@flighthq/physics2d 0.3.0-next.1220.6982c21 → 0.3.0-next.1272.222de94

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (12) hide show
  1. package/dist/jointRegistry.d.ts.map +1 -1
  2. package/dist/jointRegistry.js +38 -21
  3. package/dist/jointRegistry.js.map +1 -1
  4. package/dist/joints.d.ts.map +1 -1
  5. package/dist/joints.js +41 -23
  6. package/dist/joints.js.map +1 -1
  7. package/dist/step.d.ts.map +1 -1
  8. package/dist/step.js +11 -5
  9. package/dist/step.js.map +1 -1
  10. package/package.json +5 -5
  11. package/src/jointRegistry.test.ts +60 -0
  12. package/src/step.test.ts +52 -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,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"}
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,CAY9F;AAyBD,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,CASN;AAGD,wBAAgB,oBAAoB,CAAC,KAAK,EAAE,cAAc,EAAE,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,GAAG,OAAO,CAKpG"}
package/dist/jointRegistry.js CHANGED
@@ -9,30 +9,39 @@ import { findPhysics2DBody, isPhysics2DPairOrdered } from './world';
9
9
  // world. The anchors and lever arms swap with the bodies — a joint whose ends were exchanged without its
10
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  // anchors would attach to the wrong points and hold the pair in a pose nobody asked for.
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  export function addPhysics2DJoint(world, joint) {
12
+ // The kind decides how to reverse itself, because the registry cannot know which of a joint's fields
13
+ // carry a direction — see _canonicalizePhysics2DJointEnds.
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+ // Only canonicalize when the kind can be consulted. A joint whose solver is not registered yet is
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+ // explicitly supported (a scene deserialized ahead of the code that solves it), and swapping it now
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+ // would exchange the bodies and anchors while its kind-specific direction fields stayed as authored --
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+ // the generic half of a swap with the kind's half missing, which no later registration would repair.
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+ // An unregistered joint constrains nothing, so its ordering does not matter until a solver exists;
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+ // registerPhysics2DJointSolver canonicalizes what is already in the world at that point.
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+ if (getPhysics2DJointSolver(world, joint.kind) !== null)
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+ _canonicalizePhysics2DJointEnds(world, joint);
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+ world.joints.push(joint);
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+ return joint;
24
+ }
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+ // Exchanges `joint`'s ends when the pair is out of canonical order and the kind consents. The kind is
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+ // asked only when a swap is actually pending, since swapEnds both vetoes and transforms: calling it
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+ // otherwise would apply a reversal to ends that never moved.
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+ function _canonicalizePhysics2DJointEnds(world, joint) {
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  const first = findPhysics2DBody(world, joint.bodyA);
13
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  const second = findPhysics2DBody(world, joint.bodyB);
14
- // Ask the kind before exchanging anything. The swap below moves only what every joint has — two
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- // body indices and two anchors — so a kind holding state measured from bodyA toward bodyB has to
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- // reverse it, and a kind whose second end is not a body at all must refuse outright. Making that
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- // the kind's decision is the only place it can be correct: the registry cannot know which fields
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- // carry a direction.
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- // Decide whether a swap is pending BEFORE asking the kind: swapEnds both vetoes and transforms, so
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- // calling it when nothing is being exchanged would apply a kind's reversal to ends that never moved.
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- const swapPending = first !== null && second !== null && !isPhysics2DPairOrdered(first, second);
31
+ if (first === null || second === null || isPhysics2DPairOrdered(first, second))
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+ return;
22
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  const solver = getPhysics2DJointSolver(world, joint.kind);
23
- if (swapPending && (solver?.swapEnds?.(joint) ?? true)) {
24
- const bodyA = joint.bodyA;
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- joint.bodyA = joint.bodyB;
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- joint.bodyB = bodyA;
27
- const anchorX = joint.localAnchorAX;
28
- const anchorY = joint.localAnchorAY;
29
- joint.localAnchorAX = joint.localAnchorBX;
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- joint.localAnchorAY = joint.localAnchorBY;
31
- joint.localAnchorBX = anchorX;
32
- joint.localAnchorBY = anchorY;
33
- }
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- world.joints.push(joint);
35
- return joint;
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+ if (!(solver?.swapEnds?.(joint) ?? true))
35
+ return;
36
+ const bodyA = joint.bodyA;
37
+ joint.bodyA = joint.bodyB;
38
+ joint.bodyB = bodyA;
39
+ const anchorX = joint.localAnchorAX;
40
+ const anchorY = joint.localAnchorAY;
41
+ joint.localAnchorAX = joint.localAnchorBX;
42
+ joint.localAnchorAY = joint.localAnchorBY;
43
+ joint.localAnchorBX = anchorX;
44
+ joint.localAnchorBY = anchorY;
36
45
  }
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  // The solver registered for `kind`, or null when none is. A missing solver is an expected condition, not
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47
  // an error: a scene deserialized with a joint kind the running build does not know about should import
@@ -49,6 +58,14 @@ export function getPhysics2DJointSolver(world, kind) {
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  // and a game using none of them should pay for none of them.
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  export function registerPhysics2DJointSolver(world, kind, solver) {
51
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  world.jointSolvers.set(kind, solver);
61
+ // Joints of this kind may already be in the world: addPhysics2DJoint deliberately leaves an
62
+ // unknown-kind joint in its authored order, because canonicalizing it without the kind's consent
63
+ // would half-swap it. This is where that deferred work happens, so the outcome no longer depends on
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+ // whether the scene or the solver arrived first.
65
+ for (const joint of world.joints) {
66
+ if (joint.kind === kind)
67
+ _canonicalizePhysics2DJointEnds(world, joint);
68
+ }
52
69
  }
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  // Removes `joint` from `world`. Returns false when the world does not hold it.
54
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  export function removePhysics2DJoint(world, joint) {
package/dist/jointRegistry.js.map CHANGED
@@ -1 +1 @@
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1
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package/dist/joints.d.ts.map CHANGED
@@ -1 +1 @@
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1
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package/dist/joints.js CHANGED
@@ -64,7 +64,12 @@ export const physics2DDistanceJointSolver = {
64
64
  jointScratch[2] = 0;
65
65
  }
66
66
  distance.rAX = joint.rAX;
67
- writeJointState(distance, [jointScratch[0], jointScratch[1], jointScratch[2], axisScratch[0], axisScratch[1]]);
67
+ const distanceState = acquireJointState(distance, 5);
68
+ distanceState[0] = jointScratch[0];
69
+ distanceState[1] = jointScratch[1];
70
+ distanceState[2] = jointScratch[2];
71
+ distanceState[3] = axisScratch[0];
72
+ distanceState[4] = axisScratch[1];
68
73
  },
69
74
  solve(world, joint) {
70
75
  const state = jointStateScratch.get(joint);
@@ -121,7 +126,12 @@ export const physics2DMouseJointSolver = {
121
126
  // maxForce is a force; joint.impulse0/1 accumulate an impulse. Clamping one against the other was
122
127
  // a unit error worth a factor of 1/dt — at dt 0.01 the bound admitted a hundred times the force it
123
128
  // 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]);
129
+ const mouseState = acquireJointState(mouse, 5);
130
+ mouseState[0] = inverseGamma;
131
+ mouseState[1] = biasFactor;
132
+ mouseState[2] = dt * mouse.maxForce;
133
+ mouseState[3] = 0;
134
+ mouseState[4] = 0;
125
135
  },
126
136
  solve(world, joint) {
127
137
  const mouse = joint;
@@ -209,15 +219,14 @@ export const physics2DRevoluteJointSolver = {
209
219
  // by zero.
210
220
  const inverseInertiaSum = bodyA.inverseInertia + bodyB.inverseInertia;
211
221
  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
- ]);
222
+ const revoluteState = acquireJointState(joint, 7);
223
+ revoluteState[0] = errorX * (BAUMGARTE / dt);
224
+ revoluteState[1] = errorY * (BAUMGARTE / dt);
225
+ revoluteState[2] = angularMass;
226
+ revoluteState[3] = 0;
227
+ revoluteState[4] = 0;
228
+ revoluteState[5] = dt * revolute.maxMotorTorque;
229
+ revoluteState[6] = 1 / dt;
221
230
  },
222
231
  solve(world, joint) {
223
232
  const revolute = joint;
@@ -316,7 +325,12 @@ export const physics2DRopeJointSolver = {
316
325
  // Slack: no constraint at all this step, which is what a rope IS. Marked by a zero effective mass so
317
326
  // the iterations skip it without a second flag to keep in sync.
318
327
  const active = excess > 0;
319
- writeJointState(rope, [active && mass > 0 ? 1 / mass : 0, active ? excess * (BAUMGARTE / dt) : 0, 0, unitX, unitY]);
328
+ const ropeState = acquireJointState(rope, 5);
329
+ ropeState[0] = active && mass > 0 ? 1 / mass : 0;
330
+ ropeState[1] = active ? excess * (BAUMGARTE / dt) : 0;
331
+ ropeState[2] = 0;
332
+ ropeState[3] = unitX;
333
+ ropeState[4] = unitY;
320
334
  if (!active)
321
335
  joint.impulse0 = 0;
322
336
  },
@@ -377,13 +391,12 @@ export const physics2DWeldJointSolver = {
377
391
  const errorY = bodyB.y + joint.rBY - (bodyA.y + joint.rAY);
378
392
  const angleError = bodyB.angle - bodyA.angle - weld.referenceAngle;
379
393
  const angularMass = bodyA.inverseInertia + bodyB.inverseInertia;
380
- writeJointState(weld, [
381
- errorX * (BAUMGARTE / dt),
382
- errorY * (BAUMGARTE / dt),
383
- angleError * (BAUMGARTE / dt),
384
- angularMass > 0 ? 1 / angularMass : 0,
385
- 0,
386
- ]);
394
+ const weldState = acquireJointState(weld, 5);
395
+ weldState[0] = errorX * (BAUMGARTE / dt);
396
+ weldState[1] = errorY * (BAUMGARTE / dt);
397
+ weldState[2] = angleError * (BAUMGARTE / dt);
398
+ weldState[3] = angularMass > 0 ? 1 / angularMass : 0;
399
+ weldState[4] = 0;
387
400
  },
388
401
  solve(world, joint) {
389
402
  const state = jointStateScratch.get(joint);
@@ -454,15 +467,20 @@ function axisRelativeVelocity(bodyA, bodyB, joint, axisX, axisY) {
454
467
  // costs nothing — but allocating a fresh one per joint per step made the step's allocation profile scale
455
468
  // with the joint count, which is exactly the hidden per-frame allocation the package's own charter
456
469
  // forbids.
457
- function writeJointState(joint, values) {
470
+ // Returns this joint's reusable per-step scratch, sized to `length`, for the caller to write into by
471
+ // index. It deliberately does not take the values: a `(joint, [a, b, c])` signature allocates the
472
+ // literal at every call site on every step, so the array the joint reuses was only ever the
473
+ // destination — the source was fresh garbage each frame, one array per joint per step. Handing the
474
+ // destination back is what makes the prepare pass allocation-free, and it matches the SDK's
475
+ // write-into-out convention rather than returning a new value.
476
+ function acquireJointState(joint, length) {
458
477
  let state = jointStateScratch.get(joint);
459
478
  if (state === undefined) {
460
479
  state = [];
461
480
  jointStateScratch.set(joint, state);
462
481
  }
463
- state.length = values.length;
464
- for (let i = 0; i < values.length; i++)
465
- state[i] = values[i];
482
+ state.length = length;
483
+ return state;
466
484
  }
467
485
  // Per-step solver state, keyed by joint. A Map rather than fields on the joint because the numbers each
468
486
  // solver needs mean different things per kind, and putting a fixed block of untyped scratch on the
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;AA2SlC,wBAAgB,aAAa,CAAC,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CA+DrE"}
1
+ {"version":3,"file":"step.d.ts","sourceRoot":"","sources":["../src/step.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAIV,cAAc,EAIf,MAAM,0BAA0B,CAAC;AA8SlC,wBAAgB,aAAa,CAAC,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CA+DrE"}
package/dist/step.js CHANGED
@@ -92,10 +92,8 @@ function buildPhysics2DContacts(world) {
92
92
  // before any collider is inspected silently deleted every sensor overlap between two immovable
93
93
  // bodies. A static trigger volume over static scenery is an ordinary thing to build, and it
94
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)) {
95
+ const bothImmovable = first.inverseMass === 0 && second.inverseMass === 0;
96
+ if (bothImmovable && !hasSensorCollider(first) && !hasSensorCollider(second)) {
99
97
  continue;
100
98
  }
101
99
  // A jointed pair almost always overlaps at the anchor, and resolving that contact fights the
@@ -109,9 +107,17 @@ function buildPhysics2DContacts(world) {
109
107
  for (let j = 0; j < bodyB.colliders.length; j++) {
110
108
  const colliderA = bodyA.colliders[i];
111
109
  const colliderB = bodyB.colliders[j];
110
+ const sensorPair = colliderA.sensor || colliderB.sensor;
111
+ // The immovable test belongs here, not on the bodies. Owning one sensor anywhere does not make
112
+ // a body's other colliders reportable: a static body carrying a trigger volume plus ordinary
113
+ // scenery would otherwise emit solid-vs-solid contacts against other static scenery, which
114
+ // nothing can ever resolve. Sensors are reported and never resolved, so a sensor pair is the
115
+ // only pair worth keeping between two bodies that cannot move.
116
+ if (bothImmovable && !sensorPair)
117
+ continue;
112
118
  if (!collideContactManifold(colliderA.world, colliderB.world, manifoldScratch))
113
119
  continue;
114
- mergePhysics2DContact(world, bodyA.index, bodyB.index, i, j, manifoldScratch, colliderA.sensor || colliderB.sensor, (colliderA.material.friction + colliderB.material.friction) / 2, Math.max(colliderA.material.restitution, colliderB.material.restitution));
120
+ mergePhysics2DContact(world, bodyA.index, bodyB.index, i, j, manifoldScratch, sensorPair, (colliderA.material.friction + colliderB.material.friction) / 2, Math.max(colliderA.material.restitution, colliderB.material.restitution));
115
121
  }
116
122
  }
117
123
  }
package/dist/step.js.map CHANGED
@@ -1 +1 @@
1
- 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package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "@flighthq/physics2d",
3
- "version": "0.3.0-next.1220.6982c21",
3
+ "version": "0.3.0-next.1272.222de94",
4
4
  "repository": {
5
5
  "type": "git",
6
6
  "url": "https://github.com/flighthq/flight.git",
@@ -36,10 +36,10 @@
36
36
  "clean:dist": "tsx ../../scripts/clean-package-dist.ts"
37
37
  },
38
38
  "dependencies": {
39
- "@flighthq/collision": "0.3.0-next.1220.6982c21",
40
- "@flighthq/math": "0.3.0-next.1220.6982c21",
41
- "@flighthq/spatial": "0.3.0-next.1220.6982c21",
42
- "@flighthq/types": "0.3.0-next.1220.6982c21"
39
+ "@flighthq/collision": "0.3.0-next.1272.222de94",
40
+ "@flighthq/math": "0.3.0-next.1272.222de94",
41
+ "@flighthq/spatial": "0.3.0-next.1272.222de94",
42
+ "@flighthq/types": "0.3.0-next.1272.222de94"
43
43
  },
44
44
  "devDependencies": {
45
45
  "typescript": "^5.3.0"
package/src/jointRegistry.test.ts CHANGED
@@ -51,6 +51,7 @@ describe('addPhysics2DJoint', () => {
51
51
  // anchors have to travel with the bodies — a joint whose ends were exchanged without its anchors
52
52
  // would attach to the wrong points and hold the pair in a pose nobody asked for.
53
53
  const world = createPhysics2DWorld();
54
+ registerPhysics2DJointSolver(world, 'Test', { prepare: () => {}, solve: () => {} });
54
55
  const first = body(world, 0, 0);
55
56
  const second = body(world, 2, 0);
56
57
  const added = addPhysics2DJoint(world, joint('Test', second.index, first.index, 7, 9));
@@ -61,6 +62,65 @@ describe('addPhysics2DJoint', () => {
61
62
  expect(added.localAnchorBX).toBe(7);
62
63
  });
63
64
 
65
+ // Adding a joint whose kind has no solver yet is explicitly supported — a scene can deserialize
66
+ // ahead of the code that solves it. Canonicalizing there would exchange bodies and anchors while the
67
+ // kind's own direction fields stayed as authored, and no later registration would repair that half
68
+ // swap. So ordering waits for the kind, and an unsolved joint constrains nothing meanwhile.
69
+ it('leaves a joint whose kind has no solver in its authored order', () => {
70
+ const world = createPhysics2DWorld();
71
+ const first = body(world, 0, 0);
72
+ const second = body(world, 2, 0);
73
+
74
+ const added = addPhysics2DJoint(world, joint('Unknown', second.index, first.index, 7, 9));
75
+
76
+ expect(added.bodyA).toBe(second.index);
77
+ expect(added.localAnchorAX).toBe(7);
78
+ });
79
+
80
+ // Critic's repro: register the solver AFTER the joint is already in the world, and the kind's own
81
+ // reversal must still run. Previously the generic swap had already happened at add time without the
82
+ // kind's consent, so the directional field kept its authored sign forever.
83
+ it('canonicalizes an already-added joint when its solver registers later, reversing direction', () => {
84
+ const world = createPhysics2DWorld();
85
+ const first = body(world, 0, 0);
86
+ const second = body(world, 2, 0);
87
+ const added = addPhysics2DJoint(world, {
88
+ ...joint('Directional', second.index, first.index, 7, 9),
89
+ direction: 1,
90
+ } as Physics2DJoint & { direction: number });
91
+
92
+ registerPhysics2DJointSolver(world, 'Directional', {
93
+ prepare: () => {},
94
+ solve: () => {},
95
+ swapEnds: (target) => {
96
+ const directional = target as Physics2DJoint & { direction: number };
97
+ directional.direction = -directional.direction;
98
+ return true;
99
+ },
100
+ });
101
+
102
+ expect(added.bodyA).toBe(first.index);
103
+ expect(added.localAnchorAX).toBe(9);
104
+ expect((added as Physics2DJoint & { direction: number }).direction).toBe(-1);
105
+ });
106
+
107
+ // A kind that vetoes the exchange must still be obeyed on the deferred path.
108
+ it('honours a solver that vetoes the swap when it registers later', () => {
109
+ const world = createPhysics2DWorld();
110
+ const first = body(world, 0, 0);
111
+ const second = body(world, 2, 0);
112
+ const added = addPhysics2DJoint(world, joint('Vetoing', second.index, first.index, 7, 9));
113
+
114
+ registerPhysics2DJointSolver(world, 'Vetoing', {
115
+ prepare: () => {},
116
+ solve: () => {},
117
+ swapEnds: () => false,
118
+ });
119
+
120
+ expect(added.bodyA).toBe(second.index);
121
+ expect(added.localAnchorAX).toBe(7);
122
+ });
123
+
64
124
  it('leaves an already-ordered joint untouched', () => {
65
125
  const world = createPhysics2DWorld();
66
126
  const first = body(world, 0, 0);
package/src/step.test.ts CHANGED
@@ -204,6 +204,58 @@ describe('sensor reporting between immovable bodies', () => {
204
204
  expect(world.contacts).toHaveLength(0);
205
205
  });
206
206
 
207
+ // Every existing case above gives each body exactly one collider, which is why the body-level guard
208
+ // looked sufficient. Owning a sensor ANYWHERE does not make a body's other colliders reportable:
209
+ // these two static bodies overlap solid-on-solid, and the disjoint trigger volume must not smuggle
210
+ // that pair past the immovable shortcut.
211
+ function immovableWithSensorAndSolid(world: Physics2DWorld, x: number): RigidBody2D {
212
+ const body = createRigidBody2D('static', x, 0);
213
+ // A trigger volume far away from the solid part, so it overlaps nothing.
214
+ body.colliders.push(
215
+ createPhysics2DCollider({ kind: 'aabb', minX: 99.5, minY: -0.5, maxX: 100.5, maxY: 0.5 }, STONE, true),
216
+ );
217
+ body.colliders.push(
218
+ createPhysics2DCollider({ kind: 'aabb', minX: -0.5, minY: -0.5, maxX: 0.5, maxY: 0.5 }, STONE, false),
219
+ );
220
+ return addPhysics2DBody(world, body);
221
+ }
222
+
223
+ it('reports nothing when the overlapping colliders are both solid and both bodies are immovable', () => {
224
+ const world = createPhysics2DWorld(0, 0);
225
+ immovableWithSensorAndSolid(world, 0);
226
+ immovable(world, 0, false);
227
+
228
+ stepPhysics2D(world, 1 / 60);
229
+
230
+ expect(world.events.began).toHaveLength(0);
231
+ expect(world.contacts).toHaveLength(0);
232
+ });
233
+
234
+ // The other half of the same class: the sensor collider on that body must still report when it is
235
+ // the one actually overlapping, so the pair-level test is not just a blanket suppression.
236
+ it('still reports the sensor collider of a mixed body when that collider overlaps', () => {
237
+ const world = createPhysics2DWorld(0, 0);
238
+ immovableWithSensorAndSolid(world, 0);
239
+ immovable(world, 100, false);
240
+
241
+ stepPhysics2D(world, 1 / 60);
242
+
243
+ expect(world.contacts).toHaveLength(1);
244
+ expect(world.contacts[0].sensor).toBe(true);
245
+ });
246
+
247
+ // A movable body is unaffected by the immovable test, so its solid contacts still resolve even when
248
+ // the other body carries a sensor.
249
+ it('keeps a solid contact when one body can move', () => {
250
+ const world = createPhysics2DWorld(0, 0);
251
+ immovableWithSensorAndSolid(world, 0);
252
+ box(world, 0, 0);
253
+
254
+ stepPhysics2D(world, 1 / 60);
255
+
256
+ expect(world.contacts.some((contact) => !contact.sensor)).toBe(true);
257
+ });
258
+
207
259
  it('resolves nothing for a static sensor pair — reporting is not colliding', () => {
208
260
  const world = createPhysics2DWorld(0, 0);
209
261
  const sensor = immovable(world, 0, true);