@flighthq/physics2d 0.3.0-next.1021.f5f1ee0

package/dist/colliderTransform.d.ts

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

package/dist/colliderTransform.d.ts.map

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package/dist/colliderTransform.js

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

package/dist/colliderTransform.js.map

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package/dist/contract.d.ts

@@ -0,0 +1,6 @@
+export * from './colliderTransform';
+export * from './massProperties';
+export * from './solver';
+export * from './step';
+export * from './world';
+//# sourceMappingURL=contract.d.ts.map

package/dist/contract.d.ts.map

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package/dist/contract.js

@@ -0,0 +1,6 @@
+export * from './colliderTransform';
+export * from './massProperties';
+export * from './solver';
+export * from './step';
+export * from './world';
+//# sourceMappingURL=contract.js.map

package/dist/contract.js.map

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+{"version":3,"file":"contract.js","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAAA,cAAc,qBAAqB,CAAC;AACpC,cAAc,kBAAkB,CAAC;AACjC,cAAc,UAAU,CAAC;AACzB,cAAc,QAAQ,CAAC;AACvB,cAAc,SAAS,CAAC"}

package/dist/index.d.ts

@@ -0,0 +1,6 @@
+export { createPhysics2DColliderWorldShape, updatePhysics2DColliderWorldShape, writePhysics2DColliderBounds, } from './colliderTransform';
+export { computePhysics2DColliderMassData, updateRigidBody2DMassData } from './massProperties';
+export { applyPhysics2DImpulse, relativeNormalVelocity, solvePhysics2DContacts, warmStartPhysics2DContacts, } from './solver';
+export { stepPhysics2D } from './step';
+export { addPhysics2DBody, findPhysics2DBody, createPhysics2DCollider, createPhysics2DSolverConfig, createPhysics2DWorld, createRigidBody2D, isPhysics2DPairOrdered, removePhysics2DBody, } from './world';
+//# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

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

@@ -0,0 +1,6 @@
+export { createPhysics2DColliderWorldShape, updatePhysics2DColliderWorldShape, writePhysics2DColliderBounds, } from './colliderTransform';
+export { computePhysics2DColliderMassData, updateRigidBody2DMassData } from './massProperties';
+export { applyPhysics2DImpulse, relativeNormalVelocity, solvePhysics2DContacts, warmStartPhysics2DContacts, } from './solver';
+export { stepPhysics2D } from './step';
+export { addPhysics2DBody, findPhysics2DBody, createPhysics2DCollider, createPhysics2DSolverConfig, createPhysics2DWorld, createRigidBody2D, isPhysics2DPairOrdered, removePhysics2DBody, } from './world';
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

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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

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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 +1,6 @@
+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 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 +1,119 @@
+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++) {
+        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;
+            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;
+        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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