@flighthq/physics2d 0.3.0-next.1032.e2b99fc → 0.3.0-next.1162.e90e518

package/dist/contract.d.ts

@@ -1,4 +1,6 @@
 export * from './colliderTransform';
+export * from './jointRegistry';
+export * from './joints';
 export * from './massProperties';
 export * from './solver';
 export * from './step';

package/dist/contract.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"contract.d.ts","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAAA,cAAc,qBAAqB,CAAC;AACpC,cAAc,iBAAiB,CAAC;AAChC,cAAc,UAAU,CAAC;AACzB,cAAc,kBAAkB,CAAC;AACjC,cAAc,UAAU,CAAC;AACzB,cAAc,QAAQ,CAAC;AACvB,cAAc,SAAS,CAAC"}

package/dist/contract.js

@@ -1,4 +1,6 @@
 export * from './colliderTransform';
+export * from './jointRegistry';
+export * from './joints';
 export * from './massProperties';
 export * from './solver';
 export * from './step';

package/dist/contract.js.map

@@ -1 +1 @@
-{"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"}
+{"version":3,"file":"contract.js","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAAA,cAAc,qBAAqB,CAAC;AACpC,cAAc,iBAAiB,CAAC;AAChC,cAAc,UAAU,CAAC;AACzB,cAAc,kBAAkB,CAAC;AACjC,cAAc,UAAU,CAAC;AACzB,cAAc,QAAQ,CAAC;AACvB,cAAc,SAAS,CAAC"}

package/dist/index.d.ts

@@ -1,6 +1,8 @@
 export { createPhysics2DColliderWorldShape, updatePhysics2DColliderWorldShape, writePhysics2DColliderBounds, } from './colliderTransform';
+export { Physics2DDistanceJointKind, Physics2DMouseJointKind, Physics2DRevoluteJointKind, Physics2DRopeJointKind, Physics2DWeldJointKind, physics2DDistanceJointSolver, physics2DMouseJointSolver, physics2DRevoluteJointSolver, physics2DRopeJointSolver, physics2DWeldJointSolver, } from './joints';
+export { addPhysics2DJoint, getPhysics2DJointSolver, registerPhysics2DJointSolver, removePhysics2DJoint, } from './jointRegistry';
 export { computePhysics2DColliderMassData, updateRigidBody2DMassData } from './massProperties';
-export { applyPhysics2DImpulse, relativeNormalVelocity, solvePhysics2DContacts, warmStartPhysics2DContacts, } from './solver';
+export { applyPhysics2DImpulse, relativeNormalVelocity, solvePhysics2DContacts, solvePhysics2DContactsOnce, 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

@@ -1 +1 @@
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+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,OAAO,EACL,iCAAiC,EACjC,iCAAiC,EACjC,4BAA4B,GAC7B,MAAM,qBAAqB,CAAC;AAC7B,OAAO,EACL,0BAA0B,EAC1B,uBAAuB,EACvB,0BAA0B,EAC1B,sBAAsB,EACtB,sBAAsB,EACtB,4BAA4B,EAC5B,yBAAyB,EACzB,4BAA4B,EAC5B,wBAAwB,EACxB,wBAAwB,GACzB,MAAM,UAAU,CAAC;AAClB,OAAO,EACL,iBAAiB,EACjB,uBAAuB,EACvB,4BAA4B,EAC5B,oBAAoB,GACrB,MAAM,iBAAiB,CAAC;AACzB,OAAO,EAAE,gCAAgC,EAAE,yBAAyB,EAAE,MAAM,kBAAkB,CAAC;AAC/F,OAAO,EACL,qBAAqB,EACrB,sBAAsB,EACtB,sBAAsB,EACtB,0BAA0B,EAC1B,0BAA0B,GAC3B,MAAM,UAAU,CAAC;AAClB,OAAO,EAAE,aAAa,EAAE,MAAM,QAAQ,CAAC;AACvC,OAAO,EACL,gBAAgB,EAChB,iBAAiB,EACjB,uBAAuB,EACvB,2BAA2B,EAC3B,oBAAoB,EACpB,iBAAiB,EACjB,sBAAsB,EACtB,mBAAmB,GACpB,MAAM,SAAS,CAAC"}

package/dist/index.js

@@ -1,6 +1,8 @@
 export { createPhysics2DColliderWorldShape, updatePhysics2DColliderWorldShape, writePhysics2DColliderBounds, } from './colliderTransform';
+export { Physics2DDistanceJointKind, Physics2DMouseJointKind, Physics2DRevoluteJointKind, Physics2DRopeJointKind, Physics2DWeldJointKind, physics2DDistanceJointSolver, physics2DMouseJointSolver, physics2DRevoluteJointSolver, physics2DRopeJointSolver, physics2DWeldJointSolver, } from './joints';
+export { addPhysics2DJoint, getPhysics2DJointSolver, registerPhysics2DJointSolver, removePhysics2DJoint, } from './jointRegistry';
 export { computePhysics2DColliderMassData, updateRigidBody2DMassData } from './massProperties';
-export { applyPhysics2DImpulse, relativeNormalVelocity, solvePhysics2DContacts, warmStartPhysics2DContacts, } from './solver';
+export { applyPhysics2DImpulse, relativeNormalVelocity, solvePhysics2DContacts, solvePhysics2DContactsOnce, 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

@@ -1 +1 @@
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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,OAAO,EACL,iCAAiC,EACjC,iCAAiC,EACjC,4BAA4B,GAC7B,MAAM,qBAAqB,CAAC;AAC7B,OAAO,EACL,0BAA0B,EAC1B,uBAAuB,EACvB,0BAA0B,EAC1B,sBAAsB,EACtB,sBAAsB,EACtB,4BAA4B,EAC5B,yBAAyB,EACzB,4BAA4B,EAC5B,wBAAwB,EACxB,wBAAwB,GACzB,MAAM,UAAU,CAAC;AAClB,OAAO,EACL,iBAAiB,EACjB,uBAAuB,EACvB,4BAA4B,EAC5B,oBAAoB,GACrB,MAAM,iBAAiB,CAAC;AACzB,OAAO,EAAE,gCAAgC,EAAE,yBAAyB,EAAE,MAAM,kBAAkB,CAAC;AAC/F,OAAO,EACL,qBAAqB,EACrB,sBAAsB,EACtB,sBAAsB,EACtB,0BAA0B,EAC1B,0BAA0B,GAC3B,MAAM,UAAU,CAAC;AAClB,OAAO,EAAE,aAAa,EAAE,MAAM,QAAQ,CAAC;AACvC,OAAO,EACL,gBAAgB,EAChB,iBAAiB,EACjB,uBAAuB,EACvB,2BAA2B,EAC3B,oBAAoB,EACpB,iBAAiB,EACjB,sBAAsB,EACtB,mBAAmB,GACpB,MAAM,SAAS,CAAC"}

package/dist/jointRegistry.d.ts

@@ -0,0 +1,6 @@
+import type { Physics2DJoint, Physics2DJointKind, Physics2DJointSolver, Physics2DWorld } from '@flighthq/types/contract';
+export declare function addPhysics2DJoint(world: Physics2DWorld, joint: Physics2DJoint): Physics2DJoint;
+export declare function getPhysics2DJointSolver(world: Readonly<Physics2DWorld>, kind: Physics2DJointKind): Physics2DJointSolver | null;
+export declare function registerPhysics2DJointSolver(world: Physics2DWorld, kind: Physics2DJointKind, solver: Physics2DJointSolver): void;
+export declare function removePhysics2DJoint(world: Physics2DWorld, joint: Readonly<Physics2DJoint>): boolean;
+//# sourceMappingURL=jointRegistry.d.ts.map

package/dist/jointRegistry.d.ts.map

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

@@ -0,0 +1,52 @@
+import { findPhysics2DBody, isPhysics2DPairOrdered } from './world';
+// Adds `joint` to `world` under the same canonical body ordering contacts use, swapping its two ends when
+// the caller supplied them the other way round.
+//
+// A joint is a constraint in the SAME sequential solve list as a contact, so it inherits the same
+// obligation: each impulse lands on the velocities the previous one left, and an ordering that varied
+// with construction history would make the result vary with it. Contacts get this from the broadphase
+// pair sort; joints have no broadphase, so it is enforced here, at the one place a joint enters the
+// world. The anchors and lever arms swap with the bodies — a joint whose ends were exchanged without its
+// anchors would attach to the wrong points and hold the pair in a pose nobody asked for.
+export function addPhysics2DJoint(world, joint) {
+    const first = findPhysics2DBody(world, joint.bodyA);
+    const second = findPhysics2DBody(world, joint.bodyB);
+    if (first !== null && second !== null && !isPhysics2DPairOrdered(first, second)) {
+        const bodyA = joint.bodyA;
+        joint.bodyA = joint.bodyB;
+        joint.bodyB = bodyA;
+        const anchorX = joint.localAnchorAX;
+        const anchorY = joint.localAnchorAY;
+        joint.localAnchorAX = joint.localAnchorBX;
+        joint.localAnchorAY = joint.localAnchorBY;
+        joint.localAnchorBX = anchorX;
+        joint.localAnchorBY = anchorY;
+    }
+    world.joints.push(joint);
+    return joint;
+}
+// The solver registered for `kind`, or null when none is. A missing solver is an expected condition, not
+// an error: a scene deserialized with a joint kind the running build does not know about should import
+// and simply not constrain, rather than refuse to load.
+export function getPhysics2DJointSolver(world, kind) {
+    return world.jointSolvers.get(kind) ?? null;
+}
+// Registers `solver` for `kind` on this world. Last write wins, so a caller may replace a built-in with
+// its own — collisions are avoided by the vendor-prefix convention (bare names reserved for built-ins),
+// not by a guard that would make overriding impossible.
+//
+// Registration is per-world and explicit rather than a module-level table populated on import, so a
+// bundle that never registers a joint never links one: nine solvers are nine chunks of constraint math,
+// and a game using none of them should pay for none of them.
+export function registerPhysics2DJointSolver(world, kind, solver) {
+    world.jointSolvers.set(kind, solver);
+}
+// Removes `joint` from `world`. Returns false when the world does not hold it.
+export function removePhysics2DJoint(world, joint) {
+    const at = world.joints.indexOf(joint);
+    if (at < 0)
+        return false;
+    world.joints.splice(at, 1);
+    return true;
+}
+//# sourceMappingURL=jointRegistry.js.map

package/dist/jointRegistry.js.map

@@ -0,0 +1 @@
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package/dist/joints.d.ts

@@ -0,0 +1,27 @@
+import type { Physics2DJoint, Physics2DWorld } from '@flighthq/types/contract';
+export declare const Physics2DDistanceJointKind = "Distance";
+export declare const Physics2DMouseJointKind = "Mouse";
+export declare const Physics2DRevoluteJointKind = "Revolute";
+export declare const Physics2DRopeJointKind = "Rope";
+export declare const Physics2DWeldJointKind = "Weld";
+export declare const physics2DDistanceJointSolver: {
+    prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
+    solve(world: Physics2DWorld, joint: Physics2DJoint): void;
+};
+export declare const physics2DMouseJointSolver: {
+    prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
+    solve(world: Physics2DWorld, joint: Physics2DJoint): void;
+};
+export declare const physics2DRevoluteJointSolver: {
+    prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
+    solve(world: Physics2DWorld, joint: Physics2DJoint): void;
+};
+export declare const physics2DRopeJointSolver: {
+    prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
+    solve(world: Physics2DWorld, joint: Physics2DJoint): void;
+};
+export declare const physics2DWeldJointSolver: {
+    prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
+    solve(world: Physics2DWorld, joint: Physics2DJoint): void;
+};
+//# sourceMappingURL=joints.d.ts.map

package/dist/joints.d.ts.map

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package/dist/joints.js

@@ -0,0 +1,314 @@
+import { applyPhysics2DImpulse } from './solver';
+import { findPhysics2DBody } from './world';
+// The built-in joint kinds. Bare names are reserved for these; a user's own joint takes a vendor prefix.
+export const Physics2DDistanceJointKind = 'Distance';
+export const Physics2DMouseJointKind = 'Mouse';
+export const Physics2DRevoluteJointKind = 'Revolute';
+export const Physics2DRopeJointKind = 'Rope';
+export const Physics2DWeldJointKind = 'Weld';
+// Holds two anchors a fixed distance apart, rigidly or as a damped spring.
+//
+// One scalar constraint along the axis between the anchors. Softness enters as a modified effective mass
+// plus a position bias rather than as a separate force: solving a spring as a constraint keeps it stable
+// at any stiffness, where adding a spring FORCE explodes once the stiffness times the timestep exceeds
+// what the integrator can follow.
+export const physics2DDistanceJointSolver = {
+    prepare(world, joint, dt) {
+        const distance = joint;
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        writeJointAnchors(bodyA, bodyB, joint);
+        const axisX = bodyB.x + joint.rBX - (bodyA.x + joint.rAX);
+        const axisY = bodyB.y + joint.rBY - (bodyA.y + joint.rAY);
+        const length = Math.sqrt(axisX * axisX + axisY * axisY);
+        if (length > EPSILON) {
+            axisScratch[0] = axisX / length;
+            axisScratch[1] = axisY / length;
+        }
+        else {
+            // Coincident anchors leave the axis undefined. Any unit vector is as correct as another and none is
+            // wrong for one step, where dividing by the length would seed NaN into both bodies permanently.
+            axisScratch[0] = 1;
+            axisScratch[1] = 0;
+        }
+        const mass = axisEffectiveMass(bodyA, bodyB, joint, axisScratch[0], axisScratch[1]);
+        const separation = length - distance.length;
+        if (distance.stiffness > 0) {
+            const angular = 2 * Math.PI * distance.stiffness;
+            const damp = 2 * mass * distance.damping * angular;
+            const spring = mass * angular * angular;
+            const gamma = dt * (damp + dt * spring);
+            jointScratch[2] = gamma > 0 ? 1 / gamma : 0;
+            jointScratch[1] = separation * dt * spring * jointScratch[2];
+            const softMass = mass + jointScratch[2];
+            jointScratch[0] = softMass > 0 ? 1 / softMass : 0;
+        }
+        else {
+            jointScratch[0] = mass > 0 ? 1 / mass : 0;
+            jointScratch[1] = separation * (BAUMGARTE / dt);
+            jointScratch[2] = 0;
+        }
+        distance.rAX = joint.rAX;
+        jointStateScratch.set(distance, [
+            jointScratch[0],
+            jointScratch[1],
+            jointScratch[2],
+            axisScratch[0],
+            axisScratch[1],
+        ]);
+    },
+    solve(world, joint) {
+        const state = jointStateScratch.get(joint);
+        if (state === undefined)
+            return;
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        const [effectiveMass, bias, gamma, axisX, axisY] = state;
+        const velocity = axisRelativeVelocity(bodyA, bodyB, joint, axisX, axisY);
+        const lambda = -effectiveMass * (velocity + bias + gamma * joint.impulse0);
+        joint.impulse0 += lambda;
+        applyPhysics2DImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rBX, joint.rBY, -lambda * axisX, -lambda * axisY);
+    },
+};
+// Drags one body toward a moving world-space target with bounded force.
+//
+// Always soft, and that is not a tuning choice: a rigid drag lets a user inject unbounded energy simply by
+// moving the cursor faster than the simulation can follow, and the rest of the world absorbs it. The force
+// bound is what keeps a dragged body from tunnelling through a wall it is pulled into.
+export const physics2DMouseJointSolver = {
+    prepare(world, joint, dt) {
+        const mouse = joint;
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyB === null)
+            return;
+        const cos = Math.cos(bodyB.angle);
+        const sin = Math.sin(bodyB.angle);
+        joint.rBX = joint.localAnchorBX * cos - joint.localAnchorBY * sin;
+        joint.rBY = joint.localAnchorBX * sin + joint.localAnchorBY * cos;
+        joint.rAX = 0;
+        joint.rAY = 0;
+        const angular = 2 * Math.PI * (mouse.stiffness > 0 ? mouse.stiffness : 5);
+        const damp = 2 * mouse.damping * angular;
+        const spring = angular * angular;
+        const gamma = dt * (damp + dt * spring);
+        const inverseGamma = gamma > 0 ? 1 / gamma : 0;
+        const biasFactor = dt * spring * inverseGamma;
+        jointStateScratch.set(mouse, [inverseGamma, biasFactor, 0, 0, 0]);
+    },
+    solve(world, joint) {
+        const mouse = joint;
+        const state = jointStateScratch.get(joint);
+        if (state === undefined)
+            return;
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyB === null)
+            return;
+        const [inverseGamma, biasFactor] = state;
+        const anchorX = bodyB.x + joint.rBX;
+        const anchorY = bodyB.y + joint.rBY;
+        const errorX = anchorX - mouse.targetX;
+        const errorY = anchorY - mouse.targetY;
+        const velocityX = bodyB.velocityX - bodyB.angularVelocity * joint.rBY;
+        const velocityY = bodyB.velocityY + bodyB.angularVelocity * joint.rBX;
+        const mass = bodyB.inverseMass > 0 ? 1 / bodyB.inverseMass : 0;
+        let impulseX = -mass * (velocityX + biasFactor * errorX + inverseGamma * joint.impulse0);
+        let impulseY = -mass * (velocityY + biasFactor * errorY + inverseGamma * joint.impulse1);
+        const previousX = joint.impulse0;
+        const previousY = joint.impulse1;
+        joint.impulse0 += impulseX;
+        joint.impulse1 += impulseY;
+        // Clamped on the ACCUMULATED impulse, so a later iteration can correct an earlier overshoot while the
+        // total force stays inside the bound.
+        const magnitude = Math.sqrt(joint.impulse0 * joint.impulse0 + joint.impulse1 * joint.impulse1);
+        if (magnitude > mouse.maxForce && magnitude > 0) {
+            const scale = mouse.maxForce / magnitude;
+            joint.impulse0 *= scale;
+            joint.impulse1 *= scale;
+        }
+        impulseX = joint.impulse0 - previousX;
+        impulseY = joint.impulse1 - previousY;
+        bodyB.velocityX += impulseX * bodyB.inverseMass;
+        bodyB.velocityY += impulseY * bodyB.inverseMass;
+        bodyB.angularVelocity += bodyB.inverseInertia * (joint.rBX * impulseY - joint.rBY * impulseX);
+    },
+};
+// Pins two bodies at a point, leaving rotation free — a hinge.
+//
+// Two scalar constraints, one per axis of the shared point, solved as a coupled pair rather than
+// independently: solving x then y lets each undo part of the other's correction, and a hinge under load
+// visibly creeps.
+export const physics2DRevoluteJointSolver = {
+    prepare(world, joint, dt) {
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        writeJointAnchors(bodyA, bodyB, joint);
+        const errorX = bodyB.x + joint.rBX - (bodyA.x + joint.rAX);
+        const errorY = bodyB.y + joint.rBY - (bodyA.y + joint.rAY);
+        jointStateScratch.set(joint, [errorX * (BAUMGARTE / dt), errorY * (BAUMGARTE / dt), 0, 0, 0]);
+    },
+    solve(world, joint) {
+        const state = jointStateScratch.get(joint);
+        if (state === undefined)
+            return;
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        solvePointConstraint(bodyA, bodyB, joint, state[0], state[1]);
+    },
+};
+// An inequality constraint that acts only at full extension. Slack within `maxLength`, caught at it.
+//
+// The non-negative clamp on the accumulated impulse is what makes it a rope rather than a stiff bar: a
+// rope may pull the bodies together and may never push them apart.
+export const physics2DRopeJointSolver = {
+    prepare(world, joint, dt) {
+        const rope = joint;
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        writeJointAnchors(bodyA, bodyB, joint);
+        const axisX = bodyB.x + joint.rBX - (bodyA.x + joint.rAX);
+        const axisY = bodyB.y + joint.rBY - (bodyA.y + joint.rAY);
+        const length = Math.sqrt(axisX * axisX + axisY * axisY);
+        const unitX = length > EPSILON ? axisX / length : 1;
+        const unitY = length > EPSILON ? axisY / length : 0;
+        const mass = axisEffectiveMass(bodyA, bodyB, joint, unitX, unitY);
+        const excess = length - rope.maxLength;
+        // Slack: no constraint at all this step, which is what a rope IS. Marked by a zero effective mass so
+        // the iterations skip it without a second flag to keep in sync.
+        const active = excess > 0;
+        jointStateScratch.set(rope, [
+            active && mass > 0 ? 1 / mass : 0,
+            active ? excess * (BAUMGARTE / dt) : 0,
+            0,
+            unitX,
+            unitY,
+        ]);
+        if (!active)
+            joint.impulse0 = 0;
+    },
+    solve(world, joint) {
+        const state = jointStateScratch.get(joint);
+        if (state === undefined || state[0] === 0)
+            return;
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        const [effectiveMass, bias, , axisX, axisY] = state;
+        const velocity = axisRelativeVelocity(bodyA, bodyB, joint, axisX, axisY);
+        let lambda = -effectiveMass * (velocity + bias);
+        const previous = joint.impulse0;
+        joint.impulse0 = Math.min(0, previous + lambda);
+        lambda = joint.impulse0 - previous;
+        applyPhysics2DImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rBX, joint.rBY, -lambda * axisX, -lambda * axisY);
+    },
+};
+// Pins the anchors together and locks the relative angle — rigid attachment.
+//
+// The point constraint plus one angular constraint. It is solved rather than exact, so it flexes under
+// enough load; a truly rigid attachment is one body with two colliders, and the difference is that a weld
+// can be broken at runtime.
+export const physics2DWeldJointSolver = {
+    prepare(world, joint, dt) {
+        const weld = joint;
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        writeJointAnchors(bodyA, bodyB, joint);
+        const errorX = bodyB.x + joint.rBX - (bodyA.x + joint.rAX);
+        const errorY = bodyB.y + joint.rBY - (bodyA.y + joint.rAY);
+        const angleError = bodyB.angle - bodyA.angle - weld.referenceAngle;
+        const angularMass = bodyA.inverseInertia + bodyB.inverseInertia;
+        jointStateScratch.set(weld, [
+            errorX * (BAUMGARTE / dt),
+            errorY * (BAUMGARTE / dt),
+            angleError * (BAUMGARTE / dt),
+            angularMass > 0 ? 1 / angularMass : 0,
+            0,
+        ]);
+    },
+    solve(world, joint) {
+        const state = jointStateScratch.get(joint);
+        if (state === undefined)
+            return;
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        const angularVelocity = bodyB.angularVelocity - bodyA.angularVelocity;
+        const angularLambda = -state[3] * (angularVelocity + state[2]);
+        joint.impulse2 += angularLambda;
+        bodyA.angularVelocity -= bodyA.inverseInertia * angularLambda;
+        bodyB.angularVelocity += bodyB.inverseInertia * angularLambda;
+        solvePointConstraint(bodyA, bodyB, joint, state[0], state[1]);
+    },
+};
+// The shared two-axis point solve behind revolute and weld. Each axis is solved against the velocities the
+// other just left, which is the sequential-impulse property doing its job within one constraint.
+function solvePointConstraint(bodyA, bodyB, joint, biasX, biasY) {
+    const massX = axisEffectiveMass(bodyA, bodyB, joint, 1, 0);
+    const velocityX = axisRelativeVelocity(bodyA, bodyB, joint, 1, 0);
+    const lambdaX = massX > 0 ? -(velocityX + biasX) / massX : 0;
+    joint.impulse0 += lambdaX;
+    applyPhysics2DImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rBX, joint.rBY, -lambdaX, 0);
+    const massY = axisEffectiveMass(bodyA, bodyB, joint, 0, 1);
+    const velocityY = axisRelativeVelocity(bodyA, bodyB, joint, 0, 1);
+    const lambdaY = massY > 0 ? -(velocityY + biasY) / massY : 0;
+    joint.impulse1 += lambdaY;
+    applyPhysics2DImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rBX, joint.rBY, 0, -lambdaY);
+}
+// Rotates each body's local anchor into world space, relative to that body's centre of mass — the lever
+// arm every joint impulse acts through.
+function writeJointAnchors(bodyA, bodyB, joint) {
+    const cosA = Math.cos(bodyA.angle);
+    const sinA = Math.sin(bodyA.angle);
+    const cosB = Math.cos(bodyB.angle);
+    const sinB = Math.sin(bodyB.angle);
+    joint.rAX = (joint.localAnchorAX - bodyA.centerX) * cosA - (joint.localAnchorAY - bodyA.centerY) * sinA;
+    joint.rAY = (joint.localAnchorAX - bodyA.centerX) * sinA + (joint.localAnchorAY - bodyA.centerY) * cosA;
+    joint.rBX = (joint.localAnchorBX - bodyB.centerX) * cosB - (joint.localAnchorBY - bodyB.centerY) * sinB;
+    joint.rBY = (joint.localAnchorBX - bodyB.centerX) * sinB + (joint.localAnchorBY - bodyB.centerY) * cosB;
+}
+// The pair's inverse effective mass along `axis` at the joint anchors — the same quantity a contact
+// constraint uses, over the joint's lever arms instead of a contact point's.
+function axisEffectiveMass(bodyA, bodyB, joint, axisX, axisY) {
+    const crossA = joint.rAX * axisY - joint.rAY * axisX;
+    const crossB = joint.rBX * axisY - joint.rBY * axisX;
+    return (bodyA.inverseMass +
+        bodyB.inverseMass +
+        bodyA.inverseInertia * crossA * crossA +
+        bodyB.inverseInertia * crossB * crossB);
+}
+function axisRelativeVelocity(bodyA, bodyB, joint, axisX, axisY) {
+    const vax = bodyA.velocityX - bodyA.angularVelocity * joint.rAY;
+    const vay = bodyA.velocityY + bodyA.angularVelocity * joint.rAX;
+    const vbx = bodyB.velocityX - bodyB.angularVelocity * joint.rBY;
+    const vby = bodyB.velocityY + bodyB.angularVelocity * joint.rBX;
+    // B relative to A, the same sense as the positional error the bias is built from, so a positive value
+    // means the pair is separating along this axis. The contact solver measures the OPPOSITE sense, because
+    // its normal points the other way. Mixing the two is not a sign slip that shows up as a small error: the
+    // correction then adds to the violation instead of cancelling it, every iteration compounds it, and the
+    // bodies leave the world within one step.
+    return (vbx - vax) * axisX + (vby - vay) * axisY;
+}
+// Per-step solver state, keyed by joint. A Map rather than fields on the joint because the five numbers
+// each solver needs mean different things per kind, and putting a fixed block of untyped scratch on the
+// public entity would make the header describe the solver's internals.
+const jointStateScratch = new Map();
+const axisScratch = [0, 0];
+const jointScratch = [0, 0, 0];
+const EPSILON = 1e-9;
+// The fraction of a joint's positional error corrected per step. Matches the contact solver's rationale:
+// correcting all of it at once turns a deep error into an explosion.
+const BAUMGARTE = 0.2;
+//# sourceMappingURL=joints.js.map

package/dist/joints.js.map

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package/dist/solver.d.ts

@@ -2,5 +2,6 @@ import type { Physics2DContactPoint, Physics2DWorld, RigidBody2D } from '@flight
 export declare function applyPhysics2DImpulse(bodyA: RigidBody2D, bodyB: RigidBody2D, rAX: number, rAY: number, rBX: number, rBY: number, impulseX: number, impulseY: number): void;
 export declare function relativeNormalVelocity(bodyA: Readonly<RigidBody2D>, bodyB: Readonly<RigidBody2D>, point: Readonly<Physics2DContactPoint>, normalX: number, normalY: number): number;
 export declare function solvePhysics2DContacts(world: Physics2DWorld): void;
+export declare function solvePhysics2DContactsOnce(world: Physics2DWorld): void;
 export declare function warmStartPhysics2DContacts(world: Physics2DWorld): void;
 //# sourceMappingURL=solver.d.ts.map

package/dist/solver.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"solver.d.ts","sourceRoot":"","sources":["../src/solver.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAoB,qBAAqB,EAAE,cAAc,EAAE,WAAW,EAAE,MAAM,0BAA0B,CAAC;AAarH,wBAAgB,qBAAqB,CACnC,KAAK,EAAE,WAAW,EAClB,KAAK,EAAE,WAAW,EAClB,GAAG,EAAE,MAAM,EACX,GAAG,EAAE,MAAM,EACX,GAAG,EAAE,MAAM,EACX,GAAG,EAAE,MAAM,EACX,QAAQ,EAAE,MAAM,EAChB,QAAQ,EAAE,MAAM,GACf,IAAI,CAON;AAED,wBAAgB,sBAAsB,CACpC,KAAK,EAAE,QAAQ,CAAC,WAAW,CAAC,EAC5B,KAAK,EAAE,QAAQ,CAAC,WAAW,CAAC,EAC5B,KAAK,EAAE,QAAQ,CAAC,qBAAqB,CAAC,EACtC,OAAO,EAAE,MAAM,EACf,OAAO,EAAE,MAAM,GACd,MAAM,CAMR;AAyED,wBAAgB,sBAAsB,CAAC,KAAK,EAAE,cAAc,GAAG,IAAI,CAGlE;AAKD,wBAAgB,0BAA0B,CAAC,KAAK,EAAE,cAAc,GAAG,IAAI,CAQtE;AAYD,wBAAgB,0BAA0B,CAAC,KAAK,EAAE,cAAc,GAAG,IAAI,CAmBtE"}

package/dist/solver.js

@@ -65,16 +65,21 @@ function solvePhysics2DContact(contact, bodyA, bodyB) {
 // 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);
-        }
+    for (let iteration = 0; iteration < iterations; iteration++)
+        solvePhysics2DContactsOnce(world);
+}
+// One pass over the contact list. Split out so the step can interleave it with the joint pass inside a
+// single iteration loop: joints and contacts constrain the same bodies, and giving either a whole pass to
+// itself lets it undo what the other just corrected.
+export function solvePhysics2DContactsOnce(world) {
+    for (const contact of world.contacts) {
+        if (contact.sensor)
+            continue;
+        const bodyA = findPhysics2DBody(world, contact.bodyA);
+        const bodyB = findPhysics2DBody(world, contact.bodyB);
+        if (bodyA === null || bodyB === null)
+            continue;
+        solvePhysics2DContact(contact, bodyA, bodyB);
     }
 }
 // Applies each contact's cached impulses before the first iteration — the warm start.

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