@flighthq/physics2d 0.3.0-edge.1458.0c01b63

package/dist/step.js

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+import { collideContactManifold, createCollisionContactManifold } from '@flighthq/collision/contract';
+import { updatePhysics2DColliderWorldShape, writePhysics2DColliderBounds } from './colliderTransform';
+import { isRigidBody2DPairAwake, updatePhysics2DSleep } from './islands';
+import { relativeNormalVelocity, solvePhysics2DContactsOnce, warmStartPhysics2DContacts } from './solver';
+import { findPhysics2DBody, isPhysics2DPairOrdered } from './world';
+// Refreshes every collider's world shape and republishes its bounds to the broadphase index.
+function updatePhysics2DBroadphase(world) {
+    for (const body of world.bodies) {
+        let minX = Infinity;
+        let minY = Infinity;
+        let maxX = -Infinity;
+        let maxY = -Infinity;
+        for (const collider of body.colliders) {
+            updatePhysics2DColliderWorldShape(collider, body);
+            writePhysics2DColliderBounds(collider, boundsScratch);
+            if (boundsScratch.minX < minX)
+                minX = boundsScratch.minX;
+            if (boundsScratch.minY < minY)
+                minY = boundsScratch.minY;
+            if (boundsScratch.maxX > maxX)
+                maxX = boundsScratch.maxX;
+            if (boundsScratch.maxY > maxY)
+                maxY = boundsScratch.maxY;
+        }
+        if (minX > maxX) {
+            // No collider produced bounds, so there is nothing to index. Withdraw rather than skip: the id
+            // may have been indexed on a previous step, and a stale AABB keeps generating pairs for a body
+            // this step has already decided not to collide.
+            world.index.removeSpatialObject(body.index);
+            continue;
+        }
+        // Bounds this package declines to hand to the broadphase — a physics judgement, kept as
+        // defence in depth rather than as a substitute for the index's own bound.
+        //
+        // `@flighthq/spatial` now bounds its own insert cost (non-finite bounds are declined with a
+        // sentinel, oversized ones go to a flat overflow list), so this is no longer what stands between a
+        // diverging body and a hung caller. What it still expresses is a rigid-body world's own opinion:
+        // a body that is non-finite, or ten million units across, has diverged by any measure this
+        // simulation cares about, and continuing to collide it wastes narrow-phase work on a result
+        // already meaningless. Skipping it stops that one body colliding and lets the rest of the world
+        // keep simulating.
+        //
+        // Keeping it also keeps the two packages honest about ownership: the cost bound is the index's,
+        // and this is a divergence filter that happens to share its shape.
+        if (!Number.isFinite(minX) ||
+            !Number.isFinite(minY) ||
+            !Number.isFinite(maxX) ||
+            !Number.isFinite(maxY) ||
+            maxX - minX > MAX_SIMULATED_EXTENT ||
+            maxY - minY > MAX_SIMULATED_EXTENT) {
+            // Withdraw the body from the index instead of merely skipping the update. Skipping left
+            // whatever AABB it had last step in place, so a body this filter had declared diverged went on
+            // producing broadphase pairs and holding live contacts from its last valid pose — the opposite
+            // of the "stops colliding" this comment claims. Removal is a no-op for an id never indexed.
+            world.index.removeSpatialObject(body.index);
+            continue;
+        }
+        bodyBounds.minX = minX;
+        bodyBounds.minY = minY;
+        bodyBounds.maxX = maxX;
+        bodyBounds.maxY = maxY;
+        world.index.updateSpatialObject(body.index, bodyBounds);
+    }
+}
+// Builds this step's contact set from the broadphase pairs, preserving each surviving contact's cached
+// impulses.
+//
+// TWO ORDERINGS ARE ENFORCED HERE, and they are different obligations:
+//
+//   1. Each PAIR is ordered by body index before the narrow phase is called, because collision resolves
+//      contact points on the reference shape and ties toward its first argument. Reversed arguments move
+//      the points and renumber their feature ids, which discards the warm-start cache.
+//   2. The contact LIST is sorted, because a sequential-impulse solver is order-dependent by
+//      construction — each impulse is applied against the velocities the previous ones left behind — and
+//      `querySpatialPairs` walks a Map of Sets, so its order follows insertion and movement history.
+//
+// Neither substitutes for the other: the first fixes contact identity, the second fixes solve order.
+// A determinism harness that shuffles only insertion order would pass with the first one broken.
+function buildPhysics2DContacts(world) {
+    world.index.querySpatialPairs(pairScratch);
+    world.events.began.length = 0;
+    world.events.ended.length = 0;
+    for (const contact of world.contacts)
+        contact.touching = false;
+    for (const pair of pairScratch) {
+        const first = findPhysics2DBody(world, pair.a);
+        const second = findPhysics2DBody(world, pair.b);
+        if (first === null || second === null)
+            continue;
+        // Two bodies that cannot both move have no constraint to SOLVE, and skipping them keeps the
+        // solver's body list free of pairs whose every impulse would be multiplied by zero. But a sensor
+        // is reported, never resolved — the solver already skips sensor contacts — so applying this test
+        // before any collider is inspected silently deleted every sensor overlap between two immovable
+        // bodies. A static trigger volume over static scenery is an ordinary thing to build, and it
+        // reported nothing at all. Immovable pairs are still skipped, unless one of them senses.
+        const bothImmovable = first.inverseMass === 0 && second.inverseMass === 0;
+        if (bothImmovable && !hasSensorCollider(first) && !hasSensorCollider(second)) {
+            continue;
+        }
+        // A jointed pair almost always overlaps at the anchor, and resolving that contact fights the
+        // constraint holding them together, so a joint suppresses it unless the caller asks otherwise.
+        if (isPhysics2DPairJointSuppressed(world, first.index, second.index))
+            continue;
+        const ordered = isPhysics2DPairOrdered(first, second);
+        const bodyA = ordered ? first : second;
+        const bodyB = ordered ? second : first;
+        for (let i = 0; i < bodyA.colliders.length; i++) {
+            for (let j = 0; j < bodyB.colliders.length; j++) {
+                const colliderA = bodyA.colliders[i];
+                const colliderB = bodyB.colliders[j];
+                const sensorPair = colliderA.sensor || colliderB.sensor;
+                // The immovable test belongs here, not on the bodies. Owning one sensor anywhere does not make
+                // a body's other colliders reportable: a static body carrying a trigger volume plus ordinary
+                // scenery would otherwise emit solid-vs-solid contacts against other static scenery, which
+                // nothing can ever resolve. Sensors are reported and never resolved, so a sensor pair is the
+                // only pair worth keeping between two bodies that cannot move.
+                if (bothImmovable && !sensorPair)
+                    continue;
+                if (!collideContactManifold(colliderA.world, colliderB.world, manifoldScratch))
+                    continue;
+                mergePhysics2DContact(world, bodyA.index, bodyB.index, i, j, manifoldScratch, sensorPair, (colliderA.material.friction + colliderB.material.friction) / 2, Math.max(colliderA.material.restitution, colliderB.material.restitution));
+            }
+        }
+    }
+    // Contact events are read off the cache's own transitions rather than tracked beside it: the cache
+    // already knows which pairs are touching, so a pair gaining an entry IS the begin and losing one IS the
+    // end. An ended contact is reported for the step it leaves, then dropped.
+    for (let i = world.contacts.length - 1; i >= 0; i--) {
+        const contact = world.contacts[i];
+        if (!contact.touching) {
+            world.events.ended.push(contact);
+            world.contacts.splice(i, 1);
+        }
+    }
+    world.contacts.sort(comparePhysics2DContacts);
+}
+// Writes this step's manifold into the persistent contact for the pair, creating it if new, and carries
+// each point's converged impulses across by FEATURE ID rather than by slot. Matching by slot would hand
+// a point the impulse of whatever happened to occupy that array position last step, which is a different
+// contact feature the moment the manifold's point count or order changes.
+function mergePhysics2DContact(world, bodyA, bodyB, colliderA, colliderB, manifold, sensor, friction, restitution) {
+    let contact = null;
+    let created = false;
+    for (const existing of world.contacts) {
+        if (existing.bodyA === bodyA &&
+            existing.bodyB === bodyB &&
+            existing.colliderA === colliderA &&
+            existing.colliderB === colliderB) {
+            contact = existing;
+            break;
+        }
+    }
+    if (contact === null) {
+        created = true;
+        contact = {
+            bodyA,
+            bodyB,
+            colliderA,
+            colliderB,
+            normalX: 0,
+            normalY: 0,
+            pointCount: 0,
+            points: [createPhysics2DContactPoint(), createPhysics2DContactPoint()],
+            friction,
+            restitution,
+            sensor,
+            touching: true,
+        };
+        world.contacts.push(contact);
+    }
+    if (created)
+        world.events.began.push(contact);
+    contact.normalX = manifold.normalX;
+    contact.normalY = manifold.normalY;
+    contact.friction = friction;
+    contact.restitution = restitution;
+    contact.sensor = sensor;
+    contact.touching = true;
+    for (let i = 0; i < manifold.pointCount; i++) {
+        const source = manifold.points[i];
+        const target = contact.points[i];
+        let normalImpulse = 0;
+        let tangentImpulse = 0;
+        for (let j = 0; j < contact.pointCount; j++) {
+            if (contact.points[j].featureId === source.featureId) {
+                normalImpulse = contact.points[j].normalImpulse;
+                tangentImpulse = contact.points[j].tangentImpulse;
+                break;
+            }
+        }
+        target.x = source.x;
+        target.y = source.y;
+        target.depth = source.depth;
+        target.featureId = source.featureId;
+        target.normalImpulse = normalImpulse;
+        target.tangentImpulse = tangentImpulse;
+    }
+    contact.pointCount = manifold.pointCount;
+}
+// Rebuilds every contact's lever arms, effective masses, and velocity bias for this step's geometry.
+// These are recomputed rather than cached because they depend on the bodies' current positions, which
+// the previous step moved.
+function preparePhysics2DConstraints(world, dt) {
+    const config = world.config;
+    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;
+        const centerAX = bodyA.x + bodyA.centerX * Math.cos(bodyA.angle) - bodyA.centerY * Math.sin(bodyA.angle);
+        const centerAY = bodyA.y + bodyA.centerX * Math.sin(bodyA.angle) + bodyA.centerY * Math.cos(bodyA.angle);
+        const centerBX = bodyB.x + bodyB.centerX * Math.cos(bodyB.angle) - bodyB.centerY * Math.sin(bodyB.angle);
+        const centerBY = bodyB.y + bodyB.centerX * Math.sin(bodyB.angle) + bodyB.centerY * Math.cos(bodyB.angle);
+        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];
+            point.rAX = point.x - centerAX;
+            point.rAY = point.y - centerAY;
+            point.rBX = point.x - centerBX;
+            point.rBY = point.y - centerBY;
+            point.normalMass = effectiveMass(bodyA, bodyB, point.rAX, point.rAY, point.rBX, point.rBY, normalX, normalY);
+            point.tangentMass = effectiveMass(bodyA, bodyB, point.rAX, point.rAY, point.rBX, point.rBY, tangentX, tangentY);
+            // Penetration recovery, softened by a slop the solver deliberately leaves unresolved so a resting
+            // contact is not fighting a target of exactly zero overlap every step.
+            const excess = point.depth - config.penetrationSlop;
+            point.bias = excess > 0 ? -(config.positionCorrection / dt) * excess : 0;
+            // Restitution is dropped below a threshold approach speed. Without that, a ball bounces forever at
+            // ever smaller amplitudes and never comes to rest.
+            const approach = relativeNormalVelocity(bodyA, bodyB, point, normalX, normalY);
+            if (approach < -config.restitutionThreshold)
+                point.bias += contact.restitution * approach;
+        }
+    }
+}
+// The constraint's effective mass along `axis`: the inverse of how much the pair's velocity at the
+// contact point changes per unit impulse. The angular terms are the lever arm crossed with the axis,
+// which is the entire reason a contact point can produce torque — with only a minimum-translation vector
+// and no point, both terms vanish and a box slides down a slope without ever tipping.
+function effectiveMass(bodyA, bodyB, rAX, rAY, rBX, rBY, axisX, axisY) {
+    const crossA = rAX * axisY - rAY * axisX;
+    const crossB = rBX * axisY - rBY * axisX;
+    const total = bodyA.inverseMass +
+        bodyB.inverseMass +
+        bodyA.inverseInertia * crossA * crossA +
+        bodyB.inverseInertia * crossB * crossB;
+    return total > 0 ? 1 / total : 0;
+}
+// Advances the simulation by `dt` seconds. Everything the step does, it does because the caller asked:
+// there is no implicit accumulation, no fixed-timestep loop hidden inside, and no allocation once the
+// world's bodies and contacts exist.
+//
+// The order of the phases is not arbitrary. World shapes must be current before the broadphase sees
+// their bounds; the contact set must be built before impulses can warm-start from it; velocities are
+// solved before positions are integrated, so the integration moves bodies that have already had their
+// constraints applied rather than moving them and correcting afterwards.
+export function stepPhysics2D(world, dt) {
+    if (!(dt > 0))
+        return;
+    updatePhysics2DBroadphase(world);
+    buildPhysics2DContacts(world);
+    const bodies = world.bodies;
+    const config = world.config;
+    // Sleep is decided HERE — after the contact set is current, before anything integrates. The placement
+    // is what makes every wake transition cost zero steps. A body woken by a force, by a new neighbour, or
+    // by the caller writing a velocity is awake in time to be integrated by this same step; deciding after
+    // integration instead would skip it once and move it a step late.
+    updatePhysics2DSleep(world, dt);
+    for (const body of bodies) {
+        if (body.type !== 'dynamic' || body.sleeping)
+            continue;
+        body.velocityX += (body.forceX * body.inverseMass + world.gravityX * body.gravityScale) * dt;
+        body.velocityY += (body.forceY * body.inverseMass + world.gravityY * body.gravityScale) * dt;
+        body.angularVelocity += body.torque * body.inverseInertia * dt;
+        // Damping is applied as a multiplicative decay rather than a subtracted force so it stays stable at
+        // any timestep: a force-shaped damping term large enough to matter can reverse the velocity it is
+        // damping when dt is big.
+        body.velocityX /= 1 + body.linearDamping * dt;
+        body.velocityY /= 1 + body.linearDamping * dt;
+        body.angularVelocity /= 1 + body.angularDamping * dt;
+    }
+    preparePhysics2DConstraints(world, dt);
+    for (const joint of world.joints) {
+        if (!isPhysics2DJointAwake(world, joint))
+            continue;
+        world.jointSolvers.get(joint.kind)?.prepare(world, joint, dt);
+    }
+    // Joints warm-start alongside contacts, which is what the impulse block on Physics2DJoint has always
+    // been documented to be for. Each kind reapplies its own converged impulse, because the block is
+    // deliberately untyped and only the kind knows what its numbers mean. With warm starting off the
+    // accumulators are cleared instead, so a world told not to use the cache does not quietly keep
+    // seeding from it — the previous code left them growing whether the flag was set or not.
+    if (config.warmStarting)
+        warmStartPhysics2DContacts(world);
+    // Warm starting is decided per KIND as well as per world, because it is a capability and not just a
+    // preference. A kind that declares no warmStart is never reapplying its accumulator — the mouse joint
+    // omits it deliberately, since a target that moves between steps invalidates the previous impulse —
+    // so that accumulator has to be cleared even when the world is warm starting. Keying only on the
+    // world flag left the mouse's stale impulse live: after zeroing a body's velocity and moving the
+    // target onto it, the next step still produced motion, contradicting the cold-start contract on the
+    // type. An impulse that is never reapplied must be cleared, or it is neither warm nor cold.
+    for (const joint of world.joints) {
+        const solver = world.jointSolvers.get(joint.kind);
+        if (solver === undefined)
+            continue;
+        // A joint between two sleeping ends must not warm-start: reapplying its impulse hands a sleeper
+        // velocity it will never integrate, and the next step's stillness test reads that as motion.
+        if (!isPhysics2DJointAwake(world, joint))
+            continue;
+        if (config.warmStarting && solver.warmStart !== undefined) {
+            solver.warmStart(world, joint);
+        }
+        else {
+            solver.clearAccumulatedImpulses?.(joint);
+        }
+    }
+    // Joints and contacts share one solve list and one iteration count. Solving them in separate passes
+    // would let each undo the other's correction — a hinge under load creeps if the contacts beneath it get
+    // a whole pass to themselves between joint iterations.
+    for (let iteration = 0; iteration < config.velocityIterations; iteration++) {
+        for (const joint of world.joints) {
+            if (!isPhysics2DJointAwake(world, joint))
+                continue;
+            world.jointSolvers.get(joint.kind)?.solve(world, joint);
+        }
+        solvePhysics2DContactsOnce(world);
+    }
+    // The sleeping skip here is a COST saving, not a behavioural one, and the distinction is worth having
+    // in writing: a sleeping body's velocity is zeroed when it falls asleep and nothing can hand it more
+    // (any awake neighbour puts it in an awake island before this point), so integrating it would move it
+    // by exactly zero. What the skip buys is that a settled thousand-body pile costs no integration work
+    // at all, which is the entire reason sleep exists. Removing it changes no observable result.
+    for (const body of bodies) {
+        if (body.type === 'static' || body.sleeping)
+            continue;
+        body.x += body.velocityX * dt;
+        body.y += body.velocityY * dt;
+        body.angle += body.angularVelocity * dt;
+    }
+    for (const body of bodies) {
+        body.forceX = 0;
+        body.forceY = 0;
+        body.torque = 0;
+    }
+}
+function createPhysics2DContactPoint() {
+    return {
+        x: 0,
+        y: 0,
+        depth: 0,
+        featureId: 0,
+        rAX: 0,
+        rAY: 0,
+        rBX: 0,
+        rBY: 0,
+        normalImpulse: 0,
+        tangentImpulse: 0,
+        normalMass: 0,
+        tangentMass: 0,
+        bias: 0,
+    };
+}
+// Whether a joint still has an end the solver can move. Mirrors the contact-side test in the solver:
+// two sleeping ends, or a sleeper anchored to static scenery, constrain nothing this step.
+function isPhysics2DJointAwake(world, joint) {
+    const bodyA = findPhysics2DBody(world, joint.bodyA);
+    const bodyB = findPhysics2DBody(world, joint.bodyB);
+    if (bodyA === null || bodyB === null)
+        return false;
+    return isRigidBody2DPairAwake(bodyA, bodyB);
+}
+// Whether any of the body's colliders senses rather than collides. Cheap enough to ask per pair: a
+// body carries a handful of colliders, and the alternative is inspecting every collider pairing.
+function hasSensorCollider(body) {
+    for (const collider of body.colliders) {
+        if (collider.sensor)
+            return true;
+    }
+    return false;
+}
+// Total order over contacts, by the four identities that define one. Every field is a persistent index,
+// so the order is stable across steps and independent of the broadphase's history.
+function comparePhysics2DContacts(left, right) {
+    if (left.bodyA !== right.bodyA)
+        return left.bodyA - right.bodyA;
+    if (left.bodyB !== right.bodyB)
+        return left.bodyB - right.bodyB;
+    if (left.colliderA !== right.colliderA)
+        return left.colliderA - right.colliderA;
+    return left.colliderB - right.colliderB;
+}
+// The widest body this world still treats as simulating. Named for what it bounds — the simulation's
+// tolerance for divergence — not for the index, which bounds its own insert cost independently.
+const MAX_SIMULATED_EXTENT = 1e7;
+const boundsScratch = { minX: 0, minY: 0, maxX: 0, maxY: 0 };
+const bodyBounds = { minX: 0, minY: 0, maxX: 0, maxY: 0 };
+const pairScratch = [];
+const manifoldScratch = createCollisionContactManifold();
+// Whether a joint between these two bodies suppresses their contact.
+function isPhysics2DPairJointSuppressed(world, first, second) {
+    for (const joint of world.joints) {
+        if (joint.collideConnected)
+            continue;
+        if ((joint.bodyA === first && joint.bodyB === second) || (joint.bodyA === second && joint.bodyB === first)) {
+            return true;
+        }
+    }
+    return false;
+}
+//# sourceMappingURL=step.js.map

package/dist/step.js.map

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package/dist/world.d.ts

@@ -0,0 +1,10 @@
+import type { CollisionShape, Physics2DCollider, Physics2DMaterial, Physics2DSolverConfig, Physics2DWorld, RigidBody2D, SpatialIndexBackend } from '@flighthq/types/contract';
+export declare function addPhysics2DBody(world: Physics2DWorld, body: RigidBody2D): RigidBody2D;
+export declare function createPhysics2DCollider(local: CollisionShape, material: Physics2DMaterial, sensor?: boolean): Physics2DCollider;
+export declare function createPhysics2DSolverConfig(): Physics2DSolverConfig;
+export declare function createPhysics2DWorld(gravityX?: number, gravityY?: number, index?: SpatialIndexBackend): Physics2DWorld;
+export declare function createRigidBody2D(type: RigidBody2D['type'], x: number, y: number, angle?: number): RigidBody2D;
+export declare function findPhysics2DBody(world: Readonly<Physics2DWorld>, index: number): RigidBody2D | null;
+export declare function isPhysics2DPairOrdered(a: Readonly<RigidBody2D>, b: Readonly<RigidBody2D>): boolean;
+export declare function removePhysics2DBody(world: Physics2DWorld, body: Readonly<RigidBody2D>): boolean;
+//# sourceMappingURL=world.d.ts.map

package/dist/world.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"world.d.ts","sourceRoot":"","sources":["../src/world.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EACV,cAAc,EACd,iBAAiB,EACjB,iBAAiB,EACjB,qBAAqB,EACrB,cAAc,EACd,WAAW,EACX,mBAAmB,EACpB,MAAM,0BAA0B,CAAC;AASlC,wBAAgB,gBAAgB,CAAC,KAAK,EAAE,cAAc,EAAE,IAAI,EAAE,WAAW,GAAG,WAAW,CAKtF;AAID,wBAAgB,uBAAuB,CACrC,KAAK,EAAE,cAAc,EACrB,QAAQ,EAAE,iBAAiB,EAC3B,MAAM,UAAQ,GACb,iBAAiB,CAEnB;AAMD,wBAAgB,2BAA2B,IAAI,qBAAqB,CAcnE;AAKD,wBAAgB,oBAAoB,CAAC,QAAQ,SAAI,EAAE,QAAQ,SAAQ,EAAE,KAAK,CAAC,EAAE,mBAAmB,GAAG,cAAc,CAahH;AAKD,wBAAgB,iBAAiB,CAAC,IAAI,EAAE,WAAW,CAAC,MAAM,CAAC,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,KAAK,SAAI,GAAG,WAAW,CA0BzG;AAKD,wBAAgB,iBAAiB,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,EAAE,KAAK,EAAE,MAAM,GAAG,WAAW,GAAG,IAAI,CAKpG;AAcD,wBAAgB,sBAAsB,CAAC,CAAC,EAAE,QAAQ,CAAC,WAAW,CAAC,EAAE,CAAC,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,OAAO,CAElG;AAKD,wBAAgB,mBAAmB,CAAC,KAAK,EAAE,cAAc,EAAE,IAAI,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,OAAO,CAgB/F"}

package/dist/world.js

@@ -0,0 +1,133 @@
+import { createUniformGridSpatialBackend } from '@flighthq/spatial/contract';
+import { createPhysics2DColliderWorldShape } from './colliderTransform';
+import { updateRigidBody2DMassData } from './massProperties';
+// Adds `body` to `world`, assigning it the persistent index every contact is keyed and ordered by, and
+// returns it. The index comes from a monotonic counter rather than the array position, so removing a
+// body can never hand its identity to a later one — a stale contact would otherwise be revived against
+// whichever body inherited the slot, warm-starting it with a force that belonged to something else.
+export function addPhysics2DBody(world, body) {
+    body.index = world.nextBodyIndex++;
+    world.bodies.push(body);
+    updateRigidBody2DMassData(body);
+    return body;
+}
+// Creates a collider from a LOCAL-space shape, allocating the world-space shape it will be transformed
+// into. Both shapes exist for the collider's lifetime; the step rewrites the world one in place.
+export function createPhysics2DCollider(local, material, sensor = false) {
+    return { local, world: createPhysics2DColliderWorldShape(local), material, sensor };
+}
+// The default solver tuning. Ten velocity iterations and three position iterations is the range every
+// sequential-impulse engine converges on for game-scale stacks; the slop and correction factor are what
+// stop a resting contact from either twitching against a target of exactly zero overlap or exploding
+// outward when a deep overlap is corrected all at once.
+export function createPhysics2DSolverConfig() {
+    return {
+        // Box2D's long-standing defaults: still below 0.01 m/s and 2 deg/s, asleep after half a second.
+        allowSleeping: true,
+        sleepLinearThreshold: 0.01,
+        sleepAngularThreshold: (2 * Math.PI) / 180,
+        timeToSleep: 0.5,
+        velocityIterations: 10,
+        positionIterations: 3,
+        penetrationSlop: 0.005,
+        positionCorrection: 0.2,
+        restitutionThreshold: 1,
+        warmStarting: true,
+    };
+}
+// Creates an empty world. `index` defaults to a uniform grid; pass one to swap the broadphase structure
+// without this package knowing which it got — `SpatialIndexBackend` is already that seam, so physics
+// adds no second one over it.
+export function createPhysics2DWorld(gravityX = 0, gravityY = -9.81, index) {
+    return {
+        bodies: [],
+        contacts: [],
+        joints: [],
+        jointSolvers: new Map(),
+        events: { began: [], ended: [] },
+        index: index ?? createUniformGridSpatialBackend(1),
+        config: createPhysics2DSolverConfig(),
+        gravityX,
+        gravityY,
+        nextBodyIndex: 0,
+    };
+}
+// Creates a rigid body at rest. Mass properties stay zero until the body is added to a world, which
+// derives them from the colliders — a body's mass is never assigned, only derived, so it cannot
+// disagree with its shape.
+export function createRigidBody2D(type, x, y, angle = 0) {
+    return {
+        index: -1,
+        type,
+        x,
+        y,
+        angle,
+        velocityX: 0,
+        velocityY: 0,
+        angularVelocity: 0,
+        forceX: 0,
+        forceY: 0,
+        torque: 0,
+        mass: 0,
+        inverseMass: 0,
+        inertia: 0,
+        inverseInertia: 0,
+        centerX: 0,
+        centerY: 0,
+        linearDamping: 0,
+        angularDamping: 0,
+        gravityScale: 1,
+        sleeping: false,
+        sleepTimer: 0,
+        colliders: [],
+    };
+}
+// The body carrying `index`, or null when the world no longer holds it. Contacts store body indices
+// rather than references so a contact can outlive one step without pinning a removed body alive; this is
+// the lookup that turns one back into the other.
+export function findPhysics2DBody(world, index) {
+    for (const body of world.bodies) {
+        if (body.index === index)
+            return body;
+    }
+    return null;
+}
+// The canonical order of a body pair: lower index first. Every contact in the world is created through
+// this, which is what discharges the ordering obligation `@flighthq/collision` cannot.
+//
+// Collision resolves contact points on the reference shape's surface and, for two shapes of the same
+// kind, ties toward its first argument — so passing a pair the other way round moves the points to the
+// opposite surface and renumbers their feature ids. Broadphase pair order follows insertion and movement
+// history, so without a canonical order the warm-start cache silently resets whenever a body is added
+// mid-simulation. The order has to come from persistent identity rather than geometry, because any order
+// derived from coordinates flips the moment those coordinates cross.
+//
+// It returns a boolean rather than sorting in place so the caller keeps both the ordered pair and the
+// knowledge of whether it was reversed, which the collider indices must follow.
+export function isPhysics2DPairOrdered(a, b) {
+    return a.index <= b.index;
+}
+// Removes `body` from `world`, along with every contact naming it. Contacts are dropped rather than
+// kept, because a contact whose body is gone has no constraint to solve and its cached impulse belongs
+// to a pair that no longer exists.
+export function removePhysics2DBody(world, body) {
+    const at = world.bodies.indexOf(body);
+    if (at < 0)
+        return false;
+    world.bodies.splice(at, 1);
+    world.index.removeSpatialObject(body.index);
+    for (let i = world.contacts.length - 1; i >= 0; i--) {
+        const contact = world.contacts[i];
+        if (contact.bodyA === body.index || contact.bodyB === body.index)
+            world.contacts.splice(i, 1);
+    }
+    // Joints naming the removed body go with it: a constraint with one end missing has nothing to solve
+    // against, and leaving it would let a later body inheriting the index be silently constrained by it.
+    for (let i = world.joints.length - 1; i >= 0; i--) {
+        const joint = world.joints[i];
+        if (joint.bodyA === body.index || joint.bodyB === body.index)
+            world.joints.splice(i, 1);
+    }
+    return true;
+}
+//# sourceMappingURL=world.js.map

package/dist/world.js.map

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package/package.json

@@ -0,0 +1,49 @@
+{
+  "name": "@flighthq/physics2d",
+  "version": "0.3.0-edge.1458.0c01b63",
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/flighthq/flight.git",
+    "directory": "packages/physics2d"
+  },
+  "type": "module",
+  "main": "dist/index.js",
+  "types": "dist/index.d.ts",
+  "exports": {
+    ".": {
+      "types": "./dist/index.d.ts",
+      "default": "./dist/index.js"
+    },
+    "./contract": {
+      "types": "./dist/contract.d.ts",
+      "default": "./dist/contract.js"
+    }
+  },
+  "files": [
+    "dist",
+    "src/**/*.test.ts",
+    "!dist/**/*.test.js",
+    "!dist/**/*.test.d.ts",
+    "!dist/**/*.test.js.map",
+    "!dist/**/*.test.d.ts.map"
+  ],
+  "scripts": {
+    "build": "tsc -b",
+    "clean": "tsc -b --clean",
+    "test": "vitest run --config vitest.config.ts",
+    "test:watch": "vitest --watch --config vitest.config.ts",
+    "prepack": "npm run clean && npm run clean:dist && npm run build",
+    "clean:dist": "tsx ../../scripts/clean-package-dist.ts"
+  },
+  "dependencies": {
+    "@flighthq/collision": "0.3.0-edge.1458.0c01b63",
+    "@flighthq/math": "0.3.0-edge.1458.0c01b63",
+    "@flighthq/spatial": "0.3.0-edge.1458.0c01b63",
+    "@flighthq/types": "0.3.0-edge.1458.0c01b63"
+  },
+  "devDependencies": {
+    "typescript": "^5.3.0"
+  },
+  "description": "2D rigid-body dynamics — deterministic sequential-impulse solver over collision manifolds and a spatial broadphase, with explicit stepping and no hidden per-frame allocation",
+  "sideEffects": false
+}