@codexo/exojs-physics 0.15.3 → 0.16.0

package/dist/esm/PhysicsBody.js.map

@@ -1 +1 @@
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+{"version":3,"file":"PhysicsBody.js","names":[],"sources":["../../src/PhysicsBody.ts"],"sourcesContent":["import type { PointLike } from '@codexo/exojs';\nimport { Vector } from '@codexo/exojs';\n\nimport { Collider, type ColliderOptions } from './Collider';\nimport type { Transform } from './math';\nimport { applyTransform, createTransform, setTransform } from './math';\nimport type { ShapeMassProperties } from './shapes/Shape';\nimport type { BodyType } from './types';\n\n/** Construction options for a body. */\nexport interface BodyOptions {\n  /** Simulation role. Default `'dynamic'`. */\n  type?: BodyType;\n  /** Initial world position. Default `(0, 0)`. */\n  position?: Readonly<PointLike>;\n  /** Initial rotation in radians. Default `0`. */\n  angle?: number;\n  /** Linear damping applied to the velocity each sub-step. Default `0`. */\n  linearDamping?: number;\n  /** Angular damping applied to the angular velocity each sub-step. Default `0`. */\n  angularDamping?: number;\n  /** Per-body multiplier on world gravity (e.g. `0` to ignore gravity). Default `1`. */\n  gravityScale?: number;\n  /** When `true`, the body never rotates under contacts (infinite rotational inertia). Default `false`. */\n  fixedRotation?: boolean;\n  /** When `true`, the body's colliders are shape-cast along each step's motion (CCD) so it cannot tunnel through thin geometry. Default `false`. */\n  isBullet?: boolean;\n  /** Colliders to attach up-front. Each may be a {@link Collider} instance or its {@link ColliderOptions}. */\n  colliders?: Array<Collider | ColliderOptions>;\n}\n\n/**\n * Internal hook the world hands to each body so colliders can be id-allocated\n * and registered without the body importing the concrete world class.\n */\nexport interface BodyOwner {\n  _allocateColliderId(): number;\n  _registerCollider(collider: Collider): void;\n}\n\n/**\n * A rigid body: a world transform plus mass properties aggregated from its\n * colliders. Dynamic bodies integrate under gravity, accumulated forces/torque\n * and contact impulses each fixed sub-step; static bodies never move; kinematic\n * bodies move by their velocity only and stay immovable under contacts. Drive a\n * body with {@link applyForce}, {@link applyTorque} and {@link applyImpulse}, or\n * set {@link linearVelocityX}/{@link linearVelocityY}/{@link angularVelocity}\n * directly; reposition it (teleport, no velocity) with {@link setTransform}.\n */\nexport class PhysicsBody {\n  public readonly type: BodyType;\n\n  /** Linear damping applied to the velocity each sub-step. */\n  public linearDamping: number;\n  /** Angular damping applied to the angular velocity each sub-step. */\n  public angularDamping: number;\n  /** Per-body multiplier on world gravity (e.g. `0` to ignore gravity). */\n  public gravityScale: number;\n  /** When `true`, rotational inertia is treated as infinite. */\n  public fixedRotation: boolean;\n  /** When `true`, the body's colliders are shape-cast along each step's motion (CCD) so it cannot tunnel through thin geometry. */\n  public isBullet: boolean;\n\n  /** Total mass (0 for static/kinematic). */\n  public mass = 0;\n  /** Inverse mass (`0` = immovable). */\n  public invMass = 0;\n  /** Rotational inertia about the centre of mass (0 for static/kinematic or fixed rotation). */\n  public inertia = 0;\n  /** Inverse rotational inertia (`0` = no angular response). */\n  public invInertia = 0;\n\n  /** Linear velocity X in px/s. */\n  public linearVelocityX = 0;\n  /** Linear velocity Y in px/s. */\n  public linearVelocityY = 0;\n  /** Angular velocity in rad/s. */\n  public angularVelocity = 0;\n\n  /** When `false`, this body is never put to sleep. Default `true`. */\n  public allowSleep = true;\n\n  /** @internal - Delta position X accumulated across the frame's sub-steps by the TGS integrator; written into the transform once per frame by {@link _finalizePosition}. */\n  public _deltaPosX = 0;\n  /** @internal - Delta position Y accumulated across the frame's sub-steps by the TGS integrator. */\n  public _deltaPosY = 0;\n  /** @internal - Delta rotation (radians) accumulated across the frame's sub-steps by the TGS integrator. */\n  public _deltaAngle = 0;\n  /** @internal - `cos(_deltaAngle)`, cached so the solver can rotate the contact anchors by the live sub-step rotation without a per-contact trig call. */\n  public _deltaCos = 1;\n  /** @internal - `sin(_deltaAngle)`, cached alongside {@link _deltaCos}. */\n  public _deltaSin = 0;\n\n  private _forceX = 0;\n  private _forceY = 0;\n  private _torque = 0;\n\n  /** @internal - seconds the body has stayed below the sleep thresholds (frozen while asleep). Read by the world's island pass. */\n  public _sleepTime = 0;\n  /** @internal - dense union-find index assigned by the world's island pass each step. */\n  public _islandIndex = 0;\n  /**\n   * @internal - raised by {@link setTransform}, cleared once the fixed step that\n   * saw it completes. A static/kinematic body driven by teleporting carries no\n   * velocity, so this is the world's only signal that such a body moved and its\n   * sleeping contact partners must be woken.\n   */\n  public _teleported = false;\n  /** @internal - world-space centre of mass at the start of the current fixed step (CCD swept-test origin). */\n  public _ccdPrevX = 0;\n  /** @internal - see {@link _ccdPrevX}. */\n  public _ccdPrevY = 0;\n\n  private _sleeping = false;\n\n  private _id = -1;\n  private _owner: BodyOwner | null = null;\n  private _attached = false;\n\n  private readonly _transform: Transform;\n  // Transform at the START of the most recent fixed step. Presentation only:\n  // the solver never reads it, and it is captured before the step writes its\n  // delta so a teleport can collapse it onto the current state.\n  private _previousX: number;\n  private _previousY: number;\n  private _previousAngle: number;\n  private readonly _colliders: Collider[] = [];\n  private _comX = 0;\n  private _comY = 0;\n  private _massReady = false;\n  private _destroyed = false;\n\n  public constructor(options: BodyOptions = {}) {\n    this.type = options.type ?? 'dynamic';\n    this._transform = createTransform(options.position?.x ?? 0, options.position?.y ?? 0, options.angle ?? 0);\n    this._previousX = this._transform.x;\n    this._previousY = this._transform.y;\n    this._previousAngle = this._transform.angle;\n    this.linearDamping = options.linearDamping ?? 0;\n    this.angularDamping = options.angularDamping ?? 0;\n    this.gravityScale = options.gravityScale ?? 1;\n    this.fixedRotation = options.fixedRotation ?? false;\n    this.isBullet = options.isBullet ?? false;\n\n    // Build up-front colliders now (no id/world registration until the body\n    // joins a world via `world.add()`). They sit in `_colliders` unsynchronised;\n    // `_attachToWorld` assigns ids, registers them and computes the mass model.\n    if (options.colliders) {\n      for (const entry of options.colliders) {\n        this._colliders.push(entry instanceof Collider ? entry : new Collider(entry));\n      }\n    }\n  }\n\n  /** Stable id, assigned when the body joins a world via `world.add()`; `-1` until then. */\n  public get id(): number {\n    return this._id;\n  }\n\n  /** `true` once the body has been added to a world (guards against double-add). */\n  public get attached(): boolean {\n    return this._attached;\n  }\n\n  /** World X. */\n  public get x(): number {\n    return this._transform.x;\n  }\n\n  /** World Y. */\n  public get y(): number {\n    return this._transform.y;\n  }\n\n  /** Rotation in radians. */\n  public get angle(): number {\n    return this._transform.angle;\n  }\n\n  /**\n   * World X at the start of the most recent fixed step. With {@link x} it\n   * brackets the last step, which is what an interpolating presentation blends\n   * between; a teleport collapses it onto {@link x}. Never read by the solver.\n   */\n  public get previousX(): number {\n    return this._previousX;\n  }\n\n  /** World Y at the start of the most recent fixed step; see {@link previousX}. */\n  public get previousY(): number {\n    return this._previousY;\n  }\n\n  /**\n   * Rotation in radians at the start of the most recent fixed step; see\n   * {@link previousX}. Body angles are continuous and unbounded, never wrapped\n   * to a range, so this and {@link angle} can be blended with a plain lerp.\n   */\n  public get previousAngle(): number {\n    return this._previousAngle;\n  }\n\n  /** A fresh `Vector` copy of the body's world position. */\n  public get position(): Vector {\n    return new Vector(this._transform.x, this._transform.y);\n  }\n\n  /** The body's world transform (read-only; mutate via {@link setTransform}). */\n  public get transform(): Readonly<Transform> {\n    return this._transform;\n  }\n\n  /** The body's colliders (read-only view). */\n  public get colliders(): readonly Collider[] {\n    return this._colliders;\n  }\n\n  /** Centre of mass in body-local space (relative to the body origin). */\n  public get centerOfMassX(): number {\n    return this._comX;\n  }\n\n  /** Centre of mass in body-local space (relative to the body origin). */\n  public get centerOfMassY(): number {\n    return this._comY;\n  }\n\n  /**\n   * `true` when the body is ready to simulate. Static/kinematic bodies are\n   * always ready (infinite-mass semantics); a dynamic body is ready only once\n   * it has at least one positive-density collider.\n   */\n  public get isMassReady(): boolean {\n    return this.type !== 'dynamic' || this._massReady;\n  }\n\n  /** `true` after the owning world has destroyed this body. */\n  public get destroyed(): boolean {\n    return this._destroyed;\n  }\n\n  /** `true` when the body is asleep - skipped by the integrator and solver until woken. */\n  public get isSleeping(): boolean {\n    return this._sleeping;\n  }\n\n  /**\n   * Attach a collider to this body. Accepts a {@link Collider} instance or its\n   * {@link ColliderOptions} (a convenience that constructs the collider for you).\n   * When the body is already in a world, the collider is id-allocated, registered,\n   * the mass model is recomputed and the world geometry synchronised immediately;\n   * on a free-standing body the collider is simply held until `world.add()`.\n   * Returns the collider.\n   */\n  public addCollider(collider: Collider | ColliderOptions): Collider {\n    if (this._destroyed) {\n      throw new Error('PhysicsBody: cannot add a collider to a destroyed body.');\n    }\n\n    // Collider imports PhysicsBody type-only (erased), so this value import is\n    // one-directional - no runtime cycle.\n    const instance = collider instanceof Collider ? collider : new Collider(collider);\n\n    this._colliders.push(instance);\n\n    // Before the body joins a world there is no owner to allocate ids / register\n    // with; `_attachToWorld` does that (and the mass/sync pass) for every held\n    // collider. Once attached, mirror the world's create order exactly.\n    if (this._attached && this._owner) {\n      attachWithChainEdges(instance, this, this._owner);\n      this._recomputeMass();\n      this._assertDynamicCarriesMass();\n      instance.synchronize(this._transform);\n      this._owner._registerCollider(instance);\n    }\n\n    return instance;\n  }\n\n  /**\n   * Set the body's world transform. Resets the body's cached collider geometry\n   * immediately so subsequent queries see the new placement. Returns `this`.\n   */\n  public setTransform(position: Readonly<PointLike>, angle: number = this._transform.angle): this {\n    if (this._destroyed) {\n      throw new Error('PhysicsBody: cannot move a destroyed body.');\n    }\n\n    this.wake();\n\n    this._teleported = true;\n\n    setTransform(this._transform, position.x, position.y, angle);\n\n    // A teleport is a discontinuity, not motion - collapsing the pair keeps an\n    // interpolating presentation from sweeping the node across the jump.\n    this._previousX = this._transform.x;\n    this._previousY = this._transform.y;\n    this._previousAngle = this._transform.angle;\n\n    for (const collider of this._colliders) {\n      collider.synchronize(this._transform);\n    }\n\n    return this;\n  }\n\n  /** Refresh every collider's world geometry from the current transform. */\n  public synchronizeColliders(): void {\n    for (const collider of this._colliders) {\n      collider.synchronize(this._transform);\n    }\n  }\n\n  /** World-space centre of mass X (body origin + rotated local centre of mass). */\n  public get worldCenterOfMassX(): number {\n    return this._transform.x + this._transform.cos * this._comX - this._transform.sin * this._comY;\n  }\n\n  /** World-space centre of mass Y. */\n  public get worldCenterOfMassY(): number {\n    return this._transform.y + this._transform.sin * this._comX + this._transform.cos * this._comY;\n  }\n\n  /**\n   * Accumulate a world-space force at the centre of mass; integrated on the next\n   * sub-step and then cleared. No-op on static/kinematic bodies. Returns `this`.\n   */\n  public applyForce(forceX: number, forceY: number): this {\n    this.wake();\n    this._forceX += forceX;\n    this._forceY += forceY;\n\n    return this;\n  }\n\n  /**\n   * Accumulate a torque; integrated on the next sub-step and then cleared. No-op\n   * on static/kinematic bodies (and fixed-rotation bodies). Returns `this`.\n   */\n  public applyTorque(torque: number): this {\n    this.wake();\n    this._torque += torque;\n\n    return this;\n  }\n\n  /**\n   * Apply an instantaneous world-space impulse at `(pointX, pointY)` (world space;\n   * defaults to the centre of mass), changing velocity immediately. No-op on\n   * static/kinematic bodies (infinite mass). Returns `this`.\n   */\n  public applyImpulse(impulseX: number, impulseY: number, pointX?: number, pointY?: number): this {\n    if (this.invMass === 0) {\n      return this;\n    }\n\n    this.wake();\n    this.linearVelocityX += impulseX * this.invMass;\n    this.linearVelocityY += impulseY * this.invMass;\n\n    if (pointX !== undefined && pointY !== undefined && this.invInertia !== 0) {\n      const rx = pointX - this.worldCenterOfMassX;\n      const ry = pointY - this.worldCenterOfMassY;\n\n      this.angularVelocity += (rx * impulseY - ry * impulseX) * this.invInertia;\n    }\n\n    return this;\n  }\n\n  /**\n   * @internal - integrate velocity from gravity, accumulated forces/torque and\n   * damping over the sub-step `h`. No-op for static/kinematic (infinite mass\n   * keeps their velocity solver-driven only). Called once per TGS sub-step, so\n   * gravity/forces are applied with `h` each sub-step (`N·h = dt`, same total\n   * impulse, but the small-step position error scales with `h²`). The\n   * force/torque accumulators are **not** cleared here - they are consumed by\n   * every sub-step and cleared once per frame by {@link _finalizePosition}.\n   */\n  public _integrateVelocity(h: number, gravityX: number, gravityY: number): void {\n    if (this.invMass === 0 || this._sleeping) {\n      return;\n    }\n\n    this.linearVelocityX += (gravityX * this.gravityScale + this._forceX * this.invMass) * h;\n    this.linearVelocityY += (gravityY * this.gravityScale + this._forceY * this.invMass) * h;\n    this.angularVelocity += this._torque * this.invInertia * h;\n\n    // Exponential damping (no-op when damping is 0).\n    this.linearVelocityX /= 1 + h * this.linearDamping;\n    this.linearVelocityY /= 1 + h * this.linearDamping;\n    this.angularVelocity /= 1 + h * this.angularDamping;\n  }\n\n  /**\n   * @internal - accumulate this sub-step's velocity into the per-frame delta\n   * position/rotation (TGS sub-stepping). The transform itself is **not** moved\n   * here; {@link _finalizePosition} writes the accumulated delta once per frame.\n   * Tracking the delta (rather than moving the transform each sub-step) lets the\n   * solver recompute contact separation from it without re-running detection or\n   * re-syncing collider geometry per sub-step. Static bodies never move.\n   */\n  public _integratePosition(h: number): void {\n    if (this.type === 'static' || this._sleeping) {\n      return;\n    }\n\n    this._deltaPosX += this.linearVelocityX * h;\n    this._deltaPosY += this.linearVelocityY * h;\n    this._deltaAngle += this.angularVelocity * h;\n\n    // Cache the rotation so the solver can rotate the contact anchors by the\n    // live sub-step rotation (TGS): without it the anchors stay frozen at frame\n    // start and a tilting tower's restoring torque is mis-computed, so the tilt\n    // grows instead of being corrected. Only non-zero rotation pays the trig.\n    if (this._deltaAngle !== 0) {\n      this._deltaCos = Math.cos(this._deltaAngle);\n      this._deltaSin = Math.sin(this._deltaAngle);\n    }\n  }\n\n  /**\n   * @internal - advance the sleep timer over one fixed step `dt`. A body below\n   * both velocity thresholds accumulates time; a too-fast body, or one that opts\n   * out via {@link allowSleep}, resets it. The sleep/wake decision is made per\n   * island by the world (so a stack sleeps as a unit) from {@link _sleepTime}.\n   */\n  public _accumulateSleepTime(dt: number, linearThreshold: number, angularThreshold: number): void {\n    const tooFast =\n      this.linearVelocityX * this.linearVelocityX + this.linearVelocityY * this.linearVelocityY > linearThreshold * linearThreshold ||\n      Math.abs(this.angularVelocity) > angularThreshold;\n\n    this._sleepTime = !this.allowSleep || tooFast ? 0 : this._sleepTime + dt;\n  }\n\n  /** @internal - set the sleep state. Sleeping zeroes the velocity; waking resets the sleep timer. */\n  public _setSleeping(sleeping: boolean): void {\n    if (this._sleeping === sleeping) {\n      return;\n    }\n\n    this._sleeping = sleeping;\n\n    if (sleeping) {\n      this.linearVelocityX = 0;\n      this.linearVelocityY = 0;\n      this.angularVelocity = 0;\n    } else {\n      this._sleepTime = 0;\n    }\n  }\n\n  /**\n   * Wake the body if it is asleep, resetting its sleep timer. The rest of its\n   * island wakes with it on the next step (a contact to an awake body keeps the\n   * whole island awake). Returns `this`.\n   */\n  public wake(): this {\n    this._setSleeping(false);\n    this._sleepTime = 0;\n\n    return this;\n  }\n\n  /**\n   * @internal - apply the frame's accumulated delta position/rotation to the\n   * transform (rotating about the centre of mass), re-sync collider geometry and\n   * clear the force/torque accumulators. Called once per frame after the\n   * sub-step loop. Static bodies never move; the force clear still runs (forces\n   * are a no-op on infinite mass but the accumulator is reset for consistency).\n   */\n  public _finalizePosition(): void {\n    this._forceX = 0;\n    this._forceY = 0;\n    this._torque = 0;\n    this._teleported = false;\n\n    // Captured before the step's delta is applied, and before the no-motion\n    // early return below - a body that did not move must report previous ===\n    // current rather than a stale pair from the last step it did move in.\n    this._previousX = this._transform.x;\n    this._previousY = this._transform.y;\n    this._previousAngle = this._transform.angle;\n\n    if (this.type === 'static' || (this._deltaPosX === 0 && this._deltaPosY === 0 && this._deltaAngle === 0)) {\n      this._resetDelta();\n\n      return;\n    }\n\n    const newComX = this.worldCenterOfMassX + this._deltaPosX;\n    const newComY = this.worldCenterOfMassY + this._deltaPosY;\n    const newAngle = this._transform.angle + this._deltaAngle;\n    const cos = Math.cos(newAngle);\n    const sin = Math.sin(newAngle);\n\n    // origin = newCoM − R(newAngle)·comLocal (so rotation pivots about the CoM).\n    setTransform(this._transform, newComX - (cos * this._comX - sin * this._comY), newComY - (sin * this._comX + cos * this._comY), newAngle);\n\n    this._resetDelta();\n\n    for (const collider of this._colliders) {\n      collider.synchronize(this._transform);\n    }\n  }\n\n  /** Clear the per-frame TGS delta accumulators (position, rotation and its cached cos/sin). */\n  private _resetDelta(): void {\n    this._deltaPosX = 0;\n    this._deltaPosY = 0;\n    this._deltaAngle = 0;\n    this._deltaCos = 1;\n    this._deltaSin = 0;\n  }\n\n  /** Internal: detach a collider (called by the world during destruction). */\n  public _removeCollider(collider: Collider): void {\n    const index = this._colliders.indexOf(collider);\n\n    if (index !== -1) {\n      this._colliders.splice(index, 1);\n      this._recomputeMass();\n    }\n  }\n\n  /**\n   * @internal - join `owner`'s world with the allocated `id`. Allocates ids for\n   * and registers every held collider, then aggregates the mass model and\n   * synchronises world geometry. Called once by {@link PhysicsWorld.add}.\n   *\n   * Ordering matters and mirrors the per-collider create path exactly: ids and\n   * the body link go on first, then a single mass recompute over the full\n   * collider set (so the centre of mass / inertia aggregate is correct), then\n   * `synchronize` over every collider (the cached world geometry the broad/narrow\n   * phase reads), then world registration last. Recomputing mass before all\n   * colliders are linked, or syncing before the mass model exists, would feed the\n   * solver a stale CoM and produce subtle integration bugs.\n   */\n  public _attachToWorld(owner: BodyOwner, id: number): void {\n    if (this._destroyed) {\n      throw new Error('PhysicsBody: cannot add a destroyed body to a world.');\n    }\n\n    this._owner = owner;\n    this._id = id;\n    this._attached = true;\n\n    for (const collider of this._colliders) {\n      attachWithChainEdges(collider, this, owner);\n    }\n\n    this._recomputeMass();\n    this._assertDynamicCarriesMass();\n\n    for (const collider of this._colliders) {\n      collider.synchronize(this._transform);\n    }\n\n    for (const collider of this._colliders) {\n      owner._registerCollider(collider);\n    }\n  }\n\n  /** Internal: mark destroyed (called by the world). */\n  public _markDestroyed(): void {\n    this._destroyed = true;\n  }\n\n  /**\n   * A dynamic body has to carry mass. Boundary geometry (a segment, a chain)\n   * reports no mass properties, and a collider may also be given zero density,\n   * so a dynamic body can end up with none at all - which the solver cannot tell\n   * apart from a static body, since both have `invMass === 0`. Rejecting it is\n   * the difference between a clear error and a body that silently stops moving.\n   */\n  private _assertDynamicCarriesMass(): void {\n    if (this.type !== 'dynamic' || this._massReady || this._colliders.length === 0) {\n      return;\n    }\n\n    throw new Error(\n      'PhysicsBody: a dynamic body must carry at least one collider with mass — every collider it holds is either boundary geometry (a segment or chain, which has no interior) or has zero density. Add a solid collider, or make the body static or kinematic.',\n    );\n  }\n\n  /** Recompute mass, centre of mass and rotational inertia from the colliders. */\n  private _recomputeMass(): void {\n    if (this.type !== 'dynamic') {\n      this.mass = 0;\n      this.invMass = 0;\n      this.inertia = 0;\n      this.invInertia = 0;\n      this._comX = 0;\n      this._comY = 0;\n      this._massReady = false;\n\n      return;\n    }\n\n    let mass = 0;\n    let cx = 0;\n    let cy = 0;\n    let inertiaOrigin = 0;\n    const point = { x: 0, y: 0 };\n\n    for (const collider of this._colliders) {\n      // Boundary geometry (a segment, later a chain) has no interior and reports\n      // no mass properties; it contributes collision only.\n      const massProperties: ShapeMassProperties | null = collider.shape.massProperties;\n\n      if (massProperties === null) {\n        continue;\n      }\n\n      const m = collider.density * massProperties.area;\n\n      if (m <= 0) {\n        continue;\n      }\n\n      // Shape centroid expressed in body-local space (offset + local rotation).\n      applyTransform(collider.localTransform, massProperties.centroidX, massProperties.centroidY, point);\n      mass += m;\n      cx += m * point.x;\n      cy += m * point.y;\n      // Parallel-axis to the body origin: I_origin += I_centroid + m·d².\n      inertiaOrigin += collider.density * massProperties.unitInertia + m * (point.x * point.x + point.y * point.y);\n    }\n\n    if (mass > 0) {\n      cx /= mass;\n      cy /= mass;\n    }\n\n    this.mass = mass;\n    this.invMass = mass > 0 ? 1 / mass : 0;\n    this._comX = cx;\n    this._comY = cy;\n    // Shift inertia from the body origin to the centre of mass.\n    const inertiaCom = inertiaOrigin - mass * (cx * cx + cy * cy);\n\n    this.inertia = this.fixedRotation ? 0 : inertiaCom;\n    this.invInertia = this.fixedRotation || inertiaCom <= 0 ? 0 : 1 / inertiaCom;\n    this._massReady = mass > 0;\n  }\n}\n\n/**\n * Give a collider its id, and a chain collider's edge proxies theirs. The\n * proxies are ids in the same space as authored colliders - the contact graph\n * keys pairs on them - but they never appear in `body.colliders`.\n */\nconst attachWithChainEdges = (collider: Collider, body: PhysicsBody, owner: BodyOwner): void => {\n  collider._attach(body, owner._allocateColliderId());\n\n  const edges = collider.chainEdges;\n\n  if (edges === null) {\n    return;\n  }\n\n  for (const edge of edges) {\n    edge._attach(body, owner._allocateColliderId());\n  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package/dist/esm/PhysicsWorld.d.ts

@@ -1,9 +1,9 @@
-import type { SceneNode } from '@codexo/exojs';
+import type { AabbLike, PointLike, SceneNode, Seconds } from '@codexo/exojs';
 import { Signal, Vector } from '@codexo/exojs';
-import type { Aabb } from './Aabb';
 import type { PhysicsBackend } from './backend/PhysicsBackend';
 import type { PhysicsBinding } from './binding/PhysicsBinding';
 import { Collider } from './Collider';
+import type { ContactModifier } from './ContactModifier';
 import type { CollisionEvent, SensorEvent } from './events';
 import type { Joint } from './joints/Joint';
 import type { BodyOwner } from './PhysicsBody';
@@ -11,11 +11,11 @@ import { PhysicsBody } from './PhysicsBody';
 import type { QueryFilter, RayHit } from './query/QueryEngine';
 import type { AnyShape } from './shapes/AnyShape';
 import { TimeStepper } from './TimeStepper';
-import type { BodyType, CollisionFilter, VectorLike } from './types';
+import type { BodyType, CollisionFilter } from './types';
 /** Construction options for a {@link PhysicsWorld}. */
 export interface PhysicsWorldOptions {
     /** Gravity in px/s² (+Y down). Integrated each sub-step. Default `(0, 0)`. */
-    gravity?: VectorLike;
+    gravity?: Readonly<PointLike>;
     /** Fixed timestep in seconds. Default `1 / 60`. */
     fixedDelta?: number;
     /** Maximum fixed steps per `step` call (spiral-of-death guard). Default `8`. */
@@ -24,7 +24,7 @@ export interface PhysicsWorldOptions {
      * TGS-Soft sub-steps per fixed step (the solver's stiffness scales with this,
      * not iteration count). Default `4`. Must be ≥ 1. Values below `2` visibly
      * degrade tall-stack stability (a 10-box tower jitters at `1`), so the default
-     * is load-bearing — do not lower it for performance.
+     * is load-bearing - do not lower it for performance.
      */
     subStepCount?: number;
     /** Soft-contact stiffness in Hz (the contact behaves as a damped spring at this frequency). Default `30`. */
@@ -33,6 +33,31 @@ export interface PhysicsWorldOptions {
     dampingRatio?: number;
     /** Put resting bodies to sleep so they skip integration and solving. Default `true`. */
     enableSleeping?: boolean;
+    /**
+     * Adjust each solid contact for the coming step (one-way platforms,
+     * conditional friction, per-pair material overrides). At most one per world;
+     * see {@link PhysicsWorld.contactModifier}. Default none.
+     */
+    contactModifier?: ContactModifier | null;
+    /**
+     * Place bound nodes between the last two fixed states instead of snapping them
+     * to the latest one, which smooths motion when the fixed rate is below the
+     * frame rate. Default `false`.
+     *
+     * The blend factor comes from {@link frameAlphaSource}; a world driven as a
+     * `System` has to supply one.
+     */
+    interpolation?: boolean;
+    /**
+     * Where interpolated bindings read their blend factor, in `[0, 1)`.
+     *
+     * Defaults to this world's own accumulator - correct when the world is driven
+     * with {@link PhysicsWorld.step}, which is what advances it. A world driven as
+     * a `System` goes through {@link PhysicsWorld.fixedUpdate} and bypasses that
+     * accumulator entirely, so the host owns the fraction: pass
+     * `() => app.frameAlpha`.
+     */
+    frameAlphaSource?: () => number;
     /** Linear speed at or below which a body is a sleep candidate, px/s. Default `5`. */
     sleepLinearVelocity?: number;
     /** Angular speed at or below which a body is a sleep candidate, rad/s. Default `0.06`. */
@@ -47,9 +72,9 @@ export interface PhysicsWorldOptions {
 export interface AttachOptions {
     /** Simulation role of the created body. Default `'dynamic'`. */
     type?: BodyType;
-    /** Initial world position of the body. Default the node's position is left untouched and `(0, 0)` is used. */
-    position?: VectorLike;
-    /** Initial rotation (radians) of the body. Default `0`. */
+    /** Initial world position of the body. Default the node's current WORLD position ({@link SceneNode.getWorldTransform}) at attach time. */
+    position?: Readonly<PointLike>;
+    /** Initial rotation (radians) of the body. Default the node's current WORLD rotation at attach time. */
     angle?: number;
     /** Per-body multiplier on world gravity. Default `1`. */
     gravityScale?: number;
@@ -58,7 +83,7 @@ export interface AttachOptions {
     /** The collider geometry. */
     shape: AnyShape;
     /** Body-local offset of the collider. Default `(0, 0)`. */
-    offset?: VectorLike;
+    offset?: Readonly<PointLike>;
     /** Body-local rotation of the collider (radians). Default `0`. */
     rotation?: number;
     /** Collider density (mass per px²). Default `1`. */
@@ -79,7 +104,7 @@ export interface AttachOptions {
  * body velocities, runs broad- and narrow-phase detection, solves contacts and
  * integrates positions, then fires immutable contact/sensor events and writes
  * bound node transforms. It holds **no module-level state**, so any number of
- * worlds run in isolation (gate I-1).
+ * worlds run in isolation.
  *
  * The dynamics are a native, warm-started **TGS-Soft** solver (Box2D-v3 "soft
  * step"): each fixed step runs detection once, then several sub-steps, each
@@ -91,19 +116,49 @@ export interface AttachOptions {
  * touching this public surface.
  *
  * **Operating envelope.** The soft solver trades a little accuracy for
- * robustness, so it has a few documented limits — each stays finite/stable and
- * each is pinned by a gate in `dynamics.test.ts`:
- * - **Mass ratio** — resting stacks are slop-accurate up to ~100:1. Beyond that
- *   the velocity-capped soft push-out (`maxBiasVelocity`) lets the lighter body
- *   settle progressively deeper (≈6px at 500:1, fully through a thin floor by
- *   ~5000:1) — always finite, never exploding (SG-MR3).
- * - **No CCD** — detection runs once per fixed step with no swept test, so a
- *   body that travels farther than an obstacle's thickness in one step tunnels
- *   straight through it (it stays finite). Reliably stopping fast projectiles is
- *   a future bullet-mode feature (SG-X5).
- * - **{@link PhysicsWorldOptions.subStepCount}** — the default `4` is
+ * robustness, so it has a few documented limits - each stays finite and stable,
+ * and each is pinned by a gate in `dynamics.test.ts` or
+ * `contact-push-out.test.ts`:
+ * - **Resting contacts** settle within a small, fixed tolerance. A face contact
+ *   settles at exactly that tolerance; a single-point contact settles slightly
+ *   deeper, and that gap grows with acceleration. Very high accelerations
+ *   eventually exceed what the push-out can resolve within a step, at which
+ *   point the contact holds a slightly deeper resting depth instead of the
+ *   tolerance - keep gravity in the range ordinary 2D games use.
+ * - **Mass ratio** - contacts between bodies of very different mass degrade
+ *   gradually rather than at a fixed ratio. What sets the practical limit is how
+ *   thick the supporting geometry is relative to the lighter body, not the ratio
+ *   alone: a light body squeezed against a boundary thinner than itself is the
+ *   case that fails first, and it fails by sinking through.
+ * - **Scale-relative behaviour** - the solver's tolerances are absolute lengths,
+ *   so a very small shape sees them as a large fraction of itself, and a very
+ *   large one as a negligible one. Keep the shapes of one world within a couple
+ *   of orders of magnitude of each other.
+ * - **CCD is opt-in and translation-only** - detection runs once per fixed
+ *   step, so an ordinary body that crosses more than roughly half a barrier's
+ *   total thickness within one step may end up on the wrong side of it, either
+ *   passing through or being resolved out of the far face. Flag fast
+ *   projectiles with {@link PhysicsBody.isBullet}: each of the body's colliders
+ *   is then shape-cast along the step's motion (an exact translation-only sweep
+ *   of the full shape, not just the centre) and clamped at the first impact.
+ *   Rotation over the step is not swept - a long body spinning fast enough to
+ *   sweep past an obstacle within one step can still miss it.
+ * - **{@link PhysicsWorldOptions.subStepCount}** - the default `4` is
  *   load-bearing for tall-stack stability; lowering it below `2` visibly
  *   degrades stacking, so do not reduce it for performance.
+ * - **Broad phase is a dynamic AABB tree** (`AabbTreeBroadPhase`), stateful
+ *   across fixed steps: a collider whose tight AABB stays inside its stored
+ *   fat AABB costs nothing to re-sync, and only colliders that actually move
+ *   outside their margin trigger a tree update and a local re-query for new
+ *   neighbours. Detection still walks every live collider once per step (a
+ *   cheap containment check for each), so there is a small linear floor, but
+ *   the dominant cost - reinsertion and neighbour discovery - is driven by
+ *   how much actually moved, not by the total live collider count; sleeping
+ *   bodies skip that dominant cost entirely. Scales to tens of thousands of
+ *   simultaneously-live colliders, including dense clusters that would
+ *   degrade a sort-and-sweep broad phase; very large or highly dynamic
+ *   worlds may still benefit from splitting into several smaller
+ *   `PhysicsWorld` instances (e.g. per room/chunk).
  */
 export declare class PhysicsWorld implements BodyOwner {
     /** Fires when two solid colliders begin touching. Argument is an immutable snapshot. */
@@ -132,9 +187,42 @@ export declare class PhysicsWorld implements BodyOwner {
     readonly sleepAngularVelocity: number;
     /** Seconds below the thresholds before a body sleeps. */
     readonly timeToSleep: number;
+    /**
+     * Runs once per solid contact per fixed step, after contact generation and
+     * before island building and the solver, so a contact it disables applies no
+     * impulse and does not couple its two bodies into one sleeping island.
+     *
+     * At most one modifier per world - it mutates simulation state, so a
+     * multi-listener signal would make the outcome depend on registration order.
+     * Set to `null` to remove it; the per-contact values then stay at the
+     * defaults derived from the two colliders.
+     */
+    contactModifier: ContactModifier | null;
+    /**
+     * Whether bound nodes are placed between the last two fixed states rather than
+     * snapped to the latest one. Toggleable at runtime; switching it off snaps
+     * every bound node back to the current fixed state on the next sync.
+     */
+    interpolation: boolean;
+    /**
+     * Supplies the `[0, 1)` blend factor for interpolated bindings. Defaults to
+     * this world's own accumulator; point it at the host's own fraction
+     * (`() => app.frameAlpha`) when the world runs as a `System`, because
+     * {@link fixedUpdate} never advances the local accumulator.
+     */
+    frameAlphaSource: () => number;
     private readonly _backend;
     private readonly _bodies;
     private readonly _colliders;
+    /**
+     * What detection actually runs over: the authored colliders, with a chain
+     * replaced by the edge proxies it fans out into. The broad phase, the narrow
+     * phase and the queries all read this list; `_colliders` stays the authored
+     * set every public surface reports.
+     */
+    private readonly _detectionColliders;
+    /** Pooled scratch for re-syncing a single body's broad-phase leaves. */
+    private readonly _leafScratch;
     private readonly _joints;
     private readonly _bindings;
     private readonly _query;
@@ -143,10 +231,32 @@ export declare class PhysicsWorld implements BodyOwner {
     private readonly _islandParent;
     /** Pooled per-island minimum sleep time, indexed by union-find root. */
     private readonly _islandMinSleep;
-    /** Pooled ray-hit buffer + origin/direction for the CCD swept test. */
-    private readonly _ccdHits;
-    private readonly _ccdOrigin;
-    private readonly _ccdDir;
+    /** Pooled scratch for the CCD pass (clamp target, per-pair sweep hit, best hit, swept AABB) - keeps the sweep allocation-free. */
+    private readonly _ccdClampPosition;
+    private readonly _ccdSweepHit;
+    private readonly _ccdBestHit;
+    private readonly _ccdSweptAabb;
+    /** Pooled result buffer for the CCD pass's broad-phase query (refilled per bullet collider). */
+    private readonly _ccdCandidates;
+    /**
+     * Narrow-phase sweep tests run by the CCD pass since world creation. Pairs
+     * rejected by the swept-AABB prune never count, so slow bullets far from any
+     * geometry keep this at zero (the cheap path).
+     *
+     * @internal - test/diagnostic hook.
+     */
+    _ccdSweepTests: number;
+    /**
+     * Colliders the CCD pass pulled out of the broad phase since world creation -
+     * the size of the candidate set the swept-AABB prune and the narrow-phase
+     * sweep then work on. Counted separately from {@link _ccdSweepTests} because
+     * the two measure different halves: this is what the pass looks at, that is
+     * what it actually sweeps. Stays proportional to the geometry near the
+     * bullets, not to the world's collider count.
+     *
+     * @internal - test/diagnostic hook.
+     */
+    _ccdBroadPhaseCandidates: number;
     private _nextBodyId;
     private _nextColliderId;
     private _dispatching;
@@ -156,11 +266,18 @@ export declare class PhysicsWorld implements BodyOwner {
     get bodies(): readonly PhysicsBody[];
     /** Live colliders (read-only view). */
     get colliders(): readonly Collider[];
+    /**
+     * @internal - the geometry the broad phase and the narrow phase actually hold:
+     * every authored collider, with a chain replaced by its per-edge proxies.
+     * Consumed by the debug draw layer, which visualises what the solver sees;
+     * public identity stays {@link colliders}.
+     */
+    get detectionGeometry(): readonly Collider[];
     /**
      * Add a body to the world: allocates the body and its collider ids, registers
      * the colliders, computes the mass model and tracks the body for stepping.
-     * Construct the body freely first (`new PhysicsBody({ … })`), then add it.
-     * Safe to call inside an event callback — the body push is deferred to the end
+     * Construct the body freely first (`new PhysicsBody({ ... })`), then add it.
+     * Safe to call inside an event callback - the body push is deferred to the end
      * of the step, exactly like collider registration. Returns the body.
      *
      * @throws if the body has already been added to a world.
@@ -170,16 +287,30 @@ export declare class PhysicsWorld implements BodyOwner {
      * Convenience: create a body carrying a single collider, add it to the world
      * and bind it to `node` in one call. The node tracks `body.position` after each
      * step. Returns the body. Equivalent to `new PhysicsBody(...)` + `add` + `bind`.
+     *
+     * When `options.position`/`options.angle` are omitted, the body starts at
+     * `node`'s current WORLD position/rotation (via `getWorldTransform()`,
+     * composed through any transform-group boundary) rather than `(0, 0)` -
+     * otherwise a body attached to an already-placed node would visibly "teleport"
+     * to the origin on the next step. Pass `position`/`angle` explicitly to override.
      */
     attach(node: SceneNode, options: AttachOptions): PhysicsBody;
-    /** Destroy a body and its colliders. Deferred when called inside a callback. */
+    /**
+     * Destroy a body and its colliders. Every dynamic body touching it is woken,
+     * so anything that was resting on the destroyed body falls once its support is
+     * gone. Deferred when called inside a callback.
+     */
     destroyBody(body: PhysicsBody): void;
-    /** Destroy a single collider, recomputing its body's mass. Deferred when called inside a callback. */
+    /**
+     * Destroy a single collider, recomputing its body's mass. Wakes every dynamic
+     * body touching it, the same way {@link destroyBody} does. Deferred when
+     * called inside a callback.
+     */
     destroyCollider(collider: Collider): void;
     /** Live joints (read-only view). */
     get joints(): readonly Joint[];
     /**
-     * Add a constraint joint. Construct it first (`new DistanceJoint({ … })`),
+     * Add a constraint joint. Construct it first (`new DistanceJoint({ ... })`),
      * then add it. Wakes both bodies; safe inside a callback (registration is
      * deferred). Returns the joint.
      */
@@ -192,24 +323,73 @@ export declare class PhysicsWorld implements BodyOwner {
      * gravity, solve contacts with a soft bias, integrate positions, relax) and a
      * restitution pass, then writes the accumulated motion into each body. Finally
      * dispatches events and writes bound node transforms.
+     *
+     * **Prefer registering the world as a system instead**
+     * (`app.systems.add(world, { order: SystemOrder.Physics })` or the scene
+     * equivalent) so {@link fixedUpdate} drives stepping directly from the
+     * engine's own fixed-timestep scheduler - one call per fixed step, no
+     * accumulator duplication. `step` remains available here for manual/advanced
+     * driving (e.g. a fixed-but-non-standard rate, or stepping outside the
+     * normal frame loop entirely): pass any delta and this accumulator converts
+     * it into the right number of fixed sub-steps (0, 1, or several, clamped by
+     * {@link PhysicsWorldOptions.maxSubSteps}).
+     *
+     * Either way the simulation is frame-rate independent and deterministic -
+     * the same sequence of deltas replays identically. `timeStepper.alpha`
+     * (`[0, 1)`) is the leftover sub-step fraction after this call, for callers
+     * that want to interpolate a bound node's rendered position between the last
+     * two fixed states instead of snapping to the latest one (bindings do not do
+     * this automatically - {@link bind} always writes the latest fixed-step
+     * transform verbatim).
      */
     step(frameDeltaSeconds: number): void;
-    /** Link a body to a scene node; the node tracks the body after each step. */
+    /**
+     * Advance by exactly one fixed step, driven directly by the engine's own
+     * fixed-timestep scheduler when this world is registered as a `System`
+     * (`app.systems.add(world, { order: SystemOrder.Physics })` or the scene
+     * equivalent) - bypasses {@link timeStepper}'s variable-delta accumulator
+     * entirely, since the caller has already decided exactly when a fixed step
+     * occurs. Prefer this over manual {@link step} once the world is
+     * system-registered; `step` remains available for advanced manual driving.
+     * Always advances by exactly {@link timeStepper}'s configured `fixedDelta`,
+     * regardless of the caller's actual fixed-step interval - if the engine's
+     * `Application.fixedTimeStep` doesn't match this world's `fixedDelta`, the
+     * simulation stays deterministic but runs at the wrong wall-clock speed
+     * relative to real time.
+     */
+    fixedUpdate(_step: Seconds): void;
+    /**
+     * Variable-rate `System` phase: places bound nodes for the frame that is about
+     * to be drawn. Only does work while {@link interpolation} is on - otherwise
+     * {@link fixedUpdate} has already snapped them to the latest fixed state.
+     */
+    update(_delta: Seconds): void;
+    /** Present bound nodes, snapping or interpolating according to {@link interpolation}. */
+    private _syncBindings;
+    private _stepOnce;
+    /**
+     * Link a body to a scene node; the node tracks the body after each step.
+     * Destroying the node is enough to end the link - the next step drops it
+     * rather than writing into the node's released transform, so an explicit
+     * {@link unbind} is only needed to stop tracking a node that stays alive.
+     *
+     * @throws if `node` is already destroyed.
+     */
     bind(body: PhysicsBody, node: SceneNode): PhysicsBinding;
     /** Remove a body↔node link. */
     unbind(body: PhysicsBody): void;
     /** Colliders containing `point`. Fresh array. */
-    queryPoint(point: VectorLike, filter?: QueryFilter): Collider[];
+    queryPoint(point: Readonly<PointLike>, filter?: QueryFilter): Collider[];
     /** Colliders whose AABB overlaps `bounds`. Writes into `out` (cleared) if given. */
-    queryAabb(bounds: Aabb, filter?: QueryFilter, out?: Collider[]): Collider[];
+    queryAabb(bounds: AabbLike, filter?: QueryFilter, out?: Collider[]): Collider[];
     /** Invoke `callback` for each collider whose AABB overlaps `bounds`. Allocation-free. */
-    forEachAabbHit(bounds: Aabb, filter: QueryFilter | undefined, callback: (collider: Collider) => void): void;
+    forEachAabbHit(bounds: AabbLike, filter: QueryFilter | undefined, callback: (collider: Collider) => void): void;
     /** Nearest collider hit by the ray, or `null`. */
-    rayCast(origin: VectorLike, direction: VectorLike, filter?: QueryFilter, maxDistance?: number): RayHit | null;
+    rayCast(origin: Readonly<PointLike>, direction: Readonly<PointLike>, filter?: QueryFilter, maxDistance?: number): RayHit | null;
     /** All collider hits along the ray, sorted by distance. Writes into `out` (cleared) if given. */
-    rayCastAll(origin: VectorLike, direction: VectorLike, filter?: QueryFilter, out?: RayHit[], maxDistance?: number): RayHit[];
+    rayCastAll(origin: Readonly<PointLike>, direction: Readonly<PointLike>, filter?: QueryFilter, out?: RayHit[], maxDistance?: number): RayHit[];
     /** Colliders overlapping `shape` placed at `position`/`angle`. Fresh array. */
-    overlapShape(shape: AnyShape, position: VectorLike, filter?: QueryFilter, angle?: number): Collider[];
+    overlapShape(shape: AnyShape, position: Readonly<PointLike>, filter?: QueryFilter, angle?: number): Collider[];
     /** Release every body, collider, binding and backend resource. */
     destroy(): void;
     _allocateColliderId(): number;
@@ -224,10 +404,28 @@ export declare class PhysicsWorld implements BodyOwner {
      * kinematic bodies are boundaries, not nodes); it sleeps once every member has
      * stayed below the sleep thresholds for `timeToSleep`, and wakes the instant
      * any member does (e.g. an awake body merges into it via a new contact).
+     * A boundary that is itself moving resets the sleep timer of every dynamic
+     * body it touches, so a platform keeps its passengers awake however slowly it
+     * travels; so does a contact still carrying more penetration than the solver
+     * leaves at rest, because the push-out that resolves it is slower than the
+     * sleep velocity threshold and a body would otherwise be frozen embedded.
      * Deterministic: union-find roots break ties by lower index and the contact
      * set is id-sorted.
      */
     private _updateSleeping;
+    /**
+     * Union dynamic↔dynamic solid contacts into islands. A dynamic body touching a
+     * MOVING static/kinematic body has its sleep timer reset instead: those types
+     * are island boundaries, not members, so nothing else would keep the passenger
+     * of a slow-moving platform awake - and the solver skips a contact whose
+     * dynamic side is asleep, letting the platform drive straight through it.
+     *
+     * The same traversal resets the sleep timer of both sides of a contact whose
+     * penetration the solver has not worked off yet, so the island it belongs to
+     * stays awake until the overlap is within the tolerance the solver itself
+     * converges to.
+     */
+    private _unionContactIslands;
     /** Union-find union by lower index (deterministic roots). */
     private _union;
     /** Union-find find with path halving. */
@@ -243,14 +441,27 @@ export declare class PhysicsWorld implements BodyOwner {
     /** Snapshot each bullet's centre of mass at the start of the fixed step (the swept-test origin). */
     private _recordBulletPositions;
     /**
-     * Sweep each bullet's centre of mass along this fixed step's motion against every
-     * other body's colliders; if it would cross one, clamp the body just short of the
-     * surface and resolve the impact about the surface normal (a slide for a non-bouncy
-     * body, an elastic reflection as restitution → 1) so it cannot tunnel. Sweeps the
-     * centre point — good for small/point-like projectiles; a full swept-shape TOI for
-     * large fast bodies is backlog (raise sub-steps or thicken geometry meanwhile).
+     * Shape-cast each bullet's colliders along this fixed step's motion against
+     * every other body's colliders; if any would cross one, clamp the body at the
+     * earliest impact and resolve it about the surface normal (a slide for a
+     * non-bouncy body, an elastic reflection as restitution → 1) so it cannot
+     * tunnel. The sweep is an exact translation-only cast of the full shapes
+     * (Minkowski ray for circles, swept SAT for polygon pairs) - the step's
+     * rotation is applied before the sweep, not swept through. Pairs already
+     * overlapping at the start of the step are skipped: the discrete solver owns
+     * them (that hand-off is what lets a landed bullet rest on real contacts).
+     * Filters and sensors behave exactly as in the discrete narrow phase.
      */
     private _advanceBullets;
+    /**
+     * Find the earliest impact for a bullet whose colliders translated by
+     * `(dx, dy)` this step. Each of the bullet's colliders queries the broad
+     * phase with its swept AABB, so the pass costs what the geometry around the
+     * bullet's path costs - not one iteration per collider in the world. Returns
+     * the blocking collider (with the impact written into {@link _ccdBestHit}),
+     * or `null` when nothing blocks the motion.
+     */
+    private _sweepBulletColliders;
     /** The highest restitution among a body's colliders (its CCD bounce factor). */
     private _bulletRestitution;
     /** Run `command` now, or queue it when inside an event dispatch (deferred to end of step). */
@@ -260,5 +471,27 @@ export declare class PhysicsWorld implements BodyOwner {
     private _teardownBody;
     private _removeCollider;
     private _detachCollider;
+    /** Drop one broad-phase leaf: an authored collider, or one chain edge proxy. */
+    private _removeDetectionCollider;
+    /**
+     * The broad-phase leaves of one body - its colliders, with a chain replaced by
+     * its edge proxies. Returns pooled scratch, valid until the next call.
+     */
+    private _detectionLeavesOf;
+    /**
+     * Wake every dynamic body still touching `collider` at the moment it leaves
+     * the world. A sleeping body's sleep timer is frozen, so the island pass alone
+     * can never re-open its sleep decision: losing the support it rested on just
+     * removes a contact, and the island (now smaller, or a lone body) still reports
+     * a long-expired timer and is put straight back to sleep - a stack whose floor,
+     * platform or bottom box is destroyed would hang in mid-air forever. Kinematic
+     * and static supports are the sharp edge, since they are island boundaries
+     * rather than nodes and so are invisible to wake propagation, but the same hole
+     * exists for a dynamic support. Waking the far side of each contact is enough:
+     * the woken body's reset timer propagates through the rest of its sleeping
+     * island on the next step, exactly like any other wake event.
+     */
+    private _wakeTouchingBodies;
     private _assertAlive;
 }
+//# sourceMappingURL=PhysicsWorld.d.ts.map

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

@@ -0,0 +1 @@
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