@flighthq/physics2d 0.3.0-next.1032.e2b99fc → 0.3.0-next.1220.6982c21

package/dist/joints.js

@@ -0,0 +1,488 @@
+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 = {
+    warmStart(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;
+        applyPhysics2DImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rBX, joint.rBY, -joint.impulse0 * state[3], -joint.impulse0 * state[4]);
+    },
+    clearAccumulatedImpulses(joint) {
+        joint.impulse0 = 0;
+    },
+    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;
+        writeJointState(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 = {
+    // A mouse joint drags ONE body toward a world-space target; its other end is not a body at all, and
+    // callers pass whatever index is convenient. Canonical ordering exists to fix the solve order
+    // BETWEEN two bodies, so with only one body there is nothing to order and the exchange is pure
+    // corruption: it moved the dragged body into bodyA, and this solver acts on bodyB, so the drag
+    // silently applied to the anchor instead and the dragged body never moved.
+    swapEnds() {
+        return false;
+    },
+    // No warmStart: the drag target moves between steps, so last step's impulse is aimed at a place the
+    // cursor has already left. Seeding from it fights the new target rather than helping it converge.
+    clearAccumulatedImpulses(joint) {
+        joint.impulse0 = 0;
+        joint.impulse1 = 0;
+    },
+    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;
+        // maxForce is a force; joint.impulse0/1 accumulate an impulse. Clamping one against the other was
+        // a unit error worth a factor of 1/dt — at dt 0.01 the bound admitted a hundred times the force it
+        // named. Convert once here, where dt is in hand, rather than in solve, which does not receive it.
+        writeJointState(mouse, [inverseGamma, biasFactor, dt * mouse.maxForce, 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, maxImpulse] = 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 > maxImpulse && magnitude > 0) {
+            const scale = maxImpulse / 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 = {
+    warmStart(world, joint) {
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        applyPhysics2DImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rBX, joint.rBY, -joint.impulse0, -joint.impulse1);
+    },
+    clearAccumulatedImpulses(joint) {
+        joint.impulse0 = 0;
+        joint.impulse1 = 0;
+        joint.motorImpulse = 0;
+    },
+    // Swapping the ends reverses the sense of every angular quantity this solver reads. The relative
+    // angle is measured bodyA -> bodyB, so it negates; the limit interval negates AND its ends exchange
+    // (the old lower bound becomes the new upper); and the motor's target relative velocity reverses.
+    // Deriving it: the constraint is lower <= (angleB - angleA - reference) <= upper. Writing t for
+    // (angleB - angleA), that is lower + reference <= t <= upper + reference. After the swap t becomes
+    // -t, so the same physical interval requires reference' = -reference, lower' = -upper and
+    // upper' = -lower.
+    swapEnds(joint) {
+        const revolute = joint;
+        const lower = revolute.lowerAngle;
+        revolute.lowerAngle = -revolute.upperAngle;
+        revolute.upperAngle = -lower;
+        revolute.referenceAngle = -revolute.referenceAngle;
+        revolute.motorSpeed = -revolute.motorSpeed;
+        revolute.motorImpulse = -revolute.motorImpulse;
+        return true;
+    },
+    prepare(world, joint, dt) {
+        const revolute = 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);
+        // The angular constraints share one effective mass: the pair's combined resistance to a relative
+        // spin. Zero when neither body can rotate, which disables motor and limits rather than dividing
+        // by zero.
+        const inverseInertiaSum = bodyA.inverseInertia + bodyB.inverseInertia;
+        const angularMass = inverseInertiaSum > 0 ? 1 / inverseInertiaSum : 0;
+        writeJointState(joint, [
+            errorX * (BAUMGARTE / dt),
+            errorY * (BAUMGARTE / dt),
+            angularMass,
+            0,
+            0,
+            dt * revolute.maxMotorTorque,
+            1 / dt,
+        ]);
+    },
+    solve(world, joint) {
+        const revolute = 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 angularMass = state[2];
+        if (angularMass > 0) {
+            // Motor first: it is a soft target the limits are allowed to override, so solving it before the
+            // limits lets a limit's impulse win in the same iteration when they disagree.
+            if (revolute.enableMotor) {
+                const maxMotorImpulse = state[5];
+                const relative = bodyB.angularVelocity - bodyA.angularVelocity - revolute.motorSpeed;
+                const desired = -angularMass * relative;
+                const previous = revolute.motorImpulse;
+                // Clamped on the ACCUMULATED impulse against torque * dt, so the bound is a torque and not a
+                // per-iteration one that would scale with the iteration count.
+                const total = Math.min(Math.max(previous + desired, -maxMotorImpulse), maxMotorImpulse);
+                revolute.motorImpulse = total;
+                const applied = total - previous;
+                bodyA.angularVelocity -= bodyA.inverseInertia * applied;
+                bodyB.angularVelocity += bodyB.inverseInertia * applied;
+            }
+            if (revolute.enableLimit) {
+                const bias = state[6];
+                const angle = bodyB.angle - bodyA.angle - revolute.referenceAngle;
+                // Each end is a one-sided constraint: it may only push the angle back inside the interval,
+                // never pull it in. Two things make that true together. The non-negative clamp on the running
+                // impulse means a limit can push and never pull. And the bias is the REMAINING ROOM to the
+                // bound, max(C, 0) / dt, not the violation depth: while the angle is inside the interval that
+                // room is large and positive, which drives the desired impulse negative, so the clamp holds
+                // the accumulator at zero and the limit contributes nothing.
+                //
+                // Using the violation depth instead — min(C, 0) — zeroes the bias while inside the interval,
+                // and the upper end then reads a positive desired impulse against any forward rotation and
+                // brakes it to a standstill. Measured while building this: a motor at speed 5 held the arm at
+                // exactly zero, spending its whole torque budget every step against a limit it was nowhere
+                // near.
+                const lowerError = angle - revolute.lowerAngle;
+                const lowerDesired = -angularMass * (bodyB.angularVelocity - bodyA.angularVelocity + Math.max(lowerError, 0) * bias);
+                const lowerPrevious = state[3];
+                const lowerTotal = Math.max(lowerPrevious + lowerDesired, 0);
+                state[3] = lowerTotal;
+                const lowerApplied = lowerTotal - lowerPrevious;
+                bodyA.angularVelocity -= bodyA.inverseInertia * lowerApplied;
+                bodyB.angularVelocity += bodyB.inverseInertia * lowerApplied;
+                const upperError = revolute.upperAngle - angle;
+                const upperDesired = -angularMass * (bodyA.angularVelocity - bodyB.angularVelocity + Math.max(upperError, 0) * bias);
+                const upperPrevious = state[4];
+                const upperTotal = Math.max(upperPrevious + upperDesired, 0);
+                state[4] = upperTotal;
+                const upperApplied = upperTotal - upperPrevious;
+                bodyA.angularVelocity += bodyA.inverseInertia * upperApplied;
+                bodyB.angularVelocity -= bodyB.inverseInertia * upperApplied;
+            }
+        }
+        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 = {
+    warmStart(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;
+        applyPhysics2DImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rBX, joint.rBY, -joint.impulse0 * state[3], -joint.impulse0 * state[4]);
+    },
+    clearAccumulatedImpulses(joint) {
+        joint.impulse0 = 0;
+    },
+    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;
+        writeJointState(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.
+// Weld holds the pair at a fixed relative angle, measured from bodyA to bodyB, so exchanging the ends
+// reverses that measurement and the stored reference angle must be negated with them. It is the only
+// direction-bearing field any solver reads today: revolute declares one but does not yet read it, and
+// prismatic has no solver at all, so their transforms land with the work that makes them live.
+export const physics2DWeldJointSolver = {
+    warmStart(world, joint) {
+        const bodyA = findPhysics2DBody(world, joint.bodyA);
+        const bodyB = findPhysics2DBody(world, joint.bodyB);
+        if (bodyA === null || bodyB === null)
+            return;
+        applyPhysics2DImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rBX, joint.rBY, -joint.impulse0, -joint.impulse1);
+        bodyA.angularVelocity -= bodyA.inverseInertia * joint.impulse2;
+        bodyB.angularVelocity += bodyB.inverseInertia * joint.impulse2;
+    },
+    clearAccumulatedImpulses(joint) {
+        joint.impulse0 = 0;
+        joint.impulse1 = 0;
+        joint.impulse2 = 0;
+    },
+    swapEnds(joint) {
+        const weld = joint;
+        weld.referenceAngle = -weld.referenceAngle;
+        return true;
+    },
+    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;
+        writeJointState(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;
+}
+// Fills this joint's per-step state in place, allocating the array only the first time the joint is
+// prepared. Every solver rebuilds its whole block each step, so the array is pure scratch and reusing it
+// costs nothing — but allocating a fresh one per joint per step made the step's allocation profile scale
+// with the joint count, which is exactly the hidden per-frame allocation the package's own charter
+// forbids.
+function writeJointState(joint, values) {
+    let state = jointStateScratch.get(joint);
+    if (state === undefined) {
+        state = [];
+        jointStateScratch.set(joint, state);
+    }
+    state.length = values.length;
+    for (let i = 0; i < values.length; i++)
+        state[i] = values[i];
+}
+// Per-step solver state, keyed by joint. A Map rather than fields on the joint because the 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.
+//
+// Mutable, because a one-sided constraint accumulates its impulse ACROSS the velocity iterations of a
+// single step: the revolute limits clamp their running totals to stay non-negative, which is what makes
+// them limits rather than springs, and that total has to live somewhere between iterations.
+//
+// A WeakMap, not a Map. A module-global strong Map keyed by joint retains every joint ever prepared for
+// the lifetime of the module: removing a joint from a world drops the world's reference but not this
+// one, so the joint, its bodies' indices, and its state array all stay reachable forever. There is no
+// deletion hook to forget either, because a joint can leave a world without this module being told.
+// Keying weakly makes the retention question disappear rather than answering it — the entry goes when
+// the joint does, at every exit path, including ones nobody has written yet.
+const jointStateScratch = new WeakMap();
+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

@@ -0,0 +1 @@
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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.

package/dist/solver.js.map

@@ -1 +1 @@
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