@datamoc/mw_games 0.36.1 → 0.37.0

package/dist/physics/PhysicsWorld.d.ts

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+import Matter from 'matter-js';
+import { Signal } from '../core/Signal.ts';
+export interface PhysicsOptions {
+    /** gravity strength per axis; y grows downward. { x: 0, y: 9.8 } (the default) matches matter-js's own default pull */
+    gravity?: {
+        x: number;
+        y: number;
+    };
+    /** the fixed simulation step in seconds; 1/60 when omitted */
+    step?: number;
+    /** steps one `update` may run before it drops the backlog; 5 when omitted */
+    maxSubsteps?: number;
+}
+export interface BodyOptions {
+    /** an immovable body: ground, anchors */
+    isStatic?: boolean;
+    /** 0 to 1, how much of its speed a bounce keeps; 0 when omitted */
+    restitution?: number;
+    friction?: number;
+    /** mass per unit area; matter-js's default when omitted */
+    density?: number;
+    angle?: number;
+    /** a name for collision callbacks and lookups */
+    label?: string;
+}
+export interface ConstraintOptions {
+    /** 0 to 1, how rigidly the ends are held: 1 is a rod, a small value a spring; 1 when omitted */
+    stiffness?: number;
+    damping?: number;
+    /** rest length; the distance between the attachment points when omitted */
+    length?: number;
+    /** attachment points in each body's local space; the body centre when omitted */
+    pointA?: {
+        x: number;
+        y: number;
+    };
+    pointB?: {
+        x: number;
+        y: number;
+    };
+    /**
+     * Makes the joint breakable: once its two ends are further apart than the rest length times
+     * `1 + maxStretch`, the constraint is removed and `onBreak` fires. 0.2 lets a beam stretch 20%
+     * before it snaps. For a zero-length joint (a pin) it is the absolute distance instead.
+     * The strain is read after each step's solve, so a fully rigid joint (`stiffness` 1) is pulled
+     * back before it is measured under a light load: use a stiffness below 1, as a real beam has.
+     * Unbreakable when omitted.
+     */
+    maxStretch?: number;
+}
+export type PhysicsBody = Matter.Body;
+export type PhysicsConstraint = Matter.Constraint;
+/**
+ * Rigid bodies and constraints through matter-js, stepped on a fixed clock.
+ *
+ * The adapter is the framework side of using matter-js in a mwg game: it owns the `Engine`,
+ * steps it with a `FixedStepper` so the simulation is the same at any display refresh rate,
+ * and reports contacts through a `Signal`, while leaving the bodies themselves as plain
+ * matter-js objects a game reads `position` and `angle` from to place its sprites. It is
+ * renderer-free, so a game's headless tests can run the same world.
+ *
+ * `matter-js` is an optional peer dependency (`npm install matter-js`), imported only by this
+ * module (`@datamoc/mw_games/physics`), so a game that never simulates physics never bundles it.
+ * Constraints are springs and rods. Give one a `maxStretch` and it breaks when pulled that far
+ * past its rest length (`onBreak`); a game with a different stress rule reads `stretchOf` itself
+ * and calls `remove`.
+ *
+ * @example
+ * ```ts
+ * import { PhysicsWorld } from '@datamoc/mw_games/physics';
+ *
+ * const world = new PhysicsWorld();
+ * world.addBox(0, 300, 800, 20, { isStatic: true });
+ * const crate = world.addBox(100, 0, 40, 40, { restitution: 0.3 });
+ * world.update(1 / 30); // two fixed steps
+ * console.log(crate.position.y > 0); // true: it has started to fall
+ * ```
+ */
+export declare class PhysicsWorld {
+    readonly engine: Matter.Engine;
+    /** fires once per new contact between two bodies, with the matter-js bodies of the pair */
+    readonly onContact: Signal<{
+        a: PhysicsBody;
+        b: PhysicsBody;
+    }>;
+    /** fires when a breakable constraint passes its `maxStretch`; it is already removed from the world */
+    readonly onBreak: Signal<{
+        constraint: PhysicsConstraint;
+        stretch: number;
+    }>;
+    private readonly stepper;
+    private readonly breakable;
+    constructor(options?: PhysicsOptions);
+    get bodies(): readonly PhysicsBody[];
+    get constraints(): readonly PhysicsConstraint[];
+    /** how far into the next fixed step the clock is, 0 to 1, for interpolated drawing */
+    get alpha(): number;
+    /** a box centred on (x, y) */
+    addBox(x: number, y: number, width: number, height: number, options?: BodyOptions): PhysicsBody;
+    addCircle(x: number, y: number, radius: number, options?: BodyOptions): PhysicsBody;
+    /** joins two bodies, or a body to a fixed point in the world when `b` is a point */
+    addConstraint(a: PhysicsBody, b: PhysicsBody | {
+        x: number;
+        y: number;
+    }, options?: ConstraintOptions): PhysicsConstraint;
+    /** removes a body, or a constraint, from the simulation */
+    remove(item: PhysicsBody | PhysicsConstraint): void;
+    /**
+     * How far a constraint is stretched past its rest length, as a fraction of it (0.1 is 10%
+     * longer); for a zero-length joint, the distance between its ends. Negative when compressed.
+     */
+    stretchOf(constraint: PhysicsConstraint): number;
+    /**
+     * Advances the simulation by `dt` seconds of real time, running as many fixed steps as that
+     * covers; call it from `Scene.update(dt)`.
+     *
+     * @returns how many fixed steps ran
+     */
+    update(dt: number): number;
+    private breakOverstretched;
+    private add;
+}
+//# sourceMappingURL=PhysicsWorld.d.ts.map

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

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package/dist/physics/PhysicsWorld.js

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+import Matter from 'matter-js';
+import { FixedStepper } from '../core/FixedStepper.js';
+import { Signal } from '../core/Signal.js';
+/**
+ * Rigid bodies and constraints through matter-js, stepped on a fixed clock.
+ *
+ * The adapter is the framework side of using matter-js in a mwg game: it owns the `Engine`,
+ * steps it with a `FixedStepper` so the simulation is the same at any display refresh rate,
+ * and reports contacts through a `Signal`, while leaving the bodies themselves as plain
+ * matter-js objects a game reads `position` and `angle` from to place its sprites. It is
+ * renderer-free, so a game's headless tests can run the same world.
+ *
+ * `matter-js` is an optional peer dependency (`npm install matter-js`), imported only by this
+ * module (`@datamoc/mw_games/physics`), so a game that never simulates physics never bundles it.
+ * Constraints are springs and rods. Give one a `maxStretch` and it breaks when pulled that far
+ * past its rest length (`onBreak`); a game with a different stress rule reads `stretchOf` itself
+ * and calls `remove`.
+ *
+ * @example
+ * ```ts
+ * import { PhysicsWorld } from '@datamoc/mw_games/physics';
+ *
+ * const world = new PhysicsWorld();
+ * world.addBox(0, 300, 800, 20, { isStatic: true });
+ * const crate = world.addBox(100, 0, 40, 40, { restitution: 0.3 });
+ * world.update(1 / 30); // two fixed steps
+ * console.log(crate.position.y > 0); // true: it has started to fall
+ * ```
+ */
+export class PhysicsWorld {
+    constructor(options = {}) {
+        /** fires once per new contact between two bodies, with the matter-js bodies of the pair */
+        this.onContact = new Signal();
+        /** fires when a breakable constraint passes its `maxStretch`; it is already removed from the world */
+        this.onBreak = new Signal();
+        this.breakable = new Map();
+        this.engine = Matter.Engine.create();
+        const gravity = options.gravity ?? { x: 0, y: 9.8 };
+        //matter's gravity is a direction times `scale`; 9.8 maps to its own default scale of 0.001
+        this.engine.gravity.x = Math.sign(gravity.x);
+        this.engine.gravity.y = Math.sign(gravity.y);
+        this.engine.gravity.scale = Math.max(Math.abs(gravity.x), Math.abs(gravity.y)) * 0.0001;
+        this.stepper = new FixedStepper(options.step ?? 1 / 60, options.maxSubsteps ?? 5);
+        Matter.Events.on(this.engine, 'collisionStart', (event) => {
+            for (const pair of event.pairs)
+                this.onContact.dispatch({ a: pair.bodyA, b: pair.bodyB });
+        });
+    }
+    get bodies() {
+        return Matter.Composite.allBodies(this.engine.world);
+    }
+    get constraints() {
+        return Matter.Composite.allConstraints(this.engine.world);
+    }
+    /** how far into the next fixed step the clock is, 0 to 1, for interpolated drawing */
+    get alpha() {
+        return this.stepper.alpha;
+    }
+    /** a box centred on (x, y) */
+    addBox(x, y, width, height, options = {}) {
+        return this.add(Matter.Bodies.rectangle(x, y, width, height, options));
+    }
+    addCircle(x, y, radius, options = {}) {
+        return this.add(Matter.Bodies.circle(x, y, radius, options));
+    }
+    /** joins two bodies, or a body to a fixed point in the world when `b` is a point */
+    addConstraint(a, b, options = {}) {
+        const isBody = (value) => 'position' in value;
+        const constraint = Matter.Constraint.create({
+            bodyA: a,
+            ...(isBody(b) ? { bodyB: b } : { pointB: b }),
+            ...(options.pointA ? { pointA: options.pointA } : {}),
+            ...(isBody(b) && options.pointB ? { pointB: options.pointB } : {}),
+            stiffness: options.stiffness ?? 1,
+            damping: options.damping ?? 0,
+            ...(options.length !== undefined ? { length: options.length } : {}),
+        });
+        Matter.Composite.add(this.engine.world, constraint);
+        if (options.maxStretch !== undefined)
+            this.breakable.set(constraint, options.maxStretch);
+        return constraint;
+    }
+    /** removes a body, or a constraint, from the simulation */
+    remove(item) {
+        Matter.Composite.remove(this.engine.world, item);
+        this.breakable.delete(item);
+    }
+    /**
+     * How far a constraint is stretched past its rest length, as a fraction of it (0.1 is 10%
+     * longer); for a zero-length joint, the distance between its ends. Negative when compressed.
+     */
+    stretchOf(constraint) {
+        const a = endPoint(constraint.bodyA, constraint.pointA);
+        const b = endPoint(constraint.bodyB, constraint.pointB);
+        const distance = Math.hypot(a.x - b.x, a.y - b.y);
+        return constraint.length > 0 ? distance / constraint.length - 1 : distance;
+    }
+    /**
+     * Advances the simulation by `dt` seconds of real time, running as many fixed steps as that
+     * covers; call it from `Scene.update(dt)`.
+     *
+     * @returns how many fixed steps ran
+     */
+    update(dt) {
+        return this.stepper.advance(dt, (step) => {
+            Matter.Engine.update(this.engine, step * 1000);
+            this.breakOverstretched();
+        });
+    }
+    breakOverstretched() {
+        //collected first: removing while iterating the map would skip entries
+        const snapped = [];
+        for (const [constraint, limit] of this.breakable) {
+            const stretch = this.stretchOf(constraint);
+            if (stretch > limit)
+                snapped.push([constraint, stretch]);
+        }
+        for (const [constraint, stretch] of snapped) {
+            this.remove(constraint);
+            this.onBreak.dispatch({ constraint, stretch });
+        }
+    }
+    add(body) {
+        Matter.Composite.add(this.engine.world, body);
+        return body;
+    }
+}
+/** a constraint end in world space: the body's attachment point turned and moved with it, or the fixed point itself */
+function endPoint(body, point) {
+    const local = point ?? { x: 0, y: 0 };
+    if (!body)
+        return local;
+    const cos = Math.cos(body.angle);
+    const sin = Math.sin(body.angle);
+    return { x: body.position.x + local.x * cos - local.y * sin, y: body.position.y + local.x * sin + local.y * cos };
+}
+//# sourceMappingURL=PhysicsWorld.js.map

package/dist/physics/PhysicsWorld.js.map

@@ -0,0 +1 @@
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package/dist/physics/XpbdWorld.d.ts

@@ -0,0 +1,139 @@
+import { Signal } from '../core/Signal.ts';
+export interface XpbdOptions {
+    /** downward acceleration in units per second squared; 520 when omitted (a 1-unit-per-pixel scale) */
+    gravity?: number;
+    /** substeps per `step`; 16 when omitted. More is stiffer and steadier, and costs linearly */
+    substeps?: number;
+    /** constraint iterations per substep; 2 when omitted */
+    iterations?: number;
+    /** the frame time one `step` advances, in seconds; 1/60 when omitted */
+    step?: number;
+    /** velocity damping per second (exponential); 2.5 when omitted. Raise it while a structure settles */
+    damping?: number;
+    /** time constant of the load smoothing used for breaking, in seconds; 0.06 when omitted */
+    smoothing?: number;
+    /** how much of a node's sideways motion the ground removes while it touches, 0 to 1; 0.5 when omitted */
+    groundFriction?: number;
+}
+/** the ground a node cannot sink below: a height (y grows downward), or a height at each x */
+export type XpbdGround = number | ((x: number) => number);
+export interface XpbdNodeSpec {
+    x: number;
+    y: number;
+    /** an anchor that never moves */
+    fixed?: boolean;
+    /** point mass; 1 when omitted. Link `mass` is added on top */
+    mass?: number;
+}
+export interface XpbdLinkSpec {
+    a: number;
+    b: number;
+    /** spring stiffness: force per unit of stretch ratio. Higher is more rigid */
+    stiffness: number;
+    /** rest length; the current distance between the nodes when omitted */
+    rest?: number;
+    /** mass of the link itself, shared evenly between its two nodes */
+    mass?: number;
+    /** a cable: pulls when stretched and goes slack, without pushing, when compressed */
+    tensionOnly?: boolean;
+    /** the load it carries in compression before breaking; also in tension unless `tensionStrength` is set. Unbreakable when omitted */
+    strength?: number;
+    /** the load it carries in tension before breaking, when that differs from `strength` */
+    tensionStrength?: number;
+}
+export interface XpbdNode {
+    x: number;
+    y: number;
+    fixed: boolean;
+    vx: number;
+    vy: number;
+    /** inverse mass, 0 for a fixed node */
+    w: number;
+}
+export interface XpbdLink {
+    a: number;
+    b: number;
+    stiffness: number;
+    rest: number;
+    tensionOnly: boolean;
+    strength: number | undefined;
+    tensionStrength: number | undefined;
+    broken: boolean;
+    /** the force it carried over the last step, positive in tension, negative in compression */
+    force: number;
+    /** smoothed load as a fraction of what it can carry; it breaks above 1 */
+    ratio: number;
+}
+/**
+ * A deterministic structure solver: point masses joined by springs, solved with extended
+ * position-based dynamics (XPBD), with the force in every link read back so a link can break
+ * at a real load rather than at a stretch.
+ *
+ * The method (Macklin, Muller and Chentanaput's XPBD) moves each node freely for a substep,
+ * then corrects positions so every link returns to its rest length, with a compliance of
+ * `rest / stiffness / dt^2`: a link behaves as a spring of the stated stiffness whatever the
+ * step or iteration count, and the correction's Lagrange multiplier divided by `dt^2` is the
+ * force it carried. Steps are fixed and nothing is random, so the same structure and the same
+ * calls give the same result on every machine, which is what replaying or validating a
+ * player's bridge needs.
+ *
+ * It is the engine of Pontifex (a bridge-building game), generalised: the vehicle, the water
+ * and the levels stay in the game, and what is here is only nodes, links, forces and breaking.
+ * Unlike `PhysicsWorld` it has no rigid bodies or collisions and no `matter-js` dependency.
+ *
+ * @example
+ * ```ts
+ * import { XpbdWorld } from '@datamoc/mw_games/physics/xpbd';
+ *
+ * const world = new XpbdWorld({ gravity: 520 });
+ * const wall = world.addNode({ x: 0, y: 0, fixed: true });
+ * const weight = world.addNode({ x: 40, y: 0, mass: 1 });
+ * const rope = world.addLink({ a: wall, b: weight, stiffness: 2e4, strength: 900 });
+ * world.breaking = true;
+ * for (let i = 0; i < 120; i++) world.step();
+ * console.log(world.links[rope].broken, world.nodes[weight].y > 0);
+ * ```
+ */
+export declare class XpbdWorld {
+    readonly nodes: XpbdNode[];
+    readonly links: XpbdLink[];
+    /** fires once for a link that passed its strength, which has already stopped carrying load */
+    readonly onBreak: Signal<{
+        link: number;
+        x: number;
+        y: number;
+    }>;
+    /** links break only while this is true, so a structure can settle under its own weight first */
+    breaking: boolean;
+    /** the highest smoothed load ratio across the links at the last step, for a strain gauge */
+    peakRatio: number;
+    gravity: number;
+    damping: number;
+    /** nodes are held on or above this; null for none. Water, a gorge or a cliff face is the game's own business */
+    ground: XpbdGround | null;
+    groundFriction: number;
+    private readonly frame;
+    private readonly substeps;
+    private readonly iterations;
+    private readonly smoothing;
+    private readonly forces;
+    private readonly masses;
+    private readonly lambda;
+    private readonly accumulated;
+    constructor(options?: XpbdOptions);
+    /** adds a node and returns its index */
+    addNode(spec: XpbdNodeSpec): number;
+    /** adds a link between two existing nodes and returns its index */
+    addLink(spec: XpbdLinkSpec): number;
+    /** an external force on a node for the next `step` only (a wheel's weight, wind) */
+    applyForce(node: number, fx: number, fy: number): void;
+    /** advances one frame: the substeps, then the link loads and any breaking */
+    step(): void;
+    private refreshInverseMass;
+    private substep;
+    /** lifts any node that sank below the ground back onto it, and takes some of its sideways motion with it */
+    private collideWithGround;
+    /** averages each link's force over the substeps, smooths the load ratio and breaks what passed its strength */
+    private settleLoads;
+}
+//# sourceMappingURL=XpbdWorld.d.ts.map

package/dist/physics/XpbdWorld.d.ts.map

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package/dist/physics/XpbdWorld.js

@@ -0,0 +1,207 @@
+import { Signal } from '../core/Signal.js';
+/**
+ * A deterministic structure solver: point masses joined by springs, solved with extended
+ * position-based dynamics (XPBD), with the force in every link read back so a link can break
+ * at a real load rather than at a stretch.
+ *
+ * The method (Macklin, Muller and Chentanaput's XPBD) moves each node freely for a substep,
+ * then corrects positions so every link returns to its rest length, with a compliance of
+ * `rest / stiffness / dt^2`: a link behaves as a spring of the stated stiffness whatever the
+ * step or iteration count, and the correction's Lagrange multiplier divided by `dt^2` is the
+ * force it carried. Steps are fixed and nothing is random, so the same structure and the same
+ * calls give the same result on every machine, which is what replaying or validating a
+ * player's bridge needs.
+ *
+ * It is the engine of Pontifex (a bridge-building game), generalised: the vehicle, the water
+ * and the levels stay in the game, and what is here is only nodes, links, forces and breaking.
+ * Unlike `PhysicsWorld` it has no rigid bodies or collisions and no `matter-js` dependency.
+ *
+ * @example
+ * ```ts
+ * import { XpbdWorld } from '@datamoc/mw_games/physics/xpbd';
+ *
+ * const world = new XpbdWorld({ gravity: 520 });
+ * const wall = world.addNode({ x: 0, y: 0, fixed: true });
+ * const weight = world.addNode({ x: 40, y: 0, mass: 1 });
+ * const rope = world.addLink({ a: wall, b: weight, stiffness: 2e4, strength: 900 });
+ * world.breaking = true;
+ * for (let i = 0; i < 120; i++) world.step();
+ * console.log(world.links[rope].broken, world.nodes[weight].y > 0);
+ * ```
+ */
+export class XpbdWorld {
+    constructor(options = {}) {
+        this.nodes = [];
+        this.links = [];
+        /** fires once for a link that passed its strength, which has already stopped carrying load */
+        this.onBreak = new Signal();
+        /** links break only while this is true, so a structure can settle under its own weight first */
+        this.breaking = false;
+        /** the highest smoothed load ratio across the links at the last step, for a strain gauge */
+        this.peakRatio = 0;
+        /** nodes are held on or above this; null for none. Water, a gorge or a cliff face is the game's own business */
+        this.ground = null;
+        this.forces = [];
+        this.masses = [];
+        this.lambda = [];
+        this.accumulated = [];
+        this.gravity = options.gravity ?? 520;
+        this.damping = options.damping ?? 2.5;
+        this.groundFriction = options.groundFriction ?? 0.5;
+        this.frame = options.step ?? 1 / 60;
+        this.substeps = Math.max(1, Math.floor(options.substeps ?? 16));
+        this.iterations = Math.max(1, Math.floor(options.iterations ?? 2));
+        this.smoothing = options.smoothing ?? 0.06;
+    }
+    /** adds a node and returns its index */
+    addNode(spec) {
+        const mass = spec.mass ?? 1;
+        if (!(mass > 0) && !spec.fixed)
+            throw new Error('a moving node needs a positive mass');
+        this.nodes.push({ x: spec.x, y: spec.y, fixed: spec.fixed ?? false, vx: 0, vy: 0, w: 0 });
+        this.masses.push(mass);
+        this.forces.push({ x: 0, y: 0 });
+        this.refreshInverseMass();
+        return this.nodes.length - 1;
+    }
+    /** adds a link between two existing nodes and returns its index */
+    addLink(spec) {
+        const a = this.nodes[spec.a];
+        const b = this.nodes[spec.b];
+        if (!a || !b)
+            throw new Error('a link needs two existing nodes');
+        const rest = spec.rest ?? Math.hypot(a.x - b.x, a.y - b.y);
+        if (!(rest > 0))
+            throw new Error('a link needs a positive rest length');
+        if (!(spec.stiffness > 0))
+            throw new Error('a link needs a positive stiffness');
+        const share = (spec.mass ?? 0) / 2;
+        this.masses[spec.a] += share;
+        this.masses[spec.b] += share;
+        this.links.push({
+            a: spec.a,
+            b: spec.b,
+            stiffness: spec.stiffness,
+            rest,
+            tensionOnly: spec.tensionOnly ?? false,
+            strength: spec.strength,
+            tensionStrength: spec.tensionStrength,
+            broken: false,
+            force: 0,
+            ratio: 0,
+        });
+        this.lambda.push(0);
+        this.accumulated.push(0);
+        this.refreshInverseMass();
+        return this.links.length - 1;
+    }
+    /** an external force on a node for the next `step` only (a wheel's weight, wind) */
+    applyForce(node, fx, fy) {
+        this.forces[node].x += fx;
+        this.forces[node].y += fy;
+    }
+    /** advances one frame: the substeps, then the link loads and any breaking */
+    step() {
+        const dt = this.frame / this.substeps;
+        this.accumulated.fill(0);
+        for (let s = 0; s < this.substeps; s++)
+            this.substep(dt);
+        for (const force of this.forces) {
+            force.x = 0;
+            force.y = 0;
+        }
+        this.settleLoads();
+    }
+    refreshInverseMass() {
+        this.nodes.forEach((node, i) => {
+            node.w = node.fixed ? 0 : 1 / this.masses[i];
+        });
+    }
+    substep(dt) {
+        const damp = Math.exp(-this.damping * dt);
+        const previous = this.nodes.map((node) => ({ x: node.x, y: node.y }));
+        this.nodes.forEach((node, i) => {
+            if (node.fixed)
+                return;
+            const force = this.forces[i];
+            node.vx = (node.vx + force.x * node.w * dt) * damp;
+            node.vy = (node.vy + (force.y * node.w + this.gravity) * dt) * damp;
+            node.x += node.vx * dt;
+            node.y += node.vy * dt;
+        });
+        this.lambda.fill(0);
+        for (let iteration = 0; iteration < this.iterations; iteration++) {
+            this.links.forEach((link, i) => {
+                if (link.broken)
+                    return;
+                const p = this.nodes[link.a];
+                const q = this.nodes[link.b];
+                const w = p.w + q.w;
+                if (w === 0)
+                    return;
+                const dx = q.x - p.x;
+                const dy = q.y - p.y;
+                const length = Math.hypot(dx, dy) || 1e-9;
+                const c = length - link.rest;
+                if (link.tensionOnly && c < 0 && this.lambda[i] >= 0)
+                    return;
+                const alpha = link.rest / link.stiffness / (dt * dt);
+                const delta = (-c - alpha * this.lambda[i]) / (w + alpha);
+                this.lambda[i] += delta;
+                const nx = dx / length;
+                const ny = dy / length;
+                p.x -= p.w * delta * nx;
+                p.y -= p.w * delta * ny;
+                q.x += q.w * delta * nx;
+                q.y += q.w * delta * ny;
+            });
+        }
+        this.collideWithGround(previous);
+        this.nodes.forEach((node, i) => {
+            if (node.fixed)
+                return;
+            node.vx = (node.x - previous[i].x) / dt;
+            node.vy = (node.y - previous[i].y) / dt;
+        });
+        this.links.forEach((_, i) => {
+            this.accumulated[i] += -this.lambda[i] / (dt * dt);
+        });
+    }
+    /** lifts any node that sank below the ground back onto it, and takes some of its sideways motion with it */
+    collideWithGround(previous) {
+        const ground = this.ground;
+        if (ground === null)
+            return;
+        this.nodes.forEach((node, i) => {
+            if (node.fixed)
+                return;
+            const surface = typeof ground === 'number' ? ground : ground(node.x);
+            if (node.y <= surface)
+                return;
+            node.y = surface;
+            node.x -= (node.x - previous[i].x) * this.groundFriction;
+        });
+    }
+    /** averages each link's force over the substeps, smooths the load ratio and breaks what passed its strength */
+    settleLoads() {
+        const blend = 1 - Math.exp(-this.frame / this.smoothing);
+        let peak = 0;
+        this.links.forEach((link, i) => {
+            if (link.broken)
+                return;
+            link.force = this.accumulated[i] / this.substeps;
+            const limit = link.force > 0 ? (link.tensionStrength ?? link.strength) : link.strength;
+            const instant = limit === undefined ? 0 : Math.abs(link.force) / limit;
+            link.ratio += (instant - link.ratio) * blend;
+            peak = Math.max(peak, link.ratio);
+            if (this.breaking && link.ratio > 1) {
+                link.broken = true;
+                const p = this.nodes[link.a];
+                const q = this.nodes[link.b];
+                this.onBreak.dispatch({ link: i, x: (p.x + q.x) / 2, y: (p.y + q.y) / 2 });
+            }
+        });
+        this.peakRatio = peak;
+    }
+}
+//# sourceMappingURL=XpbdWorld.js.map

package/dist/physics/XpbdWorld.js.map

@@ -0,0 +1 @@
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package/dist/physics/index.d.ts

@@ -0,0 +1,3 @@
+export { PhysicsWorld } from './PhysicsWorld.ts';
+export type { BodyOptions, ConstraintOptions, PhysicsBody, PhysicsConstraint, PhysicsOptions } from './PhysicsWorld.ts';
+//# sourceMappingURL=index.d.ts.map

package/dist/physics/index.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../src/physics/index.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,YAAY,EAAE,MAAM,mBAAmB,CAAC;AACjD,YAAY,EAAE,WAAW,EAAE,iBAAiB,EAAE,WAAW,EAAE,iBAAiB,EAAE,cAAc,EAAE,MAAM,mBAAmB,CAAC"}

package/dist/physics/index.js

@@ -0,0 +1,2 @@
+export { PhysicsWorld } from './PhysicsWorld.js';
+//# sourceMappingURL=index.js.map