@codexo/exojs-physics 0.15.3 → 0.16.0

package/dist/esm/joints/PrismaticJoint.js

@@ -1,244 +1,215 @@
-import { applyInverseTransform, applyInverseRotation, applyRotation, applyTransform } from '../math.js';
-import { Joint } from './Joint.js';
+import { applyInverseRotation, applyInverseTransform, applyRotation, 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/PrismaticJoint.ts
+/** Reused output sink - physics steps single-threaded, so a shared scratch is safe. */
+const scratch = {
+	x: 0,
+	y: 0
+};
 /**
- * Constrains a body to **slide along a single axis** relative to another: the
- * perpendicular translation and the relative rotation are locked (a 2×2 block);
- * only translation along the axis is free, optionally driven by a motor and/or
- * bounded by a translation limit. Solved in the sub-step loop, warm-started.
- */
-class PrismaticJoint extends Joint {
-    /** When `true`, the motor drives the axis translation toward {@link motorSpeed}. */
-    enableMotor;
-    /** Target translation speed along the axis (px/s). */
-    motorSpeed;
-    /** Maximum motor force. */
-    maxMotorForce;
-    /** When `true`, the axis translation is constrained to `[lowerTranslation, upperTranslation]`. */
-    enableLimit;
-    /** Lower translation limit along the axis. */
-    lowerTranslation;
-    /** Upper translation limit along the axis. */
-    upperTranslation;
-    _localAnchorAx;
-    _localAnchorAy;
-    _localAnchorBx;
-    _localAnchorBy;
-    _localAxisAx;
-    _localAxisAy;
-    _referenceAngle;
-    _axisX = 1;
-    _axisY = 0;
-    _perpX = 0;
-    _perpY = 1;
-    _a1 = 0;
-    _a2 = 0;
-    _s1 = 0;
-    _s2 = 0;
-    _k11 = 0;
-    _k12 = 0;
-    _k22 = 0;
-    _cPerp = 0;
-    _cAngle = 0;
-    _translation = 0;
-    _axialMass = 0;
-    _h = 0;
-    _invH = 0;
-    _perpImpulse = 0;
-    _angularImpulse = 0;
-    _motorImpulse = 0;
-    _lowerImpulse = 0;
-    _upperImpulse = 0;
-    constructor(options) {
-        super(options.bodyA, options.bodyB);
-        applyInverseTransform(options.bodyA.transform, options.anchor.x, options.anchor.y, scratch);
-        this._localAnchorAx = scratch.x;
-        this._localAnchorAy = scratch.y;
-        applyInverseTransform(options.bodyB.transform, options.anchor.x, options.anchor.y, scratch);
-        this._localAnchorBx = scratch.x;
-        this._localAnchorBy = scratch.y;
-        const axisLength = Math.hypot(options.axis.x, options.axis.y);
-        if (!Number.isFinite(axisLength) || axisLength === 0) {
-            throw new RangeError(`PrismaticJoint: axis must be a non-zero finite vector, received (${options.axis.x}, ${options.axis.y}).`);
-        }
-        applyInverseRotation(options.bodyA.transform, options.axis.x / axisLength, options.axis.y / axisLength, scratch);
-        this._localAxisAx = scratch.x;
-        this._localAxisAy = scratch.y;
-        this._referenceAngle = options.bodyB.angle - options.bodyA.angle;
-        this.enableMotor = options.enableMotor ?? false;
-        this.motorSpeed = options.motorSpeed ?? 0;
-        this.maxMotorForce = options.maxMotorForce ?? 0;
-        this.enableLimit = options.enableLimit ?? false;
-        this.lowerTranslation = options.lowerTranslation ?? 0;
-        this.upperTranslation = options.upperTranslation ?? 0;
-    }
-    _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;
-        }
-        // World axis + perpendicular (axis is local to body A).
-        applyRotation(bodyA.transform, this._localAxisAx, this._localAxisAy, scratch);
-        const axisX = scratch.x;
-        const axisY = scratch.y;
-        const perpX = -axisY;
-        const perpY = axisX;
-        this._axisX = axisX;
-        this._axisY = axisY;
-        this._perpX = perpX;
-        this._perpY = perpY;
-        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;
-        const rAx = pAx - bodyA.worldCenterOfMassX;
-        const rAy = pAy - bodyA.worldCenterOfMassY;
-        const rBx = pBx - bodyB.worldCenterOfMassX;
-        const rBy = pBy - bodyB.worldCenterOfMassY;
-        const dx = pBx - pAx;
-        const dy = pBy - pAy;
-        // Jacobian cross terms for the axis (motor/limit) and the perpendicular (lock).
-        this._a1 = (dx + rAx) * axisY - (dy + rAy) * axisX;
-        this._a2 = rBx * axisY - rBy * axisX;
-        this._s1 = (dx + rAx) * perpY - (dy + rAy) * perpX;
-        this._s2 = rBx * perpY - rBy * perpX;
-        const mA = bodyA.invMass;
-        const mB = bodyB.invMass;
-        const iA = bodyA.invInertia;
-        const iB = bodyB.invInertia;
-        const kAxial = mA + mB + iA * this._a1 * this._a1 + iB * this._a2 * this._a2;
-        this._axialMass = kAxial > 0 ? 1 / kAxial : 0;
-        // Perpendicular + angular 2×2 block.
-        this._k11 = mA + mB + iA * this._s1 * this._s1 + iB * this._s2 * this._s2;
-        this._k12 = iA * this._s1 + iB * this._s2;
-        this._k22 = iA + iB;
-        if (this._k22 === 0) {
-            this._k22 = 1; // both bodies rotation-locked — keep the block invertible
-        }
-        this._cPerp = dx * perpX + dy * perpY;
-        this._cAngle = bodyB.angle - bodyA.angle - this._referenceAngle;
-        this._translation = dx * axisX + dy * axisY;
-        this._h = h;
-        this._invH = 1 / h;
-        if (!this.enableMotor) {
-            this._motorImpulse = 0;
-        }
-        if (!this.enableLimit) {
-            this._lowerImpulse = 0;
-            this._upperImpulse = 0;
-        }
-    }
-    _warmStart() {
-        if (!this._active) {
-            return;
-        }
-        const axial = this._motorImpulse + this._lowerImpulse - this._upperImpulse;
-        this._applyBlock(this._perpImpulse, this._angularImpulse);
-        this._applyAxial(axial);
-    }
-    _solve(useBias) {
-        if (!this._active) {
-            return;
-        }
-        const bodyA = this.bodyA;
-        const bodyB = this.bodyB;
-        // Motor along the axis.
-        if (this.enableMotor) {
-            const cdot = this._axisVelocity() - this.motorSpeed;
-            const max = this.maxMotorForce * this._h;
-            const old = this._motorImpulse;
-            this._motorImpulse = Math.min(max, Math.max(-max, old - this._axialMass * cdot));
-            this._applyAxial(this._motorImpulse - old);
-        }
-        // Translation limits along the axis.
-        if (this.enableLimit) {
-            // Lower limit (translation ≥ lowerTranslation): positive impulse pushes along +axis.
-            const cLower = this._translation - this.lowerTranslation;
-            let biasLower = 0;
-            if (cLower > 0) {
-                biasLower = cLower * this._invH;
-            }
-            else if (useBias) {
-                biasLower = 0.2 * this._invH * cLower;
-            }
-            const oldLower = this._lowerImpulse;
-            this._lowerImpulse = Math.max(0, oldLower - this._axialMass * (this._axisVelocity() + biasLower));
-            this._applyAxial(this._lowerImpulse - oldLower);
-            // Upper limit (translation ≤ upperTranslation): impulse pushes along −axis.
-            const cUpper = this.upperTranslation - this._translation;
-            let biasUpper = 0;
-            if (cUpper > 0) {
-                biasUpper = cUpper * this._invH;
-            }
-            else if (useBias) {
-                biasUpper = 0.2 * this._invH * cUpper;
-            }
-            const oldUpper = this._upperImpulse;
-            this._upperImpulse = Math.max(0, oldUpper - this._axialMass * (-this._axisVelocity() + biasUpper));
-            this._applyAxial(-(this._upperImpulse - oldUpper));
-        }
-        // Perpendicular + angular lock (2×2 block).
-        const cdotPerp = this._perpVelocity();
-        const cdotAngle = bodyB.angularVelocity - bodyA.angularVelocity;
-        const rhs1 = -(cdotPerp + (useBias ? 0.2 * this._invH * this._cPerp : 0));
-        const rhs2 = -(cdotAngle + (useBias ? 0.2 * this._invH * this._cAngle : 0));
-        const det = this._k11 * this._k22 - this._k12 * this._k12;
-        const invDet = det !== 0 ? 1 / det : 0;
-        const dPerp = invDet * (this._k22 * rhs1 - this._k12 * rhs2);
-        const dAngle = invDet * (-this._k12 * rhs1 + this._k11 * rhs2);
-        this._perpImpulse += dPerp;
-        this._angularImpulse += dAngle;
-        this._applyBlock(dPerp, dAngle);
-    }
-    /** Relative velocity projected onto the axis (plus the rotation cross terms). */
-    _axisVelocity() {
-        const bodyA = this.bodyA;
-        const bodyB = this.bodyB;
-        return (this._axisX * (bodyB.linearVelocityX - bodyA.linearVelocityX) +
-            this._axisY * (bodyB.linearVelocityY - bodyA.linearVelocityY) +
-            this._a2 * bodyB.angularVelocity -
-            this._a1 * bodyA.angularVelocity);
-    }
-    /** Relative velocity projected onto the perpendicular (plus the rotation cross terms). */
-    _perpVelocity() {
-        const bodyA = this.bodyA;
-        const bodyB = this.bodyB;
-        return (this._perpX * (bodyB.linearVelocityX - bodyA.linearVelocityX) +
-            this._perpY * (bodyB.linearVelocityY - bodyA.linearVelocityY) +
-            this._s2 * bodyB.angularVelocity -
-            this._s1 * bodyA.angularVelocity);
-    }
-    _applyAxial(impulse) {
-        const bodyA = this.bodyA;
-        const bodyB = this.bodyB;
-        const px = impulse * this._axisX;
-        const py = impulse * this._axisY;
-        bodyA.linearVelocityX -= bodyA.invMass * px;
-        bodyA.linearVelocityY -= bodyA.invMass * py;
-        bodyA.angularVelocity -= bodyA.invInertia * impulse * this._a1;
-        bodyB.linearVelocityX += bodyB.invMass * px;
-        bodyB.linearVelocityY += bodyB.invMass * py;
-        bodyB.angularVelocity += bodyB.invInertia * impulse * this._a2;
-    }
-    _applyBlock(perpImpulse, angularImpulse) {
-        const bodyA = this.bodyA;
-        const bodyB = this.bodyB;
-        const px = perpImpulse * this._perpX;
-        const py = perpImpulse * this._perpY;
-        bodyA.linearVelocityX -= bodyA.invMass * px;
-        bodyA.linearVelocityY -= bodyA.invMass * py;
-        bodyA.angularVelocity -= bodyA.invInertia * (perpImpulse * this._s1 + angularImpulse);
-        bodyB.linearVelocityX += bodyB.invMass * px;
-        bodyB.linearVelocityY += bodyB.invMass * py;
-        bodyB.angularVelocity += bodyB.invInertia * (perpImpulse * this._s2 + angularImpulse);
-    }
-}
+* Constrains a body to **slide along a single axis** relative to another: the
+* perpendicular translation and the relative rotation are locked (a 2×2 block);
+* only translation along the axis is free, optionally driven by a motor and/or
+* bounded by a translation limit. Solved in the sub-step loop, warm-started.
+*/
+var PrismaticJoint = class extends Joint {
+	/** When `true`, the motor drives the axis translation toward {@link motorSpeed}. */
+	enableMotor;
+	/** Target translation speed along the axis (px/s). */
+	motorSpeed;
+	/** Maximum motor force. */
+	maxMotorForce;
+	/** When `true`, the axis translation is constrained to `[lowerTranslation, upperTranslation]`. */
+	enableLimit;
+	/** Lower translation limit along the axis. */
+	lowerTranslation;
+	/** Upper translation limit along the axis. */
+	upperTranslation;
+	_localAnchorAx;
+	_localAnchorAy;
+	_localAnchorBx;
+	_localAnchorBy;
+	_localAxisAx;
+	_localAxisAy;
+	_referenceAngle;
+	_axisX = 1;
+	_axisY = 0;
+	_perpX = 0;
+	_perpY = 1;
+	_a1 = 0;
+	_a2 = 0;
+	_s1 = 0;
+	_s2 = 0;
+	_k11 = 0;
+	_k12 = 0;
+	_k22 = 0;
+	_cPerp = 0;
+	_cAngle = 0;
+	_translation = 0;
+	_axialMass = 0;
+	_h = 0;
+	_invH = 0;
+	_perpImpulse = 0;
+	_angularImpulse = 0;
+	_motorImpulse = 0;
+	_lowerImpulse = 0;
+	_upperImpulse = 0;
+	constructor(options) {
+		super(options.bodyA, options.bodyB);
+		applyInverseTransform(options.bodyA.transform, options.anchor.x, options.anchor.y, scratch);
+		this._localAnchorAx = scratch.x;
+		this._localAnchorAy = scratch.y;
+		applyInverseTransform(options.bodyB.transform, options.anchor.x, options.anchor.y, scratch);
+		this._localAnchorBx = scratch.x;
+		this._localAnchorBy = scratch.y;
+		const axisLength = Math.hypot(options.axis.x, options.axis.y);
+		if (!Number.isFinite(axisLength) || axisLength === 0) throw new RangeError(`PrismaticJoint: axis must be a non-zero finite vector, received (${options.axis.x}, ${options.axis.y}).`);
+		applyInverseRotation(options.bodyA.transform, options.axis.x / axisLength, options.axis.y / axisLength, scratch);
+		this._localAxisAx = scratch.x;
+		this._localAxisAy = scratch.y;
+		this._referenceAngle = options.bodyB.angle - options.bodyA.angle;
+		this.enableMotor = options.enableMotor ?? false;
+		this.motorSpeed = options.motorSpeed ?? 0;
+		this.maxMotorForce = options.maxMotorForce ?? 0;
+		this.enableLimit = options.enableLimit ?? false;
+		this.lowerTranslation = options.lowerTranslation ?? 0;
+		this.upperTranslation = options.upperTranslation ?? 0;
+	}
+	_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;
+		applyRotation(bodyA.transform, this._localAxisAx, this._localAxisAy, scratch);
+		const axisX = scratch.x;
+		const axisY = scratch.y;
+		const perpX = -axisY;
+		const perpY = axisX;
+		this._axisX = axisX;
+		this._axisY = axisY;
+		this._perpX = perpX;
+		this._perpY = perpY;
+		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;
+		const rAx = pAx - bodyA.worldCenterOfMassX;
+		const rAy = pAy - bodyA.worldCenterOfMassY;
+		const rBx = pBx - bodyB.worldCenterOfMassX;
+		const rBy = pBy - bodyB.worldCenterOfMassY;
+		const dx = pBx - pAx;
+		const dy = pBy - pAy;
+		this._a1 = (dx + rAx) * axisY - (dy + rAy) * axisX;
+		this._a2 = rBx * axisY - rBy * axisX;
+		this._s1 = (dx + rAx) * perpY - (dy + rAy) * perpX;
+		this._s2 = rBx * perpY - rBy * perpX;
+		const mA = bodyA.invMass;
+		const mB = bodyB.invMass;
+		const iA = bodyA.invInertia;
+		const iB = bodyB.invInertia;
+		const kAxial = mA + mB + iA * this._a1 * this._a1 + iB * this._a2 * this._a2;
+		this._axialMass = kAxial > 0 ? 1 / kAxial : 0;
+		this._k11 = mA + mB + iA * this._s1 * this._s1 + iB * this._s2 * this._s2;
+		this._k12 = iA * this._s1 + iB * this._s2;
+		this._k22 = iA + iB;
+		if (this._k22 === 0) this._k22 = 1;
+		this._cPerp = dx * perpX + dy * perpY;
+		this._cAngle = bodyB.angle - bodyA.angle - this._referenceAngle;
+		this._translation = dx * axisX + dy * axisY;
+		this._h = h;
+		this._invH = 1 / h;
+		if (!this.enableMotor) this._motorImpulse = 0;
+		if (!this.enableLimit) {
+			this._lowerImpulse = 0;
+			this._upperImpulse = 0;
+		}
+	}
+	_warmStart() {
+		if (!this._active) return;
+		const axial = this._motorImpulse + this._lowerImpulse - this._upperImpulse;
+		this._applyBlock(this._perpImpulse, this._angularImpulse);
+		this._applyAxial(axial);
+	}
+	_solve(useBias) {
+		if (!this._active) return;
+		const bodyA = this.bodyA;
+		const bodyB = this.bodyB;
+		if (this.enableMotor) {
+			const cdot = this._axisVelocity() - this.motorSpeed;
+			const max = this.maxMotorForce * this._h;
+			const old = this._motorImpulse;
+			this._motorImpulse = Math.min(max, Math.max(-max, old - this._axialMass * cdot));
+			this._applyAxial(this._motorImpulse - old);
+		}
+		if (this.enableLimit) {
+			const cLower = this._translation - this.lowerTranslation;
+			let biasLower = 0;
+			if (cLower > 0) biasLower = cLower * this._invH;
+			else if (useBias) biasLower = .2 * this._invH * cLower;
+			const oldLower = this._lowerImpulse;
+			this._lowerImpulse = Math.max(0, oldLower - this._axialMass * (this._axisVelocity() + biasLower));
+			this._applyAxial(this._lowerImpulse - oldLower);
+			const cUpper = this.upperTranslation - this._translation;
+			let biasUpper = 0;
+			if (cUpper > 0) biasUpper = cUpper * this._invH;
+			else if (useBias) biasUpper = .2 * this._invH * cUpper;
+			const oldUpper = this._upperImpulse;
+			this._upperImpulse = Math.max(0, oldUpper - this._axialMass * (-this._axisVelocity() + biasUpper));
+			this._applyAxial(-(this._upperImpulse - oldUpper));
+		}
+		const cdotPerp = this._perpVelocity();
+		const cdotAngle = bodyB.angularVelocity - bodyA.angularVelocity;
+		const rhs1 = -(cdotPerp + (useBias ? .2 * this._invH * this._cPerp : 0));
+		const rhs2 = -(cdotAngle + (useBias ? .2 * this._invH * this._cAngle : 0));
+		const det = this._k11 * this._k22 - this._k12 * this._k12;
+		const invDet = det !== 0 ? 1 / det : 0;
+		const dPerp = invDet * (this._k22 * rhs1 - this._k12 * rhs2);
+		const dAngle = invDet * (-this._k12 * rhs1 + this._k11 * rhs2);
+		this._perpImpulse += dPerp;
+		this._angularImpulse += dAngle;
+		this._applyBlock(dPerp, dAngle);
+	}
+	/** Relative velocity projected onto the axis (plus the rotation cross terms). */
+	_axisVelocity() {
+		const bodyA = this.bodyA;
+		const bodyB = this.bodyB;
+		return this._axisX * (bodyB.linearVelocityX - bodyA.linearVelocityX) + this._axisY * (bodyB.linearVelocityY - bodyA.linearVelocityY) + this._a2 * bodyB.angularVelocity - this._a1 * bodyA.angularVelocity;
+	}
+	/** Relative velocity projected onto the perpendicular (plus the rotation cross terms). */
+	_perpVelocity() {
+		const bodyA = this.bodyA;
+		const bodyB = this.bodyB;
+		return this._perpX * (bodyB.linearVelocityX - bodyA.linearVelocityX) + this._perpY * (bodyB.linearVelocityY - bodyA.linearVelocityY) + this._s2 * bodyB.angularVelocity - this._s1 * bodyA.angularVelocity;
+	}
+	_applyAxial(impulse) {
+		const bodyA = this.bodyA;
+		const bodyB = this.bodyB;
+		const px = impulse * this._axisX;
+		const py = impulse * this._axisY;
+		bodyA.linearVelocityX -= bodyA.invMass * px;
+		bodyA.linearVelocityY -= bodyA.invMass * py;
+		bodyA.angularVelocity -= bodyA.invInertia * impulse * this._a1;
+		bodyB.linearVelocityX += bodyB.invMass * px;
+		bodyB.linearVelocityY += bodyB.invMass * py;
+		bodyB.angularVelocity += bodyB.invInertia * impulse * this._a2;
+	}
+	_applyBlock(perpImpulse, angularImpulse) {
+		const bodyA = this.bodyA;
+		const bodyB = this.bodyB;
+		const px = perpImpulse * this._perpX;
+		const py = perpImpulse * this._perpY;
+		bodyA.linearVelocityX -= bodyA.invMass * px;
+		bodyA.linearVelocityY -= bodyA.invMass * py;
+		bodyA.angularVelocity -= bodyA.invInertia * (perpImpulse * this._s1 + angularImpulse);
+		bodyB.linearVelocityX += bodyB.invMass * px;
+		bodyB.linearVelocityY += bodyB.invMass * py;
+		bodyB.angularVelocity += bodyB.invInertia * (perpImpulse * this._s2 + angularImpulse);
+	}
+};
 
+//#endregion
 export { PrismaticJoint };
-//# sourceMappingURL=PrismaticJoint.js.map
+//# sourceMappingURL=PrismaticJoint.js.map

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

@@ -1 +1 @@
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+{"version":3,"file":"PrismaticJoint.js","names":[],"sources":["../../../src/joints/PrismaticJoint.ts"],"sourcesContent":["import type { PointLike } from '@codexo/exojs';\n\nimport { applyInverseRotation, applyInverseTransform, applyRotation, applyTransform } from '../math';\nimport type { PhysicsBody } from '../PhysicsBody';\nimport { Joint } from './Joint';\n\n/** Construction options for a {@link PrismaticJoint}. */\nexport interface PrismaticJointOptions {\n  /** First body (often a static rail anchor). */\n  bodyA: PhysicsBody;\n  /** Second body (the slider). */\n  bodyB: PhysicsBody;\n  /** Shared world-space anchor at creation. */\n  anchor: Readonly<PointLike>;\n  /** Slide axis in world space at creation (normalised internally). The body may only translate along this axis. */\n  axis: Readonly<PointLike>;\n  /** Enable the linear motor (drives translation along the axis toward {@link motorSpeed}). Default `false`. */\n  enableMotor?: boolean;\n  /** Target translation speed along the axis (px/s). Default `0`. */\n  motorSpeed?: number;\n  /** Maximum motor force - clamps the per-step motor impulse. Default `0`. */\n  maxMotorForce?: number;\n  /** Enable the translation limit (keeps the axis translation in `[lowerTranslation, upperTranslation]`). Default `false`. */\n  enableLimit?: boolean;\n  /** Lower translation limit along the axis (relative to the creation position). Default `0`. */\n  lowerTranslation?: number;\n  /** Upper translation limit along the axis. Default `0`. */\n  upperTranslation?: 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 * Constrains a body to **slide along a single axis** relative to another: the\n * perpendicular translation and the relative rotation are locked (a 2×2 block);\n * only translation along the axis is free, optionally driven by a motor and/or\n * bounded by a translation limit. Solved in the sub-step loop, warm-started.\n */\nexport class PrismaticJoint extends Joint {\n  /** When `true`, the motor drives the axis translation toward {@link motorSpeed}. */\n  public enableMotor: boolean;\n  /** Target translation speed along the axis (px/s). */\n  public motorSpeed: number;\n  /** Maximum motor force. */\n  public maxMotorForce: number;\n  /** When `true`, the axis translation is constrained to `[lowerTranslation, upperTranslation]`. */\n  public enableLimit: boolean;\n  /** Lower translation limit along the axis. */\n  public lowerTranslation: number;\n  /** Upper translation limit along the axis. */\n  public upperTranslation: number;\n\n  private readonly _localAnchorAx: number;\n  private readonly _localAnchorAy: number;\n  private readonly _localAnchorBx: number;\n  private readonly _localAnchorBy: number;\n  private readonly _localAxisAx: number;\n  private readonly _localAxisAy: number;\n  private readonly _referenceAngle: number;\n\n  private _axisX = 1;\n  private _axisY = 0;\n  private _perpX = 0;\n  private _perpY = 1;\n  private _a1 = 0;\n  private _a2 = 0;\n  private _s1 = 0;\n  private _s2 = 0;\n  private _k11 = 0;\n  private _k12 = 0;\n  private _k22 = 0;\n  private _cPerp = 0;\n  private _cAngle = 0;\n  private _translation = 0;\n  private _axialMass = 0;\n  private _h = 0;\n  private _invH = 0;\n  private _perpImpulse = 0;\n  private _angularImpulse = 0;\n  private _motorImpulse = 0;\n  private _lowerImpulse = 0;\n  private _upperImpulse = 0;\n\n  public constructor(options: PrismaticJointOptions) {\n    super(options.bodyA, options.bodyB);\n\n    applyInverseTransform(options.bodyA.transform, options.anchor.x, options.anchor.y, scratch);\n    this._localAnchorAx = scratch.x;\n    this._localAnchorAy = scratch.y;\n    applyInverseTransform(options.bodyB.transform, options.anchor.x, options.anchor.y, scratch);\n    this._localAnchorBx = scratch.x;\n    this._localAnchorBy = scratch.y;\n\n    const axisLength = Math.hypot(options.axis.x, options.axis.y);\n\n    if (!Number.isFinite(axisLength) || axisLength === 0) {\n      throw new RangeError(`PrismaticJoint: axis must be a non-zero finite vector, received (${options.axis.x}, ${options.axis.y}).`);\n    }\n\n    applyInverseRotation(options.bodyA.transform, options.axis.x / axisLength, options.axis.y / axisLength, scratch);\n    this._localAxisAx = scratch.x;\n    this._localAxisAy = scratch.y;\n\n    this._referenceAngle = options.bodyB.angle - options.bodyA.angle;\n    this.enableMotor = options.enableMotor ?? false;\n    this.motorSpeed = options.motorSpeed ?? 0;\n    this.maxMotorForce = options.maxMotorForce ?? 0;\n    this.enableLimit = options.enableLimit ?? false;\n    this.lowerTranslation = options.lowerTranslation ?? 0;\n    this.upperTranslation = options.upperTranslation ?? 0;\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    // World axis + perpendicular (axis is local to body A).\n    applyRotation(bodyA.transform, this._localAxisAx, this._localAxisAy, scratch);\n    const axisX = scratch.x;\n    const axisY = scratch.y;\n    const perpX = -axisY;\n    const perpY = axisX;\n\n    this._axisX = axisX;\n    this._axisY = axisY;\n    this._perpX = perpX;\n    this._perpY = perpY;\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    const rAx = pAx - bodyA.worldCenterOfMassX;\n    const rAy = pAy - bodyA.worldCenterOfMassY;\n    const rBx = pBx - bodyB.worldCenterOfMassX;\n    const rBy = pBy - bodyB.worldCenterOfMassY;\n    const dx = pBx - pAx;\n    const dy = pBy - pAy;\n\n    // Jacobian cross terms for the axis (motor/limit) and the perpendicular (lock).\n    this._a1 = (dx + rAx) * axisY - (dy + rAy) * axisX;\n    this._a2 = rBx * axisY - rBy * axisX;\n    this._s1 = (dx + rAx) * perpY - (dy + rAy) * perpX;\n    this._s2 = rBx * perpY - rBy * perpX;\n\n    const mA = bodyA.invMass;\n    const mB = bodyB.invMass;\n    const iA = bodyA.invInertia;\n    const iB = bodyB.invInertia;\n\n    const kAxial = mA + mB + iA * this._a1 * this._a1 + iB * this._a2 * this._a2;\n    this._axialMass = kAxial > 0 ? 1 / kAxial : 0;\n\n    // Perpendicular + angular 2×2 block.\n    this._k11 = mA + mB + iA * this._s1 * this._s1 + iB * this._s2 * this._s2;\n    this._k12 = iA * this._s1 + iB * this._s2;\n    this._k22 = iA + iB;\n\n    if (this._k22 === 0) {\n      this._k22 = 1; // both bodies rotation-locked — keep the block invertible\n    }\n\n    this._cPerp = dx * perpX + dy * perpY;\n    this._cAngle = bodyB.angle - bodyA.angle - this._referenceAngle;\n    this._translation = dx * axisX + dy * axisY;\n    this._h = h;\n    this._invH = 1 / h;\n\n    if (!this.enableMotor) {\n      this._motorImpulse = 0;\n    }\n\n    if (!this.enableLimit) {\n      this._lowerImpulse = 0;\n      this._upperImpulse = 0;\n    }\n  }\n\n  public override _warmStart(): void {\n    if (!this._active) {\n      return;\n    }\n\n    const axial = this._motorImpulse + this._lowerImpulse - this._upperImpulse;\n    this._applyBlock(this._perpImpulse, this._angularImpulse);\n    this._applyAxial(axial);\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    // Motor along the axis.\n    if (this.enableMotor) {\n      const cdot = this._axisVelocity() - this.motorSpeed;\n      const max = this.maxMotorForce * this._h;\n      const old = this._motorImpulse;\n\n      this._motorImpulse = Math.min(max, Math.max(-max, old - this._axialMass * cdot));\n      this._applyAxial(this._motorImpulse - old);\n    }\n\n    // Translation limits along the axis.\n    if (this.enableLimit) {\n      // Lower limit (translation ≥ lowerTranslation): positive impulse pushes along +axis.\n      const cLower = this._translation - this.lowerTranslation;\n      let biasLower = 0;\n\n      if (cLower > 0) {\n        biasLower = cLower * this._invH;\n      } else if (useBias) {\n        biasLower = 0.2 * this._invH * cLower;\n      }\n\n      const oldLower = this._lowerImpulse;\n      this._lowerImpulse = Math.max(0, oldLower - this._axialMass * (this._axisVelocity() + biasLower));\n      this._applyAxial(this._lowerImpulse - oldLower);\n\n      // Upper limit (translation ≤ upperTranslation): impulse pushes along −axis.\n      const cUpper = this.upperTranslation - this._translation;\n      let biasUpper = 0;\n\n      if (cUpper > 0) {\n        biasUpper = cUpper * this._invH;\n      } else if (useBias) {\n        biasUpper = 0.2 * this._invH * cUpper;\n      }\n\n      const oldUpper = this._upperImpulse;\n      this._upperImpulse = Math.max(0, oldUpper - this._axialMass * (-this._axisVelocity() + biasUpper));\n      this._applyAxial(-(this._upperImpulse - oldUpper));\n    }\n\n    // Perpendicular + angular lock (2×2 block).\n    const cdotPerp = this._perpVelocity();\n    const cdotAngle = bodyB.angularVelocity - bodyA.angularVelocity;\n    const rhs1 = -(cdotPerp + (useBias ? 0.2 * this._invH * this._cPerp : 0));\n    const rhs2 = -(cdotAngle + (useBias ? 0.2 * this._invH * this._cAngle : 0));\n    const det = this._k11 * this._k22 - this._k12 * this._k12;\n    const invDet = det !== 0 ? 1 / det : 0;\n    const dPerp = invDet * (this._k22 * rhs1 - this._k12 * rhs2);\n    const dAngle = invDet * (-this._k12 * rhs1 + this._k11 * rhs2);\n\n    this._perpImpulse += dPerp;\n    this._angularImpulse += dAngle;\n    this._applyBlock(dPerp, dAngle);\n  }\n\n  /** Relative velocity projected onto the axis (plus the rotation cross terms). */\n  private _axisVelocity(): number {\n    const bodyA = this.bodyA;\n    const bodyB = this.bodyB;\n\n    return (\n      this._axisX * (bodyB.linearVelocityX - bodyA.linearVelocityX) +\n      this._axisY * (bodyB.linearVelocityY - bodyA.linearVelocityY) +\n      this._a2 * bodyB.angularVelocity -\n      this._a1 * bodyA.angularVelocity\n    );\n  }\n\n  /** Relative velocity projected onto the perpendicular (plus the rotation cross terms). */\n  private _perpVelocity(): number {\n    const bodyA = this.bodyA;\n    const bodyB = this.bodyB;\n\n    return (\n      this._perpX * (bodyB.linearVelocityX - bodyA.linearVelocityX) +\n      this._perpY * (bodyB.linearVelocityY - bodyA.linearVelocityY) +\n      this._s2 * bodyB.angularVelocity -\n      this._s1 * bodyA.angularVelocity\n    );\n  }\n\n  private _applyAxial(impulse: number): void {\n    const bodyA = this.bodyA;\n    const bodyB = this.bodyB;\n    const px = impulse * this._axisX;\n    const py = impulse * this._axisY;\n\n    bodyA.linearVelocityX -= bodyA.invMass * px;\n    bodyA.linearVelocityY -= bodyA.invMass * py;\n    bodyA.angularVelocity -= bodyA.invInertia * impulse * this._a1;\n    bodyB.linearVelocityX += bodyB.invMass * px;\n    bodyB.linearVelocityY += bodyB.invMass * py;\n    bodyB.angularVelocity += bodyB.invInertia * impulse * this._a2;\n  }\n\n  private _applyBlock(perpImpulse: number, angularImpulse: number): void {\n    const bodyA = this.bodyA;\n    const bodyB = this.bodyB;\n    const px = perpImpulse * this._perpX;\n    const py = perpImpulse * this._perpY;\n\n    bodyA.linearVelocityX -= bodyA.invMass * px;\n    bodyA.linearVelocityY -= bodyA.invMass * py;\n    bodyA.angularVelocity -= bodyA.invInertia * (perpImpulse * this._s1 + angularImpulse);\n    bodyB.linearVelocityX += bodyB.invMass * px;\n    bodyB.linearVelocityY += bodyB.invMass * py;\n    bodyB.angularVelocity += bodyB.invInertia * (perpImpulse * this._s2 + 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package/dist/esm/joints/RevoluteJoint.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 RevoluteJoint}. */
 export interface RevoluteJointOptions {
@@ -8,7 +8,7 @@ export interface RevoluteJointOptions {
     /** Second body. */
     bodyB: PhysicsBody;
     /** Shared world-space pivot point at creation. The two bodies are pinned here and may rotate freely about it. */
-    anchor: VectorLike;
+    anchor: Readonly<PointLike>;
     /** Soft-spring frequency in Hz; `0` (default) makes it a rigid pin. */
     hertz?: number;
     /** Soft-spring damping ratio (used when `hertz > 0`). Default `1`. */
@@ -17,7 +17,7 @@ export interface RevoluteJointOptions {
     enableMotor?: boolean;
     /** Target relative angular velocity in rad/s when the motor is enabled. Default `0`. */
     motorSpeed?: number;
-    /** Maximum motor torque — clamps the per-step motor impulse. Default `0`. */
+    /** Maximum motor torque - clamps the per-step motor impulse. Default `0`. */
     maxMotorTorque?: number;
     /** Enable the angle limit (keeps the relative angle in `[lowerAngle, upperAngle]`). Default `false`. */
     enableLimit?: boolean;
@@ -79,3 +79,4 @@ export declare class RevoluteJoint extends Joint {
     _solve(useBias: boolean): void;
     private _applyImpulse;
 }
+//# sourceMappingURL=RevoluteJoint.d.ts.map

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

@@ -0,0 +1 @@
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