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

package/dist/step.js

@@ -1,6 +1,6 @@
 import { collideContactManifold, createCollisionContactManifold } from '@flighthq/collision/contract';
 import { updatePhysics2DColliderWorldShape, writePhysics2DColliderBounds } from './colliderTransform';
-import { relativeNormalVelocity, solvePhysics2DContacts, warmStartPhysics2DContacts } from './solver';
+import { relativeNormalVelocity, solvePhysics2DContactsOnce, warmStartPhysics2DContacts } from './solver';
 import { findPhysics2DBody, isPhysics2DPairOrdered } from './world';
 // Refreshes every collider's world shape and republishes its bounds to the broadphase index.
 function updatePhysics2DBroadphase(world) {
@@ -21,8 +21,39 @@ function updatePhysics2DBroadphase(world) {
             if (boundsScratch.maxY > maxY)
                 maxY = boundsScratch.maxY;
         }
-        if (minX > maxX)
+        if (minX > maxX) {
+            // No collider produced bounds, so there is nothing to index. Withdraw rather than skip: the id
+            // may have been indexed on a previous step, and a stale AABB keeps generating pairs for a body
+            // this step has already decided not to collide.
+            world.index.removeSpatialObject(body.index);
             continue;
+        }
+        // Bounds this package declines to hand to the broadphase — a physics judgement, kept as
+        // defence in depth rather than as a substitute for the index's own bound.
+        //
+        // `@flighthq/spatial` now bounds its own insert cost (non-finite bounds are declined with a
+        // sentinel, oversized ones go to a flat overflow list), so this is no longer what stands between a
+        // diverging body and a hung caller. What it still expresses is a rigid-body world's own opinion:
+        // a body that is non-finite, or ten million units across, has diverged by any measure this
+        // simulation cares about, and continuing to collide it wastes narrow-phase work on a result
+        // already meaningless. Skipping it stops that one body colliding and lets the rest of the world
+        // keep simulating.
+        //
+        // Keeping it also keeps the two packages honest about ownership: the cost bound is the index's,
+        // and this is a divergence filter that happens to share its shape.
+        if (!Number.isFinite(minX) ||
+            !Number.isFinite(minY) ||
+            !Number.isFinite(maxX) ||
+            !Number.isFinite(maxY) ||
+            maxX - minX > MAX_SIMULATED_EXTENT ||
+            maxY - minY > MAX_SIMULATED_EXTENT) {
+            // Withdraw the body from the index instead of merely skipping the update. Skipping left
+            // whatever AABB it had last step in place, so a body this filter had declared diverged went on
+            // producing broadphase pairs and holding live contacts from its last valid pose — the opposite
+            // of the "stops colliding" this comment claims. Removal is a no-op for an id never indexed.
+            world.index.removeSpatialObject(body.index);
+            continue;
+        }
         bodyBounds.minX = minX;
         bodyBounds.minY = minY;
         bodyBounds.maxX = maxX;
@@ -46,6 +77,8 @@ function updatePhysics2DBroadphase(world) {
 // A determinism harness that shuffles only insertion order would pass with the first one broken.
 function buildPhysics2DContacts(world) {
     world.index.querySpatialPairs(pairScratch);
+    world.events.began.length = 0;
+    world.events.ended.length = 0;
     for (const contact of world.contacts)
         contact.touching = false;
     for (const pair of pairScratch) {
@@ -53,9 +86,21 @@ function buildPhysics2DContacts(world) {
         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)
+        // Two bodies that cannot both move have no constraint to SOLVE, and skipping them keeps the
+        // solver's body list free of pairs whose every impulse would be multiplied by zero. But a sensor
+        // is reported, never resolved — the solver already skips sensor contacts — so applying this test
+        // before any collider is inspected silently deleted every sensor overlap between two immovable
+        // bodies. A static trigger volume over static scenery is an ordinary thing to build, and it
+        // reported nothing at all. Immovable pairs are still skipped, unless one of them senses.
+        if (first.inverseMass === 0 &&
+            second.inverseMass === 0 &&
+            !hasSensorCollider(first) &&
+            !hasSensorCollider(second)) {
+            continue;
+        }
+        // A jointed pair almost always overlaps at the anchor, and resolving that contact fights the
+        // constraint holding them together, so a joint suppresses it unless the caller asks otherwise.
+        if (isPhysics2DPairJointSuppressed(world, first.index, second.index))
             continue;
         const ordered = isPhysics2DPairOrdered(first, second);
         const bodyA = ordered ? first : second;
@@ -70,9 +115,15 @@ function buildPhysics2DContacts(world) {
             }
         }
     }
+    // Contact events are read off the cache's own transitions rather than tracked beside it: the cache
+    // already knows which pairs are touching, so a pair gaining an entry IS the begin and losing one IS the
+    // end. An ended contact is reported for the step it leaves, then dropped.
     for (let i = world.contacts.length - 1; i >= 0; i--) {
-        if (!world.contacts[i].touching)
+        const contact = world.contacts[i];
+        if (!contact.touching) {
+            world.events.ended.push(contact);
             world.contacts.splice(i, 1);
+        }
     }
     world.contacts.sort(comparePhysics2DContacts);
 }
@@ -82,6 +133,7 @@ function buildPhysics2DContacts(world) {
 // contact feature the moment the manifold's point count or order changes.
 function mergePhysics2DContact(world, bodyA, bodyB, colliderA, colliderB, manifold, sensor, friction, restitution) {
     let contact = null;
+    let created = false;
     for (const existing of world.contacts) {
         if (existing.bodyA === bodyA &&
             existing.bodyB === bodyB &&
@@ -92,6 +144,7 @@ function mergePhysics2DContact(world, bodyA, bodyB, colliderA, colliderB, manifo
         }
     }
     if (contact === null) {
+        created = true;
         contact = {
             bodyA,
             bodyB,
@@ -108,6 +161,8 @@ function mergePhysics2DContact(world, bodyA, bodyB, colliderA, colliderB, manifo
         };
         world.contacts.push(contact);
     }
+    if (created)
+        world.events.began.push(contact);
     contact.normalX = manifold.normalX;
     contact.normalY = manifold.normalY;
     contact.friction = friction;
@@ -217,9 +272,34 @@ export function stepPhysics2D(world, dt) {
         body.angularVelocity /= 1 + body.angularDamping * dt;
     }
     preparePhysics2DConstraints(world, dt);
-    if (config.warmStarting)
+    for (const joint of world.joints) {
+        world.jointSolvers.get(joint.kind)?.prepare(world, joint, dt);
+    }
+    // Joints warm-start alongside contacts, which is what the impulse block on Physics2DJoint has always
+    // been documented to be for. Each kind reapplies its own converged impulse, because the block is
+    // deliberately untyped and only the kind knows what its numbers mean. With warm starting off the
+    // accumulators are cleared instead, so a world told not to use the cache does not quietly keep
+    // seeding from it — the previous code left them growing whether the flag was set or not.
+    if (config.warmStarting) {
         warmStartPhysics2DContacts(world);
-    solvePhysics2DContacts(world);
+        for (const joint of world.joints) {
+            world.jointSolvers.get(joint.kind)?.warmStart?.(world, joint);
+        }
+    }
+    else {
+        for (const joint of world.joints) {
+            world.jointSolvers.get(joint.kind)?.clearAccumulatedImpulses?.(joint);
+        }
+    }
+    // Joints and contacts share one solve list and one iteration count. Solving them in separate passes
+    // would let each undo the other's correction — a hinge under load creeps if the contacts beneath it get
+    // a whole pass to themselves between joint iterations.
+    for (let iteration = 0; iteration < config.velocityIterations; iteration++) {
+        for (const joint of world.joints) {
+            world.jointSolvers.get(joint.kind)?.solve(world, joint);
+        }
+        solvePhysics2DContactsOnce(world);
+    }
     for (const body of bodies) {
         if (body.type === 'static')
             continue;
@@ -250,6 +330,15 @@ function createPhysics2DContactPoint() {
         bias: 0,
     };
 }
+// Whether any of the body's colliders senses rather than collides. Cheap enough to ask per pair: a
+// body carries a handful of colliders, and the alternative is inspecting every collider pairing.
+function hasSensorCollider(body) {
+    for (const collider of body.colliders) {
+        if (collider.sensor)
+            return true;
+    }
+    return false;
+}
 // Total order over contacts, by the four identities that define one. Every field is a persistent index,
 // so the order is stable across steps and independent of the broadphase's history.
 function comparePhysics2DContacts(left, right) {
@@ -261,8 +350,22 @@ function comparePhysics2DContacts(left, right) {
         return left.colliderA - right.colliderA;
     return left.colliderB - right.colliderB;
 }
+// The widest body this world still treats as simulating. Named for what it bounds — the simulation's
+// tolerance for divergence — not for the index, which bounds its own insert cost independently.
+const MAX_SIMULATED_EXTENT = 1e7;
 const boundsScratch = { minX: 0, minY: 0, maxX: 0, maxY: 0 };
 const bodyBounds = { minX: 0, minY: 0, maxX: 0, maxY: 0 };
 const pairScratch = [];
 const manifoldScratch = createCollisionContactManifold();
+// Whether a joint between these two bodies suppresses their contact.
+function isPhysics2DPairJointSuppressed(world, first, second) {
+    for (const joint of world.joints) {
+        if (joint.collideConnected)
+            continue;
+        if ((joint.bodyA === first && joint.bodyB === second) || (joint.bodyA === second && joint.bodyB === first)) {
+            return true;
+        }
+    }
+    return false;
+}
 //# sourceMappingURL=step.js.map

package/dist/step.js.map

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package/dist/world.d.ts.map

@@ -1 +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"}
+{"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,CAahH;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,CAgB/F"}

package/dist/world.js

@@ -37,6 +37,9 @@ export function createPhysics2DWorld(gravityX = 0, gravityY = -9.81, index) {
     return {
         bodies: [],
         contacts: [],
+        joints: [],
+        jointSolvers: new Map(),
+        events: { began: [], ended: [] },
         index: index ?? createUniformGridSpatialBackend(1),
         config: createPhysics2DSolverConfig(),
         gravityX,
@@ -111,6 +114,13 @@ export function removePhysics2DBody(world, body) {
         if (contact.bodyA === body.index || contact.bodyB === body.index)
             world.contacts.splice(i, 1);
     }
+    // Joints naming the removed body go with it: a constraint with one end missing has nothing to solve
+    // against, and leaving it would let a later body inheriting the index be silently constrained by it.
+    for (let i = world.joints.length - 1; i >= 0; i--) {
+        const joint = world.joints[i];
+        if (joint.bodyA === body.index || joint.bodyB === body.index)
+            world.joints.splice(i, 1);
+    }
     return true;
 }
 //# sourceMappingURL=world.js.map

package/dist/world.js.map

@@ -1 +1 @@
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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@flighthq/physics2d",
-  "version": "0.3.0-next.1032.e2b99fc",
+  "version": "0.3.0-next.1220.6982c21",
   "repository": {
     "type": "git",
     "url": "https://github.com/flighthq/flight.git",
@@ -36,10 +36,10 @@
     "clean:dist": "tsx ../../scripts/clean-package-dist.ts"
   },
   "dependencies": {
-    "@flighthq/collision": "0.3.0-next.1032.e2b99fc",
-    "@flighthq/math": "0.3.0-next.1032.e2b99fc",
-    "@flighthq/spatial": "0.3.0-next.1032.e2b99fc",
-    "@flighthq/types": "0.3.0-next.1032.e2b99fc"
+    "@flighthq/collision": "0.3.0-next.1220.6982c21",
+    "@flighthq/math": "0.3.0-next.1220.6982c21",
+    "@flighthq/spatial": "0.3.0-next.1220.6982c21",
+    "@flighthq/types": "0.3.0-next.1220.6982c21"
   },
   "devDependencies": {
     "typescript": "^5.3.0"

package/src/jointRegistry.test.ts

@@ -0,0 +1,145 @@
+import type { Physics2DJoint } from '@flighthq/types/contract';
+import { describe, expect, it } from 'vitest';
+
+import {
+  addPhysics2DJoint,
+  getPhysics2DJointSolver,
+  registerPhysics2DJointSolver,
+  removePhysics2DJoint,
+} from './jointRegistry';
+import { stepPhysics2D } from './step';
+import {
+  addPhysics2DBody,
+  createPhysics2DCollider,
+  createPhysics2DWorld,
+  createRigidBody2D,
+  removePhysics2DBody,
+} from './world';
+
+const STONE = { density: 1, friction: 0.3, restitution: 0 };
+
+function body(world: ReturnType<typeof createPhysics2DWorld>, x: number, y: number) {
+  const made = createRigidBody2D('dynamic', x, y);
+  made.colliders.push(createPhysics2DCollider({ kind: 'aabb', minX: -0.5, minY: -0.5, maxX: 0.5, maxY: 0.5 }, STONE));
+  return addPhysics2DBody(world, made);
+}
+
+function joint(kind: string, bodyA: number, bodyB: number, anchorAX = 0, anchorBX = 0): Physics2DJoint {
+  return {
+    kind,
+    bodyA,
+    bodyB,
+    localAnchorAX: anchorAX,
+    localAnchorAY: 0,
+    localAnchorBX: anchorBX,
+    localAnchorBY: 0,
+    collideConnected: false,
+    impulse0: 0,
+    impulse1: 0,
+    impulse2: 0,
+    rAX: 0,
+    rAY: 0,
+    rBX: 0,
+    rBY: 0,
+  };
+}
+
+describe('addPhysics2DJoint', () => {
+  it('orders the joint by body index, carrying its anchors with the swap', () => {
+    // Obligation 1 applies to joints too: they enter the SAME sequential solve list as contacts, and a
+    // joint has no broadphase to canonicalise it, so this is the one place it can be enforced. The
+    // anchors have to travel 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.
+    const world = createPhysics2DWorld();
+    const first = body(world, 0, 0);
+    const second = body(world, 2, 0);
+    const added = addPhysics2DJoint(world, joint('Test', second.index, first.index, 7, 9));
+
+    expect(added.bodyA).toBe(first.index);
+    expect(added.bodyB).toBe(second.index);
+    expect(added.localAnchorAX).toBe(9);
+    expect(added.localAnchorBX).toBe(7);
+  });
+
+  it('leaves an already-ordered joint untouched', () => {
+    const world = createPhysics2DWorld();
+    const first = body(world, 0, 0);
+    const second = body(world, 2, 0);
+    const added = addPhysics2DJoint(world, joint('Test', first.index, second.index, 7, 9));
+    expect(added.bodyA).toBe(first.index);
+    expect(added.localAnchorAX).toBe(7);
+  });
+});
+
+describe('getPhysics2DJointSolver', () => {
+  it('returns null for an unregistered kind rather than throwing', () => {
+    // A scene deserialized with a joint kind this build does not know about should import and simply not
+    // constrain, not refuse to load.
+    const world = createPhysics2DWorld();
+    expect(getPhysics2DJointSolver(world, 'acme.Conveyor')).toBeNull();
+  });
+
+  it('steps a world holding a joint whose kind has no solver', () => {
+    const world = createPhysics2DWorld();
+    const first = body(world, 0, 0);
+    const second = body(world, 2, 0);
+    addPhysics2DJoint(world, joint('acme.Unknown', first.index, second.index));
+    expect(() => stepPhysics2D(world, 1 / 60)).not.toThrow();
+  });
+});
+
+describe('registerPhysics2DJointSolver', () => {
+  it('makes a custom kind solvable without this package knowing it', () => {
+    const world = createPhysics2DWorld(0, 0);
+    let prepared = 0;
+    let solved = 0;
+    registerPhysics2DJointSolver(world, 'acme.Conveyor', {
+      prepare: () => void prepared++,
+      solve: () => void solved++,
+    });
+    const first = body(world, 0, 0);
+    const second = body(world, 2, 0);
+    addPhysics2DJoint(world, joint('acme.Conveyor', first.index, second.index));
+    stepPhysics2D(world, 1 / 60);
+
+    expect(prepared).toBe(1);
+    expect(solved).toBe(world.config.velocityIterations);
+  });
+
+  it('is scoped to its world, so two worlds can register different kinds', () => {
+    const first = createPhysics2DWorld();
+    const second = createPhysics2DWorld();
+    registerPhysics2DJointSolver(first, 'acme.One', { prepare: () => {}, solve: () => {} });
+    expect(getPhysics2DJointSolver(first, 'acme.One')).not.toBeNull();
+    expect(getPhysics2DJointSolver(second, 'acme.One')).toBeNull();
+  });
+
+  it('lets a later registration replace an earlier one', () => {
+    const world = createPhysics2DWorld();
+    const replacement = { prepare: () => {}, solve: () => {} };
+    registerPhysics2DJointSolver(world, 'acme.One', { prepare: () => {}, solve: () => {} });
+    registerPhysics2DJointSolver(world, 'acme.One', replacement);
+    expect(getPhysics2DJointSolver(world, 'acme.One')).toBe(replacement);
+  });
+});
+
+describe('removePhysics2DJoint', () => {
+  it('removes the joint and reports false for one the world does not hold', () => {
+    const world = createPhysics2DWorld();
+    const first = body(world, 0, 0);
+    const second = body(world, 2, 0);
+    const added = addPhysics2DJoint(world, joint('Test', first.index, second.index));
+    expect(removePhysics2DJoint(world, added)).toBe(true);
+    expect(world.joints).toHaveLength(0);
+    expect(removePhysics2DJoint(world, added)).toBe(false);
+  });
+
+  it('drops joints naming a removed body, so a later body cannot inherit the constraint', () => {
+    const world = createPhysics2DWorld();
+    const first = body(world, 0, 0);
+    const second = body(world, 2, 0);
+    addPhysics2DJoint(world, joint('Test', first.index, second.index));
+    removePhysics2DBody(world, second);
+    expect(world.joints).toHaveLength(0);
+  });
+});