@flighthq/physics2d 0.3.0-edge.1458.0c01b63

package/dist/joints.js

@@ -0,0 +1,561 @@
+import { applyPhysics2DImpulse } from './solver';
+import { findPhysics2DBody } from './world';
+// The built-in joint kinds. Bare names are reserved for these; a user's own joint takes a vendor prefix.
+export const Physics2DDistanceJointKind = 'Distance';
+export const Physics2DMouseJointKind = 'Mouse';
+export const Physics2DRevoluteJointKind = 'Revolute';
+export const Physics2DRopeJointKind = 'Rope';
+export const Physics2DWeldJointKind = 'Weld';
+// Holds two anchors a fixed distance apart, rigidly or as a damped spring.
+//
+// One scalar constraint along the axis between the anchors. Softness enters as a modified effective mass
+// plus a position bias rather than as a separate force: solving a spring as a constraint keeps it stable
+// at any stiffness, where adding a spring FORCE explodes once the stiffness times the timestep exceeds
+// what the integrator can follow.
+export const physics2DDistanceJointSolver = {
+    warmStart(world, joint) {
+        const state = jointStateScratch.get(joint);
+        if (state === undefined)
+            return;
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        applyPhysics2DImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rBX, joint.rBY, -joint.impulse0 * state[3], -joint.impulse0 * state[4]);
+    },
+    clearAccumulatedImpulses(joint) {
+        joint.impulse0 = 0;
+    },
+    prepare(world, joint, dt) {
+        const distance = joint;
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        writeJointAnchors(bodyA, bodyB, joint);
+        const axisX = bodyB.x + joint.rBX - (bodyA.x + joint.rAX);
+        const axisY = bodyB.y + joint.rBY - (bodyA.y + joint.rAY);
+        const length = Math.sqrt(axisX * axisX + axisY * axisY);
+        if (length > EPSILON) {
+            axisScratch[0] = axisX / length;
+            axisScratch[1] = axisY / length;
+        }
+        else {
+            // Coincident anchors leave the axis undefined. Any unit vector is as correct as another and none is
+            // wrong for one step, where dividing by the length would seed NaN into both bodies permanently.
+            axisScratch[0] = 1;
+            axisScratch[1] = 0;
+        }
+        const mass = axisEffectiveMass(bodyA, bodyB, joint, axisScratch[0], axisScratch[1]);
+        const separation = length - distance.length;
+        if (distance.stiffness > 0) {
+            const angular = 2 * Math.PI * distance.stiffness;
+            const damp = 2 * mass * distance.damping * angular;
+            const spring = mass * angular * angular;
+            const gamma = dt * (damp + dt * spring);
+            jointScratch[2] = gamma > 0 ? 1 / gamma : 0;
+            jointScratch[1] = separation * dt * spring * jointScratch[2];
+            const softMass = mass + jointScratch[2];
+            jointScratch[0] = softMass > 0 ? 1 / softMass : 0;
+        }
+        else {
+            jointScratch[0] = mass > 0 ? 1 / mass : 0;
+            jointScratch[1] = separation * (BAUMGARTE / dt);
+            jointScratch[2] = 0;
+        }
+        distance.rAX = joint.rAX;
+        const distanceState = beginJointSolve(distance, 5);
+        distanceState[0] = jointScratch[0];
+        distanceState[1] = jointScratch[1];
+        distanceState[2] = jointScratch[2];
+        distanceState[3] = axisScratch[0];
+        distanceState[4] = axisScratch[1];
+    },
+    solve(world, joint) {
+        const state = jointStateScratch.get(joint);
+        if (state === undefined)
+            return;
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        const [effectiveMass, bias, gamma, axisX, axisY] = state;
+        const velocity = axisRelativeVelocity(bodyA, bodyB, joint, axisX, axisY);
+        const lambda = -effectiveMass * (velocity + bias + gamma * joint.impulse0);
+        joint.impulse0 += lambda;
+        applyPhysics2DImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rBX, joint.rBY, -lambda * axisX, -lambda * axisY);
+    },
+};
+// Drags one body toward a moving world-space target with bounded force.
+//
+// Always soft, and that is not a tuning choice: a rigid drag lets a user inject unbounded energy simply by
+// moving the cursor faster than the simulation can follow, and the rest of the world absorbs it. The force
+// bound is what keeps a dragged body from tunnelling through a wall it is pulled into.
+export const physics2DMouseJointSolver = {
+    // A mouse joint drags ONE body toward a world-space target; its other end is not a body at all, and
+    // callers pass whatever index is convenient. Canonical ordering exists to fix the solve order
+    // BETWEEN two bodies, so with only one body there is nothing to order and the exchange is pure
+    // corruption: it moved the dragged body into bodyA, and this solver acts on bodyB, so the drag
+    // silently applied to the anchor instead and the dragged body never moved.
+    swapEnds() {
+        return false;
+    },
+    // No warmStart: the drag target moves between steps, so last step's impulse is aimed at a place the
+    // cursor has already left. Seeding from it fights the new target rather than helping it converge.
+    clearAccumulatedImpulses(joint) {
+        joint.impulse0 = 0;
+        joint.impulse1 = 0;
+    },
+    prepare(world, joint, dt) {
+        const mouse = joint;
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyB === null)
+            return;
+        const cos = Math.cos(bodyB.angle);
+        const sin = Math.sin(bodyB.angle);
+        joint.rBX = joint.localAnchorBX * cos - joint.localAnchorBY * sin;
+        joint.rBY = joint.localAnchorBX * sin + joint.localAnchorBY * cos;
+        joint.rAX = 0;
+        joint.rAY = 0;
+        const angular = 2 * Math.PI * (mouse.stiffness > 0 ? mouse.stiffness : 5);
+        const damp = 2 * mouse.damping * angular;
+        const spring = angular * angular;
+        const gamma = dt * (damp + dt * spring);
+        const inverseGamma = gamma > 0 ? 1 / gamma : 0;
+        const biasFactor = dt * spring * inverseGamma;
+        // maxForce is a force; joint.impulse0/1 accumulate an impulse. Clamping one against the other was
+        // a unit error worth a factor of 1/dt — at dt 0.01 the bound admitted a hundred times the force it
+        // named. Convert once here, where dt is in hand, rather than in solve, which does not receive it.
+        const mouseState = beginJointSolve(mouse, 5);
+        mouseState[0] = inverseGamma;
+        mouseState[1] = biasFactor;
+        mouseState[2] = dt * mouse.maxForce;
+        mouseState[3] = 0;
+        mouseState[4] = 0;
+    },
+    solve(world, joint) {
+        const mouse = joint;
+        const state = jointStateScratch.get(joint);
+        if (state === undefined)
+            return;
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyB === null)
+            return;
+        const [inverseGamma, biasFactor, maxImpulse] = state;
+        const anchorX = bodyB.x + joint.rBX;
+        const anchorY = bodyB.y + joint.rBY;
+        const errorX = anchorX - mouse.targetX;
+        const errorY = anchorY - mouse.targetY;
+        const velocityX = bodyB.velocityX - bodyB.angularVelocity * joint.rBY;
+        const velocityY = bodyB.velocityY + bodyB.angularVelocity * joint.rBX;
+        const mass = bodyB.inverseMass > 0 ? 1 / bodyB.inverseMass : 0;
+        let impulseX = -mass * (velocityX + biasFactor * errorX + inverseGamma * joint.impulse0);
+        let impulseY = -mass * (velocityY + biasFactor * errorY + inverseGamma * joint.impulse1);
+        const previousX = joint.impulse0;
+        const previousY = joint.impulse1;
+        joint.impulse0 += impulseX;
+        joint.impulse1 += impulseY;
+        // Clamped on the ACCUMULATED impulse, so a later iteration can correct an earlier overshoot while the
+        // total force stays inside the bound.
+        const magnitude = Math.sqrt(joint.impulse0 * joint.impulse0 + joint.impulse1 * joint.impulse1);
+        if (magnitude > maxImpulse && magnitude > 0) {
+            const scale = maxImpulse / magnitude;
+            joint.impulse0 *= scale;
+            joint.impulse1 *= scale;
+        }
+        impulseX = joint.impulse0 - previousX;
+        impulseY = joint.impulse1 - previousY;
+        bodyB.velocityX += impulseX * bodyB.inverseMass;
+        bodyB.velocityY += impulseY * bodyB.inverseMass;
+        bodyB.angularVelocity += bodyB.inverseInertia * (joint.rBX * impulseY - joint.rBY * impulseX);
+    },
+};
+// Pins two bodies at a point, leaving rotation free — a hinge.
+//
+// Two scalar constraints, one per axis of the shared point, solved as a coupled pair rather than
+// independently: solving x then y lets each undo part of the other's correction, and a hinge under load
+// visibly creeps.
+export const physics2DRevoluteJointSolver = {
+    warmStart(world, joint) {
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        applyPhysics2DImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rBX, joint.rBY, -joint.impulse0, -joint.impulse1);
+        // The motor accumulator persists across steps, so it has to be REAPPLIED here like every other
+        // persisted impulse. Warm-starting only the point pair left it accumulating without ever acting:
+        // the solve clamps the running total against maxMotorTorque * dt, so once it reached that bound it
+        // stayed there and every later step added nothing. A low-torque motor would apply its first
+        // increment and then hold the same value forever, looking like a motor that had reached speed while
+        // the body never moved.
+        //
+        // Gated on the CURRENT enableMotor, not on the value being non-zero. A cached impulse is only valid
+        // while the thing that produced it is still running: `solve` skips a disabled motor, so reapplying
+        // its last impulse here would exert torque no solver ever asks for and nothing ever cancels — a
+        // disabled motor that keeps turning the joint forever. Clearing rather than merely skipping means a
+        // motor switched back on starts from rest instead of resuming a stale accumulator from whenever it
+        // was last enabled.
+        //
+        // Read plainly, because `prepare` has already established the accumulator and runs before this on
+        // every path. Defaulting again here would be a second owner for one invariant — and the version of
+        // that defense which shipped read into a LOCAL without writing the field back, so the very next read
+        // in `solve` saw the absent value again. A default that does not persist is not a fix.
+        const revolute = joint;
+        const motorImpulse = revolute.motorImpulse;
+        if (!revolute.enableMotor) {
+            revolute.motorImpulse = 0;
+        }
+        else if (motorImpulse !== 0) {
+            bodyA.angularVelocity -= bodyA.inverseInertia * motorImpulse;
+            bodyB.angularVelocity += bodyB.inverseInertia * motorImpulse;
+        }
+    },
+    clearAccumulatedImpulses(joint) {
+        joint.impulse0 = 0;
+        joint.impulse1 = 0;
+        joint.motorImpulse = 0;
+    },
+    // Swapping the ends reverses the sense of every angular quantity this solver reads. The relative
+    // angle is measured bodyA -> bodyB, so it negates; the limit interval negates AND its ends exchange
+    // (the old lower bound becomes the new upper); and the motor's target relative velocity reverses.
+    // Deriving it: the constraint is lower <= (angleB - angleA - reference) <= upper. Writing t for
+    // (angleB - angleA), that is lower + reference <= t <= upper + reference. After the swap t becomes
+    // -t, so the same physical interval requires reference' = -reference, lower' = -upper and
+    // upper' = -lower.
+    swapEnds(joint) {
+        const revolute = joint;
+        const lower = revolute.lowerAngle;
+        revolute.lowerAngle = -revolute.upperAngle;
+        revolute.upperAngle = -lower;
+        revolute.referenceAngle = -revolute.referenceAngle;
+        revolute.motorSpeed = -revolute.motorSpeed;
+        // Defaulted BEFORE the negation, not after. This runs when the joint is added, ahead of the first
+        // prepare, so the field may still be absent — and `-undefined` is NaN, which is not nullish, so a
+        // later `??` would accept the poison rather than replace it. Negating an absent accumulator has to
+        // produce zero, not NaN.
+        revolute.motorImpulse = -(revolute.motorImpulse ?? 0);
+        return true;
+    },
+    prepare(world, joint, dt) {
+        const revolute = joint;
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        writeJointAnchors(bodyA, bodyB, joint);
+        const errorX = bodyB.x + joint.rBX - (bodyA.x + joint.rAX);
+        const errorY = bodyB.y + joint.rBY - (bodyA.y + joint.rAY);
+        // The angular constraints share one effective mass: the pair's combined resistance to a relative
+        // spin. Zero when neither body can rotate, which disables motor and limits rather than dividing
+        // by zero.
+        const inverseInertiaSum = bodyA.inverseInertia + bodyB.inverseInertia;
+        const angularMass = inverseInertiaSum > 0 ? 1 / inverseInertiaSum : 0;
+        // The motor accumulator is revolute-specific, so the shared entry point above cannot reach it.
+        revolute.motorImpulse ??= 0;
+        const revoluteState = beginJointSolve(joint, 7);
+        revoluteState[0] = errorX * (BAUMGARTE / dt);
+        revoluteState[1] = errorY * (BAUMGARTE / dt);
+        revoluteState[2] = angularMass;
+        revoluteState[3] = 0;
+        revoluteState[4] = 0;
+        revoluteState[5] = dt * revolute.maxMotorTorque;
+        revoluteState[6] = 1 / dt;
+    },
+    solve(world, joint) {
+        const revolute = joint;
+        const state = jointStateScratch.get(joint);
+        if (state === undefined)
+            return;
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        const angularMass = state[2];
+        if (angularMass > 0) {
+            // Motor first: it is a soft target the limits are allowed to override, so solving it before the
+            // limits lets a limit's impulse win in the same iteration when they disagree.
+            if (revolute.enableMotor) {
+                const maxMotorImpulse = state[5];
+                const relative = bodyB.angularVelocity - bodyA.angularVelocity - revolute.motorSpeed;
+                const desired = -angularMass * relative;
+                const previous = revolute.motorImpulse;
+                // Clamped on the ACCUMULATED impulse against torque * dt, so the bound is a torque and not a
+                // per-iteration one that would scale with the iteration count.
+                const total = Math.min(Math.max(previous + desired, -maxMotorImpulse), maxMotorImpulse);
+                revolute.motorImpulse = total;
+                const applied = total - previous;
+                bodyA.angularVelocity -= bodyA.inverseInertia * applied;
+                bodyB.angularVelocity += bodyB.inverseInertia * applied;
+            }
+            if (revolute.enableLimit) {
+                const bias = state[6];
+                const angle = bodyB.angle - bodyA.angle - revolute.referenceAngle;
+                // Each end is a one-sided constraint: the non-negative clamp on the running impulse lets a
+                // limit push the angle back inside the interval and never pull it in.
+                //
+                // The bias is the SIGNED distance to the bound, C / dt, with no clamp on C — and both clamps
+                // are wrong, in opposite ways:
+                //
+                //   max(C, 0) suppresses correctly but cannot correct. It zeroes the bias exactly when the
+                //   angle is already outside the interval, leaving only the relative-velocity term, so a joint
+                //   authored out of range and sitting still is never pushed back: it stays violated forever.
+                //
+                //   min(C, 0) corrects but cannot suppress. It zeroes the bias while INSIDE the interval, and
+                //   the upper end then reads a positive desired impulse against any forward rotation and brakes
+                //   it to a standstill — a motor at speed 5 held the arm at exactly zero, spending its whole
+                //   torque budget against a limit it was nowhere near.
+                //
+                // Signed C does both. Inside the interval it is positive, which drives the desired impulse
+                // negative and the clamp holds the accumulator at zero, so the limit contributes nothing.
+                // Outside it is negative, which drives the desired impulse positive and pushes the angle back.
+                const lowerError = angle - revolute.lowerAngle;
+                const lowerDesired = -angularMass * (bodyB.angularVelocity - bodyA.angularVelocity + lowerError * bias);
+                const lowerPrevious = state[3];
+                const lowerTotal = Math.max(lowerPrevious + lowerDesired, 0);
+                state[3] = lowerTotal;
+                const lowerApplied = lowerTotal - lowerPrevious;
+                bodyA.angularVelocity -= bodyA.inverseInertia * lowerApplied;
+                bodyB.angularVelocity += bodyB.inverseInertia * lowerApplied;
+                const upperError = revolute.upperAngle - angle;
+                const upperDesired = -angularMass * (bodyA.angularVelocity - bodyB.angularVelocity + upperError * bias);
+                const upperPrevious = state[4];
+                const upperTotal = Math.max(upperPrevious + upperDesired, 0);
+                state[4] = upperTotal;
+                const upperApplied = upperTotal - upperPrevious;
+                bodyA.angularVelocity += bodyA.inverseInertia * upperApplied;
+                bodyB.angularVelocity -= bodyB.inverseInertia * upperApplied;
+            }
+        }
+        solvePointConstraint(bodyA, bodyB, joint, state[0], state[1]);
+    },
+};
+// An inequality constraint that acts only at full extension. Slack within `maxLength`, caught at it.
+//
+// The non-negative clamp on the accumulated impulse is what makes it a rope rather than a stiff bar: a
+// rope may pull the bodies together and may never push them apart.
+export const physics2DRopeJointSolver = {
+    warmStart(world, joint) {
+        const state = jointStateScratch.get(joint);
+        if (state === undefined)
+            return;
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        applyPhysics2DImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rBX, joint.rBY, -joint.impulse0 * state[3], -joint.impulse0 * state[4]);
+    },
+    clearAccumulatedImpulses(joint) {
+        joint.impulse0 = 0;
+    },
+    prepare(world, joint, dt) {
+        const rope = joint;
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        writeJointAnchors(bodyA, bodyB, joint);
+        const axisX = bodyB.x + joint.rBX - (bodyA.x + joint.rAX);
+        const axisY = bodyB.y + joint.rBY - (bodyA.y + joint.rAY);
+        const length = Math.sqrt(axisX * axisX + axisY * axisY);
+        const unitX = length > EPSILON ? axisX / length : 1;
+        const unitY = length > EPSILON ? axisY / length : 0;
+        const mass = axisEffectiveMass(bodyA, bodyB, joint, unitX, unitY);
+        const excess = length - rope.maxLength;
+        // Slack: no constraint at all this step, which is what a rope IS. Marked by a zero effective mass so
+        // the iterations skip it without a second flag to keep in sync.
+        const active = excess > 0;
+        const ropeState = beginJointSolve(rope, 5);
+        ropeState[0] = active && mass > 0 ? 1 / mass : 0;
+        ropeState[1] = active ? excess * (BAUMGARTE / dt) : 0;
+        ropeState[2] = 0;
+        ropeState[3] = unitX;
+        ropeState[4] = unitY;
+        if (!active)
+            joint.impulse0 = 0;
+    },
+    solve(world, joint) {
+        const state = jointStateScratch.get(joint);
+        if (state === undefined || state[0] === 0)
+            return;
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        const [effectiveMass, bias, , axisX, axisY] = state;
+        const velocity = axisRelativeVelocity(bodyA, bodyB, joint, axisX, axisY);
+        let lambda = -effectiveMass * (velocity + bias);
+        const previous = joint.impulse0;
+        joint.impulse0 = Math.min(0, previous + lambda);
+        lambda = joint.impulse0 - previous;
+        applyPhysics2DImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rBX, joint.rBY, -lambda * axisX, -lambda * axisY);
+    },
+};
+// Pins the anchors together and locks the relative angle — rigid attachment.
+//
+// The point constraint plus one angular constraint. It is solved rather than exact, so it flexes under
+// enough load; a truly rigid attachment is one body with two colliders, and the difference is that a weld
+// can be broken at runtime.
+// Weld holds the pair at a fixed relative angle, measured from bodyA to bodyB, so exchanging the ends
+// reverses that measurement and the stored reference angle must be negated with them. It is the only
+// direction-bearing field any solver reads today: revolute declares one but does not yet read it, and
+// prismatic has no solver at all, so their transforms land with the work that makes them live.
+export const physics2DWeldJointSolver = {
+    warmStart(world, joint) {
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        applyPhysics2DImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rBX, joint.rBY, -joint.impulse0, -joint.impulse1);
+        bodyA.angularVelocity -= bodyA.inverseInertia * joint.impulse2;
+        bodyB.angularVelocity += bodyB.inverseInertia * joint.impulse2;
+    },
+    clearAccumulatedImpulses(joint) {
+        joint.impulse0 = 0;
+        joint.impulse1 = 0;
+        joint.impulse2 = 0;
+    },
+    swapEnds(joint) {
+        const weld = joint;
+        weld.referenceAngle = -weld.referenceAngle;
+        return true;
+    },
+    prepare(world, joint, dt) {
+        const weld = joint;
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        writeJointAnchors(bodyA, bodyB, joint);
+        const errorX = bodyB.x + joint.rBX - (bodyA.x + joint.rAX);
+        const errorY = bodyB.y + joint.rBY - (bodyA.y + joint.rAY);
+        const angleError = bodyB.angle - bodyA.angle - weld.referenceAngle;
+        const angularMass = bodyA.inverseInertia + bodyB.inverseInertia;
+        const weldState = beginJointSolve(weld, 5);
+        weldState[0] = errorX * (BAUMGARTE / dt);
+        weldState[1] = errorY * (BAUMGARTE / dt);
+        weldState[2] = angleError * (BAUMGARTE / dt);
+        weldState[3] = angularMass > 0 ? 1 / angularMass : 0;
+        weldState[4] = 0;
+    },
+    solve(world, joint) {
+        const state = jointStateScratch.get(joint);
+        if (state === undefined)
+            return;
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        const angularVelocity = bodyB.angularVelocity - bodyA.angularVelocity;
+        const angularLambda = -state[3] * (angularVelocity + state[2]);
+        joint.impulse2 += angularLambda;
+        bodyA.angularVelocity -= bodyA.inverseInertia * angularLambda;
+        bodyB.angularVelocity += bodyB.inverseInertia * angularLambda;
+        solvePointConstraint(bodyA, bodyB, joint, state[0], state[1]);
+    },
+};
+// The shared two-axis point solve behind revolute and weld. Each axis is solved against the velocities the
+// other just left, which is the sequential-impulse property doing its job within one constraint.
+function solvePointConstraint(bodyA, bodyB, joint, biasX, biasY) {
+    const massX = axisEffectiveMass(bodyA, bodyB, joint, 1, 0);
+    const velocityX = axisRelativeVelocity(bodyA, bodyB, joint, 1, 0);
+    const lambdaX = massX > 0 ? -(velocityX + biasX) / massX : 0;
+    joint.impulse0 += lambdaX;
+    applyPhysics2DImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rBX, joint.rBY, -lambdaX, 0);
+    const massY = axisEffectiveMass(bodyA, bodyB, joint, 0, 1);
+    const velocityY = axisRelativeVelocity(bodyA, bodyB, joint, 0, 1);
+    const lambdaY = massY > 0 ? -(velocityY + biasY) / massY : 0;
+    joint.impulse1 += lambdaY;
+    applyPhysics2DImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rBX, joint.rBY, 0, -lambdaY);
+}
+// Rotates each body's local anchor into world space, relative to that body's centre of mass — the lever
+// arm every joint impulse acts through.
+function writeJointAnchors(bodyA, bodyB, joint) {
+    const cosA = Math.cos(bodyA.angle);
+    const sinA = Math.sin(bodyA.angle);
+    const cosB = Math.cos(bodyB.angle);
+    const sinB = Math.sin(bodyB.angle);
+    joint.rAX = (joint.localAnchorAX - bodyA.centerX) * cosA - (joint.localAnchorAY - bodyA.centerY) * sinA;
+    joint.rAY = (joint.localAnchorAX - bodyA.centerX) * sinA + (joint.localAnchorAY - bodyA.centerY) * cosA;
+    joint.rBX = (joint.localAnchorBX - bodyB.centerX) * cosB - (joint.localAnchorBY - bodyB.centerY) * sinB;
+    joint.rBY = (joint.localAnchorBX - bodyB.centerX) * sinB + (joint.localAnchorBY - bodyB.centerY) * cosB;
+}
+// The pair's inverse effective mass along `axis` at the joint anchors — the same quantity a contact
+// constraint uses, over the joint's lever arms instead of a contact point's.
+function axisEffectiveMass(bodyA, bodyB, joint, axisX, axisY) {
+    const crossA = joint.rAX * axisY - joint.rAY * axisX;
+    const crossB = joint.rBX * axisY - joint.rBY * axisX;
+    return (bodyA.inverseMass +
+        bodyB.inverseMass +
+        bodyA.inverseInertia * crossA * crossA +
+        bodyB.inverseInertia * crossB * crossB);
+}
+function axisRelativeVelocity(bodyA, bodyB, joint, axisX, axisY) {
+    const vax = bodyA.velocityX - bodyA.angularVelocity * joint.rAY;
+    const vay = bodyA.velocityY + bodyA.angularVelocity * joint.rAX;
+    const vbx = bodyB.velocityX - bodyB.angularVelocity * joint.rBY;
+    const vby = bodyB.velocityY + bodyB.angularVelocity * joint.rBX;
+    // B relative to A, the same sense as the positional error the bias is built from, so a positive value
+    // means the pair is separating along this axis. The contact solver measures the OPPOSITE sense, because
+    // its normal points the other way. Mixing the two is not a sign slip that shows up as a small error: the
+    // correction then adds to the violation instead of cancelling it, every iteration compounds it, and the
+    // bodies leave the world within one step.
+    return (vbx - vax) * axisX + (vby - vay) * axisY;
+}
+// Fills this joint's per-step state in place, allocating the array only the first time the joint is
+// prepared. Every solver rebuilds its whole block each step, so the array is pure scratch and reusing it
+// costs nothing — but allocating a fresh one per joint per step made the step's allocation profile scale
+// with the joint count, which is exactly the hidden per-frame allocation the package's own charter
+// forbids.
+// Returns this joint's reusable per-step scratch, sized to `length`, for the caller to write into by
+// index. It deliberately does not take the values: a `(joint, [a, b, c])` signature allocates the
+// literal at every call site on every step, so the array the joint reuses was only ever the
+// destination — the source was fresh garbage each frame, one array per joint per step. Handing the
+// destination back is what makes the prepare pass allocation-free, and it matches the SDK's
+// write-into-out convention rather than returning a new value.
+// Entry point for one joint's step: sizes its per-step scratch and ESTABLISHES its impulse accumulators.
+//
+// The accumulators are established here rather than defended at each read because every read assumed the
+// field was already a number, and a joint can reach the solver without one. The type declares them
+// required, but a joint deserialized from a saved world satisfies that only at compile time; at runtime
+// the fields are simply absent. The first read then computes `undefined + x`, and because an accumulator
+// is fed back into the next iteration the NaN does not stay local — it goes out through the applied
+// impulse into BOTH bodies' velocities, and from there into every contact they touch.
+//
+// This is the one place that covers the whole class. Every solver's `prepare` calls it, and `solve`
+// returns early when the scratch is absent, so no solver can read an accumulator this has not passed
+// over first. Kind-specific accumulators (the revolute motor) are established by their own `prepare`,
+// which is the only code that knows they exist.
+function beginJointSolve(joint, length) {
+    joint.impulse0 ??= 0;
+    joint.impulse1 ??= 0;
+    joint.impulse2 ??= 0;
+    let state = jointStateScratch.get(joint);
+    if (state === undefined) {
+        state = [];
+        jointStateScratch.set(joint, state);
+    }
+    state.length = length;
+    return state;
+}
+// Per-step solver state, keyed by joint. A Map rather than fields on the joint because the numbers each
+// solver needs mean different things per kind, and putting a fixed block of untyped scratch on the
+// public entity would make the header describe the solver's internals.
+//
+// Mutable, because a one-sided constraint accumulates its impulse ACROSS the velocity iterations of a
+// single step: the revolute limits clamp their running totals to stay non-negative, which is what makes
+// them limits rather than springs, and that total has to live somewhere between iterations.
+//
+// A WeakMap, not a Map. A module-global strong Map keyed by joint retains every joint ever prepared for
+// the lifetime of the module: removing a joint from a world drops the world's reference but not this
+// one, so the joint, its bodies' indices, and its state array all stay reachable forever. There is no
+// deletion hook to forget either, because a joint can leave a world without this module being told.
+// Keying weakly makes the retention question disappear rather than answering it — the entry goes when
+// the joint does, at every exit path, including ones nobody has written yet.
+const jointStateScratch = new WeakMap();
+const axisScratch = [0, 0];
+const jointScratch = [0, 0, 0];
+const EPSILON = 1e-9;
+// The fraction of a joint's positional error corrected per step. Matches the contact solver's rationale:
+// correcting all of it at once turns a deep error into an explosion.
+const BAUMGARTE = 0.2;
+//# sourceMappingURL=joints.js.map

package/dist/joints.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"joints.js","sourceRoot":"","sources":["../src/joints.ts"],"names":[],"mappings":"AAWA,OAAO,EAAE,qBAAqB,EAAE,MAAM,UAAU,CAAC;AACjD,OAAO,EAAE,iBAAiB,EAAE,MAAM,SAAS,CAAC;AAE5C,yGAAyG;AACzG,MAAM,CAAC,MAAM,0BAA0B,GAAG,UAAU,CAAC;AACrD,MAAM,CAAC,MAAM,uBAAuB,GAAG,OAAO,CAAC;AAC/C,MAAM,CAAC,MAAM,0BAA0B,GAAG,UAAU,CAAC;AACrD,MAAM,CAAC,MAAM,sBAAsB,GAAG,MAAM,CAAC;AAC7C,MAAM,CAAC,MAAM,sBAAsB,GAAG,MAAM,CAAC;AAE7C,2EAA2E;AAC3E,EAAE;AACF,yGAAyG;AACzG,yGAAyG;AACzG,uGAAuG;AACvG,kCAAkC;AAClC,MAAM,CAAC,MAAM,4BAA4B,GAAG;IAC1C,SAAS,CAAC,KAAqB,EAAE,KAAqB;QACpD,MAAM,KAAK,GAAG,iBAAiB,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;QAC3C,IAAI,KAAK,KAAK,SAAS;YAAE,OAAO;QAChC,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,IAAI,KAAK,KAAK,IAAI,IAAI,KAAK,KAAK,IAAI;YAAE,OAAO;QAC7C,qBAAqB,CACnB,KAAK,EACL,KAAK,EACL,KAAK,CAAC,GAAG,EACT,KAAK,CAAC,GAAG,EACT,KAAK,CAAC,GAAG,EACT,KAAK,CAAC,GAAG,EACT,CAAC,KAAK,CAAC,QAAQ,GAAG,KAAK,CAAC,CAAC,CAAC,EAC1B,CAAC,KAAK,CAAC,QAAQ,GAAG,KAAK,CAAC,CAAC,CAAC,CAC3B,CAAC;IACJ,CAAC;IAED,wBAAwB,CAAC,KAAqB;QAC5C,KAAK,CAAC,QAAQ,GAAG,CAAC,CAAC;IACrB,CAAC;IAED,OAAO,CAAC,KAAqB,EAAE,KAAqB,EAAE,EAAU;QAC9D,MAAM,QAAQ,GAAG,KAA+B,CAAC;QACjD,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,IAAI,KAAK,KAAK,IAAI,IAAI,KAAK,KAAK,IAAI;YAAE,OAAO;QAC7C,iBAAiB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,CAAC;QAEvC,MAAM,KAAK,GAAG,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,GAAG,GAAG,CAAC,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC;QAC1D,MAAM,KAAK,GAAG,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,GAAG,GAAG,CAAC,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC;QAC1D,MAAM,MAAM,GAAG,IAAI,CAAC,IAAI,CAAC,KAAK,GAAG,KAAK,GAAG,KAAK,GAAG,KAAK,CAAC,CAAC;QACxD,IAAI,MAAM,GAAG,OAAO,EAAE,CAAC;YACrB,WAAW,CAAC,CAAC,CAAC,GAAG,KAAK,GAAG,MAAM,CAAC;YAChC,WAAW,CAAC,CAAC,CAAC,GAAG,KAAK,GAAG,MAAM,CAAC;QAClC,CAAC;aAAM,CAAC;YACN,oGAAoG;YACpG,gGAAgG;YAChG,WAAW,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;YACnB,WAAW,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;QACrB,CAAC;QAED,MAAM,IAAI,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,WAAW,CAAC,CAAC,CAAC,EAAE,WAAW,CAAC,CAAC,CAAC,CAAC,CAAC;QACpF,MAAM,UAAU,GAAG,MAAM,GAAG,QAAQ,CAAC,MAAM,CAAC;QAC5C,IAAI,QAAQ,CAAC,SAAS,GAAG,CAAC,EAAE,CAAC;YAC3B,MAAM,OAAO,GAAG,CAAC,GAAG,IAAI,CAAC,EAAE,GAAG,QAAQ,CAAC,SAAS,CAAC;YACjD,MAAM,IAAI,GAAG,CAAC,GAAG,IAAI,GAAG,QAAQ,CAAC,OAAO,GAAG,OAAO,CAAC;YACnD,MAAM,MAAM,GAAG,IAAI,GAAG,OAAO,GAAG,OAAO,CAAC;YACxC,MAAM,KAAK,GAAG,EAAE,GAAG,CAAC,IAAI,GAAG,EAAE,GAAG,MAAM,CAAC,CAAC;YACxC,YAAY,CAAC,CAAC,CAAC,GAAG,KAAK,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;YAC5C,YAAY,CAAC,CAAC,CAAC,GAAG,UAAU,GAAG,EAAE,GAAG,MAAM,GAAG,YAAY,CAAC,CAAC,CAAC,CAAC;YAC7D,MAAM,QAAQ,GAAG,IAAI,GAAG,YAAY,CAAC,CAAC,CAAC,CAAC;YACxC,YAAY,CAAC,CAAC,CAAC,GAAG,QAAQ,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC;QACpD,CAAC;aAAM,CAAC;YACN,YAAY,CAAC,CAAC,CAAC,GAAG,IAAI,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;YAC1C,YAAY,CAAC,CAAC,CAAC,GAAG,UAAU,GAAG,CAAC,SAAS,GAAG,EAAE,CAAC,CAAC;YAChD,YAAY,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;QACtB,CAAC;QACD,QAAQ,CAAC,GAAG,GAAG,KAAK,CAAC,GAAG,CAAC;QACzB,MAAM,aAAa,GAAG,eAAe,CAAC,QAAQ,EAAE,CAAC,CAAC,CAAC;QACnD,aAAa,CAAC,CAAC,CAAC,GAAG,YAAY,CAAC,CAAC,CAAE,CAAC;QACpC,aAAa,CAAC,CAAC,CAAC,GAAG,YAAY,CAAC,CAAC,CAAE,CAAC;QACpC,aAAa,CAAC,CAAC,CAAC,GAAG,YAAY,CAAC,CAAC,CAAE,CAAC;QACpC,aAAa,CAAC,CAAC,CAAC,GAAG,WAAW,CAAC,CAAC,CAAE,CAAC;QACnC,aAAa,CAAC,CAAC,CAAC,GAAG,WAAW,CAAC,CAAC,CAAE,CAAC;IACrC,CAAC;IAED,KAAK,CAAC,KAAqB,EAAE,KAAqB;QAChD,MAAM,KAAK,GAAG,iBAAiB,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;QAC3C,IAAI,KAAK,KAAK,SAAS;YAAE,OAAO;QAChC,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,IAAI,KAAK,KAAK,IAAI,IAAI,KAAK,KAAK,IAAI;YAAE,OAAO;QAE7C,MAAM,CAAC,aAAa,EAAE,IAAI,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,GAAG,KAAK,CAAC;QACzD,MAAM,QAAQ,GAAG,oBAAoB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,CAAC;QACzE,MAAM,MAAM,GAAG,CAAC,aAAa,GAAG,CAAC,QAAQ,GAAG,IAAI,GAAG,KAAK,GAAG,KAAK,CAAC,QAAQ,CAAC,CAAC;QAC3E,KAAK,CAAC,QAAQ,IAAI,MAAM,CAAC;QACzB,qBAAqB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,CAAC,MAAM,GAAG,KAAK,EAAE,CAAC,MAAM,GAAG,KAAK,CAAC,CAAC;IACpH,CAAC;CACF,CAAC;AAEF,wEAAwE;AACxE,EAAE;AACF,2GAA2G;AAC3G,2GAA2G;AAC3G,uFAAuF;AACvF,MAAM,CAAC,MAAM,yBAAyB,GAAG;IACvC,oGAAoG;IACpG,8FAA8F;IAC9F,+FAA+F;IAC/F,+FAA+F;IAC/F,2EAA2E;IAC3E,QAAQ;QACN,OAAO,KAAK,CAAC;IACf,CAAC;IAED,oGAAoG;IACpG,kGAAkG;IAClG,wBAAwB,CAAC,KAAqB;QAC5C,KAAK,CAAC,QAAQ,GAAG,CAAC,CAAC;QACnB,KAAK,CAAC,QAAQ,GAAG,CAAC,CAAC;IACrB,CAAC;IAED,OAAO,CAAC,KAAqB,EAAE,KAAqB,EAAE,EAAU;QAC9D,MAAM,KAAK,GAAG,KAA4B,CAAC;QAC3C,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,IAAI,KAAK,KAAK,IAAI;YAAE,OAAO;QAC3B,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;QAClC,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;QAClC,KAAK,CAAC,GAAG,GAAG,KAAK,CAAC,aAAa,GAAG,GAAG,GAAG,KAAK,CAAC,aAAa,GAAG,GAAG,CAAC;QAClE,KAAK,CAAC,GAAG,GAAG,KAAK,CAAC,aAAa,GAAG,GAAG,GAAG,KAAK,CAAC,aAAa,GAAG,GAAG,CAAC;QAClE,KAAK,CAAC,GAAG,GAAG,CAAC,CAAC;QACd,KAAK,CAAC,GAAG,GAAG,CAAC,CAAC;QAEd,MAAM,OAAO,GAAG,CAAC,GAAG,IAAI,CAAC,EAAE,GAAG,CAAC,KAAK,CAAC,SAAS,GAAG,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;QAC1E,MAAM,IAAI,GAAG,CAAC,GAAG,KAAK,CAAC,OAAO,GAAG,OAAO,CAAC;QACzC,MAAM,MAAM,GAAG,OAAO,GAAG,OAAO,CAAC;QACjC,MAAM,KAAK,GAAG,EAAE,GAAG,CAAC,IAAI,GAAG,EAAE,GAAG,MAAM,CAAC,CAAC;QACxC,MAAM,YAAY,GAAG,KAAK,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;QAC/C,MAAM,UAAU,GAAG,EAAE,GAAG,MAAM,GAAG,YAAY,CAAC;QAC9C,kGAAkG;QAClG,mGAAmG;QACnG,kGAAkG;QAClG,MAAM,UAAU,GAAG,eAAe,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC;QAC7C,UAAU,CAAC,CAAC,CAAC,GAAG,YAAY,CAAC;QAC7B,UAAU,CAAC,CAAC,CAAC,GAAG,UAAU,CAAC;QAC3B,UAAU,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,KAAK,CAAC,QAAQ,CAAC;QACpC,UAAU,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;QAClB,UAAU,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;IACpB,CAAC;IAED,KAAK,CAAC,KAAqB,EAAE,KAAqB;QAChD,MAAM,KAAK,GAAG,KAA4B,CAAC;QAC3C,MAAM,KAAK,GAAG,iBAAiB,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;QAC3C,IAAI,KAAK,KAAK,SAAS;YAAE,OAAO;QAChC,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,IAAI,KAAK,KAAK,IAAI;YAAE,OAAO;QAE3B,MAAM,CAAC,YAAY,EAAE,UAAU,EAAE,UAAU,CAAC,GAAG,KAAK,CAAC;QACrD,MAAM,OAAO,GAAG,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,GAAG,CAAC;QACpC,MAAM,OAAO,GAAG,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,GAAG,CAAC;QACpC,MAAM,MAAM,GAAG,OAAO,GAAG,KAAK,CAAC,OAAO,CAAC;QACvC,MAAM,MAAM,GAAG,OAAO,GAAG,KAAK,CAAC,OAAO,CAAC;QAEvC,MAAM,SAAS,GAAG,KAAK,CAAC,SAAS,GAAG,KAAK,CAAC,eAAe,GAAG,KAAK,CAAC,GAAG,CAAC;QACtE,MAAM,SAAS,GAAG,KAAK,CAAC,SAAS,GAAG,KAAK,CAAC,eAAe,GAAG,KAAK,CAAC,GAAG,CAAC;QACtE,MAAM,IAAI,GAAG,KAAK,CAAC,WAAW,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,WAAW,CAAC,CAAC,CAAC,CAAC,CAAC;QAE/D,IAAI,QAAQ,GAAG,CAAC,IAAI,GAAG,CAAC,SAAS,GAAG,UAAU,GAAG,MAAM,GAAG,YAAY,GAAG,KAAK,CAAC,QAAQ,CAAC,CAAC;QACzF,IAAI,QAAQ,GAAG,CAAC,IAAI,GAAG,CAAC,SAAS,GAAG,UAAU,GAAG,MAAM,GAAG,YAAY,GAAG,KAAK,CAAC,QAAQ,CAAC,CAAC;QACzF,MAAM,SAAS,GAAG,KAAK,CAAC,QAAQ,CAAC;QACjC,MAAM,SAAS,GAAG,KAAK,CAAC,QAAQ,CAAC;QACjC,KAAK,CAAC,QAAQ,IAAI,QAAQ,CAAC;QAC3B,KAAK,CAAC,QAAQ,IAAI,QAAQ,CAAC;QAC3B,sGAAsG;QACtG,sCAAsC;QACtC,MAAM,SAAS,GAAG,IAAI,CAAC,IAAI,CAAC,KAAK,CAAC,QAAQ,GAAG,KAAK,CAAC,QAAQ,GAAG,KAAK,CAAC,QAAQ,GAAG,KAAK,CAAC,QAAQ,CAAC,CAAC;QAC/F,IAAI,SAAS,GAAG,UAAU,IAAI,SAAS,GAAG,CAAC,EAAE,CAAC;YAC5C,MAAM,KAAK,GAAG,UAAU,GAAG,SAAS,CAAC;YACrC,KAAK,CAAC,QAAQ,IAAI,KAAK,CAAC;YACxB,KAAK,CAAC,QAAQ,IAAI,KAAK,CAAC;QAC1B,CAAC;QACD,QAAQ,GAAG,KAAK,CAAC,QAAQ,GAAG,SAAS,CAAC;QACtC,QAAQ,GAAG,KAAK,CAAC,QAAQ,GAAG,SAAS,CAAC;QACtC,KAAK,CAAC,SAAS,IAAI,QAAQ,GAAG,KAAK,CAAC,WAAW,CAAC;QAChD,KAAK,CAAC,SAAS,IAAI,QAAQ,GAAG,KAAK,CAAC,WAAW,CAAC;QAChD,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,cAAc,GAAG,CAAC,KAAK,CAAC,GAAG,GAAG,QAAQ,GAAG,KAAK,CAAC,GAAG,GAAG,QAAQ,CAAC,CAAC;IAChG,CAAC;CACF,CAAC;AAEF,+DAA+D;AAC/D,EAAE;AACF,iGAAiG;AACjG,wGAAwG;AACxG,kBAAkB;AAClB,MAAM,CAAC,MAAM,4BAA4B,GAAG;IAC1C,SAAS,CAAC,KAAqB,EAAE,KAAqB;QACpD,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,IAAI,KAAK,KAAK,IAAI,IAAI,KAAK,KAAK,IAAI;YAAE,OAAO;QAC7C,qBAAqB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,CAAC,KAAK,CAAC,QAAQ,EAAE,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC;QAClH,+FAA+F;QAC/F,iGAAiG;QACjG,mGAAmG;QACnG,4FAA4F;QAC5F,oGAAoG;QACpG,wBAAwB;QACxB,EAAE;QACF,oGAAoG;QACpG,mGAAmG;QACnG,gGAAgG;QAChG,oGAAoG;QACpG,mGAAmG;QACnG,oBAAoB;QACpB,EAAE;QACF,kGAAkG;QAClG,mGAAmG;QACnG,qGAAqG;QACrG,uFAAuF;QACvF,MAAM,QAAQ,GAAG,KAA+B,CAAC;QACjD,MAAM,YAAY,GAAG,QAAQ,CAAC,YAAY,CAAC;QAC3C,IAAI,CAAC,QAAQ,CAAC,WAAW,EAAE,CAAC;YAC1B,QAAQ,CAAC,YAAY,GAAG,CAAC,CAAC;QAC5B,CAAC;aAAM,IAAI,YAAY,KAAK,CAAC,EAAE,CAAC;YAC9B,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,cAAc,GAAG,YAAY,CAAC;YAC7D,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,cAAc,GAAG,YAAY,CAAC;QAC/D,CAAC;IACH,CAAC;IAED,wBAAwB,CAAC,KAAqB;QAC5C,KAAK,CAAC,QAAQ,GAAG,CAAC,CAAC;QACnB,KAAK,CAAC,QAAQ,GAAG,CAAC,CAAC;QAClB,KAAgC,CAAC,YAAY,GAAG,CAAC,CAAC;IACrD,CAAC;IAED,iGAAiG;IACjG,oGAAoG;IACpG,kGAAkG;IAClG,gGAAgG;IAChG,mGAAmG;IACnG,0FAA0F;IAC1F,mBAAmB;IACnB,QAAQ,CAAC,KAAqB;QAC5B,MAAM,QAAQ,GAAG,KAA+B,CAAC;QACjD,MAAM,KAAK,GAAG,QAAQ,CAAC,UAAU,CAAC;QAClC,QAAQ,CAAC,UAAU,GAAG,CAAC,QAAQ,CAAC,UAAU,CAAC;QAC3C,QAAQ,CAAC,UAAU,GAAG,CAAC,KAAK,CAAC;QAC7B,QAAQ,CAAC,cAAc,GAAG,CAAC,QAAQ,CAAC,cAAc,CAAC;QACnD,QAAQ,CAAC,UAAU,GAAG,CAAC,QAAQ,CAAC,UAAU,CAAC;QAC3C,kGAAkG;QAClG,kGAAkG;QAClG,mGAAmG;QACnG,yBAAyB;QACzB,QAAQ,CAAC,YAAY,GAAG,CAAC,CAAC,QAAQ,CAAC,YAAY,IAAI,CAAC,CAAC,CAAC;QACtD,OAAO,IAAI,CAAC;IACd,CAAC;IAED,OAAO,CAAC,KAAqB,EAAE,KAAqB,EAAE,EAAU;QAC9D,MAAM,QAAQ,GAAG,KAA+B,CAAC;QACjD,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,IAAI,KAAK,KAAK,IAAI,IAAI,KAAK,KAAK,IAAI;YAAE,OAAO;QAC7C,iBAAiB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,CAAC;QACvC,MAAM,MAAM,GAAG,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,GAAG,GAAG,CAAC,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC;QAC3D,MAAM,MAAM,GAAG,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,GAAG,GAAG,CAAC,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC;QAC3D,iGAAiG;QACjG,gGAAgG;QAChG,WAAW;QACX,MAAM,iBAAiB,GAAG,KAAK,CAAC,cAAc,GAAG,KAAK,CAAC,cAAc,CAAC;QACtE,MAAM,WAAW,GAAG,iBAAiB,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,iBAAiB,CAAC,CAAC,CAAC,CAAC,CAAC;QACtE,+FAA+F;QAC/F,QAAQ,CAAC,YAAY,KAAK,CAAC,CAAC;QAC5B,MAAM,aAAa,GAAG,eAAe,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC;QAChD,aAAa,CAAC,CAAC,CAAC,GAAG,MAAM,GAAG,CAAC,SAAS,GAAG,EAAE,CAAC,CAAC;QAC7C,aAAa,CAAC,CAAC,CAAC,GAAG,MAAM,GAAG,CAAC,SAAS,GAAG,EAAE,CAAC,CAAC;QAC7C,aAAa,CAAC,CAAC,CAAC,GAAG,WAAW,CAAC;QAC/B,aAAa,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;QACrB,aAAa,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;QACrB,aAAa,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,QAAQ,CAAC,cAAc,CAAC;QAChD,aAAa,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,EAAE,CAAC;IAC5B,CAAC;IAED,KAAK,CAAC,KAAqB,EAAE,KAAqB;QAChD,MAAM,QAAQ,GAAG,KAA+B,CAAC;QACjD,MAAM,KAAK,GAAG,iBAAiB,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;QAC3C,IAAI,KAAK,KAAK,SAAS;YAAE,OAAO;QAChC,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,IAAI,KAAK,KAAK,IAAI,IAAI,KAAK,KAAK,IAAI;YAAE,OAAO;QAE7C,MAAM,WAAW,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC;QAC7B,IAAI,WAAW,GAAG,CAAC,EAAE,CAAC;YACpB,gGAAgG;YAChG,8EAA8E;YAC9E,IAAI,QAAQ,CAAC,WAAW,EAAE,CAAC;gBACzB,MAAM,eAAe,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC;gBACjC,MAAM,QAAQ,GAAG,KAAK,CAAC,eAAe,GAAG,KAAK,CAAC,eAAe,GAAG,QAAQ,CAAC,UAAU,CAAC;gBACrF,MAAM,OAAO,GAAG,CAAC,WAAW,GAAG,QAAQ,CAAC;gBACxC,MAAM,QAAQ,GAAG,QAAQ,CAAC,YAAY,CAAC;gBACvC,6FAA6F;gBAC7F,+DAA+D;gBAC/D,MAAM,KAAK,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,QAAQ,GAAG,OAAO,EAAE,CAAC,eAAe,CAAC,EAAE,eAAe,CAAC,CAAC;gBACxF,QAAQ,CAAC,YAAY,GAAG,KAAK,CAAC;gBAC9B,MAAM,OAAO,GAAG,KAAK,GAAG,QAAQ,CAAC;gBACjC,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,cAAc,GAAG,OAAO,CAAC;gBACxD,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,cAAc,GAAG,OAAO,CAAC;YAC1D,CAAC;YAED,IAAI,QAAQ,CAAC,WAAW,EAAE,CAAC;gBACzB,MAAM,IAAI,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC;gBACtB,MAAM,KAAK,GAAG,KAAK,CAAC,KAAK,GAAG,KAAK,CAAC,KAAK,GAAG,QAAQ,CAAC,cAAc,CAAC;gBAClE,2FAA2F;gBAC3F,sEAAsE;gBACtE,EAAE;gBACF,6FAA6F;gBAC7F,+BAA+B;gBAC/B,EAAE;gBACF,2FAA2F;gBAC3F,+FAA+F;gBAC/F,6FAA6F;gBAC7F,EAAE;gBACF,8FAA8F;gBAC9F,gGAAgG;gBAChG,6FAA6F;gBAC7F,uDAAuD;gBACvD,EAAE;gBACF,2FAA2F;gBAC3F,0FAA0F;gBAC1F,+FAA+F;gBAC/F,MAAM,UAAU,GAAG,KAAK,GAAG,QAAQ,CAAC,UAAU,CAAC;gBAC/C,MAAM,YAAY,GAAG,CAAC,WAAW,GAAG,CAAC,KAAK,CAAC,eAAe,GAAG,KAAK,CAAC,eAAe,GAAG,UAAU,GAAG,IAAI,CAAC,CAAC;gBACxG,MAAM,aAAa,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC;gBAC/B,MAAM,UAAU,GAAG,IAAI,CAAC,GAAG,CAAC,aAAa,GAAG,YAAY,EAAE,CAAC,CAAC,CAAC;gBAC7D,KAAK,CAAC,CAAC,CAAC,GAAG,UAAU,CAAC;gBACtB,MAAM,YAAY,GAAG,UAAU,GAAG,aAAa,CAAC;gBAChD,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,cAAc,GAAG,YAAY,CAAC;gBAC7D,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,cAAc,GAAG,YAAY,CAAC;gBAE7D,MAAM,UAAU,GAAG,QAAQ,CAAC,UAAU,GAAG,KAAK,CAAC;gBAC/C,MAAM,YAAY,GAAG,CAAC,WAAW,GAAG,CAAC,KAAK,CAAC,eAAe,GAAG,KAAK,CAAC,eAAe,GAAG,UAAU,GAAG,IAAI,CAAC,CAAC;gBACxG,MAAM,aAAa,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC;gBAC/B,MAAM,UAAU,GAAG,IAAI,CAAC,GAAG,CAAC,aAAa,GAAG,YAAY,EAAE,CAAC,CAAC,CAAC;gBAC7D,KAAK,CAAC,CAAC,CAAC,GAAG,UAAU,CAAC;gBACtB,MAAM,YAAY,GAAG,UAAU,GAAG,aAAa,CAAC;gBAChD,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,cAAc,GAAG,YAAY,CAAC;gBAC7D,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,cAAc,GAAG,YAAY,CAAC;YAC/D,CAAC;QACH,CAAC;QAED,oBAAoB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;IAChE,CAAC;CACF,CAAC;AAEF,qGAAqG;AACrG,EAAE;AACF,uGAAuG;AACvG,mEAAmE;AACnE,MAAM,CAAC,MAAM,wBAAwB,GAAG;IACtC,SAAS,CAAC,KAAqB,EAAE,KAAqB;QACpD,MAAM,KAAK,GAAG,iBAAiB,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;QAC3C,IAAI,KAAK,KAAK,SAAS;YAAE,OAAO;QAChC,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,IAAI,KAAK,KAAK,IAAI,IAAI,KAAK,KAAK,IAAI;YAAE,OAAO;QAC7C,qBAAqB,CACnB,KAAK,EACL,KAAK,EACL,KAAK,CAAC,GAAG,EACT,KAAK,CAAC,GAAG,EACT,KAAK,CAAC,GAAG,EACT,KAAK,CAAC,GAAG,EACT,CAAC,KAAK,CAAC,QAAQ,GAAG,KAAK,CAAC,CAAC,CAAC,EAC1B,CAAC,KAAK,CAAC,QAAQ,GAAG,KAAK,CAAC,CAAC,CAAC,CAC3B,CAAC;IACJ,CAAC;IAED,wBAAwB,CAAC,KAAqB;QAC5C,KAAK,CAAC,QAAQ,GAAG,CAAC,CAAC;IACrB,CAAC;IAED,OAAO,CAAC,KAAqB,EAAE,KAAqB,EAAE,EAAU;QAC9D,MAAM,IAAI,GAAG,KAA2B,CAAC;QACzC,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,IAAI,KAAK,KAAK,IAAI,IAAI,KAAK,KAAK,IAAI;YAAE,OAAO;QAC7C,iBAAiB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,CAAC;QAEvC,MAAM,KAAK,GAAG,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,GAAG,GAAG,CAAC,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC;QAC1D,MAAM,KAAK,GAAG,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,GAAG,GAAG,CAAC,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC;QAC1D,MAAM,MAAM,GAAG,IAAI,CAAC,IAAI,CAAC,KAAK,GAAG,KAAK,GAAG,KAAK,GAAG,KAAK,CAAC,CAAC;QACxD,MAAM,KAAK,GAAG,MAAM,GAAG,OAAO,CAAC,CAAC,CAAC,KAAK,GAAG,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;QACpD,MAAM,KAAK,GAAG,MAAM,GAAG,OAAO,CAAC,CAAC,CAAC,KAAK,GAAG,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;QACpD,MAAM,IAAI,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,CAAC;QAClE,MAAM,MAAM,GAAG,MAAM,GAAG,IAAI,CAAC,SAAS,CAAC;QACvC,qGAAqG;QACrG,gEAAgE;QAChE,MAAM,MAAM,GAAG,MAAM,GAAG,CAAC,CAAC;QAC1B,MAAM,SAAS,GAAG,eAAe,CAAC,IAAI,EAAE,CAAC,CAAC,CAAC;QAC3C,SAAS,CAAC,CAAC,CAAC,GAAG,MAAM,IAAI,IAAI,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;QACjD,SAAS,CAAC,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC,CAAC,MAAM,GAAG,CAAC,SAAS,GAAG,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;QACtD,SAAS,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;QACjB,SAAS,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC;QACrB,SAAS,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC;QACrB,IAAI,CAAC,MAAM;YAAE,KAAK,CAAC,QAAQ,GAAG,CAAC,CAAC;IAClC,CAAC;IAED,KAAK,CAAC,KAAqB,EAAE,KAAqB;QAChD,MAAM,KAAK,GAAG,iBAAiB,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;QAC3C,IAAI,KAAK,KAAK,SAAS,IAAI,KAAK,CAAC,CAAC,CAAC,KAAK,CAAC;YAAE,OAAO;QAClD,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,IAAI,KAAK,KAAK,IAAI,IAAI,KAAK,KAAK,IAAI;YAAE,OAAO;QAE7C,MAAM,CAAC,aAAa,EAAE,IAAI,EAAE,AAAD,EAAG,KAAK,EAAE,KAAK,CAAC,GAAG,KAAK,CAAC;QACpD,MAAM,QAAQ,GAAG,oBAAoB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,CAAC;QACzE,IAAI,MAAM,GAAG,CAAC,aAAa,GAAG,CAAC,QAAQ,GAAG,IAAI,CAAC,CAAC;QAChD,MAAM,QAAQ,GAAG,KAAK,CAAC,QAAQ,CAAC;QAChC,KAAK,CAAC,QAAQ,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,QAAQ,GAAG,MAAM,CAAC,CAAC;QAChD,MAAM,GAAG,KAAK,CAAC,QAAQ,GAAG,QAAQ,CAAC;QACnC,qBAAqB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,CAAC,MAAM,GAAG,KAAK,EAAE,CAAC,MAAM,GAAG,KAAK,CAAC,CAAC;IACpH,CAAC;CACF,CAAC;AAEF,6EAA6E;AAC7E,EAAE;AACF,uGAAuG;AACvG,0GAA0G;AAC1G,4BAA4B;AAC5B,sGAAsG;AACtG,qGAAqG;AACrG,sGAAsG;AACtG,+FAA+F;AAC/F,MAAM,CAAC,MAAM,wBAAwB,GAAG;IACtC,SAAS,CAAC,KAAqB,EAAE,KAAqB;QACpD,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,IAAI,KAAK,KAAK,IAAI,IAAI,KAAK,KAAK,IAAI;YAAE,OAAO;QAC7C,qBAAqB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,CAAC,KAAK,CAAC,QAAQ,EAAE,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC;QAClH,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,cAAc,GAAG,KAAK,CAAC,QAAQ,CAAC;QAC/D,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,cAAc,GAAG,KAAK,CAAC,QAAQ,CAAC;IACjE,CAAC;IAED,wBAAwB,CAAC,KAAqB;QAC5C,KAAK,CAAC,QAAQ,GAAG,CAAC,CAAC;QACnB,KAAK,CAAC,QAAQ,GAAG,CAAC,CAAC;QACnB,KAAK,CAAC,QAAQ,GAAG,CAAC,CAAC;IACrB,CAAC;IAED,QAAQ,CAAC,KAAqB;QAC5B,MAAM,IAAI,GAAG,KAA2B,CAAC;QACzC,IAAI,CAAC,cAAc,GAAG,CAAC,IAAI,CAAC,cAAc,CAAC;QAC3C,OAAO,IAAI,CAAC;IACd,CAAC;IAED,OAAO,CAAC,KAAqB,EAAE,KAAqB,EAAE,EAAU;QAC9D,MAAM,IAAI,GAAG,KAA2B,CAAC;QACzC,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,IAAI,KAAK,KAAK,IAAI,IAAI,KAAK,KAAK,IAAI;YAAE,OAAO;QAC7C,iBAAiB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,CAAC;QACvC,MAAM,MAAM,GAAG,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,GAAG,GAAG,CAAC,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC;QAC3D,MAAM,MAAM,GAAG,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,GAAG,GAAG,CAAC,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC;QAC3D,MAAM,UAAU,GAAG,KAAK,CAAC,KAAK,GAAG,KAAK,CAAC,KAAK,GAAG,IAAI,CAAC,cAAc,CAAC;QACnE,MAAM,WAAW,GAAG,KAAK,CAAC,cAAc,GAAG,KAAK,CAAC,cAAc,CAAC;QAChE,MAAM,SAAS,GAAG,eAAe,CAAC,IAAI,EAAE,CAAC,CAAC,CAAC;QAC3C,SAAS,CAAC,CAAC,CAAC,GAAG,MAAM,GAAG,CAAC,SAAS,GAAG,EAAE,CAAC,CAAC;QACzC,SAAS,CAAC,CAAC,CAAC,GAAG,MAAM,GAAG,CAAC,SAAS,GAAG,EAAE,CAAC,CAAC;QACzC,SAAS,CAAC,CAAC,CAAC,GAAG,UAAU,GAAG,CAAC,SAAS,GAAG,EAAE,CAAC,CAAC;QAC7C,SAAS,CAAC,CAAC,CAAC,GAAG,WAAW,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,WAAW,CAAC,CAAC,CAAC,CAAC,CAAC;QACrD,SAAS,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;IACnB,CAAC;IAED,KAAK,CAAC,KAAqB,EAAE,KAAqB;QAChD,MAAM,KAAK,GAAG,iBAAiB,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;QAC3C,IAAI,KAAK,KAAK,SAAS;YAAE,OAAO;QAChC,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QACpD,IAAI,KAAK,KAAK,IAAI,IAAI,KAAK,KAAK,IAAI;YAAE,OAAO;QAE7C,MAAM,eAAe,GAAG,KAAK,CAAC,eAAe,GAAG,KAAK,CAAC,eAAe,CAAC;QACtE,MAAM,aAAa,GAAG,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,eAAe,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;QAC/D,KAAK,CAAC,QAAQ,IAAI,aAAa,CAAC;QAChC,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,cAAc,GAAG,aAAa,CAAC;QAC9D,KAAK,CAAC,eAAe,IAAI,KAAK,CAAC,cAAc,GAAG,aAAa,CAAC;QAE9D,oBAAoB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;IAChE,CAAC;CACF,CAAC;AAEF,2GAA2G;AAC3G,iGAAiG;AACjG,SAAS,oBAAoB,CAC3B,KAAkB,EAClB,KAAkB,EAClB,KAAqB,EACrB,KAAa,EACb,KAAa;IAEb,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC3D,MAAM,SAAS,GAAG,oBAAoB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAClE,MAAM,OAAO,GAAG,KAAK,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,SAAS,GAAG,KAAK,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;IAC7D,KAAK,CAAC,QAAQ,IAAI,OAAO,CAAC;IAC1B,qBAAqB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,CAAC,OAAO,EAAE,CAAC,CAAC,CAAC;IAE7F,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC3D,MAAM,SAAS,GAAG,oBAAoB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAClE,MAAM,OAAO,GAAG,KAAK,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,SAAS,GAAG,KAAK,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;IAC7D,KAAK,CAAC,QAAQ,IAAI,OAAO,CAAC;IAC1B,qBAAqB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,CAAC,EAAE,CAAC,OAAO,CAAC,CAAC;AAC/F,CAAC;AAED,wGAAwG;AACxG,wCAAwC;AACxC,SAAS,iBAAiB,CAAC,KAA4B,EAAE,KAA4B,EAAE,KAAqB;IAC1G,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;IACnC,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;IACnC,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;IACnC,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;IACnC,KAAK,CAAC,GAAG,GAAG,CAAC,KAAK,CAAC,aAAa,GAAG,KAAK,CAAC,OAAO,CAAC,GAAG,IAAI,GAAG,CAAC,KAAK,CAAC,aAAa,GAAG,KAAK,CAAC,OAAO,CAAC,GAAG,IAAI,CAAC;IACxG,KAAK,CAAC,GAAG,GAAG,CAAC,KAAK,CAAC,aAAa,GAAG,KAAK,CAAC,OAAO,CAAC,GAAG,IAAI,GAAG,CAAC,KAAK,CAAC,aAAa,GAAG,KAAK,CAAC,OAAO,CAAC,GAAG,IAAI,CAAC;IACxG,KAAK,CAAC,GAAG,GAAG,CAAC,KAAK,CAAC,aAAa,GAAG,KAAK,CAAC,OAAO,CAAC,GAAG,IAAI,GAAG,CAAC,KAAK,CAAC,aAAa,GAAG,KAAK,CAAC,OAAO,CAAC,GAAG,IAAI,CAAC;IACxG,KAAK,CAAC,GAAG,GAAG,CAAC,KAAK,CAAC,aAAa,GAAG,KAAK,CAAC,OAAO,CAAC,GAAG,IAAI,GAAG,CAAC,KAAK,CAAC,aAAa,GAAG,KAAK,CAAC,OAAO,CAAC,GAAG,IAAI,CAAC;AAC1G,CAAC;AAED,oGAAoG;AACpG,6EAA6E;AAC7E,SAAS,iBAAiB,CACxB,KAA4B,EAC5B,KAA4B,EAC5B,KAA+B,EAC/B,KAAa,EACb,KAAa;IAEb,MAAM,MAAM,GAAG,KAAK,CAAC,GAAG,GAAG,KAAK,GAAG,KAAK,CAAC,GAAG,GAAG,KAAK,CAAC;IACrD,MAAM,MAAM,GAAG,KAAK,CAAC,GAAG,GAAG,KAAK,GAAG,KAAK,CAAC,GAAG,GAAG,KAAK,CAAC;IACrD,OAAO,CACL,KAAK,CAAC,WAAW;QACjB,KAAK,CAAC,WAAW;QACjB,KAAK,CAAC,cAAc,GAAG,MAAM,GAAG,MAAM;QACtC,KAAK,CAAC,cAAc,GAAG,MAAM,GAAG,MAAM,CACvC,CAAC;AACJ,CAAC;AAED,SAAS,oBAAoB,CAC3B,KAA4B,EAC5B,KAA4B,EAC5B,KAA+B,EAC/B,KAAa,EACb,KAAa;IAEb,MAAM,GAAG,GAAG,KAAK,CAAC,SAAS,GAAG,KAAK,CAAC,eAAe,GAAG,KAAK,CAAC,GAAG,CAAC;IAChE,MAAM,GAAG,GAAG,KAAK,CAAC,SAAS,GAAG,KAAK,CAAC,eAAe,GAAG,KAAK,CAAC,GAAG,CAAC;IAChE,MAAM,GAAG,GAAG,KAAK,CAAC,SAAS,GAAG,KAAK,CAAC,eAAe,GAAG,KAAK,CAAC,GAAG,CAAC;IAChE,MAAM,GAAG,GAAG,KAAK,CAAC,SAAS,GAAG,KAAK,CAAC,eAAe,GAAG,KAAK,CAAC,GAAG,CAAC;IAChE,sGAAsG;IACtG,wGAAwG;IACxG,yGAAyG;IACzG,wGAAwG;IACxG,0CAA0C;IAC1C,OAAO,CAAC,GAAG,GAAG,GAAG,CAAC,GAAG,KAAK,GAAG,CAAC,GAAG,GAAG,GAAG,CAAC,GAAG,KAAK,CAAC;AACnD,CAAC;AAED,oGAAoG;AACpG,yGAAyG;AACzG,yGAAyG;AACzG,mGAAmG;AACnG,WAAW;AACX,qGAAqG;AACrG,kGAAkG;AAClG,4FAA4F;AAC5F,mGAAmG;AACnG,4FAA4F;AAC5F,+DAA+D;AAC/D,yGAAyG;AACzG,EAAE;AACF,yGAAyG;AACzG,mGAAmG;AACnG,wGAAwG;AACxG,yGAAyG;AACzG,oGAAoG;AACpG,sFAAsF;AACtF,EAAE;AACF,oGAAoG;AACpG,qGAAqG;AACrG,sGAAsG;AACtG,gDAAgD;AAChD,SAAS,eAAe,CAAC,KAAqB,EAAE,MAAc;IAC5D,KAAK,CAAC,QAAQ,KAAK,CAAC,CAAC;IACrB,KAAK,CAAC,QAAQ,KAAK,CAAC,CAAC;IACrB,KAAK,CAAC,QAAQ,KAAK,CAAC,CAAC;IACrB,IAAI,KAAK,GAAG,iBAAiB,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;IACzC,IAAI,KAAK,KAAK,SAAS,EAAE,CAAC;QACxB,KAAK,GAAG,EAAE,CAAC;QACX,iBAAiB,CAAC,GAAG,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;IACtC,CAAC;IACD,KAAK,CAAC,MAAM,GAAG,MAAM,CAAC;IACtB,OAAO,KAAK,CAAC;AACf,CAAC;AAED,wGAAwG;AACxG,mGAAmG;AACnG,uEAAuE;AACvE,EAAE;AACF,sGAAsG;AACtG,wGAAwG;AACxG,4FAA4F;AAC5F,EAAE;AACF,wGAAwG;AACxG,qGAAqG;AACrG,sGAAsG;AACtG,oGAAoG;AACpG,sGAAsG;AACtG,6EAA6E;AAC7E,MAAM,iBAAiB,GAAG,IAAI,OAAO,EAA4B,CAAC;AAClE,MAAM,WAAW,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;AAC3B,MAAM,YAAY,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AAC/B,MAAM,OAAO,GAAG,IAAI,CAAC;AACrB,yGAAyG;AACzG,qEAAqE;AACrE,MAAM,SAAS,GAAG,GAAG,CAAC"}

package/dist/massProperties.d.ts

@@ -0,0 +1,4 @@
+import type { Physics2DCollider, Physics2DMassData, RigidBody2D } from '@flighthq/types/contract';
+export declare function computePhysics2DColliderMassData(collider: Readonly<Physics2DCollider>, out: Physics2DMassData): void;
+export declare function updateRigidBody2DMassData(body: RigidBody2D): void;
+//# sourceMappingURL=massProperties.d.ts.map

package/dist/massProperties.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"massProperties.d.ts","sourceRoot":"","sources":["../src/massProperties.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,iBAAiB,EAAE,iBAAiB,EAAE,WAAW,EAAE,MAAM,0BAA0B,CAAC;AAalG,wBAAgB,gCAAgC,CAAC,QAAQ,EAAE,QAAQ,CAAC,iBAAiB,CAAC,EAAE,GAAG,EAAE,iBAAiB,GAAG,IAAI,CA0CpH;AAYD,wBAAgB,yBAAyB,CAAC,IAAI,EAAE,WAAW,GAAG,IAAI,CAmCjE"}