@codexo/exojs-physics 0.15.3 → 0.16.0

package/dist/esm/Collider.js

@@ -1,160 +1,266 @@
-import { createAabb } from './Aabb.js';
-import { createTransform, composeTransforms, applyTransform, applyRotation } from './math.js';
-import { resolveFilter } from './types.js';
+import { createAabb } from "./Aabb.js";
+import { applyRotation, applyTransform, composeTransforms, createTransform } from "./math.js";
+import { resolveFilter } from "./types.js";
 
+//#region src/Collider.ts
+/** Number of world-space vertices a shape kind caches on its collider. */
+const worldVertexCount = (shape) => {
+	switch (shape.type) {
+		case "polygon": return shape.count;
+		case "capsule":
+		case "segment": return 2;
+		case "circle":
+		case "chain": return 0;
+	}
+};
 /**
- * Geometry attached to a {@link PhysicsBody}: a {@link Shape} plus a body-local
- * offset/rotation, material (friction/restitution/density) and a collision
- * filter. A body may own several colliders (compound). The collider also caches
- * its world-space geometry — refreshed by {@link synchronize} — which the broad
- * phase, narrow phase and queries read directly.
- *
- * Material fields and the filter are mutable; the shape and local placement are
- * immutable (rebuild the collider to change geometry).
- */
-class Collider {
-    /** Stable id, assigned when the owning body joins a world (`-1` until then). */
-    shape;
-    offsetX;
-    offsetY;
-    localRotation;
-    density;
-    friction;
-    restitution;
-    isSensor;
-    filter;
-    _id = -1;
-    _body = null;
-    _localTransform;
-    _worldTransform = createTransform();
-    _aabb = createAabb();
-    _worldCenter = { x: 0, y: 0 };
-    // Reused per-vertex scratch for synchronize()'s polygon transform loop so a
-    // collider sync allocates nothing. Instance-private: never held across the
-    // call, never aliased between colliders.
-    _syncScratch = { x: 0, y: 0 };
-    _worldVertices;
-    _worldNormals;
-    _destroyed = false;
-    constructor(options) {
-        const density = options.density ?? 1;
-        if (!Number.isFinite(density) || density < 0) {
-            throw new RangeError(`Collider: density must be a non-negative finite number, received ${density}.`);
-        }
-        this.shape = options.shape;
-        this.offsetX = options.offset?.x ?? 0;
-        this.offsetY = options.offset?.y ?? 0;
-        this.localRotation = options.rotation ?? 0;
-        this.density = density;
-        this.friction = options.friction ?? 0.2;
-        this.restitution = options.restitution ?? 0;
-        this.isSensor = options.isSensor ?? false;
-        this.filter = resolveFilter(options.filter);
-        this._localTransform = createTransform(this.offsetX, this.offsetY, this.localRotation);
-        if (this.shape.type === 'polygon') {
-            const polygon = this.shape;
-            this._worldVertices = new Array(polygon.count * 2).fill(0);
-            this._worldNormals = new Array(polygon.count * 2).fill(0);
-        }
-        else {
-            this._worldVertices = [];
-            this._worldNormals = [];
-        }
-    }
-    /** Stable id, assigned when the owning body joins a world via `world.add()`; `-1` until then. */
-    get id() {
-        return this._id;
-    }
-    /**
-     * The body this collider belongs to. `null` until the collider has been added
-     * to a body that has joined a world (free-standing colliders have no body yet).
-     */
-    get body() {
-        if (this._body === null) {
-            throw new Error('Collider: this collider has not been attached to a body in a world yet.');
-        }
-        return this._body;
-    }
-    /** The collider's world AABB (valid after the latest {@link synchronize}). */
-    get aabb() {
-        return this._aabb;
-    }
-    /** The collider's world transform (offset/rotation composed with the body's). */
-    get worldTransform() {
-        return this._worldTransform;
-    }
-    /** The collider's body-local transform (offset + local rotation). */
-    get localTransform() {
-        return this._localTransform;
-    }
-    /** World-space circle centre (only meaningful for circle shapes). */
-    get worldCenter() {
-        return this._worldCenter;
-    }
-    /** World-space polygon vertices `[x0, y0, …]` (only meaningful for polygon shapes). */
-    get worldVertices() {
-        return this._worldVertices;
-    }
-    /** World-space polygon outward normals `[x0, y0, …]` (only meaningful for polygon shapes). */
-    get worldNormals() {
-        return this._worldNormals;
-    }
-    /** `true` after the owning world has destroyed this collider. */
-    get destroyed() {
-        return this._destroyed;
-    }
-    /**
-     * Recompute the cached world geometry from the body's transform. Called by the
-     * body on `setTransform`, on collider creation, and by the world before each
-     * detection pass.
-     */
-    synchronize(bodyTransform) {
-        const world = composeTransforms(bodyTransform, this._localTransform, this._worldTransform);
-        if (this.shape.type === 'circle') {
-            const radius = this.shape.radius;
-            this._worldCenter.x = world.x;
-            this._worldCenter.y = world.y;
-            this._aabb.minX = world.x - radius;
-            this._aabb.minY = world.y - radius;
-            this._aabb.maxX = world.x + radius;
-            this._aabb.maxY = world.y + radius;
-            return;
-        }
-        const polygon = this.shape;
-        const local = polygon.vertices;
-        const normals = polygon.normals;
-        const out = this._syncScratch;
-        let minX = Infinity;
-        let minY = Infinity;
-        let maxX = -Infinity;
-        let maxY = -Infinity;
-        for (let i = 0; i < polygon.count; i++) {
-            applyTransform(world, local[i * 2], local[i * 2 + 1], out);
-            this._worldVertices[i * 2] = out.x;
-            this._worldVertices[i * 2 + 1] = out.y;
-            minX = out.x < minX ? out.x : minX;
-            minY = out.y < minY ? out.y : minY;
-            maxX = out.x > maxX ? out.x : maxX;
-            maxY = out.y > maxY ? out.y : maxY;
-            applyRotation(world, normals[i * 2], normals[i * 2 + 1], out);
-            this._worldNormals[i * 2] = out.x;
-            this._worldNormals[i * 2 + 1] = out.y;
-        }
-        this._aabb.minX = minX;
-        this._aabb.minY = minY;
-        this._aabb.maxX = maxX;
-        this._aabb.maxY = maxY;
-    }
-    /** @internal — bind this collider to its body and id (called when the body joins a world). */
-    _attach(body, id) {
-        this._body = body;
-        this._id = id;
-    }
-    /** Internal: mark destroyed (called by the world). */
-    _markDestroyed() {
-        this._destroyed = true;
-    }
-}
+* Geometry attached to a {@link PhysicsBody}: a {@link Shape} plus a body-local
+* offset/rotation, material (friction/restitution/density) and a collision
+* filter. A body may own several colliders (compound). The collider also caches
+* its world-space geometry - refreshed by {@link synchronize} - which the broad
+* phase, narrow phase and queries read directly.
+*
+* Material fields and the filter are mutable; the shape and local placement are
+* immutable (rebuild the collider to change geometry).
+*/
+var Collider = class Collider {
+	/** Stable id, assigned when the owning body joins a world (`-1` until then). */
+	shape;
+	offsetX;
+	offsetY;
+	localRotation;
+	density;
+	friction;
+	restitution;
+	isSensor;
+	filter;
+	_id = -1;
+	_body = null;
+	_chainEdges;
+	_chainParent = null;
+	_localTransform;
+	_worldTransform = createTransform();
+	_aabb = createAabb();
+	_worldCenter = {
+		x: 0,
+		y: 0
+	};
+	_syncScratch = {
+		x: 0,
+		y: 0
+	};
+	_worldVertices;
+	_worldNormals;
+	_destroyed = false;
+	/**
+	* @internal - proxy id in the physics world's broad-phase spatial tree; `-1`
+	* when not inserted. Like `PhysicsBody._islandIndex`/`_sleepTime`, this is a
+	* single-owner slot: exactly ONE `AabbTreeBroadPhase` may track this collider
+	* at a time (in production, the world's own broad phase for the collider's
+	* whole lifetime). A second broad phase over the same collider would clobber
+	* this value and corrupt the first's tree - never do that.
+	*/
+	_treeProxy = -1;
+	constructor(options) {
+		const density = options.density ?? 1;
+		if (!Number.isFinite(density) || density < 0) throw new RangeError(`Collider: density must be a non-negative finite number, received ${density}.`);
+		this.shape = options.shape;
+		this.offsetX = options.offset?.x ?? 0;
+		this.offsetY = options.offset?.y ?? 0;
+		this.localRotation = options.rotation ?? 0;
+		this.density = density;
+		this.friction = options.friction ?? .2;
+		this.restitution = options.restitution ?? 0;
+		this.isSensor = options.isSensor ?? false;
+		this.filter = resolveFilter(options.filter);
+		this._localTransform = createTransform(this.offsetX, this.offsetY, this.localRotation);
+		const vertexCount = worldVertexCount(this.shape);
+		this._worldVertices = new Array(vertexCount * 2).fill(0);
+		this._worldNormals = new Array(vertexCount * 2).fill(0);
+		this._chainEdges = this.shape.type === "chain" ? this._buildChainEdges(this.shape) : null;
+	}
+	/** Stable id, assigned when the owning body joins a world via `world.add()`; `-1` until then. */
+	get id() {
+		return this._id;
+	}
+	/**
+	* The body this collider belongs to. `null` until the collider has been added
+	* to a body that has joined a world (free-standing colliders have no body yet).
+	*/
+	get body() {
+		if (this._body === null) throw new Error("Collider: this collider has not been attached to a body in a world yet.");
+		return this._body;
+	}
+	/** The collider's world AABB (valid after the latest {@link synchronize}). */
+	get aabb() {
+		return this._aabb;
+	}
+	/** The collider's world transform (offset/rotation composed with the body's). */
+	get worldTransform() {
+		return this._worldTransform;
+	}
+	/** The collider's body-local transform (offset + local rotation). */
+	get localTransform() {
+		return this._localTransform;
+	}
+	/** World-space circle centre (only meaningful for circle shapes). */
+	get worldCenter() {
+		return this._worldCenter;
+	}
+	/** World-space polygon vertices `[x0, y0, ...]` (only meaningful for polygon shapes). */
+	get worldVertices() {
+		return this._worldVertices;
+	}
+	/** World-space polygon outward normals `[x0, y0, ...]` (only meaningful for polygon shapes). */
+	get worldNormals() {
+		return this._worldNormals;
+	}
+	/**
+	* @internal - the engine-owned edge proxies a chain collider fans out into,
+	* one per chain edge; `null` for every other shape. They are what the broad
+	* phase, the narrow phase and the solver see, so a chain contact reuses the
+	* one-manifold-per-pair model unchanged. They are never part of
+	* `body.colliders`, `world.colliders` or any query result - the authored
+	* collider is the public identity of every contact they produce.
+	*/
+	get chainEdges() {
+		return this._chainEdges;
+	}
+	/** @internal - the authored chain collider this edge proxy belongs to; `null` for an authored collider. */
+	get chainParent() {
+		return this._chainParent;
+	}
+	/** `true` after the owning world has destroyed this collider. */
+	get destroyed() {
+		return this._destroyed;
+	}
+	/**
+	* Recompute the cached world geometry from the body's transform. Called by the
+	* body on `setTransform`, on collider creation, and by the world before each
+	* detection pass.
+	*/
+	synchronize(bodyTransform) {
+		const world = composeTransforms(bodyTransform, this._localTransform, this._worldTransform);
+		switch (this.shape.type) {
+			case "circle":
+				this._synchronizeCircle(world, this.shape.radius);
+				break;
+			case "capsule":
+				this._synchronizePolygon(world, this.shape.vertices, this.shape.normals, 2, this.shape.radius);
+				break;
+			case "segment":
+				this._synchronizePolygon(world, this.shape.vertices, this.shape.normals, 2, 0);
+				break;
+			case "polygon":
+				this._synchronizePolygon(world, this.shape.vertices, this.shape.normals, this.shape.count, 0);
+				break;
+			case "chain": this._synchronizeChain(bodyTransform);
+		}
+	}
+	/**
+	* A chain's world geometry is its edge proxies': each of them shares the
+	* chain's local placement and syncs its own two endpoints, and the chain's own
+	* AABB is their union. Nothing is transformed twice, and no proxy is rebuilt.
+	*/
+	_synchronizeChain(bodyTransform) {
+		const edges = this._chainEdges;
+		let minX = Infinity;
+		let minY = Infinity;
+		let maxX = -Infinity;
+		let maxY = -Infinity;
+		for (const edge of edges) {
+			edge.synchronize(bodyTransform);
+			const aabb = edge.aabb;
+			minX = aabb.minX < minX ? aabb.minX : minX;
+			minY = aabb.minY < minY ? aabb.minY : minY;
+			maxX = aabb.maxX > maxX ? aabb.maxX : maxX;
+			maxY = aabb.maxY > maxY ? aabb.maxY : maxY;
+		}
+		this._aabb.minX = minX;
+		this._aabb.minY = minY;
+		this._aabb.maxX = maxX;
+		this._aabb.maxY = maxY;
+	}
+	/** A circle is its transformed centre; the local vertex buffers stay unused. */
+	_synchronizeCircle(world, radius) {
+		this._worldCenter.x = world.x;
+		this._worldCenter.y = world.y;
+		this._aabb.minX = world.x - radius;
+		this._aabb.minY = world.y - radius;
+		this._aabb.maxX = world.x + radius;
+		this._aabb.maxY = world.y + radius;
+	}
+	/**
+	* Transform a local vertex/normal ring into the world buffers and take the
+	* AABB while doing it. `radius` inflates the box for a rounded outline (a
+	* capsule's spine); it is `0` for a plain polygon.
+	*/
+	_synchronizePolygon(world, local, normals, count, radius) {
+		const out = this._syncScratch;
+		let minX = Infinity;
+		let minY = Infinity;
+		let maxX = -Infinity;
+		let maxY = -Infinity;
+		for (let i = 0; i < count; i++) {
+			applyTransform(world, local[i * 2], local[i * 2 + 1], out);
+			this._worldVertices[i * 2] = out.x;
+			this._worldVertices[i * 2 + 1] = out.y;
+			minX = out.x < minX ? out.x : minX;
+			minY = out.y < minY ? out.y : minY;
+			maxX = out.x > maxX ? out.x : maxX;
+			maxY = out.y > maxY ? out.y : maxY;
+			applyRotation(world, normals[i * 2], normals[i * 2 + 1], out);
+			this._worldNormals[i * 2] = out.x;
+			this._worldNormals[i * 2 + 1] = out.y;
+		}
+		this._aabb.minX = minX - radius;
+		this._aabb.minY = minY - radius;
+		this._aabb.maxX = maxX + radius;
+		this._aabb.maxY = maxY + radius;
+	}
+	/** @internal - bind this collider to its body and id (called when the body joins a world). */
+	_attach(body, id) {
+		this._body = body;
+		this._id = id;
+	}
+	/**
+	* Fan a chain out into one proxy per edge. Each proxy carries the chain's own
+	* local placement, so it needs no transform of its own, and its shape carries
+	* the adjacency that keeps a body from snagging at a shared vertex.
+	*/
+	_buildChainEdges(chain) {
+		const edges = [];
+		for (const edgeShape of chain.edges) {
+			const edge = new Collider({
+				shape: edgeShape,
+				offset: {
+					x: this.offsetX,
+					y: this.offsetY
+				},
+				rotation: this.localRotation,
+				density: 0
+			});
+			edge._chainParent = this;
+			edges.push(edge);
+		}
+		return edges;
+	}
+	/** Internal: mark destroyed (called by the world). */
+	_markDestroyed() {
+		this._destroyed = true;
+		if (this._chainEdges !== null) for (const edge of this._chainEdges) edge._destroyed = true;
+	}
+};
+/**
+* The authored collider a contact, query hit or sweep target belongs to: the
+* collider itself, or the chain it is an engine-owned edge proxy of. Every
+* public identity - events, query results, the contact modifier - goes through
+* this, so a solver-side partition never reaches a caller.
+*
+* @internal
+*/
+const authoredCollider = (collider) => collider.chainParent ?? collider;
 
-export { Collider };
-//# sourceMappingURL=Collider.js.map
+//#endregion
+export { Collider, authoredCollider };
+//# sourceMappingURL=Collider.js.map

package/dist/esm/Collider.js.map

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+{"version":3,"file":"Collider.js","names":[],"sources":["../../src/Collider.ts"],"sourcesContent":["import type { AabbLike, PointLike } from '@codexo/exojs';\n\nimport { createAabb } from './Aabb';\nimport type { Transform } from './math';\nimport { applyRotation, applyTransform, composeTransforms, createTransform } from './math';\nimport type { PhysicsBody } from './PhysicsBody';\nimport type { AnyShape } from './shapes/AnyShape';\nimport type { ChainShape } from './shapes/ChainShape';\nimport type { CollisionFilter } from './types';\nimport { resolveFilter } from './types';\n\n/** Number of world-space vertices a shape kind caches on its collider. */\nconst worldVertexCount = (shape: AnyShape): number => {\n  switch (shape.type) {\n    case 'polygon':\n      return shape.count;\n    case 'capsule':\n    case 'segment':\n      // Two endpoints. Both are a two-vertex ring, with and without a radius.\n      return 2;\n    case 'circle':\n    case 'chain':\n      // A chain caches nothing of its own: its geometry lives on the per-edge\n      // child proxies, and its AABB is the union of theirs.\n      return 0;\n  }\n};\n\n/** Construction options for a collider. */\nexport interface ColliderOptions {\n  /** The collision geometry. */\n  shape: AnyShape;\n  /** Density (mass per px²) for the owning body's mass; ignored for static/kinematic. Default `1`. */\n  density?: number;\n  /** Coulomb friction coefficient (used by the solver once dynamics ship). Default `0.2`. */\n  friction?: number;\n  /** Restitution / bounciness in `[0, 1]` (used by the solver once dynamics ship). Default `0`. */\n  restitution?: number;\n  /** When `true`, generates overlap events but no contact response. Default `false`. */\n  isSensor?: boolean;\n  /** Category/mask/group filter; partials merge over the defaults. */\n  filter?: Partial<CollisionFilter>;\n  /** Body-local offset of the shape origin. Default `(0, 0)`. */\n  offset?: Readonly<PointLike>;\n  /** Body-local rotation of the shape in radians (compound colliders). Default `0`. */\n  rotation?: number;\n}\n\n/**\n * Geometry attached to a {@link PhysicsBody}: a {@link Shape} plus a body-local\n * offset/rotation, material (friction/restitution/density) and a collision\n * filter. A body may own several colliders (compound). The collider also caches\n * its world-space geometry - refreshed by {@link synchronize} - which the broad\n * phase, narrow phase and queries read directly.\n *\n * Material fields and the filter are mutable; the shape and local placement are\n * immutable (rebuild the collider to change geometry).\n */\nexport class Collider {\n  /** Stable id, assigned when the owning body joins a world (`-1` until then). */\n  public readonly shape: AnyShape;\n  public readonly offsetX: number;\n  public readonly offsetY: number;\n  public readonly localRotation: number;\n\n  public density: number;\n  public friction: number;\n  public restitution: number;\n  public isSensor: boolean;\n  public readonly filter: CollisionFilter;\n\n  private _id = -1;\n  private _body: PhysicsBody | null = null;\n  private readonly _chainEdges: readonly Collider[] | null;\n  private _chainParent: Collider | null = null;\n  private readonly _localTransform: Transform;\n  private readonly _worldTransform: Transform = createTransform();\n  private readonly _aabb: AabbLike = createAabb();\n  private readonly _worldCenter: PointLike = { x: 0, y: 0 };\n  // Reused per-vertex scratch for synchronize()'s polygon transform loop so a\n  // collider sync allocates nothing. Instance-private: never held across the\n  // call, never aliased between colliders.\n  private readonly _syncScratch: PointLike = { x: 0, y: 0 };\n  private readonly _worldVertices: number[];\n  private readonly _worldNormals: number[];\n\n  private _destroyed = false;\n\n  /**\n   * @internal - proxy id in the physics world's broad-phase spatial tree; `-1`\n   * when not inserted. Like `PhysicsBody._islandIndex`/`_sleepTime`, this is a\n   * single-owner slot: exactly ONE `AabbTreeBroadPhase` may track this collider\n   * at a time (in production, the world's own broad phase for the collider's\n   * whole lifetime). A second broad phase over the same collider would clobber\n   * this value and corrupt the first's tree - never do that.\n   */\n  public _treeProxy = -1;\n\n  public constructor(options: ColliderOptions) {\n    const density = options.density ?? 1;\n\n    if (!Number.isFinite(density) || density < 0) {\n      throw new RangeError(`Collider: density must be a non-negative finite number, received ${density}.`);\n    }\n\n    this.shape = options.shape;\n    this.offsetX = options.offset?.x ?? 0;\n    this.offsetY = options.offset?.y ?? 0;\n    this.localRotation = options.rotation ?? 0;\n    this.density = density;\n    this.friction = options.friction ?? 0.2;\n    this.restitution = options.restitution ?? 0;\n    this.isSensor = options.isSensor ?? false;\n    this.filter = resolveFilter(options.filter);\n    this._localTransform = createTransform(this.offsetX, this.offsetY, this.localRotation);\n\n    const vertexCount = worldVertexCount(this.shape);\n\n    this._worldVertices = new Array<number>(vertexCount * 2).fill(0);\n    this._worldNormals = new Array<number>(vertexCount * 2).fill(0);\n    this._chainEdges = this.shape.type === 'chain' ? this._buildChainEdges(this.shape) : null;\n  }\n\n  /** Stable id, assigned when the owning body joins a world via `world.add()`; `-1` until then. */\n  public get id(): number {\n    return this._id;\n  }\n\n  /**\n   * The body this collider belongs to. `null` until the collider has been added\n   * to a body that has joined a world (free-standing colliders have no body yet).\n   */\n  public get body(): PhysicsBody {\n    if (this._body === null) {\n      throw new Error('Collider: this collider has not been attached to a body in a world yet.');\n    }\n\n    return this._body;\n  }\n\n  /** The collider's world AABB (valid after the latest {@link synchronize}). */\n  public get aabb(): Readonly<AabbLike> {\n    return this._aabb;\n  }\n\n  /** The collider's world transform (offset/rotation composed with the body's). */\n  public get worldTransform(): Readonly<Transform> {\n    return this._worldTransform;\n  }\n\n  /** The collider's body-local transform (offset + local rotation). */\n  public get localTransform(): Readonly<Transform> {\n    return this._localTransform;\n  }\n\n  /** World-space circle centre (only meaningful for circle shapes). */\n  public get worldCenter(): Readonly<PointLike> {\n    return this._worldCenter;\n  }\n\n  /** World-space polygon vertices `[x0, y0, ...]` (only meaningful for polygon shapes). */\n  public get worldVertices(): readonly number[] {\n    return this._worldVertices;\n  }\n\n  /** World-space polygon outward normals `[x0, y0, ...]` (only meaningful for polygon shapes). */\n  public get worldNormals(): readonly number[] {\n    return this._worldNormals;\n  }\n\n  /**\n   * @internal - the engine-owned edge proxies a chain collider fans out into,\n   * one per chain edge; `null` for every other shape. They are what the broad\n   * phase, the narrow phase and the solver see, so a chain contact reuses the\n   * one-manifold-per-pair model unchanged. They are never part of\n   * `body.colliders`, `world.colliders` or any query result - the authored\n   * collider is the public identity of every contact they produce.\n   */\n  public get chainEdges(): readonly Collider[] | null {\n    return this._chainEdges;\n  }\n\n  /** @internal - the authored chain collider this edge proxy belongs to; `null` for an authored collider. */\n  public get chainParent(): Collider | null {\n    return this._chainParent;\n  }\n\n  /** `true` after the owning world has destroyed this collider. */\n  public get destroyed(): boolean {\n    return this._destroyed;\n  }\n\n  /**\n   * Recompute the cached world geometry from the body's transform. Called by the\n   * body on `setTransform`, on collider creation, and by the world before each\n   * detection pass.\n   */\n  public synchronize(bodyTransform: Transform): void {\n    const world = composeTransforms(bodyTransform, this._localTransform, this._worldTransform);\n\n    switch (this.shape.type) {\n      case 'circle':\n        this._synchronizeCircle(world, this.shape.radius);\n        break;\n      case 'capsule':\n        // A capsule is a two-vertex ring plus a radius, so it rides the polygon\n        // path and only the AABB inflation differs.\n        this._synchronizePolygon(world, this.shape.vertices, this.shape.normals, 2, this.shape.radius);\n        break;\n      case 'segment':\n        this._synchronizePolygon(world, this.shape.vertices, this.shape.normals, 2, 0);\n        break;\n      case 'polygon':\n        this._synchronizePolygon(world, this.shape.vertices, this.shape.normals, this.shape.count, 0);\n        break;\n      case 'chain':\n        this._synchronizeChain(bodyTransform);\n        break;\n    }\n  }\n\n  /**\n   * A chain's world geometry is its edge proxies': each of them shares the\n   * chain's local placement and syncs its own two endpoints, and the chain's own\n   * AABB is their union. Nothing is transformed twice, and no proxy is rebuilt.\n   */\n  private _synchronizeChain(bodyTransform: Transform): void {\n    const edges = this._chainEdges!;\n    let minX = Infinity;\n    let minY = Infinity;\n    let maxX = -Infinity;\n    let maxY = -Infinity;\n\n    for (const edge of edges) {\n      edge.synchronize(bodyTransform);\n\n      const aabb = edge.aabb;\n\n      minX = aabb.minX < minX ? aabb.minX : minX;\n      minY = aabb.minY < minY ? aabb.minY : minY;\n      maxX = aabb.maxX > maxX ? aabb.maxX : maxX;\n      maxY = aabb.maxY > maxY ? aabb.maxY : maxY;\n    }\n\n    this._aabb.minX = minX;\n    this._aabb.minY = minY;\n    this._aabb.maxX = maxX;\n    this._aabb.maxY = maxY;\n  }\n\n  /** A circle is its transformed centre; the local vertex buffers stay unused. */\n  private _synchronizeCircle(world: Transform, radius: number): void {\n    this._worldCenter.x = world.x;\n    this._worldCenter.y = world.y;\n    this._aabb.minX = world.x - radius;\n    this._aabb.minY = world.y - radius;\n    this._aabb.maxX = world.x + radius;\n    this._aabb.maxY = world.y + radius;\n  }\n\n  /**\n   * Transform a local vertex/normal ring into the world buffers and take the\n   * AABB while doing it. `radius` inflates the box for a rounded outline (a\n   * capsule's spine); it is `0` for a plain polygon.\n   */\n  private _synchronizePolygon(world: Transform, local: readonly number[], normals: readonly number[], count: number, radius: number): void {\n    const out = this._syncScratch;\n    let minX = Infinity;\n    let minY = Infinity;\n    let maxX = -Infinity;\n    let maxY = -Infinity;\n\n    for (let i = 0; i < count; i++) {\n      applyTransform(world, local[i * 2]!, local[i * 2 + 1]!, out);\n      this._worldVertices[i * 2] = out.x;\n      this._worldVertices[i * 2 + 1] = out.y;\n      minX = out.x < minX ? out.x : minX;\n      minY = out.y < minY ? out.y : minY;\n      maxX = out.x > maxX ? out.x : maxX;\n      maxY = out.y > maxY ? out.y : maxY;\n\n      applyRotation(world, normals[i * 2]!, normals[i * 2 + 1]!, out);\n      this._worldNormals[i * 2] = out.x;\n      this._worldNormals[i * 2 + 1] = out.y;\n    }\n\n    this._aabb.minX = minX - radius;\n    this._aabb.minY = minY - radius;\n    this._aabb.maxX = maxX + radius;\n    this._aabb.maxY = maxY + radius;\n  }\n\n  /** @internal - bind this collider to its body and id (called when the body joins a world). */\n  public _attach(body: PhysicsBody, id: number): void {\n    this._body = body;\n    this._id = id;\n  }\n\n  /**\n   * Fan a chain out into one proxy per edge. Each proxy carries the chain's own\n   * local placement, so it needs no transform of its own, and its shape carries\n   * the adjacency that keeps a body from snagging at a shared vertex.\n   */\n  private _buildChainEdges(chain: ChainShape): readonly Collider[] {\n    const edges: Collider[] = [];\n\n    for (const edgeShape of chain.edges) {\n      const edge = new Collider({\n        shape: edgeShape,\n        offset: { x: this.offsetX, y: this.offsetY },\n        rotation: this.localRotation,\n        // Material, filter and sensor flag stay mutable on the authored collider\n        // and are read from there per pass, so copying them here would only add a\n        // second, staler source of truth.\n        density: 0,\n      });\n\n      edge._chainParent = this;\n      edges.push(edge);\n    }\n\n    return edges;\n  }\n\n  /** Internal: mark destroyed (called by the world). */\n  public _markDestroyed(): void {\n    this._destroyed = true;\n\n    if (this._chainEdges !== null) {\n      for (const edge of this._chainEdges) {\n        edge._destroyed = true;\n      }\n    }\n  }\n}\n\n/**\n * The authored collider a contact, query hit or sweep target belongs to: the\n * collider itself, or the chain it is an engine-owned edge proxy of. 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package/dist/esm/ContactGraph.d.ts

@@ -1,6 +1,7 @@
 import type { CandidatePair } from './broadphase/BroadPhase';
 import type { Collider } from './Collider';
 import { Manifold } from './collision/Manifold';
+import type { ContactModifier } from './ContactModifier';
 import type { CollisionEvent, SensorEvent } from './events';
 /**
  * Persistent per-pair contact state. For solid contacts it carries a manifold
@@ -10,9 +11,25 @@ import type { CollisionEvent, SensorEvent } from './events';
 export interface ContactRecord {
     readonly a: Collider;
     readonly b: Collider;
+    /**
+     * Authored collider behind {@link a} - itself, unless `a` is an engine-owned
+     * chain edge proxy, in which case it is the chain collider the caller made.
+     * Solver identity is the proxy pair; public identity is the authored pair.
+     */
+    readonly ownerA: Collider;
+    readonly ownerB: Collider;
     readonly isSensor: boolean;
     touching: boolean;
     seen: boolean;
+    /**
+     * Per-step solver participation. Re-derived to `true` for every touching solid
+     * contact each pass, then optionally cleared by the world's `ContactModifier`.
+     */
+    enabled: boolean;
+    /** Per-step Coulomb friction, re-derived from the two colliders each pass. */
+    friction: number;
+    /** Per-step restitution, re-derived from the two colliders each pass. */
+    restitution: number;
     /** Persistent manifold (solid contacts), refreshed each pass by the narrow phase. */
     readonly manifold: Manifold;
     /** Accumulated normal impulse per contact point, carried across steps (warm-start). */
@@ -27,11 +44,16 @@ export interface ContactRecord {
  * touching collider pairs against the previous pass and produces immutable
  * begin/end (and sensor enter/exit) event snapshots. Duplicate begin/end churn
  * is suppressed by the persistent records, and the produced event arrays are
- * sorted by collider id for deterministic dispatch (gate SG-D1/SG-X4).
+ * sorted by collider id for deterministic dispatch.
  *
  * Touching solid contacts are also collected into {@link solidContacts} (with a
  * warm-start impulse cache) for the dynamics solver. The graph holds no
- * module-level state — each world owns one.
+ * module-level state - each world owns one.
+ *
+ * Records are keyed on the pair the solver sees, which for a chain collider is
+ * one of its edge proxies. Events are not: a body touching several edges of one
+ * chain is one authored contact, so the graph reference-counts the authored pair
+ * behind its records and emits begin/end only on the first and last of them.
  */
 export declare class ContactGraph {
     /** Immutable solid-contact begin snapshots produced by the latest {@link update}. */
@@ -42,21 +64,44 @@ export declare class ContactGraph {
     readonly sensorEnter: SensorEvent[];
     /** Immutable sensor-exit snapshots produced by the latest {@link update}. */
     readonly sensorExit: SensorEvent[];
-    /** Touching solid contacts this pass, in deterministic order — consumed by the solver. */
+    /** Touching solid contacts this pass, in deterministic order - consumed by the solver. */
     readonly solidContacts: ContactRecord[];
     private readonly _records;
+    private readonly _authoredPairs;
+    private readonly _modifierContext;
     /** Touching pairs currently tracked (for debug draw). */
     get recordCount(): number;
     /** Diff this pass's candidate pairs against the persistent set, collecting events + solid contacts. */
     update(pairs: readonly CandidatePair[]): void;
-    /** Remove every record referencing `collider` (called when a collider is destroyed). */
+    /**
+     * Run `modifier` over every touching solid contact of this pass. Called after
+     * detection and before island building, so a contact the modifier disables
+     * neither reaches the solver nor couples its two bodies into one sleeping
+     * island. A disabled contact's warm-start cache is dropped, so re-enabling it
+     * later starts from zero instead of releasing a stale impulse.
+     */
+    applyModifier(modifier: ContactModifier): void;
+    /**
+     * Remove every record referencing `collider` (called when a collider is
+     * destroyed). Passing an authored chain collider also drops the records of
+     * every edge proxy it owns.
+     */
     removeCollider(collider: Collider): void;
     /** Drop all records (world reset/destroy). */
     clear(): void;
     private _emitBegin;
     private _emitEnd;
     /**
-     * `Map.forEach` callback (its `this` bound via the forEach thisArg) — drops a
+     * Count one more solver contact against the authored pair, reporting whether
+     * it is the first - the only one that may emit a begin event. A record whose
+     * colliders are the authored ones needs no counting at all, so a world without
+     * chains never touches the map.
+     */
+    private _retainAuthoredPair;
+    /** Counterpart of {@link _retainAuthoredPair}: `true` on the last contact of the pair. */
+    private _releaseAuthoredPair;
+    /**
+     * `Map.forEach` callback (its `this` bound via the forEach thisArg) - drops a
      * record the latest pass did not see, firing an end event if it was touching.
      * A method reference + thisArg keeps the per-step iteration allocation-free,
      * unlike `for (const [key, record] of map)` which allocates an entry tuple per
@@ -78,3 +123,4 @@ export declare const pairKeyStride = 67108864;
  * @internal
  */
 export declare const pairKey: (aId: number, bId: number) => number;
+//# sourceMappingURL=ContactGraph.d.ts.map

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

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