@flighthq/physics2d 0.3.0-next.1021.f5f1ee0

package/dist/step.js

@@ -0,0 +1,268 @@
+import { collideContactManifold, createCollisionContactManifold } from '@flighthq/collision/contract';
+import { updatePhysics2DColliderWorldShape, writePhysics2DColliderBounds } from './colliderTransform';
+import { relativeNormalVelocity, solvePhysics2DContacts, 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)
+            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);
+    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; skipping them here keeps the
+        // solver's body list free of pairs whose every impulse would be multiplied by zero.
+        if (first.inverseMass === 0 && second.inverseMass === 0)
+            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];
+                if (!collideContactManifold(colliderA.world, colliderB.world, manifoldScratch))
+                    continue;
+                mergePhysics2DContact(world, bodyA.index, bodyB.index, i, j, manifoldScratch, colliderA.sensor || colliderB.sensor, (colliderA.material.friction + colliderB.material.friction) / 2, Math.max(colliderA.material.restitution, colliderB.material.restitution));
+            }
+        }
+    }
+    for (let i = world.contacts.length - 1; i >= 0; i--) {
+        if (!world.contacts[i].touching)
+            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;
+    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) {
+        contact = {
+            bodyA,
+            bodyB,
+            colliderA,
+            colliderB,
+            normalX: 0,
+            normalY: 0,
+            pointCount: 0,
+            points: [createPhysics2DContactPoint(), createPhysics2DContactPoint()],
+            friction,
+            restitution,
+            sensor,
+            touching: true,
+        };
+        world.contacts.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;
+    for (const body of bodies) {
+        if (body.type !== 'dynamic')
+            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);
+    if (config.warmStarting)
+        warmStartPhysics2DContacts(world);
+    solvePhysics2DContacts(world);
+    for (const body of bodies) {
+        if (body.type === 'static')
+            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,
+    };
+}
+// 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;
+}
+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();
+//# sourceMappingURL=step.js.map

package/dist/step.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"step.js","sourceRoot":"","sources":["../src/step.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,sBAAsB,EAAE,8BAA8B,EAAE,MAAM,8BAA8B,CAAC;AAWtG,OAAO,EAAE,iCAAiC,EAAE,4BAA4B,EAAE,MAAM,qBAAqB,CAAC;AACtG,OAAO,EAAE,sBAAsB,EAAE,sBAAsB,EAAE,0BAA0B,EAAE,MAAM,UAAU,CAAC;AACtG,OAAO,EAAE,iBAAiB,EAAE,sBAAsB,EAAE,MAAM,SAAS,CAAC;AAEpE,6FAA6F;AAC7F,SAAS,yBAAyB,CAAC,KAAqB;IACtD,KAAK,MAAM,IAAI,IAAI,KAAK,CAAC,MAAM,EAAE,CAAC;QAChC,IAAI,IAAI,GAAG,QAAQ,CAAC;QACpB,IAAI,IAAI,GAAG,QAAQ,CAAC;QACpB,IAAI,IAAI,GAAG,CAAC,QAAQ,CAAC;QACrB,IAAI,IAAI,GAAG,CAAC,QAAQ,CAAC;QACrB,KAAK,MAAM,QAAQ,IAAI,IAAI,CAAC,SAAS,EAAE,CAAC;YACtC,iCAAiC,CAAC,QAAQ,EAAE,IAAI,CAAC,CAAC;YAClD,4BAA4B,CAAC,QAAQ,EAAE,aAAa,CAAC,CAAC;YACtD,IAAI,aAAa,CAAC,IAAI,GAAG,IAAI;gBAAE,IAAI,GAAG,aAAa,CAAC,IAAI,CAAC;YACzD,IAAI,aAAa,CAAC,IAAI,GAAG,IAAI;gBAAE,IAAI,GAAG,aAAa,CAAC,IAAI,CAAC;YACzD,IAAI,aAAa,CAAC,IAAI,GAAG,IAAI;gBAAE,IAAI,GAAG,aAAa,CAAC,IAAI,CAAC;YACzD,IAAI,aAAa,CAAC,IAAI,GAAG,IAAI;gBAAE,IAAI,GAAG,aAAa,CAAC,IAAI,CAAC;QAC3D,CAAC;QACD,IAAI,IAAI,GAAG,IAAI;YAAE,SAAS;QAC1B,UAAU,CAAC,IAAI,GAAG,IAAI,CAAC;QACvB,UAAU,CAAC,IAAI,GAAG,IAAI,CAAC;QACvB,UAAU,CAAC,IAAI,GAAG,IAAI,CAAC;QACvB,UAAU,CAAC,IAAI,GAAG,IAAI,CAAC;QACvB,KAAK,CAAC,KAAK,CAAC,mBAAmB,CAAC,IAAI,CAAC,KAAK,EAAE,UAAU,CAAC,CAAC;IAC1D,CAAC;AACH,CAAC;AAED,uGAAuG;AACvG,YAAY;AACZ,EAAE;AACF,uEAAuE;AACvE,EAAE;AACF,wGAAwG;AACxG,yGAAyG;AACzG,uFAAuF;AACvF,6FAA6F;AAC7F,yGAAyG;AACzG,qGAAqG;AACrG,EAAE;AACF,qGAAqG;AACrG,iGAAiG;AACjG,SAAS,sBAAsB,CAAC,KAAqB;IACnD,KAAK,CAAC,KAAK,CAAC,iBAAiB,CAAC,WAAW,CAAC,CAAC;IAE3C,KAAK,MAAM,OAAO,IAAI,KAAK,CAAC,QAAQ;QAAE,OAAO,CAAC,QAAQ,GAAG,KAAK,CAAC;IAE/D,KAAK,MAAM,IAAI,IAAI,WAAW,EAAE,CAAC;QAC/B,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC;QAC/C,MAAM,MAAM,GAAG,iBAAiB,CAAC,KAAK,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC;QAChD,IAAI,KAAK,KAAK,IAAI,IAAI,MAAM,KAAK,IAAI;YAAE,SAAS;QAChD,6FAA6F;QAC7F,oFAAoF;QACpF,IAAI,KAAK,CAAC,WAAW,KAAK,CAAC,IAAI,MAAM,CAAC,WAAW,KAAK,CAAC;YAAE,SAAS;QAElE,MAAM,OAAO,GAAG,sBAAsB,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC;QACtD,MAAM,KAAK,GAAG,OAAO,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,MAAM,CAAC;QACvC,MAAM,KAAK,GAAG,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,KAAK,CAAC;QAEvC,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,KAAK,CAAC,SAAS,CAAC,MAAM,EAAE,CAAC,EAAE,EAAE,CAAC;YAChD,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,KAAK,CAAC,SAAS,CAAC,MAAM,EAAE,CAAC,EAAE,EAAE,CAAC;gBAChD,MAAM,SAAS,GAAG,KAAK,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC;gBACrC,MAAM,SAAS,GAAG,KAAK,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC;gBACrC,IAAI,CAAC,sBAAsB,CAAC,SAAS,CAAC,KAAK,EAAE,SAAS,CAAC,KAAK,EAAE,eAAe,CAAC;oBAAE,SAAS;gBACzF,qBAAqB,CACnB,KAAK,EACL,KAAK,CAAC,KAAK,EACX,KAAK,CAAC,KAAK,EACX,CAAC,EACD,CAAC,EACD,eAAe,EACf,SAAS,CAAC,MAAM,IAAI,SAAS,CAAC,MAAM,EACpC,CAAC,SAAS,CAAC,QAAQ,CAAC,QAAQ,GAAG,SAAS,CAAC,QAAQ,CAAC,QAAQ,CAAC,GAAG,CAAC,EAC/D,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,QAAQ,CAAC,WAAW,EAAE,SAAS,CAAC,QAAQ,CAAC,WAAW,CAAC,CACzE,CAAC;YACJ,CAAC;QACH,CAAC;IACH,CAAC;IAED,KAAK,IAAI,CAAC,GAAG,KAAK,CAAC,QAAQ,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC,IAAI,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC;QACpD,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,QAAQ;YAAE,KAAK,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC/D,CAAC;IAED,KAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,wBAAwB,CAAC,CAAC;AAChD,CAAC;AAED,wGAAwG;AACxG,wGAAwG;AACxG,yGAAyG;AACzG,0EAA0E;AAC1E,SAAS,qBAAqB,CAC5B,KAAqB,EACrB,KAAa,EACb,KAAa,EACb,SAAiB,EACjB,SAAiB,EACjB,QAA4C,EAC5C,MAAe,EACf,QAAgB,EAChB,WAAmB;IAEnB,IAAI,OAAO,GAA4B,IAAI,CAAC;IAC5C,KAAK,MAAM,QAAQ,IAAI,KAAK,CAAC,QAAQ,EAAE,CAAC;QACtC,IACE,QAAQ,CAAC,KAAK,KAAK,KAAK;YACxB,QAAQ,CAAC,KAAK,KAAK,KAAK;YACxB,QAAQ,CAAC,SAAS,KAAK,SAAS;YAChC,QAAQ,CAAC,SAAS,KAAK,SAAS,EAChC,CAAC;YACD,OAAO,GAAG,QAAQ,CAAC;YACnB,MAAM;QACR,CAAC;IACH,CAAC;IAED,IAAI,OAAO,KAAK,IAAI,EAAE,CAAC;QACrB,OAAO,GAAG;YACR,KAAK;YACL,KAAK;YACL,SAAS;YACT,SAAS;YACT,OAAO,EAAE,CAAC;YACV,OAAO,EAAE,CAAC;YACV,UAAU,EAAE,CAAC;YACb,MAAM,EAAE,CAAC,2BAA2B,EAAE,EAAE,2BAA2B,EAAE,CAAC;YACtE,QAAQ;YACR,WAAW;YACX,MAAM;YACN,QAAQ,EAAE,IAAI;SACf,CAAC;QACF,KAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IAC/B,CAAC;IAED,OAAO,CAAC,OAAO,GAAG,QAAQ,CAAC,OAAO,CAAC;IACnC,OAAO,CAAC,OAAO,GAAG,QAAQ,CAAC,OAAO,CAAC;IACnC,OAAO,CAAC,QAAQ,GAAG,QAAQ,CAAC;IAC5B,OAAO,CAAC,WAAW,GAAG,WAAW,CAAC;IAClC,OAAO,CAAC,MAAM,GAAG,MAAM,CAAC;IACxB,OAAO,CAAC,QAAQ,GAAG,IAAI,CAAC;IAExB,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,QAAQ,CAAC,UAAU,EAAE,CAAC,EAAE,EAAE,CAAC;QAC7C,MAAM,MAAM,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;QAClC,MAAM,MAAM,GAAG,OAAO,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;QACjC,IAAI,aAAa,GAAG,CAAC,CAAC;QACtB,IAAI,cAAc,GAAG,CAAC,CAAC;QACvB,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,OAAO,CAAC,UAAU,EAAE,CAAC,EAAE,EAAE,CAAC;YAC5C,IAAI,OAAO,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,SAAS,KAAK,MAAM,CAAC,SAAS,EAAE,CAAC;gBACrD,aAAa,GAAG,OAAO,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,aAAa,CAAC;gBAChD,cAAc,GAAG,OAAO,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,cAAc,CAAC;gBAClD,MAAM;YACR,CAAC;QACH,CAAC;QACD,MAAM,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC,CAAC;QACpB,MAAM,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC,CAAC;QACpB,MAAM,CAAC,KAAK,GAAG,MAAM,CAAC,KAAK,CAAC;QAC5B,MAAM,CAAC,SAAS,GAAG,MAAM,CAAC,SAAS,CAAC;QACpC,MAAM,CAAC,aAAa,GAAG,aAAa,CAAC;QACrC,MAAM,CAAC,cAAc,GAAG,cAAc,CAAC;IACzC,CAAC;IACD,OAAO,CAAC,UAAU,GAAG,QAAQ,CAAC,UAAU,CAAC;AAC3C,CAAC;AAED,qGAAqG;AACrG,sGAAsG;AACtG,2BAA2B;AAC3B,SAAS,2BAA2B,CAAC,KAAqB,EAAE,EAAU;IACpE,MAAM,MAAM,GAAG,KAAK,CAAC,MAAM,CAAC;IAC5B,KAAK,MAAM,OAAO,IAAI,KAAK,CAAC,QAAQ,EAAE,CAAC;QACrC,IAAI,OAAO,CAAC,MAAM;YAAE,SAAS;QAC7B,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,OAAO,CAAC,KAAK,CAAC,CAAC;QACtD,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,OAAO,CAAC,KAAK,CAAC,CAAC;QACtD,IAAI,KAAK,KAAK,IAAI,IAAI,KAAK,KAAK,IAAI;YAAE,SAAS;QAE/C,MAAM,QAAQ,GAAG,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,OAAO,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,GAAG,KAAK,CAAC,OAAO,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;QACzG,MAAM,QAAQ,GAAG,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,OAAO,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,GAAG,KAAK,CAAC,OAAO,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;QACzG,MAAM,QAAQ,GAAG,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,OAAO,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,GAAG,KAAK,CAAC,OAAO,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;QACzG,MAAM,QAAQ,GAAG,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,OAAO,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,GAAG,KAAK,CAAC,OAAO,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;QAEzG,MAAM,OAAO,GAAG,OAAO,CAAC,OAAO,CAAC;QAChC,MAAM,OAAO,GAAG,OAAO,CAAC,OAAO,CAAC;QAChC,MAAM,QAAQ,GAAG,CAAC,OAAO,CAAC;QAC1B,MAAM,QAAQ,GAAG,OAAO,CAAC;QAEzB,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,OAAO,CAAC,UAAU,EAAE,CAAC,EAAE,EAAE,CAAC;YAC5C,MAAM,KAAK,GAAG,OAAO,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;YAChC,KAAK,CAAC,GAAG,GAAG,KAAK,CAAC,CAAC,GAAG,QAAQ,CAAC;YAC/B,KAAK,CAAC,GAAG,GAAG,KAAK,CAAC,CAAC,GAAG,QAAQ,CAAC;YAC/B,KAAK,CAAC,GAAG,GAAG,KAAK,CAAC,CAAC,GAAG,QAAQ,CAAC;YAC/B,KAAK,CAAC,GAAG,GAAG,KAAK,CAAC,CAAC,GAAG,QAAQ,CAAC;YAE/B,KAAK,CAAC,UAAU,GAAG,aAAa,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,OAAO,EAAE,OAAO,CAAC,CAAC;YAC7G,KAAK,CAAC,WAAW,GAAG,aAAa,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,QAAQ,EAAE,QAAQ,CAAC,CAAC;YAEhH,kGAAkG;YAClG,uEAAuE;YACvE,MAAM,MAAM,GAAG,KAAK,CAAC,KAAK,GAAG,MAAM,CAAC,eAAe,CAAC;YACpD,KAAK,CAAC,IAAI,GAAG,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,MAAM,CAAC,kBAAkB,GAAG,EAAE,CAAC,GAAG,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;YAEzE,mGAAmG;YACnG,mDAAmD;YACnD,MAAM,QAAQ,GAAG,sBAAsB,CAAC,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,OAAO,EAAE,OAAO,CAAC,CAAC;YAC/E,IAAI,QAAQ,GAAG,CAAC,MAAM,CAAC,oBAAoB;gBAAE,KAAK,CAAC,IAAI,IAAI,OAAO,CAAC,WAAW,GAAG,QAAQ,CAAC;QAC5F,CAAC;IACH,CAAC;AACH,CAAC;AAED,mGAAmG;AACnG,qGAAqG;AACrG,yGAAyG;AACzG,sFAAsF;AACtF,SAAS,aAAa,CACpB,KAA4B,EAC5B,KAA4B,EAC5B,GAAW,EACX,GAAW,EACX,GAAW,EACX,GAAW,EACX,KAAa,EACb,KAAa;IAEb,MAAM,MAAM,GAAG,GAAG,GAAG,KAAK,GAAG,GAAG,GAAG,KAAK,CAAC;IACzC,MAAM,MAAM,GAAG,GAAG,GAAG,KAAK,GAAG,GAAG,GAAG,KAAK,CAAC;IACzC,MAAM,KAAK,GACT,KAAK,CAAC,WAAW;QACjB,KAAK,CAAC,WAAW;QACjB,KAAK,CAAC,cAAc,GAAG,MAAM,GAAG,MAAM;QACtC,KAAK,CAAC,cAAc,GAAG,MAAM,GAAG,MAAM,CAAC;IACzC,OAAO,KAAK,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;AACnC,CAAC;AAED,uGAAuG;AACvG,sGAAsG;AACtG,qCAAqC;AACrC,EAAE;AACF,oGAAoG;AACpG,qGAAqG;AACrG,sGAAsG;AACtG,yEAAyE;AACzE,MAAM,UAAU,aAAa,CAAC,KAAqB,EAAE,EAAU;IAC7D,IAAI,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC;QAAE,OAAO;IAEtB,yBAAyB,CAAC,KAAK,CAAC,CAAC;IACjC,sBAAsB,CAAC,KAAK,CAAC,CAAC;IAE9B,MAAM,MAAM,GAAG,KAAK,CAAC,MAAM,CAAC;IAC5B,MAAM,MAAM,GAAG,KAAK,CAAC,MAAM,CAAC;IAE5B,KAAK,MAAM,IAAI,IAAI,MAAM,EAAE,CAAC;QAC1B,IAAI,IAAI,CAAC,IAAI,KAAK,SAAS;YAAE,SAAS;QACtC,IAAI,CAAC,SAAS,IAAI,CAAC,IAAI,CAAC,MAAM,GAAG,IAAI,CAAC,WAAW,GAAG,KAAK,CAAC,QAAQ,GAAG,IAAI,CAAC,YAAY,CAAC,GAAG,EAAE,CAAC;QAC7F,IAAI,CAAC,SAAS,IAAI,CAAC,IAAI,CAAC,MAAM,GAAG,IAAI,CAAC,WAAW,GAAG,KAAK,CAAC,QAAQ,GAAG,IAAI,CAAC,YAAY,CAAC,GAAG,EAAE,CAAC;QAC7F,IAAI,CAAC,eAAe,IAAI,IAAI,CAAC,MAAM,GAAG,IAAI,CAAC,cAAc,GAAG,EAAE,CAAC;QAC/D,oGAAoG;QACpG,kGAAkG;QAClG,0BAA0B;QAC1B,IAAI,CAAC,SAAS,IAAI,CAAC,GAAG,IAAI,CAAC,aAAa,GAAG,EAAE,CAAC;QAC9C,IAAI,CAAC,SAAS,IAAI,CAAC,GAAG,IAAI,CAAC,aAAa,GAAG,EAAE,CAAC;QAC9C,IAAI,CAAC,eAAe,IAAI,CAAC,GAAG,IAAI,CAAC,cAAc,GAAG,EAAE,CAAC;IACvD,CAAC;IAED,2BAA2B,CAAC,KAAK,EAAE,EAAE,CAAC,CAAC;IACvC,IAAI,MAAM,CAAC,YAAY;QAAE,0BAA0B,CAAC,KAAK,CAAC,CAAC;IAC3D,sBAAsB,CAAC,KAAK,CAAC,CAAC;IAE9B,KAAK,MAAM,IAAI,IAAI,MAAM,EAAE,CAAC;QAC1B,IAAI,IAAI,CAAC,IAAI,KAAK,QAAQ;YAAE,SAAS;QACrC,IAAI,CAAC,CAAC,IAAI,IAAI,CAAC,SAAS,GAAG,EAAE,CAAC;QAC9B,IAAI,CAAC,CAAC,IAAI,IAAI,CAAC,SAAS,GAAG,EAAE,CAAC;QAC9B,IAAI,CAAC,KAAK,IAAI,IAAI,CAAC,eAAe,GAAG,EAAE,CAAC;IAC1C,CAAC;IAED,KAAK,MAAM,IAAI,IAAI,MAAM,EAAE,CAAC;QAC1B,IAAI,CAAC,MAAM,GAAG,CAAC,CAAC;QAChB,IAAI,CAAC,MAAM,GAAG,CAAC,CAAC;QAChB,IAAI,CAAC,MAAM,GAAG,CAAC,CAAC;IAClB,CAAC;AACH,CAAC;AAED,SAAS,2BAA2B;IAClC,OAAO;QACL,CAAC,EAAE,CAAC;QACJ,CAAC,EAAE,CAAC;QACJ,KAAK,EAAE,CAAC;QACR,SAAS,EAAE,CAAC;QACZ,GAAG,EAAE,CAAC;QACN,GAAG,EAAE,CAAC;QACN,GAAG,EAAE,CAAC;QACN,GAAG,EAAE,CAAC;QACN,aAAa,EAAE,CAAC;QAChB,cAAc,EAAE,CAAC;QACjB,UAAU,EAAE,CAAC;QACb,WAAW,EAAE,CAAC;QACd,IAAI,EAAE,CAAC;KACR,CAAC;AACJ,CAAC;AAED,wGAAwG;AACxG,mFAAmF;AACnF,SAAS,wBAAwB,CAAC,IAAgC,EAAE,KAAiC;IACnG,IAAI,IAAI,CAAC,KAAK,KAAK,KAAK,CAAC,KAAK;QAAE,OAAO,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC,KAAK,CAAC;IAChE,IAAI,IAAI,CAAC,KAAK,KAAK,KAAK,CAAC,KAAK;QAAE,OAAO,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC,KAAK,CAAC;IAChE,IAAI,IAAI,CAAC,SAAS,KAAK,KAAK,CAAC,SAAS;QAAE,OAAO,IAAI,CAAC,SAAS,GAAG,KAAK,CAAC,SAAS,CAAC;IAChF,OAAO,IAAI,CAAC,SAAS,GAAG,KAAK,CAAC,SAAS,CAAC;AAC1C,CAAC;AAED,MAAM,aAAa,GAAgB,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,CAAC;AAC1E,MAAM,UAAU,GAAgB,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,CAAC;AACvE,MAAM,WAAW,GAAkB,EAAE,CAAC;AACtC,MAAM,eAAe,GAA6B,8BAA8B,EAAE,CAAC"}

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,CASnE;AAKD,wBAAgB,oBAAoB,CAAC,QAAQ,SAAI,EAAE,QAAQ,SAAQ,EAAE,KAAK,CAAC,EAAE,mBAAmB,GAAG,cAAc,CAUhH;AAKD,wBAAgB,iBAAiB,CAAC,IAAI,EAAE,WAAW,CAAC,MAAM,CAAC,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,KAAK,SAAI,GAAG,WAAW,CAwBzG;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,CAU/F"}

package/dist/world.js

@@ -0,0 +1,116 @@
+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 {
+        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: [],
+        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,
+        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);
+    }
+    return true;
+}
+//# sourceMappingURL=world.js.map

package/dist/world.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"world.js","sourceRoot":"","sources":["../src/world.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,+BAA+B,EAAE,MAAM,4BAA4B,CAAC;AAW7E,OAAO,EAAE,iCAAiC,EAAE,MAAM,qBAAqB,CAAC;AACxE,OAAO,EAAE,yBAAyB,EAAE,MAAM,kBAAkB,CAAC;AAE7D,uGAAuG;AACvG,qGAAqG;AACrG,uGAAuG;AACvG,oGAAoG;AACpG,MAAM,UAAU,gBAAgB,CAAC,KAAqB,EAAE,IAAiB;IACvE,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC,aAAa,EAAE,CAAC;IACnC,KAAK,CAAC,MAAM,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IACxB,yBAAyB,CAAC,IAAI,CAAC,CAAC;IAChC,OAAO,IAAI,CAAC;AACd,CAAC;AAED,uGAAuG;AACvG,iGAAiG;AACjG,MAAM,UAAU,uBAAuB,CACrC,KAAqB,EACrB,QAA2B,EAC3B,MAAM,GAAG,KAAK;IAEd,OAAO,EAAE,KAAK,EAAE,KAAK,EAAE,iCAAiC,CAAC,KAAK,CAAC,EAAE,QAAQ,EAAE,MAAM,EAAE,CAAC;AACtF,CAAC;AAED,sGAAsG;AACtG,wGAAwG;AACxG,qGAAqG;AACrG,wDAAwD;AACxD,MAAM,UAAU,2BAA2B;IACzC,OAAO;QACL,kBAAkB,EAAE,EAAE;QACtB,kBAAkB,EAAE,CAAC;QACrB,eAAe,EAAE,KAAK;QACtB,kBAAkB,EAAE,GAAG;QACvB,oBAAoB,EAAE,CAAC;QACvB,YAAY,EAAE,IAAI;KACnB,CAAC;AACJ,CAAC;AAED,wGAAwG;AACxG,qGAAqG;AACrG,8BAA8B;AAC9B,MAAM,UAAU,oBAAoB,CAAC,QAAQ,GAAG,CAAC,EAAE,QAAQ,GAAG,CAAC,IAAI,EAAE,KAA2B;IAC9F,OAAO;QACL,MAAM,EAAE,EAAE;QACV,QAAQ,EAAE,EAAE;QACZ,KAAK,EAAE,KAAK,IAAI,+BAA+B,CAAC,CAAC,CAAC;QAClD,MAAM,EAAE,2BAA2B,EAAE;QACrC,QAAQ;QACR,QAAQ;QACR,aAAa,EAAE,CAAC;KACjB,CAAC;AACJ,CAAC;AAED,oGAAoG;AACpG,gGAAgG;AAChG,2BAA2B;AAC3B,MAAM,UAAU,iBAAiB,CAAC,IAAyB,EAAE,CAAS,EAAE,CAAS,EAAE,KAAK,GAAG,CAAC;IAC1F,OAAO;QACL,KAAK,EAAE,CAAC,CAAC;QACT,IAAI;QACJ,CAAC;QACD,CAAC;QACD,KAAK;QACL,SAAS,EAAE,CAAC;QACZ,SAAS,EAAE,CAAC;QACZ,eAAe,EAAE,CAAC;QAClB,MAAM,EAAE,CAAC;QACT,MAAM,EAAE,CAAC;QACT,MAAM,EAAE,CAAC;QACT,IAAI,EAAE,CAAC;QACP,WAAW,EAAE,CAAC;QACd,OAAO,EAAE,CAAC;QACV,cAAc,EAAE,CAAC;QACjB,OAAO,EAAE,CAAC;QACV,OAAO,EAAE,CAAC;QACV,aAAa,EAAE,CAAC;QAChB,cAAc,EAAE,CAAC;QACjB,YAAY,EAAE,CAAC;QACf,SAAS,EAAE,EAAE;KACd,CAAC;AACJ,CAAC;AAED,oGAAoG;AACpG,yGAAyG;AACzG,iDAAiD;AACjD,MAAM,UAAU,iBAAiB,CAAC,KAA+B,EAAE,KAAa;IAC9E,KAAK,MAAM,IAAI,IAAI,KAAK,CAAC,MAAM,EAAE,CAAC;QAChC,IAAI,IAAI,CAAC,KAAK,KAAK,KAAK;YAAE,OAAO,IAAI,CAAC;IACxC,CAAC;IACD,OAAO,IAAI,CAAC;AACd,CAAC;AAED,uGAAuG;AACvG,uFAAuF;AACvF,EAAE;AACF,qGAAqG;AACrG,uGAAuG;AACvG,yGAAyG;AACzG,sGAAsG;AACtG,yGAAyG;AACzG,qEAAqE;AACrE,EAAE;AACF,sGAAsG;AACtG,gFAAgF;AAChF,MAAM,UAAU,sBAAsB,CAAC,CAAwB,EAAE,CAAwB;IACvF,OAAO,CAAC,CAAC,KAAK,IAAI,CAAC,CAAC,KAAK,CAAC;AAC5B,CAAC;AAED,oGAAoG;AACpG,uGAAuG;AACvG,mCAAmC;AACnC,MAAM,UAAU,mBAAmB,CAAC,KAAqB,EAAE,IAA2B;IACpF,MAAM,EAAE,GAAG,KAAK,CAAC,MAAM,CAAC,OAAO,CAAC,IAAmB,CAAC,CAAC;IACrD,IAAI,EAAE,GAAG,CAAC;QAAE,OAAO,KAAK,CAAC;IACzB,KAAK,CAAC,MAAM,CAAC,MAAM,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC;IAC3B,KAAK,CAAC,KAAK,CAAC,mBAAmB,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;IAC5C,KAAK,IAAI,CAAC,GAAG,KAAK,CAAC,QAAQ,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC,IAAI,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC;QACpD,MAAM,OAAO,GAAG,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC;QAClC,IAAI,OAAO,CAAC,KAAK,KAAK,IAAI,CAAC,KAAK,IAAI,OAAO,CAAC,KAAK,KAAK,IAAI,CAAC,KAAK;YAAE,KAAK,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAChG,CAAC;IACD,OAAO,IAAI,CAAC;AACd,CAAC"}

package/package.json

@@ -0,0 +1,49 @@
+{
+  "name": "@flighthq/physics2d",
+  "version": "0.3.0-next.1021.f5f1ee0",
+  "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-next.1021.f5f1ee0",
+    "@flighthq/math": "0.3.0-next.1021.f5f1ee0",
+    "@flighthq/spatial": "0.3.0-next.1021.f5f1ee0",
+    "@flighthq/types": "0.3.0-next.1021.f5f1ee0"
+  },
+  "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
+}

package/src/colliderTransform.test.ts

@@ -0,0 +1,115 @@
+import type { CollisionShape } from '@flighthq/types/contract';
+import { describe, expect, it } from 'vitest';
+
+import {
+  createPhysics2DColliderWorldShape,
+  updatePhysics2DColliderWorldShape,
+  writePhysics2DColliderBounds,
+} from './colliderTransform';
+import { createPhysics2DCollider, createRigidBody2D } from './world';
+
+const STONE = { density: 1, friction: 0.3, restitution: 0 };
+
+function bounds() {
+  return { minX: 0, minY: 0, maxX: 0, maxY: 0 };
+}
+
+describe('createPhysics2DColliderWorldShape', () => {
+  it('promotes an axis-aligned box to an oriented box, since a rotated box is not axis-aligned', () => {
+    expect(createPhysics2DColliderWorldShape({ kind: 'aabb', minX: 0, minY: 0, maxX: 1, maxY: 1 }).kind).toBe('obb');
+  });
+
+  it('keeps the kind for shapes a rigid transform preserves', () => {
+    expect(createPhysics2DColliderWorldShape({ kind: 'circle', x: 0, y: 0, radius: 1 }).kind).toBe('circle');
+    expect(createPhysics2DColliderWorldShape({ kind: 'polygon', points: [0, 0, 1, 0, 0, 1] }).kind).toBe('polygon');
+  });
+
+  it('gives a polygon its own points array so the per-step transform cannot write through to the local shape', () => {
+    const local: CollisionShape = { kind: 'polygon', points: [0, 0, 1, 0, 0, 1] };
+    const world = createPhysics2DColliderWorldShape(local);
+    expect(world.kind === 'polygon' && world.points).not.toBe(local.points);
+  });
+});
+
+describe('updatePhysics2DColliderWorldShape', () => {
+  it('rotates and translates a circle offset from the body origin', () => {
+    const collider = createPhysics2DCollider({ kind: 'circle', x: 1, y: 0, radius: 0.5 }, STONE);
+    const body = createRigidBody2D('dynamic', 10, 5, Math.PI / 2);
+    updatePhysics2DColliderWorldShape(collider, body);
+    expect(collider.world.kind).toBe('circle');
+    if (collider.world.kind !== 'circle') return;
+    expect(collider.world.x).toBeCloseTo(10);
+    expect(collider.world.y).toBeCloseTo(6);
+    expect(collider.world.radius).toBe(0.5);
+  });
+
+  it('carries the body angle onto the promoted oriented box rather than growing its extents', () => {
+    const collider = createPhysics2DCollider({ kind: 'aabb', minX: -1, minY: -0.5, maxX: 1, maxY: 0.5 }, STONE);
+    const body = createRigidBody2D('dynamic', 0, 0, 0.7);
+    updatePhysics2DColliderWorldShape(collider, body);
+    expect(collider.world.kind).toBe('obb');
+    if (collider.world.kind !== 'obb') return;
+    expect(collider.world.rotation).toBeCloseTo(0.7);
+    expect(collider.world.halfW).toBeCloseTo(1);
+    expect(collider.world.halfH).toBeCloseTo(0.5);
+  });
+
+  it('composes the body angle with an oriented box collider own rotation', () => {
+    const collider = createPhysics2DCollider({ kind: 'obb', x: 0, y: 0, halfW: 1, halfH: 1, rotation: 0.2 }, STONE);
+    const body = createRigidBody2D('dynamic', 0, 0, 0.5);
+    updatePhysics2DColliderWorldShape(collider, body);
+    if (collider.world.kind !== 'obb') return;
+    expect(collider.world.rotation).toBeCloseTo(0.7);
+  });
+
+  it('transforms every polygon vertex in place', () => {
+    const collider = createPhysics2DCollider({ kind: 'polygon', points: [0, 0, 1, 0, 0, 1] }, STONE);
+    const body = createRigidBody2D('dynamic', 3, 4, 0);
+    updatePhysics2DColliderWorldShape(collider, body);
+    if (collider.world.kind !== 'polygon') return;
+    expect(Array.from(collider.world.points)).toEqual([3, 4, 4, 4, 3, 5]);
+  });
+});
+
+describe('writePhysics2DColliderBounds', () => {
+  it('bounds a circle by its radius', () => {
+    const collider = createPhysics2DCollider({ kind: 'circle', x: 0, y: 0, radius: 2 }, STONE);
+    updatePhysics2DColliderWorldShape(collider, createRigidBody2D('dynamic', 1, 1));
+    const out = bounds();
+    writePhysics2DColliderBounds(collider, out);
+    expect(out).toEqual({ minX: -1, minY: -1, maxX: 3, maxY: 3 });
+  });
+
+  it('grows an oriented box bound as it turns, and returns to its extents at a quarter turn', () => {
+    // The bound of a rotated box is larger than the box; at 45 degrees it is largest, and at 90 it is the
+    // original extents with width and height exchanged. Pinned because a bound that did not grow would
+    // let the broadphase miss a genuine overlap.
+    const collider = createPhysics2DCollider({ kind: 'aabb', minX: -1, minY: -0.5, maxX: 1, maxY: 0.5 }, STONE);
+    const out = bounds();
+
+    updatePhysics2DColliderWorldShape(collider, createRigidBody2D('dynamic', 0, 0, Math.PI / 4));
+    writePhysics2DColliderBounds(collider, out);
+    expect(out.maxX).toBeGreaterThan(1);
+
+    updatePhysics2DColliderWorldShape(collider, createRigidBody2D('dynamic', 0, 0, Math.PI / 2));
+    writePhysics2DColliderBounds(collider, out);
+    expect(out.maxX).toBeCloseTo(0.5);
+    expect(out.maxY).toBeCloseTo(1);
+  });
+
+  it('bounds a polygon by its extreme vertices', () => {
+    const collider = createPhysics2DCollider({ kind: 'polygon', points: [0, 0, 4, 1, 2, 5] }, STONE);
+    updatePhysics2DColliderWorldShape(collider, createRigidBody2D('dynamic', 0, 0));
+    const out = bounds();
+    writePhysics2DColliderBounds(collider, out);
+    expect(out).toEqual({ minX: 0, minY: 0, maxX: 4, maxY: 5 });
+  });
+
+  it('gives an area-less shape empty bounds rather than infinities', () => {
+    const collider = createPhysics2DCollider({ kind: 'point', x: 1, y: 1 }, STONE);
+    const out = bounds();
+    writePhysics2DColliderBounds(collider, out);
+    expect(Number.isFinite(out.minX)).toBe(true);
+    expect(Number.isFinite(out.maxY)).toBe(true);
+  });
+});