@flare-engine/dynamics 0.4.8 → 0.4.11

package/dist/index.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.js","names":[],"sources":["../src/body.ts","../src/manifold.ts","../src/pool.ts","../src/world.ts"],"sourcesContent":["/** A rigid body: an oriented box (OBB) with linear + angular state.\n *\n *  Boxes only. Mass properties are derived from the box extents; a body with\n *  `invMass === 0` is static (floor / walls). */\n\nimport type { Vec2 } from '@flare-engine/math';\n\nexport interface Body {\n  /** Center of mass, world space. */\n  position: Vec2;\n  /** Linear velocity. */\n  velocity: Vec2;\n  /** Orientation in radians. */\n  angle: number;\n  /** Angular velocity in radians/second. */\n  angularVelocity: number;\n  /** Half-extents (half width, half height) in the body's local frame. */\n  half: Vec2;\n  /** 1 / mass. `0` marks a static (immovable, infinite-mass) body. */\n  invMass: number;\n  /** 1 / rotational inertia. `0` locks rotation (all static bodies). */\n  invInertia: number;\n  /** Bounciness in [0, 1]. */\n  restitution: number;\n  /** Coulomb friction coefficient (≈0 slippery … ≈1 grippy). */\n  friction: number;\n}\n\nexport interface BodyOptions {\n  position: Vec2;\n  half: Vec2;\n  /** Uniform density; drives both mass and rotational inertia. Ignored when `static`. */\n  density?: number;\n  velocity?: Vec2;\n  angle?: number;\n  angularVelocity?: number;\n  restitution?: number;\n  friction?: number;\n  /** Static bodies have infinite mass and never move. */\n  static?: boolean;\n}\n\nexport function createBody(opts: BodyOptions): Body {\n  const half = opts.half;\n  const density = opts.density ?? 1;\n\n  let invMass = 0;\n  let invInertia = 0;\n  if (!opts.static) {\n    const w = half.x * 2;\n    const h = half.y * 2;\n    const mass = density * w * h;\n    // Solid-rectangle inertia about its center: m·(w² + h²) / 12.\n    const inertia = (mass * (w * w + h * h)) / 12;\n    invMass = mass > 0 ? 1 / mass : 0;\n    invInertia = inertia > 0 ? 1 / inertia : 0;\n  }\n\n  return {\n    position: { x: opts.position.x, y: opts.position.y },\n    velocity: opts.velocity ? { x: opts.velocity.x, y: opts.velocity.y } : { x: 0, y: 0 },\n    angle: opts.angle ?? 0,\n    angularVelocity: opts.angularVelocity ?? 0,\n    half: { x: half.x, y: half.y },\n    invMass,\n    invInertia,\n    restitution: opts.restitution ?? 0.2,\n    friction: opts.friction ?? 0.4,\n  };\n}\n\nexport function isStatic(b: Body): boolean {\n  return b.invMass === 0;\n}\n\n/** The four world-space corners of `b`, written as x,y pairs at `offset`. */\nexport function writeBoxVertices(b: Body, out: Float64Array, offset: number): void {\n  const c = Math.cos(b.angle);\n  const s = Math.sin(b.angle);\n  const hx = b.half.x;\n  const hy = b.half.y;\n  const px = b.position.x;\n  const py = b.position.y;\n  let o = offset;\n  for (let i = 0; i < 4; i++) {\n    const lx = i === 0 || i === 3 ? -hx : hx;\n    const ly = i === 0 || i === 1 ? -hy : hy;\n    out[o] = px + (lx * c - ly * s);\n    out[o + 1] = py + (lx * s + ly * c);\n    o += 2;\n  }\n}\n\n/** Outward face normals, one per edge `i → i+1`, guaranteed to point away\n *  from `(cx, cy)` regardless of winding or the frame's y-direction. Reads\n *  four already-written corners from `verts` at `vOffset`. */\nexport function writeBoxNormals(\n  verts: Float64Array,\n  vOffset: number,\n  cx: number,\n  cy: number,\n  out: Float64Array,\n  offset: number,\n): void {\n  let o = offset;\n  for (let i = 0; i < 4; i++) {\n    const j = (i + 1) % 4;\n    const ax = verts[vOffset + i * 2]!;\n    const ay = verts[vOffset + i * 2 + 1]!;\n    const bx = verts[vOffset + j * 2]!;\n    const by = verts[vOffset + j * 2 + 1]!;\n    const ex = bx - ax;\n    const ey = by - ay;\n    const l = Math.sqrt(ex * ex + ey * ey) || 1;\n    let nx = ey / l;\n    let ny = -ex / l;\n    const midX = (ax + bx) / 2 - cx;\n    const midY = (ay + by) / 2 - cy;\n    if (nx * midX + ny * midY < 0) {\n      nx = -nx;\n      ny = -ny;\n    }\n    out[o] = nx;\n    out[o + 1] = ny;\n    o += 2;\n  }\n}\n\n/** World-space axis-aligned bounds of four already-written corners, written\n *  as `minX, minY, maxX, maxY` at `offset`. Does not recompute vertices. */\nexport function writeAabb(\n  verts: Float64Array,\n  vOffset: number,\n  out: Float64Array,\n  offset: number,\n): void {\n  const x0 = verts[vOffset]!;\n  const y0 = verts[vOffset + 1]!;\n  let minX = x0;\n  let minY = y0;\n  let maxX = x0;\n  let maxY = y0;\n  for (let i = 1; i < 4; i++) {\n    const x = verts[vOffset + i * 2]!;\n    const y = verts[vOffset + i * 2 + 1]!;\n    if (x < minX) minX = x;\n    if (y < minY) minY = y;\n    if (x > maxX) maxX = x;\n    if (y > maxY) maxY = y;\n  }\n  out[offset] = minX;\n  out[offset + 1] = minY;\n  out[offset + 2] = maxX;\n  out[offset + 3] = maxY;\n}\n","/** OBB-OBB collision: separating-axis test + reference/incident face clipping,\n *  building a 1-2 point contact manifold with per-point penetration depth.\n *\n *  Ported from a prototype implementation onto flat `Float64Array` body geometry\n *  and a pooled `Manifold`/`ManifoldPoint` — no per-call allocation.\n *  The algorithm is the standard 2D clipping manifold (reference face → incident\n *  face → Sutherland-Hodgman side-plane clip), stable for stacked / tumbling boxes. */\n\nimport { Vec2 } from '@flare-engine/math';\nimport type { Body } from './body.js';\nimport type { Manifold } from './pool.js';\n\n// Module-level scratch — collideInto is called every step (broad-phase pairs\n// × narrow-phase), so nothing here may allocate.\nconst faceScratch = new Int32Array(1);\nconst clipScratch = new Float64Array(4);\nconst normalScratch: Vec2 = { x: 0, y: 0 };\nconst tangentScratch: Vec2 = { x: 0, y: 0 };\n\n/** Index (0-3) of the vertex of the box at `offset` with greatest support\n *  along direction `(dx, dy)`. */\nfunction supportIndex(verts: Float64Array, offset: number, dx: number, dy: number): number {\n  let bestDot = Number.NEGATIVE_INFINITY;\n  let best = 0;\n  for (let i = 0; i < 4; i++) {\n    const x = verts[offset + i * 2]!;\n    const y = verts[offset + i * 2 + 1]!;\n    const d = x * dx + y * dy;\n    if (d > bestDot) {\n      bestDot = d;\n      best = i;\n    }\n  }\n  return best;\n}\n\n/** Max separation of the box at `otherOffset` from the faces of the box at\n *  `selfOffset`. Positive → a gap exists on some axis (no overlap); negative\n *  → the least-penetrating axis. Writes the winning face index into\n *  `faceScratch[0]`. */\nfunction leastPenetration(\n  verts: Float64Array,\n  normals: Float64Array,\n  selfOffset: number,\n  otherOffset: number,\n): number {\n  let best = Number.NEGATIVE_INFINITY;\n  let bestFace = 0;\n  for (let i = 0; i < 4; i++) {\n    const nx = normals[selfOffset + i * 2]!;\n    const ny = normals[selfOffset + i * 2 + 1]!;\n    const vx = verts[selfOffset + i * 2]!;\n    const vy = verts[selfOffset + i * 2 + 1]!;\n    const si = supportIndex(verts, otherOffset, -nx, -ny);\n    const sx = verts[otherOffset + si * 2]!;\n    const sy = verts[otherOffset + si * 2 + 1]!;\n    const sep = nx * (sx - vx) + ny * (sy - vy);\n    if (sep > best) {\n      best = sep;\n      bestFace = i;\n    }\n  }\n  faceScratch[0] = bestFace;\n  return best;\n}\n\n/** Bias toward keeping the current reference face for solver coherence. */\nfunction biasGreaterThan(a: number, b: number): boolean {\n  return a >= b * 0.95 + a * 0.01;\n}\n\n/** Index (0-3) of the incident box's face whose normal is most anti-parallel\n *  to the reference normal. */\nfunction incidentFaceIndex(\n  refNx: number,\n  refNy: number,\n  incNormals: Float64Array,\n  incOffset: number,\n): number {\n  let minDot = Number.POSITIVE_INFINITY;\n  let index = 0;\n  for (let i = 0; i < 4; i++) {\n    const nx = incNormals[incOffset + i * 2]!;\n    const ny = incNormals[incOffset + i * 2 + 1]!;\n    const d = refNx * nx + refNy * ny;\n    if (d < minDot) {\n      minDot = d;\n      index = i;\n    }\n  }\n  return index;\n}\n\n/** Clips segment `(ax,ay)-(bx,by)` to the halfspace `dot(n, p) <= c`. Writes\n *  0-2 surviving points into `clipScratch` and returns the count. */\nfunction clip(\n  nx: number,\n  ny: number,\n  c: number,\n  ax: number,\n  ay: number,\n  bx: number,\n  by: number,\n): number {\n  let count = 0;\n  const d1 = nx * ax + ny * ay - c;\n  const d2 = nx * bx + ny * by - c;\n  if (d1 <= 0) {\n    clipScratch[count * 2] = ax;\n    clipScratch[count * 2 + 1] = ay;\n    count++;\n  }\n  if (d2 <= 0) {\n    clipScratch[count * 2] = bx;\n    clipScratch[count * 2 + 1] = by;\n    count++;\n  }\n  if (d1 * d2 < 0) {\n    const t = d1 / (d1 - d2);\n    clipScratch[count * 2] = ax + (bx - ax) * t;\n    clipScratch[count * 2 + 1] = ay + (by - ay) * t;\n    count++;\n  }\n  return count;\n}\n\n/** Builds a contact manifold for boxes `a` (index `ai`) and `b` (index `bi`)\n *  into `out`, reading pre-written geometry from `verts`/`normals` (8 doubles\n *  per body). Returns `false` — leaving `out` untouched — when the boxes do\n *  not overlap. */\nexport function collideInto(\n  a: Body,\n  b: Body,\n  verts: Float64Array,\n  normals: Float64Array,\n  ai: number,\n  bi: number,\n  out: Manifold,\n): boolean {\n  const aOff = ai * 8;\n  const bOff = bi * 8;\n\n  const sepA = leastPenetration(verts, normals, aOff, bOff);\n  if (sepA >= 0) return false;\n  const faceA = faceScratch[0]!;\n\n  const sepB = leastPenetration(verts, normals, bOff, aOff);\n  if (sepB >= 0) return false;\n  const faceB = faceScratch[0]!;\n\n  const refIsA = biasGreaterThan(sepA, sepB);\n  const refOffset = refIsA ? aOff : bOff;\n  const incOffset = refIsA ? bOff : aOff;\n  const refIndex = refIsA ? faceA : faceB;\n\n  const refNx = normals[refOffset + refIndex * 2]!;\n  const refNy = normals[refOffset + refIndex * 2 + 1]!;\n  const refJ = (refIndex + 1) % 4;\n  const v1x = verts[refOffset + refIndex * 2]!;\n  const v1y = verts[refOffset + refIndex * 2 + 1]!;\n  const v2x = verts[refOffset + refJ * 2]!;\n  const v2y = verts[refOffset + refJ * 2 + 1]!;\n\n  const incIndex = incidentFaceIndex(refNx, refNy, normals, incOffset);\n  const incJ = (incIndex + 1) % 4;\n  const iax = verts[incOffset + incIndex * 2]!;\n  const iay = verts[incOffset + incIndex * 2 + 1]!;\n  const ibx = verts[incOffset + incJ * 2]!;\n  const iby = verts[incOffset + incJ * 2 + 1]!;\n\n  // Tangent along the reference face; its two end-planes form the clip slab.\n  // `|| 1` guards a degenerate (zero- or near-zero-extent) reference edge the\n  // same way `writeBoxNormals` already does for the identical computation —\n  // without it, a squared-length underflow makes this a division by zero.\n  let sideX = v2x - v1x;\n  let sideY = v2y - v1y;\n  const sideInv = 1 / (Math.sqrt(sideX * sideX + sideY * sideY) || 1);\n  sideX *= sideInv;\n  sideY *= sideInv;\n  const negSide = -(sideX * v1x + sideY * v1y);\n  const posSide = sideX * v2x + sideY * v2y;\n\n  let count = clip(-sideX, -sideY, negSide, iax, iay, ibx, iby);\n  if (count < 2) return false;\n  const c0x = clipScratch[0]!;\n  const c0y = clipScratch[1]!;\n  const c1x = clipScratch[2]!;\n  const c1y = clipScratch[3]!;\n\n  count = clip(sideX, sideY, posSide, c0x, c0y, c1x, c1y);\n  if (count < 2) return false;\n  const p0x = clipScratch[0]!;\n  const p0y = clipScratch[1]!;\n  const p1x = clipScratch[2]!;\n  const p1y = clipScratch[3]!;\n\n  const refC = refNx * v1x + refNy * v1y;\n\n  let written = 0;\n  const sep0 = refNx * p0x + refNy * p0y - refC;\n  if (sep0 <= 0) {\n    const point = out.points[written]!;\n    point.x = p0x;\n    point.y = p0y;\n    point.penetration = -sep0;\n    point.normalImpulse = 0;\n    point.tangentImpulse = 0;\n    written++;\n  }\n  const sep1 = refNx * p1x + refNy * p1y - refC;\n  if (sep1 <= 0) {\n    const point = out.points[written]!;\n    point.x = p1x;\n    point.y = p1y;\n    point.penetration = -sep1;\n    point.normalImpulse = 0;\n    point.tangentImpulse = 0;\n    written++;\n  }\n  if (written === 0) return false;\n\n  // Manifold normal must point a → b; refNormal points off the reference\n  // box, which is b when we flipped, so negate in that case.\n  const normalX = refIsA ? refNx : -refNx;\n  const normalY = refIsA ? refNy : -refNy;\n\n  out.a = a;\n  out.b = b;\n  out.normalX = normalX;\n  out.normalY = normalY;\n  normalScratch.x = normalX;\n  normalScratch.y = normalY;\n  Vec2.perp(normalScratch, tangentScratch);\n  out.tangentX = tangentScratch.x;\n  out.tangentY = tangentScratch.y;\n  out.friction = Math.sqrt(a.friction * b.friction);\n  out.pointCount = written;\n  return true;\n}\n","/** Per-world scratch: contact manifolds and the flat vertex/normal/AABB\n *  buffers `world.ts` writes body geometry into each step. Growth doubles\n *  capacity and rebuilds arrays from scratch — pool contents are fully\n *  rewritten every step, so nothing needs to be copied forward. */\n\nimport type { Body } from './body.js';\n\nexport interface ManifoldPoint {\n  x: number;\n  y: number;\n  penetration: number;\n  normalImpulse: number;\n  tangentImpulse: number;\n  raX: number;\n  raY: number;\n  rbX: number;\n  rbY: number;\n  massNormal: number;\n  massTangent: number;\n  bias: number;\n}\n\nexport interface Manifold {\n  a: Body;\n  b: Body;\n  normalX: number;\n  normalY: number;\n  tangentX: number;\n  tangentY: number;\n  friction: number;\n  pointCount: number;\n  points: ManifoldPoint[];\n}\n\nexport interface SolverPool {\n  manifolds: Manifold[];\n  manifoldCount: number;\n  verts: Float64Array;\n  normals: Float64Array;\n  aabbs: Float64Array;\n  capacityBodies: number;\n}\n\nfunction createManifoldPoint(): ManifoldPoint {\n  return {\n    x: 0,\n    y: 0,\n    penetration: 0,\n    normalImpulse: 0,\n    tangentImpulse: 0,\n    raX: 0,\n    raY: 0,\n    rbX: 0,\n    rbY: 0,\n    massNormal: 0,\n    massTangent: 0,\n    bias: 0,\n  };\n}\n\nfunction createManifold(): Manifold {\n  return {\n    a: undefined as unknown as Body,\n    b: undefined as unknown as Body,\n    normalX: 0,\n    normalY: 0,\n    tangentX: 0,\n    tangentY: 0,\n    friction: 0,\n    pointCount: 0,\n    points: [createManifoldPoint(), createManifoldPoint()],\n  };\n}\n\nexport function createPool(): SolverPool {\n  return {\n    manifolds: [],\n    manifoldCount: 0,\n    verts: new Float64Array(0),\n    normals: new Float64Array(0),\n    aabbs: new Float64Array(0),\n    capacityBodies: 0,\n  };\n}\n\n/** Grows the per-body geometry buffers to hold at least `count` bodies (8\n *  doubles per body for verts/normals, 4 for the AABB). No-op if already\n *  large enough. */\nexport function ensureBodyCapacity(pool: SolverPool, count: number): void {\n  if (count <= pool.capacityBodies) return;\n  let cap = pool.capacityBodies === 0 ? 8 : pool.capacityBodies;\n  while (cap < count) cap *= 2;\n  pool.verts = new Float64Array(cap * 8);\n  pool.normals = new Float64Array(cap * 8);\n  pool.aabbs = new Float64Array(cap * 4);\n  pool.capacityBodies = cap;\n}\n\n/** Grows `pool.manifolds` to hold at least `count` entries, appending\n *  fully-formed `Manifold` objects (each with two pre-created points).\n *  Never truncates — manifolds past `manifoldCount` simply go unused, which\n *  is what keeps the steady state allocation-free. */\nexport function ensureManifoldCapacity(pool: SolverPool, count: number): void {\n  while (pool.manifolds.length < count) {\n    pool.manifolds.push(createManifold());\n  }\n}\n","/** The rigid-body world: gravity integration + a sequential-impulse contact\n *  solver (Box2D-lite structure) with Coulomb friction and Baumgarte\n *  de-penetration, plus a restitution term for bounce.\n *\n *  Modeled as a plain object + free functions (no class) to match the house\n *  style. The pool lives in a module-level `WeakMap` so `World` keeps its\n *  frozen three-field public shape — one lookup per `step`, not per body. */\n\nimport type { Vec2 } from '@flare-engine/math';\nimport type { Body } from './body.js';\nimport { isStatic, writeAabb, writeBoxNormals, writeBoxVertices } from './body.js';\nimport { collideInto } from './manifold.js';\nimport { createPool, ensureBodyCapacity, ensureManifoldCapacity, type SolverPool } from './pool.js';\n\nexport interface WorldOptions {\n  /** Acceleration applied to every dynamic body each step (px/s²). */\n  gravity?: Vec2;\n  /** Sequential-impulse iterations per step. More = stiffer stacks. */\n  iterations?: number;\n}\n\nexport interface World {\n  bodies: Body[];\n  gravity: Vec2;\n  iterations: number;\n}\n\nconst BAUMGARTE = 0.2;\nconst PENETRATION_SLOP = 0.5;\n\nconst pools = new WeakMap<World, SolverPool>();\n\nexport function createWorld(opts: WorldOptions = {}): World {\n  const world: World = {\n    bodies: [],\n    gravity: opts.gravity ? { x: opts.gravity.x, y: opts.gravity.y } : { x: 0, y: 1800 },\n    iterations: opts.iterations ?? 10,\n  };\n  pools.set(world, createPool());\n  return world;\n}\n\nexport function addBody(world: World, body: Body): Body {\n  world.bodies.push(body);\n  return body;\n}\n\n/** Relative velocity at a contact projected onto (dx, dy). The vector never\n *  escapes — its only use is a dot product, so it collapses to two scalars. */\nfunction relativeVelocityAlong(\n  a: Body,\n  b: Body,\n  raX: number,\n  raY: number,\n  rbX: number,\n  rbY: number,\n  dx: number,\n  dy: number,\n): number {\n  const vax = a.velocity.x - a.angularVelocity * raY;\n  const vay = a.velocity.y + a.angularVelocity * raX;\n  const vbx = b.velocity.x - b.angularVelocity * rbY;\n  const vby = b.velocity.y + b.angularVelocity * rbX;\n  return (vbx - vax) * dx + (vby - vay) * dy;\n}\n\nfunction applyImpulse(body: Body, ix: number, iy: number, rx: number, ry: number): void {\n  if (body.invMass === 0) return;\n  body.velocity.x += ix * body.invMass;\n  body.velocity.y += iy * body.invMass;\n  body.angularVelocity += body.invInertia * (rx * iy - ry * ix);\n}\n\n/** Writes every body's world-space vertices, outward normals, and AABB into\n *  `pool`, once per step, so the broadphase pair loop never recomputes them. */\nfunction writeGeometry(pool: SolverPool, bodies: Body[]): void {\n  ensureBodyCapacity(pool, bodies.length);\n  for (let i = 0; i < bodies.length; i++) {\n    const b = bodies[i]!;\n    const vOffset = i * 8;\n    const aOffset = i * 4;\n    writeBoxVertices(b, pool.verts, vOffset);\n    writeBoxNormals(pool.verts, vOffset, b.position.x, b.position.y, pool.normals, vOffset);\n    writeAabb(pool.verts, vOffset, pool.aabbs, aOffset);\n  }\n}\n\n/** Broadphase (precomputed-AABB reject) + narrowphase (OBB manifold),\n *  writing surviving contacts into `pool.manifolds[0..manifoldCount)`. */\nfunction collectManifolds(pool: SolverPool, bodies: Body[]): void {\n  pool.manifoldCount = 0;\n  const aabbs = pool.aabbs;\n  for (let i = 0; i < bodies.length; i++) {\n    const a = bodies[i]!;\n    const aOff = i * 4;\n    const aMinX = aabbs[aOff]!;\n    const aMinY = aabbs[aOff + 1]!;\n    const aMaxX = aabbs[aOff + 2]!;\n    const aMaxY = aabbs[aOff + 3]!;\n    for (let j = i + 1; j < bodies.length; j++) {\n      const b = bodies[j]!;\n      if (isStatic(a) && isStatic(b)) continue;\n      const bOff = j * 4;\n      const bMinX = aabbs[bOff]!;\n      const bMinY = aabbs[bOff + 1]!;\n      const bMaxX = aabbs[bOff + 2]!;\n      const bMaxY = aabbs[bOff + 3]!;\n      if (aMaxX < bMinX || aMinX > bMaxX || aMaxY < bMinY || aMinY > bMaxY) continue;\n      ensureManifoldCapacity(pool, pool.manifoldCount + 1);\n      const m = pool.manifolds[pool.manifoldCount]!;\n      if (collideInto(a, b, pool.verts, pool.normals, i, j, m)) pool.manifoldCount++;\n    }\n  }\n}\n\n/** Derives per-point solver mass terms and the velocity/position bias for\n *  every live manifold, writing them onto the manifold's own contact points. */\nfunction prepare(pool: SolverPool, gravity: Vec2, dt: number): void {\n  const restThreshold = Math.hypot(gravity.x, gravity.y) * dt;\n  for (let mi = 0; mi < pool.manifoldCount; mi++) {\n    const m = pool.manifolds[mi]!;\n    const { a, b } = m;\n    const normalX = m.normalX;\n    const normalY = m.normalY;\n    const tangentX = m.tangentX;\n    const tangentY = m.tangentY;\n    const restitution = Math.min(a.restitution, b.restitution);\n\n    for (let pi = 0; pi < m.pointCount; pi++) {\n      const cp = m.points[pi]!;\n      const raX = cp.x - a.position.x;\n      const raY = cp.y - a.position.y;\n      const rbX = cp.x - b.position.x;\n      const rbY = cp.y - b.position.y;\n\n      const rnA = raX * normalY - raY * normalX;\n      const rnB = rbX * normalY - rbY * normalX;\n      const kNormal = a.invMass + b.invMass + a.invInertia * rnA * rnA + b.invInertia * rnB * rnB;\n\n      const rtA = raX * tangentY - raY * tangentX;\n      const rtB = rbX * tangentY - rbY * tangentX;\n      const kTangent = a.invMass + b.invMass + a.invInertia * rtA * rtA + b.invInertia * rtB * rtB;\n\n      const vn = relativeVelocityAlong(a, b, raX, raY, rbX, rbY, normalX, normalY);\n      const restitutionBias = vn < -restThreshold ? -restitution * vn : 0;\n      const baumgarte = (BAUMGARTE / dt) * Math.max(0, cp.penetration - PENETRATION_SLOP);\n\n      cp.raX = raX;\n      cp.raY = raY;\n      cp.rbX = rbX;\n      cp.rbY = rbY;\n      cp.massNormal = kNormal > 0 ? 1 / kNormal : 0;\n      cp.massTangent = kTangent > 0 ? 1 / kTangent : 0;\n      cp.bias = restitutionBias + baumgarte;\n    }\n  }\n}\n\n/** One sequential-impulse sweep over every live manifold's contact points. */\nfunction solve(pool: SolverPool): void {\n  for (let mi = 0; mi < pool.manifoldCount; mi++) {\n    const m = pool.manifolds[mi]!;\n    const { a, b, friction } = m;\n    const normalX = m.normalX;\n    const normalY = m.normalY;\n    const tangentX = m.tangentX;\n    const tangentY = m.tangentY;\n\n    for (let pi = 0; pi < m.pointCount; pi++) {\n      const cp = m.points[pi]!;\n      const raX = cp.raX;\n      const raY = cp.raY;\n      const rbX = cp.rbX;\n      const rbY = cp.rbY;\n\n      // Normal impulse (clamped >= 0 so contacts push, never pull).\n      const vn = relativeVelocityAlong(a, b, raX, raY, rbX, rbY, normalX, normalY);\n      let dPn = cp.massNormal * (-vn + cp.bias);\n      const newNormal = Math.max(cp.normalImpulse + dPn, 0);\n      dPn = newNormal - cp.normalImpulse;\n      cp.normalImpulse = newNormal;\n      const pnX = normalX * dPn;\n      const pnY = normalY * dPn;\n      applyImpulse(a, -pnX, -pnY, raX, raY);\n      applyImpulse(b, pnX, pnY, rbX, rbY);\n\n      // Friction impulse (clamped to the Coulomb cone mu*Pn).\n      const vt = relativeVelocityAlong(a, b, raX, raY, rbX, rbY, tangentX, tangentY);\n      let dPt = cp.massTangent * -vt;\n      const maxPt = friction * cp.normalImpulse;\n      const newTangent = Math.max(-maxPt, Math.min(maxPt, cp.tangentImpulse + dPt));\n      dPt = newTangent - cp.tangentImpulse;\n      cp.tangentImpulse = newTangent;\n      const ptX = tangentX * dPt;\n      const ptY = tangentY * dPt;\n      applyImpulse(a, -ptX, -ptY, raX, raY);\n      applyImpulse(b, ptX, ptY, rbX, rbY);\n    }\n  }\n}\n\n/** Advance the world by `dt` seconds (fixed steps recommended).\n *\n *  Resting contacts settle to a stable *position* but retain a small, bounded\n *  velocity oscillation at the penetration-slop equilibrium — a sequential-\n *  impulse solver with Baumgarte bias and no sleeping does not converge\n *  velocity to exactly zero at rest, only the position does. This is\n *  inherent to the algorithm, not a bug; sleeping and damping are\n *  deliberately out of scope for v1. A consumer needing pixel-exact\n *  stillness should clamp small resting velocities at its own layer. */\nexport function step(world: World, dt: number): void {\n  if (dt <= 0) return;\n  // `World` is a public interface with plain fields, so a consumer can hand\n  // back a structurally valid value that never went through `createWorld`\n  // (spread copy, `structuredClone`, state round-tripping) and is therefore\n  // absent from `pools`. Lazily adopt it instead of crashing on a missing\n  // entry; steady-state callers (worlds from `createWorld`) never pay this\n  // branch since their pool is already registered.\n  let pool = pools.get(world);\n  if (!pool) {\n    pool = createPool();\n    pools.set(world, pool);\n  }\n  const { bodies } = world;\n\n  // 1. Integrate velocities (apply gravity to dynamic bodies).\n  for (let i = 0; i < bodies.length; i++) {\n    const body = bodies[i]!;\n    if (isStatic(body)) continue;\n    body.velocity.x += world.gravity.x * dt;\n    body.velocity.y += world.gravity.y * dt;\n  }\n\n  // 2. Broadphase (precomputed AABB reject) + narrowphase (OBB manifold).\n  writeGeometry(pool, bodies);\n  collectManifolds(pool, bodies);\n\n  // 3. Solve velocity constraints.\n  prepare(pool, world.gravity, dt);\n  for (let iter = 0; iter < world.iterations; iter++) {\n    solve(pool);\n  }\n\n  // 4. Integrate positions.\n  for (let i = 0; i < bodies.length; i++) {\n    const body = bodies[i]!;\n    if (isStatic(body)) continue;\n    body.position.x += body.velocity.x * dt;\n    body.position.y += body.velocity.y * dt;\n    body.angle += body.angularVelocity * dt;\n  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+{"version":3,"file":"index.js","names":[],"sources":["../src/body.ts","../src/timeline.ts","../src/manifold.ts","../src/pool.ts","../src/world.ts"],"sourcesContent":["/** A rigid body: an oriented box (OBB) with linear + angular state.\n *\n *  Boxes only. Mass properties are derived from the box extents; a body with\n *  `invMass === 0` is static (floor / walls). */\n\nimport type { Vec2 } from '@flare-engine/math';\n\nexport interface Body {\n  /** Center of mass, world space. */\n  position: Vec2;\n  /** Linear velocity. */\n  velocity: Vec2;\n  /** Orientation in radians. */\n  angle: number;\n  /** Angular velocity in radians/second. */\n  angularVelocity: number;\n  /** Half-extents (half width, half height) in the body's local frame. */\n  half: Vec2;\n  /** 1 / mass. `0` marks a static (immovable, infinite-mass) body. */\n  invMass: number;\n  /** 1 / rotational inertia. `0` locks rotation (all static bodies). */\n  invInertia: number;\n  /** Bounciness in [0, 1]. */\n  restitution: number;\n  /** Coulomb friction coefficient (≈0 slippery … ≈1 grippy). */\n  friction: number;\n}\n\nexport interface BodyOptions {\n  position: Vec2;\n  half: Vec2;\n  /** Uniform density; drives both mass and rotational inertia. Ignored when `static`. */\n  density?: number;\n  velocity?: Vec2;\n  angle?: number;\n  angularVelocity?: number;\n  restitution?: number;\n  friction?: number;\n  /** Static bodies have infinite mass and never move. */\n  static?: boolean;\n}\n\nexport function createBody(opts: BodyOptions): Body {\n  const half = opts.half;\n  const density = opts.density ?? 1;\n\n  let invMass = 0;\n  let invInertia = 0;\n  if (!opts.static) {\n    const w = half.x * 2;\n    const h = half.y * 2;\n    const mass = density * w * h;\n    // Solid-rectangle inertia about its center: m·(w² + h²) / 12.\n    const inertia = (mass * (w * w + h * h)) / 12;\n    invMass = mass > 0 ? 1 / mass : 0;\n    invInertia = inertia > 0 ? 1 / inertia : 0;\n  }\n\n  return {\n    position: { x: opts.position.x, y: opts.position.y },\n    velocity: opts.velocity ? { x: opts.velocity.x, y: opts.velocity.y } : { x: 0, y: 0 },\n    angle: opts.angle ?? 0,\n    angularVelocity: opts.angularVelocity ?? 0,\n    half: { x: half.x, y: half.y },\n    invMass,\n    invInertia,\n    restitution: opts.restitution ?? 0.2,\n    friction: opts.friction ?? 0.4,\n  };\n}\n\nexport function isStatic(b: Body): boolean {\n  return b.invMass === 0;\n}\n\n/** The four world-space corners of `b`, written as x,y pairs at `offset`. */\nexport function writeBoxVertices(b: Body, out: Float64Array, offset: number): void {\n  const c = Math.cos(b.angle);\n  const s = Math.sin(b.angle);\n  const hx = b.half.x;\n  const hy = b.half.y;\n  const px = b.position.x;\n  const py = b.position.y;\n  let o = offset;\n  for (let i = 0; i < 4; i++) {\n    const lx = i === 0 || i === 3 ? -hx : hx;\n    const ly = i === 0 || i === 1 ? -hy : hy;\n    out[o] = px + (lx * c - ly * s);\n    out[o + 1] = py + (lx * s + ly * c);\n    o += 2;\n  }\n}\n\n/** Outward face normals, one per edge `i → i+1`, guaranteed to point away\n *  from `(cx, cy)` regardless of winding or the frame's y-direction. Reads\n *  four already-written corners from `verts` at `vOffset`. */\nexport function writeBoxNormals(\n  verts: Float64Array,\n  vOffset: number,\n  cx: number,\n  cy: number,\n  out: Float64Array,\n  offset: number,\n): void {\n  let o = offset;\n  for (let i = 0; i < 4; i++) {\n    const j = (i + 1) % 4;\n    const ax = verts[vOffset + i * 2]!;\n    const ay = verts[vOffset + i * 2 + 1]!;\n    const bx = verts[vOffset + j * 2]!;\n    const by = verts[vOffset + j * 2 + 1]!;\n    const ex = bx - ax;\n    const ey = by - ay;\n    const l = Math.sqrt(ex * ex + ey * ey) || 1;\n    let nx = ey / l;\n    let ny = -ex / l;\n    const midX = (ax + bx) / 2 - cx;\n    const midY = (ay + by) / 2 - cy;\n    if (nx * midX + ny * midY < 0) {\n      nx = -nx;\n      ny = -ny;\n    }\n    out[o] = nx;\n    out[o + 1] = ny;\n    o += 2;\n  }\n}\n\n/** World-space axis-aligned bounds of four already-written corners, written\n *  as `minX, minY, maxX, maxY` at `offset`. Does not recompute vertices. */\nexport function writeAabb(\n  verts: Float64Array,\n  vOffset: number,\n  out: Float64Array,\n  offset: number,\n): void {\n  const x0 = verts[vOffset]!;\n  const y0 = verts[vOffset + 1]!;\n  let minX = x0;\n  let minY = y0;\n  let maxX = x0;\n  let maxY = y0;\n  for (let i = 1; i < 4; i++) {\n    const x = verts[vOffset + i * 2]!;\n    const y = verts[vOffset + i * 2 + 1]!;\n    if (x < minX) minX = x;\n    if (y < minY) minY = y;\n    if (x > maxX) maxX = x;\n    if (y > maxY) maxY = y;\n  }\n  out[offset] = minX;\n  out[offset + 1] = minY;\n  out[offset + 2] = maxX;\n  out[offset + 3] = maxY;\n}\n","/** Bake-once / scrub-often recorder for a fixed-step simulation. Friction +\n *  restitution Euler is not time-reversible, so a fall is recorded once into a\n *  pre-allocated `Float32Array` and replayed by sampling — reverse, scrub and\n *  speed all read back through `sampleInto` instead of re-integrating.\n *\n *  Angles are stored exactly as written. `Body.angle` is cumulative and never\n *  wrapped, so a plain lerp between adjacent frames is correct across\n *  multi-turn spins; a shortest-path angle lerp would unravel them.\n *\n *  Float32 storage is deliberate: this is playback precision, not simulation\n *  precision, at half the bytes of f64. */\n\nexport interface TimelineOptions {\n  /** Floats per element per frame. Default 3: `dx`, `dy`, `angle`. */\n  stride?: number;\n  /** Frame cap; the whole buffer is allocated at creation. Default 900. */\n  maxFrames?: number;\n}\n\n/** Fills one frame of `buf`: element `i` lives at `frameBase + i * stride`. */\nexport type TimelineWriter = (buf: Float32Array, frameBase: number) => void;\n\nexport interface Timeline {\n  readonly elementCount: number;\n  /** Frames recorded so far. */\n  readonly frameCount: number;\n  /** Recorded length in seconds: `(frameCount - 1) * dt`, 0 below two frames. */\n  readonly duration: number;\n  /** Writes frames until `until()` returns true or the buffer is full; without\n   *  `until`, exactly one frame. `record(write)` once per tick suits a chunked,\n   *  time-budgeted bake; `record(stepAndWrite, isSettled)` bakes in one call\n   *  when the writer also advances the simulation. No-op once full. */\n  record(writer: TimelineWriter, until?: () => boolean): void;\n  /** Lerps the two frames bracketing `progress` (clamped to [0, 1], NaN reads\n   *  as 0) into `out`, which must hold at least `elementCount * stride`\n   *  floats. Zero-alloc. All zeros before the first frame. */\n  sampleInto(progress: number, out: Float32Array): void;\n}\n\nconst DEFAULT_STRIDE = 3;\nconst DEFAULT_MAX_FRAMES = 900;\n\nfunction assertCount(name: string, value: number, min: number): void {\n  if (!Number.isInteger(value) || value < min) {\n    throw new RangeError(`createTimeline: ${name} must be an integer >= ${min}, got ${value}`);\n  }\n}\n\nexport function createTimeline(\n  elementCount: number,\n  dt: number,\n  opts: TimelineOptions = {},\n): Timeline {\n  assertCount('elementCount', elementCount, 0);\n  if (!Number.isFinite(dt) || dt <= 0) {\n    throw new RangeError(`createTimeline: dt must be a finite number > 0, got ${dt}`);\n  }\n  const stride = opts.stride ?? DEFAULT_STRIDE;\n  const maxFrames = opts.maxFrames ?? DEFAULT_MAX_FRAMES;\n  assertCount('stride', stride, 1);\n  assertCount('maxFrames', maxFrames, 1);\n\n  const frameStride = elementCount * stride;\n  const buf = new Float32Array(Math.max(1, frameStride) * maxFrames);\n  let frameCount = 0;\n\n  return {\n    elementCount,\n    get frameCount() {\n      return frameCount;\n    },\n    get duration() {\n      return frameCount > 1 ? (frameCount - 1) * dt : 0;\n    },\n    record(writer, until) {\n      if (elementCount === 0) return;\n      while (frameCount < maxFrames) {\n        writer(buf, frameCount * frameStride);\n        frameCount++;\n        if (until === undefined || until()) return;\n      }\n    },\n    sampleInto(progress, out) {\n      const n = frameStride;\n      if (frameCount === 0) {\n        out.fill(0, 0, n);\n        return;\n      }\n      // NaN fails both comparisons and lands on 0.\n      const p = progress > 1 ? 1 : progress >= 0 ? progress : 0;\n      const f = p * (frameCount - 1);\n      const i0 = Math.floor(f);\n      const a = f - i0;\n      const i1 = i0 + 1 < frameCount ? i0 + 1 : i0;\n      const b0 = i0 * n;\n      const b1 = i1 * n;\n      for (let o = 0; o < n; o++) {\n        const lo = buf[b0 + o]!;\n        const hi = buf[b1 + o]!;\n        out[o] = lo + (hi - lo) * a;\n      }\n    },\n  };\n}\n","/** OBB-OBB collision: separating-axis test + reference/incident face clipping,\n *  building a 1-2 point contact manifold with per-point penetration depth.\n *\n *  Ported from a prototype implementation onto flat `Float64Array` body geometry\n *  and a pooled `Manifold`/`ManifoldPoint` — no per-call allocation.\n *  The algorithm is the standard 2D clipping manifold (reference face → incident\n *  face → Sutherland-Hodgman side-plane clip), stable for stacked / tumbling boxes. */\n\nimport { Vec2 } from '@flare-engine/math';\nimport type { Body } from './body.js';\nimport type { Manifold } from './pool.js';\n\n// Module-level scratch — collideInto is called every step (broad-phase pairs\n// × narrow-phase), so nothing here may allocate.\nconst faceScratch = new Int32Array(1);\nconst clipScratch = new Float64Array(4);\nconst normalScratch: Vec2 = { x: 0, y: 0 };\nconst tangentScratch: Vec2 = { x: 0, y: 0 };\n\n/** Index (0-3) of the vertex of the box at `offset` with greatest support\n *  along direction `(dx, dy)`. */\nfunction supportIndex(verts: Float64Array, offset: number, dx: number, dy: number): number {\n  let bestDot = Number.NEGATIVE_INFINITY;\n  let best = 0;\n  for (let i = 0; i < 4; i++) {\n    const x = verts[offset + i * 2]!;\n    const y = verts[offset + i * 2 + 1]!;\n    const d = x * dx + y * dy;\n    if (d > bestDot) {\n      bestDot = d;\n      best = i;\n    }\n  }\n  return best;\n}\n\n/** Max separation of the box at `otherOffset` from the faces of the box at\n *  `selfOffset`. Positive → a gap exists on some axis (no overlap); negative\n *  → the least-penetrating axis. Writes the winning face index into\n *  `faceScratch[0]`. */\nfunction leastPenetration(\n  verts: Float64Array,\n  normals: Float64Array,\n  selfOffset: number,\n  otherOffset: number,\n): number {\n  let best = Number.NEGATIVE_INFINITY;\n  let bestFace = 0;\n  for (let i = 0; i < 4; i++) {\n    const nx = normals[selfOffset + i * 2]!;\n    const ny = normals[selfOffset + i * 2 + 1]!;\n    const vx = verts[selfOffset + i * 2]!;\n    const vy = verts[selfOffset + i * 2 + 1]!;\n    const si = supportIndex(verts, otherOffset, -nx, -ny);\n    const sx = verts[otherOffset + si * 2]!;\n    const sy = verts[otherOffset + si * 2 + 1]!;\n    const sep = nx * (sx - vx) + ny * (sy - vy);\n    if (sep > best) {\n      best = sep;\n      bestFace = i;\n    }\n  }\n  faceScratch[0] = bestFace;\n  return best;\n}\n\n/** Bias toward keeping the current reference face for solver coherence. */\nfunction biasGreaterThan(a: number, b: number): boolean {\n  return a >= b * 0.95 + a * 0.01;\n}\n\n/** Index (0-3) of the incident box's face whose normal is most anti-parallel\n *  to the reference normal. */\nfunction incidentFaceIndex(\n  refNx: number,\n  refNy: number,\n  incNormals: Float64Array,\n  incOffset: number,\n): number {\n  let minDot = Number.POSITIVE_INFINITY;\n  let index = 0;\n  for (let i = 0; i < 4; i++) {\n    const nx = incNormals[incOffset + i * 2]!;\n    const ny = incNormals[incOffset + i * 2 + 1]!;\n    const d = refNx * nx + refNy * ny;\n    if (d < minDot) {\n      minDot = d;\n      index = i;\n    }\n  }\n  return index;\n}\n\n/** Clips segment `(ax,ay)-(bx,by)` to the halfspace `dot(n, p) <= c`. Writes\n *  0-2 surviving points into `clipScratch` and returns the count. */\nfunction clip(\n  nx: number,\n  ny: number,\n  c: number,\n  ax: number,\n  ay: number,\n  bx: number,\n  by: number,\n): number {\n  let count = 0;\n  const d1 = nx * ax + ny * ay - c;\n  const d2 = nx * bx + ny * by - c;\n  if (d1 <= 0) {\n    clipScratch[count * 2] = ax;\n    clipScratch[count * 2 + 1] = ay;\n    count++;\n  }\n  if (d2 <= 0) {\n    clipScratch[count * 2] = bx;\n    clipScratch[count * 2 + 1] = by;\n    count++;\n  }\n  if (d1 * d2 < 0) {\n    const t = d1 / (d1 - d2);\n    clipScratch[count * 2] = ax + (bx - ax) * t;\n    clipScratch[count * 2 + 1] = ay + (by - ay) * t;\n    count++;\n  }\n  return count;\n}\n\n/** Builds a contact manifold for boxes `a` (index `ai`) and `b` (index `bi`)\n *  into `out`, reading pre-written geometry from `verts`/`normals` (8 doubles\n *  per body). Returns `false` — leaving `out` untouched — when the boxes do\n *  not overlap. */\nexport function collideInto(\n  a: Body,\n  b: Body,\n  verts: Float64Array,\n  normals: Float64Array,\n  ai: number,\n  bi: number,\n  out: Manifold,\n): boolean {\n  const aOff = ai * 8;\n  const bOff = bi * 8;\n\n  const sepA = leastPenetration(verts, normals, aOff, bOff);\n  if (sepA >= 0) return false;\n  const faceA = faceScratch[0]!;\n\n  const sepB = leastPenetration(verts, normals, bOff, aOff);\n  if (sepB >= 0) return false;\n  const faceB = faceScratch[0]!;\n\n  const refIsA = biasGreaterThan(sepA, sepB);\n  const refOffset = refIsA ? aOff : bOff;\n  const incOffset = refIsA ? bOff : aOff;\n  const refIndex = refIsA ? faceA : faceB;\n\n  const refNx = normals[refOffset + refIndex * 2]!;\n  const refNy = normals[refOffset + refIndex * 2 + 1]!;\n  const refJ = (refIndex + 1) % 4;\n  const v1x = verts[refOffset + refIndex * 2]!;\n  const v1y = verts[refOffset + refIndex * 2 + 1]!;\n  const v2x = verts[refOffset + refJ * 2]!;\n  const v2y = verts[refOffset + refJ * 2 + 1]!;\n\n  const incIndex = incidentFaceIndex(refNx, refNy, normals, incOffset);\n  const incJ = (incIndex + 1) % 4;\n  const iax = verts[incOffset + incIndex * 2]!;\n  const iay = verts[incOffset + incIndex * 2 + 1]!;\n  const ibx = verts[incOffset + incJ * 2]!;\n  const iby = verts[incOffset + incJ * 2 + 1]!;\n\n  // Tangent along the reference face; its two end-planes form the clip slab.\n  // `|| 1` guards a degenerate (zero- or near-zero-extent) reference edge the\n  // same way `writeBoxNormals` already does for the identical computation —\n  // without it, a squared-length underflow makes this a division by zero.\n  let sideX = v2x - v1x;\n  let sideY = v2y - v1y;\n  const sideInv = 1 / (Math.sqrt(sideX * sideX + sideY * sideY) || 1);\n  sideX *= sideInv;\n  sideY *= sideInv;\n  const negSide = -(sideX * v1x + sideY * v1y);\n  const posSide = sideX * v2x + sideY * v2y;\n\n  let count = clip(-sideX, -sideY, negSide, iax, iay, ibx, iby);\n  if (count < 2) return false;\n  const c0x = clipScratch[0]!;\n  const c0y = clipScratch[1]!;\n  const c1x = clipScratch[2]!;\n  const c1y = clipScratch[3]!;\n\n  count = clip(sideX, sideY, posSide, c0x, c0y, c1x, c1y);\n  if (count < 2) return false;\n  const p0x = clipScratch[0]!;\n  const p0y = clipScratch[1]!;\n  const p1x = clipScratch[2]!;\n  const p1y = clipScratch[3]!;\n\n  const refC = refNx * v1x + refNy * v1y;\n\n  let written = 0;\n  const sep0 = refNx * p0x + refNy * p0y - refC;\n  if (sep0 <= 0) {\n    const point = out.points[written]!;\n    point.x = p0x;\n    point.y = p0y;\n    point.penetration = -sep0;\n    point.normalImpulse = 0;\n    point.tangentImpulse = 0;\n    written++;\n  }\n  const sep1 = refNx * p1x + refNy * p1y - refC;\n  if (sep1 <= 0) {\n    const point = out.points[written]!;\n    point.x = p1x;\n    point.y = p1y;\n    point.penetration = -sep1;\n    point.normalImpulse = 0;\n    point.tangentImpulse = 0;\n    written++;\n  }\n  if (written === 0) return false;\n\n  // Manifold normal must point a → b; refNormal points off the reference\n  // box, which is b when we flipped, so negate in that case.\n  const normalX = refIsA ? refNx : -refNx;\n  const normalY = refIsA ? refNy : -refNy;\n\n  out.a = a;\n  out.b = b;\n  out.normalX = normalX;\n  out.normalY = normalY;\n  normalScratch.x = normalX;\n  normalScratch.y = normalY;\n  Vec2.perp(normalScratch, tangentScratch);\n  out.tangentX = tangentScratch.x;\n  out.tangentY = tangentScratch.y;\n  out.friction = Math.sqrt(a.friction * b.friction);\n  out.pointCount = written;\n  return true;\n}\n","/** Per-world scratch: contact manifolds, the flat vertex/normal/AABB buffers\n *  `world.ts` writes body geometry into each step, and the per-slot sleep\n *  state. Growth doubles capacity and rebuilds arrays from scratch — geometry\n *  is fully rewritten every step, so it is not copied forward; the sleep\n *  arrays are, since a sleeper must survive a body being added. */\n\nimport type { Body } from './body.js';\n\nexport interface SleepOptions {\n  /** Linear speed below which a body counts as resting (same units as `velocity`, px/s). */\n  linearThreshold: number;\n  /** Angular speed below which a body counts as resting (rad/s). */\n  angularThreshold: number;\n  /** Consecutive under-threshold steps before a body is put to sleep (integer >= 1). */\n  steps: number;\n}\n\nexport interface ManifoldPoint {\n  x: number;\n  y: number;\n  penetration: number;\n  normalImpulse: number;\n  tangentImpulse: number;\n  raX: number;\n  raY: number;\n  rbX: number;\n  rbY: number;\n  massNormal: number;\n  massTangent: number;\n  bias: number;\n}\n\nexport interface Manifold {\n  a: Body;\n  b: Body;\n  /** Slot indices of `a` / `b` in `world.bodies`, for the sleep arrays. */\n  ai: number;\n  bi: number;\n  /** Effective inverse mass / inertia the solver uses: 0 for a sleeping\n   *  body (it acts as infinite mass), the body's own values otherwise. */\n  aInvMass: number;\n  aInvInertia: number;\n  bInvMass: number;\n  bInvInertia: number;\n  normalX: number;\n  normalY: number;\n  tangentX: number;\n  tangentY: number;\n  friction: number;\n  pointCount: number;\n  points: ManifoldPoint[];\n}\n\nexport interface SolverPool {\n  manifolds: Manifold[];\n  manifoldCount: number;\n  verts: Float64Array;\n  normals: Float64Array;\n  aabbs: Float64Array;\n  capacityBodies: number;\n  /** `null` when sleeping is off; then `asleep` stays all-zero and the hot\n   *  loops that read it unconditionally take their sleep-off path. */\n  sleep: SleepOptions | null;\n  /** Consecutive under-threshold steps per slot. */\n  sleepCounter: Int32Array;\n  /** 1 when the slot's body is asleep. */\n  asleep: Uint8Array;\n  /** position.x, position.y, angle per slot, taken when it fell asleep. */\n  sleepSnapshot: Float64Array;\n  /** The body each slot's sleep state belongs to; a mismatch resets the slot. */\n  sleepOwner: (Body | undefined)[];\n}\n\nfunction createManifoldPoint(): ManifoldPoint {\n  return {\n    x: 0,\n    y: 0,\n    penetration: 0,\n    normalImpulse: 0,\n    tangentImpulse: 0,\n    raX: 0,\n    raY: 0,\n    rbX: 0,\n    rbY: 0,\n    massNormal: 0,\n    massTangent: 0,\n    bias: 0,\n  };\n}\n\nfunction createManifold(): Manifold {\n  return {\n    a: undefined as unknown as Body,\n    b: undefined as unknown as Body,\n    ai: 0,\n    bi: 0,\n    aInvMass: 0,\n    aInvInertia: 0,\n    bInvMass: 0,\n    bInvInertia: 0,\n    normalX: 0,\n    normalY: 0,\n    tangentX: 0,\n    tangentY: 0,\n    friction: 0,\n    pointCount: 0,\n    points: [createManifoldPoint(), createManifoldPoint()],\n  };\n}\n\nexport function createPool(sleep: SleepOptions | null = null): SolverPool {\n  return {\n    manifolds: [],\n    manifoldCount: 0,\n    verts: new Float64Array(0),\n    normals: new Float64Array(0),\n    aabbs: new Float64Array(0),\n    capacityBodies: 0,\n    sleep,\n    sleepCounter: new Int32Array(0),\n    asleep: new Uint8Array(0),\n    sleepSnapshot: new Float64Array(0),\n    sleepOwner: [],\n  };\n}\n\n/** Grows the per-body buffers to hold at least `count` bodies (8 doubles per\n *  body for verts/normals, 4 for the AABB, 3 for the sleep snapshot). No-op\n *  if already large enough. */\nexport function ensureBodyCapacity(pool: SolverPool, count: number): void {\n  if (count <= pool.capacityBodies) return;\n  let cap = pool.capacityBodies === 0 ? 8 : pool.capacityBodies;\n  while (cap < count) cap *= 2;\n  pool.verts = new Float64Array(cap * 8);\n  pool.normals = new Float64Array(cap * 8);\n  pool.aabbs = new Float64Array(cap * 4);\n  const sleepCounter = new Int32Array(cap);\n  sleepCounter.set(pool.sleepCounter);\n  pool.sleepCounter = sleepCounter;\n  const asleep = new Uint8Array(cap);\n  asleep.set(pool.asleep);\n  pool.asleep = asleep;\n  const sleepSnapshot = new Float64Array(cap * 3);\n  sleepSnapshot.set(pool.sleepSnapshot);\n  pool.sleepSnapshot = sleepSnapshot;\n  while (pool.sleepOwner.length < cap) pool.sleepOwner.push(undefined);\n  pool.capacityBodies = cap;\n}\n\n/** Grows `pool.manifolds` to hold at least `count` entries, appending\n *  fully-formed `Manifold` objects (each with two pre-created points).\n *  Never truncates — manifolds past `manifoldCount` simply go unused, which\n *  is what keeps the steady state allocation-free. */\nexport function ensureManifoldCapacity(pool: SolverPool, count: number): void {\n  while (pool.manifolds.length < count) {\n    pool.manifolds.push(createManifold());\n  }\n}\n","/** The rigid-body world: gravity integration + a sequential-impulse contact\n *  solver (Box2D-lite structure) with Coulomb friction and Baumgarte\n *  de-penetration, plus a restitution term for bounce.\n *\n *  Modeled as a plain object + free functions (no class) to match the house\n *  style. The pool lives in a module-level `WeakMap` so `World` keeps its\n *  frozen three-field public shape — one lookup per `step`, not per body. */\n\nimport type { Vec2 } from '@flare-engine/math';\nimport type { Body } from './body.js';\nimport { isStatic, writeAabb, writeBoxNormals, writeBoxVertices } from './body.js';\nimport { collideInto } from './manifold.js';\nimport {\n  createPool,\n  ensureBodyCapacity,\n  ensureManifoldCapacity,\n  type SleepOptions,\n  type SolverPool,\n} from './pool.js';\n\nexport interface WorldOptions {\n  /** Acceleration applied to every dynamic body each step (px/s²). */\n  gravity?: Vec2;\n  /** Sequential-impulse iterations per step. More = stiffer stacks. */\n  iterations?: number;\n  /** Opt-in per-body sleeping; off when absent. See `step` and `isSleeping`. */\n  sleep?: SleepOptions;\n}\n\nexport interface World {\n  bodies: Body[];\n  gravity: Vec2;\n  iterations: number;\n}\n\nexport interface StepUntilOptions {\n  /** Time budget in ms, compared against `now()` after every step. */\n  budgetMs: number;\n  /** Step cap per call (integer >= 1). */\n  maxSteps?: number;\n  /** Polled after each step; `true` ends the call with `complete: true`. */\n  done?: () => boolean;\n  /** Clock in ms. Default `performance.now`, else `Date.now`; inject for deterministic tests. */\n  now?: () => number;\n}\n\nexport interface StepUntilResult {\n  /** Steps taken by this call, always >= 1. */\n  steps: number;\n  /** `true` when `done()` ended the call; `false` for `maxSteps` or the budget. */\n  complete: boolean;\n}\n\nconst BAUMGARTE = 0.2;\nconst PENETRATION_SLOP = 0.5;\n\nconst pools = new WeakMap<World, SolverPool>();\n\nfunction nowMs(): number {\n  if (typeof performance !== 'undefined' && typeof performance.now === 'function') {\n    return performance.now();\n  }\n  return Date.now();\n}\n\nfunction copySleepOptions(sleep: SleepOptions): SleepOptions {\n  const { linearThreshold, angularThreshold, steps } = sleep;\n  if (!Number.isFinite(linearThreshold) || linearThreshold < 0) {\n    throw new RangeError(\n      `createWorld: sleep.linearThreshold must be a finite number >= 0, got ${linearThreshold}`,\n    );\n  }\n  if (!Number.isFinite(angularThreshold) || angularThreshold < 0) {\n    throw new RangeError(\n      `createWorld: sleep.angularThreshold must be a finite number >= 0, got ${angularThreshold}`,\n    );\n  }\n  if (!Number.isInteger(steps) || steps < 1) {\n    throw new RangeError(`createWorld: sleep.steps must be an integer >= 1, got ${steps}`);\n  }\n  return { linearThreshold, angularThreshold, steps };\n}\n\n/** Throws `RangeError` when `opts.sleep` has a negative or non-finite\n *  threshold or a `steps` that is not an integer >= 1. */\nexport function createWorld(opts: WorldOptions = {}): World {\n  const world: World = {\n    bodies: [],\n    gravity: opts.gravity ? { x: opts.gravity.x, y: opts.gravity.y } : { x: 0, y: 1800 },\n    iterations: opts.iterations ?? 10,\n  };\n  pools.set(world, createPool(opts.sleep ? copySleepOptions(opts.sleep) : null));\n  return world;\n}\n\nexport function addBody(world: World, body: Body): Body {\n  world.bodies.push(body);\n  return body;\n}\n\n/** Relative velocity at a contact projected onto (dx, dy). The vector never\n *  escapes — its only use is a dot product, so it collapses to two scalars. */\nfunction relativeVelocityAlong(\n  a: Body,\n  b: Body,\n  raX: number,\n  raY: number,\n  rbX: number,\n  rbY: number,\n  dx: number,\n  dy: number,\n): number {\n  const vax = a.velocity.x - a.angularVelocity * raY;\n  const vay = a.velocity.y + a.angularVelocity * raX;\n  const vbx = b.velocity.x - b.angularVelocity * rbY;\n  const vby = b.velocity.y + b.angularVelocity * rbX;\n  return (vbx - vax) * dx + (vby - vay) * dy;\n}\n\nfunction applyImpulse(\n  body: Body,\n  invMass: number,\n  invInertia: number,\n  ix: number,\n  iy: number,\n  rx: number,\n  ry: number,\n): void {\n  if (invMass === 0) return;\n  body.velocity.x += ix * invMass;\n  body.velocity.y += iy * invMass;\n  body.angularVelocity += invInertia * (rx * iy - ry * ix);\n}\n\n/** Binds every slot to the body now at its index, resetting a slot whose body\n *  changed (awake, counter 0), then wakes any sleeper the consumer wrote to:\n *  a non-zero velocity (sleepers are held at exactly 0) or a position/angle\n *  that differs from the snapshot taken at sleep. */\nfunction syncSleepSlots(pool: SolverPool, bodies: Body[]): void {\n  const { sleepOwner, asleep, sleepCounter, sleepSnapshot } = pool;\n  for (let i = 0; i < bodies.length; i++) {\n    const body = bodies[i]!;\n    if (sleepOwner[i] !== body) {\n      sleepOwner[i] = body;\n      asleep[i] = 0;\n      sleepCounter[i] = 0;\n      continue;\n    }\n    if (asleep[i] === 0) continue;\n    const s = i * 3;\n    if (\n      body.velocity.x !== 0 ||\n      body.velocity.y !== 0 ||\n      body.angularVelocity !== 0 ||\n      body.position.x !== sleepSnapshot[s] ||\n      body.position.y !== sleepSnapshot[s + 1] ||\n      body.angle !== sleepSnapshot[s + 2]\n    ) {\n      asleep[i] = 0;\n      sleepCounter[i] = 0;\n    }\n  }\n}\n\n/** Writes every body's world-space vertices, outward normals, and AABB into\n *  `pool`, once per step, so the broadphase pair loop never recomputes them. */\nfunction writeGeometry(pool: SolverPool, bodies: Body[]): void {\n  for (let i = 0; i < bodies.length; i++) {\n    const b = bodies[i]!;\n    const vOffset = i * 8;\n    const aOffset = i * 4;\n    writeBoxVertices(b, pool.verts, vOffset);\n    writeBoxNormals(pool.verts, vOffset, b.position.x, b.position.y, pool.normals, vOffset);\n    writeAabb(pool.verts, vOffset, pool.aabbs, aOffset);\n  }\n}\n\n/** Broadphase (precomputed-AABB reject) + narrowphase (OBB manifold),\n *  writing surviving contacts into `pool.manifolds[0..manifoldCount)`. A pair\n *  whose two bodies are each static or asleep is skipped. */\nfunction collectManifolds(pool: SolverPool, bodies: Body[]): void {\n  pool.manifoldCount = 0;\n  const { aabbs, asleep } = pool;\n  for (let i = 0; i < bodies.length; i++) {\n    const a = bodies[i]!;\n    const aResting = isStatic(a) || asleep[i] === 1;\n    const aOff = i * 4;\n    const aMinX = aabbs[aOff]!;\n    const aMinY = aabbs[aOff + 1]!;\n    const aMaxX = aabbs[aOff + 2]!;\n    const aMaxY = aabbs[aOff + 3]!;\n    for (let j = i + 1; j < bodies.length; j++) {\n      const b = bodies[j]!;\n      if (aResting && (isStatic(b) || asleep[j] === 1)) continue;\n      const bOff = j * 4;\n      const bMinX = aabbs[bOff]!;\n      const bMinY = aabbs[bOff + 1]!;\n      const bMaxX = aabbs[bOff + 2]!;\n      const bMaxY = aabbs[bOff + 3]!;\n      if (aMaxX < bMinX || aMinX > bMaxX || aMaxY < bMinY || aMinY > bMaxY) continue;\n      ensureManifoldCapacity(pool, pool.manifoldCount + 1);\n      const m = pool.manifolds[pool.manifoldCount]!;\n      if (collideInto(a, b, pool.verts, pool.normals, i, j, m)) {\n        m.ai = i;\n        m.bi = j;\n        pool.manifoldCount++;\n      }\n    }\n  }\n}\n\n/** Wakes a sleeper touched by an awake body that was moving on the previous\n *  step (sleep counter 0), giving it this step's gravity so it continues as\n *  if it had been awake for the integration. A sleeper touched only by a\n *  settling body stays asleep. Pairs of two resting bodies never reach here,\n *  so a manifold with one sleeper always has an awake dynamic partner. */\nfunction wakeByContact(pool: SolverPool, gravity: Vec2, dt: number): void {\n  const { asleep, sleepCounter } = pool;\n  for (let mi = 0; mi < pool.manifoldCount; mi++) {\n    const m = pool.manifolds[mi]!;\n    const aAsleep = asleep[m.ai] === 1;\n    if (aAsleep === (asleep[m.bi] === 1)) continue;\n    const sleeperIdx = aAsleep ? m.ai : m.bi;\n    const awakeIdx = aAsleep ? m.bi : m.ai;\n    if (sleepCounter[awakeIdx] !== 0) continue;\n    asleep[sleeperIdx] = 0;\n    sleepCounter[sleeperIdx] = 0;\n    const sleeper = aAsleep ? m.a : m.b;\n    sleeper.velocity.x += gravity.x * dt;\n    sleeper.velocity.y += gravity.y * dt;\n  }\n}\n\n/** Derives per-point solver mass terms and the velocity/position bias for\n *  every live manifold, writing them onto the manifold's own contact points. */\nfunction prepare(pool: SolverPool, gravity: Vec2, dt: number): void {\n  const restThreshold = Math.hypot(gravity.x, gravity.y) * dt;\n  const { asleep } = pool;\n  for (let mi = 0; mi < pool.manifoldCount; mi++) {\n    const m = pool.manifolds[mi]!;\n    const { a, b } = m;\n    const aAsleep = asleep[m.ai] === 1;\n    const bAsleep = asleep[m.bi] === 1;\n    const aInvMass = aAsleep ? 0 : a.invMass;\n    const aInvInertia = aAsleep ? 0 : a.invInertia;\n    const bInvMass = bAsleep ? 0 : b.invMass;\n    const bInvInertia = bAsleep ? 0 : b.invInertia;\n    m.aInvMass = aInvMass;\n    m.aInvInertia = aInvInertia;\n    m.bInvMass = bInvMass;\n    m.bInvInertia = bInvInertia;\n    const normalX = m.normalX;\n    const normalY = m.normalY;\n    const tangentX = m.tangentX;\n    const tangentY = m.tangentY;\n    const restitution = Math.min(a.restitution, b.restitution);\n\n    for (let pi = 0; pi < m.pointCount; pi++) {\n      const cp = m.points[pi]!;\n      const raX = cp.x - a.position.x;\n      const raY = cp.y - a.position.y;\n      const rbX = cp.x - b.position.x;\n      const rbY = cp.y - b.position.y;\n\n      const rnA = raX * normalY - raY * normalX;\n      const rnB = rbX * normalY - rbY * normalX;\n      const kNormal = aInvMass + bInvMass + aInvInertia * rnA * rnA + bInvInertia * rnB * rnB;\n\n      const rtA = raX * tangentY - raY * tangentX;\n      const rtB = rbX * tangentY - rbY * tangentX;\n      const kTangent = aInvMass + bInvMass + aInvInertia * rtA * rtA + bInvInertia * rtB * rtB;\n\n      const vn = relativeVelocityAlong(a, b, raX, raY, rbX, rbY, normalX, normalY);\n      const restitutionBias = vn < -restThreshold ? -restitution * vn : 0;\n      const baumgarte = (BAUMGARTE / dt) * Math.max(0, cp.penetration - PENETRATION_SLOP);\n\n      cp.raX = raX;\n      cp.raY = raY;\n      cp.rbX = rbX;\n      cp.rbY = rbY;\n      cp.massNormal = kNormal > 0 ? 1 / kNormal : 0;\n      cp.massTangent = kTangent > 0 ? 1 / kTangent : 0;\n      cp.bias = restitutionBias + baumgarte;\n    }\n  }\n}\n\n/** One sequential-impulse sweep over every live manifold's contact points. */\nfunction solve(pool: SolverPool): void {\n  for (let mi = 0; mi < pool.manifoldCount; mi++) {\n    const m = pool.manifolds[mi]!;\n    const { a, b, friction, aInvMass, aInvInertia, bInvMass, bInvInertia } = m;\n    const normalX = m.normalX;\n    const normalY = m.normalY;\n    const tangentX = m.tangentX;\n    const tangentY = m.tangentY;\n\n    for (let pi = 0; pi < m.pointCount; pi++) {\n      const cp = m.points[pi]!;\n      const raX = cp.raX;\n      const raY = cp.raY;\n      const rbX = cp.rbX;\n      const rbY = cp.rbY;\n\n      // Normal impulse (clamped >= 0 so contacts push, never pull).\n      const vn = relativeVelocityAlong(a, b, raX, raY, rbX, rbY, normalX, normalY);\n      let dPn = cp.massNormal * (-vn + cp.bias);\n      const newNormal = Math.max(cp.normalImpulse + dPn, 0);\n      dPn = newNormal - cp.normalImpulse;\n      cp.normalImpulse = newNormal;\n      const pnX = normalX * dPn;\n      const pnY = normalY * dPn;\n      applyImpulse(a, aInvMass, aInvInertia, -pnX, -pnY, raX, raY);\n      applyImpulse(b, bInvMass, bInvInertia, pnX, pnY, rbX, rbY);\n\n      // Friction impulse (clamped to the Coulomb cone mu*Pn).\n      const vt = relativeVelocityAlong(a, b, raX, raY, rbX, rbY, tangentX, tangentY);\n      let dPt = cp.massTangent * -vt;\n      const maxPt = friction * cp.normalImpulse;\n      const newTangent = Math.max(-maxPt, Math.min(maxPt, cp.tangentImpulse + dPt));\n      dPt = newTangent - cp.tangentImpulse;\n      cp.tangentImpulse = newTangent;\n      const ptX = tangentX * dPt;\n      const ptY = tangentY * dPt;\n      applyImpulse(a, aInvMass, aInvInertia, -ptX, -ptY, raX, raY);\n      applyImpulse(b, bInvMass, bInvInertia, ptX, ptY, rbX, rbY);\n    }\n  }\n}\n\n/** Puts every awake dynamic body that stayed under both thresholds for\n *  `sleep.steps` consecutive steps to sleep: velocities zeroed, flag set,\n *  position/angle snapshotted for the write-wake check. */\nfunction updateSleep(pool: SolverPool, sleep: SleepOptions, bodies: Body[]): void {\n  const { asleep, sleepCounter, sleepSnapshot } = pool;\n  const linear2 = sleep.linearThreshold * sleep.linearThreshold;\n  const angular2 = sleep.angularThreshold * sleep.angularThreshold;\n  for (let i = 0; i < bodies.length; i++) {\n    const body = bodies[i]!;\n    if (isStatic(body) || asleep[i] === 1) continue;\n    const vx = body.velocity.x;\n    const vy = body.velocity.y;\n    const w = body.angularVelocity;\n    if (vx * vx + vy * vy < linear2 && w * w < angular2) {\n      const count = sleepCounter[i]! + 1;\n      sleepCounter[i] = count;\n      if (count < sleep.steps) continue;\n      body.velocity.x = 0;\n      body.velocity.y = 0;\n      body.angularVelocity = 0;\n      asleep[i] = 1;\n      const s = i * 3;\n      sleepSnapshot[s] = body.position.x;\n      sleepSnapshot[s + 1] = body.position.y;\n      sleepSnapshot[s + 2] = body.angle;\n    } else {\n      sleepCounter[i] = 0;\n    }\n  }\n}\n\n/** Advance the world by `dt` seconds (fixed steps recommended).\n *\n *  By default (no `WorldOptions.sleep`) resting contacts settle to a stable\n *  *position* but retain a small, bounded velocity oscillation at the\n *  penetration-slop equilibrium — a sequential-impulse solver with Baumgarte\n *  bias does not converge velocity to exactly zero at rest, only the position\n *  does. `WorldOptions.sleep` opts into per-body sleeping: a dynamic body\n *  under both thresholds for `steps` consecutive steps has its velocities\n *  zeroed and is skipped by integration and by pair tests against other\n *  resting bodies until an awake body touches it, the consumer writes its\n *  velocity, position or angle, or `wakeBody` is called. There are no\n *  islands, so a woken stack wakes one level per step, and a sleeper does not\n *  follow a static body that is moved under it. Damping stays out of scope.\n *\n *  A world that never went through `createWorld` (a spread copy or a\n *  `structuredClone`) is adopted on its first `step` with sleeping off. */\nexport function step(world: World, dt: number): void {\n  if (dt <= 0) return;\n  // `World` is a public interface with plain fields, so a consumer can hand\n  // back a structurally valid value that never went through `createWorld`\n  // (spread copy, `structuredClone`, state round-tripping) and is therefore\n  // absent from `pools`. Lazily adopt it instead of crashing on a missing\n  // entry; steady-state callers (worlds from `createWorld`) never pay this\n  // branch since their pool is already registered.\n  let pool = pools.get(world);\n  if (!pool) {\n    pool = createPool();\n    pools.set(world, pool);\n  }\n  const { bodies } = world;\n  ensureBodyCapacity(pool, bodies.length);\n  const { sleep, asleep } = pool;\n\n  // 0. Bind sleep slots to the bodies at their indices; wake written sleepers.\n  if (sleep !== null) syncSleepSlots(pool, bodies);\n\n  // 1. Integrate velocities (apply gravity to awake dynamic bodies).\n  for (let i = 0; i < bodies.length; i++) {\n    const body = bodies[i]!;\n    if (isStatic(body) || asleep[i] === 1) continue;\n    body.velocity.x += world.gravity.x * dt;\n    body.velocity.y += world.gravity.y * dt;\n  }\n\n  // 2. Broadphase (precomputed AABB reject) + narrowphase (OBB manifold).\n  writeGeometry(pool, bodies);\n  collectManifolds(pool, bodies);\n  if (sleep !== null) wakeByContact(pool, world.gravity, dt);\n\n  // 3. Solve velocity constraints.\n  prepare(pool, world.gravity, dt);\n  for (let iter = 0; iter < world.iterations; iter++) {\n    solve(pool);\n  }\n\n  // 4. Integrate positions.\n  for (let i = 0; i < bodies.length; i++) {\n    const body = bodies[i]!;\n    if (isStatic(body) || asleep[i] === 1) continue;\n    body.position.x += body.velocity.x * dt;\n    body.position.y += body.velocity.y * dt;\n    body.angle += body.angularVelocity * dt;\n  }\n\n  // 5. Put settled bodies to sleep.\n  if (sleep !== null) updateSleep(pool, sleep, bodies);\n}\n\n/** `true` when `body` is asleep in `world`. `false` when the world has\n *  sleeping off or never went through `createWorld`, when `body` is not in\n *  `world.bodies`, or when its slot has not been bound to it by a `step` yet.\n *  O(n) in `world.bodies.length` (an `indexOf`); poll it per body, not per\n *  contact. */\nexport function isSleeping(world: World, body: Body): boolean {\n  const pool = pools.get(world);\n  if (!pool || pool.sleep === null) return false;\n  const i = world.bodies.indexOf(body);\n  if (i < 0 || pool.sleepOwner[i] !== body) return false;\n  return pool.asleep[i] === 1;\n}\n\n/** `true` when every dynamic body in `world.bodies` is asleep — vacuously\n *  true with no dynamic bodies, `false` with sleeping off and at least one.\n *  The bake stop rule for `stepUntil`: `done: () => isAtRest(world)`. */\nexport function isAtRest(world: World): boolean {\n  const pool = pools.get(world);\n  const { bodies } = world;\n  for (let i = 0; i < bodies.length; i++) {\n    const body = bodies[i]!;\n    if (isStatic(body)) continue;\n    if (!pool || pool.sleep === null || pool.sleepOwner[i] !== body || pool.asleep[i] !== 1) {\n      return false;\n    }\n  }\n  return true;\n}\n\n/** Wakes `body` if it is asleep in `world` (flag cleared, counter 0, its\n *  velocities stay 0); the next `step` integrates it again. No-op otherwise,\n *  including with sleeping off or a body not in `world.bodies`. Use it for a\n *  sleeper whose support was removed from `world.bodies` or moved — nothing\n *  else wakes it. */\nexport function wakeBody(world: World, body: Body): void {\n  const pool = pools.get(world);\n  if (!pool || pool.sleep === null) return;\n  const i = world.bodies.indexOf(body);\n  if (i < 0 || pool.sleepOwner[i] !== body || pool.asleep[i] !== 1) return;\n  pool.asleep[i] = 0;\n  pool.sleepCounter[i] = 0;\n}\n\n/** Repeats `step(world, dt)` until, checked in this order after each step,\n *  `done()` returns true (`complete: true`), `steps >= maxSteps`, or\n *  `now() - start >= budgetMs` (both `complete: false`). Always takes at least\n *  one step, so a zero budget still makes progress. Writes `out` and returns it;\n *  the zero-alloc per-frame form of `stepUntil`. Throws `RangeError` for a\n *  non-finite or non-positive `dt`, a negative or non-finite `budgetMs`, or a\n *  `maxSteps` that is not an integer >= 1. */\nexport function stepUntilInto(\n  world: World,\n  dt: number,\n  opts: StepUntilOptions,\n  out: StepUntilResult,\n): StepUntilResult {\n  if (!Number.isFinite(dt) || dt <= 0) {\n    throw new RangeError(`stepUntil: dt must be a finite number > 0, got ${dt}`);\n  }\n  const { budgetMs, maxSteps, done } = opts;\n  if (!Number.isFinite(budgetMs) || budgetMs < 0) {\n    throw new RangeError(`stepUntil: budgetMs must be a finite number >= 0, got ${budgetMs}`);\n  }\n  if (maxSteps !== undefined && (!Number.isInteger(maxSteps) || maxSteps < 1)) {\n    throw new RangeError(`stepUntil: maxSteps must be an integer >= 1, got ${maxSteps}`);\n  }\n  const now = opts.now ?? nowMs;\n  const start = now();\n  let steps = 0;\n  let complete = false;\n  for (;;) {\n    step(world, dt);\n    steps++;\n    if (done?.()) {\n      complete = true;\n      break;\n    }\n    if (maxSteps !== undefined && steps >= maxSteps) break;\n    if (now() - start >= budgetMs) break;\n  }\n  out.steps = steps;\n  out.complete = complete;\n  return out;\n}\n\n/** Allocating form of `stepUntilInto`; see it for the stop rules. */\nexport function stepUntil(world: World, dt: number, opts: StepUntilOptions): StepUntilResult {\n  return stepUntilInto(world, dt, opts, { steps: 0, complete: false 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