@codexo/exojs-physics 0.15.3 → 0.16.0

package/dist/esm/shapes/ChainShape.js

@@ -0,0 +1,85 @@
+import { Shape } from "./Shape.js";
+import { ChainEdgeShape } from "./ChainEdgeShape.js";
+
+//#region src/shapes/ChainShape.ts
+/** Vertices closer than this (px) are welded into one. */
+const weldEpsilon = 1e-4;
+/**
+* A connected boundary through a run of local-space vertices: level outlines,
+* terrain, the ground of a side-scroller. Open (a polyline) or closed (a loop).
+*
+* A chain is not an array of {@link SegmentShape}s. At a shared vertex two
+* independent segments carry two different normals, so a body sliding across the
+* seam can snag, be launched, or receive a normal pointing into the surface. A
+* chain owns the adjacency between its edges and uses it to suppress exactly
+* those contacts, which is why the adjacency belongs to the engine rather than
+* to the caller.
+*
+* Unlike a segment, a chain is **one-sided**: each edge collides only from the
+* side its outward normal points to. Winding therefore decides which side is
+* solid, following the polygon convention - a counter-clockwise run is solid on
+* the outside (an island), a clockwise run is solid on the inside (a container).
+* Bodies on the hollow side pass through.
+*
+* It has no interior, so {@link Shape.massProperties} is `null` and a `dynamic`
+* body needs at least one mass-bearing collider alongside it. A `static` or
+* `kinematic` body carries a chain on its own.
+*
+* Collinear vertices are kept. A straight run is authoring data, and dropping it
+* would move the adjacency of the neighbouring edges.
+*/
+var ChainShape = class extends Shape {
+	type = "chain";
+	/** Local-space vertices, flattened, after welding coincident input. */
+	vertices;
+	/** Number of vertices in {@link vertices}. */
+	count;
+	/** Number of edges: `count` when {@link closed}, `count - 1` otherwise. */
+	edgeCount;
+	closed;
+	boundingRadius;
+	/** Always `null`: a boundary has no interior and therefore no mass. */
+	massProperties = null;
+	/**
+	* @internal - the per-edge geometry the solver works on, built once with the
+	* chain. Immutable and shared by every collider carrying this shape.
+	*/
+	edges;
+	constructor(vertices, options = {}) {
+		super();
+		const closed = options.closed ?? false;
+		const points = [];
+		for (const vertex of vertices) {
+			if (!Number.isFinite(vertex.x) || !Number.isFinite(vertex.y)) throw new RangeError(`ChainShape: vertex has a non-finite component (${vertex.x}, ${vertex.y}).`);
+			const px = points[points.length - 2];
+			const py = points[points.length - 1];
+			if (px !== void 0 && py !== void 0 && Math.hypot(vertex.x - px, vertex.y - py) < weldEpsilon) continue;
+			points.push(vertex.x, vertex.y);
+		}
+		if (closed && points.length >= 4) {
+			const firstX = points[0];
+			const firstY = points[1];
+			const lastX = points[points.length - 2];
+			const lastY = points[points.length - 1];
+			if (Math.hypot(lastX - firstX, lastY - firstY) < weldEpsilon) points.length -= 2;
+		}
+		const count = points.length / 2;
+		const minimum = closed ? 3 : 2;
+		if (count < minimum) throw new RangeError(`ChainShape: ${closed ? "a closed chain" : "a chain"} needs at least ${minimum} distinct vertices, received ${count}.`);
+		let boundingRadius = 0;
+		for (let i = 0; i < count; i++) boundingRadius = Math.max(boundingRadius, Math.hypot(points[i * 2], points[i * 2 + 1]));
+		this.vertices = Object.freeze(points);
+		this.count = count;
+		this.edgeCount = closed ? count : count - 1;
+		this.closed = closed;
+		this.boundingRadius = boundingRadius;
+		const edges = [];
+		for (let i = 0; i < this.edgeCount; i++) edges.push(new ChainEdgeShape(this, i));
+		this.edges = Object.freeze(edges);
+		Object.freeze(this);
+	}
+};
+
+//#endregion
+export { ChainShape };
+//# sourceMappingURL=ChainShape.js.map

package/dist/esm/shapes/ChainShape.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"ChainShape.js","names":[],"sources":["../../../src/shapes/ChainShape.ts"],"sourcesContent":["import type { PointLike } from '@codexo/exojs';\n\nimport { ChainEdgeShape } from './ChainEdgeShape';\nimport { Shape } from './Shape';\n\n/** Vertices closer than this (px) are welded into one. */\nconst weldEpsilon = 1e-4;\n\n/** Construction options for a {@link ChainShape}. */\nexport interface ChainShapeOptions {\n  /** When `true`, the last vertex connects back to the first. Default `false`. */\n  closed?: boolean;\n}\n\n/**\n * A connected boundary through a run of local-space vertices: level outlines,\n * terrain, the ground of a side-scroller. Open (a polyline) or closed (a loop).\n *\n * A chain is not an array of {@link SegmentShape}s. At a shared vertex two\n * independent segments carry two different normals, so a body sliding across the\n * seam can snag, be launched, or receive a normal pointing into the surface. A\n * chain owns the adjacency between its edges and uses it to suppress exactly\n * those contacts, which is why the adjacency belongs to the engine rather than\n * to the caller.\n *\n * Unlike a segment, a chain is **one-sided**: each edge collides only from the\n * side its outward normal points to. Winding therefore decides which side is\n * solid, following the polygon convention - a counter-clockwise run is solid on\n * the outside (an island), a clockwise run is solid on the inside (a container).\n * Bodies on the hollow side pass through.\n *\n * It has no interior, so {@link Shape.massProperties} is `null` and a `dynamic`\n * body needs at least one mass-bearing collider alongside it. A `static` or\n * `kinematic` body carries a chain on its own.\n *\n * Collinear vertices are kept. A straight run is authoring data, and dropping it\n * would move the adjacency of the neighbouring edges.\n */\nexport class ChainShape extends Shape {\n  public readonly type = 'chain' as const;\n\n  /** Local-space vertices, flattened, after welding coincident input. */\n  public readonly vertices: readonly number[];\n\n  /** Number of vertices in {@link vertices}. */\n  public readonly count: number;\n\n  /** Number of edges: `count` when {@link closed}, `count - 1` otherwise. */\n  public readonly edgeCount: number;\n\n  public readonly closed: boolean;\n  public readonly boundingRadius: number;\n\n  /** Always `null`: a boundary has no interior and therefore no mass. */\n  public readonly massProperties = null;\n\n  /**\n   * @internal - the per-edge geometry the solver works on, built once with the\n   * chain. Immutable and shared by every collider carrying this shape.\n   */\n  public readonly edges: readonly ChainEdgeShape[];\n\n  public constructor(vertices: ReadonlyArray<Readonly<PointLike>>, options: ChainShapeOptions = {}) {\n    super();\n\n    const closed = options.closed ?? false;\n    const points: number[] = [];\n\n    for (const vertex of vertices) {\n      if (!Number.isFinite(vertex.x) || !Number.isFinite(vertex.y)) {\n        throw new RangeError(`ChainShape: vertex has a non-finite component (${vertex.x}, ${vertex.y}).`);\n      }\n\n      const px = points[points.length - 2];\n      const py = points[points.length - 1];\n\n      if (px !== undefined && py !== undefined && Math.hypot(vertex.x - px, vertex.y - py) < weldEpsilon) {\n        continue;\n      }\n\n      points.push(vertex.x, vertex.y);\n    }\n\n    if (closed && points.length >= 4) {\n      const firstX = points[0]!;\n      const firstY = points[1]!;\n      const lastX = points[points.length - 2]!;\n      const lastY = points[points.length - 1]!;\n\n      // A caller repeating the first vertex to \"close\" the loop is expressing the\n      // same intent as `closed: true`; keeping it would produce a zero-length edge.\n      if (Math.hypot(lastX - firstX, lastY - firstY) < weldEpsilon) {\n        points.length -= 2;\n      }\n    }\n\n    const count = points.length / 2;\n    const minimum = closed ? 3 : 2;\n\n    if (count < minimum) {\n      throw new RangeError(`ChainShape: ${closed ? 'a closed chain' : 'a chain'} needs at least ${minimum} distinct vertices, received ${count}.`);\n    }\n\n    let boundingRadius = 0;\n\n    for (let i = 0; i < count; i++) {\n      boundingRadius = Math.max(boundingRadius, Math.hypot(points[i * 2]!, points[i * 2 + 1]!));\n    }\n\n    this.vertices = Object.freeze(points);\n    this.count = count;\n    this.edgeCount = closed ? count : count - 1;\n    this.closed = closed;\n    this.boundingRadius = boundingRadius;\n\n    const edges: ChainEdgeShape[] = [];\n\n    for (let i = 0; i < this.edgeCount; i++) {\n      edges.push(new ChainEdgeShape(this, i));\n    }\n\n    this.edges = Object.freeze(edges);\n\n    Object.freeze(this);\n  }\n}\n"],"mappings":";;;;;AAMA,MAAM,cAAc;;;;;;;;;;;;;;;;;;;;;;;;;AAgCpB,IAAa,aAAb,cAAgC,MAAM;CACpC,AAAgB,OAAO;;CAGvB,AAAgB;;CAGhB,AAAgB;;CAGhB,AAAgB;CAEhB,AAAgB;CAChB,AAAgB;;CAGhB,AAAgB,iBAAiB;;;;;CAMjC,AAAgB;CAEhB,AAAO,YAAY,UAA8C,UAA6B,CAAC,GAAG;EAChG,MAAM;EAEN,MAAM,SAAS,QAAQ,UAAU;EACjC,MAAM,SAAmB,CAAC;EAE1B,KAAK,MAAM,UAAU,UAAU;GAC7B,IAAI,CAAC,OAAO,SAAS,OAAO,CAAC,KAAK,CAAC,OAAO,SAAS,OAAO,CAAC,GACzD,MAAM,IAAI,WAAW,kDAAkD,OAAO,EAAE,IAAI,OAAO,EAAE,GAAG;GAGlG,MAAM,KAAK,OAAO,OAAO,SAAS;GAClC,MAAM,KAAK,OAAO,OAAO,SAAS;GAElC,IAAI,OAAO,UAAa,OAAO,UAAa,KAAK,MAAM,OAAO,IAAI,IAAI,OAAO,IAAI,EAAE,IAAI,aACrF;GAGF,OAAO,KAAK,OAAO,GAAG,OAAO,CAAC;EAChC;EAEA,IAAI,UAAU,OAAO,UAAU,GAAG;GAChC,MAAM,SAAS,OAAO;GACtB,MAAM,SAAS,OAAO;GACtB,MAAM,QAAQ,OAAO,OAAO,SAAS;GACrC,MAAM,QAAQ,OAAO,OAAO,SAAS;GAIrC,IAAI,KAAK,MAAM,QAAQ,QAAQ,QAAQ,MAAM,IAAI,aAC/C,OAAO,UAAU;EAErB;EAEA,MAAM,QAAQ,OAAO,SAAS;EAC9B,MAAM,UAAU,SAAS,IAAI;EAE7B,IAAI,QAAQ,SACV,MAAM,IAAI,WAAW,eAAe,SAAS,mBAAmB,UAAU,kBAAkB,QAAQ,+BAA+B,MAAM,EAAE;EAG7I,IAAI,iBAAiB;EAErB,KAAK,IAAI,IAAI,GAAG,IAAI,OAAO,KACzB,iBAAiB,KAAK,IAAI,gBAAgB,KAAK,MAAM,OAAO,IAAI,IAAK,OAAO,IAAI,IAAI,EAAG,CAAC;EAG1F,KAAK,WAAW,OAAO,OAAO,MAAM;EACpC,KAAK,QAAQ;EACb,KAAK,YAAY,SAAS,QAAQ,QAAQ;EAC1C,KAAK,SAAS;EACd,KAAK,iBAAiB;EAEtB,MAAM,QAA0B,CAAC;EAEjC,KAAK,IAAI,IAAI,GAAG,IAAI,KAAK,WAAW,KAClC,MAAM,KAAK,IAAI,eAAe,MAAM,CAAC,CAAC;EAGxC,KAAK,QAAQ,OAAO,OAAO,KAAK;EAEhC,OAAO,OAAO,IAAI;CACpB;AACF"}

package/dist/esm/shapes/CircleShape.d.ts

@@ -1,3 +1,4 @@
+import type { ShapeMassProperties } from './Shape';
 import { Shape } from './Shape';
 /**
  * A circle of the given `radius` centred on the collider's local origin.
@@ -7,9 +8,7 @@ export declare class CircleShape extends Shape {
     readonly type: "circle";
     readonly radius: number;
     readonly boundingRadius: number;
-    readonly area: number;
-    readonly centroidX = 0;
-    readonly centroidY = 0;
-    readonly unitInertia: number;
+    readonly massProperties: ShapeMassProperties;
     constructor(radius: number);
 }
+//# sourceMappingURL=CircleShape.d.ts.map

package/dist/esm/shapes/CircleShape.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"CircleShape.d.ts","sourceRoot":"","sources":["../../../src/shapes/CircleShape.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,mBAAmB,EAAE,MAAM,SAAS,CAAC;AACnD,OAAO,EAAE,KAAK,EAAE,MAAM,SAAS,CAAC;AAEhC;;;GAGG;AACH,qBAAa,WAAY,SAAQ,KAAK;IACpC,SAAgB,IAAI,EAAG,QAAQ,CAAU;IACzC,SAAgB,MAAM,EAAE,MAAM,CAAC;IAC/B,SAAgB,cAAc,EAAE,MAAM,CAAC;IACvC,SAAgB,cAAc,EAAE,mBAAmB,CAAC;gBAEjC,MAAM,EAAE,MAAM;CAqBlC"}

package/dist/esm/shapes/CircleShape.js

@@ -1,30 +1,31 @@
-import { Shape } from './Shape.js';
+import { Shape } from "./Shape.js";
 
+//#region src/shapes/CircleShape.ts
 /**
- * A circle of the given `radius` centred on the collider's local origin.
- * The cheapest shape for both broad- and narrow-phase.
- */
-class CircleShape extends Shape {
-    type = 'circle';
-    radius;
-    boundingRadius;
-    area;
-    centroidX = 0;
-    centroidY = 0;
-    unitInertia;
-    constructor(radius) {
-        super();
-        if (!Number.isFinite(radius) || radius <= 0) {
-            throw new RangeError(`CircleShape: radius must be a positive finite number, received ${radius}.`);
-        }
-        this.radius = radius;
-        this.boundingRadius = radius;
-        this.area = Math.PI * radius * radius;
-        // Second moment of area of a disc about its centre: ∫ r² dA = (π/2) R⁴.
-        this.unitInertia = 0.5 * this.area * radius * radius;
-        Object.freeze(this);
-    }
-}
+* A circle of the given `radius` centred on the collider's local origin.
+* The cheapest shape for both broad- and narrow-phase.
+*/
+var CircleShape = class extends Shape {
+	type = "circle";
+	radius;
+	boundingRadius;
+	massProperties;
+	constructor(radius) {
+		super();
+		if (!Number.isFinite(radius) || radius <= 0) throw new RangeError(`CircleShape: radius must be a positive finite number, received ${radius}.`);
+		const area = Math.PI * radius * radius;
+		this.radius = radius;
+		this.boundingRadius = radius;
+		this.massProperties = Object.freeze({
+			area,
+			centroidX: 0,
+			centroidY: 0,
+			unitInertia: .5 * area * radius * radius
+		});
+		Object.freeze(this);
+	}
+};
 
+//#endregion
 export { CircleShape };
-//# sourceMappingURL=CircleShape.js.map
+//# sourceMappingURL=CircleShape.js.map

package/dist/esm/shapes/CircleShape.js.map

@@ -1 +1 @@
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+{"version":3,"file":"CircleShape.js","names":[],"sources":["../../../src/shapes/CircleShape.ts"],"sourcesContent":["import type { ShapeMassProperties } from './Shape';\nimport { Shape } from './Shape';\n\n/**\n * A circle of the given `radius` centred on the collider's local origin.\n * The cheapest shape for both broad- and narrow-phase.\n */\nexport class CircleShape extends Shape {\n  public readonly type = 'circle' as const;\n  public readonly radius: number;\n  public readonly boundingRadius: number;\n  public readonly massProperties: ShapeMassProperties;\n\n  public constructor(radius: number) {\n    super();\n\n    if (!Number.isFinite(radius) || radius <= 0) {\n      throw new RangeError(`CircleShape: radius must be a positive finite number, received ${radius}.`);\n    }\n\n    const area = Math.PI * radius * radius;\n\n    this.radius = radius;\n    this.boundingRadius = radius;\n    this.massProperties = Object.freeze({\n      area,\n      centroidX: 0,\n      centroidY: 0,\n      // Second moment of area of a disc about its centre: ∫ r² dA = (π/2) R⁴.\n      unitInertia: 0.5 * area * radius * radius,\n    });\n\n    Object.freeze(this);\n  }\n}\n"],"mappings":";;;;;;;AAOA,IAAa,cAAb,cAAiC,MAAM;CACrC,AAAgB,OAAO;CACvB,AAAgB;CAChB,AAAgB;CAChB,AAAgB;CAEhB,AAAO,YAAY,QAAgB;EACjC,MAAM;EAEN,IAAI,CAAC,OAAO,SAAS,MAAM,KAAK,UAAU,GACxC,MAAM,IAAI,WAAW,kEAAkE,OAAO,EAAE;EAGlG,MAAM,OAAO,KAAK,KAAK,SAAS;EAEhC,KAAK,SAAS;EACd,KAAK,iBAAiB;EACtB,KAAK,iBAAiB,OAAO,OAAO;GAClC;GACA,WAAW;GACX,WAAW;GAEX,aAAa,KAAM,OAAO,SAAS;EACrC,CAAC;EAED,OAAO,OAAO,IAAI;CACpB;AACF"}

package/dist/esm/shapes/PolygonShape.d.ts

@@ -1,12 +1,13 @@
-import type { VectorLike } from '../types';
+import type { PointLike } from '@codexo/exojs';
+import type { ShapeMassProperties } from './Shape';
 import { Shape } from './Shape';
 /**
  * A convex polygon defined by ≥3 local-space vertices. Input vertices may be
  * given in either winding; they are canonicalised to counter-clockwise and the
  * outward edge normals are precomputed. Construction throws on any non-convex,
- * degenerate, or under-specified input — there is no silent repair.
+ * degenerate, or under-specified input - there is no silent repair.
  *
- * Vertices and normals are exposed as flat `[x0, y0, x1, y1, …]` arrays to keep
+ * Vertices and normals are exposed as flat `[x0, y0, x1, y1, ...]` arrays to keep
  * the narrow phase allocation-free; both are frozen.
  */
 export declare class PolygonShape extends Shape {
@@ -17,9 +18,7 @@ export declare class PolygonShape extends Shape {
     readonly normals: readonly number[];
     readonly count: number;
     readonly boundingRadius: number;
-    readonly area: number;
-    readonly centroidX: number;
-    readonly centroidY: number;
-    readonly unitInertia: number;
-    constructor(vertices: readonly VectorLike[]);
+    readonly massProperties: ShapeMassProperties;
+    constructor(vertices: ReadonlyArray<Readonly<PointLike>>);
 }
+//# sourceMappingURL=PolygonShape.d.ts.map

package/dist/esm/shapes/PolygonShape.d.ts.map

@@ -0,0 +1 @@
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package/dist/esm/shapes/PolygonShape.js

@@ -1,184 +1,153 @@
-import { Shape } from './Shape.js';
+import { Shape } from "./Shape.js";
 
+//#region src/shapes/PolygonShape.ts
 /** Vertices closer than this (px) are treated as coincident → degenerate. */
 const weldEpsilon = 1e-4;
 /**
- * A convex polygon defined by ≥3 local-space vertices. Input vertices may be
- * given in either winding; they are canonicalised to counter-clockwise and the
- * outward edge normals are precomputed. Construction throws on any non-convex,
- * degenerate, or under-specified input — there is no silent repair.
- *
- * Vertices and normals are exposed as flat `[x0, y0, x1, y1, …]` arrays to keep
- * the narrow phase allocation-free; both are frozen.
- */
-class PolygonShape extends Shape {
-    type = 'polygon';
-    /** Local-space vertices, CCW, flattened. */
-    vertices;
-    /** Outward unit edge normals (edge `i` spans vertex `i → i+1`), flattened. */
-    normals;
-    count;
-    boundingRadius;
-    area;
-    centroidX;
-    centroidY;
-    unitInertia;
-    constructor(vertices) {
-        super();
-        if (vertices.length < 3) {
-            throw new RangeError(`PolygonShape: needs at least 3 vertices, received ${vertices.length}.`);
-        }
-        const points = [];
-        for (const vertex of vertices) {
-            if (!Number.isFinite(vertex.x) || !Number.isFinite(vertex.y)) {
-                throw new RangeError(`PolygonShape: vertex has a non-finite component (${vertex.x}, ${vertex.y}).`);
-            }
-            // Reject coincident consecutive (and wrap-around) vertices.
-            const px = points.length >= 2 ? (points[points.length - 2] ?? NaN) : NaN;
-            const py = points.length >= 2 ? (points[points.length - 1] ?? NaN) : NaN;
-            if (Math.hypot(vertex.x - px, vertex.y - py) < weldEpsilon) {
-                continue;
-            }
-            points.push(vertex.x, vertex.y);
-        }
-        // Drop a wrap-around duplicate (last ≈ first).
-        dropWrapAroundDuplicate(points);
-        const count = points.length / 2;
-        if (count < 3) {
-            throw new RangeError(`PolygonShape: needs at least 3 distinct vertices after welding, received ${count}.`);
-        }
-        // Canonicalise to CCW (positive signed area). Screen space is +Y down, so a
-        // mathematically CCW polygon appears clockwise — the math stays consistent.
-        if (signedArea(points) < 0) {
-            reverseWinding(points);
-        }
-        const signed = signedArea(points);
-        if (signed <= weldEpsilon) {
-            throw new RangeError('PolygonShape: vertices are degenerate (zero/near-zero area).');
-        }
-        const normals = computeNormals(points);
-        assertConvex(points);
-        // Area, centroid and inertia via the standard polygon integrals.
-        let cx = 0;
-        let cy = 0;
-        let inertiaOrigin = 0;
-        for (let i = 0; i < count; i++) {
-            const j = (i + 1) % count;
-            // Indices are provably in-bounds (0..count-1 over a length-2*count array);
-            // the `!` is zero-cost; a violation would surface as NaN, not a silent 0.
-            const ix = points[i * 2];
-            const iy = points[i * 2 + 1];
-            const jx = points[j * 2];
-            const jy = points[j * 2 + 1];
-            const cross = ix * jy - jx * iy;
-            cx += (ix + jx) * cross;
-            cy += (iy + jy) * cross;
-            inertiaOrigin += cross * (ix * ix + ix * jx + jx * jx + iy * iy + iy * jy + jy * jy);
-        }
-        const area = signed;
-        cx /= 6 * area;
-        cy /= 6 * area;
-        this.count = count;
-        this.vertices = Object.freeze(points);
-        this.normals = Object.freeze(normals);
-        this.area = area;
-        this.centroidX = cx;
-        this.centroidY = cy;
-        // ∫ r² dA about the origin, then shifted to the centroid (parallel axis).
-        this.unitInertia = inertiaOrigin / 12 - area * (cx * cx + cy * cy);
-        this.boundingRadius = boundingRadiusOf(points);
-        // The vertex/normal arrays are frozen; the instance itself is not, so
-        // BoxShape (and any future convex helper) can extend this class.
-    }
-}
+* A convex polygon defined by ≥3 local-space vertices. Input vertices may be
+* given in either winding; they are canonicalised to counter-clockwise and the
+* outward edge normals are precomputed. Construction throws on any non-convex,
+* degenerate, or under-specified input - there is no silent repair.
+*
+* Vertices and normals are exposed as flat `[x0, y0, x1, y1, ...]` arrays to keep
+* the narrow phase allocation-free; both are frozen.
+*/
+var PolygonShape = class extends Shape {
+	type = "polygon";
+	/** Local-space vertices, CCW, flattened. */
+	vertices;
+	/** Outward unit edge normals (edge `i` spans vertex `i → i+1`), flattened. */
+	normals;
+	count;
+	boundingRadius;
+	massProperties;
+	constructor(vertices) {
+		super();
+		if (vertices.length < 3) throw new RangeError(`PolygonShape: needs at least 3 vertices, received ${vertices.length}.`);
+		const points = [];
+		for (const vertex of vertices) {
+			if (!Number.isFinite(vertex.x) || !Number.isFinite(vertex.y)) throw new RangeError(`PolygonShape: vertex has a non-finite component (${vertex.x}, ${vertex.y}).`);
+			const px = points.length >= 2 ? points[points.length - 2] ?? NaN : NaN;
+			const py = points.length >= 2 ? points[points.length - 1] ?? NaN : NaN;
+			if (Math.hypot(vertex.x - px, vertex.y - py) < weldEpsilon) continue;
+			points.push(vertex.x, vertex.y);
+		}
+		dropWrapAroundDuplicate(points);
+		const count = points.length / 2;
+		if (count < 3) throw new RangeError(`PolygonShape: needs at least 3 distinct vertices after welding, received ${count}.`);
+		if (signedArea(points) < 0) reverseWinding(points);
+		const signed = signedArea(points);
+		if (signed <= weldEpsilon) throw new RangeError("PolygonShape: vertices are degenerate (zero/near-zero area).");
+		const normals = computeNormals(points);
+		assertConvex(points);
+		let cx = 0;
+		let cy = 0;
+		let inertiaOrigin = 0;
+		for (let i = 0; i < count; i++) {
+			const j = (i + 1) % count;
+			const ix = points[i * 2];
+			const iy = points[i * 2 + 1];
+			const jx = points[j * 2];
+			const jy = points[j * 2 + 1];
+			const cross = ix * jy - jx * iy;
+			cx += (ix + jx) * cross;
+			cy += (iy + jy) * cross;
+			inertiaOrigin += cross * (ix * ix + ix * jx + jx * jx + iy * iy + iy * jy + jy * jy);
+		}
+		const area = signed;
+		cx /= 6 * area;
+		cy /= 6 * area;
+		this.count = count;
+		this.vertices = Object.freeze(points);
+		this.normals = Object.freeze(normals);
+		this.massProperties = Object.freeze({
+			area,
+			centroidX: cx,
+			centroidY: cy,
+			unitInertia: inertiaOrigin / 12 - area * (cx * cx + cy * cy)
+		});
+		this.boundingRadius = boundingRadiusOf(points);
+	}
+};
 /** Strip a trailing vertex that coincides with the first (wrap-around weld). */
 const dropWrapAroundDuplicate = (points) => {
-    if (points.length < 4) {
-        return;
-    }
-    const firstX = points[0] ?? NaN;
-    const firstY = points[1] ?? NaN;
-    const lastX = points[points.length - 2] ?? NaN;
-    const lastY = points[points.length - 1] ?? NaN;
-    if (Math.hypot(firstX - lastX, firstY - lastY) < weldEpsilon) {
-        points.length -= 2;
-    }
+	if (points.length < 4) return;
+	const firstX = points[0] ?? NaN;
+	const firstY = points[1] ?? NaN;
+	const lastX = points[points.length - 2] ?? NaN;
+	const lastY = points[points.length - 1] ?? NaN;
+	if (Math.hypot(firstX - lastX, firstY - lastY) < weldEpsilon) points.length -= 2;
 };
 /** Signed area (positive = CCW). */
 const signedArea = (points) => {
-    const count = points.length / 2;
-    let sum = 0;
-    for (let i = 0; i < count; i++) {
-        const j = (i + 1) % count;
-        const ix = points[i * 2];
-        const iy = points[i * 2 + 1];
-        const jx = points[j * 2];
-        const jy = points[j * 2 + 1];
-        sum += ix * jy - jx * iy;
-    }
-    return sum / 2;
+	const count = points.length / 2;
+	let sum = 0;
+	for (let i = 0; i < count; i++) {
+		const j = (i + 1) % count;
+		const ix = points[i * 2];
+		const iy = points[i * 2 + 1];
+		const jx = points[j * 2];
+		const jy = points[j * 2 + 1];
+		sum += ix * jy - jx * iy;
+	}
+	return sum / 2;
 };
 const reverseWinding = (points) => {
-    const count = points.length / 2;
-    for (let i = 0; i < Math.floor(count / 2); i++) {
-        const j = count - 1 - i;
-        const ix = points[i * 2];
-        const iy = points[i * 2 + 1];
-        const jx = points[j * 2];
-        const jy = points[j * 2 + 1];
-        points[i * 2] = jx;
-        points[i * 2 + 1] = jy;
-        points[j * 2] = ix;
-        points[j * 2 + 1] = iy;
-    }
+	const count = points.length / 2;
+	for (let i = 0; i < Math.floor(count / 2); i++) {
+		const j = count - 1 - i;
+		const ix = points[i * 2];
+		const iy = points[i * 2 + 1];
+		const jx = points[j * 2];
+		const jy = points[j * 2 + 1];
+		points[i * 2] = jx;
+		points[i * 2 + 1] = jy;
+		points[j * 2] = ix;
+		points[j * 2 + 1] = iy;
+	}
 };
 /** Outward unit normals for a CCW polygon: normal of edge `i→i+1` is `(eY, -eX)`. */
 const computeNormals = (points) => {
-    const count = points.length / 2;
-    const normals = [];
-    for (let i = 0; i < count; i++) {
-        const j = (i + 1) % count;
-        const ix = points[i * 2];
-        const iy = points[i * 2 + 1];
-        const jx = points[j * 2];
-        const jy = points[j * 2 + 1];
-        const ex = jx - ix;
-        const ey = jy - iy;
-        const length = Math.hypot(ex, ey);
-        normals.push(ey / length, -ex / length);
-    }
-    return normals;
+	const count = points.length / 2;
+	const normals = [];
+	for (let i = 0; i < count; i++) {
+		const j = (i + 1) % count;
+		const ix = points[i * 2];
+		const iy = points[i * 2 + 1];
+		const jx = points[j * 2];
+		const jy = points[j * 2 + 1];
+		const ex = jx - ix;
+		const ey = jy - iy;
+		const length = Math.hypot(ex, ey);
+		normals.push(ey / length, -ex / length);
+	}
+	return normals;
 };
 /** Throw unless every interior turn has the same (CCW) orientation. */
 const assertConvex = (points) => {
-    const count = points.length / 2;
-    for (let i = 0; i < count; i++) {
-        const a = i;
-        const b = (i + 1) % count;
-        const c = (i + 2) % count;
-        const ax = points[a * 2];
-        const ay = points[a * 2 + 1];
-        const bx = points[b * 2];
-        const by = points[b * 2 + 1];
-        const cx = points[c * 2];
-        const cy = points[c * 2 + 1];
-        const e1x = bx - ax;
-        const e1y = by - ay;
-        const e2x = cx - bx;
-        const e2y = cy - by;
-        // CCW polygon ⇒ every cross product must be ≥ 0 (strictly > 0 for no collinear run).
-        if (e1x * e2y - e1y * e2x <= 0) {
-            throw new RangeError('PolygonShape: vertices are not strictly convex (or contain collinear edges).');
-        }
-    }
+	const count = points.length / 2;
+	for (let i = 0; i < count; i++) {
+		const a = i;
+		const b = (i + 1) % count;
+		const c = (i + 2) % count;
+		const ax = points[a * 2];
+		const ay = points[a * 2 + 1];
+		const bx = points[b * 2];
+		const by = points[b * 2 + 1];
+		const cx = points[c * 2];
+		const cy = points[c * 2 + 1];
+		const e1x = bx - ax;
+		const e1y = by - ay;
+		const e2x = cx - bx;
+		if (e1x * (cy - by) - e1y * e2x <= 0) throw new RangeError("PolygonShape: vertices are not strictly convex (or contain collinear edges).");
+	}
 };
 const boundingRadiusOf = (points) => {
-    let max = 0;
-    for (let i = 0; i < points.length; i += 2) {
-        max = Math.max(max, Math.hypot(points[i], points[i + 1]));
-    }
-    return max;
+	let max = 0;
+	for (let i = 0; i < points.length; i += 2) max = Math.max(max, Math.hypot(points[i], points[i + 1]));
+	return max;
 };
 
+//#endregion
 export { PolygonShape };
-//# sourceMappingURL=PolygonShape.js.map
+//# sourceMappingURL=PolygonShape.js.map

package/dist/esm/shapes/PolygonShape.js.map

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+{"version":3,"file":"PolygonShape.js","names":[],"sources":["../../../src/shapes/PolygonShape.ts"],"sourcesContent":["import type { PointLike } from '@codexo/exojs';\n\nimport type { ShapeMassProperties } from './Shape';\nimport { Shape } from './Shape';\n\n/** Vertices closer than this (px) are treated as coincident → degenerate. */\nconst weldEpsilon = 1e-4;\n\n/**\n * A convex polygon defined by ≥3 local-space vertices. Input vertices may be\n * given in either winding; they are canonicalised to counter-clockwise and the\n * outward edge normals are precomputed. Construction throws on any non-convex,\n * degenerate, or under-specified input - there is no silent repair.\n *\n * Vertices and normals are exposed as flat `[x0, y0, x1, y1, ...]` arrays to keep\n * the narrow phase allocation-free; both are frozen.\n */\nexport class PolygonShape extends Shape {\n  public readonly type = 'polygon' as const;\n\n  /** Local-space vertices, CCW, flattened. */\n  public readonly vertices: readonly number[];\n\n  /** Outward unit edge normals (edge `i` spans vertex `i → i+1`), flattened. */\n  public readonly normals: readonly number[];\n\n  public readonly count: number;\n  public readonly boundingRadius: number;\n  public readonly massProperties: ShapeMassProperties;\n\n  public constructor(vertices: ReadonlyArray<Readonly<PointLike>>) {\n    super();\n\n    if (vertices.length < 3) {\n      throw new RangeError(`PolygonShape: needs at least 3 vertices, received ${vertices.length}.`);\n    }\n\n    const points: number[] = [];\n\n    for (const vertex of vertices) {\n      if (!Number.isFinite(vertex.x) || !Number.isFinite(vertex.y)) {\n        throw new RangeError(`PolygonShape: vertex has a non-finite component (${vertex.x}, ${vertex.y}).`);\n      }\n\n      // Reject coincident consecutive (and wrap-around) vertices.\n      const px = points.length >= 2 ? (points[points.length - 2] ?? NaN) : NaN;\n      const py = points.length >= 2 ? (points[points.length - 1] ?? NaN) : NaN;\n\n      if (Math.hypot(vertex.x - px, vertex.y - py) < weldEpsilon) {\n        continue;\n      }\n\n      points.push(vertex.x, vertex.y);\n    }\n\n    // Drop a wrap-around duplicate (last ≈ first).\n    dropWrapAroundDuplicate(points);\n\n    const count = points.length / 2;\n\n    if (count < 3) {\n      throw new RangeError(`PolygonShape: needs at least 3 distinct vertices after welding, received ${count}.`);\n    }\n\n    // Canonicalise to CCW (positive signed area). Screen space is +Y down, so a\n    // mathematically CCW polygon appears clockwise - the math stays consistent.\n    if (signedArea(points) < 0) {\n      reverseWinding(points);\n    }\n\n    const signed = signedArea(points);\n\n    if (signed <= weldEpsilon) {\n      throw new RangeError('PolygonShape: vertices are degenerate (zero/near-zero area).');\n    }\n\n    const normals = computeNormals(points);\n\n    assertConvex(points);\n\n    // Area, centroid and inertia via the standard polygon integrals.\n    let cx = 0;\n    let cy = 0;\n    let inertiaOrigin = 0;\n\n    for (let i = 0; i < count; i++) {\n      const j = (i + 1) % count;\n      // Indices are provably in-bounds (0..count-1 over a length-2*count array);\n      // the `!` is zero-cost; a violation would surface as NaN, not a silent 0.\n      const ix = points[i * 2]!;\n      const iy = points[i * 2 + 1]!;\n      const jx = points[j * 2]!;\n      const jy = points[j * 2 + 1]!;\n      const cross = ix * jy - jx * iy;\n\n      cx += (ix + jx) * cross;\n      cy += (iy + jy) * cross;\n      inertiaOrigin += cross * (ix * ix + ix * jx + jx * jx + iy * iy + iy * jy + jy * jy);\n    }\n\n    const area = signed;\n    cx /= 6 * area;\n    cy /= 6 * area;\n\n    this.count = count;\n    this.vertices = Object.freeze(points);\n    this.normals = Object.freeze(normals);\n    this.massProperties = Object.freeze({\n      area,\n      centroidX: cx,\n      centroidY: cy,\n      // ∫ r² dA about the origin, then shifted to the centroid (parallel axis).\n      unitInertia: inertiaOrigin / 12 - area * (cx * cx + cy * cy),\n    });\n    this.boundingRadius = boundingRadiusOf(points);\n\n    // The vertex/normal arrays are frozen; the instance itself is not, so\n    // BoxShape (and any future convex helper) can extend this class.\n  }\n}\n\n/** Strip a trailing vertex that coincides with the first (wrap-around weld). */\nconst dropWrapAroundDuplicate = (points: number[]): void => {\n  if (points.length < 4) {\n    return;\n  }\n\n  const firstX = points[0] ?? NaN;\n  const firstY = points[1] ?? NaN;\n  const lastX = points[points.length - 2] ?? NaN;\n  const lastY = points[points.length - 1] ?? NaN;\n\n  if (Math.hypot(firstX - lastX, firstY - lastY) < weldEpsilon) {\n    points.length -= 2;\n  }\n};\n\n/** Signed area (positive = CCW). */\nconst signedArea = (points: number[]): number => {\n  const count = points.length / 2;\n  let sum = 0;\n\n  for (let i = 0; i < count; i++) {\n    const j = (i + 1) % count;\n    const ix = points[i * 2]!;\n    const iy = points[i * 2 + 1]!;\n    const jx = points[j * 2]!;\n    const jy = points[j * 2 + 1]!;\n    sum += ix * jy - jx * iy;\n  }\n\n  return sum / 2;\n};\n\nconst reverseWinding = (points: number[]): void => {\n  const count = points.length / 2;\n\n  for (let i = 0; i < Math.floor(count / 2); i++) {\n    const j = count - 1 - i;\n    const ix = points[i * 2]!;\n    const iy = points[i * 2 + 1]!;\n    const jx = points[j * 2]!;\n    const jy = points[j * 2 + 1]!;\n\n    points[i * 2] = jx;\n    points[i * 2 + 1] = jy;\n    points[j * 2] = ix;\n    points[j * 2 + 1] = iy;\n  }\n};\n\n/** Outward unit normals for a CCW polygon: normal of edge `i→i+1` is `(eY, -eX)`. */\nconst computeNormals = (points: number[]): number[] => {\n  const count = points.length / 2;\n  const normals: number[] = [];\n\n  for (let i = 0; i < count; i++) {\n    const j = (i + 1) % count;\n    const ix = points[i * 2]!;\n    const iy = points[i * 2 + 1]!;\n    const jx = points[j * 2]!;\n    const jy = points[j * 2 + 1]!;\n    const ex = jx - ix;\n    const ey = jy - iy;\n    const length = Math.hypot(ex, ey);\n\n    normals.push(ey / length, -ex / length);\n  }\n\n  return normals;\n};\n\n/** Throw unless every interior turn has the same (CCW) orientation. */\nconst assertConvex = (points: number[]): void => {\n  const count = points.length / 2;\n\n  for (let i = 0; i < count; i++) {\n    const a = i;\n    const b = (i + 1) % count;\n    const c = (i + 2) % count;\n    const ax = points[a * 2]!;\n    const ay = points[a * 2 + 1]!;\n    const bx = points[b * 2]!;\n    const by = points[b * 2 + 1]!;\n    const cx = points[c * 2]!;\n    const cy = points[c * 2 + 1]!;\n    const e1x = bx - ax;\n    const e1y = by - ay;\n    const e2x = cx - bx;\n    const e2y = cy - by;\n\n    // CCW polygon ⇒ every cross product must be ≥ 0 (strictly > 0 for no collinear run).\n    if (e1x * e2y - e1y * e2x <= 0) {\n      throw new RangeError('PolygonShape: vertices are not strictly convex (or contain collinear edges).');\n    }\n  }\n};\n\nconst boundingRadiusOf = (points: number[]): number => {\n  let max = 0;\n\n  for (let i = 0; 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package/dist/esm/shapes/SegmentShape.d.ts

@@ -0,0 +1,31 @@
+import { Shape } from './Shape';
+/**
+ * A zero-thickness boundary between two local-space endpoints: level edges,
+ * one-off walls, the geometry a body may not cross.
+ *
+ * It has no interior, so {@link Shape.massProperties} is `null` and the shape
+ * contributes collision only - a `dynamic` body needs at least one mass-bearing
+ * collider alongside it.
+ *
+ * A segment blocks from **both** sides. There is no inside for it to be outside
+ * of, and a one-sided segment would be a gameplay rule in a geometry costume:
+ * express that with the world's `contactModifier`, which decides per contact and
+ * per step whether it is solved.
+ *
+ * Being zero-thickness makes it the worst case for discrete detection - a body
+ * that crosses it entirely within one fixed step misses it. Continuous collision
+ * covers a fast body against a segment; a fast segment is not swept.
+ */
+export declare class SegmentShape extends Shape {
+    readonly type: "segment";
+    /** Local endpoints, flattened - the same layout a polygon uses. */
+    readonly vertices: readonly number[];
+    /** The two opposite outward unit normals, flattened. */
+    readonly normals: readonly number[];
+    readonly length: number;
+    readonly boundingRadius: number;
+    /** Always `null`: a boundary has no interior and therefore no mass. */
+    readonly massProperties: null;
+    constructor(x0: number, y0: number, x1: number, y1: number);
+}
+//# sourceMappingURL=SegmentShape.d.ts.map

package/dist/esm/shapes/SegmentShape.d.ts.map

@@ -0,0 +1 @@
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