@codexo/exojs-physics 0.15.3 → 0.16.0

package/dist/esm/solver/ContactSolver.js.map

@@ -1 +1 @@
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+{"version":3,"file":"ContactSolver.js","names":[],"sources":["../../../src/solver/ContactSolver.ts"],"sourcesContent":["import type { ContactRecord } from '../ContactGraph';\nimport type { PhysicsBody } from '../PhysicsBody';\nimport { contactSlop } from './tolerances';\n\n/** Relative normal speed (px/s) below which a contact is treated as resting (no restitution). */\nconst restitutionThreshold = 1;\n/**\n * Cap on the soft-constraint push-out velocity (px/s). Bounds how fast the bias\n * resolves deep penetration so a large overlap cannot fling bodies apart; the\n * Box2D-v3 analogue is `contactSpeed = 3·lengthUnit`, retuned for ExoJS pixels.\n */\nconst maxBiasVelocity = 4;\n/** Reject the 2-point block solve when the contact matrix is worse-conditioned than this (fall back to sequential). */\nconst maxConditionNumber = 1000;\n\n/**\n * Per-contact velocity constraint (1-2 points), computed once per **frame** in\n * {@link ContactSolver.prepare} and reused across all sub-steps and passes.\n * Pooled and reused across frames, so a steady-state step constructs no\n * constraint of its own. It is not allocation-free in the wider sense: a double\n * handed to a function the optimiser declines to inline is boxed on the heap for\n * the duration of that call, which is why the hot paths below apply their\n * results in place instead of through helpers.\n */\nclass ContactConstraint {\n  public record!: ContactRecord;\n  public bodyA!: PhysicsBody;\n  public bodyB!: PhysicsBody;\n  public nx = 0;\n  public ny = 0;\n  public tx = 0;\n  public ty = 0;\n  public friction = 0;\n  public restitution = 0;\n  public pointCount = 0;\n\n  // Soft-constraint factors (Box2D-v3 \"soft step\"), derived once per frame from\n  // contactHertz/dampingRatio and the sub-step `h`. Shared by both points.\n  public biasRate = 0;\n  public massScale = 1;\n  public impulseScale = 0;\n\n  // Per-point contact arms at frame start (relative to each body's centre of mass).\n  public readonly rAx = [0, 0];\n  public readonly rAy = [0, 0];\n  public readonly rBx = [0, 0];\n  public readonly rBy = [0, 0];\n  // Per-point arms rotated by the live sub-step rotation (refreshed each pass by\n  // {@link ContactSolver._updateArms}); the solve reads these so a rotating body's\n  // contact torque tracks its current orientation.\n  public readonly rotAx = [0, 0];\n  public readonly rotAy = [0, 0];\n  public readonly rotBx = [0, 0];\n  public readonly rotBy = [0, 0];\n  public readonly normalMass = [0, 0];\n  public readonly tangentMass = [0, 0];\n  /** Contact separation at frame start (= −penetration; negative when overlapping). */\n  public readonly baseSeparation = [0, 0];\n  /** Relative normal velocity at frame start (the impact speed the restitution pass keys off). */\n  public readonly relativeVelocity = [0, 0];\n  /** Push-out target normal velocity for the current pass (set per pass from the live separation). */\n  public readonly velocityBias = [0, 0];\n  /**\n   * Whether the point's push-out target was clamped to `maxBiasVelocity` this\n   * pass. A clamped target is no longer the spring response the soft scaling\n   * models, so the single-point solve drops that scaling while it holds.\n   */\n  public readonly biasClamped = [false, false];\n\n  // 2-point block: the contact matrix `K` and its inverse (set only when the\n  // manifold has two points and `K` is well-conditioned; else sequential).\n  public block = false;\n  public k11 = 0;\n  public k12 = 0;\n  public k22 = 0;\n  public invK11 = 0;\n  public invK12 = 0;\n  public invK22 = 0;\n}\n\n/**\n * Native warm-started **TGS-Soft** contact solver (Box2D-v3 \"soft step\"). Driven\n * by {@link PhysicsWorld} as a sub-stepping loop: detection runs once per frame,\n * then {@link prepare} builds the per-contact constraints (effective masses,\n * frame-start separation + impact velocity, soft factors, and a 2×2 block matrix\n * for two-point manifolds) **once**, and each sub-step runs\n * {@link warmStart} → {@link solveVelocities}(useBias=true) → integrate positions\n * → {@link solveVelocities}(useBias=false) relax. A final {@link applyRestitution}\n * pass adds bounce above the threshold.\n *\n * The position constraint is folded into the velocity solve as a **soft bias**\n * (a damped-spring push-out whose stiffness is decoupled from the iteration\n * count), recomputed each pass from the live per-body delta position/rotation -\n * so there is no separate NGS geometric pass. The contact anchors are rotated by\n * the live sub-step rotation each pass, so a tilting stack's restoring torque is\n * computed against its current orientation (without this the tilt grows instead\n * of being corrected). Two-point manifolds still solve the normal impulses **as a\n * 2×2 block LCP** (Box2D-style), which propagates stack loads far better than\n * solving the points sequentially; the block path carries the soft push-out as\n * its velocity target (hard mass scale), while single-point contacts use the full\n * soft mass/impulse scaling for as long as their push-out target stays inside\n * the cap, and the hard scale once it is clamped. Accumulated impulses are\n * written back to each {@link ContactRecord} for warm-starting the next frame.\n *\n * Internal to {@link NativePhysicsBackend}; not part of the public surface.\n */\nexport class ContactSolver {\n  private readonly _constraints: ContactConstraint[] = [];\n  private _count = 0;\n\n  /**\n   * Build the per-contact constraints for this frame from the touching solid\n   * contacts. `h` is the sub-step duration (`fixedDelta / subStepCount`); the\n   * soft factors are derived from it together with `contactHertz`/`dampingRatio`.\n   * Runs once per frame (detection is not repeated per sub-step).\n   */\n  public prepare(contacts: readonly ContactRecord[], h: number, contactHertz: number, dampingRatio: number): void {\n    this._count = 0;\n\n    // Box2D-v3 soft-constraint factors from a damped spring (hertz, zeta) at the\n    // sub-step `h`: omega = 2πf; a1 = 2ζ + hω; a2 = hω·a1; a3 = 1/(1+a2).\n    const omega = 2 * Math.PI * contactHertz;\n    const a1 = 2 * dampingRatio + h * omega;\n    const a2 = h * omega * a1;\n    const a3 = 1 / (1 + a2);\n    const biasRate = contactHertz > 0 ? omega / a1 : 0;\n    const massScale = contactHertz > 0 ? a2 * a3 : 1;\n    const impulseScale = contactHertz > 0 ? a3 : 0;\n\n    for (const contact of contacts) {\n      const manifold = contact.manifold;\n      const pointCount = manifold.pointCount;\n\n      // A contact the world's `ContactModifier` disabled for this step stays\n      // touching geometrically but applies no impulse.\n      if (pointCount === 0 || !contact.enabled) {\n        continue;\n      }\n\n      const bodyA = contact.a.body;\n      const bodyB = contact.b.body;\n\n      // Skip contacts where either body is asleep: a sleeping island's solid\n      // contacts are all sleeping↔sleeping or sleeping↔static (both at rest), so\n      // there is nothing to solve. A sleeping body touched by an awake one is\n      // woken (island merge) before this runs, so it is never skipped wrongly.\n      if (bodyA.isSleeping || bodyB.isSleeping) {\n        continue;\n      }\n\n      const constraint = this._acquire();\n      const nx = manifold.normalX;\n      const ny = manifold.normalY;\n      const tx = -ny;\n      const ty = nx;\n\n      constraint.record = contact;\n      constraint.bodyA = bodyA;\n      constraint.bodyB = bodyB;\n      constraint.nx = nx;\n      constraint.ny = ny;\n      constraint.tx = tx;\n      constraint.ty = ty;\n      // Per-step values: derived from the two colliders each pass, then possibly\n      // overridden by the world's `ContactModifier`.\n      constraint.friction = contact.friction;\n      constraint.restitution = contact.restitution;\n      constraint.pointCount = pointCount;\n      constraint.block = false;\n      constraint.biasRate = biasRate;\n      constraint.massScale = massScale;\n      constraint.impulseScale = impulseScale;\n\n      const mA = bodyA.invMass;\n      const mB = bodyB.invMass;\n      const iA = bodyA.invInertia;\n      const iB = bodyB.invInertia;\n      const comAx = bodyA.worldCenterOfMassX;\n      const comAy = bodyA.worldCenterOfMassY;\n      const comBx = bodyB.worldCenterOfMassX;\n      const comBy = bodyB.worldCenterOfMassY;\n\n      for (let i = 0; i < pointCount; i++) {\n        // i in 0..pointCount-1 and pointCount ≤ 2, so the manifold point exists.\n        const point = i === 0 ? manifold.points[0] : manifold.points[1];\n        const rAx = point.x - comAx;\n        const rAy = point.y - comAy;\n        const rBx = point.x - comBx;\n        const rBy = point.y - comBy;\n\n        constraint.rAx[i] = rAx;\n        constraint.rAy[i] = rAy;\n        constraint.rBx[i] = rBx;\n        constraint.rBy[i] = rBy;\n        // Frame start: no accumulated rotation yet, so the live arms equal the base arms.\n        constraint.rotAx[i] = rAx;\n        constraint.rotAy[i] = rAy;\n        constraint.rotBx[i] = rBx;\n        constraint.rotBy[i] = rBy;\n\n        const rnA = rAx * ny - rAy * nx;\n        const rnB = rBx * ny - rBy * nx;\n        const kn = mA + mB + iA * rnA * rnA + iB * rnB * rnB;\n        const rtA = rAx * ty - rAy * tx;\n        const rtB = rBx * ty - rBy * tx;\n        const kt = mA + mB + iA * rtA * rtA + iB * rtB * rtB;\n\n        constraint.normalMass[i] = kn > 0 ? 1 / kn : 0;\n        constraint.tangentMass[i] = kt > 0 ? 1 / kt : 0;\n        constraint.baseSeparation[i] = -point.penetration;\n        constraint.velocityBias[i] = 0;\n\n        // Frame-start relative normal velocity (the true impact speed, captured\n        // before this frame's gravity since prepare runs ahead of the sub-step\n        // loop) - keys the restitution pass so a resting contact does not\n        // perpetually micro-bounce off the per-step gravity increment.\n        constraint.relativeVelocity[i] = normalVelocity(bodyA, bodyB, rAx, rAy, rBx, rBy, nx, ny);\n      }\n\n      if (pointCount === 2) {\n        const rn1A = n(constraint.rAx, 0) * ny - n(constraint.rAy, 0) * nx;\n        const rn1B = n(constraint.rBx, 0) * ny - n(constraint.rBy, 0) * nx;\n        const rn2A = n(constraint.rAx, 1) * ny - n(constraint.rAy, 1) * nx;\n        const rn2B = n(constraint.rBx, 1) * ny - n(constraint.rBy, 1) * nx;\n        const k11 = mA + mB + iA * rn1A * rn1A + iB * rn1B * rn1B;\n        const k22 = mA + mB + iA * rn2A * rn2A + iB * rn2B * rn2B;\n        const k12 = mA + mB + iA * rn1A * rn2A + iB * rn1B * rn2B;\n        const det = k11 * k22 - k12 * k12;\n\n        // Only block-solve when `K` is well-conditioned (parallel-ish contacts\n        // produce a near-singular matrix → fall back to sequential).\n        if (det > 0 && k11 * k11 < maxConditionNumber * det) {\n          const invDet = 1 / det;\n\n          constraint.k11 = k11;\n          constraint.k12 = k12;\n          constraint.k22 = k22;\n          constraint.invK11 = invDet * k22;\n          constraint.invK12 = -invDet * k12;\n          constraint.invK22 = invDet * k11;\n          constraint.block = true;\n        }\n      }\n    }\n  }\n\n  /** Re-apply the cached impulses from the previous frame (warm-starting); runs each sub-step. */\n  public warmStart(): void {\n    for (let ci = 0; ci < this._count; ci++) {\n      const constraint = this._at(ci);\n      const bodyA = constraint.bodyA;\n      const bodyB = constraint.bodyB;\n\n      this._updateArms(constraint);\n\n      for (let i = 0; i < constraint.pointCount; i++) {\n        const normalImpulse = n(constraint.record.normalImpulse, i);\n        const tangentImpulse = n(constraint.record.tangentImpulse, i);\n        const jx = normalImpulse * constraint.nx + tangentImpulse * constraint.tx;\n        const jy = normalImpulse * constraint.ny + tangentImpulse * constraint.ty;\n\n        applyImpulse(bodyA, bodyB, n(constraint.rotAx, i), n(constraint.rotAy, i), n(constraint.rotBx, i), n(constraint.rotBy, i), jx, jy);\n      }\n    }\n  }\n\n  /**\n   * One velocity pass over every contact: the normal constraint (block when\n   * possible) then friction (Coulomb cone). With `useBias` the normal solve\n   * carries the soft push-out bias (the main pass, recomputed from the live\n   * separation); without it the relax pass drives the normal velocity to zero so\n   * the bias velocity does not remain in the bodies as injected energy.\n   */\n  public solveVelocities(useBias: boolean): void {\n    for (let ci = 0; ci < this._count; ci++) {\n      this._solveVelocityContact(this._at(ci), useBias);\n    }\n  }\n\n  /**\n   * Restitution pass, run once after the sub-step loop. For each loaded point\n   * whose frame-start impact speed exceeded the threshold, add the impulse that\n   * brings the post-solve normal velocity to `−restitution·impactSpeed`. Kept\n   * separate from the main solve so resting contacts (impact below threshold) do\n   * not micro-bounce.\n   */\n  public applyRestitution(): void {\n    for (let ci = 0; ci < this._count; ci++) {\n      const constraint = this._at(ci);\n\n      if (constraint.restitution === 0) {\n        continue;\n      }\n\n      const bodyA = constraint.bodyA;\n      const bodyB = constraint.bodyB;\n      const nx = constraint.nx;\n      const ny = constraint.ny;\n\n      this._updateArms(constraint);\n\n      for (let i = 0; i < constraint.pointCount; i++) {\n        const relativeVelocity = n(constraint.relativeVelocity, i);\n\n        // Only points that carried load (normalImpulse > 0) and were struck\n        // above the resting threshold bounce.\n        if (relativeVelocity > -restitutionThreshold || n(constraint.record.normalImpulse, i) <= 0) {\n          continue;\n        }\n\n        const rAx = n(constraint.rotAx, i);\n        const rAy = n(constraint.rotAy, i);\n        const rBx = n(constraint.rotBx, i);\n        const rBy = n(constraint.rotBy, i);\n        const vn = normalVelocity(bodyA, bodyB, rAx, rAy, rBx, rBy, nx, ny);\n        const oldNormal = n(constraint.record.normalImpulse, i);\n        const newNormal = Math.max(0, oldNormal - n(constraint.normalMass, i) * (vn + constraint.restitution * relativeVelocity));\n        const deltaNormal = newNormal - oldNormal;\n\n        constraint.record.normalImpulse[i] = newNormal;\n        applyImpulse(bodyA, bodyB, rAx, rAy, rBx, rBy, deltaNormal * nx, deltaNormal * ny);\n      }\n    }\n  }\n\n  /** Refresh the live (rotated) contact arms from each body's accumulated sub-step rotation. */\n  private _updateArms(constraint: ContactConstraint): void {\n    const cosA = constraint.bodyA._deltaCos;\n    const sinA = constraint.bodyA._deltaSin;\n    const cosB = constraint.bodyB._deltaCos;\n    const sinB = constraint.bodyB._deltaSin;\n\n    for (let i = 0; i < constraint.pointCount; i++) {\n      const rAx = n(constraint.rAx, i);\n      const rAy = n(constraint.rAy, i);\n      const rBx = n(constraint.rBx, i);\n      const rBy = n(constraint.rBy, i);\n\n      constraint.rotAx[i] = rAx * cosA - rAy * sinA;\n      constraint.rotAy[i] = rAx * sinA + rAy * cosA;\n      constraint.rotBx[i] = rBx * cosB - rBy * sinB;\n      constraint.rotBy[i] = rBx * sinB + rBy * cosB;\n    }\n  }\n\n  private _solveVelocityContact(constraint: ContactConstraint, useBias: boolean): void {\n    this._updateArms(constraint);\n\n    // Recompute the per-point push-out target from the live separation (folds the\n    // position constraint into the velocity solve as a soft bias). With useBias\n    // off (relax pass) the target is zero - the plain hard normal solve.\n    for (let i = 0; i < constraint.pointCount; i++) {\n      // Push out only the penetration beyond the slop, capped - leaving the slop\n      // keeps the contact overlapping so the narrow phase does not drop it.\n      const excess = -currentSeparation(constraint, i) - contactSlop;\n      const target = useBias && excess > 0 ? constraint.biasRate * excess : 0;\n\n      constraint.velocityBias[i] = Math.min(target, maxBiasVelocity);\n      constraint.biasClamped[i] = target > maxBiasVelocity;\n    }\n\n    // Normal before friction (Box2D-v3 order): friction's Coulomb cone clamps to\n    // `μ·normalImpulse`, so it must see this pass's freshly-solved normal impulse -\n    // solving friction first uses last pass's cone and lets stacks creep laterally.\n    if (constraint.block) {\n      this._solveNormalBlock(constraint);\n    } else {\n      this._solveNormalSequential(constraint, useBias);\n    }\n\n    this._solveFriction(constraint);\n  }\n\n  /** Per-point friction: clamp the accumulated tangent impulse to the Coulomb cone `±μ·normalImpulse`. */\n  private _solveFriction(constraint: ContactConstraint): void {\n    const bodyA = constraint.bodyA;\n    const bodyB = constraint.bodyB;\n\n    for (let i = 0; i < constraint.pointCount; i++) {\n      const rAx = n(constraint.rotAx, i);\n      const rAy = n(constraint.rotAy, i);\n      const rBx = n(constraint.rotBx, i);\n      const rBy = n(constraint.rotBy, i);\n      const vtX = bodyB.linearVelocityX - bodyB.angularVelocity * rBy - (bodyA.linearVelocityX - bodyA.angularVelocity * rAy);\n      const vtY = bodyB.linearVelocityY + bodyB.angularVelocity * rBx - (bodyA.linearVelocityY + bodyA.angularVelocity * rAx);\n      const vt = vtX * constraint.tx + vtY * constraint.ty;\n      const maxFriction = constraint.friction * n(constraint.record.normalImpulse, i);\n      const oldTangent = n(constraint.record.tangentImpulse, i);\n      const newTangent = clamp(oldTangent - n(constraint.tangentMass, i) * vt, -maxFriction, maxFriction);\n      const deltaTangent = newTangent - oldTangent;\n\n      constraint.record.tangentImpulse[i] = newTangent;\n      applyImpulse(bodyA, bodyB, rAx, rAy, rBx, rBy, deltaTangent * constraint.tx, deltaTangent * constraint.ty);\n    }\n  }\n\n  /**\n   * Single-point (or ill-conditioned) soft normal solve, accumulated and clamped\n   * ≥ 0. The Box2D-v3 incremental form: with the soft bias active the impulse is\n   * `−normalMass·massScale·(vn − bias) − impulseScale·accumulated`, which both\n   * pushes out the penetration and bleeds a little stored impulse (the damped\n   * spring). The relax pass passes `useBias=false`, collapsing it to the hard\n   * `−normalMass·vn` (no bias, full mass, no impulse decay).\n   *\n   * A point whose push-out target was clamped to `maxBiasVelocity` is solved\n   * with the hard scale as well: the soft scaling models a spring, and once the\n   * target is capped the point would otherwise reach only a fraction of an\n   * already limited push-out. That deficit grows with the load, so past the\n   * acceleration at which the cap binds the contact would sink without bound\n   * instead of settling into a slightly deeper limit cycle.\n   */\n  private _solveNormalSequential(constraint: ContactConstraint, useBias: boolean): void {\n    const bodyA = constraint.bodyA;\n    const bodyB = constraint.bodyB;\n    const nx = constraint.nx;\n    const ny = constraint.ny;\n\n    for (let i = 0; i < constraint.pointCount; i++) {\n      const rAx = n(constraint.rotAx, i);\n      const rAy = n(constraint.rotAy, i);\n      const rBx = n(constraint.rotBx, i);\n      const rBy = n(constraint.rotBy, i);\n      const vn = normalVelocity(bodyA, bodyB, rAx, rAy, rBx, rBy, nx, ny);\n      const oldNormal = n(constraint.record.normalImpulse, i);\n      // A clamped push-out target is a fixed velocity goal, not a spring\n      // response: scaling it down by `massScale` would leave the point short of\n      // a target that is already capped, and the deficit is what removes the\n      // fixpoint once the cap binds. Solve those points hard, as the two-point\n      // block path always does.\n      const clamped = constraint.biasClamped[i] ?? false;\n      const massScale = useBias && !clamped ? constraint.massScale : 1;\n      const impulseScale = useBias && !clamped ? constraint.impulseScale : 0;\n      const impulse = -n(constraint.normalMass, i) * massScale * (vn - n(constraint.velocityBias, i)) - impulseScale * oldNormal;\n      const newNormal = Math.max(0, oldNormal + impulse);\n      const deltaNormal = newNormal - oldNormal;\n\n      constraint.record.normalImpulse[i] = newNormal;\n      applyImpulse(bodyA, bodyB, rAx, rAy, rBx, rBy, deltaNormal * nx, deltaNormal * ny);\n    }\n  }\n\n  /**\n   * Two-point block normal solve (Box2D LCP): find both new normal impulses\n   * `x ≥ 0` so the post-solve normal velocities equal the push-out targets\n   * (`velocityBias`, zero in the relax pass) and are complementary, trying the\n   * four corners (both active, one active, none). The block path carries the\n   * soft push-out as its target but solves with a hard mass scale.\n   */\n  private _solveNormalBlock(constraint: ContactConstraint): void {\n    const bodyA = constraint.bodyA;\n    const bodyB = constraint.bodyB;\n    const nx = constraint.nx;\n    const ny = constraint.ny;\n    const a1 = n(constraint.record.normalImpulse, 0);\n    const a2 = n(constraint.record.normalImpulse, 1);\n    const vn1 = normalVelocity(bodyA, bodyB, n(constraint.rotAx, 0), n(constraint.rotAy, 0), n(constraint.rotBx, 0), n(constraint.rotBy, 0), nx, ny);\n    const vn2 = normalVelocity(bodyA, bodyB, n(constraint.rotAx, 1), n(constraint.rotAy, 1), n(constraint.rotBx, 1), n(constraint.rotBy, 1), nx, ny);\n\n    // Residual at the current impulse: b = (vn − bias) − K·a.\n    const bx = vn1 - n(constraint.velocityBias, 0) - (constraint.k11 * a1 + constraint.k12 * a2);\n    const by = vn2 - n(constraint.velocityBias, 1) - (constraint.k12 * a1 + constraint.k22 * a2);\n\n    // Case 1 - both points active: x = −K⁻¹·b.\n    let x1 = -(constraint.invK11 * bx + constraint.invK12 * by);\n    let x2 = -(constraint.invK12 * bx + constraint.invK22 * by);\n    let solved = x1 >= 0 && x2 >= 0;\n\n    if (!solved) {\n      // Case 2 - only point 1 active (x2 = 0).\n      x1 = -n(constraint.normalMass, 0) * bx;\n      x2 = 0;\n      solved = x1 >= 0 && constraint.k12 * x1 + by >= 0;\n    }\n\n    if (!solved) {\n      // Case 3 - only point 2 active (x1 = 0).\n      x1 = 0;\n      x2 = -n(constraint.normalMass, 1) * by;\n      solved = x2 >= 0 && constraint.k12 * x2 + bx >= 0;\n    }\n\n    if (!solved) {\n      // Case 4 - neither active (separating). Only valid when both residuals are\n      // non-negative; otherwise no corner applies and the impulses stay put.\n      if (bx < 0 || by < 0) {\n        return;\n      }\n\n      x1 = 0;\n      x2 = 0;\n    }\n\n    // Applied here rather than through a helper: the deltas are freshly computed\n    // doubles, and passing them across a call the optimiser declines to inline\n    // boxes each one on the heap for the duration of the call.\n    const d1 = x1 - a1;\n    const d2 = x2 - a2;\n    const jx = (d1 + d2) * nx;\n    const jy = (d1 + d2) * ny;\n    const torqueA = (n(constraint.rotAx, 0) * ny - n(constraint.rotAy, 0) * nx) * d1 + (n(constraint.rotAx, 1) * ny - n(constraint.rotAy, 1) * nx) * d2;\n    const torqueB = (n(constraint.rotBx, 0) * ny - n(constraint.rotBy, 0) * nx) * d1 + (n(constraint.rotBx, 1) * ny - n(constraint.rotBy, 1) * nx) * d2;\n\n    bodyA.linearVelocityX -= jx * bodyA.invMass;\n    bodyA.linearVelocityY -= jy * bodyA.invMass;\n    bodyA.angularVelocity -= torqueA * bodyA.invInertia;\n    bodyB.linearVelocityX += jx * bodyB.invMass;\n    bodyB.linearVelocityY += jy * bodyB.invMass;\n    bodyB.angularVelocity += torqueB * bodyB.invInertia;\n\n    constraint.record.normalImpulse[0] = x1;\n    constraint.record.normalImpulse[1] = x2;\n  }\n\n  private _acquire(): ContactConstraint {\n    if (this._count === this._constraints.length) {\n      this._constraints.push(new ContactConstraint());\n    }\n\n    return this._at(this._count++);\n  }\n\n  /**\n   * Pooled constraint at `ci`. Every caller indexes within `0..this._count-1`\n   * and `_count` never exceeds the pool length, so the entry always exists; the\n   * throw is unreachable and only discharges `noUncheckedIndexedAccess` without a\n   * cast or non-null assertion.\n   */\n  private _at(ci: number): ContactConstraint {\n    const constraint = this._constraints[ci];\n\n    if (constraint === undefined) {\n      throw new RangeError(`ContactSolver: constraint pool index ${ci} out of range.`);\n    }\n\n    return constraint;\n  }\n}\n\n/**\n * Live contact separation at point `i`, recomputed from each body's accumulated\n * delta position plus the rotation-induced shift of the (rotated) anchor since\n * frame start, projected onto the normal. Negative when overlapping. This is what\n * folds the position constraint into the velocity solve without a separate\n * geometric pass or re-running detection per sub-step.\n */\nconst currentSeparation = (constraint: ContactConstraint, i: number): number => {\n  const bodyA = constraint.bodyA;\n  const bodyB = constraint.bodyB;\n  // Anchor displacement since frame start = linear delta + (rotated arm − base arm).\n  const dispAx = bodyA._deltaPosX + n(constraint.rotAx, i) - n(constraint.rAx, i);\n  const dispAy = bodyA._deltaPosY + n(constraint.rotAy, i) - n(constraint.rAy, i);\n  const dispBx = bodyB._deltaPosX + n(constraint.rotBx, i) - n(constraint.rBx, i);\n  const dispBy = bodyB._deltaPosY + n(constraint.rotBy, i) - n(constraint.rBy, i);\n\n  return n(constraint.baseSeparation, i) + (dispBx - dispAx) * constraint.nx + (dispBy - dispAy) * constraint.ny;\n};\n\n/** Relative normal velocity at a contact point: `dot(vB + ωB×rB − vA − ωA×rA, n)`. */\nconst normalVelocity = (bodyA: PhysicsBody, bodyB: PhysicsBody, rAx: number, rAy: number, rBx: number, rBy: number, nx: number, ny: number): number => {\n  const dvx = bodyB.linearVelocityX - bodyB.angularVelocity * rBy - (bodyA.linearVelocityX - bodyA.angularVelocity * rAy);\n  const dvy = bodyB.linearVelocityY + bodyB.angularVelocity * rBx - (bodyA.linearVelocityY + bodyA.angularVelocity * rAx);\n\n  return dvx * nx + dvy * ny;\n};\n\n/** Apply impulse `(jx, jy)` to B and its negation to A about their contact arms. */\nconst applyImpulse = (bodyA: PhysicsBody, bodyB: PhysicsBody, rAx: number, rAy: number, rBx: number, rBy: number, jx: number, jy: number): void => {\n  bodyA.linearVelocityX -= jx * bodyA.invMass;\n  bodyA.linearVelocityY -= jy * bodyA.invMass;\n  bodyA.angularVelocity -= (rAx * jy - rAy * jx) * bodyA.invInertia;\n\n  bodyB.linearVelocityX += jx * bodyB.invMass;\n  bodyB.linearVelocityY += jy * bodyB.invMass;\n  bodyB.angularVelocity += (rBx * jy - rBy * jx) * bodyB.invInertia;\n};\n\nconst clamp = (value: number, low: number, high: number): number => Math.min(Math.max(value, low), high);\n\n/**\n * In-bounds read of a fixed-size (length-2) per-point scratch array. Every\n * caller indexes within `0..pointCount-1` (pointCount ≤ 2), so the element\n * always exists; the `0` fallback only discharges `noUncheckedIndexedAccess`\n * for the unreachable case and keeps the `??` out of caller complexity.\n */\nconst n = (arr: readonly number[], i: number): number => arr[i] ?? 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package/dist/esm/solver/tolerances.d.ts

@@ -0,0 +1,34 @@
+/**
+ * Penetration allowance (px) the soft bias leaves uncorrected. The narrow phase
+ * only produces a manifold while the colliders overlap, so pushing penetration
+ * fully to zero lets a resting contact wink out for a frame (free-fall, then
+ * re-detect) - a periodic energy spike. Leaving a small slop keeps the contact
+ * persistently overlapping and the warm-start cache alive.
+ * @internal
+ */
+export declare const contactSlop = 0.25;
+/**
+ * Penetration (px) above which a contact still counts as unresolved for the
+ * sleep decision, so neither of its bodies may bank sleep time.
+ *
+ * The solver drives every resting contact down to {@link contactSlop}, but only
+ * at a capped push-out speed that is below the sleep velocity threshold: a body
+ * that landed hard therefore looks motionless long before its overlap is worked
+ * off, and sleeping it would freeze it visibly embedded. Both sides must read
+ * the same tolerance, or the sleep gate and the constraint it is gating drift
+ * apart.
+ *
+ * The value is empirical, not derived: a face contact converges to exactly one
+ * slop at any gravity, but a single-point contact rests one static spring
+ * deflection deeper, and that offset grows with gravity (0.28 px at
+ * 1 000 px/s², 0.53 px at 10 000, 0.67 px at 15 000). Three slops clears that
+ * envelope for the gravity range the engine is tuned for while staying far
+ * below the failure it gates, which starts at several px. Beyond roughly
+ * 15 000 px/s² the push-out cap binds and the resting depth stops following
+ * the deflection law, settling into a narrow limit cycle just below this
+ * tolerance instead - so sleep is delayed there rather than granted to an
+ * embedded body.
+ * @internal
+ */
+export declare const sleepPenetrationTolerance: number;
+//# sourceMappingURL=tolerances.d.ts.map

package/dist/esm/solver/tolerances.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"tolerances.d.ts","sourceRoot":"","sources":["../../../src/solver/tolerances.ts"],"names":[],"mappings":"AAAA;;;;;;;GAOG;AACH,eAAO,MAAM,WAAW,OAAO,CAAC;AAEhC;;;;;;;;;;;;;;;;;;;;;;GAsBG;AACH,eAAO,MAAM,yBAAyB,QAAkB,CAAC"}

package/dist/esm/solver/tolerances.js

@@ -0,0 +1,38 @@
+//#region src/solver/tolerances.ts
+/**
+* Penetration allowance (px) the soft bias leaves uncorrected. The narrow phase
+* only produces a manifold while the colliders overlap, so pushing penetration
+* fully to zero lets a resting contact wink out for a frame (free-fall, then
+* re-detect) - a periodic energy spike. Leaving a small slop keeps the contact
+* persistently overlapping and the warm-start cache alive.
+* @internal
+*/
+const contactSlop = .25;
+/**
+* Penetration (px) above which a contact still counts as unresolved for the
+* sleep decision, so neither of its bodies may bank sleep time.
+*
+* The solver drives every resting contact down to {@link contactSlop}, but only
+* at a capped push-out speed that is below the sleep velocity threshold: a body
+* that landed hard therefore looks motionless long before its overlap is worked
+* off, and sleeping it would freeze it visibly embedded. Both sides must read
+* the same tolerance, or the sleep gate and the constraint it is gating drift
+* apart.
+*
+* The value is empirical, not derived: a face contact converges to exactly one
+* slop at any gravity, but a single-point contact rests one static spring
+* deflection deeper, and that offset grows with gravity (0.28 px at
+* 1 000 px/s², 0.53 px at 10 000, 0.67 px at 15 000). Three slops clears that
+* envelope for the gravity range the engine is tuned for while staying far
+* below the failure it gates, which starts at several px. Beyond roughly
+* 15 000 px/s² the push-out cap binds and the resting depth stops following
+* the deflection law, settling into a narrow limit cycle just below this
+* tolerance instead - so sleep is delayed there rather than granted to an
+* embedded body.
+* @internal
+*/
+const sleepPenetrationTolerance = 3 * contactSlop;
+
+//#endregion
+export { contactSlop, sleepPenetrationTolerance };
+//# sourceMappingURL=tolerances.js.map

package/dist/esm/solver/tolerances.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"tolerances.js","names":[],"sources":["../../../src/solver/tolerances.ts"],"sourcesContent":["/**\n * Penetration allowance (px) the soft bias leaves uncorrected. The narrow phase\n * only produces a manifold while the colliders overlap, so pushing penetration\n * fully to zero lets a resting contact wink out for a frame (free-fall, then\n * re-detect) - a periodic energy spike. Leaving a small slop keeps the contact\n * persistently overlapping and the warm-start cache alive.\n * @internal\n */\nexport const contactSlop = 0.25;\n\n/**\n * Penetration (px) above which a contact still counts as unresolved for the\n * sleep decision, so neither of its bodies may bank sleep time.\n *\n * The solver drives every resting contact down to {@link contactSlop}, but only\n * at a capped push-out speed that is below the sleep velocity threshold: a body\n * that landed hard therefore looks motionless long before its overlap is worked\n * off, and sleeping it would freeze it visibly embedded. Both sides must read\n * the same tolerance, or the sleep gate and the constraint it is gating drift\n * apart.\n *\n * The value is empirical, not derived: a face contact converges to exactly one\n * slop at any gravity, but a single-point contact rests one static spring\n * deflection deeper, and that offset grows with gravity (0.28 px at\n * 1 000 px/s², 0.53 px at 10 000, 0.67 px at 15 000). Three slops clears that\n * envelope for the gravity range the engine is tuned for while staying far\n * below the failure it gates, which starts at several px. Beyond roughly\n * 15 000 px/s² the push-out cap binds and the resting depth stops following\n * the deflection law, settling into a narrow limit cycle just below this\n * tolerance instead - so sleep is delayed there rather than granted to an\n * embedded body.\n * @internal\n */\nexport const sleepPenetrationTolerance = 3 * contactSlop;\n"],"mappings":";;;;;;;;;AAQA,MAAa,cAAc;;;;;;;;;;;;;;;;;;;;;;;;AAyB3B,MAAa,4BAA4B,IAAI"}

package/dist/esm/sort.d.ts

@@ -1,5 +1,5 @@
 /**
- * In-place heap sort — deterministic, O(n log n) regardless of input order, and
+ * In-place heap sort - deterministic, O(n log n) regardless of input order, and
  * allocation-free. `Array.prototype.sort` allocates an internal temp buffer in
  * V8's TimSort for arrays larger than ~10 elements; the broad-phase and contact
  * sorts run over ~1,000 elements every step, so that temp buffer is per-step
@@ -7,11 +7,12 @@
  *
  * Heap sort is not stable, but every physics comparator (`byMinX`, `byPairId`,
  * `byRecordPair`, `byColliderPair`, `bySensorPair`) breaks ties on collider id,
- * so no two elements ever compare equal — the ordering is total and therefore
- * bit-identical to the `Array.prototype.sort` it replaces (gate SG-D1, replay
+ * so no two elements ever compare equal - the ordering is total and therefore
+ * bit-identical to the `Array.prototype.sort` it replaces (replay
  * determinism). Do not use this with a comparator that can return 0 for distinct
  * elements; the result order would then differ from a stable sort.
  *
  * @internal
  */
-export declare function sortInPlace<T>(array: T[], compare: (a: T, b: T) => number): void;
+export declare const sortInPlace: <T>(array: T[], compare: (a: T, b: T) => number) => void;
+//# sourceMappingURL=sort.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"sort.d.ts","sourceRoot":"","sources":["../../src/sort.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;GAeG;AACH,eAAO,MAAM,WAAW,GAAI,CAAC,EAAE,OAAO,CAAC,EAAE,EAAE,SAAS,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,KAAK,MAAM,KAAG,IAe5E,CAAC"}

package/dist/esm/sort.js

@@ -1,54 +1,44 @@
+//#region src/sort.ts
 /**
- * In-place heap sort — deterministic, O(n log n) regardless of input order, and
- * allocation-free. `Array.prototype.sort` allocates an internal temp buffer in
- * V8's TimSort for arrays larger than ~10 elements; the broad-phase and contact
- * sorts run over ~1,000 elements every step, so that temp buffer is per-step
- * garbage. Heap sort sorts in place with only a constant number of locals.
- *
- * Heap sort is not stable, but every physics comparator (`byMinX`, `byPairId`,
- * `byRecordPair`, `byColliderPair`, `bySensorPair`) breaks ties on collider id,
- * so no two elements ever compare equal — the ordering is total and therefore
- * bit-identical to the `Array.prototype.sort` it replaces (gate SG-D1, replay
- * determinism). Do not use this with a comparator that can return 0 for distinct
- * elements; the result order would then differ from a stable sort.
- *
- * @internal
- */
-function sortInPlace(array, compare) {
-    const n = array.length;
-    // Heapify: turn the array into a max-heap bottom-up.
-    for (let i = (n >> 1) - 1; i >= 0; i--) {
-        siftDown(array, i, n, compare);
-    }
-    // Repeatedly move the max (root) to the sorted tail, then restore the heap.
-    for (let end = n - 1; end > 0; end--) {
-        const root = array[0];
-        array[0] = array[end];
-        array[end] = root;
-        siftDown(array, 0, end, compare);
-    }
-}
-function siftDown(array, start, end, compare) {
-    let parent = start;
-    for (;;) {
-        let child = parent * 2 + 1;
-        if (child >= end) {
-            break;
-        }
-        // Pick the larger of the two children.
-        if (child + 1 < end && compare(array[child], array[child + 1]) < 0) {
-            child++;
-        }
-        // Parent already dominates the larger child — heap property restored.
-        if (compare(array[parent], array[child]) >= 0) {
-            break;
-        }
-        const tmp = array[parent];
-        array[parent] = array[child];
-        array[child] = tmp;
-        parent = child;
-    }
-}
+* In-place heap sort - deterministic, O(n log n) regardless of input order, and
+* allocation-free. `Array.prototype.sort` allocates an internal temp buffer in
+* V8's TimSort for arrays larger than ~10 elements; the broad-phase and contact
+* sorts run over ~1,000 elements every step, so that temp buffer is per-step
+* garbage. Heap sort sorts in place with only a constant number of locals.
+*
+* Heap sort is not stable, but every physics comparator (`byMinX`, `byPairId`,
+* `byRecordPair`, `byColliderPair`, `bySensorPair`) breaks ties on collider id,
+* so no two elements ever compare equal - the ordering is total and therefore
+* bit-identical to the `Array.prototype.sort` it replaces (replay
+* determinism). Do not use this with a comparator that can return 0 for distinct
+* elements; the result order would then differ from a stable sort.
+*
+* @internal
+*/
+const sortInPlace = (array, compare) => {
+	const n = array.length;
+	for (let i = (n >> 1) - 1; i >= 0; i--) siftDown(array, i, n, compare);
+	for (let end = n - 1; end > 0; end--) {
+		const root = array[0];
+		array[0] = array[end];
+		array[end] = root;
+		siftDown(array, 0, end, compare);
+	}
+};
+const siftDown = (array, start, end, compare) => {
+	let parent = start;
+	for (;;) {
+		let child = parent * 2 + 1;
+		if (child >= end) break;
+		if (child + 1 < end && compare(array[child], array[child + 1]) < 0) child++;
+		if (compare(array[parent], array[child]) >= 0) break;
+		const tmp = array[parent];
+		array[parent] = array[child];
+		array[child] = tmp;
+		parent = child;
+	}
+};
 
+//#endregion
 export { sortInPlace };
-//# sourceMappingURL=sort.js.map
+//# sourceMappingURL=sort.js.map

package/dist/esm/sort.js.map

@@ -1 +1 @@
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+{"version":3,"file":"sort.js","names":[],"sources":["../../src/sort.ts"],"sourcesContent":["/**\n * In-place heap sort - deterministic, O(n log n) regardless of input order, and\n * allocation-free. `Array.prototype.sort` allocates an internal temp buffer in\n * V8's TimSort for arrays larger than ~10 elements; the broad-phase and contact\n * sorts run over ~1,000 elements every step, so that temp buffer is per-step\n * garbage. Heap sort sorts in place with only a constant number of locals.\n *\n * Heap sort is not stable, but every physics comparator (`byMinX`, `byPairId`,\n * `byRecordPair`, `byColliderPair`, `bySensorPair`) breaks ties on collider id,\n * so no two elements ever compare equal - the ordering is total and therefore\n * bit-identical to the `Array.prototype.sort` it replaces (replay\n * determinism). Do not use this with a comparator that can return 0 for distinct\n * elements; the result order would then differ from a stable sort.\n *\n * @internal\n */\nexport const sortInPlace = <T>(array: T[], compare: (a: T, b: T) => number): void => {\n  const n = array.length;\n\n  // Heapify: turn the array into a max-heap bottom-up.\n  for (let i = (n >> 1) - 1; i >= 0; i--) {\n    siftDown(array, i, n, compare);\n  }\n\n  // Repeatedly move the max (root) to the sorted tail, then restore the heap.\n  for (let end = n - 1; end > 0; end--) {\n    const root = array[0]!;\n    array[0] = array[end]!;\n    array[end] = root;\n    siftDown(array, 0, end, compare);\n  }\n};\n\nconst siftDown = <T>(array: T[], start: number, end: number, compare: (a: T, b: T) => number): void => {\n  let parent = start;\n\n  for (;;) {\n    let child = parent * 2 + 1;\n\n    if (child >= end) {\n      break;\n    }\n\n    // Pick the larger of the two children.\n    if (child + 1 < end && compare(array[child]!, array[child + 1]!) < 0) {\n      child++;\n    }\n\n    // Parent already dominates the larger child - heap property restored.\n    if (compare(array[parent]!, array[child]!) >= 0) {\n      break;\n    }\n\n    const tmp = array[parent]!;\n    array[parent] = array[child]!;\n    array[child] = tmp;\n    parent = child;\n  }\n};\n"],"mappings":";;;;;;;;;;;;;;;;;AAgBA,MAAa,eAAkB,OAAY,YAA0C;CACnF,MAAM,IAAI,MAAM;CAGhB,KAAK,IAAI,KAAK,KAAK,KAAK,GAAG,KAAK,GAAG,KACjC,SAAS,OAAO,GAAG,GAAG,OAAO;CAI/B,KAAK,IAAI,MAAM,IAAI,GAAG,MAAM,GAAG,OAAO;EACpC,MAAM,OAAO,MAAM;EACnB,MAAM,KAAK,MAAM;EACjB,MAAM,OAAO;EACb,SAAS,OAAO,GAAG,KAAK,OAAO;CACjC;AACF;AAEA,MAAM,YAAe,OAAY,OAAe,KAAa,YAA0C;CACrG,IAAI,SAAS;CAEb,SAAS;EACP,IAAI,QAAQ,SAAS,IAAI;EAEzB,IAAI,SAAS,KACX;EAIF,IAAI,QAAQ,IAAI,OAAO,QAAQ,MAAM,QAAS,MAAM,QAAQ,EAAG,IAAI,GACjE;EAIF,IAAI,QAAQ,MAAM,SAAU,MAAM,MAAO,KAAK,GAC5C;EAGF,MAAM,MAAM,MAAM;EAClB,MAAM,UAAU,MAAM;EACtB,MAAM,SAAS;EACf,SAAS;CACX;AACF"}

package/dist/esm/types.d.ts

@@ -1,15 +1,10 @@
-/** A read-only two-component point/vector. `Vector` from core satisfies this. */
-export interface VectorLike {
-    readonly x: number;
-    readonly y: number;
-}
 /**
  * Simulation role of a {@link PhysicsBody}.
  *
- * - `dynamic` — fully simulated (finite mass); moved by the solver once
+ * - `dynamic` - fully simulated (finite mass); moved by the solver once
  *   dynamics ship, and by `setTransform` meanwhile.
- * - `static` — never moves; infinite mass. Ground, walls, level geometry.
- * - `kinematic` — moved only by `setTransform` (game-driven); infinite mass,
+ * - `static` - never moves; infinite mass. Ground, walls, level geometry.
+ * - `kinematic` - moved only by `setTransform` (game-driven); infinite mass,
  *   unaffected by contacts. Platforms, doors.
  */
 export type BodyType = 'dynamic' | 'static' | 'kinematic';
@@ -37,3 +32,4 @@ export declare const resolveFilter: (filter?: Partial<CollisionFilter>) => Colli
  * semantics).
  */
 export declare const shouldCollide: (a: CollisionFilter, b: CollisionFilter) => boolean;
+//# sourceMappingURL=types.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"types.d.ts","sourceRoot":"","sources":["../../src/types.ts"],"names":[],"mappings":"AAGA;;;;;;;;GAQG;AACH,MAAM,MAAM,QAAQ,GAAG,SAAS,GAAG,QAAQ,GAAG,WAAW,CAAC;AAE1D;;;;;GAKG;AACH,MAAM,WAAW,eAAe;IAC9B,gEAAgE;IAChE,QAAQ,EAAE,MAAM,CAAC;IACjB,gEAAgE;IAChE,IAAI,EAAE,MAAM,CAAC;IACb,uEAAuE;IACvE,KAAK,EAAE,MAAM,CAAC;CACf;AAED,mFAAmF;AACnF,eAAO,MAAM,aAAa,EAAE,QAAQ,CAAC,eAAe,CAIlD,CAAC;AAEH,gEAAgE;AAChE,eAAO,MAAM,aAAa,GAAI,SAAS,OAAO,CAAC,eAAe,CAAC,KAAG,eAIhE,CAAC;AAEH;;;;GAIG;AACH,eAAO,MAAM,aAAa,GAAI,GAAG,eAAe,EAAE,GAAG,eAAe,KAAG,OAMtE,CAAC"}

package/dist/esm/types.js

@@ -1,28 +1,26 @@
-// Shared value types for the physics package. Kept dependency-light so the
-// shapes, colliders and world modules can all reference them without cycles.
+//#region src/types.ts
 /** The default collider filter: category 1, collides with everything, no group. */
 const defaultFilter = Object.freeze({
-    category: 0x0001,
-    mask: 0xffff,
-    group: 0,
+	category: 1,
+	mask: 65535,
+	group: 0
 });
 /** Normalise a partial filter against {@link defaultFilter}. */
 const resolveFilter = (filter) => ({
-    category: filter?.category ?? defaultFilter.category,
-    mask: filter?.mask ?? defaultFilter.mask,
-    group: filter?.group ?? defaultFilter.group,
+	category: filter?.category ?? defaultFilter.category,
+	mask: filter?.mask ?? defaultFilter.mask,
+	group: filter?.group ?? defaultFilter.group
 });
 /**
- * Decide whether two filters permit a collision/overlap. Implements the
- * standard category/mask rule with the signed-group override (Box2D/Matter
- * semantics).
- */
+* Decide whether two filters permit a collision/overlap. Implements the
+* standard category/mask rule with the signed-group override (Box2D/Matter
+* semantics).
+*/
 const shouldCollide = (a, b) => {
-    if (a.group !== 0 && a.group === b.group) {
-        return a.group > 0;
-    }
-    return (a.mask & b.category) !== 0 && (b.mask & a.category) !== 0;
+	if (a.group !== 0 && a.group === b.group) return a.group > 0;
+	return (a.mask & b.category) !== 0 && (b.mask & a.category) !== 0;
 };
 
+//#endregion
 export { defaultFilter, resolveFilter, shouldCollide };
-//# sourceMappingURL=types.js.map
+//# sourceMappingURL=types.js.map

package/dist/esm/types.js.map

@@ -1 +1 @@
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+{"version":3,"file":"types.js","names":[],"sources":["../../src/types.ts"],"sourcesContent":["// Shared value types for the physics package. Kept dependency-light so the\n// shapes, colliders and world modules can all reference them without cycles.\n\n/**\n * Simulation role of a {@link PhysicsBody}.\n *\n * - `dynamic` - fully simulated (finite mass); moved by the solver once\n *   dynamics ship, and by `setTransform` meanwhile.\n * - `static` - never moves; infinite mass. Ground, walls, level geometry.\n * - `kinematic` - moved only by `setTransform` (game-driven); infinite mass,\n *   unaffected by contacts. Platforms, doors.\n */\nexport type BodyType = 'dynamic' | 'static' | 'kinematic';\n\n/**\n * Per-collider collision filter. A pair is considered for collision only when\n * each collider's {@link mask} includes the other's {@link category}. A\n * non-zero {@link group} overrides category/mask: identical positive groups\n * always collide, identical negative groups never do.\n */\nexport interface CollisionFilter {\n  /** Category bits this collider belongs to. Default `0x0001`. */\n  category: number;\n  /** Categories this collider collides with. Default `0xffff`. */\n  mask: number;\n  /** Signed override group; `0` defers to category/mask. Default `0`. */\n  group: number;\n}\n\n/** The default collider filter: category 1, collides with everything, no group. */\nexport const defaultFilter: Readonly<CollisionFilter> = Object.freeze({\n  category: 0x0001,\n  mask: 0xffff,\n  group: 0,\n});\n\n/** Normalise a partial filter against {@link defaultFilter}. */\nexport const resolveFilter = (filter?: Partial<CollisionFilter>): CollisionFilter => ({\n  category: filter?.category ?? defaultFilter.category,\n  mask: filter?.mask ?? defaultFilter.mask,\n  group: filter?.group ?? defaultFilter.group,\n});\n\n/**\n * Decide whether two filters permit a collision/overlap. Implements the\n * standard category/mask rule with the signed-group override (Box2D/Matter\n * semantics).\n */\nexport const shouldCollide = (a: CollisionFilter, b: CollisionFilter): boolean => {\n  if (a.group !== 0 && a.group === b.group) {\n    return a.group > 0;\n  }\n\n  return (a.mask & b.category) !== 0 && (b.mask & a.category) !== 0;\n};\n"],"mappings":";;AA8BA,MAAa,gBAA2C,OAAO,OAAO;CACpE,UAAU;CACV,MAAM;CACN,OAAO;AACT,CAAC;;AAGD,MAAa,iBAAiB,YAAwD;CACpF,UAAU,QAAQ,YAAY,cAAc;CAC5C,MAAM,QAAQ,QAAQ,cAAc;CACpC,OAAO,QAAQ,SAAS,cAAc;AACxC;;;;;;AAOA,MAAa,iBAAiB,GAAoB,MAAgC;CAChF,IAAI,EAAE,UAAU,KAAK,EAAE,UAAU,EAAE,OACjC,OAAO,EAAE,QAAQ;CAGnB,QAAQ,EAAE,OAAO,EAAE,cAAc,MAAM,EAAE,OAAO,EAAE,cAAc;AAClE"}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@codexo/exojs-physics",
-  "version": "0.15.3",
+  "version": "0.16.0",
   "description": "Native 2D collision, query and sensor runtime for ExoJS.",
   "repository": {
     "type": "git",
@@ -31,10 +31,10 @@
     "LICENSE"
   ],
   "peerDependencies": {
-    "@codexo/exojs": "0.15.x"
+    "@codexo/exojs": "0.16.x"
   },
   "devDependencies": {
-    "@codexo/exojs": "0.15.3",
+    "@codexo/exojs": "0.16.0",
     "@codexo/exojs-config": "0.0.0"
   },
   "license": "MIT",
@@ -42,9 +42,9 @@
     "access": "public"
   },
   "scripts": {
-    "build": "tsx ../../node_modules/rollup/dist/bin/rollup -c --environment EXOJS_ENV:production",
-    "build:dev": "tsx ../../node_modules/rollup/dist/bin/rollup -c --environment EXOJS_ENV:development",
-    "typecheck": "tsc --noEmit",
+    "build": "tsx ../../scripts/build-extension.ts",
+    "build:dev": "tsx ../../scripts/build-extension.ts --dev",
+    "typecheck": "tsc --noEmit && tsc --noEmit -p tsconfig.test.json",
     "lint": "eslint \"src/**/*.ts\" \"test/**/*.ts\"",
     "test": "vitest run --root ../.. --project=exojs-physics"
   }

package/dist/esm/broadphase/SweepAndPrune.d.ts

@@ -1,15 +0,0 @@
-import type { Collider } from '../Collider';
-import type { BroadPhase, CandidatePair } from './BroadPhase';
-/**
- * Sort-and-sweep broad phase on the X axis. Each query sorts the live colliders
- * by their AABB `minX`, then sweeps once, comparing each collider only against
- * those whose X intervals still overlap and confirming the Y interval. This is
- * an exact AABB-overlap broad phase (zero false negatives) with a deterministic,
- * id-sorted output. The recompute-each-step design keeps it stateless between
- * frames — two worlds never share sweep state (gate I-1).
- */
-export declare class SweepAndPrune implements BroadPhase {
-    private readonly _sorted;
-    private readonly _pairPool;
-    computePairs(colliders: readonly Collider[], out: CandidatePair[]): CandidatePair[];
-}

package/dist/esm/broadphase/SweepAndPrune.js

@@ -1,77 +0,0 @@
-import { sortInPlace } from '../sort.js';
-
-/**
- * Sort-and-sweep broad phase on the X axis. Each query sorts the live colliders
- * by their AABB `minX`, then sweeps once, comparing each collider only against
- * those whose X intervals still overlap and confirming the Y interval. This is
- * an exact AABB-overlap broad phase (zero false negatives) with a deterministic,
- * id-sorted output. The recompute-each-step design keeps it stateless between
- * frames — two worlds never share sweep state (gate I-1).
- */
-class SweepAndPrune {
-    _sorted = [];
-    // Pooled CandidatePair objects, reused across steps instead of allocating one
-    // per overlapping pair. `out` holds references into the pool and is consumed
-    // within the same step (ContactGraph reads pair.a/pair.b before the next
-    // computePairs overwrites the pool), so the reuse is safe.
-    _pairPool = [];
-    computePairs(colliders, out) {
-        out.length = 0;
-        const sorted = this._sorted;
-        sorted.length = 0;
-        const pool = this._pairPool;
-        let poolCount = 0;
-        for (const collider of colliders) {
-            sorted.push(collider);
-        }
-        sortInPlace(sorted, byMinX);
-        const count = sorted.length;
-        for (let i = 0; i < count; i++) {
-            // i/j stay within 0..count-1, so the entries always exist; the guards only
-            // discharge `noUncheckedIndexedAccess` and never actually skip a collider.
-            const a = sorted[i];
-            if (a === undefined) {
-                continue;
-            }
-            const aBox = a.aabb;
-            const aMaxX = aBox.maxX;
-            const aMinY = aBox.minY;
-            const aMaxY = aBox.maxY;
-            for (let j = i + 1; j < count; j++) {
-                const b = sorted[j];
-                if (b === undefined) {
-                    continue;
-                }
-                const bBox = b.aabb;
-                // X intervals are sorted: once b starts past a's right edge, so do all
-                // later colliders — stop scanning this i.
-                if (bBox.minX > aMaxX) {
-                    break;
-                }
-                if (bBox.minY > aMaxY || bBox.maxY < aMinY) {
-                    continue;
-                }
-                const lo = a.id < b.id ? a : b;
-                const hi = a.id < b.id ? b : a;
-                let pair = pool[poolCount];
-                if (pair === undefined) {
-                    pair = { a: lo, b: hi };
-                    pool.push(pair);
-                }
-                else {
-                    pair.a = lo;
-                    pair.b = hi;
-                }
-                poolCount++;
-                out.push(pair);
-            }
-        }
-        sortInPlace(out, byPairId);
-        return out;
-    }
-}
-const byMinX = (a, b) => a.aabb.minX - b.aabb.minX || a.id - b.id;
-const byPairId = (p, q) => p.a.id - q.a.id || p.b.id - q.b.id;
-
-export { SweepAndPrune };
-//# sourceMappingURL=SweepAndPrune.js.map

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