@flighthq/physics2d 0.3.0-next.1530.70058bd → 0.3.0-next.1560.03a2b36

package/dist/debugGeometry.d.ts

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+import type { Physics2DDebugGeometry, Physics2DDebugGeometryOptions, Physics2DWorld } from '@flighthq/types/contract';
+export declare function createPhysics2DDebugGeometry(): Physics2DDebugGeometry;
+export declare function writePhysics2DDebugGeometry(world: Readonly<Physics2DWorld>, out: Physics2DDebugGeometry, options?: Readonly<Partial<Physics2DDebugGeometryOptions>>): void;
+//# sourceMappingURL=debugGeometry.d.ts.map

package/dist/debugGeometry.d.ts.map

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package/dist/debugGeometry.js

@@ -0,0 +1,190 @@
+import { findPhysics2DBody } from './world';
+const DEFAULT_OPTIONS = {
+    drawCentersOfMass: true,
+    drawColliders: true,
+    drawContacts: true,
+    drawJoints: true,
+    centerOfMassRadius: 0.08,
+    contactNormalLength: 0.5,
+    pointRadius: 0.04,
+};
+// Creates a reusable destination for writePhysics2DDebugGeometry. The arrays are capacity pools: the
+// writer advances counts and overwrites existing entries before growing them, so a steady scene stops
+// allocating after its first query.
+export function createPhysics2DDebugGeometry() {
+    return { circles: [], circleCount: 0, lines: [], lineCount: 0 };
+}
+// Extracts the world's visible constraint geometry without choosing a renderer. Collider outlines are
+// transformed from local geometry and the body's CURRENT pose rather than read from collider.world:
+// that cache is the narrow phase's pre-integration snapshot and may be one pose behind immediately after
+// a step. Every output object is reused; consumers read only entries below lineCount/circleCount.
+export function writePhysics2DDebugGeometry(world, out, options = DEFAULT_OPTIONS) {
+    out.lineCount = 0;
+    out.circleCount = 0;
+    if (options.drawColliders ?? DEFAULT_OPTIONS.drawColliders) {
+        for (const body of world.bodies) {
+            for (const collider of body.colliders)
+                writeCollider(out, collider.local, body, options);
+        }
+    }
+    if (options.drawContacts ?? DEFAULT_OPTIONS.drawContacts) {
+        const length = options.contactNormalLength ?? DEFAULT_OPTIONS.contactNormalLength;
+        for (const contact of world.contacts) {
+            if (!contact.touching)
+                continue;
+            for (let i = 0; i < contact.pointCount; i++) {
+                const point = contact.points[i];
+                writeLine(out, 'contact-normal', contact.bodyA, contact.bodyB, point.x, point.y, point.x + contact.normalX * length, point.y + contact.normalY * length);
+            }
+        }
+    }
+    if (options.drawJoints ?? DEFAULT_OPTIONS.drawJoints) {
+        for (const joint of world.joints)
+            writeJoint(out, world, joint);
+    }
+    if (options.drawCentersOfMass ?? DEFAULT_OPTIONS.drawCentersOfMass) {
+        const radius = options.centerOfMassRadius ?? DEFAULT_OPTIONS.centerOfMassRadius;
+        for (const body of world.bodies) {
+            const cos = Math.cos(body.angle);
+            const sin = Math.sin(body.angle);
+            writeCircle(out, 'center-of-mass', body.index, -1, body.x + body.centerX * cos - body.centerY * sin, body.y + body.centerX * sin + body.centerY * cos, radius);
+        }
+    }
+}
+function writeCollider(out, shape, body, options) {
+    const cos = Math.cos(body.angle);
+    const sin = Math.sin(body.angle);
+    switch (shape.kind) {
+        case 'circle': {
+            const x = body.x + shape.x * cos - shape.y * sin;
+            const y = body.y + shape.x * sin + shape.y * cos;
+            writeCircle(out, 'collider', body.index, -1, x, y, shape.radius);
+            return;
+        }
+        case 'aabb': {
+            const centerX = (shape.minX + shape.maxX) / 2;
+            const centerY = (shape.minY + shape.maxY) / 2;
+            writeOrientedBox(out, body.index, body.x + centerX * cos - centerY * sin, body.y + centerX * sin + centerY * cos, (shape.maxX - shape.minX) / 2, (shape.maxY - shape.minY) / 2, body.angle);
+            return;
+        }
+        case 'obb': {
+            writeOrientedBox(out, body.index, body.x + shape.x * cos - shape.y * sin, body.y + shape.x * sin + shape.y * cos, shape.halfW, shape.halfH, body.angle + shape.rotation);
+            return;
+        }
+        case 'polygon': {
+            const points = shape.points;
+            if (points.length < 4)
+                return;
+            let localX = points[points.length - 2];
+            let localY = points[points.length - 1];
+            let previousX = body.x + localX * cos - localY * sin;
+            let previousY = body.y + localX * sin + localY * cos;
+            for (let i = 0; i < points.length; i += 2) {
+                localX = points[i];
+                localY = points[i + 1];
+                const x = body.x + localX * cos - localY * sin;
+                const y = body.y + localX * sin + localY * cos;
+                writeLine(out, 'collider', body.index, -1, previousX, previousY, x, y);
+                previousX = x;
+                previousY = y;
+            }
+            return;
+        }
+        case 'segment': {
+            const x0 = body.x + shape.x0 * cos - shape.y0 * sin;
+            const y0 = body.y + shape.x0 * sin + shape.y0 * cos;
+            const x1 = body.x + shape.x1 * cos - shape.y1 * sin;
+            const y1 = body.y + shape.x1 * sin + shape.y1 * cos;
+            writeLine(out, 'collider', body.index, -1, x0, y0, x1, y1);
+            return;
+        }
+        case 'point': {
+            const x = body.x + shape.x * cos - shape.y * sin;
+            const y = body.y + shape.x * sin + shape.y * cos;
+            writeCircle(out, 'collider', body.index, -1, x, y, options.pointRadius ?? DEFAULT_OPTIONS.pointRadius);
+        }
+    }
+}
+function writeOrientedBox(out, bodyIndex, centerX, centerY, halfW, halfH, rotation) {
+    const cos = Math.cos(rotation);
+    const sin = Math.sin(rotation);
+    const x0 = centerX - halfW * cos + halfH * sin;
+    const y0 = centerY - halfW * sin - halfH * cos;
+    const x1 = centerX + halfW * cos + halfH * sin;
+    const y1 = centerY + halfW * sin - halfH * cos;
+    const x2 = centerX + halfW * cos - halfH * sin;
+    const y2 = centerY + halfW * sin + halfH * cos;
+    const x3 = centerX - halfW * cos - halfH * sin;
+    const y3 = centerY - halfW * sin + halfH * cos;
+    writeLine(out, 'collider', bodyIndex, -1, x0, y0, x1, y1);
+    writeLine(out, 'collider', bodyIndex, -1, x1, y1, x2, y2);
+    writeLine(out, 'collider', bodyIndex, -1, x2, y2, x3, y3);
+    writeLine(out, 'collider', bodyIndex, -1, x3, y3, x0, y0);
+}
+function writeJoint(out, world, joint) {
+    const bodyA = findPhysics2DBody(world, joint.bodyA);
+    const bodyB = findPhysics2DBody(world, joint.bodyB);
+    if (bodyA === null || bodyB === null)
+        return;
+    const anchorAX = jointAnchorX(bodyA, joint.localAnchorAX, joint.localAnchorAY);
+    const anchorAY = jointAnchorY(bodyA, joint.localAnchorAX, joint.localAnchorAY);
+    const anchorBX = jointAnchorX(bodyB, joint.localAnchorBX, joint.localAnchorBY);
+    const anchorBY = jointAnchorY(bodyB, joint.localAnchorBX, joint.localAnchorBY);
+    if (joint.kind === 'Pulley') {
+        const pulley = joint;
+        writeLine(out, 'joint', joint.bodyA, joint.bodyB, pulley.groundAnchorAX, pulley.groundAnchorAY, anchorAX, anchorAY);
+        writeLine(out, 'joint', joint.bodyA, joint.bodyB, pulley.groundAnchorBX, pulley.groundAnchorBY, anchorBX, anchorBY);
+        writeLine(out, 'joint', joint.bodyA, joint.bodyB, pulley.groundAnchorAX, pulley.groundAnchorAY, pulley.groundAnchorBX, pulley.groundAnchorBY);
+        return;
+    }
+    if (joint.kind === 'Mouse') {
+        const mouse = joint;
+        writeLine(out, 'joint', joint.bodyA, joint.bodyB, mouse.targetX, mouse.targetY, anchorBX, anchorBY);
+        return;
+    }
+    writeLine(out, 'joint', joint.bodyA, joint.bodyB, anchorAX, anchorAY, anchorBX, anchorBY);
+}
+function jointAnchorX(body, localX, localY) {
+    const x = localX - body.centerX;
+    const y = localY - body.centerY;
+    return body.x + x * Math.cos(body.angle) - y * Math.sin(body.angle);
+}
+function jointAnchorY(body, localX, localY) {
+    const x = localX - body.centerX;
+    const y = localY - body.centerY;
+    return body.y + x * Math.sin(body.angle) + y * Math.cos(body.angle);
+}
+function writeLine(out, feature, bodyA, bodyB, x0, y0, x1, y1) {
+    let line;
+    if (out.lineCount < out.lines.length)
+        line = out.lines[out.lineCount];
+    else {
+        line = { bodyA: -1, bodyB: -1, feature: 'collider', x0: 0, x1: 0, y0: 0, y1: 0 };
+        out.lines.push(line);
+    }
+    out.lineCount++;
+    line.feature = feature;
+    line.bodyA = bodyA;
+    line.bodyB = bodyB;
+    line.x0 = x0;
+    line.y0 = y0;
+    line.x1 = x1;
+    line.y1 = y1;
+}
+function writeCircle(out, feature, bodyA, bodyB, x, y, radius) {
+    let circle;
+    if (out.circleCount < out.circles.length)
+        circle = out.circles[out.circleCount];
+    else {
+        circle = { bodyA: -1, bodyB: -1, feature: 'collider', radius: 0, x: 0, y: 0 };
+        out.circles.push(circle);
+    }
+    out.circleCount++;
+    circle.feature = feature;
+    circle.bodyA = bodyA;
+    circle.bodyB = bodyB;
+    circle.x = x;
+    circle.y = y;
+    circle.radius = radius;
+}
+//# sourceMappingURL=debugGeometry.js.map

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package/dist/index.d.ts

@@ -1,6 +1,7 @@
 export { createPhysics2DColliderWorldShape, updatePhysics2DColliderWorldShape, writePhysics2DColliderBounds, } from './colliderTransform';
+export { createPhysics2DDebugGeometry, writePhysics2DDebugGeometry } from './debugGeometry';
 export { isRigidBody2DPairAwake, updatePhysics2DSleep, wakePhysics2DBody } from './islands';
-export { Physics2DDistanceJointKind, Physics2DMouseJointKind, Physics2DRevoluteJointKind, Physics2DRopeJointKind, Physics2DWeldJointKind, physics2DDistanceJointSolver, physics2DMouseJointSolver, physics2DRevoluteJointSolver, physics2DRopeJointSolver, physics2DWeldJointSolver, } from './joints';
+export { Physics2DDistanceJointKind, Physics2DGearJointKind, Physics2DMouseJointKind, Physics2DPrismaticJointKind, Physics2DPulleyJointKind, Physics2DRevoluteJointKind, Physics2DRopeJointKind, Physics2DWheelJointKind, Physics2DWeldJointKind, physics2DDistanceJointSolver, physics2DGearJointSolver, physics2DMouseJointSolver, physics2DPrismaticJointSolver, physics2DPulleyJointSolver, physics2DRevoluteJointSolver, physics2DRopeJointSolver, physics2DWheelJointSolver, physics2DWeldJointSolver, } from './joints';
 export { addPhysics2DJoint, getPhysics2DJointSolver, registerPhysics2DJointSolver, removePhysics2DJoint, } from './jointRegistry';
 export { computePhysics2DColliderMassData, updateRigidBody2DMassData } from './massProperties';
 export { applyPhysics2DImpulse, relativeNormalVelocity, solvePhysics2DContacts, solvePhysics2DContactsOnce, warmStartPhysics2DContacts, } from './solver';

package/dist/index.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,OAAO,EACL,iCAAiC,EACjC,iCAAiC,EACjC,4BAA4B,GAC7B,MAAM,qBAAqB,CAAC;AAC7B,OAAO,EAAE,4BAA4B,EAAE,2BAA2B,EAAE,MAAM,iBAAiB,CAAC;AAC5F,OAAO,EAAE,sBAAsB,EAAE,oBAAoB,EAAE,iBAAiB,EAAE,MAAM,WAAW,CAAC;AAC5F,OAAO,EACL,0BAA0B,EAC1B,sBAAsB,EACtB,uBAAuB,EACvB,2BAA2B,EAC3B,wBAAwB,EACxB,0BAA0B,EAC1B,sBAAsB,EACtB,uBAAuB,EACvB,sBAAsB,EACtB,4BAA4B,EAC5B,wBAAwB,EACxB,yBAAyB,EACzB,6BAA6B,EAC7B,0BAA0B,EAC1B,4BAA4B,EAC5B,wBAAwB,EACxB,yBAAyB,EACzB,wBAAwB,GACzB,MAAM,UAAU,CAAC;AAClB,OAAO,EACL,iBAAiB,EACjB,uBAAuB,EACvB,4BAA4B,EAC5B,oBAAoB,GACrB,MAAM,iBAAiB,CAAC;AACzB,OAAO,EAAE,gCAAgC,EAAE,yBAAyB,EAAE,MAAM,kBAAkB,CAAC;AAC/F,OAAO,EACL,qBAAqB,EACrB,sBAAsB,EACtB,sBAAsB,EACtB,0BAA0B,EAC1B,0BAA0B,GAC3B,MAAM,UAAU,CAAC;AAClB,OAAO,EAAE,aAAa,EAAE,MAAM,QAAQ,CAAC;AACvC,OAAO,EACL,gBAAgB,EAChB,iBAAiB,EACjB,uBAAuB,EACvB,2BAA2B,EAC3B,oBAAoB,EACpB,iBAAiB,EACjB,sBAAsB,EACtB,mBAAmB,GACpB,MAAM,SAAS,CAAC"}

package/dist/index.js

@@ -1,6 +1,7 @@
 export { createPhysics2DColliderWorldShape, updatePhysics2DColliderWorldShape, writePhysics2DColliderBounds, } from './colliderTransform';
+export { createPhysics2DDebugGeometry, writePhysics2DDebugGeometry } from './debugGeometry';
 export { isRigidBody2DPairAwake, updatePhysics2DSleep, wakePhysics2DBody } from './islands';
-export { Physics2DDistanceJointKind, Physics2DMouseJointKind, Physics2DRevoluteJointKind, Physics2DRopeJointKind, Physics2DWeldJointKind, physics2DDistanceJointSolver, physics2DMouseJointSolver, physics2DRevoluteJointSolver, physics2DRopeJointSolver, physics2DWeldJointSolver, } from './joints';
+export { Physics2DDistanceJointKind, Physics2DGearJointKind, Physics2DMouseJointKind, Physics2DPrismaticJointKind, Physics2DPulleyJointKind, Physics2DRevoluteJointKind, Physics2DRopeJointKind, Physics2DWheelJointKind, Physics2DWeldJointKind, physics2DDistanceJointSolver, physics2DGearJointSolver, physics2DMouseJointSolver, physics2DPrismaticJointSolver, physics2DPulleyJointSolver, physics2DRevoluteJointSolver, physics2DRopeJointSolver, physics2DWheelJointSolver, physics2DWeldJointSolver, } from './joints';
 export { addPhysics2DJoint, getPhysics2DJointSolver, registerPhysics2DJointSolver, removePhysics2DJoint, } from './jointRegistry';
 export { computePhysics2DColliderMassData, updateRigidBody2DMassData } from './massProperties';
 export { applyPhysics2DImpulse, relativeNormalVelocity, solvePhysics2DContacts, solvePhysics2DContactsOnce, warmStartPhysics2DContacts, } from './solver';

package/dist/index.js.map

@@ -1 +1 @@
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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,OAAO,EACL,iCAAiC,EACjC,iCAAiC,EACjC,4BAA4B,GAC7B,MAAM,qBAAqB,CAAC;AAC7B,OAAO,EAAE,4BAA4B,EAAE,2BAA2B,EAAE,MAAM,iBAAiB,CAAC;AAC5F,OAAO,EAAE,sBAAsB,EAAE,oBAAoB,EAAE,iBAAiB,EAAE,MAAM,WAAW,CAAC;AAC5F,OAAO,EACL,0BAA0B,EAC1B,sBAAsB,EACtB,uBAAuB,EACvB,2BAA2B,EAC3B,wBAAwB,EACxB,0BAA0B,EAC1B,sBAAsB,EACtB,uBAAuB,EACvB,sBAAsB,EACtB,4BAA4B,EAC5B,wBAAwB,EACxB,yBAAyB,EACzB,6BAA6B,EAC7B,0BAA0B,EAC1B,4BAA4B,EAC5B,wBAAwB,EACxB,yBAAyB,EACzB,wBAAwB,GACzB,MAAM,UAAU,CAAC;AAClB,OAAO,EACL,iBAAiB,EACjB,uBAAuB,EACvB,4BAA4B,EAC5B,oBAAoB,GACrB,MAAM,iBAAiB,CAAC;AACzB,OAAO,EAAE,gCAAgC,EAAE,yBAAyB,EAAE,MAAM,kBAAkB,CAAC;AAC/F,OAAO,EACL,qBAAqB,EACrB,sBAAsB,EACtB,sBAAsB,EACtB,0BAA0B,EAC1B,0BAA0B,GAC3B,MAAM,UAAU,CAAC;AAClB,OAAO,EAAE,aAAa,EAAE,MAAM,QAAQ,CAAC;AACvC,OAAO,EACL,gBAAgB,EAChB,iBAAiB,EACjB,uBAAuB,EACvB,2BAA2B,EAC3B,oBAAoB,EACpB,iBAAiB,EACjB,sBAAsB,EACtB,mBAAmB,GACpB,MAAM,SAAS,CAAC"}

package/dist/islands.js

@@ -56,8 +56,8 @@ export function updatePhysics2DSleep(world, dt) {
     // root is a stable representative for the connected component.
     const parents = new Map();
     for (const contact of world.contacts) {
-        if (contact.sensor)
-            continue; // A sensor reports overlap and resolves nothing, so it couples no motion.
+        if (!contact.enabled || contact.sensor)
+            continue;
         _unionDynamicPair(world, parents, contact.bodyA, contact.bodyB);
     }
     for (const joint of world.joints) {

package/dist/islands.js.map

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package/dist/jointRegistry.d.ts.map

@@ -1 +1 @@
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+{"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;AAclC,wBAAgB,iBAAiB,CAAC,KAAK,EAAE,cAAc,EAAE,KAAK,EAAE,cAAc,GAAG,cAAc,CAiB9F;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,CAaN;AAGD,wBAAgB,oBAAoB,CAAC,KAAK,EAAE,cAAc,EAAE,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,GAAG,OAAO,CAMpG"}

package/dist/jointRegistry.js

@@ -1,3 +1,4 @@
+import { wakePhysics2DBody } from './islands';
 import { findPhysics2DBody, isPhysics2DPairOrdered } from './world';
 // Adds `joint` to `world` under the same canonical body ordering contacts use, swapping its two ends when
 // the caller supplied them the other way round.
@@ -17,9 +18,15 @@ export function addPhysics2DJoint(world, joint) {
     // the generic half of a swap with the kind's half missing, which no later registration would repair.
     // An unregistered joint constrains nothing, so its ordering does not matter until a solver exists;
     // registerPhysics2DJointSolver canonicalizes what is already in the world at that point.
-    if (getPhysics2DJointSolver(world, joint.kind) !== null)
+    const active = getPhysics2DJointSolver(world, joint.kind) !== null;
+    if (active)
         _canonicalizePhysics2DJointEnds(world, joint);
     world.joints.push(joint);
+    // Adding an active constraint changes what both bodies may do THIS step. A sleeping pair would skip
+    // prepare and solve forever unless something unrelated happened to wake it. Unknown kinds remain
+    // inert until registration, and are woken on that activation path instead.
+    if (active)
+        _wakePhysics2DJointBodies(world, joint);
     return joint;
 }
 // Exchanges `joint`'s ends when the pair is out of canonical order and the kind consents. The kind is
@@ -63,8 +70,12 @@ export function registerPhysics2DJointSolver(world, kind, solver) {
     // would half-swap it. This is where that deferred work happens, so the outcome no longer depends on
     // whether the scene or the solver arrived first.
     for (const joint of world.joints) {
-        if (joint.kind === kind)
-            _canonicalizePhysics2DJointEnds(world, joint);
+        if (joint.kind !== kind)
+            continue;
+        _canonicalizePhysics2DJointEnds(world, joint);
+        // Registration turns a previously inert descriptor into a live constraint. Re-registration may
+        // replace its equation entirely, so it is the same topology change from the sleepers' perspective.
+        _wakePhysics2DJointBodies(world, joint);
     }
 }
 // Removes `joint` from `world`. Returns false when the world does not hold it.
@@ -72,7 +83,17 @@ export function removePhysics2DJoint(world, joint) {
     const at = world.joints.indexOf(joint);
     if (at < 0)
         return false;
+    if (getPhysics2DJointSolver(world, joint.kind) !== null)
+        _wakePhysics2DJointBodies(world, joint);
     world.joints.splice(at, 1);
     return true;
 }
+function _wakePhysics2DJointBodies(world, joint) {
+    const bodyA = findPhysics2DBody(world, joint.bodyA);
+    const bodyB = findPhysics2DBody(world, joint.bodyB);
+    if (bodyA !== null)
+        wakePhysics2DBody(bodyA);
+    if (bodyB !== null)
+        wakePhysics2DBody(bodyB);
+}
 //# sourceMappingURL=jointRegistry.js.map

package/dist/jointRegistry.js.map

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

@@ -1,8 +1,12 @@
 import type { Physics2DJoint, Physics2DWorld } from '@flighthq/types/contract';
 export declare const Physics2DDistanceJointKind = "Distance";
+export declare const Physics2DGearJointKind = "Gear";
 export declare const Physics2DMouseJointKind = "Mouse";
+export declare const Physics2DPrismaticJointKind = "Prismatic";
+export declare const Physics2DPulleyJointKind = "Pulley";
 export declare const Physics2DRevoluteJointKind = "Revolute";
 export declare const Physics2DRopeJointKind = "Rope";
+export declare const Physics2DWheelJointKind = "Wheel";
 export declare const Physics2DWeldJointKind = "Weld";
 export declare const physics2DDistanceJointSolver: {
     warmStart(world: Physics2DWorld, joint: Physics2DJoint): void;
@@ -10,12 +14,33 @@ export declare const physics2DDistanceJointSolver: {
     prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
     solve(world: Physics2DWorld, joint: Physics2DJoint): void;
 };
+export declare const physics2DGearJointSolver: {
+    warmStart(world: Physics2DWorld, joint: Physics2DJoint): void;
+    clearAccumulatedImpulses(joint: Physics2DJoint): void;
+    swapEnds(joint: Physics2DJoint): boolean;
+    prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
+    solve(world: Physics2DWorld, joint: Physics2DJoint): void;
+};
 export declare const physics2DMouseJointSolver: {
     swapEnds(): boolean;
     clearAccumulatedImpulses(joint: Physics2DJoint): void;
     prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
     solve(world: Physics2DWorld, joint: Physics2DJoint): void;
 };
+export declare const physics2DPrismaticJointSolver: {
+    warmStart(world: Physics2DWorld, joint: Physics2DJoint): void;
+    clearAccumulatedImpulses(joint: Physics2DJoint): void;
+    swapEnds(joint: Physics2DJoint): boolean;
+    prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
+    solve(world: Physics2DWorld, joint: Physics2DJoint): void;
+};
+export declare const physics2DPulleyJointSolver: {
+    warmStart(world: Physics2DWorld, joint: Physics2DJoint): void;
+    clearAccumulatedImpulses(joint: Physics2DJoint): void;
+    swapEnds(joint: Physics2DJoint): boolean;
+    prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
+    solve(world: Physics2DWorld, joint: Physics2DJoint): void;
+};
 export declare const physics2DRevoluteJointSolver: {
     warmStart(world: Physics2DWorld, joint: Physics2DJoint): void;
     clearAccumulatedImpulses(joint: Physics2DJoint): void;
@@ -29,6 +54,13 @@ export declare const physics2DRopeJointSolver: {
     prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
     solve(world: Physics2DWorld, joint: Physics2DJoint): void;
 };
+export declare const physics2DWheelJointSolver: {
+    warmStart(world: Physics2DWorld, joint: Physics2DJoint): void;
+    clearAccumulatedImpulses(joint: Physics2DJoint): void;
+    swapEnds(): boolean;
+    prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
+    solve(world: Physics2DWorld, joint: Physics2DJoint): void;
+};
 export declare const physics2DWeldJointSolver: {
     warmStart(world: Physics2DWorld, joint: Physics2DJoint): void;
     clearAccumulatedImpulses(joint: Physics2DJoint): void;

package/dist/joints.d.ts.map

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