@flighthq/physics2d 0.3.0-next.1162.e90e518 → 0.3.0-next.1248.f867198

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Files changed (13) hide show
  1. package/dist/jointRegistry.d.ts.map +1 -1
  2. package/dist/jointRegistry.js +10 -1
  3. package/dist/jointRegistry.js.map +1 -1
  4. package/dist/joints.d.ts +12 -0
  5. package/dist/joints.d.ts.map +1 -1
  6. package/dist/joints.js +197 -23
  7. package/dist/joints.js.map +1 -1
  8. package/dist/step.d.ts.map +1 -1
  9. package/dist/step.js +46 -5
  10. package/dist/step.js.map +1 -1
  11. package/package.json +5 -5
  12. package/src/joints.test.ts +449 -3
  13. package/src/step.test.ts +161 -0
package/dist/jointRegistry.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"jointRegistry.d.ts","sourceRoot":"","sources":["../src/jointRegistry.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EACV,cAAc,EACd,kBAAkB,EAClB,oBAAoB,EACpB,cAAc,EACf,MAAM,0BAA0B,CAAC;AAalC,wBAAgB,iBAAiB,CAAC,KAAK,EAAE,cAAc,EAAE,KAAK,EAAE,cAAc,GAAG,cAAc,CAgB9F;AAKD,wBAAgB,uBAAuB,CACrC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,EAC/B,IAAI,EAAE,kBAAkB,GACvB,oBAAoB,GAAG,IAAI,CAE7B;AASD,wBAAgB,4BAA4B,CAC1C,KAAK,EAAE,cAAc,EACrB,IAAI,EAAE,kBAAkB,EACxB,MAAM,EAAE,oBAAoB,GAC3B,IAAI,CAEN;AAGD,wBAAgB,oBAAoB,CAAC,KAAK,EAAE,cAAc,EAAE,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,GAAG,OAAO,CAKpG"}
1
+ {"version":3,"file":"jointRegistry.d.ts","sourceRoot":"","sources":["../src/jointRegistry.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EACV,cAAc,EACd,kBAAkB,EAClB,oBAAoB,EACpB,cAAc,EACf,MAAM,0BAA0B,CAAC;AAalC,wBAAgB,iBAAiB,CAAC,KAAK,EAAE,cAAc,EAAE,KAAK,EAAE,cAAc,GAAG,cAAc,CAyB9F;AAKD,wBAAgB,uBAAuB,CACrC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,EAC/B,IAAI,EAAE,kBAAkB,GACvB,oBAAoB,GAAG,IAAI,CAE7B;AASD,wBAAgB,4BAA4B,CAC1C,KAAK,EAAE,cAAc,EACrB,IAAI,EAAE,kBAAkB,EACxB,MAAM,EAAE,oBAAoB,GAC3B,IAAI,CAEN;AAGD,wBAAgB,oBAAoB,CAAC,KAAK,EAAE,cAAc,EAAE,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,GAAG,OAAO,CAKpG"}
package/dist/jointRegistry.js CHANGED
@@ -11,7 +11,16 @@ import { findPhysics2DBody, isPhysics2DPairOrdered } from './world';
11
11
  export function addPhysics2DJoint(world, joint) {
12
12
  const first = findPhysics2DBody(world, joint.bodyA);
13
13
  const second = findPhysics2DBody(world, joint.bodyB);
14
- if (first !== null && second !== null && !isPhysics2DPairOrdered(first, second)) {
14
+ // Ask the kind before exchanging anything. The swap below moves only what every joint has — two
15
+ // body indices and two anchors — so a kind holding state measured from bodyA toward bodyB has to
16
+ // reverse it, and a kind whose second end is not a body at all must refuse outright. Making that
17
+ // the kind's decision is the only place it can be correct: the registry cannot know which fields
18
+ // carry a direction.
19
+ // Decide whether a swap is pending BEFORE asking the kind: swapEnds both vetoes and transforms, so
20
+ // calling it when nothing is being exchanged would apply a kind's reversal to ends that never moved.
21
+ const swapPending = first !== null && second !== null && !isPhysics2DPairOrdered(first, second);
22
+ const solver = getPhysics2DJointSolver(world, joint.kind);
23
+ if (swapPending && (solver?.swapEnds?.(joint) ?? true)) {
15
24
  const bodyA = joint.bodyA;
16
25
  joint.bodyA = joint.bodyB;
17
26
  joint.bodyB = bodyA;
package/dist/jointRegistry.js.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"jointRegistry.js","sourceRoot":"","sources":["../src/jointRegistry.ts"],"names":[],"mappings":"AAOA,OAAO,EAAE,iBAAiB,EAAE,sBAAsB,EAAE,MAAM,SAAS,CAAC;AAEpE,0GAA0G;AAC1G,gDAAgD;AAChD,EAAE;AACF,kGAAkG;AAClG,sGAAsG;AACtG,sGAAsG;AACtG,oGAAoG;AACpG,yGAAyG;AACzG,yFAAyF;AACzF,MAAM,UAAU,iBAAiB,CAAC,KAAqB,EAAE,KAAqB;IAC5E,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;IACpD,MAAM,MAAM,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;IACrD,IAAI,KAAK,KAAK,IAAI,IAAI,MAAM,KAAK,IAAI,IAAI,CAAC,sBAAsB,CAAC,KAAK,EAAE,MAAM,CAAC,EAAE,CAAC;QAChF,MAAM,KAAK,GAAG,KAAK,CAAC,KAAK,CAAC;QAC1B,KAAK,CAAC,KAAK,GAAG,KAAK,CAAC,KAAK,CAAC;QAC1B,KAAK,CAAC,KAAK,GAAG,KAAK,CAAC;QACpB,MAAM,OAAO,GAAG,KAAK,CAAC,aAAa,CAAC;QACpC,MAAM,OAAO,GAAG,KAAK,CAAC,aAAa,CAAC;QACpC,KAAK,CAAC,aAAa,GAAG,KAAK,CAAC,aAAa,CAAC;QAC1C,KAAK,CAAC,aAAa,GAAG,KAAK,CAAC,aAAa,CAAC;QAC1C,KAAK,CAAC,aAAa,GAAG,OAAO,CAAC;QAC9B,KAAK,CAAC,aAAa,GAAG,OAAO,CAAC;IAChC,CAAC;IACD,KAAK,CAAC,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;IACzB,OAAO,KAAK,CAAC;AACf,CAAC;AAED,yGAAyG;AACzG,uGAAuG;AACvG,wDAAwD;AACxD,MAAM,UAAU,uBAAuB,CACrC,KAA+B,EAC/B,IAAwB;IAExB,OAAO,KAAK,CAAC,YAAY,CAAC,GAAG,CAAC,IAAI,CAAC,IAAI,IAAI,CAAC;AAC9C,CAAC;AAED,wGAAwG;AACxG,wGAAwG;AACxG,wDAAwD;AACxD,EAAE;AACF,oGAAoG;AACpG,wGAAwG;AACxG,6DAA6D;AAC7D,MAAM,UAAU,4BAA4B,CAC1C,KAAqB,EACrB,IAAwB,EACxB,MAA4B;IAE5B,KAAK,CAAC,YAAY,CAAC,GAAG,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC;AACvC,CAAC;AAED,+EAA+E;AAC/E,MAAM,UAAU,oBAAoB,CAAC,KAAqB,EAAE,KAA+B;IACzF,MAAM,EAAE,GAAG,KAAK,CAAC,MAAM,CAAC,OAAO,CAAC,KAAuB,CAAC,CAAC;IACzD,IAAI,EAAE,GAAG,CAAC;QAAE,OAAO,KAAK,CAAC;IACzB,KAAK,CAAC,MAAM,CAAC,MAAM,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC;IAC3B,OAAO,IAAI,CAAC;AACd,CAAC"}
1
+ {"version":3,"file":"jointRegistry.js","sourceRoot":"","sources":["../src/jointRegistry.ts"],"names":[],"mappings":"AAOA,OAAO,EAAE,iBAAiB,EAAE,sBAAsB,EAAE,MAAM,SAAS,CAAC;AAEpE,0GAA0G;AAC1G,gDAAgD;AAChD,EAAE;AACF,kGAAkG;AAClG,sGAAsG;AACtG,sGAAsG;AACtG,oGAAoG;AACpG,yGAAyG;AACzG,yFAAyF;AACzF,MAAM,UAAU,iBAAiB,CAAC,KAAqB,EAAE,KAAqB;IAC5E,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;IACpD,MAAM,MAAM,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;IACrD,gGAAgG;IAChG,iGAAiG;IACjG,iGAAiG;IACjG,iGAAiG;IACjG,qBAAqB;IACrB,mGAAmG;IACnG,qGAAqG;IACrG,MAAM,WAAW,GAAG,KAAK,KAAK,IAAI,IAAI,MAAM,KAAK,IAAI,IAAI,CAAC,sBAAsB,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC;IAChG,MAAM,MAAM,GAAG,uBAAuB,CAAC,KAAK,EAAE,KAAK,CAAC,IAAI,CAAC,CAAC;IAC1D,IAAI,WAAW,IAAI,CAAC,MAAM,EAAE,QAAQ,EAAE,CAAC,KAAK,CAAC,IAAI,IAAI,CAAC,EAAE,CAAC;QACvD,MAAM,KAAK,GAAG,KAAK,CAAC,KAAK,CAAC;QAC1B,KAAK,CAAC,KAAK,GAAG,KAAK,CAAC,KAAK,CAAC;QAC1B,KAAK,CAAC,KAAK,GAAG,KAAK,CAAC;QACpB,MAAM,OAAO,GAAG,KAAK,CAAC,aAAa,CAAC;QACpC,MAAM,OAAO,GAAG,KAAK,CAAC,aAAa,CAAC;QACpC,KAAK,CAAC,aAAa,GAAG,KAAK,CAAC,aAAa,CAAC;QAC1C,KAAK,CAAC,aAAa,GAAG,KAAK,CAAC,aAAa,CAAC;QAC1C,KAAK,CAAC,aAAa,GAAG,OAAO,CAAC;QAC9B,KAAK,CAAC,aAAa,GAAG,OAAO,CAAC;IAChC,CAAC;IACD,KAAK,CAAC,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;IACzB,OAAO,KAAK,CAAC;AACf,CAAC;AAED,yGAAyG;AACzG,uGAAuG;AACvG,wDAAwD;AACxD,MAAM,UAAU,uBAAuB,CACrC,KAA+B,EAC/B,IAAwB;IAExB,OAAO,KAAK,CAAC,YAAY,CAAC,GAAG,CAAC,IAAI,CAAC,IAAI,IAAI,CAAC;AAC9C,CAAC;AAED,wGAAwG;AACxG,wGAAwG;AACxG,wDAAwD;AACxD,EAAE;AACF,oGAAoG;AACpG,wGAAwG;AACxG,6DAA6D;AAC7D,MAAM,UAAU,4BAA4B,CAC1C,KAAqB,EACrB,IAAwB,EACxB,MAA4B;IAE5B,KAAK,CAAC,YAAY,CAAC,GAAG,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC;AACvC,CAAC;AAED,+EAA+E;AAC/E,MAAM,UAAU,oBAAoB,CAAC,KAAqB,EAAE,KAA+B;IACzF,MAAM,EAAE,GAAG,KAAK,CAAC,MAAM,CAAC,OAAO,CAAC,KAAuB,CAAC,CAAC;IACzD,IAAI,EAAE,GAAG,CAAC;QAAE,OAAO,KAAK,CAAC;IACzB,KAAK,CAAC,MAAM,CAAC,MAAM,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC;IAC3B,OAAO,IAAI,CAAC;AACd,CAAC"}
package/dist/joints.d.ts CHANGED
@@ -5,22 +5,34 @@ export declare const Physics2DRevoluteJointKind = "Revolute";
5
5
  export declare const Physics2DRopeJointKind = "Rope";
6
6
  export declare const Physics2DWeldJointKind = "Weld";
7
7
  export declare const physics2DDistanceJointSolver: {
8
+ warmStart(world: Physics2DWorld, joint: Physics2DJoint): void;
9
+ clearAccumulatedImpulses(joint: Physics2DJoint): void;
8
10
  prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
9
11
  solve(world: Physics2DWorld, joint: Physics2DJoint): void;
10
12
  };
11
13
  export declare const physics2DMouseJointSolver: {
14
+ swapEnds(): boolean;
15
+ clearAccumulatedImpulses(joint: Physics2DJoint): void;
12
16
  prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
13
17
  solve(world: Physics2DWorld, joint: Physics2DJoint): void;
14
18
  };
15
19
  export declare const physics2DRevoluteJointSolver: {
20
+ warmStart(world: Physics2DWorld, joint: Physics2DJoint): void;
21
+ clearAccumulatedImpulses(joint: Physics2DJoint): void;
22
+ swapEnds(joint: Physics2DJoint): boolean;
16
23
  prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
17
24
  solve(world: Physics2DWorld, joint: Physics2DJoint): void;
18
25
  };
19
26
  export declare const physics2DRopeJointSolver: {
27
+ warmStart(world: Physics2DWorld, joint: Physics2DJoint): void;
28
+ clearAccumulatedImpulses(joint: Physics2DJoint): void;
20
29
  prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
21
30
  solve(world: Physics2DWorld, joint: Physics2DJoint): void;
22
31
  };
23
32
  export declare const physics2DWeldJointSolver: {
33
+ warmStart(world: Physics2DWorld, joint: Physics2DJoint): void;
34
+ clearAccumulatedImpulses(joint: Physics2DJoint): void;
35
+ swapEnds(joint: Physics2DJoint): boolean;
24
36
  prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
25
37
  solve(world: Physics2DWorld, joint: Physics2DJoint): void;
26
38
  };
package/dist/joints.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"joints.d.ts","sourceRoot":"","sources":["../src/joints.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAEV,cAAc,EAId,cAAc,EAEf,MAAM,0BAA0B,CAAC;AAMlC,eAAO,MAAM,0BAA0B,aAAa,CAAC;AACrD,eAAO,MAAM,uBAAuB,UAAU,CAAC;AAC/C,eAAO,MAAM,0BAA0B,aAAa,CAAC;AACrD,eAAO,MAAM,sBAAsB,SAAS,CAAC;AAC7C,eAAO,MAAM,sBAAsB,SAAS,CAAC;AAQ7C,eAAO,MAAM,4BAA4B;mBACxB,cAAc,SAAS,cAAc,MAAM,MAAM,GAAG,IAAI;iBA8C1D,cAAc,SAAS,cAAc,GAAG,IAAI;CAa1D,CAAC;AAOF,eAAO,MAAM,yBAAyB;mBACrB,cAAc,SAAS,cAAc,MAAM,MAAM,GAAG,IAAI;iBAoB1D,cAAc,SAAS,cAAc,GAAG,IAAI;CAqC1D,CAAC;AAOF,eAAO,MAAM,4BAA4B;mBACxB,cAAc,SAAS,cAAc,MAAM,MAAM,GAAG,IAAI;iBAU1D,cAAc,SAAS,cAAc,GAAG,IAAI;CAQ1D,CAAC;AAMF,eAAO,MAAM,wBAAwB;mBACpB,cAAc,SAAS,cAAc,MAAM,MAAM,GAAG,IAAI;iBA2B1D,cAAc,SAAS,cAAc,GAAG,IAAI;CAe1D,CAAC;AAOF,eAAO,MAAM,wBAAwB;mBACpB,cAAc,SAAS,cAAc,MAAM,MAAM,GAAG,IAAI;iBAmB1D,cAAc,SAAS,cAAc,GAAG,IAAI;CAe1D,CAAC"}
1
+ {"version":3,"file":"joints.d.ts","sourceRoot":"","sources":["../src/joints.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAEV,cAAc,EAKd,cAAc,EAEf,MAAM,0BAA0B,CAAC;AAMlC,eAAO,MAAM,0BAA0B,aAAa,CAAC;AACrD,eAAO,MAAM,uBAAuB,UAAU,CAAC;AAC/C,eAAO,MAAM,0BAA0B,aAAa,CAAC;AACrD,eAAO,MAAM,sBAAsB,SAAS,CAAC;AAC7C,eAAO,MAAM,sBAAsB,SAAS,CAAC;AAQ7C,eAAO,MAAM,4BAA4B;qBACtB,cAAc,SAAS,cAAc,GAAG,IAAI;oCAkB7B,cAAc,GAAG,IAAI;mBAItC,cAAc,SAAS,cAAc,MAAM,MAAM,GAAG,IAAI;iBAwC1D,cAAc,SAAS,cAAc,GAAG,IAAI;CAa1D,CAAC;AAOF,eAAO,MAAM,yBAAyB;gBAMxB,OAAO;oCAMa,cAAc,GAAG,IAAI;mBAKtC,cAAc,SAAS,cAAc,MAAM,MAAM,GAAG,IAAI;iBAuB1D,cAAc,SAAS,cAAc,GAAG,IAAI;CAqC1D,CAAC;AAOF,eAAO,MAAM,4BAA4B;qBACtB,cAAc,SAAS,cAAc,GAAG,IAAI;oCAO7B,cAAc,GAAG,IAAI;oBAarC,cAAc,GAAG,OAAO;mBAWzB,cAAc,SAAS,cAAc,MAAM,MAAM,GAAG,IAAI;iBAwB1D,cAAc,SAAS,cAAc,GAAG,IAAI;CAiE1D,CAAC;AAMF,eAAO,MAAM,wBAAwB;qBAClB,cAAc,SAAS,cAAc,GAAG,IAAI;oCAkB7B,cAAc,GAAG,IAAI;mBAItC,cAAc,SAAS,cAAc,MAAM,MAAM,GAAG,IAAI;iBAqB1D,cAAc,SAAS,cAAc,GAAG,IAAI;CAe1D,CAAC;AAWF,eAAO,MAAM,wBAAwB;qBAClB,cAAc,SAAS,cAAc,GAAG,IAAI;oCAS7B,cAAc,GAAG,IAAI;oBAMrC,cAAc,GAAG,OAAO;mBAMzB,cAAc,SAAS,cAAc,MAAM,MAAM,GAAG,IAAI;iBAmB1D,cAAc,SAAS,cAAc,GAAG,IAAI;CAe1D,CAAC"}
package/dist/joints.js CHANGED
@@ -13,6 +13,19 @@ export const Physics2DWeldJointKind = 'Weld';
13
13
  // at any stiffness, where adding a spring FORCE explodes once the stiffness times the timestep exceeds
14
14
  // what the integrator can follow.
15
15
  export const physics2DDistanceJointSolver = {
16
+ warmStart(world, joint) {
17
+ const state = jointStateScratch.get(joint);
18
+ if (state === undefined)
19
+ return;
20
+ const bodyA = findPhysics2DBody(world, joint.bodyA);
21
+ const bodyB = findPhysics2DBody(world, joint.bodyB);
22
+ if (bodyA === null || bodyB === null)
23
+ return;
24
+ applyPhysics2DImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rBX, joint.rBY, -joint.impulse0 * state[3], -joint.impulse0 * state[4]);
25
+ },
26
+ clearAccumulatedImpulses(joint) {
27
+ joint.impulse0 = 0;
28
+ },
16
29
  prepare(world, joint, dt) {
17
30
  const distance = joint;
18
31
  const bodyA = findPhysics2DBody(world, joint.bodyA);
@@ -51,13 +64,7 @@ export const physics2DDistanceJointSolver = {
51
64
  jointScratch[2] = 0;
52
65
  }
53
66
  distance.rAX = joint.rAX;
54
- jointStateScratch.set(distance, [
55
- jointScratch[0],
56
- jointScratch[1],
57
- jointScratch[2],
58
- axisScratch[0],
59
- axisScratch[1],
60
- ]);
67
+ writeJointState(distance, [jointScratch[0], jointScratch[1], jointScratch[2], axisScratch[0], axisScratch[1]]);
61
68
  },
62
69
  solve(world, joint) {
63
70
  const state = jointStateScratch.get(joint);
@@ -80,6 +87,20 @@ export const physics2DDistanceJointSolver = {
80
87
  // moving the cursor faster than the simulation can follow, and the rest of the world absorbs it. The force
81
88
  // bound is what keeps a dragged body from tunnelling through a wall it is pulled into.
82
89
  export const physics2DMouseJointSolver = {
90
+ // A mouse joint drags ONE body toward a world-space target; its other end is not a body at all, and
91
+ // callers pass whatever index is convenient. Canonical ordering exists to fix the solve order
92
+ // BETWEEN two bodies, so with only one body there is nothing to order and the exchange is pure
93
+ // corruption: it moved the dragged body into bodyA, and this solver acts on bodyB, so the drag
94
+ // silently applied to the anchor instead and the dragged body never moved.
95
+ swapEnds() {
96
+ return false;
97
+ },
98
+ // No warmStart: the drag target moves between steps, so last step's impulse is aimed at a place the
99
+ // cursor has already left. Seeding from it fights the new target rather than helping it converge.
100
+ clearAccumulatedImpulses(joint) {
101
+ joint.impulse0 = 0;
102
+ joint.impulse1 = 0;
103
+ },
83
104
  prepare(world, joint, dt) {
84
105
  const mouse = joint;
85
106
  const bodyB = findPhysics2DBody(world, joint.bodyB);
@@ -97,7 +118,10 @@ export const physics2DMouseJointSolver = {
97
118
  const gamma = dt * (damp + dt * spring);
98
119
  const inverseGamma = gamma > 0 ? 1 / gamma : 0;
99
120
  const biasFactor = dt * spring * inverseGamma;
100
- jointStateScratch.set(mouse, [inverseGamma, biasFactor, 0, 0, 0]);
121
+ // maxForce is a force; joint.impulse0/1 accumulate an impulse. Clamping one against the other was
122
+ // a unit error worth a factor of 1/dt — at dt 0.01 the bound admitted a hundred times the force it
123
+ // named. Convert once here, where dt is in hand, rather than in solve, which does not receive it.
124
+ writeJointState(mouse, [inverseGamma, biasFactor, dt * mouse.maxForce, 0, 0]);
101
125
  },
102
126
  solve(world, joint) {
103
127
  const mouse = joint;
@@ -107,7 +131,7 @@ export const physics2DMouseJointSolver = {
107
131
  const bodyB = findPhysics2DBody(world, joint.bodyB);
108
132
  if (bodyB === null)
109
133
  return;
110
- const [inverseGamma, biasFactor] = state;
134
+ const [inverseGamma, biasFactor, maxImpulse] = state;
111
135
  const anchorX = bodyB.x + joint.rBX;
112
136
  const anchorY = bodyB.y + joint.rBY;
113
137
  const errorX = anchorX - mouse.targetX;
@@ -124,8 +148,8 @@ export const physics2DMouseJointSolver = {
124
148
  // Clamped on the ACCUMULATED impulse, so a later iteration can correct an earlier overshoot while the
125
149
  // total force stays inside the bound.
126
150
  const magnitude = Math.sqrt(joint.impulse0 * joint.impulse0 + joint.impulse1 * joint.impulse1);
127
- if (magnitude > mouse.maxForce && magnitude > 0) {
128
- const scale = mouse.maxForce / magnitude;
151
+ if (magnitude > maxImpulse && magnitude > 0) {
152
+ const scale = maxImpulse / magnitude;
129
153
  joint.impulse0 *= scale;
130
154
  joint.impulse1 *= scale;
131
155
  }
@@ -142,7 +166,37 @@ export const physics2DMouseJointSolver = {
142
166
  // independently: solving x then y lets each undo part of the other's correction, and a hinge under load
143
167
  // visibly creeps.
144
168
  export const physics2DRevoluteJointSolver = {
169
+ warmStart(world, joint) {
170
+ const bodyA = findPhysics2DBody(world, joint.bodyA);
171
+ const bodyB = findPhysics2DBody(world, joint.bodyB);
172
+ if (bodyA === null || bodyB === null)
173
+ return;
174
+ applyPhysics2DImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rBX, joint.rBY, -joint.impulse0, -joint.impulse1);
175
+ },
176
+ clearAccumulatedImpulses(joint) {
177
+ joint.impulse0 = 0;
178
+ joint.impulse1 = 0;
179
+ joint.motorImpulse = 0;
180
+ },
181
+ // Swapping the ends reverses the sense of every angular quantity this solver reads. The relative
182
+ // angle is measured bodyA -> bodyB, so it negates; the limit interval negates AND its ends exchange
183
+ // (the old lower bound becomes the new upper); and the motor's target relative velocity reverses.
184
+ // Deriving it: the constraint is lower <= (angleB - angleA - reference) <= upper. Writing t for
185
+ // (angleB - angleA), that is lower + reference <= t <= upper + reference. After the swap t becomes
186
+ // -t, so the same physical interval requires reference' = -reference, lower' = -upper and
187
+ // upper' = -lower.
188
+ swapEnds(joint) {
189
+ const revolute = joint;
190
+ const lower = revolute.lowerAngle;
191
+ revolute.lowerAngle = -revolute.upperAngle;
192
+ revolute.upperAngle = -lower;
193
+ revolute.referenceAngle = -revolute.referenceAngle;
194
+ revolute.motorSpeed = -revolute.motorSpeed;
195
+ revolute.motorImpulse = -revolute.motorImpulse;
196
+ return true;
197
+ },
145
198
  prepare(world, joint, dt) {
199
+ const revolute = joint;
146
200
  const bodyA = findPhysics2DBody(world, joint.bodyA);
147
201
  const bodyB = findPhysics2DBody(world, joint.bodyB);
148
202
  if (bodyA === null || bodyB === null)
@@ -150,9 +204,23 @@ export const physics2DRevoluteJointSolver = {
150
204
  writeJointAnchors(bodyA, bodyB, joint);
151
205
  const errorX = bodyB.x + joint.rBX - (bodyA.x + joint.rAX);
152
206
  const errorY = bodyB.y + joint.rBY - (bodyA.y + joint.rAY);
153
- jointStateScratch.set(joint, [errorX * (BAUMGARTE / dt), errorY * (BAUMGARTE / dt), 0, 0, 0]);
207
+ // The angular constraints share one effective mass: the pair's combined resistance to a relative
208
+ // spin. Zero when neither body can rotate, which disables motor and limits rather than dividing
209
+ // by zero.
210
+ const inverseInertiaSum = bodyA.inverseInertia + bodyB.inverseInertia;
211
+ const angularMass = inverseInertiaSum > 0 ? 1 / inverseInertiaSum : 0;
212
+ writeJointState(joint, [
213
+ errorX * (BAUMGARTE / dt),
214
+ errorY * (BAUMGARTE / dt),
215
+ angularMass,
216
+ 0,
217
+ 0,
218
+ dt * revolute.maxMotorTorque,
219
+ 1 / dt,
220
+ ]);
154
221
  },
155
222
  solve(world, joint) {
223
+ const revolute = joint;
156
224
  const state = jointStateScratch.get(joint);
157
225
  if (state === undefined)
158
226
  return;
@@ -160,6 +228,56 @@ export const physics2DRevoluteJointSolver = {
160
228
  const bodyB = findPhysics2DBody(world, joint.bodyB);
161
229
  if (bodyA === null || bodyB === null)
162
230
  return;
231
+ const angularMass = state[2];
232
+ if (angularMass > 0) {
233
+ // Motor first: it is a soft target the limits are allowed to override, so solving it before the
234
+ // limits lets a limit's impulse win in the same iteration when they disagree.
235
+ if (revolute.enableMotor) {
236
+ const maxMotorImpulse = state[5];
237
+ const relative = bodyB.angularVelocity - bodyA.angularVelocity - revolute.motorSpeed;
238
+ const desired = -angularMass * relative;
239
+ const previous = revolute.motorImpulse;
240
+ // Clamped on the ACCUMULATED impulse against torque * dt, so the bound is a torque and not a
241
+ // per-iteration one that would scale with the iteration count.
242
+ const total = Math.min(Math.max(previous + desired, -maxMotorImpulse), maxMotorImpulse);
243
+ revolute.motorImpulse = total;
244
+ const applied = total - previous;
245
+ bodyA.angularVelocity -= bodyA.inverseInertia * applied;
246
+ bodyB.angularVelocity += bodyB.inverseInertia * applied;
247
+ }
248
+ if (revolute.enableLimit) {
249
+ const bias = state[6];
250
+ const angle = bodyB.angle - bodyA.angle - revolute.referenceAngle;
251
+ // Each end is a one-sided constraint: it may only push the angle back inside the interval,
252
+ // never pull it in. Two things make that true together. The non-negative clamp on the running
253
+ // impulse means a limit can push and never pull. And the bias is the REMAINING ROOM to the
254
+ // bound, max(C, 0) / dt, not the violation depth: while the angle is inside the interval that
255
+ // room is large and positive, which drives the desired impulse negative, so the clamp holds
256
+ // the accumulator at zero and the limit contributes nothing.
257
+ //
258
+ // Using the violation depth instead — min(C, 0) — zeroes the bias while inside the interval,
259
+ // and the upper end then reads a positive desired impulse against any forward rotation and
260
+ // brakes it to a standstill. Measured while building this: a motor at speed 5 held the arm at
261
+ // exactly zero, spending its whole torque budget every step against a limit it was nowhere
262
+ // near.
263
+ const lowerError = angle - revolute.lowerAngle;
264
+ const lowerDesired = -angularMass * (bodyB.angularVelocity - bodyA.angularVelocity + Math.max(lowerError, 0) * bias);
265
+ const lowerPrevious = state[3];
266
+ const lowerTotal = Math.max(lowerPrevious + lowerDesired, 0);
267
+ state[3] = lowerTotal;
268
+ const lowerApplied = lowerTotal - lowerPrevious;
269
+ bodyA.angularVelocity -= bodyA.inverseInertia * lowerApplied;
270
+ bodyB.angularVelocity += bodyB.inverseInertia * lowerApplied;
271
+ const upperError = revolute.upperAngle - angle;
272
+ const upperDesired = -angularMass * (bodyA.angularVelocity - bodyB.angularVelocity + Math.max(upperError, 0) * bias);
273
+ const upperPrevious = state[4];
274
+ const upperTotal = Math.max(upperPrevious + upperDesired, 0);
275
+ state[4] = upperTotal;
276
+ const upperApplied = upperTotal - upperPrevious;
277
+ bodyA.angularVelocity += bodyA.inverseInertia * upperApplied;
278
+ bodyB.angularVelocity -= bodyB.inverseInertia * upperApplied;
279
+ }
280
+ }
163
281
  solvePointConstraint(bodyA, bodyB, joint, state[0], state[1]);
164
282
  },
165
283
  };
@@ -168,6 +286,19 @@ export const physics2DRevoluteJointSolver = {
168
286
  // The non-negative clamp on the accumulated impulse is what makes it a rope rather than a stiff bar: a
169
287
  // rope may pull the bodies together and may never push them apart.
170
288
  export const physics2DRopeJointSolver = {
289
+ warmStart(world, joint) {
290
+ const state = jointStateScratch.get(joint);
291
+ if (state === undefined)
292
+ return;
293
+ const bodyA = findPhysics2DBody(world, joint.bodyA);
294
+ const bodyB = findPhysics2DBody(world, joint.bodyB);
295
+ if (bodyA === null || bodyB === null)
296
+ return;
297
+ applyPhysics2DImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rBX, joint.rBY, -joint.impulse0 * state[3], -joint.impulse0 * state[4]);
298
+ },
299
+ clearAccumulatedImpulses(joint) {
300
+ joint.impulse0 = 0;
301
+ },
171
302
  prepare(world, joint, dt) {
172
303
  const rope = joint;
173
304
  const bodyA = findPhysics2DBody(world, joint.bodyA);
@@ -185,13 +316,7 @@ export const physics2DRopeJointSolver = {
185
316
  // Slack: no constraint at all this step, which is what a rope IS. Marked by a zero effective mass so
186
317
  // the iterations skip it without a second flag to keep in sync.
187
318
  const active = excess > 0;
188
- jointStateScratch.set(rope, [
189
- active && mass > 0 ? 1 / mass : 0,
190
- active ? excess * (BAUMGARTE / dt) : 0,
191
- 0,
192
- unitX,
193
- unitY,
194
- ]);
319
+ writeJointState(rope, [active && mass > 0 ? 1 / mass : 0, active ? excess * (BAUMGARTE / dt) : 0, 0, unitX, unitY]);
195
320
  if (!active)
196
321
  joint.impulse0 = 0;
197
322
  },
@@ -217,7 +342,30 @@ export const physics2DRopeJointSolver = {
217
342
  // The point constraint plus one angular constraint. It is solved rather than exact, so it flexes under
218
343
  // enough load; a truly rigid attachment is one body with two colliders, and the difference is that a weld
219
344
  // can be broken at runtime.
345
+ // Weld holds the pair at a fixed relative angle, measured from bodyA to bodyB, so exchanging the ends
346
+ // reverses that measurement and the stored reference angle must be negated with them. It is the only
347
+ // direction-bearing field any solver reads today: revolute declares one but does not yet read it, and
348
+ // prismatic has no solver at all, so their transforms land with the work that makes them live.
220
349
  export const physics2DWeldJointSolver = {
350
+ warmStart(world, joint) {
351
+ const bodyA = findPhysics2DBody(world, joint.bodyA);
352
+ const bodyB = findPhysics2DBody(world, joint.bodyB);
353
+ if (bodyA === null || bodyB === null)
354
+ return;
355
+ applyPhysics2DImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rBX, joint.rBY, -joint.impulse0, -joint.impulse1);
356
+ bodyA.angularVelocity -= bodyA.inverseInertia * joint.impulse2;
357
+ bodyB.angularVelocity += bodyB.inverseInertia * joint.impulse2;
358
+ },
359
+ clearAccumulatedImpulses(joint) {
360
+ joint.impulse0 = 0;
361
+ joint.impulse1 = 0;
362
+ joint.impulse2 = 0;
363
+ },
364
+ swapEnds(joint) {
365
+ const weld = joint;
366
+ weld.referenceAngle = -weld.referenceAngle;
367
+ return true;
368
+ },
221
369
  prepare(world, joint, dt) {
222
370
  const weld = joint;
223
371
  const bodyA = findPhysics2DBody(world, joint.bodyA);
@@ -229,7 +377,7 @@ export const physics2DWeldJointSolver = {
229
377
  const errorY = bodyB.y + joint.rBY - (bodyA.y + joint.rAY);
230
378
  const angleError = bodyB.angle - bodyA.angle - weld.referenceAngle;
231
379
  const angularMass = bodyA.inverseInertia + bodyB.inverseInertia;
232
- jointStateScratch.set(weld, [
380
+ writeJointState(weld, [
233
381
  errorX * (BAUMGARTE / dt),
234
382
  errorY * (BAUMGARTE / dt),
235
383
  angleError * (BAUMGARTE / dt),
@@ -301,10 +449,36 @@ function axisRelativeVelocity(bodyA, bodyB, joint, axisX, axisY) {
301
449
  // bodies leave the world within one step.
302
450
  return (vbx - vax) * axisX + (vby - vay) * axisY;
303
451
  }
304
- // Per-step solver state, keyed by joint. A Map rather than fields on the joint because the five numbers
305
- // each solver needs mean different things per kind, and putting a fixed block of untyped scratch on the
452
+ // Fills this joint's per-step state in place, allocating the array only the first time the joint is
453
+ // prepared. Every solver rebuilds its whole block each step, so the array is pure scratch and reusing it
454
+ // costs nothing — but allocating a fresh one per joint per step made the step's allocation profile scale
455
+ // with the joint count, which is exactly the hidden per-frame allocation the package's own charter
456
+ // forbids.
457
+ function writeJointState(joint, values) {
458
+ let state = jointStateScratch.get(joint);
459
+ if (state === undefined) {
460
+ state = [];
461
+ jointStateScratch.set(joint, state);
462
+ }
463
+ state.length = values.length;
464
+ for (let i = 0; i < values.length; i++)
465
+ state[i] = values[i];
466
+ }
467
+ // Per-step solver state, keyed by joint. A Map rather than fields on the joint because the numbers each
468
+ // solver needs mean different things per kind, and putting a fixed block of untyped scratch on the
306
469
  // public entity would make the header describe the solver's internals.
307
- const jointStateScratch = new Map();
470
+ //
471
+ // Mutable, because a one-sided constraint accumulates its impulse ACROSS the velocity iterations of a
472
+ // single step: the revolute limits clamp their running totals to stay non-negative, which is what makes
473
+ // them limits rather than springs, and that total has to live somewhere between iterations.
474
+ //
475
+ // A WeakMap, not a Map. A module-global strong Map keyed by joint retains every joint ever prepared for
476
+ // the lifetime of the module: removing a joint from a world drops the world's reference but not this
477
+ // one, so the joint, its bodies' indices, and its state array all stay reachable forever. There is no
478
+ // deletion hook to forget either, because a joint can leave a world without this module being told.
479
+ // Keying weakly makes the retention question disappear rather than answering it — the entry goes when
480
+ // the joint does, at every exit path, including ones nobody has written yet.
481
+ const jointStateScratch = new WeakMap();
308
482
  const axisScratch = [0, 0];
309
483
  const jointScratch = [0, 0, 0];
310
484
  const EPSILON = 1e-9;
package/dist/joints.js.map CHANGED
@@ -1 +1 @@
1
- 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package/dist/step.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"step.d.ts","sourceRoot":"","sources":["../src/step.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAIV,cAAc,EAIf,MAAM,0BAA0B,CAAC;AAqRlC,wBAAgB,aAAa,CAAC,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CAiDrE"}
1
+ {"version":3,"file":"step.d.ts","sourceRoot":"","sources":["../src/step.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAIV,cAAc,EAIf,MAAM,0BAA0B,CAAC;AA2SlC,wBAAgB,aAAa,CAAC,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CA+DrE"}
package/dist/step.js CHANGED
@@ -21,8 +21,13 @@ function updatePhysics2DBroadphase(world) {
21
21
  if (boundsScratch.maxY > maxY)
22
22
  maxY = boundsScratch.maxY;
23
23
  }
24
- if (minX > maxX)
24
+ if (minX > maxX) {
25
+ // No collider produced bounds, so there is nothing to index. Withdraw rather than skip: the id
26
+ // may have been indexed on a previous step, and a stale AABB keeps generating pairs for a body
27
+ // this step has already decided not to collide.
28
+ world.index.removeSpatialObject(body.index);
25
29
  continue;
30
+ }
26
31
  // Bounds this package declines to hand to the broadphase — a physics judgement, kept as
27
32
  // defence in depth rather than as a substitute for the index's own bound.
28
33
  //
@@ -42,6 +47,11 @@ function updatePhysics2DBroadphase(world) {
42
47
  !Number.isFinite(maxY) ||
43
48
  maxX - minX > MAX_SIMULATED_EXTENT ||
44
49
  maxY - minY > MAX_SIMULATED_EXTENT) {
50
+ // Withdraw the body from the index instead of merely skipping the update. Skipping left
51
+ // whatever AABB it had last step in place, so a body this filter had declared diverged went on
52
+ // producing broadphase pairs and holding live contacts from its last valid pose — the opposite
53
+ // of the "stops colliding" this comment claims. Removal is a no-op for an id never indexed.
54
+ world.index.removeSpatialObject(body.index);
45
55
  continue;
46
56
  }
47
57
  bodyBounds.minX = minX;
@@ -76,10 +86,18 @@ function buildPhysics2DContacts(world) {
76
86
  const second = findPhysics2DBody(world, pair.b);
77
87
  if (first === null || second === null)
78
88
  continue;
79
- // Two bodies that cannot both move have no constraint to solve; skipping them here keeps the
80
- // solver's body list free of pairs whose every impulse would be multiplied by zero.
81
- if (first.inverseMass === 0 && second.inverseMass === 0)
89
+ // Two bodies that cannot both move have no constraint to SOLVE, and skipping them keeps the
90
+ // solver's body list free of pairs whose every impulse would be multiplied by zero. But a sensor
91
+ // is reported, never resolved — the solver already skips sensor contacts — so applying this test
92
+ // before any collider is inspected silently deleted every sensor overlap between two immovable
93
+ // bodies. A static trigger volume over static scenery is an ordinary thing to build, and it
94
+ // reported nothing at all. Immovable pairs are still skipped, unless one of them senses.
95
+ if (first.inverseMass === 0 &&
96
+ second.inverseMass === 0 &&
97
+ !hasSensorCollider(first) &&
98
+ !hasSensorCollider(second)) {
82
99
  continue;
100
+ }
83
101
  // A jointed pair almost always overlaps at the anchor, and resolving that contact fights the
84
102
  // constraint holding them together, so a joint suppresses it unless the caller asks otherwise.
85
103
  if (isPhysics2DPairJointSuppressed(world, first.index, second.index))
@@ -257,8 +275,22 @@ export function stepPhysics2D(world, dt) {
257
275
  for (const joint of world.joints) {
258
276
  world.jointSolvers.get(joint.kind)?.prepare(world, joint, dt);
259
277
  }
260
- if (config.warmStarting)
278
+ // Joints warm-start alongside contacts, which is what the impulse block on Physics2DJoint has always
279
+ // been documented to be for. Each kind reapplies its own converged impulse, because the block is
280
+ // deliberately untyped and only the kind knows what its numbers mean. With warm starting off the
281
+ // accumulators are cleared instead, so a world told not to use the cache does not quietly keep
282
+ // seeding from it — the previous code left them growing whether the flag was set or not.
283
+ if (config.warmStarting) {
261
284
  warmStartPhysics2DContacts(world);
285
+ for (const joint of world.joints) {
286
+ world.jointSolvers.get(joint.kind)?.warmStart?.(world, joint);
287
+ }
288
+ }
289
+ else {
290
+ for (const joint of world.joints) {
291
+ world.jointSolvers.get(joint.kind)?.clearAccumulatedImpulses?.(joint);
292
+ }
293
+ }
262
294
  // Joints and contacts share one solve list and one iteration count. Solving them in separate passes
263
295
  // would let each undo the other's correction — a hinge under load creeps if the contacts beneath it get
264
296
  // a whole pass to themselves between joint iterations.
@@ -298,6 +330,15 @@ function createPhysics2DContactPoint() {
298
330
  bias: 0,
299
331
  };
300
332
  }
333
+ // Whether any of the body's colliders senses rather than collides. Cheap enough to ask per pair: a
334
+ // body carries a handful of colliders, and the alternative is inspecting every collider pairing.
335
+ function hasSensorCollider(body) {
336
+ for (const collider of body.colliders) {
337
+ if (collider.sensor)
338
+ return true;
339
+ }
340
+ return false;
341
+ }
301
342
  // Total order over contacts, by the four identities that define one. Every field is a persistent index,
302
343
  // so the order is stable across steps and independent of the broadphase's history.
303
344
  function comparePhysics2DContacts(left, right) {