js';
+import { applyInverseTransform, applyTransform } from "../math.js";
+import { Joint } from "./Joint.js";
+import { PhysicsBody } from "../PhysicsBody.js";
 
-/** Reused output sink — physics steps single-threaded, so a shared scratch is safe. */
-const scratch = { x: 0, y: 0 };
+//#region src/joints/MouseJoint.ts
+/** Reused output sink - physics steps single-threaded, so a shared scratch is safe. */
+const scratch = {
+	x: 0,
+	y: 0
+};
 /**
- * Softly pulls a single body's grab point toward a movable **target** point
- * (typically the mouse cursor). The grab point is fixed on the body at creation;
- * update {@link target} each frame to drag. A soft constraint bounded by
- * {@link maxForce} — solved in the sub-step loop, warm-started. Internally the
- * "other" body is a private static ground sentinel, so this is a single-body
- * constraint that touches only the dragged body.
- */
-class MouseJoint extends Joint {
-    /** Soft-spring frequency in Hz. */
-    hertz;
-    /** Soft-spring damping ratio. */
-    dampingRatio;
-    /** Maximum pulling force. */
-    maxForce;
-    _localAnchorX;
-    _localAnchorY;
-    _targetX;
-    _targetY;
-    _rx = 0;
-    _ry = 0;
-    _cx = 0;
-    _cy = 0;
-    _invK11 = 0;
-    _invK12 = 0;
-    _invK22 = 0;
-    _biasRate = 0;
-    _massScale = 1;
-    _impulseScale = 0;
-    _impulseX = 0;
-    _impulseY = 0;
-    _maxImpulse = 0;
-    constructor(options) {
-        // Single-body constraint: a private static ground stands in for bodyA so the
-        // island/solver machinery (which assumes two bodies) sees a static anchor that
-        // it never integrates, unions or mutates.
-        super(new PhysicsBody({ type: 'static', position: options.target }), options.body);
-        applyInverseTransform(options.body.transform, options.target.x, options.target.y, scratch);
-        this._localAnchorX = scratch.x;
-        this._localAnchorY = scratch.y;
-        this._targetX = options.target.x;
-        this._targetY = options.target.y;
-        this.hertz = options.hertz ?? 5;
-        this.dampingRatio = options.dampingRatio ?? 0.7;
-        this.maxForce = options.maxForce ?? Infinity;
-    }
-    /** The world point the body is pulled toward. Reassigning wakes the body so a drag tracks live. */
-    get target() {
-        return { x: this._targetX, y: this._targetY };
-    }
-    set target(value) {
-        this._targetX = value.x;
-        this._targetY = value.y;
-        this.bodyB.wake();
-    }
-    _prepare(h) {
-        const body = this.bodyB;
-        this._active = this.enabled && !body.isSleeping && body.invMass > 0;
-        if (!this._active) {
-            return;
-        }
-        applyTransform(body.transform, this._localAnchorX, this._localAnchorY, scratch);
-        this._rx = scratch.x - body.worldCenterOfMassX;
-        this._ry = scratch.y - body.worldCenterOfMassY;
-        this._cx = scratch.x - this._targetX;
-        this._cy = scratch.y - this._targetY;
-        const m = body.invMass;
-        const i = body.invInertia;
-        // 2×2 effective-mass matrix K (only the dragged body contributes) and its inverse.
-        const k11 = m + i * this._ry * this._ry;
-        const k12 = -i * this._rx * this._ry;
-        const k22 = m + i * this._rx * this._rx;
-        const det = k11 * k22 - k12 * k12;
-        const invDet = det !== 0 ? 1 / det : 0;
-        this._invK11 = invDet * k22;
-        this._invK12 = -invDet * k12;
-        this._invK22 = invDet * k11;
-        this._maxImpulse = this.maxForce * 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;
-    }
-    _warmStart() {
-        if (!this._active) {
-            return;
-        }
-        this._applyImpulse(this._impulseX, this._impulseY);
-    }
-    _solve(useBias) {
-        if (!this._active) {
-            return;
-        }
-        const body = this.bodyB;
-        // Velocity of the grab point.
-        const cdotX = body.linearVelocityX - body.angularVelocity * this._ry;
-        const cdotY = body.linearVelocityY + body.angularVelocity * this._rx;
-        const rhsX = cdotX + (useBias ? this._biasRate * this._cx : 0);
-        const rhsY = cdotY + (useBias ? this._biasRate * this._cy : 0);
-        const solvedX = this._invK11 * rhsX + this._invK12 * rhsY;
-        const solvedY = this._invK12 * rhsX + this._invK22 * rhsY;
-        let impulseX = -this._massScale * solvedX - this._impulseScale * this._impulseX;
-        let impulseY = -this._massScale * solvedY - this._impulseScale * this._impulseY;
-        // Clamp the accumulated impulse magnitude to maxForce·h (a heavy body lags).
-        const oldX = this._impulseX;
-        const oldY = this._impulseY;
-        this._impulseX += impulseX;
-        this._impulseY += impulseY;
-        const magnitude = Math.hypot(this._impulseX, this._impulseY);
-        if (magnitude > this._maxImpulse) {
-            const scale = this._maxImpulse / magnitude;
-            this._impulseX *= scale;
-            this._impulseY *= scale;
-        }
-        impulseX = this._impulseX - oldX;
-        impulseY = this._impulseY - oldY;
-        this._applyImpulse(impulseX, impulseY);
-    }
-    _applyImpulse(jx, jy) {
-        const body = this.bodyB;
-        body.linearVelocityX += body.invMass * jx;
-        body.linearVelocityY += body.invMass * jy;
-        body.angularVelocity += body.invInertia * (this._rx * jy - this._ry * jx);
-    }
-}
+* Softly pulls a single body's grab point toward a movable **target** point
+* (typically the mouse cursor). The grab point is fixed on the body at creation;
+* update {@link target} each frame to drag. A soft constraint bounded by
+* {@link maxForce} - solved in the sub-step loop, warm-started. Internally the
+* "other" body is a private static ground sentinel, so this is a single-body
+* constraint that touches only the dragged body.
+*/
+var MouseJoint = class extends Joint {
+	/** Soft-spring frequency in Hz. */
+	hertz;
+	/** Soft-spring damping ratio. */
+	dampingRatio;
+	/** Maximum pulling force. */
+	maxForce;
+	_localAnchorX;
+	_localAnchorY;
+	_targetX;
+	_targetY;
+	_rx = 0;
+	_ry = 0;
+	_cx = 0;
+	_cy = 0;
+	_invK11 = 0;
+	_invK12 = 0;
+	_invK22 = 0;
+	_biasRate = 0;
+	_massScale = 1;
+	_impulseScale = 0;
+	_impulseX = 0;
+	_impulseY = 0;
+	_maxImpulse = 0;
+	constructor(options) {
+		super(new PhysicsBody({
+			type: "static",
+			position: options.target
+		}), options.body);
+		applyInverseTransform(options.body.transform, options.target.x, options.target.y, scratch);
+		this._localAnchorX = scratch.x;
+		this._localAnchorY = scratch.y;
+		this._targetX = options.target.x;
+		this._targetY = options.target.y;
+		this.hertz = options.hertz ?? 5;
+		this.dampingRatio = options.dampingRatio ?? .7;
+		this.maxForce = options.maxForce ?? Infinity;
+	}
+	/** The world point the body is pulled toward. Reassigning wakes the body so a drag tracks live. */
+	get target() {
+		return {
+			x: this._targetX,
+			y: this._targetY
+		};
+	}
+	set target(value) {
+		this._targetX = value.x;
+		this._targetY = value.y;
+		this.bodyB.wake();
+	}
+	_prepare(h) {
+		const body = this.bodyB;
+		this._active = this.enabled && !body.isSleeping && body.invMass > 0;
+		if (!this._active) return;
+		applyTransform(body.transform, this._localAnchorX, this._localAnchorY, scratch);
+		this._rx = scratch.x - body.worldCenterOfMassX;
+		this._ry = scratch.y - body.worldCenterOfMassY;
+		this._cx = scratch.x - this._targetX;
+		this._cy = scratch.y - this._targetY;
+		const m = body.invMass;
+		const i = body.invInertia;
+		const k11 = m + i * this._ry * this._ry;
+		const k12 = -i * this._rx * this._ry;
+		const k22 = m + i * this._rx * this._rx;
+		const det = k11 * k22 - k12 * k12;
+		const invDet = det !== 0 ? 1 / det : 0;
+		this._invK11 = invDet * k22;
+		this._invK12 = -invDet * k12;
+		this._invK22 = invDet * k11;
+		this._maxImpulse = this.maxForce * 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;
+	}
+	_warmStart() {
+		if (!this._active) return;
+		this._applyImpulse(this._impulseX, this._impulseY);
+	}
+	_solve(useBias) {
+		if (!this._active) return;
+		const body = this.bodyB;
+		const cdotX = body.linearVelocityX - body.angularVelocity * this._ry;
+		const cdotY = body.linearVelocityY + body.angularVelocity * this._rx;
+		const rhsX = cdotX + (useBias ? this._biasRate * this._cx : 0);
+		const rhsY = cdotY + (useBias ? this._biasRate * this._cy : 0);
+		const solvedX = this._invK11 * rhsX + this._invK12 * rhsY;
+		const solvedY = this._invK12 * rhsX + this._invK22 * rhsY;
+		let impulseX = -this._massScale * solvedX - this._impulseScale * this._impulseX;
+		let impulseY = -this._massScale * solvedY - this._impulseScale * this._impulseY;
+		const oldX = this._impulseX;
+		const oldY = this._impulseY;
+		this._impulseX += impulseX;
+		this._impulseY += impulseY;
+		const magnitude = Math.hypot(this._impulseX, this._impulseY);
+		if (magnitude > this._maxImpulse) {
+			const scale = this._maxImpulse / magnitude;
+			this._impulseX *= scale;
+			this._impulseY *= scale;
+		}
+		impulseX = this._impulseX - oldX;
+		impulseY = this._impulseY - oldY;
+		this._applyImpulse(impulseX, impulseY);
+	}
+	_applyImpulse(jx, jy) {
+		const body = this.bodyB;
+		body.linearVelocityX += body.invMass * jx;
+		body.linearVelocityY += body.invMass * jy;
+		body.angularVelocity += body.invInertia * (this._rx * jy - this._ry * jx);
+	}
+};
 
+//#endregion
 export { MouseJoint };
-//# sourceMappingURL=MouseJoint.js.map
+//# sourceMappingURL=MouseJoint.js.map

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

@@ -1 +1 @@
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+{"version":3,"file":"MouseJoint.js","names":[],"sources":["../../../src/joints/MouseJoint.ts"],"sourcesContent":["import type { PointLike } from '@codexo/exojs';\n\nimport { applyInverseTransform, applyTransform } from '../math';\nimport { PhysicsBody } from '../PhysicsBody';\nimport { Joint } from './Joint';\n\n/** Construction options for a {@link MouseJoint}. */\nexport interface MouseJointOptions {\n  /** The body to drag. */\n  body: PhysicsBody;\n  /** World point to pull the body toward - also the grab point on the body at creation. */\n  target: Readonly<PointLike>;\n  /** Soft-spring frequency in Hz (higher = snappier). Default `5`. */\n  hertz?: number;\n  /** Soft-spring damping ratio. Default `0.7`. */\n  dampingRatio?: number;\n  /** Maximum pulling force - clamps the per-step impulse so heavy bodies lag. Default `Infinity`. */\n  maxForce?: 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 * Softly pulls a single body's grab point toward a movable **target** point\n * (typically the mouse cursor). The grab point is fixed on the body at creation;\n * update {@link target} each frame to drag. A soft constraint bounded by\n * {@link maxForce} - solved in the sub-step loop, warm-started. Internally the\n * \"other\" body is a private static ground sentinel, so this is a single-body\n * constraint that touches only the dragged body.\n */\nexport class MouseJoint extends Joint {\n  /** Soft-spring frequency in Hz. */\n  public hertz: number;\n  /** Soft-spring damping ratio. */\n  public dampingRatio: number;\n  /** Maximum pulling force. */\n  public maxForce: number;\n\n  private readonly _localAnchorX: number;\n  private readonly _localAnchorY: number;\n  private _targetX: number;\n  private _targetY: number;\n\n  private _rx = 0;\n  private _ry = 0;\n  private _cx = 0;\n  private _cy = 0;\n  private _invK11 = 0;\n  private _invK12 = 0;\n  private _invK22 = 0;\n  private _biasRate = 0;\n  private _massScale = 1;\n  private _impulseScale = 0;\n  private _impulseX = 0;\n  private _impulseY = 0;\n  private _maxImpulse = 0;\n\n  public constructor(options: MouseJointOptions) {\n    // Single-body constraint: a private static ground stands in for bodyA so the\n    // island/solver machinery (which assumes two bodies) sees a static anchor that\n    // it never integrates, unions or mutates.\n    super(new PhysicsBody({ type: 'static', position: options.target }), options.body);\n\n    applyInverseTransform(options.body.transform, options.target.x, options.target.y, scratch);\n    this._localAnchorX = scratch.x;\n    this._localAnchorY = scratch.y;\n    this._targetX = options.target.x;\n    this._targetY = options.target.y;\n\n    this.hertz = options.hertz ?? 5;\n    this.dampingRatio = options.dampingRatio ?? 0.7;\n    this.maxForce = options.maxForce ?? Infinity;\n  }\n\n  /** The world point the body is pulled toward. Reassigning wakes the body so a drag tracks live. */\n  public get target(): Readonly<PointLike> {\n    return { x: this._targetX, y: this._targetY };\n  }\n\n  public set target(value: Readonly<PointLike>) {\n    this._targetX = value.x;\n    this._targetY = value.y;\n    this.bodyB.wake();\n  }\n\n  public override _prepare(h: number): void {\n    const body = this.bodyB;\n\n    this._active = this.enabled && !body.isSleeping && body.invMass > 0;\n\n    if (!this._active) {\n      return;\n    }\n\n    applyTransform(body.transform, this._localAnchorX, this._localAnchorY, scratch);\n    this._rx = scratch.x - body.worldCenterOfMassX;\n    this._ry = scratch.y - body.worldCenterOfMassY;\n    this._cx = scratch.x - this._targetX;\n    this._cy = scratch.y - this._targetY;\n\n    const m = body.invMass;\n    const i = body.invInertia;\n\n    // 2×2 effective-mass matrix K (only the dragged body contributes) and its inverse.\n    const k11 = m + i * this._ry * this._ry;\n    const k12 = -i * this._rx * this._ry;\n    const k22 = m + i * this._rx * this._rx;\n    const det = k11 * k22 - k12 * k12;\n    const invDet = det !== 0 ? 1 / det : 0;\n\n    this._invK11 = invDet * k22;\n    this._invK12 = -invDet * k12;\n    this._invK22 = invDet * k11;\n    this._maxImpulse = this.maxForce * h;\n\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  }\n\n  public override _warmStart(): void {\n    if (!this._active) {\n      return;\n    }\n\n    this._applyImpulse(this._impulseX, this._impulseY);\n  }\n\n  public override _solve(useBias: boolean): void {\n    if (!this._active) {\n      return;\n    }\n\n    const body = this.bodyB;\n\n    // Velocity of the grab point.\n    const cdotX = body.linearVelocityX - body.angularVelocity * this._ry;\n    const cdotY = body.linearVelocityY + body.angularVelocity * this._rx;\n    const rhsX = cdotX + (useBias ? this._biasRate * this._cx : 0);\n    const rhsY = cdotY + (useBias ? 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package/dist/esm/joints/PrismaticJoint.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 PrismaticJoint}. */
 export interface PrismaticJointOptions {
@@ -8,14 +8,14 @@ export interface PrismaticJointOptions {
     /** Second body (the slider). */
     bodyB: PhysicsBody;
     /** Shared world-space anchor at creation. */
-    anchor: VectorLike;
+    anchor: Readonly<PointLike>;
     /** Slide axis in world space at creation (normalised internally). The body may only translate along this axis. */
-    axis: VectorLike;
+    axis: Readonly<PointLike>;
     /** Enable the linear motor (drives translation along the axis toward {@link motorSpeed}). Default `false`. */
     enableMotor?: boolean;
     /** Target translation speed along the axis (px/s). Default `0`. */
     motorSpeed?: number;
-    /** Maximum motor force — clamps the per-step motor impulse. Default `0`. */
+    /** Maximum motor force - clamps the per-step motor impulse. Default `0`. */
     maxMotorForce?: number;
     /** Enable the translation limit (keeps the axis translation in `[lowerTranslation, upperTranslation]`). Default `false`. */
     enableLimit?: boolean;
@@ -83,3 +83,4 @@ export declare class PrismaticJoint extends Joint {
     private _applyAxial;
     private _applyBlock;
 }
+//# sourceMappingURL=PrismaticJoint.d.ts.map

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

@@ -0,0 +1 @@
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