@flighthq/physics2d 0.3.0-edge.1458.0c01b63

package/dist/massProperties.js

@@ -0,0 +1,146 @@
+// Mass properties are DERIVED from collider geometry and density, never assigned. A body whose mass
+// was set independently of its shape can be given a rotational inertia that contradicts its outline —
+// a long plank that spins like a marble — and nothing in the solver can detect the inconsistency,
+// because both numbers are individually plausible. Deriving both from one source makes that
+// unrepresentable.
+// Writes `collider`'s mass, rotational inertia, and centroid into `out`, in the body's local space.
+//
+// The inertia is about the collider's OWN centroid, not the body origin; combining colliders shifts it
+// with the parallel-axis theorem. Area-less shapes (segment, point) and unrecognised kinds carry no
+// mass: they are legitimate as sensors and triggers, so they zero the entry rather than faulting.
+export function computePhysics2DColliderMassData(collider, out) {
+    const shape = collider.local;
+    const density = collider.material.density;
+    switch (shape.kind) {
+        case 'circle': {
+            const area = Math.PI * shape.radius * shape.radius;
+            out.mass = area * density;
+            // A disc's second moment about its centre: ½·m·r².
+            out.inertia = 0.5 * out.mass * shape.radius * shape.radius;
+            out.centerX = shape.x;
+            out.centerY = shape.y;
+            return;
+        }
+        case 'aabb': {
+            const width = shape.maxX - shape.minX;
+            const height = shape.maxY - shape.minY;
+            out.mass = width * height * density;
+            out.inertia = (out.mass * (width * width + height * height)) / 12;
+            out.centerX = (shape.minX + shape.maxX) / 2;
+            out.centerY = (shape.minY + shape.maxY) / 2;
+            return;
+        }
+        case 'obb': {
+            const width = shape.halfW * 2;
+            const height = shape.halfH * 2;
+            out.mass = width * height * density;
+            // Rotation about the z axis does not change a rectangle's second moment about its own centre,
+            // so an oriented box uses the same expression as an axis-aligned one.
+            out.inertia = (out.mass * (width * width + height * height)) / 12;
+            out.centerX = shape.x;
+            out.centerY = shape.y;
+            return;
+        }
+        case 'polygon':
+            writePolygonMassData(shape.points, density, out);
+            return;
+        default:
+            out.mass = 0;
+            out.inertia = 0;
+            out.centerX = 0;
+            out.centerY = 0;
+    }
+}
+// Recomputes `body`'s mass, rotational inertia, centre of mass, and the inverses the solver divides
+// by, from its colliders. Call after adding, removing, or reshaping a collider, or after changing a
+// material's density.
+//
+// Static and kinematic bodies keep their computed centre — the lever arms in a contact are measured
+// from it either way — but take zero inverse mass and inverse inertia. Zero is not a guard here, it is
+// the arithmetic: an impulse scaled by an inverse mass of zero moves the body not at all, so
+// "infinite mass" needs no branch anywhere in the solver. A dynamic body with no area gets the same
+// treatment, since dividing by its zero mass is what would otherwise produce NaN velocities that
+// spread to everything it touches.
+export function updateRigidBody2DMassData(body) {
+    let mass = 0;
+    let weightedX = 0;
+    let weightedY = 0;
+    for (const collider of body.colliders) {
+        computePhysics2DColliderMassData(collider, scratch);
+        mass += scratch.mass;
+        weightedX += scratch.centerX * scratch.mass;
+        weightedY += scratch.centerY * scratch.mass;
+    }
+    if (mass > 0) {
+        body.centerX = weightedX / mass;
+        body.centerY = weightedY / mass;
+    }
+    else {
+        body.centerX = 0;
+        body.centerY = 0;
+    }
+    // Second pass: each collider's inertia is about its own centroid, so shift every one to the body's
+    // combined centre before summing (parallel-axis theorem). This cannot fold into the loop above,
+    // because the centre it shifts to is not known until every collider has been weighed.
+    let inertia = 0;
+    for (const collider of body.colliders) {
+        computePhysics2DColliderMassData(collider, scratch);
+        const offsetX = scratch.centerX - body.centerX;
+        const offsetY = scratch.centerY - body.centerY;
+        inertia += scratch.inertia + scratch.mass * (offsetX * offsetX + offsetY * offsetY);
+    }
+    const simulated = body.type === 'dynamic';
+    body.mass = simulated ? mass : 0;
+    body.inertia = simulated ? inertia : 0;
+    body.inverseMass = simulated && mass > 0 ? 1 / mass : 0;
+    body.inverseInertia = simulated && inertia > 0 ? 1 / inertia : 0;
+}
+// Centroid and second moment of a simple polygon, accumulated per triangle fanned from the origin.
+// Each triangle's signed area weights its contribution, so the winding cancels correctly on concave
+// spans and the total comes out positive for either winding direction.
+function writePolygonMassData(points, density, out) {
+    const count = points.length >> 1;
+    if (count < 3) {
+        out.mass = 0;
+        out.inertia = 0;
+        out.centerX = 0;
+        out.centerY = 0;
+        return;
+    }
+    let area = 0;
+    let centroidX = 0;
+    let centroidY = 0;
+    let moment = 0;
+    for (let i = 0; i < count; i++) {
+        const j = (i + 1) % count;
+        const x0 = points[i * 2];
+        const y0 = points[i * 2 + 1];
+        const x1 = points[j * 2];
+        const y1 = points[j * 2 + 1];
+        const cross = x0 * y1 - x1 * y0;
+        area += cross;
+        centroidX += (x0 + x1) * cross;
+        centroidY += (y0 + y1) * cross;
+        moment += cross * (x0 * x0 + x0 * x1 + x1 * x1 + y0 * y0 + y0 * y1 + y1 * y1);
+    }
+    area *= 0.5;
+    // A zero-area polygon — every vertex collinear or coincident — would divide the centroid by zero.
+    // It is degenerate rather than malformed, so it weighs nothing, exactly like a segment.
+    if (area === 0) {
+        out.mass = 0;
+        out.inertia = 0;
+        out.centerX = 0;
+        out.centerY = 0;
+        return;
+    }
+    const absoluteArea = Math.abs(area);
+    out.mass = absoluteArea * density;
+    out.centerX = centroidX / (6 * area);
+    out.centerY = centroidY / (6 * area);
+    // Shift the origin-relative second moment onto the centroid.
+    const originMoment = (Math.abs(moment) / 12) * density;
+    const offsetSquared = out.centerX * out.centerX + out.centerY * out.centerY;
+    out.inertia = originMoment - out.mass * offsetSquared;
+}
+const scratch = { mass: 0, inertia: 0, centerX: 0, centerY: 0 };
+//# sourceMappingURL=massProperties.js.map

package/dist/massProperties.js.map

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package/dist/solver.d.ts

@@ -0,0 +1,7 @@
+import type { Physics2DContactPoint, Physics2DWorld, RigidBody2D } from '@flighthq/types/contract';
+export declare function applyPhysics2DImpulse(bodyA: RigidBody2D, bodyB: RigidBody2D, rAX: number, rAY: number, rBX: number, rBY: number, impulseX: number, impulseY: number): void;
+export declare function relativeNormalVelocity(bodyA: Readonly<RigidBody2D>, bodyB: Readonly<RigidBody2D>, point: Readonly<Physics2DContactPoint>, normalX: number, normalY: number): number;
+export declare function solvePhysics2DContacts(world: Physics2DWorld): void;
+export declare function solvePhysics2DContactsOnce(world: Physics2DWorld): void;
+export declare function warmStartPhysics2DContacts(world: Physics2DWorld): void;
+//# sourceMappingURL=solver.d.ts.map

package/dist/solver.d.ts.map

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package/dist/solver.js

@@ -0,0 +1,129 @@
+import { isRigidBody2DPairAwake } from './islands';
+import { findPhysics2DBody } from './world';
+// Applies equal and opposite impulses at the pair's contact point. The angular term is the lever arm
+// crossed with the impulse — the reason an off-centre contact spins a body instead of only shoving it.
+// A static body's zero inverse mass and inverse inertia make both of its updates no-ops without a branch.
+//
+// A POSITIVE impulse pushes A along the contact normal and B against it, because `@flighthq/collision`
+// documents its manifold normal as the direction that separates **A out of B**. That is the opposite of
+// the A-to-B convention most sequential-impulse literature is written in, and getting it backwards does
+// not look like a sign error — it looks like gravity working, since the solver then drives bodies
+// together and a resting box settles below the floor instead of on it.
+export function applyPhysics2DImpulse(bodyA, bodyB, rAX, rAY, rBX, rBY, impulseX, impulseY) {
+    bodyA.velocityX += impulseX * bodyA.inverseMass;
+    bodyA.velocityY += impulseY * bodyA.inverseMass;
+    bodyA.angularVelocity += bodyA.inverseInertia * (rAX * impulseY - rAY * impulseX);
+    bodyB.velocityX -= impulseX * bodyB.inverseMass;
+    bodyB.velocityY -= impulseY * bodyB.inverseMass;
+    bodyB.angularVelocity -= bodyB.inverseInertia * (rBX * impulseY - rBY * impulseX);
+}
+export function relativeNormalVelocity(bodyA, bodyB, point, normalX, normalY) {
+    const vax = bodyA.velocityX - bodyA.angularVelocity * point.rAY;
+    const vay = bodyA.velocityY + bodyA.angularVelocity * point.rAX;
+    const vbx = bodyB.velocityX - bodyB.angularVelocity * point.rBY;
+    const vby = bodyB.velocityY + bodyB.angularVelocity * point.rBX;
+    return (vax - vbx) * normalX + (vay - vby) * normalY;
+}
+// One contact's velocity constraint: friction first, then the normal.
+//
+// Friction is solved BEFORE the normal on each pass, and the order is deliberate. The friction bound is
+// Coulomb's — the tangential impulse cannot exceed the normal impulse times the coefficient — so it needs
+// a normal impulse to bound against. Using the value the previous iteration converged on is standard and
+// stable; using the one this iteration is about to produce would make the bound depend on a number that
+// does not exist yet.
+function solvePhysics2DContact(contact, bodyA, bodyB) {
+    const normalX = contact.normalX;
+    const normalY = contact.normalY;
+    const tangentX = -normalY;
+    const tangentY = normalX;
+    for (let i = 0; i < contact.pointCount; i++) {
+        const point = contact.points[i];
+        const tangentVelocity = relativeAxisVelocity(bodyA, bodyB, point.rAX, point.rAY, point.rBX, point.rBY, tangentX, tangentY);
+        let tangentImpulse = -point.tangentMass * tangentVelocity;
+        const limit = contact.friction * point.normalImpulse;
+        const clampedTangent = Math.max(-limit, Math.min(limit, point.tangentImpulse + tangentImpulse));
+        tangentImpulse = clampedTangent - point.tangentImpulse;
+        point.tangentImpulse = clampedTangent;
+        applyPhysics2DImpulse(bodyA, bodyB, point.rAX, point.rAY, point.rBX, point.rBY, tangentImpulse * tangentX, tangentImpulse * tangentY);
+        const normalVelocity = relativeNormalVelocity(bodyA, bodyB, point, normalX, normalY);
+        let normalImpulse = -point.normalMass * (normalVelocity + point.bias);
+        const clampedNormal = Math.max(0, point.normalImpulse + normalImpulse);
+        normalImpulse = clampedNormal - point.normalImpulse;
+        point.normalImpulse = clampedNormal;
+        applyPhysics2DImpulse(bodyA, bodyB, point.rAX, point.rAY, point.rBX, point.rBY, normalImpulse * normalX, normalImpulse * normalY);
+    }
+}
+// The sequential-impulse velocity solve: projected Gauss-Seidel over the contact list, `velocityIterations`
+// times.
+//
+// "Sequential" is the whole method — each impulse is applied immediately, so the next constraint sees the
+// velocities the previous one left behind. That is why the solver converges, and equally why contact
+// ORDER changes the result: the list is sorted canonically before it gets here for exactly that reason.
+//
+// The accumulated impulse, not the incremental one, is what gets clamped. Clamping each increment would
+// let a contact pull bodies together on any iteration where the incremental impulse came out negative;
+// clamping the accumulation lets an iteration correct an earlier overshoot while keeping the total
+// non-negative, which is the difference between a stable stack and one that vibrates.
+export function solvePhysics2DContacts(world) {
+    const iterations = world.config.velocityIterations;
+    for (let iteration = 0; iteration < iterations; iteration++)
+        solvePhysics2DContactsOnce(world);
+}
+// One pass over the contact list. Split out so the step can interleave it with the joint pass inside a
+// single iteration loop: joints and contacts constrain the same bodies, and giving either a whole pass to
+// itself lets it undo what the other just corrected.
+export function solvePhysics2DContactsOnce(world) {
+    for (const contact of world.contacts) {
+        if (contact.sensor)
+            continue;
+        const bodyA = findPhysics2DBody(world, contact.bodyA);
+        const bodyB = findPhysics2DBody(world, contact.bodyB);
+        if (bodyA === null || bodyB === null)
+            continue;
+        if (!isRigidBody2DPairAwake(bodyA, bodyB))
+            continue;
+        solvePhysics2DContact(contact, bodyA, bodyB);
+    }
+}
+// Applies each contact's cached impulses before the first iteration — the warm start.
+//
+// This is what makes a stack settle rather than visibly sink. A sequential-impulse solver converges
+// toward the correct impulse over its iterations; starting each step from zero throws away everything
+// the previous step learned, so a tall stack never reaches equilibrium within a frame's budget and the
+// bottom box is compressed by everything above it. Re-applying last step's converged impulse starts the
+// iteration from an answer that was nearly right, and a handful of iterations finishes the job.
+//
+// The cached impulses were matched by feature id when the contact was merged, so a point that is no
+// longer the same feature arrives here with zero rather than a stranger's force.
+export function warmStartPhysics2DContacts(world) {
+    for (const contact of world.contacts) {
+        if (contact.sensor)
+            continue;
+        const bodyA = findPhysics2DBody(world, contact.bodyA);
+        const bodyB = findPhysics2DBody(world, contact.bodyB);
+        if (bodyA === null || bodyB === null)
+            continue;
+        if (!isRigidBody2DPairAwake(bodyA, bodyB))
+            continue;
+        const normalX = contact.normalX;
+        const normalY = contact.normalY;
+        const tangentX = -normalY;
+        const tangentY = normalX;
+        for (let i = 0; i < contact.pointCount; i++) {
+            const point = contact.points[i];
+            const impulseX = point.normalImpulse * normalX + point.tangentImpulse * tangentX;
+            const impulseY = point.normalImpulse * normalY + point.tangentImpulse * tangentY;
+            applyPhysics2DImpulse(bodyA, bodyB, point.rAX, point.rAY, point.rBX, point.rBY, impulseX, impulseY);
+        }
+    }
+}
+function relativeAxisVelocity(bodyA, bodyB, rAX, rAY, rBX, rBY, axisX, axisY) {
+    const vax = bodyA.velocityX - bodyA.angularVelocity * rAY;
+    const vay = bodyA.velocityY + bodyA.angularVelocity * rAX;
+    const vbx = bodyB.velocityX - bodyB.angularVelocity * rBY;
+    const vby = bodyB.velocityY + bodyB.angularVelocity * rBX;
+    // A's velocity relative to B, matching the normal's "separates A out of B" direction: negative means
+    // the pair is closing along that axis.
+    return (vax - vbx) * axisX + (vay - vby) * axisY;
+}
+//# sourceMappingURL=solver.js.map

package/dist/solver.js.map

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package/dist/step.d.ts

@@ -0,0 +1,3 @@
+import type { Physics2DWorld } from '@flighthq/types/contract';
+export declare function stepPhysics2D(world: Physics2DWorld, dt: number): void;
+//# sourceMappingURL=step.d.ts.map

package/dist/step.d.ts.map

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