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

package/dist/shapeContact.js

@@ -1,11 +1,11 @@
 import { FEATURE_INDEX_LIMIT, packContactFeatureId } from './contactFeatureId';
-import { clearCollisionContactManifold } from './contactManifold';
+import { clearCollisionContactManifold2D } from './contactManifold';
 import { writeAabbVertices, writeObbVertices } from './convexVertices';
-import { createCollisionManifold } from './manifold';
+import { createCollisionManifold2D } from './manifold';
 import { testCircleAabbCollision, testCircleCircleCollision, testCircleObbCollision, testCirclePolygonCollision, } from './shapeCollision';
 // The 2D narrow-phase contact tests — the same ten manifold-bearing pairs as the `test*Collision`
 // family, but resolving the full contact set instead of only the minimum-translation vector. Each
-// writes an `out` CollisionContactManifold and returns whether the pair overlaps; the normal, depth,
+// writes an `out` CollisionContactManifold2D and returns whether the pair overlaps; the normal, depth,
 // and touching-is-not-overlapping convention match `test*Collision` exactly.
 //
 // These are a strict superset of the lean tests and cost more: convex pairs run reference/incident
@@ -59,7 +59,7 @@ export function collideCircleAabbContactManifold(a, b, out) {
     const scratch = acquireShapeContactScratch();
     try {
         if (!testCircleAabbCollision(a, b, scratch.leanManifold)) {
-            clearCollisionContactManifold(out);
+            clearCollisionContactManifold2D(out);
             return false;
         }
         return writeCircleContact(a.x, a.y, a.radius, out, scratch);
@@ -73,7 +73,7 @@ export function collideCircleCircleContactManifold(a, b, out) {
     const scratch = acquireShapeContactScratch();
     try {
         if (!testCircleCircleCollision(a, b, scratch.leanManifold)) {
-            clearCollisionContactManifold(out);
+            clearCollisionContactManifold2D(out);
             return false;
         }
         return writeCircleContact(a.x, a.y, a.radius, out, scratch);
@@ -87,7 +87,7 @@ export function collideCircleObbContactManifold(a, b, out) {
     const scratch = acquireShapeContactScratch();
     try {
         if (!testCircleObbCollision(a, b, scratch.leanManifold)) {
-            clearCollisionContactManifold(out);
+            clearCollisionContactManifold2D(out);
             return false;
         }
         return writeCircleContact(a.x, a.y, a.radius, out, scratch);
@@ -101,7 +101,7 @@ export function collideCirclePolygonContactManifold(a, b, out) {
     const scratch = acquireShapeContactScratch();
     try {
         if (!testCirclePolygonCollision(a, b, scratch.leanManifold)) {
-            clearCollisionContactManifold(out);
+            clearCollisionContactManifold2D(out);
             return false;
         }
         return writeCircleContact(a.x, a.y, a.radius, out, scratch);
@@ -163,12 +163,12 @@ function convexContact(ax, an, bx, bn, out, scratch) {
     // the face indices no longer pack into distinct feature ids, and a silently aliased id is worse than
     // a reported miss: the solver would warm-start a contact from an unrelated contact's impulse.
     if (an < 3 || bn < 3 || an > FEATURE_INDEX_LIMIT || bn > FEATURE_INDEX_LIMIT) {
-        clearCollisionContactManifold(out);
+        clearCollisionContactManifold2D(out);
         return false;
     }
     const separationA = maxFaceSeparation(ax, an, bx, bn, scratch);
     if (separationA >= 0 || scratch.separationEdge < 0) {
-        clearCollisionContactManifold(out);
+        clearCollisionContactManifold2D(out);
         return false;
     }
     const edgeA = scratch.separationEdge;
@@ -176,7 +176,7 @@ function convexContact(ax, an, bx, bn, out, scratch) {
     const normalAY = scratch.separationNormalY;
     const separationB = maxFaceSeparation(bx, bn, ax, an, scratch);
     if (separationB >= 0 || scratch.separationEdge < 0) {
-        clearCollisionContactManifold(out);
+        clearCollisionContactManifold2D(out);
         return false;
     }
     const edgeB = scratch.separationEdge;
@@ -209,7 +209,7 @@ function convexContact(ax, an, bx, bn, out, scratch) {
     let tangentY = v2Y - v1Y;
     const tangentLength = Math.sqrt(tangentX * tangentX + tangentY * tangentY);
     if (tangentLength <= EPS) {
-        clearCollisionContactManifold(out);
+        clearCollisionContactManifold2D(out);
         return false;
     }
     tangentX /= tangentLength;
@@ -387,7 +387,7 @@ function createShapeContactScratch() {
     return {
         verticesA: new Float64Array(8),
         verticesB: new Float64Array(8),
-        leanManifold: createCollisionManifold(),
+        leanManifold: createCollisionManifold2D(),
         separationEdge: -1,
         separationNormalX: 0,
         separationNormalY: 0,

package/dist/shapeContact.js.map

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package/dist/sweepCollisionShape2D.d.ts

@@ -0,0 +1,4 @@
+import type { CollisionBuiltInShape2D, CollisionTimeOfImpact2D } from '@flighthq/types/contract';
+export declare function createCollisionTimeOfImpact2D(): CollisionTimeOfImpact2D;
+export declare function sweepCollisionShape2D(shapeA: Readonly<CollisionBuiltInShape2D>, translationAX: number, translationAY: number, shapeB: Readonly<CollisionBuiltInShape2D>, translationBX: number, translationBY: number, out: CollisionTimeOfImpact2D, maxFraction?: number): boolean;
+//# sourceMappingURL=sweepCollisionShape2D.d.ts.map

package/dist/sweepCollisionShape2D.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"sweepCollisionShape2D.d.ts","sourceRoot":"","sources":["../src/sweepCollisionShape2D.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,uBAAuB,EAAE,uBAAuB,EAAE,MAAM,0BAA0B,CAAC;AAOjG,wBAAgB,6BAA6B,IAAI,uBAAuB,CAEvE;AAMD,wBAAgB,qBAAqB,CACnC,MAAM,EAAE,QAAQ,CAAC,uBAAuB,CAAC,EACzC,aAAa,EAAE,MAAM,EACrB,aAAa,EAAE,MAAM,EACrB,MAAM,EAAE,QAAQ,CAAC,uBAAuB,CAAC,EACzC,aAAa,EAAE,MAAM,EACrB,aAAa,EAAE,MAAM,EACrB,GAAG,EAAE,uBAAuB,EAC5B,WAAW,SAAI,GACd,OAAO,CA+BT"}

package/dist/{sweepCollisionShape.js → sweepCollisionShape2D.js}

@@ -1,15 +1,15 @@
-import { collideContactManifold } from './collideContactManifold';
-import { getCollisionShapeValidationStatus } from './collisionShapeValidation';
-import { createCollisionContactManifold } from './contactManifold';
+import { collideContactManifold2D } from './collideContactManifold2D';
+import { getCollisionShapeValidationStatus2D } from './collisionShapeValidation';
+import { createCollisionContactManifold2D } from './contactManifold';
 import { writeAabbVertices, writeObbVertices } from './convexVertices';
-export function createCollisionTimeOfImpact() {
+export function createCollisionTimeOfImpact2D() {
     return { fraction: 0, x: 0, y: 0, normalX: 0, normalY: 0 };
 }
 // Finds the exact first contact under LINEAR TRANSLATION of both shapes. Circle-circle uses its
 // quadratic root, circle-polygon uses the polygon's rounded face/vertex expansion, and polygon pairs
 // use continuous SAT. Those are the complete convex area-shape combinations supported by the discrete
 // manifold dispatcher; point/segment and invalid/custom kinds fail closed and fully clear `out`.
-export function sweepCollisionShape(shapeA, translationAX, translationAY, shapeB, translationBX, translationBY, out, maxFraction = 1) {
+export function sweepCollisionShape2D(shapeA, translationAX, translationAY, shapeB, translationBX, translationBY, out, maxFraction = 1) {
     clearCollisionTimeOfImpact(out);
     if (!Number.isFinite(translationAX) ||
         !Number.isFinite(translationAY) ||
@@ -17,8 +17,8 @@ export function sweepCollisionShape(shapeA, translationAX, translationAY, shapeB
         !Number.isFinite(translationBY) ||
         !Number.isFinite(maxFraction) ||
         maxFraction < 0 ||
-        getCollisionShapeValidationStatus(shapeA) !== null ||
-        getCollisionShapeValidationStatus(shapeB) !== null) {
+        getCollisionShapeValidationStatus2D(shapeA) !== null ||
+        getCollisionShapeValidationStatus2D(shapeB) !== null) {
         return false;
     }
     const scratch = acquireCollisionSweepScratch();
@@ -30,7 +30,7 @@ export function sweepCollisionShape(shapeA, translationAX, translationAY, shapeB
     }
 }
 function sweepCollisionShapeWithScratch(shapeA, translationAX, translationAY, shapeB, translationBX, translationBY, out, maxFraction, scratch) {
-    if (collideContactManifold(shapeA, shapeB, scratch.manifold)) {
+    if (collideContactManifold2D(shapeA, shapeB, scratch.manifold)) {
         out.normalX = canonicalZero(scratch.manifold.normalX);
         out.normalY = canonicalZero(scratch.manifold.normalY);
         writeShapeASupport(shapeA, 0, 0, out, scratch);
@@ -311,7 +311,7 @@ function acquireCollisionSweepScratch() {
 }
 function createCollisionSweepScratch() {
     return {
-        manifold: createCollisionContactManifold(),
+        manifold: createCollisionContactManifold2D(),
         verticesA: new Float64Array(8),
         verticesB: new Float64Array(8),
         projectionMin: 0,
@@ -326,4 +326,4 @@ function releaseCollisionSweepScratch(scratch) {
     collisionSweepScratchPool.push(scratch);
 }
 const collisionSweepScratchPool = [createCollisionSweepScratch()];
-//# sourceMappingURL=sweepCollisionShape.js.map
+//# sourceMappingURL=sweepCollisionShape2D.js.map

package/dist/sweepCollisionShape2D.js.map

@@ -0,0 +1 @@
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package/dist/testCollision2D.d.ts

@@ -0,0 +1,4 @@
+import type { CollisionManifold2D, CollisionShape2D, CollisionTestGuard2D } from '@flighthq/types/contract';
+export declare function setCollisionTestGuard2D(guard: CollisionTestGuard2D | null): void;
+export declare function testCollision2D(a: Readonly<CollisionShape2D>, b: Readonly<CollisionShape2D>, out: CollisionManifold2D): boolean;
+//# sourceMappingURL=testCollision2D.d.ts.map

package/dist/testCollision2D.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"testCollision2D.d.ts","sourceRoot":"","sources":["../src/testCollision2D.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,mBAAmB,EAAE,gBAAgB,EAAE,oBAAoB,EAAE,MAAM,0BAA0B,CAAC;AAM5G,wBAAgB,uBAAuB,CAAC,KAAK,EAAE,oBAAoB,GAAG,IAAI,GAAG,IAAI,CAEhF;AAqBD,wBAAgB,eAAe,CAC7B,CAAC,EAAE,QAAQ,CAAC,gBAAgB,CAAC,EAC7B,CAAC,EAAE,QAAQ,CAAC,gBAAgB,CAAC,EAC7B,GAAG,EAAE,mBAAmB,GACvB,OAAO,CAeT"}

package/dist/testCollision2D.js

@@ -0,0 +1,43 @@
+import { getCollisionPairTest2D } from './collisionSupport2D';
+import { testCollisionSupport2D } from './gjk2D';
+// Installs the optional diagnostics seam consulted before testCollision2D dispatches its shape pair.
+export function setCollisionTestGuard2D(guard) {
+    collisionTestGuard = guard;
+}
+// Generic narrow-phase test: writes the manifold pushing **A out of B** and returns whether the pair
+// overlaps. Dispatch is a two-tier registry lookup, in this order:
+//
+//  1. A PAIR SPECIALIZATION registered for this ordered kind pair, then for the reverse pair with the
+//     normal negated. This is where the ten SAT pairs live once `registerBuiltInCollisionPairTests2D`
+//     has been called, and where a vendor puts a closed-form or better-conditioned path of its own.
+//  2. The GENERIC support-function floor — GJK for overlap, EPA for penetration — which answers any
+//     pair whose two kinds both have a registered support function.
+//
+// Nothing is registered at module load, so a caller that registers neither gets `false` from every
+// pair. That is the same sentinel as an unregistered vendor kind and the same one
+// `explainCollisionTest2D` classifies, so a silent non-overlap always has one explanation to ask for
+// rather than two. The direct per-pair functions remain the allocation-free hot path and need no
+// registration at all.
+//
+// The reverse-key attempt is what keeps the registry to ten entries instead of twenty: a manifold is
+// oriented A-out-of-B, so a specialization written for (circle, aabb) answers (aabb, circle) exactly
+// mirrored. Negating is only valid on an OVERLAP — a miss leaves the manifold cleared, and negating a
+// zero normal would write `-0` into a field a caller may compare against `0`.
+export function testCollision2D(a, b, out) {
+    if (collisionTestGuard !== null)
+        collisionTestGuard(a, b);
+    const forward = getCollisionPairTest2D(a.kind, b.kind);
+    if (forward !== null)
+        return forward(a, b, out);
+    const reversed = getCollisionPairTest2D(b.kind, a.kind);
+    if (reversed !== null) {
+        if (!reversed(b, a, out))
+            return false;
+        out.normalX = -out.normalX;
+        out.normalY = -out.normalY;
+        return true;
+    }
+    return testCollisionSupport2D(a, b, out);
+}
+let collisionTestGuard = null;
+//# sourceMappingURL=testCollision2D.js.map

package/dist/testCollision2D.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"testCollision2D.js","sourceRoot":"","sources":["../src/testCollision2D.ts"],"names":[],"mappings":"AAEA,OAAO,EAAE,sBAAsB,EAAE,MAAM,sBAAsB,CAAC;AAC9D,OAAO,EAAE,sBAAsB,EAAE,MAAM,SAAS,CAAC;AAEjD,qGAAqG;AACrG,MAAM,UAAU,uBAAuB,CAAC,KAAkC;IACxE,kBAAkB,GAAG,KAAK,CAAC;AAC7B,CAAC;AAED,qGAAqG;AACrG,mEAAmE;AACnE,EAAE;AACF,sGAAsG;AACtG,sGAAsG;AACtG,oGAAoG;AACpG,oGAAoG;AACpG,oEAAoE;AACpE,EAAE;AACF,mGAAmG;AACnG,kFAAkF;AAClF,qGAAqG;AACrG,iGAAiG;AACjG,uBAAuB;AACvB,EAAE;AACF,qGAAqG;AACrG,qGAAqG;AACrG,sGAAsG;AACtG,8EAA8E;AAC9E,MAAM,UAAU,eAAe,CAC7B,CAA6B,EAC7B,CAA6B,EAC7B,GAAwB;IAExB,IAAI,kBAAkB,KAAK,IAAI;QAAE,kBAAkB,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAE1D,MAAM,OAAO,GAAG,sBAAsB,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,CAAC,CAAC;IACvD,IAAI,OAAO,KAAK,IAAI;QAAE,OAAO,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC;IAEhD,MAAM,QAAQ,GAAG,sBAAsB,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,CAAC,CAAC;IACxD,IAAI,QAAQ,KAAK,IAAI,EAAE,CAAC;QACtB,IAAI,CAAC,QAAQ,CAAC,CAAC,EAAE,CAAC,EAAE,GAAG,CAAC;YAAE,OAAO,KAAK,CAAC;QACvC,GAAG,CAAC,OAAO,GAAG,CAAC,GAAG,CAAC,OAAO,CAAC;QAC3B,GAAG,CAAC,OAAO,GAAG,CAAC,GAAG,CAAC,OAAO,CAAC;QAC3B,OAAO,IAAI,CAAC;IACd,CAAC;IAED,OAAO,sBAAsB,CAAC,CAAC,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC;AAC3C,CAAC;AAED,IAAI,kBAAkB,GAAgC,IAAI,CAAC"}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@flighthq/collision",
-  "version": "0.4.0-next.1663.d9c5746",
+  "version": "0.4.0-next.1694.598ef6f",
   "author": "Joshua Granick and other contributors",
   "license": "MIT",
   "repository": {
@@ -38,9 +38,9 @@
     "clean:dist": "tsx ../../scripts/clean-package-dist.ts"
   },
   "dependencies": {
-    "@flighthq/geometry": "0.4.0-next.1663.d9c5746",
-    "@flighthq/log": "0.4.0-next.1663.d9c5746",
-    "@flighthq/types": "0.4.0-next.1663.d9c5746"
+    "@flighthq/geometry": "0.4.0-next.1694.598ef6f",
+    "@flighthq/log": "0.4.0-next.1694.598ef6f",
+    "@flighthq/types": "0.4.0-next.1694.598ef6f"
   },
   "devDependencies": {
     "typescript": "^5.3.0"

package/src/{collideContactManifold.test.ts → collideContactManifold2D.test.ts}

@@ -1,18 +1,18 @@
-import type { CollisionShape } from '@flighthq/types/contract';
+import type { CollisionShape2D } from '@flighthq/types/contract';
 import { describe, expect, it } from 'vitest';
 
-import { collideContactManifold } from './collideContactManifold';
-import { createCollisionContactManifold } from './contactManifold';
+import { collideContactManifold2D } from './collideContactManifold2D';
+import { createCollisionContactManifold2D } from './contactManifold';
 import { collideAabbAabbContactManifold, collideCircleAabbContactManifold } from './shapeContact';
 
-describe('collideContactManifold', () => {
+describe('collideContactManifold2D', () => {
   it('dispatches a box-box pair to the same contact as the direct function', () => {
-    const dispatched = createCollisionContactManifold();
-    const direct = createCollisionContactManifold();
-    const box: CollisionShape = { kind: 'aabb', minX: 0, minY: -0.1, maxX: 2, maxY: 1.9 };
-    const ground: CollisionShape = { kind: 'aabb', minX: -5, minY: -1, maxX: 5, maxY: 0 };
+    const dispatched = createCollisionContactManifold2D();
+    const direct = createCollisionContactManifold2D();
+    const box: CollisionShape2D = { kind: 'aabb', minX: 0, minY: -0.1, maxX: 2, maxY: 1.9 };
+    const ground: CollisionShape2D = { kind: 'aabb', minX: -5, minY: -1, maxX: 5, maxY: 0 };
 
-    expect(collideContactManifold(box, ground, dispatched)).toBe(true);
+    expect(collideContactManifold2D(box, ground, dispatched)).toBe(true);
     expect(collideAabbAabbContactManifold(box, ground, direct)).toBe(true);
     expect(dispatched.normalY).toBeCloseTo(direct.normalY);
     expect(dispatched.depth).toBeCloseTo(direct.depth);
@@ -24,25 +24,25 @@ describe('collideContactManifold', () => {
   });
 
   it('dispatches a circle-box pair given in either kind order', () => {
-    const dispatched = createCollisionContactManifold();
-    const direct = createCollisionContactManifold();
-    const circle: CollisionShape = { kind: 'circle', x: 0, y: 0.9, radius: 1 };
-    const ground: CollisionShape = { kind: 'aabb', minX: -5, minY: -1, maxX: 5, maxY: 0 };
+    const dispatched = createCollisionContactManifold2D();
+    const direct = createCollisionContactManifold2D();
+    const circle: CollisionShape2D = { kind: 'circle', x: 0, y: 0.9, radius: 1 };
+    const ground: CollisionShape2D = { kind: 'aabb', minX: -5, minY: -1, maxX: 5, maxY: 0 };
 
-    expect(collideContactManifold(circle, ground, dispatched)).toBe(true);
+    expect(collideContactManifold2D(circle, ground, dispatched)).toBe(true);
     expect(collideCircleAabbContactManifold(circle, ground, direct)).toBe(true);
     expect(dispatched.normalY).toBeCloseTo(direct.normalY);
     expect(dispatched.points[0].y).toBeCloseTo(direct.points[0].y);
   });
 
   it('negates the normal but keeps the world-space points when the pair arrives reversed', () => {
-    const forward = createCollisionContactManifold();
-    const reversed = createCollisionContactManifold();
-    const circle: CollisionShape = { kind: 'circle', x: 0, y: 0.9, radius: 1 };
-    const ground: CollisionShape = { kind: 'aabb', minX: -5, minY: -1, maxX: 5, maxY: 0 };
+    const forward = createCollisionContactManifold2D();
+    const reversed = createCollisionContactManifold2D();
+    const circle: CollisionShape2D = { kind: 'circle', x: 0, y: 0.9, radius: 1 };
+    const ground: CollisionShape2D = { kind: 'aabb', minX: -5, minY: -1, maxX: 5, maxY: 0 };
 
-    expect(collideContactManifold(circle, ground, forward)).toBe(true);
-    expect(collideContactManifold(ground, circle, reversed)).toBe(true);
+    expect(collideContactManifold2D(circle, ground, forward)).toBe(true);
+    expect(collideContactManifold2D(ground, circle, reversed)).toBe(true);
     expect(reversed.normalX).toBeCloseTo(-forward.normalX);
     expect(reversed.normalY).toBeCloseTo(-forward.normalY);
     expect(reversed.depth).toBeCloseTo(forward.depth);
@@ -53,13 +53,13 @@ describe('collideContactManifold', () => {
   it('assigns identical feature ids to a mixed-kind pair given in either order', () => {
     // Different kinds are ordered by kind rank before dispatch, so the same shape owns the reference
     // face either way round and the ids are genuinely order-invariant.
-    const forward = createCollisionContactManifold();
-    const reversed = createCollisionContactManifold();
-    const box: CollisionShape = { kind: 'aabb', minX: 0, minY: -0.1, maxX: 2, maxY: 1.9 };
-    const ground: CollisionShape = { kind: 'polygon', points: [-5, -1, 5, -1, 5, 0, -5, 0] };
+    const forward = createCollisionContactManifold2D();
+    const reversed = createCollisionContactManifold2D();
+    const box: CollisionShape2D = { kind: 'aabb', minX: 0, minY: -0.1, maxX: 2, maxY: 1.9 };
+    const ground: CollisionShape2D = { kind: 'polygon', points: [-5, -1, 5, -1, 5, 0, -5, 0] };
 
-    expect(collideContactManifold(box, ground, forward)).toBe(true);
-    expect(collideContactManifold(ground, box, reversed)).toBe(true);
+    expect(collideContactManifold2D(box, ground, forward)).toBe(true);
+    expect(collideContactManifold2D(ground, box, reversed)).toBe(true);
     expect(reversed.pointCount).toBe(forward.pointCount);
     for (let i = 0; i < forward.pointCount; i++) {
       expect(reversed.points[i].featureId).toBe(forward.points[i].featureId);
@@ -74,13 +74,13 @@ describe('collideContactManifold', () => {
     // the normal negates and the depth is equal — while the points sit one penetration depth apart and
     // carry different ids. Pinned deliberately: a caller keying a warm-start cache on these ids must
     // supply a stable argument order, and this is the behaviour it would otherwise be surprised by.
-    const forward = createCollisionContactManifold();
-    const reversed = createCollisionContactManifold();
-    const box: CollisionShape = { kind: 'aabb', minX: 0, minY: -0.1, maxX: 2, maxY: 1.9 };
-    const ground: CollisionShape = { kind: 'aabb', minX: -5, minY: -1, maxX: 5, maxY: 0 };
+    const forward = createCollisionContactManifold2D();
+    const reversed = createCollisionContactManifold2D();
+    const box: CollisionShape2D = { kind: 'aabb', minX: 0, minY: -0.1, maxX: 2, maxY: 1.9 };
+    const ground: CollisionShape2D = { kind: 'aabb', minX: -5, minY: -1, maxX: 5, maxY: 0 };
 
-    expect(collideContactManifold(box, ground, forward)).toBe(true);
-    expect(collideContactManifold(ground, box, reversed)).toBe(true);
+    expect(collideContactManifold2D(box, ground, forward)).toBe(true);
+    expect(collideContactManifold2D(ground, box, reversed)).toBe(true);
     expect(reversed.normalX).toBeCloseTo(-forward.normalX);
     expect(reversed.normalY).toBeCloseTo(-forward.normalY);
     expect(reversed.depth).toBeCloseTo(forward.depth);
@@ -92,13 +92,13 @@ describe('collideContactManifold', () => {
   it('is bit-for-bit repeatable for a fixed argument order', () => {
     // The stability a warm-start cache actually depends on: the same call, made again, produces the
     // same ids and the same points. Order-invariance is the caller's to arrange; repeatability is ours.
-    const first = createCollisionContactManifold();
-    const second = createCollisionContactManifold();
-    const box: CollisionShape = { kind: 'aabb', minX: 0, minY: -0.1, maxX: 2, maxY: 1.9 };
-    const ground: CollisionShape = { kind: 'aabb', minX: -5, minY: -1, maxX: 5, maxY: 0 };
+    const first = createCollisionContactManifold2D();
+    const second = createCollisionContactManifold2D();
+    const box: CollisionShape2D = { kind: 'aabb', minX: 0, minY: -0.1, maxX: 2, maxY: 1.9 };
+    const ground: CollisionShape2D = { kind: 'aabb', minX: -5, minY: -1, maxX: 5, maxY: 0 };
 
-    expect(collideContactManifold(box, ground, first)).toBe(true);
-    expect(collideContactManifold(box, ground, second)).toBe(true);
+    expect(collideContactManifold2D(box, ground, first)).toBe(true);
+    expect(collideContactManifold2D(box, ground, second)).toBe(true);
     expect(second.pointCount).toBe(first.pointCount);
     for (let i = 0; i < first.pointCount; i++) {
       expect(second.points[i].featureId).toBe(first.points[i].featureId);
@@ -109,24 +109,24 @@ describe('collideContactManifold', () => {
   });
 
   it('reports area-less kinds as non-overlapping and carrying no contact', () => {
-    const out = createCollisionContactManifold();
-    const segment: CollisionShape = { kind: 'segment', x0: 0, y0: 0, x1: 5, y1: 5 };
-    const box: CollisionShape = { kind: 'aabb', minX: 0, minY: 0, maxX: 10, maxY: 10 };
-    expect(collideContactManifold(segment, box, out)).toBe(false);
+    const out = createCollisionContactManifold2D();
+    const segment: CollisionShape2D = { kind: 'segment', x0: 0, y0: 0, x1: 5, y1: 5 };
+    const box: CollisionShape2D = { kind: 'aabb', minX: 0, minY: 0, maxX: 10, maxY: 10 };
+    expect(collideContactManifold2D(segment, box, out)).toBe(false);
     expect(out.overlapping).toBe(false);
     expect(out.pointCount).toBe(0);
 
-    const point: CollisionShape = { kind: 'point', x: 1, y: 1 };
-    expect(collideContactManifold(point, box, out)).toBe(false);
+    const point: CollisionShape2D = { kind: 'point', x: 1, y: 1 };
+    expect(collideContactManifold2D(point, box, out)).toBe(false);
     expect(out.pointCount).toBe(0);
   });
 
   it('clears a previously populated manifold when the pair separates', () => {
-    const out = createCollisionContactManifold();
-    const ground: CollisionShape = { kind: 'aabb', minX: -5, minY: -1, maxX: 5, maxY: 0 };
-    expect(collideContactManifold({ kind: 'aabb', minX: 0, minY: -0.1, maxX: 2, maxY: 1.9 }, ground, out)).toBe(true);
+    const out = createCollisionContactManifold2D();
+    const ground: CollisionShape2D = { kind: 'aabb', minX: -5, minY: -1, maxX: 5, maxY: 0 };
+    expect(collideContactManifold2D({ kind: 'aabb', minX: 0, minY: -0.1, maxX: 2, maxY: 1.9 }, ground, out)).toBe(true);
     expect(out.pointCount).toBe(2);
-    expect(collideContactManifold({ kind: 'aabb', minX: 0, minY: 9, maxX: 2, maxY: 11 }, ground, out)).toBe(false);
+    expect(collideContactManifold2D({ kind: 'aabb', minX: 0, minY: 9, maxX: 2, maxY: 11 }, ground, out)).toBe(false);
     expect(out.pointCount).toBe(0);
     expect(out.depth).toBe(0);
     // The NORMAL is the field a stale manifold reports most convincingly: a caller that checks the
@@ -140,9 +140,9 @@ describe('collideContactManifold', () => {
   it('clears the same manifold when the following pair is a DIFFERENT kind that misses', () => {
     // Reuse across kinds, because the miss path is per-kind: a pair that clears correctly within its own
     // kind says nothing about the path a different kind takes to the same shared manifold.
-    const out = createCollisionContactManifold();
+    const out = createCollisionContactManifold2D();
     expect(
-      collideContactManifold(
+      collideContactManifold2D(
         { kind: 'obb', halfH: 2, halfW: 2, rotation: 0.3, x: 0, y: 0 },
         { kind: 'obb', halfH: 2, halfW: 2, rotation: -0.2, x: 1, y: 1 },
         out,
@@ -152,7 +152,7 @@ describe('collideContactManifold', () => {
     expect(Math.abs(out.normalX) + Math.abs(out.normalY)).toBeGreaterThan(0);
 
     expect(
-      collideContactManifold(
+      collideContactManifold2D(
         { kind: 'circle', radius: 1, x: 0, y: 0 },
         { kind: 'circle', radius: 1, x: 50, y: 0 },
         out,
@@ -165,9 +165,9 @@ describe('collideContactManifold', () => {
     // Stated rather than assumed: clearing resets pointCount, not the two point slots behind it. A test
     // asserting the slots were zeroed would be pinning an implementation detail the contract does not
     // promise, and would fail the day the manifold reuses its allocation differently.
-    const out = createCollisionContactManifold();
+    const out = createCollisionContactManifold2D();
     expect(
-      collideContactManifold(
+      collideContactManifold2D(
         { kind: 'aabb', maxX: 2, maxY: 2, minX: 0, minY: 0 },
         { kind: 'aabb', maxX: 3, maxY: 3, minX: 1, minY: 1 },
         out,
@@ -176,7 +176,7 @@ describe('collideContactManifold', () => {
     const populated = out.points.map((point) => ({ x: point.x, y: point.y }));
 
     expect(
-      collideContactManifold(
+      collideContactManifold2D(
         { kind: 'aabb', maxX: 1, maxY: 1, minX: 0, minY: 0 },
         { kind: 'aabb', maxX: 41, maxY: 41, minX: 40, minY: 40 },
         out,

package/src/collisionShapeValidation.test.ts

@@ -1,34 +1,34 @@
-import type { CollisionShape } from '@flighthq/types/contract';
+import type { CollisionShape2D } from '@flighthq/types/contract';
 
-import { getCollisionPolygonValidationStatus, getCollisionShapeValidationStatus } from './collisionShapeValidation';
+import { getCollisionPolygonValidationStatus2D, getCollisionShapeValidationStatus2D } from './collisionShapeValidation';
 
-describe('getCollisionPolygonValidationStatus', () => {
+describe('getCollisionPolygonValidationStatus2D', () => {
   it('distinguishes valid, degenerate, and non-convex polygons', () => {
-    expect(getCollisionPolygonValidationStatus([0, 0, 2, 0, 2, 2, 0, 2])).toBeNull();
-    expect(getCollisionPolygonValidationStatus([0, 0, 1, 1])).toBe('degenerate-shape');
-    expect(getCollisionPolygonValidationStatus([0, 0, 1, 0, 2, 0])).toBe('degenerate-shape');
-    expect(getCollisionPolygonValidationStatus([0, 0, 2, 0, 1, 1, 2, 2, 0, 2])).toBe('non-convex-polygon');
+    expect(getCollisionPolygonValidationStatus2D([0, 0, 2, 0, 2, 2, 0, 2])).toBeNull();
+    expect(getCollisionPolygonValidationStatus2D([0, 0, 1, 1])).toBe('degenerate-shape');
+    expect(getCollisionPolygonValidationStatus2D([0, 0, 1, 0, 2, 0])).toBe('degenerate-shape');
+    expect(getCollisionPolygonValidationStatus2D([0, 0, 2, 0, 1, 1, 2, 2, 0, 2])).toBe('non-convex-polygon');
   });
 });
 
-describe('getCollisionShapeValidationStatus', () => {
+describe('getCollisionShapeValidationStatus2D', () => {
   it('rejects every degenerate manifold shape', () => {
-    const shapes: CollisionShape[] = [
+    const shapes: CollisionShape2D[] = [
       { kind: 'circle', x: 0, y: 0, radius: 0 },
       { kind: 'aabb', minX: 1, minY: 0, maxX: 1, maxY: 2 },
       { kind: 'obb', x: 0, y: 0, halfW: 1, halfH: 0, rotation: 0 },
       { kind: 'polygon', points: [0, 0, 1, 1] },
       { kind: 'segment', x0: 1, y0: 1, x1: 1, y1: 1 },
     ];
-    for (const shape of shapes) expect(getCollisionShapeValidationStatus(shape)).toBe('degenerate-shape');
+    for (const shape of shapes) expect(getCollisionShapeValidationStatus2D(shape)).toBe('degenerate-shape');
   });
 
   it('reports area-less and unknown kinds as unsupported', () => {
-    expect(getCollisionShapeValidationStatus({ kind: 'point', x: 0, y: 0 })).toBe('unsupported-shape-kind');
-    expect(getCollisionShapeValidationStatus({ kind: 'segment', x0: 0, y0: 0, x1: 1, y1: 1 })).toBe(
+    expect(getCollisionShapeValidationStatus2D({ kind: 'point', x: 0, y: 0 })).toBe('unsupported-shape-kind');
+    expect(getCollisionShapeValidationStatus2D({ kind: 'segment', x0: 0, y0: 0, x1: 1, y1: 1 })).toBe(
       'unsupported-shape-kind',
     );
-    expect(getCollisionShapeValidationStatus({ kind: 'acme.capsule' } as unknown as CollisionShape)).toBe(
+    expect(getCollisionShapeValidationStatus2D({ kind: 'acme.capsule' } as unknown as CollisionShape2D)).toBe(
       'unsupported-shape-kind',
     );
   });