@flighthq/collision 0.4.0-next.1663.d9c5746 → 0.4.0-next.1694.598ef6f

package/dist/gjk2D.js

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+import { getCollisionSupport2D } from './collisionSupport2D';
+import { clearCollisionManifold2D } from './manifold';
+// The generic narrow-phase floor: GJK for overlap, EPA for the penetration that follows it.
+//
+// Both read the two shapes only through their registered support functions, so a kind reaches every
+// other registered kind the moment its support exists. This is the O(N) core the pair matrix is O(N²)
+// against, and it is a FLOOR rather than a replacement — it yields one normal and one depth, where a
+// resting box needs two contact points, which is why the SAT-plus-clipping pairs keep their place
+// above it.
+//
+// The Minkowski difference `A - B` is the object both algorithms actually work on, and neither ever
+// builds it: its support in direction `d` is `supportA(d) - supportB(-d)`, one call each. The origin
+// lies inside it exactly when the shapes overlap, and the shortest vector from the origin to its
+// boundary is the penetration.
+// The generic manifold path: GJK for overlap, then EPA for the minimum-translation normal and depth.
+// Writes the normal oriented to push **A out of B**, matching every specialized pair.
+//
+// Returns false — and clears `out` — when either kind has no registered support, when the shapes are
+// disjoint, or when EPA cannot find a boundary to measure at all.
+//
+// ACCURACY, on a curved boundary: the DEPTH converges to the EPA tolerance, but the NORMAL only to
+// roughly its square root — around 1e-5 in practice. That is geometry rather than a defect. EPA
+// terminates on a distance, and distance is second-order insensitive to angular error: tilting the
+// normal by theta on a circle of radius r changes the distance by only `r * theta^2 / 2`, so driving
+// the distance to 1e-10 still leaves the direction 1e-5 out. Chasing it would mean a tolerance at
+// double-precision noise. On a polytope there is no curve and the answer is exact.
+//
+// This is one of the two things that make a pair specialization worth registering — the other being
+// speed — and circle pairs have an exact closed form, so the built-in specializations are what a
+// caller actually gets.
+export function testCollisionSupport2D(a, b, out) {
+    clearCollisionManifold2D(out);
+    const supportA = getCollisionSupport2D(a.kind);
+    const supportB = getCollisionSupport2D(b.kind);
+    if (supportA === null || supportB === null)
+        return false;
+    if (runGjk2D(a, supportA, b, supportB) !== GJK_OVERLAPPING)
+        return false;
+    return writeEpa2DPenetration(a, supportA, b, supportB, out);
+}
+// Whether two shapes overlap, by GJK. Returns false when either kind has no registered support — an
+// unregistered kind cannot be tested, and reporting "not overlapping" is the package's standing
+// sentinel for that, which `explainCollisionTest2D` classifies and the guard warns about.
+//
+// Touching counts as NOT overlapping, matching every other test in the package: the search stops as
+// soon as a support point fails to reach past the origin, and a point exactly on it fails that test.
+export function testCollisionSupportOverlap2D(a, b) {
+    const supportA = getCollisionSupport2D(a.kind);
+    const supportB = getCollisionSupport2D(b.kind);
+    if (supportA === null || supportB === null)
+        return false;
+    return runGjk2D(a, supportA, b, supportB) === GJK_OVERLAPPING;
+}
+// Expands the terminating GJK simplex out to the Minkowski boundary, finding the closest edge to the
+// origin. That edge's outward normal and distance ARE the minimum translation.
+//
+// The sign is the part worth stating. The closest boundary point sits at `normal * distance` from the
+// origin, and translating A by the NEGATIVE of that vector moves the origin onto the boundary — which
+// is the definition of just separating. So the manifold normal, which must push A out of B, is the
+// negated EPA normal.
+function writeEpa2DPenetration(a, supportA, b, supportB, out) {
+    let count = 3;
+    for (let i = 0; i < 6; i += 1)
+        polytope[i] = simplex[i];
+    // Hoisted out of the loop so running out of iterations returns the BEST EDGE FOUND rather than
+    // nothing. GJK has already decided these shapes overlap; an EPA that gives up would make the two
+    // entry points contradict each other about that, which is worse than a normal converged one
+    // iteration short. Only a polytope with no measurable edge at all is a real failure.
+    let bestDistance = Number.POSITIVE_INFINITY;
+    let bestAxisX = 0;
+    let bestAxisY = 0;
+    // The winning edge's TRUE outward normal, kept alongside the canonicalized axis the comparison uses.
+    // The canonical form exists to make the choice deterministic; it is not the answer, because
+    // canonicalizing throws away a sign that is geometrically correct everywhere except in a tie.
+    let bestNormalX = 0;
+    let bestNormalY = 0;
+    let found = false;
+    for (let iteration = 0; iteration < MAX_EPA_ITERATIONS; iteration += 1) {
+        let bestEdge = -1;
+        let searchNormalX = 0;
+        let searchNormalY = 0;
+        bestDistance = Number.POSITIVE_INFINITY;
+        for (let i = 0; i < count; i += 1) {
+            const j = (i + 1) % count;
+            const ax = polytope[i * 2];
+            const ay = polytope[i * 2 + 1];
+            const edgeX = polytope[j * 2] - ax;
+            const edgeY = polytope[j * 2 + 1] - ay;
+            let normalX = edgeY;
+            let normalY = -edgeX;
+            const length = Math.sqrt(normalX * normalX + normalY * normalY);
+            if (length <= EPSILON)
+                continue;
+            normalX /= length;
+            normalY /= length;
+            let distance = ax * normalX + ay * normalY;
+            if (distance < 0) {
+                normalX = -normalX;
+                normalY = -normalY;
+                distance = -distance;
+            }
+            // The axis is CANONICALIZED into a half-plane before it is compared, exactly as the incumbent
+            // SAT core does: flipped so x is positive, or so y is when x vanishes. That makes the comparison
+            // independent of edge winding and of which shape arrived as A — and it deliberately DISCARDS the
+            // outward sign, which the centroid step below restores. Without it, two opposite edges at the
+            // same distance are two different axes and whichever the scan reaches first wins.
+            let axisX = normalX;
+            let axisY = normalY;
+            if (axisX < -AXIS_EPSILON || (Math.abs(axisX) <= AXIS_EPSILON && axisY < 0)) {
+                axisX = -axisX;
+                axisY = -axisY;
+            }
+            if (!found || isPreferredEpaAxis(distance, axisX, axisY, bestDistance, bestAxisX, bestAxisY)) {
+                bestDistance = distance;
+                bestAxisX = axisX;
+                bestAxisY = axisY;
+                bestNormalX = normalX;
+                bestNormalY = normalY;
+                searchNormalX = normalX;
+                searchNormalY = normalY;
+                bestEdge = j;
+                found = true;
+            }
+        }
+        if (bestEdge < 0)
+            break;
+        writeMinkowskiSupport2D(a, supportA, b, supportB, searchNormalX, searchNormalY, minkowski);
+        const reach = minkowski[0] * searchNormalX + minkowski[1] * searchNormalY;
+        // Converged: the boundary in this direction is where the polytope already says it is, so no new
+        // vertex can push the edge further out.
+        if (reach - bestDistance <= EPA_TOLERANCE || count + 1 >= MAX_POLYTOPE_VERTICES)
+            break;
+        // Insert the new vertex on the closest edge, splitting it in two.
+        for (let i = count; i > bestEdge; i -= 1) {
+            polytope[i * 2] = polytope[(i - 1) * 2];
+            polytope[i * 2 + 1] = polytope[(i - 1) * 2 + 1];
+        }
+        polytope[bestEdge * 2] = minkowski[0];
+        polytope[bestEdge * 2 + 1] = minkowski[1];
+        count += 1;
+    }
+    if (!found)
+        return false;
+    // The outward normal EPA derived is the answer almost everywhere: for a genuine penetration the
+    // minimum-translation direction is geometrically determined, and overriding it would be wrong.
+    //
+    // A TIE is the exception, and the only place a sign is actually free to choose. It happens when the
+    // difference is as deep the other way — two opposite edges the same distance from the origin — and
+    // then whichever edge the scan reached first would decide, which makes the answer depend on argument
+    // order. One extra support call detects it, and only then does the incumbent's rule apply: the normal
+    // points from B toward A, read off the Minkowski difference's own interior, which IS
+    // `centroidA - centroidB` without either shape having to expose a centroid.
+    writeMinkowskiSupport2D(a, supportA, b, supportB, -bestNormalX, -bestNormalY, minkowski);
+    const opposite = -(minkowski[0] * bestNormalX + minkowski[1] * bestNormalY);
+    let normalX = bestNormalX;
+    let normalY = bestNormalY;
+    if (Math.abs(opposite - bestDistance) <= TIE_TOLERANCE) {
+        writeMinkowskiInterior2D(a, supportA, b, supportB, interior);
+        if (bestAxisX * interior[0] + bestAxisY * interior[1] < 0) {
+            normalX = -bestAxisX;
+            normalY = -bestAxisY;
+        }
+        else {
+            normalX = bestAxisX;
+            normalY = bestAxisY;
+        }
+        // The manifold normal is the negated EPA normal, so flip back into EPA's sense before the write
+        // below negates it again.
+        normalX = -normalX;
+        normalY = -normalY;
+    }
+    out.overlapping = true;
+    out.normalX = -normalX;
+    out.normalY = -normalY;
+    out.depth = bestDistance;
+    return true;
+}
+// Whether a candidate axis beats the incumbent one: strictly shallower wins, and an exact tie is
+// broken lexicographically on the canonicalized axis. The mirror of the SAT core's `isPreferredAxis`,
+// and it exists for the same reason — a tie resolved by scan order makes the answer depend on which
+// shape was passed first.
+function isPreferredEpaAxis(distance, axisX, axisY, bestDistance, bestAxisX, bestAxisY) {
+    if (distance < bestDistance - AXIS_EPSILON)
+        return true;
+    if (Math.abs(distance - bestDistance) > AXIS_EPSILON)
+        return false;
+    if (axisX > bestAxisX + AXIS_EPSILON)
+        return true;
+    return Math.abs(axisX - bestAxisX) <= AXIS_EPSILON && axisY > bestAxisY;
+}
+// An interior point of the Minkowski difference, as the mean of its supports along the four axes.
+// Equal to `centroidA - centroidB` for a symmetric shape and close enough for any convex one, since
+// only its DIRECTION is read.
+function writeMinkowskiInterior2D(a, supportA, b, supportB, out) {
+    out[0] = 0;
+    out[1] = 0;
+    for (let i = 0; i < 4; i += 1) {
+        writeMinkowskiSupport2D(a, supportA, b, supportB, INTERIOR_AXES[i * 2], INTERIOR_AXES[i * 2 + 1], minkowski);
+        out[0] += minkowski[0];
+        out[1] += minkowski[1];
+    }
+    out[0] /= 4;
+    out[1] /= 4;
+}
+// Runs GJK until it encloses the origin or proves it cannot, leaving the final simplex in `simplex`.
+// Returns `GJK_OVERLAPPING` or `GJK_SEPARATED`.
+//
+// The search direction starts from the vector between the two shapes' first support points rather than
+// from a fixed axis, so a pair that is already far apart on one axis is rejected in the first
+// iteration instead of walking there.
+function runGjk2D(a, supportA, b, supportB) {
+    writeMinkowskiSupport2D(a, supportA, b, supportB, 1, 0, minkowski);
+    simplex[0] = minkowski[0];
+    simplex[1] = minkowski[1];
+    let count = 1;
+    let directionX = -simplex[0];
+    let directionY = -simplex[1];
+    for (let iteration = 0; iteration < MAX_GJK_ITERATIONS; iteration += 1) {
+        if (directionX === 0 && directionY === 0) {
+            // The origin is ON the simplex. Touching, not overlapping — the same answer every other test in
+            // the package gives for a pair that merely grazes.
+            return GJK_SEPARATED;
+        }
+        writeMinkowskiSupport2D(a, supportA, b, supportB, directionX, directionY, minkowski);
+        if (minkowski[0] * directionX + minkowski[1] * directionY <= 0)
+            return GJK_SEPARATED;
+        simplex[count * 2] = minkowski[0];
+        simplex[count * 2 + 1] = minkowski[1];
+        count += 1;
+        if (count === 2) {
+            // Line case: the origin lies off one side of the segment, and the next direction is the
+            // perpendicular pointing at it.
+            const bx = simplex[0];
+            const by = simplex[1];
+            const ax = simplex[2];
+            const ay = simplex[3];
+            const edgeX = bx - ax;
+            const edgeY = by - ay;
+            // The triple product `(edge x -a) x edge`, which is the component of `-a` perpendicular to the
+            // edge — the direction the origin actually lies in, rather than either bare perpendicular.
+            const cross = edgeX * -ay - edgeY * -ax;
+            if (cross === 0) {
+                // The origin is COLLINEAR with the segment, and that proves nothing on its own: a 1-simplex
+                // touching the origin is still only a line through a 2D shape, and the origin can sit well
+                // inside it. Taking this for separation is the bug that reports two overlapping circles whose
+                // centres share an axis as disjoint — the most ordinary configuration there is. Either
+                // perpendicular carries the search on; the triangle case is what decides containment.
+                directionX = -edgeY;
+                directionY = edgeX;
+            }
+            else {
+                directionX = -edgeY * cross;
+                directionY = edgeX * cross;
+            }
+            continue;
+        }
+        // Triangle case: the origin is either outside one of the two new edges, or enclosed.
+        const cx = simplex[0];
+        const cy = simplex[1];
+        const bx = simplex[2];
+        const by = simplex[3];
+        const ax = simplex[4];
+        const ay = simplex[5];
+        const abX = bx - ax;
+        const abY = by - ay;
+        const acX = cx - ax;
+        const acY = cy - ay;
+        // The outward perpendicular of each edge, as the triple product `(ac x ab) x ab` expanded to
+        // `ab(ac.ab) - ac(ab.ab)`. Winding-INDEPENDENT, which matters: taking the bare perpendicular and
+        // orienting it by the triangle's signed area gets the sign right for one winding and inverts it for
+        // the other, so half of all inputs report the origin outside an edge it is inside. The support
+        // points arrive in whatever order the search produced, so neither winding can be assumed.
+        const abDotAc = abX * acX + abY * acY;
+        const abLengthSquared = abX * abX + abY * abY;
+        const acLengthSquared = acX * acX + acY * acY;
+        const abNormalX = abX * abDotAc - acX * abLengthSquared;
+        const abNormalY = abY * abDotAc - acY * abLengthSquared;
+        if (abNormalX * -ax + abNormalY * -ay > 0) {
+            // Drop C: the origin is beyond AB.
+            simplex[0] = bx;
+            simplex[1] = by;
+            simplex[2] = ax;
+            simplex[3] = ay;
+            count = 2;
+            directionX = abNormalX;
+            directionY = abNormalY;
+            continue;
+        }
+        const acNormalX = acX * abDotAc - abX * acLengthSquared;
+        const acNormalY = acY * abDotAc - abY * acLengthSquared;
+        if (acNormalX * -ax + acNormalY * -ay > 0) {
+            // Drop B: the origin is beyond AC.
+            simplex[2] = ax;
+            simplex[3] = ay;
+            count = 2;
+            directionX = acNormalX;
+            directionY = acNormalY;
+            continue;
+        }
+        return GJK_OVERLAPPING;
+    }
+    return GJK_SEPARATED;
+}
+// Writes the support point of the Minkowski difference `A - B` along a direction: the furthest point
+// on A one way, minus the furthest point on B the other. The difference is never materialized.
+function writeMinkowskiSupport2D(a, supportA, b, supportB, directionX, directionY, out) {
+    supportA(a, directionX, directionY, supportPointA);
+    supportB(b, -directionX, -directionY, supportPointB);
+    out[0] = supportPointA[0] - supportPointB[0];
+    out[1] = supportPointA[1] - supportPointB[1];
+}
+const GJK_OVERLAPPING = 1;
+const GJK_SEPARATED = 0;
+// GJK converges in a handful of iterations for convex shapes; the cap is a guard against a support
+// function that is not convex rather than a tuning knob. A non-convex polygon can cycle forever, and
+// this package already refuses those through `getCollisionPolygonValidationStatus2D`.
+const MAX_GJK_ITERATIONS = 32;
+const MAX_EPA_ITERATIONS = 32;
+// The polytope only ever grows by one vertex per iteration, so this bounds the scratch rather than the
+// answer's quality: hitting it returns the best edge found so far, which is already within tolerance
+// for every shape a caller can build out of the four registered kinds.
+const MAX_POLYTOPE_VERTICES = 40;
+const EPA_TOLERANCE = 1e-9;
+const EPSILON = 1e-12;
+// The band within which two axes count as the same, for both the distance comparison and the
+// lexicographic tie-break. Matches the SAT core's own relative epsilon so the two agree about what a
+// tie IS, not only about how to break one.
+const AXIS_EPSILON = 1e-9;
+// How close the two opposite directions have to be before the penetration counts as ambiguous. Looser
+// than AXIS_EPSILON on purpose: EPA converges its distance to about 1e-10, so a tie that is exact in
+// the geometry arrives here a little off, and a band tighter than that noise would miss it.
+const TIE_TOLERANCE = 1e-6;
+const INTERIOR_AXES = [1, 0, -1, 0, 0, 1, 0, -1];
+const interior = [0, 0];
+const minkowski = [0, 0];
+const polytope = new Float64Array(MAX_POLYTOPE_VERTICES * 2 + 2);
+const simplex = [0, 0, 0, 0, 0, 0];
+const supportPointA = [0, 0];
+const supportPointB = [0, 0];
+//# sourceMappingURL=gjk2D.js.map

package/dist/gjk2D.js.map

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package/dist/index.d.ts

@@ -1,2 +1,5 @@
-export { clearCollisionContactManifold, clearCollisionManifold, collideAabbAabbContactManifold, collideAabbObbContactManifold, collideAabbPolygonContactManifold, collideCircleAabbContactManifold, collideCircleCircleContactManifold, collideCircleObbContactManifold, collideCirclePolygonContactManifold, collideContactManifold, collideObbObbContactManifold, collideObbPolygonContactManifold, collidePolygonPolygonContactManifold, createCollisionContactManifold, createCollisionManifold, areCollisionGuardsEnabled, disableCollisionGuards, enableCollisionGuards, explainCollisionTest, getCollisionShapeContainsPoint, createCollisionRaycastHit, createCollisionTimeOfImpact, raycastCollisionShape, sweepCollisionShape, testAabbAabbCollision, testAabbObbCollision, testAabbPolygonCollision, testCircleAabbCollision, testCircleCircleCollision, testCircleObbCollision, testCirclePolygonCollision, testCollision, testObbObbCollision, testObbPolygonCollision, testPolygonPolygonCollision, testSegmentAabbCollision, testSegmentCircleCollision, testSegmentObbCollision, testSegmentPolygonCollision, testSegmentSegmentCollision, } from './contract';
+export { clearCollisionContactManifold2D, clearCollisionManifold2D, collideAabbAabbContactManifold, collideAabbObbContactManifold, collideAabbPolygonContactManifold, collideCircleAabbContactManifold, collideCircleCircleContactManifold, collideCircleObbContactManifold, collideCirclePolygonContactManifold, collideContactManifold2D, collideObbObbContactManifold, collideObbPolygonContactManifold, collidePolygonPolygonContactManifold, createCollisionContactManifold2D, createCollisionManifold2D, areCollisionGuardsEnabled, disableCollisionGuards, enableCollisionGuards, explainCollisionTest2D, getCollisionShapeContainsPoint2D, createCollisionRaycastHit2D, createCollisionTimeOfImpact2D, raycastCollisionShape2D, sweepCollisionShape2D, testAabbAabbCollision, testAabbObbCollision, testAabbPolygonCollision, testCircleAabbCollision, testCircleCircleCollision, testCircleObbCollision, testCirclePolygonCollision, testCollision2D, testObbObbCollision, testObbPolygonCollision, testPolygonPolygonCollision, testSegmentAabbCollision, testSegmentCircleCollision, testSegmentObbCollision, testSegmentPolygonCollision, testSegmentSegmentCollision, } from './contract';
+export { getCollisionPairTest2D, getCollisionSupport2D, registerBuiltInCollisionSupports2D, registerCollisionPairTest2D, registerCollisionSupport2D, supportCollisionAabb2D, supportCollisionCircle2D, supportCollisionObb2D, supportCollisionPolygon2D, } from './collisionSupport2D';
+export { testCollisionSupport2D, testCollisionSupportOverlap2D } from './gjk2D';
+export { registerBuiltInCollisionPairTests2D } from './registerBuiltInCollisionPairTests2D';
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

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package/dist/index.js

@@ -1,2 +1,5 @@
-export { clearCollisionContactManifold, clearCollisionManifold, collideAabbAabbContactManifold, collideAabbObbContactManifold, collideAabbPolygonContactManifold, collideCircleAabbContactManifold, collideCircleCircleContactManifold, collideCircleObbContactManifold, collideCirclePolygonContactManifold, collideContactManifold, collideObbObbContactManifold, collideObbPolygonContactManifold, collidePolygonPolygonContactManifold, createCollisionContactManifold, createCollisionManifold, areCollisionGuardsEnabled, disableCollisionGuards, enableCollisionGuards, explainCollisionTest, getCollisionShapeContainsPoint, createCollisionRaycastHit, createCollisionTimeOfImpact, raycastCollisionShape, sweepCollisionShape, testAabbAabbCollision, testAabbObbCollision, testAabbPolygonCollision, testCircleAabbCollision, testCircleCircleCollision, testCircleObbCollision, testCirclePolygonCollision, testCollision, testObbObbCollision, testObbPolygonCollision, testPolygonPolygonCollision, testSegmentAabbCollision, testSegmentCircleCollision, testSegmentObbCollision, testSegmentPolygonCollision, testSegmentSegmentCollision, } from './contract';
+export { clearCollisionContactManifold2D, clearCollisionManifold2D, collideAabbAabbContactManifold, collideAabbObbContactManifold, collideAabbPolygonContactManifold, collideCircleAabbContactManifold, collideCircleCircleContactManifold, collideCircleObbContactManifold, collideCirclePolygonContactManifold, collideContactManifold2D, collideObbObbContactManifold, collideObbPolygonContactManifold, collidePolygonPolygonContactManifold, createCollisionContactManifold2D, createCollisionManifold2D, areCollisionGuardsEnabled, disableCollisionGuards, enableCollisionGuards, explainCollisionTest2D, getCollisionShapeContainsPoint2D, createCollisionRaycastHit2D, createCollisionTimeOfImpact2D, raycastCollisionShape2D, sweepCollisionShape2D, testAabbAabbCollision, testAabbObbCollision, testAabbPolygonCollision, testCircleAabbCollision, testCircleCircleCollision, testCircleObbCollision, testCirclePolygonCollision, testCollision2D, testObbObbCollision, testObbPolygonCollision, testPolygonPolygonCollision, testSegmentAabbCollision, testSegmentCircleCollision, testSegmentObbCollision, testSegmentPolygonCollision, testSegmentSegmentCollision, } from './contract';
+export { getCollisionPairTest2D, getCollisionSupport2D, registerBuiltInCollisionSupports2D, registerCollisionPairTest2D, registerCollisionSupport2D, supportCollisionAabb2D, supportCollisionCircle2D, supportCollisionObb2D, supportCollisionPolygon2D, } from './collisionSupport2D';
+export { testCollisionSupport2D, testCollisionSupportOverlap2D } from './gjk2D';
+export { registerBuiltInCollisionPairTests2D } from './registerBuiltInCollisionPairTests2D';
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -1 +1 @@
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package/dist/manifold.d.ts

@@ -1,4 +1,4 @@
-import type { CollisionManifold } from '@flighthq/types/contract';
-export declare function clearCollisionManifold(out: CollisionManifold): void;
-export declare function createCollisionManifold(): CollisionManifold;
+import type { CollisionManifold2D } from '@flighthq/types/contract';
+export declare function clearCollisionManifold2D(out: CollisionManifold2D): void;
+export declare function createCollisionManifold2D(): CollisionManifold2D;
 //# sourceMappingURL=manifold.d.ts.map

package/dist/manifold.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"manifold.d.ts","sourceRoot":"","sources":["../src/manifold.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,mBAAmB,EAAE,MAAM,0BAA0B,CAAC;AAKpE,wBAAgB,wBAAwB,CAAC,GAAG,EAAE,mBAAmB,GAAG,IAAI,CAKvE;AAGD,wBAAgB,yBAAyB,IAAI,mBAAmB,CAE/D"}

package/dist/manifold.js

@@ -1,14 +1,14 @@
 // Clears a manifold to the non-overlapping state: `overlapping` false, normal and depth zero. The
 // narrow-phase tests call this on their disjoint path, so a reused `out` never carries a stale
 // normal into a miss.
-export function clearCollisionManifold(out) {
+export function clearCollisionManifold2D(out) {
     out.overlapping = false;
     out.normalX = 0;
     out.normalY = 0;
     out.depth = 0;
 }
 // Allocates a fresh manifold in the non-overlapping state, ready to be passed as an `out` parameter.
-export function createCollisionManifold() {
+export function createCollisionManifold2D() {
     return { overlapping: false, normalX: 0, normalY: 0, depth: 0 };
 }
 //# sourceMappingURL=manifold.js.map

package/dist/manifold.js.map

@@ -1 +1 @@
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+{"version":3,"file":"manifold.js","sourceRoot":"","sources":["../src/manifold.ts"],"names":[],"mappings":"AAEA,kGAAkG;AAClG,+FAA+F;AAC/F,sBAAsB;AACtB,MAAM,UAAU,wBAAwB,CAAC,GAAwB;IAC/D,GAAG,CAAC,WAAW,GAAG,KAAK,CAAC;IACxB,GAAG,CAAC,OAAO,GAAG,CAAC,CAAC;IAChB,GAAG,CAAC,OAAO,GAAG,CAAC,CAAC;IAChB,GAAG,CAAC,KAAK,GAAG,CAAC,CAAC;AAChB,CAAC;AAED,qGAAqG;AACrG,MAAM,UAAU,yBAAyB;IACvC,OAAO,EAAE,WAAW,EAAE,KAAK,EAAE,OAAO,EAAE,CAAC,EAAE,OAAO,EAAE,CAAC,EAAE,KAAK,EAAE,CAAC,EAAE,CAAC;AAClE,CAAC"}

package/dist/pointContainment.d.ts

@@ -1,3 +1,3 @@
-import type { CollisionShape } from '@flighthq/types/contract';
-export declare function getCollisionShapeContainsPoint(shape: Readonly<CollisionShape>, x: number, y: number): boolean;
+import type { CollisionBuiltInShape2D } from '@flighthq/types/contract';
+export declare function getCollisionShapeContainsPoint2D(shape: Readonly<CollisionBuiltInShape2D>, x: number, y: number): boolean;
 //# sourceMappingURL=pointContainment.d.ts.map

package/dist/pointContainment.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"pointContainment.d.ts","sourceRoot":"","sources":["../src/pointContainment.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,uBAAuB,EAAE,MAAM,0BAA0B,CAAC;AAUxE,wBAAgB,gCAAgC,CAC9C,KAAK,EAAE,QAAQ,CAAC,uBAAuB,CAAC,EACxC,CAAC,EAAE,MAAM,EACT,CAAC,EAAE,MAAM,GACR,OAAO,CA8CT"}

package/dist/pointContainment.js

@@ -1,10 +1,10 @@
-import { getCollisionPolygonValidationStatus } from './collisionShapeValidation';
+import { getCollisionPolygonValidationStatus2D } from './collisionShapeValidation';
 const RELATIVE_EPSILON = 1e-9;
 // Whether the point (`x`,`y`) lies inside a collider. Boundary-inclusive: a point exactly on the
 // edge of any shape counts as contained. For the area-less kinds this degrades to an on-shape test —
 // `segment` returns true when the point lies on the segment (within epsilon), `point` when the two
 // points coincide (within epsilon). Unknown kinds return false. The polygon is assumed convex.
-export function getCollisionShapeContainsPoint(shape, x, y) {
+export function getCollisionShapeContainsPoint2D(shape, x, y) {
     switch (shape.kind) {
         case 'circle': {
             const dx = x - shape.x;
@@ -23,7 +23,7 @@ export function getCollisionShapeContainsPoint(shape, x, y) {
             return Math.abs(localX) <= shape.halfW && Math.abs(localY) <= shape.halfH;
         }
         case 'polygon':
-            if (getCollisionPolygonValidationStatus(shape.points) !== null)
+            if (getCollisionPolygonValidationStatus2D(shape.points) !== null)
                 return false;
             return isPointInConvexPolygon(x, y, shape.points, shape.points.length >> 1);
         case 'segment': {

package/dist/pointContainment.js.map

@@ -1 +1 @@
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package/dist/raycastCollisionShape2D.d.ts

@@ -0,0 +1,4 @@
+import type { CollisionRaycastHit2D, CollisionBuiltInShape2D } from '@flighthq/types/contract';
+export declare function createCollisionRaycastHit2D(): CollisionRaycastHit2D;
+export declare function raycastCollisionShape2D(shape: Readonly<CollisionBuiltInShape2D>, originX: number, originY: number, directionX: number, directionY: number, out: CollisionRaycastHit2D, maxFraction?: number): boolean;
+//# sourceMappingURL=raycastCollisionShape2D.d.ts.map

package/dist/raycastCollisionShape2D.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"raycastCollisionShape2D.d.ts","sourceRoot":"","sources":["../src/raycastCollisionShape2D.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,qBAAqB,EAAE,uBAAuB,EAAE,MAAM,0BAA0B,CAAC;AAO/F,wBAAgB,2BAA2B,IAAI,qBAAqB,CAEnE;AAKD,wBAAgB,uBAAuB,CACrC,KAAK,EAAE,QAAQ,CAAC,uBAAuB,CAAC,EACxC,OAAO,EAAE,MAAM,EACf,OAAO,EAAE,MAAM,EACf,UAAU,EAAE,MAAM,EAClB,UAAU,EAAE,MAAM,EAClB,GAAG,EAAE,qBAAqB,EAC1B,WAAW,SAA2B,GACrC,OAAO,CAqFT"}

package/dist/{raycastCollisionShape.js → raycastCollisionShape2D.js}

@@ -1,13 +1,13 @@
-import { getCollisionPolygonValidationStatus } from './collisionShapeValidation';
-import { getCollisionShapeContainsPoint } from './pointContainment';
+import { getCollisionPolygonValidationStatus2D } from './collisionShapeValidation';
+import { getCollisionShapeContainsPoint2D } from './pointContainment';
 const RELATIVE_EPSILON = 1e-9;
-export function createCollisionRaycastHit() {
+export function createCollisionRaycastHit2D() {
     return { fraction: 0, x: 0, y: 0, normalX: 0, normalY: 0 };
 }
 // Writes the first exact intersection of `origin + direction * fraction` with `shape`. Direction need
 // not be normalized; fraction therefore stays in the caller's parameterization. `maxFraction` bounds a
 // segment or sweep without changing the ray direction, and defaults to an unbounded forward ray.
-export function raycastCollisionShape(shape, originX, originY, directionX, directionY, out, maxFraction = Number.POSITIVE_INFINITY) {
+export function raycastCollisionShape2D(shape, originX, originY, directionX, directionY, out, maxFraction = Number.POSITIVE_INFINITY) {
     clearRaycastHit(out);
     if (!Number.isFinite(originX) ||
         !Number.isFinite(originY) ||
@@ -17,7 +17,7 @@ export function raycastCollisionShape(shape, originX, originY, directionX, direc
         maxFraction < 0) {
         return false;
     }
-    if (getCollisionShapeContainsPoint(shape, originX, originY)) {
+    if (getCollisionShapeContainsPoint2D(shape, originX, originY)) {
         writeRaycastHit(out, originX, originY, directionX, directionY, 0, 0, 0);
         return true;
     }
@@ -163,7 +163,7 @@ function raycastObb(shape, originX, originY, directionX, directionY, maxFraction
     return true;
 }
 function raycastPolygon(points, originX, originY, directionX, directionY, maxFraction, out, scratch) {
-    if (getCollisionPolygonValidationStatus(points) !== null)
+    if (getCollisionPolygonValidationStatus2D(points) !== null)
         return false;
     let bestFraction = maxFraction;
     let bestNormalX = 0;
@@ -308,4 +308,4 @@ function releaseRaycastScratch(scratch) {
     raycastScratchPool.push(scratch);
 }
 const raycastScratchPool = [createRaycastScratch()];
-//# sourceMappingURL=raycastCollisionShape.js.map
+//# sourceMappingURL=raycastCollisionShape2D.js.map

package/dist/raycastCollisionShape2D.js.map

@@ -0,0 +1 @@
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package/dist/registerBuiltInCollisionPairTests2D.d.ts

@@ -0,0 +1,2 @@
+export declare function registerBuiltInCollisionPairTests2D(): void;
+//# sourceMappingURL=registerBuiltInCollisionPairTests2D.d.ts.map

package/dist/registerBuiltInCollisionPairTests2D.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"registerBuiltInCollisionPairTests2D.d.ts","sourceRoot":"","sources":["../src/registerBuiltInCollisionPairTests2D.ts"],"names":[],"mappings":"AAiCA,wBAAgB,mCAAmC,IAAI,IAAI,CA+B1D"}