@flighthq/physics2d 0.3.0-edge.1458.0c01b63

package/dist/colliderTransform.d.ts

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+import type { CollisionShape, Physics2DCollider, RigidBody2D } from '@flighthq/types/contract';
+export declare function createPhysics2DColliderWorldShape(local: Readonly<CollisionShape>): CollisionShape;
+export declare function updatePhysics2DColliderWorldShape(collider: Physics2DCollider, body: Readonly<RigidBody2D>): void;
+export declare function writePhysics2DColliderBounds(collider: Readonly<Physics2DCollider>, out: {
+    minX: number;
+    minY: number;
+    maxX: number;
+    maxY: number;
+}): void;
+//# sourceMappingURL=colliderTransform.d.ts.map

package/dist/colliderTransform.d.ts.map

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package/dist/colliderTransform.js

@@ -0,0 +1,137 @@
+// Allocates the world-space shape a collider needs for `local`, choosing the kind the transform can
+// actually express. Every field is filled at creation so the shape is never read half-initialised, and
+// polygon storage is sized once here so the per-step transform can write in place.
+export function createPhysics2DColliderWorldShape(local) {
+    switch (local.kind) {
+        case 'circle':
+            return { kind: 'circle', x: local.x, y: local.y, radius: local.radius };
+        case 'aabb':
+        case 'obb':
+            return { kind: 'obb', x: 0, y: 0, halfW: 0, halfH: 0, rotation: 0 };
+        case 'polygon':
+            return { kind: 'polygon', points: local.points.slice() };
+        default:
+            return { kind: 'point', x: 0, y: 0 };
+    }
+}
+// Rewrites `collider.world` from its local shape and the body's current transform. Called once per
+// collider per step, before the narrow phase — never per contact test, because a body with four
+// colliders against a hundred broadphase candidates would otherwise transform the same shape a hundred
+// times to produce the same answer.
+//
+// The world shape is preallocated at collider creation and mutated in place, so a step allocates
+// nothing. Polygon points are the only variable-length part, and the world array is sized once from the
+// local one; a caller that reshapes a collider must rebuild it through `createPhysics2DCollider` rather
+// than mutating `local.points` in place.
+export function updatePhysics2DColliderWorldShape(collider, body) {
+    const local = collider.local;
+    const world = collider.world;
+    const cos = Math.cos(body.angle);
+    const sin = Math.sin(body.angle);
+    if (local.kind === 'circle' && world.kind === 'circle') {
+        world.x = body.x + local.x * cos - local.y * sin;
+        world.y = body.y + local.x * sin + local.y * cos;
+        world.radius = local.radius;
+        return;
+    }
+    // An axis-aligned box promotes to an oriented box in world space: rotate it and it is no longer
+    // axis-aligned, and silently keeping the `aabb` kind would grow the box to its bounding extent the
+    // first time the body turned.
+    if (local.kind === 'aabb' && world.kind === 'obb') {
+        const centerX = (local.minX + local.maxX) / 2;
+        const centerY = (local.minY + local.maxY) / 2;
+        world.x = body.x + centerX * cos - centerY * sin;
+        world.y = body.y + centerX * sin + centerY * cos;
+        world.halfW = (local.maxX - local.minX) / 2;
+        world.halfH = (local.maxY - local.minY) / 2;
+        world.rotation = body.angle;
+        return;
+    }
+    if (local.kind === 'obb' && world.kind === 'obb') {
+        world.x = body.x + local.x * cos - local.y * sin;
+        world.y = body.y + local.x * sin + local.y * cos;
+        world.halfW = local.halfW;
+        world.halfH = local.halfH;
+        world.rotation = body.angle + local.rotation;
+        return;
+    }
+    if (local.kind === 'polygon' && world.kind === 'polygon') {
+        const source = local.points;
+        const target = world.points;
+        for (let i = 0; i < source.length; i += 2) {
+            const x = source[i];
+            const y = source[i + 1];
+            target[i] = body.x + x * cos - y * sin;
+            target[i + 1] = body.y + x * sin + y * cos;
+        }
+    }
+}
+// Writes `collider.world`'s axis-aligned bounds into `out` — the broadphase's view of the collider.
+// Bounds are computed from the WORLD shape rather than by transforming local bounds, because rotating
+// an extent and rotating a shape's bounds are different boxes: the second is the bound of the first and
+// grows without limit as the body spins.
+export function writePhysics2DColliderBounds(collider, out) {
+    const shape = collider.world;
+    switch (shape.kind) {
+        case 'circle':
+            out.minX = shape.x - shape.radius;
+            out.minY = shape.y - shape.radius;
+            out.maxX = shape.x + shape.radius;
+            out.maxY = shape.y + shape.radius;
+            return;
+        case 'aabb':
+            out.minX = shape.minX;
+            out.minY = shape.minY;
+            out.maxX = shape.maxX;
+            out.maxY = shape.maxY;
+            return;
+        case 'obb': {
+            const cos = Math.abs(Math.cos(shape.rotation));
+            const sin = Math.abs(Math.sin(shape.rotation));
+            const extentX = shape.halfW * cos + shape.halfH * sin;
+            const extentY = shape.halfW * sin + shape.halfH * cos;
+            out.minX = shape.x - extentX;
+            out.minY = shape.y - extentY;
+            out.maxX = shape.x + extentX;
+            out.maxY = shape.y + extentY;
+            return;
+        }
+        case 'polygon': {
+            const points = shape.points;
+            if (points.length < 2) {
+                out.minX = 0;
+                out.minY = 0;
+                out.maxX = 0;
+                out.maxY = 0;
+                return;
+            }
+            let minX = points[0];
+            let minY = points[1];
+            let maxX = minX;
+            let maxY = minY;
+            for (let i = 2; i < points.length; i += 2) {
+                const x = points[i];
+                const y = points[i + 1];
+                if (x < minX)
+                    minX = x;
+                else if (x > maxX)
+                    maxX = x;
+                if (y < minY)
+                    minY = y;
+                else if (y > maxY)
+                    maxY = y;
+            }
+            out.minX = minX;
+            out.minY = minY;
+            out.maxX = maxX;
+            out.maxY = maxY;
+            return;
+        }
+        default:
+            out.minX = 0;
+            out.minY = 0;
+            out.maxX = 0;
+            out.maxY = 0;
+    }
+}
+//# sourceMappingURL=colliderTransform.js.map

package/dist/colliderTransform.js.map

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package/dist/contract.d.ts

@@ -0,0 +1,9 @@
+export * from './colliderTransform';
+export * from './islands';
+export * from './jointRegistry';
+export * from './joints';
+export * from './massProperties';
+export * from './solver';
+export * from './step';
+export * from './world';
+//# sourceMappingURL=contract.d.ts.map

package/dist/contract.d.ts.map

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package/dist/contract.js

@@ -0,0 +1,9 @@
+export * from './colliderTransform';
+export * from './islands';
+export * from './jointRegistry';
+export * from './joints';
+export * from './massProperties';
+export * from './solver';
+export * from './step';
+export * from './world';
+//# sourceMappingURL=contract.js.map

package/dist/contract.js.map

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package/dist/index.d.ts

@@ -0,0 +1,9 @@
+export { createPhysics2DColliderWorldShape, updatePhysics2DColliderWorldShape, writePhysics2DColliderBounds, } from './colliderTransform';
+export { isRigidBody2DPairAwake, updatePhysics2DSleep, wakePhysics2DBody } from './islands';
+export { Physics2DDistanceJointKind, Physics2DMouseJointKind, Physics2DRevoluteJointKind, Physics2DRopeJointKind, Physics2DWeldJointKind, physics2DDistanceJointSolver, physics2DMouseJointSolver, physics2DRevoluteJointSolver, physics2DRopeJointSolver, physics2DWeldJointSolver, } from './joints';
+export { addPhysics2DJoint, getPhysics2DJointSolver, registerPhysics2DJointSolver, removePhysics2DJoint, } from './jointRegistry';
+export { computePhysics2DColliderMassData, updateRigidBody2DMassData } from './massProperties';
+export { applyPhysics2DImpulse, relativeNormalVelocity, solvePhysics2DContacts, solvePhysics2DContactsOnce, warmStartPhysics2DContacts, } from './solver';
+export { stepPhysics2D } from './step';
+export { addPhysics2DBody, findPhysics2DBody, createPhysics2DCollider, createPhysics2DSolverConfig, createPhysics2DWorld, createRigidBody2D, isPhysics2DPairOrdered, removePhysics2DBody, } from './world';
+//# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

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package/dist/index.js

@@ -0,0 +1,9 @@
+export { createPhysics2DColliderWorldShape, updatePhysics2DColliderWorldShape, writePhysics2DColliderBounds, } from './colliderTransform';
+export { isRigidBody2DPairAwake, updatePhysics2DSleep, wakePhysics2DBody } from './islands';
+export { Physics2DDistanceJointKind, Physics2DMouseJointKind, Physics2DRevoluteJointKind, Physics2DRopeJointKind, Physics2DWeldJointKind, physics2DDistanceJointSolver, physics2DMouseJointSolver, physics2DRevoluteJointSolver, physics2DRopeJointSolver, physics2DWeldJointSolver, } from './joints';
+export { addPhysics2DJoint, getPhysics2DJointSolver, registerPhysics2DJointSolver, removePhysics2DJoint, } from './jointRegistry';
+export { computePhysics2DColliderMassData, updateRigidBody2DMassData } from './massProperties';
+export { applyPhysics2DImpulse, relativeNormalVelocity, solvePhysics2DContacts, solvePhysics2DContactsOnce, warmStartPhysics2DContacts, } from './solver';
+export { stepPhysics2D } from './step';
+export { addPhysics2DBody, findPhysics2DBody, createPhysics2DCollider, createPhysics2DSolverConfig, createPhysics2DWorld, createRigidBody2D, isPhysics2DPairOrdered, removePhysics2DBody, } from './world';
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

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

@@ -0,0 +1,38 @@
+import type { Physics2DWorld, RigidBody2D } from '@flighthq/types/contract';
+/** Whether a constraint between these two bodies still has anything to solve.
+ *
+ *  A constraint is live only while at least one of its ends can still move this step. Two sleeping
+ *  bodies, a sleeper against static scenery, or two static bodies all resolve to nothing: every impulse
+ *  the solver could compute would be applied to a body that is not being integrated.
+ *
+ *  Skipping is not merely an optimisation, and this is the reason sleep needs a solver-side test at all
+ *  rather than only an integrator-side one. A resting contact usually carries penetration beyond the
+ *  slop, so its positional bias is non-zero; solved, it hands the sleeping pair a velocity, which the
+ *  end-of-step stillness test then reads as motion and wakes them again. A stack would twitch itself
+ *  awake every step and never rest. */
+export declare function isRigidBody2DPairAwake(a: Readonly<RigidBody2D>, b: Readonly<RigidBody2D>): boolean;
+/** Advances every body's sleep state for one step, and returns whether any body is awake.
+ *
+ *  Sleep is decided per ISLAND, not per body. Two dynamic bodies are in the same island when a contact
+ *  or a joint connects them, transitively — so a stack, a chain of links, and a pile all settle or wake
+ *  as one unit. Deciding per body instead produces the visible failure this exists to prevent: a crate
+ *  that has stopped moving falls asleep while the crate it rests on is still sliding out from under it,
+ *  and the sleeper hangs in the air until something happens to wake it.
+ *
+ *  Static bodies are excluded entirely. They never move, so they are neither awake nor asleep, and
+ *  crucially they do NOT join islands: every dynamic body resting on the same ground would otherwise be
+ *  transitively connected into one world-sized island that can only sleep when the last object in the
+ *  level stops moving.
+ *
+ *  An island sleeps only once EVERY member has been continuously below both thresholds for
+ *  `timeToSleep`. Any member exceeding a threshold resets its own timer, and because the island's timer
+ *  is the minimum across its members, one moving body keeps the whole island awake. */
+export declare function updatePhysics2DSleep(world: Physics2DWorld, dt: number): void;
+/** Wakes `body` and clears its stillness timer, so it is simulated again from this step.
+ *
+ *  The caller wakes a body; the island reduction then keeps its neighbours awake too, because a woken
+ *  body's zeroed timer becomes the minimum for its island on the next step. Waking is what any external
+ *  change to a sleeping body must do — applying a force, teleporting it, or removing what it rested on —
+ *  since a sleeping body is skipped by integration and would otherwise ignore the change entirely. */
+export declare function wakePhysics2DBody(body: RigidBody2D): void;
+//# sourceMappingURL=islands.d.ts.map

package/dist/islands.d.ts.map

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package/dist/islands.js

@@ -0,0 +1,159 @@
+import { findPhysics2DBody } from './world';
+/** Whether a constraint between these two bodies still has anything to solve.
+ *
+ *  A constraint is live only while at least one of its ends can still move this step. Two sleeping
+ *  bodies, a sleeper against static scenery, or two static bodies all resolve to nothing: every impulse
+ *  the solver could compute would be applied to a body that is not being integrated.
+ *
+ *  Skipping is not merely an optimisation, and this is the reason sleep needs a solver-side test at all
+ *  rather than only an integrator-side one. A resting contact usually carries penetration beyond the
+ *  slop, so its positional bias is non-zero; solved, it hands the sleeping pair a velocity, which the
+ *  end-of-step stillness test then reads as motion and wakes them again. A stack would twitch itself
+ *  awake every step and never rest. */
+export function isRigidBody2DPairAwake(a, b) {
+    return _isBodyLive(a) || _isBodyLive(b);
+}
+/** Advances every body's sleep state for one step, and returns whether any body is awake.
+ *
+ *  Sleep is decided per ISLAND, not per body. Two dynamic bodies are in the same island when a contact
+ *  or a joint connects them, transitively — so a stack, a chain of links, and a pile all settle or wake
+ *  as one unit. Deciding per body instead produces the visible failure this exists to prevent: a crate
+ *  that has stopped moving falls asleep while the crate it rests on is still sliding out from under it,
+ *  and the sleeper hangs in the air until something happens to wake it.
+ *
+ *  Static bodies are excluded entirely. They never move, so they are neither awake nor asleep, and
+ *  crucially they do NOT join islands: every dynamic body resting on the same ground would otherwise be
+ *  transitively connected into one world-sized island that can only sleep when the last object in the
+ *  level stops moving.
+ *
+ *  An island sleeps only once EVERY member has been continuously below both thresholds for
+ *  `timeToSleep`. Any member exceeding a threshold resets its own timer, and because the island's timer
+ *  is the minimum across its members, one moving body keeps the whole island awake. */
+export function updatePhysics2DSleep(world, dt) {
+    const config = world.config;
+    const bodies = world.bodies;
+    if (!config.allowSleeping) {
+        // The mechanism is off, so nothing may be left asleep from when it was on — a body that stayed
+        // asleep here would never be integrated again and would look frozen for the rest of the session.
+        for (const body of bodies) {
+            body.sleeping = false;
+            body.sleepTimer = 0;
+        }
+        return;
+    }
+    // Per-body stillness first: each body's own timer, independent of who it is touching.
+    for (const body of bodies) {
+        if (body.type === 'static')
+            continue;
+        if (_isBodyStill(body, config.sleepLinearThreshold, config.sleepAngularThreshold)) {
+            body.sleepTimer += dt;
+        }
+        else {
+            body.sleepTimer = 0;
+        }
+    }
+    // Then the island reduction. `_islandRootOf` is union-find over the contact and joint graph, so the
+    // root is a stable representative for the connected component.
+    const parents = new Map();
+    for (const contact of world.contacts) {
+        if (contact.sensor)
+            continue; // A sensor reports overlap and resolves nothing, so it couples no motion.
+        _unionDynamicPair(world, parents, contact.bodyA, contact.bodyB);
+    }
+    for (const joint of world.joints) {
+        _unionDynamicPair(world, parents, joint.bodyA, joint.bodyB);
+    }
+    // The island's timer is the MINIMUM across its members: the least-settled body decides.
+    const islandTimers = new Map();
+    for (const body of bodies) {
+        if (body.type === 'static')
+            continue;
+        const root = _islandRootOf(parents, body.index);
+        const current = islandTimers.get(root);
+        islandTimers.set(root, current === undefined ? body.sleepTimer : Math.min(current, body.sleepTimer));
+    }
+    for (const body of bodies) {
+        if (body.type === 'static')
+            continue;
+        const islandTimer = islandTimers.get(_islandRootOf(parents, body.index)) ?? body.sleepTimer;
+        const shouldSleep = islandTimer >= config.timeToSleep;
+        if (!shouldSleep && body.sleeping) {
+            // Waking clears the timer so a woken island must earn its rest again from zero rather than
+            // falling straight back asleep on the next step.
+            body.sleepTimer = 0;
+        }
+        body.sleeping = shouldSleep;
+        if (shouldSleep) {
+            // Zeroed rather than merely small. A sleeping body is not integrated, so any residual velocity is
+            // motion that will be silently resumed the moment it wakes — a crate that settled ten steps ago
+            // would twitch on waking. Zeroing also makes the stillness test trivially true next step, so a
+            // body cannot oscillate across the threshold while asleep.
+            body.velocityX = 0;
+            body.velocityY = 0;
+            body.angularVelocity = 0;
+        }
+    }
+}
+/** Wakes `body` and clears its stillness timer, so it is simulated again from this step.
+ *
+ *  The caller wakes a body; the island reduction then keeps its neighbours awake too, because a woken
+ *  body's zeroed timer becomes the minimum for its island on the next step. Waking is what any external
+ *  change to a sleeping body must do — applying a force, teleporting it, or removing what it rested on —
+ *  since a sleeping body is skipped by integration and would otherwise ignore the change entirely. */
+export function wakePhysics2DBody(body) {
+    body.sleeping = false;
+    body.sleepTimer = 0;
+}
+// A body the solver can still move: dynamic or kinematic, and awake. Static bodies are never live —
+// their inverse mass is zero, so an impulse against them changes nothing regardless of sleep state.
+function _isBodyLive(body) {
+    return body.type !== 'static' && !body.sleeping;
+}
+function _isBodyStill(body, linearThreshold, angularThreshold) {
+    // A body someone has applied force or torque to is not at rest, whatever its velocity currently reads.
+    // Velocity alone would miss it: force is applied during the step, so a sleeper skips the integration
+    // that would have turned it into motion, and the force is cleared at the end of the step — the push
+    // would be silently swallowed and the body would stay asleep under continuous load.
+    if (body.forceX !== 0 || body.forceY !== 0 || body.torque !== 0)
+        return false;
+    const speedSquared = body.velocityX * body.velocityX + body.velocityY * body.velocityY;
+    if (speedSquared > linearThreshold * linearThreshold)
+        return false;
+    return Math.abs(body.angularVelocity) <= angularThreshold;
+}
+// Joins two bodies into one island, but only when BOTH are dynamic. A static body is not a member of
+// any island, so it cannot act as a bridge — otherwise the ground would merge every stack in the level
+// into a single island that sleeps only when nothing anywhere is moving.
+function _unionDynamicPair(world, parents, a, b) {
+    const first = findPhysics2DBody(world, a);
+    const second = findPhysics2DBody(world, b);
+    if (first === null || second === null)
+        return;
+    if (first.type === 'static' || second.type === 'static')
+        return;
+    const rootA = _islandRootOf(parents, a);
+    const rootB = _islandRootOf(parents, b);
+    if (rootA !== rootB)
+        parents.set(rootA, rootB);
+}
+// Union-find with path compression. An index with no entry is its own root, so a body touching nothing
+// is an island of one without needing to be inserted first.
+function _islandRootOf(parents, index) {
+    let root = index;
+    for (;;) {
+        const parent = parents.get(root);
+        if (parent === undefined || parent === root)
+            break;
+        root = parent;
+    }
+    let walk = index;
+    for (;;) {
+        const parent = parents.get(walk);
+        if (parent === undefined || parent === walk)
+            break;
+        parents.set(walk, root);
+        walk = parent;
+    }
+    return root;
+}
+//# sourceMappingURL=islands.js.map

package/dist/islands.js.map

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package/dist/jointRegistry.d.ts

@@ -0,0 +1,6 @@
+import type { Physics2DJoint, Physics2DJointKind, Physics2DJointSolver, Physics2DWorld } from '@flighthq/types/contract';
+export declare function addPhysics2DJoint(world: Physics2DWorld, joint: Physics2DJoint): Physics2DJoint;
+export declare function getPhysics2DJointSolver(world: Readonly<Physics2DWorld>, kind: Physics2DJointKind): Physics2DJointSolver | null;
+export declare function registerPhysics2DJointSolver(world: Physics2DWorld, kind: Physics2DJointKind, solver: Physics2DJointSolver): void;
+export declare function removePhysics2DJoint(world: Physics2DWorld, joint: Readonly<Physics2DJoint>): boolean;
+//# sourceMappingURL=jointRegistry.d.ts.map

package/dist/jointRegistry.d.ts.map

@@ -0,0 +1 @@
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package/dist/jointRegistry.js

@@ -0,0 +1,78 @@
+import { findPhysics2DBody, isPhysics2DPairOrdered } from './world';
+// Adds `joint` to `world` under the same canonical body ordering contacts use, swapping its two ends when
+// the caller supplied them the other way round.
+//
+// A joint is a constraint in the SAME sequential solve list as a contact, so it inherits the same
+// obligation: each impulse lands on the velocities the previous one left, and an ordering that varied
+// with construction history would make the result vary with it. Contacts get this from the broadphase
+// pair sort; joints have no broadphase, so it is enforced here, at the one place a joint enters the
+// world. The anchors and lever arms swap with the bodies — a joint whose ends were exchanged without its
+// anchors would attach to the wrong points and hold the pair in a pose nobody asked for.
+export function addPhysics2DJoint(world, joint) {
+    // The kind decides how to reverse itself, because the registry cannot know which of a joint's fields
+    // carry a direction — see _canonicalizePhysics2DJointEnds.
+    // Only canonicalize when the kind can be consulted. A joint whose solver is not registered yet is
+    // explicitly supported (a scene deserialized ahead of the code that solves it), and swapping it now
+    // would exchange the bodies and anchors while its kind-specific direction fields stayed as authored --
+    // the generic half of a swap with the kind's half missing, which no later registration would repair.
+    // An unregistered joint constrains nothing, so its ordering does not matter until a solver exists;
+    // registerPhysics2DJointSolver canonicalizes what is already in the world at that point.
+    if (getPhysics2DJointSolver(world, joint.kind) !== null)
+        _canonicalizePhysics2DJointEnds(world, joint);
+    world.joints.push(joint);
+    return joint;
+}
+// Exchanges `joint`'s ends when the pair is out of canonical order and the kind consents. The kind is
+// asked only when a swap is actually pending, since swapEnds both vetoes and transforms: calling it
+// otherwise would apply a reversal to ends that never moved.
+function _canonicalizePhysics2DJointEnds(world, joint) {
+    const first = findPhysics2DBody(world, joint.bodyA);
+    const second = findPhysics2DBody(world, joint.bodyB);
+    if (first === null || second === null || isPhysics2DPairOrdered(first, second))
+        return;
+    const solver = getPhysics2DJointSolver(world, joint.kind);
+    if (!(solver?.swapEnds?.(joint) ?? true))
+        return;
+    const bodyA = joint.bodyA;
+    joint.bodyA = joint.bodyB;
+    joint.bodyB = bodyA;
+    const anchorX = joint.localAnchorAX;
+    const anchorY = joint.localAnchorAY;
+    joint.localAnchorAX = joint.localAnchorBX;
+    joint.localAnchorAY = joint.localAnchorBY;
+    joint.localAnchorBX = anchorX;
+    joint.localAnchorBY = anchorY;
+}
+// The solver registered for `kind`, or null when none is. A missing solver is an expected condition, not
+// an error: a scene deserialized with a joint kind the running build does not know about should import
+// and simply not constrain, rather than refuse to load.
+export function getPhysics2DJointSolver(world, kind) {
+    return world.jointSolvers.get(kind) ?? null;
+}
+// Registers `solver` for `kind` on this world. Last write wins, so a caller may replace a built-in with
+// its own — collisions are avoided by the vendor-prefix convention (bare names reserved for built-ins),
+// not by a guard that would make overriding impossible.
+//
+// Registration is per-world and explicit rather than a module-level table populated on import, so a
+// bundle that never registers a joint never links one: nine solvers are nine chunks of constraint math,
+// and a game using none of them should pay for none of them.
+export function registerPhysics2DJointSolver(world, kind, solver) {
+    world.jointSolvers.set(kind, solver);
+    // Joints of this kind may already be in the world: addPhysics2DJoint deliberately leaves an
+    // unknown-kind joint in its authored order, because canonicalizing it without the kind's consent
+    // would half-swap it. This is where that deferred work happens, so the outcome no longer depends on
+    // whether the scene or the solver arrived first.
+    for (const joint of world.joints) {
+        if (joint.kind === kind)
+            _canonicalizePhysics2DJointEnds(world, joint);
+    }
+}
+// Removes `joint` from `world`. Returns false when the world does not hold it.
+export function removePhysics2DJoint(world, joint) {
+    const at = world.joints.indexOf(joint);
+    if (at < 0)
+        return false;
+    world.joints.splice(at, 1);
+    return true;
+}
+//# sourceMappingURL=jointRegistry.js.map

package/dist/jointRegistry.js.map

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package/dist/joints.d.ts

@@ -0,0 +1,39 @@
+import type { Physics2DJoint, Physics2DWorld } from '@flighthq/types/contract';
+export declare const Physics2DDistanceJointKind = "Distance";
+export declare const Physics2DMouseJointKind = "Mouse";
+export declare const Physics2DRevoluteJointKind = "Revolute";
+export declare const Physics2DRopeJointKind = "Rope";
+export declare const Physics2DWeldJointKind = "Weld";
+export declare const physics2DDistanceJointSolver: {
+    warmStart(world: Physics2DWorld, joint: Physics2DJoint): void;
+    clearAccumulatedImpulses(joint: Physics2DJoint): void;
+    prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
+    solve(world: Physics2DWorld, joint: Physics2DJoint): void;
+};
+export declare const physics2DMouseJointSolver: {
+    swapEnds(): boolean;
+    clearAccumulatedImpulses(joint: Physics2DJoint): void;
+    prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
+    solve(world: Physics2DWorld, joint: Physics2DJoint): void;
+};
+export declare const physics2DRevoluteJointSolver: {
+    warmStart(world: Physics2DWorld, joint: Physics2DJoint): void;
+    clearAccumulatedImpulses(joint: Physics2DJoint): void;
+    swapEnds(joint: Physics2DJoint): boolean;
+    prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
+    solve(world: Physics2DWorld, joint: Physics2DJoint): void;
+};
+export declare const physics2DRopeJointSolver: {
+    warmStart(world: Physics2DWorld, joint: Physics2DJoint): void;
+    clearAccumulatedImpulses(joint: Physics2DJoint): void;
+    prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
+    solve(world: Physics2DWorld, joint: Physics2DJoint): void;
+};
+export declare const physics2DWeldJointSolver: {
+    warmStart(world: Physics2DWorld, joint: Physics2DJoint): void;
+    clearAccumulatedImpulses(joint: Physics2DJoint): void;
+    swapEnds(joint: Physics2DJoint): boolean;
+    prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
+    solve(world: Physics2DWorld, joint: Physics2DJoint): void;
+};
+//# sourceMappingURL=joints.d.ts.map

package/dist/joints.d.ts.map

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