@flighthq/physics2d 0.3.0-next.1560.03a2b36 → 0.3.0-next.1566.dcdf1d3

package/dist/broadphase.d.ts

@@ -0,0 +1,3 @@
+import type { Physics2DWorld } from '@flighthq/types/contract';
+export declare function synchronizePhysics2DBroadphase(world: Physics2DWorld): void;
+//# sourceMappingURL=broadphase.d.ts.map

package/dist/broadphase.d.ts.map

@@ -0,0 +1 @@
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package/dist/broadphase.js

@@ -0,0 +1,53 @@
+import { updatePhysics2DColliderWorldShape, writePhysics2DColliderBounds } from './colliderTransform';
+// Refreshes every collider's world shape and republishes its bounds to the broadphase index. The step
+// and public world queries share this path so a query observes the body's current authored pose, not
+// the pre-integration snapshot used to build the most recent contact set.
+export function synchronizePhysics2DBroadphase(world) {
+    for (const body of world.bodies) {
+        let minX = Infinity;
+        let minY = Infinity;
+        let maxX = -Infinity;
+        let maxY = -Infinity;
+        for (const collider of body.colliders) {
+            updatePhysics2DColliderWorldShape(collider, body);
+            writePhysics2DColliderBounds(collider, boundsScratch);
+            if (boundsScratch.minX < minX)
+                minX = boundsScratch.minX;
+            if (boundsScratch.minY < minY)
+                minY = boundsScratch.minY;
+            if (boundsScratch.maxX > maxX)
+                maxX = boundsScratch.maxX;
+            if (boundsScratch.maxY > maxY)
+                maxY = boundsScratch.maxY;
+        }
+        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 stale bounds would keep returning an empty body.
+            world.index.removeSpatialObject(body.index);
+            continue;
+        }
+        // The spatial package bounds its own indexing cost. This second limit expresses the physics
+        // world's stricter judgement that a non-finite or ten-million-unit body has diverged and should no
+        // longer participate in collision or queries.
+        if (!Number.isFinite(minX) ||
+            !Number.isFinite(minY) ||
+            !Number.isFinite(maxX) ||
+            !Number.isFinite(maxY) ||
+            maxX - minX > MAX_SIMULATED_EXTENT ||
+            maxY - minY > MAX_SIMULATED_EXTENT) {
+            world.index.removeSpatialObject(body.index);
+            continue;
+        }
+        bodyBounds.minX = minX;
+        bodyBounds.minY = minY;
+        bodyBounds.maxX = maxX;
+        bodyBounds.maxY = maxY;
+        world.index.updateSpatialObject(body.index, bodyBounds);
+    }
+}
+// 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 };
+//# sourceMappingURL=broadphase.js.map

package/dist/broadphase.js.map

@@ -0,0 +1 @@
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package/dist/contract.d.ts

@@ -1,9 +1,12 @@
 export * from './colliderTransform';
+export * from './explainPhysics2DJoints';
 export * from './islands';
+export * from './jointFactories';
 export * from './jointRegistry';
 export * from './joints';
 export * from './massProperties';
 export * from './solver';
 export * from './step';
 export * from './world';
+export * from './worldQueries';
 //# sourceMappingURL=contract.d.ts.map

package/dist/contract.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"contract.d.ts","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAAA,cAAc,qBAAqB,CAAC;AACpC,cAAc,0BAA0B,CAAC;AACzC,cAAc,WAAW,CAAC;AAC1B,cAAc,kBAAkB,CAAC;AACjC,cAAc,iBAAiB,CAAC;AAChC,cAAc,UAAU,CAAC;AACzB,cAAc,kBAAkB,CAAC;AACjC,cAAc,UAAU,CAAC;AACzB,cAAc,QAAQ,CAAC;AACvB,cAAc,SAAS,CAAC;AACxB,cAAc,gBAAgB,CAAC"}

package/dist/contract.js

@@ -1,9 +1,12 @@
 export * from './colliderTransform';
+export * from './explainPhysics2DJoints';
 export * from './islands';
+export * from './jointFactories';
 export * from './jointRegistry';
 export * from './joints';
 export * from './massProperties';
 export * from './solver';
 export * from './step';
 export * from './world';
+export * from './worldQueries';
 //# sourceMappingURL=contract.js.map

package/dist/contract.js.map

@@ -1 +1 @@
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package/dist/explainPhysics2DJoints.d.ts

@@ -0,0 +1,3 @@
+import type { Physics2DJointResolutionExplanation, Physics2DWorld } from '@flighthq/types/contract';
+export declare function explainPhysics2DJoints(world: Readonly<Physics2DWorld>): Physics2DJointResolutionExplanation;
+//# sourceMappingURL=explainPhysics2DJoints.d.ts.map

package/dist/explainPhysics2DJoints.d.ts.map

@@ -0,0 +1 @@
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package/dist/explainPhysics2DJoints.js

@@ -0,0 +1,40 @@
+import { findPhysics2DBody } from './world';
+// Pure diagnostic twin of the step's silent joint skips. It re-walks the world as it exists now and
+// retains nothing, letting callers distinguish an intentionally extensible unknown kind from missing
+// body endpoints without adding messages or allocations to the solver path.
+export function explainPhysics2DJoints(world) {
+    const joints = [];
+    let readyCount = 0;
+    for (let jointIndex = 0; jointIndex < world.joints.length; jointIndex++) {
+        const joint = world.joints[jointIndex];
+        const solverRegistered = world.jointSolvers.has(joint.kind);
+        const bodyAFound = findPhysics2DBody(world, joint.bodyA) !== null;
+        const bodyBFound = findPhysics2DBody(world, joint.bodyB) !== null;
+        const status = getJointResolutionStatus(solverRegistered, bodyAFound, bodyBFound);
+        if (status === 'ready')
+            readyCount++;
+        joints.push({
+            bodyA: joint.bodyA,
+            bodyAFound,
+            bodyB: joint.bodyB,
+            bodyBFound,
+            jointIndex,
+            kind: joint.kind,
+            solverRegistered,
+            status,
+        });
+    }
+    return { joints, readyCount, status: readyCount === joints.length ? 'complete' : 'unresolved-joints' };
+}
+function getJointResolutionStatus(solverRegistered, bodyAFound, bodyBFound) {
+    if (!solverRegistered)
+        return 'solver-unregistered';
+    if (!bodyAFound && !bodyBFound)
+        return 'bodies-missing';
+    if (!bodyAFound)
+        return 'body-a-missing';
+    if (!bodyBFound)
+        return 'body-b-missing';
+    return 'ready';
+}
+//# sourceMappingURL=explainPhysics2DJoints.js.map

package/dist/explainPhysics2DJoints.js.map

@@ -0,0 +1 @@
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package/dist/index.d.ts

@@ -1,10 +1,13 @@
 export { createPhysics2DColliderWorldShape, updatePhysics2DColliderWorldShape, writePhysics2DColliderBounds, } from './colliderTransform';
 export { createPhysics2DDebugGeometry, writePhysics2DDebugGeometry } from './debugGeometry';
+export { explainPhysics2DJoints } from './explainPhysics2DJoints';
 export { isRigidBody2DPairAwake, updatePhysics2DSleep, wakePhysics2DBody } from './islands';
+export { createPhysics2DDistanceJoint, createPhysics2DGearJoint, createPhysics2DMouseJoint, createPhysics2DPrismaticJoint, createPhysics2DPulleyJoint, createPhysics2DRevoluteJoint, createPhysics2DRopeJoint, createPhysics2DWeldJoint, createPhysics2DWheelJoint, } from './jointFactories';
 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';
 export { stepPhysics2D } from './step';
 export { addPhysics2DBody, findPhysics2DBody, createPhysics2DCollider, createPhysics2DSolverConfig, createPhysics2DWorld, createRigidBody2D, isPhysics2DPairOrdered, removePhysics2DBody, } from './world';
+export { createPhysics2DQueryResult, queryPhysics2DPoint, queryPhysics2DRegion } from './worldQueries';
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

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package/dist/index.js

@@ -1,10 +1,13 @@
 export { createPhysics2DColliderWorldShape, updatePhysics2DColliderWorldShape, writePhysics2DColliderBounds, } from './colliderTransform';
 export { createPhysics2DDebugGeometry, writePhysics2DDebugGeometry } from './debugGeometry';
+export { explainPhysics2DJoints } from './explainPhysics2DJoints';
 export { isRigidBody2DPairAwake, updatePhysics2DSleep, wakePhysics2DBody } from './islands';
+export { createPhysics2DDistanceJoint, createPhysics2DGearJoint, createPhysics2DMouseJoint, createPhysics2DPrismaticJoint, createPhysics2DPulleyJoint, createPhysics2DRevoluteJoint, createPhysics2DRopeJoint, createPhysics2DWeldJoint, createPhysics2DWheelJoint, } from './jointFactories';
 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';
 export { stepPhysics2D } from './step';
 export { addPhysics2DBody, findPhysics2DBody, createPhysics2DCollider, createPhysics2DSolverConfig, createPhysics2DWorld, createRigidBody2D, isPhysics2DPairOrdered, removePhysics2DBody, } from './world';
+export { createPhysics2DQueryResult, queryPhysics2DPoint, queryPhysics2DRegion } from './worldQueries';
 //# sourceMappingURL=index.js.map

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package/dist/jointFactories.d.ts

@@ -0,0 +1,11 @@
+import type { Physics2DDistanceJoint, Physics2DDistanceJointOptions, Physics2DGearJoint, Physics2DGearJointOptions, Physics2DMouseJoint, Physics2DMouseJointOptions, Physics2DPrismaticJoint, Physics2DPrismaticJointOptions, Physics2DPulleyJoint, Physics2DPulleyJointOptions, Physics2DRevoluteJoint, Physics2DRevoluteJointOptions, Physics2DRopeJoint, Physics2DRopeJointOptions, Physics2DWeldJoint, Physics2DWeldJointOptions, Physics2DWheelJoint, Physics2DWheelJointOptions } from '@flighthq/types/contract';
+export declare function createPhysics2DDistanceJoint(options: Readonly<Physics2DDistanceJointOptions>): Physics2DDistanceJoint;
+export declare function createPhysics2DGearJoint(options: Readonly<Physics2DGearJointOptions>): Physics2DGearJoint;
+export declare function createPhysics2DMouseJoint(options: Readonly<Physics2DMouseJointOptions>): Physics2DMouseJoint;
+export declare function createPhysics2DPrismaticJoint(options: Readonly<Physics2DPrismaticJointOptions>): Physics2DPrismaticJoint;
+export declare function createPhysics2DPulleyJoint(options: Readonly<Physics2DPulleyJointOptions>): Physics2DPulleyJoint;
+export declare function createPhysics2DRevoluteJoint(options: Readonly<Physics2DRevoluteJointOptions>): Physics2DRevoluteJoint;
+export declare function createPhysics2DRopeJoint(options: Readonly<Physics2DRopeJointOptions>): Physics2DRopeJoint;
+export declare function createPhysics2DWeldJoint(options: Readonly<Physics2DWeldJointOptions>): Physics2DWeldJoint;
+export declare function createPhysics2DWheelJoint(options: Readonly<Physics2DWheelJointOptions>): Physics2DWheelJoint;
+//# sourceMappingURL=jointFactories.d.ts.map

package/dist/jointFactories.d.ts.map

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package/dist/jointFactories.js

@@ -0,0 +1,142 @@
+import { Physics2DDistanceJointKind, Physics2DGearJointKind, Physics2DMouseJointKind, Physics2DPrismaticJointKind, Physics2DPulleyJointKind, Physics2DRevoluteJointKind, Physics2DRopeJointKind, Physics2DWeldJointKind, Physics2DWheelJointKind, } from './joints';
+// Joint factories mirror Flight's other descriptor factories: they allocate plain data, accept one
+// readonly options object, and make only authoring choices. Registration and world mutation remain
+// explicit operations. The common helper is also the boundary that keeps solver-owned cache out of
+// every public options type.
+function createJointBase(options) {
+    return {
+        bodyA: options.bodyA,
+        bodyB: options.bodyB,
+        localAnchorAX: options.localAnchorAX ?? 0,
+        localAnchorAY: options.localAnchorAY ?? 0,
+        localAnchorBX: options.localAnchorBX ?? 0,
+        localAnchorBY: options.localAnchorBY ?? 0,
+        collideConnected: options.collideConnected ?? false,
+        impulse0: 0,
+        impulse1: 0,
+        impulse2: 0,
+        rAX: 0,
+        rAY: 0,
+        rBX: 0,
+        rBY: 0,
+    };
+}
+export function createPhysics2DDistanceJoint(options) {
+    return {
+        kind: Physics2DDistanceJointKind,
+        ...createJointBase(options),
+        length: options.length,
+        stiffness: options.stiffness ?? 0,
+        damping: options.damping ?? 0,
+    };
+}
+export function createPhysics2DGearJoint(options) {
+    return {
+        kind: Physics2DGearJointKind,
+        ...createJointBase(options),
+        coordinateA: options.coordinateA,
+        coordinateB: options.coordinateB,
+        axisAX: options.axisAX ?? 1,
+        axisAY: options.axisAY ?? 0,
+        axisBX: options.axisBX ?? 1,
+        axisBY: options.axisBY ?? 0,
+        ratio: options.ratio ?? 1,
+        constant: options.constant,
+    };
+}
+export function createPhysics2DMouseJoint(options) {
+    return {
+        kind: Physics2DMouseJointKind,
+        bodyA: options.body,
+        bodyB: options.body,
+        localAnchorAX: 0,
+        localAnchorAY: 0,
+        localAnchorBX: options.localAnchorX ?? 0,
+        localAnchorBY: options.localAnchorY ?? 0,
+        collideConnected: false,
+        impulse0: 0,
+        impulse1: 0,
+        impulse2: 0,
+        rAX: 0,
+        rAY: 0,
+        rBX: 0,
+        rBY: 0,
+        targetX: options.targetX,
+        targetY: options.targetY,
+        maxForce: options.maxForce,
+        stiffness: options.stiffness ?? 5,
+        damping: options.damping ?? 0.7,
+    };
+}
+export function createPhysics2DPrismaticJoint(options) {
+    return {
+        kind: Physics2DPrismaticJointKind,
+        ...createJointBase(options),
+        localAxisAX: options.localAxisAX ?? 1,
+        localAxisAY: options.localAxisAY ?? 0,
+        referenceAngle: options.referenceAngle ?? 0,
+        enableMotor: options.enableMotor ?? false,
+        motorSpeed: options.motorSpeed ?? 0,
+        maxMotorForce: options.maxMotorForce ?? 0,
+        motorImpulse: 0,
+        enableLimit: options.enableLimit ?? false,
+        lowerTranslation: options.lowerTranslation ?? 0,
+        upperTranslation: options.upperTranslation ?? 0,
+    };
+}
+export function createPhysics2DPulleyJoint(options) {
+    return {
+        kind: Physics2DPulleyJointKind,
+        ...createJointBase(options),
+        groundAnchorAX: options.groundAnchorAX,
+        groundAnchorAY: options.groundAnchorAY,
+        groundAnchorBX: options.groundAnchorBX,
+        groundAnchorBY: options.groundAnchorBY,
+        ratio: options.ratio ?? 1,
+        constant: options.constant,
+    };
+}
+export function createPhysics2DRevoluteJoint(options) {
+    return {
+        kind: Physics2DRevoluteJointKind,
+        ...createJointBase(options),
+        enableMotor: options.enableMotor ?? false,
+        motorSpeed: options.motorSpeed ?? 0,
+        maxMotorTorque: options.maxMotorTorque ?? 0,
+        motorImpulse: 0,
+        enableLimit: options.enableLimit ?? false,
+        lowerAngle: options.lowerAngle ?? 0,
+        upperAngle: options.upperAngle ?? 0,
+        referenceAngle: options.referenceAngle ?? 0,
+    };
+}
+export function createPhysics2DRopeJoint(options) {
+    return {
+        kind: Physics2DRopeJointKind,
+        ...createJointBase(options),
+        maxLength: options.maxLength,
+    };
+}
+export function createPhysics2DWeldJoint(options) {
+    return {
+        kind: Physics2DWeldJointKind,
+        ...createJointBase(options),
+        referenceAngle: options.referenceAngle ?? 0,
+    };
+}
+export function createPhysics2DWheelJoint(options) {
+    return {
+        kind: Physics2DWheelJointKind,
+        ...createJointBase(options),
+        localAxisAX: options.localAxisAX ?? 0,
+        localAxisAY: options.localAxisAY ?? 1,
+        restTranslation: options.restTranslation ?? 0,
+        stiffness: options.stiffness ?? 0,
+        damping: options.damping ?? 0,
+        enableMotor: options.enableMotor ?? false,
+        motorSpeed: options.motorSpeed ?? 0,
+        maxMotorTorque: options.maxMotorTorque ?? 0,
+        motorImpulse: 0,
+    };
+}
+//# sourceMappingURL=jointFactories.js.map

package/dist/jointFactories.js.map

@@ -0,0 +1 @@
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package/dist/step.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"step.d.ts","sourceRoot":"","sources":["../src/step.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAKV,cAAc,EAIf,MAAM,0BAA0B,CAAC;AAuXlC,wBAAgB,aAAa,CAAC,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CAoIrE"}
+{"version":3,"file":"step.d.ts","sourceRoot":"","sources":["../src/step.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAKV,cAAc,EAGf,MAAM,0BAA0B,CAAC;AA8TlC,wBAAgB,aAAa,CAAC,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CAoIrE"}

package/dist/step.js

@@ -1,67 +1,9 @@
 import { collideContactManifold, createCollisionContactManifold } from '@flighthq/collision/contract';
-import { updatePhysics2DColliderWorldShape, writePhysics2DColliderBounds } from './colliderTransform';
+import { synchronizePhysics2DBroadphase } from './broadphase';
+import { updatePhysics2DColliderWorldShape } from './colliderTransform';
 import { isRigidBody2DPairAwake, updatePhysics2DSleep } from './islands';
 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) {
-    for (const body of world.bodies) {
-        let minX = Infinity;
-        let minY = Infinity;
-        let maxX = -Infinity;
-        let maxY = -Infinity;
-        for (const collider of body.colliders) {
-            updatePhysics2DColliderWorldShape(collider, body);
-            writePhysics2DColliderBounds(collider, boundsScratch);
-            if (boundsScratch.minX < minX)
-                minX = boundsScratch.minX;
-            if (boundsScratch.minY < minY)
-                minY = boundsScratch.minY;
-            if (boundsScratch.maxX > maxX)
-                maxX = boundsScratch.maxX;
-            if (boundsScratch.maxY > maxY)
-                maxY = boundsScratch.maxY;
-        }
-        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;
-        bodyBounds.maxY = maxY;
-        world.index.updateSpatialObject(body.index, bodyBounds);
-    }
-}
 // Builds this step's contact set from the broadphase pairs, preserving each surviving contact's cached
 // impulses.
 //
@@ -333,7 +275,7 @@ function effectiveMass(bodyA, bodyB, rAX, rAY, rBX, rBY, axisX, axisY) {
 export function stepPhysics2D(world, dt) {
     if (!(dt > 0))
         return;
-    updatePhysics2DBroadphase(world);
+    synchronizePhysics2DBroadphase(world);
     buildPhysics2DContacts(world);
     const preSolve = world.contactHooks.preSolve;
     if (preSolve !== null) {
@@ -511,11 +453,6 @@ 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();
 const defaultCollisionFilter = { categoryBits: 1, maskBits: 0xffffffff, groupIndex: 0 };

package/dist/step.js.map

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

@@ -0,0 +1,5 @@
+import type { Physics2DQueryResult, Physics2DWorld, SpatialAabb } from '@flighthq/types/contract';
+export declare function createPhysics2DQueryResult(): Physics2DQueryResult;
+export declare function queryPhysics2DPoint(world: Physics2DWorld, x: number, y: number, out: Physics2DQueryResult): void;
+export declare function queryPhysics2DRegion(world: Physics2DWorld, region: Readonly<SpatialAabb>, out: Physics2DQueryResult): void;
+//# sourceMappingURL=worldQueries.d.ts.map

package/dist/worldQueries.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"worldQueries.d.ts","sourceRoot":"","sources":["../src/worldQueries.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAEV,oBAAoB,EACpB,cAAc,EAEd,WAAW,EACZ,MAAM,0BAA0B,CAAC;AAQlC,wBAAgB,0BAA0B,IAAI,oBAAoB,CAEjE;AAMD,wBAAgB,mBAAmB,CAAC,KAAK,EAAE,cAAc,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,GAAG,EAAE,oBAAoB,GAAG,IAAI,CAehH;AAKD,wBAAgB,oBAAoB,CAClC,KAAK,EAAE,cAAc,EACrB,MAAM,EAAE,QAAQ,CAAC,WAAW,CAAC,EAC7B,GAAG,EAAE,oBAAoB,GACxB,IAAI,CAgBN"}

package/dist/worldQueries.js

@@ -0,0 +1,71 @@
+import { getCollisionShapeContainsPoint } from '@flighthq/collision/contract';
+import { synchronizePhysics2DBroadphase } from './broadphase';
+import { writePhysics2DColliderBounds } from './colliderTransform';
+import { findPhysics2DBody } from './world';
+// Allocates a reusable query buffer. Entries stay allocated at their high-water mark; query functions
+// rewrite them and publish only `hitCount`, so pointer picking can run each frame without garbage.
+export function createPhysics2DQueryResult() {
+    return { hits: [], hitCount: 0 };
+}
+// Writes every collider containing the world-space point. Broadphase candidates are confirmed by the
+// collision package's exact shape predicate, so rotated boxes and convex polygons do not report their
+// empty bounding-box corners. Results are ordered by body identity and collider array index rather than
+// backend traversal history.
+export function queryPhysics2DPoint(world, x, y, out) {
+    out.hitCount = 0;
+    synchronizePhysics2DBroadphase(world);
+    world.index.querySpatialPoint(x, y, candidateBodyScratch);
+    candidateBodyScratch.sort(compareNumbers);
+    for (const bodyIndex of candidateBodyScratch) {
+        const body = findPhysics2DBody(world, bodyIndex);
+        if (body === null)
+            continue;
+        for (let colliderIndex = 0; colliderIndex < body.colliders.length; colliderIndex++) {
+            const collider = body.colliders[colliderIndex];
+            if (!getCollisionShapeContainsPoint(collider.world, x, y))
+                continue;
+            writeQueryHit(out, body, collider, colliderIndex);
+        }
+    }
+}
+// Writes every collider whose current world-space AABB overlaps `region`. The spatial index is over
+// aggregate BODY bounds, so its candidates are refined per collider before publication: a region in
+// the empty gap between two colliders on one body must not report either collider as a hit.
+export function queryPhysics2DRegion(world, region, out) {
+    out.hitCount = 0;
+    synchronizePhysics2DBroadphase(world);
+    world.index.querySpatialRegion(region, candidateBodyScratch);
+    candidateBodyScratch.sort(compareNumbers);
+    for (const bodyIndex of candidateBodyScratch) {
+        const body = findPhysics2DBody(world, bodyIndex);
+        if (body === null)
+            continue;
+        for (let colliderIndex = 0; colliderIndex < body.colliders.length; colliderIndex++) {
+            const collider = body.colliders[colliderIndex];
+            writePhysics2DColliderBounds(collider, colliderBoundsScratch);
+            if (!boundsOverlap(colliderBoundsScratch, region))
+                continue;
+            writeQueryHit(out, body, collider, colliderIndex);
+        }
+    }
+}
+function writeQueryHit(out, body, collider, colliderIndex) {
+    const hit = out.hits[out.hitCount];
+    if (hit === undefined)
+        out.hits.push({ body, collider, colliderIndex });
+    else {
+        hit.body = body;
+        hit.collider = collider;
+        hit.colliderIndex = colliderIndex;
+    }
+    out.hitCount++;
+}
+function boundsOverlap(a, b) {
+    return a.minX <= b.maxX && a.maxX >= b.minX && a.minY <= b.maxY && a.maxY >= b.minY;
+}
+function compareNumbers(a, b) {
+    return a - b;
+}
+const candidateBodyScratch = [];
+const colliderBoundsScratch = { minX: 0, minY: 0, maxX: 0, maxY: 0 };
+//# sourceMappingURL=worldQueries.js.map

package/dist/worldQueries.js.map

@@ -0,0 +1 @@
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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@flighthq/physics2d",
-  "version": "0.3.0-next.1560.03a2b36",
+  "version": "0.3.0-next.1566.dcdf1d3",
   "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.1560.03a2b36",
-    "@flighthq/math": "0.3.0-next.1560.03a2b36",
-    "@flighthq/spatial": "0.3.0-next.1560.03a2b36",
-    "@flighthq/types": "0.3.0-next.1560.03a2b36"
+    "@flighthq/collision": "0.3.0-next.1566.dcdf1d3",
+    "@flighthq/math": "0.3.0-next.1566.dcdf1d3",
+    "@flighthq/spatial": "0.3.0-next.1566.dcdf1d3",
+    "@flighthq/types": "0.3.0-next.1566.dcdf1d3"
   },
   "devDependencies": {
     "typescript": "^5.3.0"

package/src/broadphase.test.ts

@@ -0,0 +1,21 @@
+import { describe, expect, it } from 'vitest';
+
+import { synchronizePhysics2DBroadphase } from './broadphase';
+import { addPhysics2DBody, createPhysics2DCollider, createPhysics2DWorld, createRigidBody2D } from './world';
+
+const STONE = { density: 1, friction: 0.3, restitution: 0 };
+
+describe('synchronizePhysics2DBroadphase', () => {
+  it('publishes a body at its current pose', () => {
+    const world = createPhysics2DWorld(0, 0);
+    const body = createRigidBody2D('dynamic', 2, 3);
+    body.colliders.push(createPhysics2DCollider({ kind: 'circle', radius: 1, x: 0, y: 0 }, STONE));
+    addPhysics2DBody(world, body);
+    const found: number[] = [];
+
+    synchronizePhysics2DBroadphase(world);
+    world.index.querySpatialPoint(2, 3, found);
+
+    expect(found).toEqual([body.index]);
+  });
+});

package/src/explainPhysics2DJoints.test.ts

@@ -0,0 +1,89 @@
+import { describe, expect, it } from 'vitest';
+
+import { explainPhysics2DJoints } from './explainPhysics2DJoints';
+import { createPhysics2DDistanceJoint } from './jointFactories';
+import { addPhysics2DJoint, registerPhysics2DJointSolver } from './jointRegistry';
+import { addPhysics2DBody, createPhysics2DWorld, createRigidBody2D } from './world';
+
+const NOOP_SOLVER = { prepare: () => {}, solve: () => {} };
+
+describe('explainPhysics2DJoints', () => {
+  it('reports a fully resolvable world as complete', () => {
+    const world = createPhysics2DWorld();
+    registerPhysics2DJointSolver(world, 'Distance', NOOP_SOLVER);
+    const first = addPhysics2DBody(world, createRigidBody2D('dynamic', 0, 0));
+    const second = addPhysics2DBody(world, createRigidBody2D('dynamic', 1, 0));
+    addPhysics2DJoint(world, createPhysics2DDistanceJoint({ bodyA: first.index, bodyB: second.index, length: 1 }));
+
+    expect(explainPhysics2DJoints(world)).toEqual({
+      joints: [
+        {
+          bodyA: first.index,
+          bodyAFound: true,
+          bodyB: second.index,
+          bodyBFound: true,
+          jointIndex: 0,
+          kind: 'Distance',
+          solverRegistered: true,
+          status: 'ready',
+        },
+      ],
+      readyCount: 1,
+      status: 'complete',
+    });
+  });
+
+  it('makes an unregistered kind and every missing endpoint observable', () => {
+    const world = createPhysics2DWorld();
+    const body = addPhysics2DBody(world, createRigidBody2D('dynamic', 0, 0));
+    addPhysics2DJoint(world, {
+      ...createPhysics2DDistanceJoint({ bodyA: body.index, bodyB: 99, length: 1 }),
+      kind: 'acme.Unknown',
+    });
+    registerPhysics2DJointSolver(world, 'MissingA', NOOP_SOLVER);
+    registerPhysics2DJointSolver(world, 'MissingB', NOOP_SOLVER);
+    registerPhysics2DJointSolver(world, 'MissingBoth', NOOP_SOLVER);
+    addPhysics2DJoint(world, {
+      ...createPhysics2DDistanceJoint({ bodyA: 98, bodyB: body.index, length: 1 }),
+      kind: 'MissingA',
+    });
+    addPhysics2DJoint(world, {
+      ...createPhysics2DDistanceJoint({ bodyA: body.index, bodyB: 99, length: 1 }),
+      kind: 'MissingB',
+    });
+    addPhysics2DJoint(world, {
+      ...createPhysics2DDistanceJoint({ bodyA: 98, bodyB: 99, length: 1 }),
+      kind: 'MissingBoth',
+    });
+
+    const explanation = explainPhysics2DJoints(world);
+
+    expect(explanation.status).toBe('unresolved-joints');
+    expect(explanation.readyCount).toBe(0);
+    expect(explanation.joints.map((joint) => joint.status)).toEqual([
+      'solver-unregistered',
+      'body-a-missing',
+      'body-b-missing',
+      'bodies-missing',
+    ]);
+    expect(explanation.joints[0]).toMatchObject({ bodyAFound: true, bodyBFound: false, solverRegistered: false });
+  });
+
+  it('recomputes current state without retaining earlier failures', () => {
+    const world = createPhysics2DWorld();
+    const first = addPhysics2DBody(world, createRigidBody2D('dynamic', 0, 0));
+    const second = addPhysics2DBody(world, createRigidBody2D('dynamic', 1, 0));
+    addPhysics2DJoint(world, {
+      ...createPhysics2DDistanceJoint({ bodyA: first.index, bodyB: second.index, length: 1 }),
+      kind: 'acme.Deferred',
+    });
+    const before = explainPhysics2DJoints(world);
+
+    registerPhysics2DJointSolver(world, 'acme.Deferred', NOOP_SOLVER);
+    const after = explainPhysics2DJoints(world);
+
+    expect(before.joints[0].status).toBe('solver-unregistered');
+    expect(after.joints[0].status).toBe('ready');
+    expect(after.status).toBe('complete');
+  });
+});

package/src/jointFactories.test.ts

@@ -0,0 +1,151 @@
+import { describe, expect, it } from 'vitest';
+
+import {
+  createPhysics2DDistanceJoint,
+  createPhysics2DGearJoint,
+  createPhysics2DMouseJoint,
+  createPhysics2DPrismaticJoint,
+  createPhysics2DPulleyJoint,
+  createPhysics2DRevoluteJoint,
+  createPhysics2DRopeJoint,
+  createPhysics2DWeldJoint,
+  createPhysics2DWheelJoint,
+} from './jointFactories';
+
+describe('createPhysics2DDistanceJoint', () => {
+  it('owns common defaults and solver scratch', () => {
+    expect(createPhysics2DDistanceJoint({ bodyA: 1, bodyB: 2, length: 3 })).toEqual({
+      kind: 'Distance',
+      bodyA: 1,
+      bodyB: 2,
+      localAnchorAX: 0,
+      localAnchorAY: 0,
+      localAnchorBX: 0,
+      localAnchorBY: 0,
+      collideConnected: false,
+      impulse0: 0,
+      impulse1: 0,
+      impulse2: 0,
+      rAX: 0,
+      rAY: 0,
+      rBX: 0,
+      rBY: 0,
+      length: 3,
+      stiffness: 0,
+      damping: 0,
+    });
+  });
+});
+
+describe('createPhysics2DGearJoint', () => {
+  it('requires coordinate semantics and defaults both linear axes', () => {
+    expect(
+      createPhysics2DGearJoint({
+        bodyA: 1,
+        bodyB: 2,
+        coordinateA: 'angular',
+        coordinateB: 'linear',
+        constant: 0,
+      }),
+    ).toMatchObject({ axisAX: 1, axisAY: 0, axisBX: 1, axisBY: 0, kind: 'Gear', ratio: 1 });
+  });
+});
+
+describe('createPhysics2DMouseJoint', () => {
+  it('hides the dummy endpoint and owns stable drag defaults', () => {
+    const joint = createPhysics2DMouseJoint({ body: 7, targetX: 3, targetY: 4, maxForce: 100 });
+    expect(joint).toMatchObject({ bodyA: 7, bodyB: 7, damping: 0.7, kind: 'Mouse', stiffness: 5 });
+  });
+});
+
+describe('createPhysics2DPrismaticJoint', () => {
+  it('preserves authored controls while initializing motor scratch', () => {
+    expect(
+      createPhysics2DPrismaticJoint({
+        bodyA: 3,
+        bodyB: 4,
+        localAnchorAX: 1,
+        collideConnected: true,
+        localAxisAX: 0,
+        localAxisAY: -1,
+        enableMotor: true,
+        motorSpeed: 2,
+        maxMotorForce: 8,
+        enableLimit: true,
+        lowerTranslation: -3,
+        upperTranslation: 5,
+      }),
+    ).toMatchObject({
+      collideConnected: true,
+      enableLimit: true,
+      enableMotor: true,
+      kind: 'Prismatic',
+      localAnchorAX: 1,
+      localAxisAX: 0,
+      localAxisAY: -1,
+      lowerTranslation: -3,
+      maxMotorForce: 8,
+      motorImpulse: 0,
+      motorSpeed: 2,
+      upperTranslation: 5,
+    });
+  });
+});
+
+describe('createPhysics2DPulleyJoint', () => {
+  it('defaults the ratio while retaining required world anchors', () => {
+    expect(
+      createPhysics2DPulleyJoint({
+        bodyA: 1,
+        bodyB: 2,
+        groundAnchorAX: -1,
+        groundAnchorAY: 2,
+        groundAnchorBX: 1,
+        groundAnchorBY: 2,
+        constant: 6,
+      }),
+    ).toMatchObject({ groundAnchorAX: -1, groundAnchorBX: 1, kind: 'Pulley', ratio: 1 });
+  });
+});
+
+describe('createPhysics2DRevoluteJoint', () => {
+  it('starts with inactive motor and limits', () => {
+    expect(createPhysics2DRevoluteJoint({ bodyA: 1, bodyB: 2 })).toMatchObject({
+      enableLimit: false,
+      enableMotor: false,
+      kind: 'Revolute',
+      motorImpulse: 0,
+    });
+  });
+});
+
+describe('createPhysics2DRopeJoint', () => {
+  it('requires the authored maximum length', () => {
+    expect(createPhysics2DRopeJoint({ bodyA: 1, bodyB: 2, maxLength: 4 })).toMatchObject({
+      kind: 'Rope',
+      maxLength: 4,
+    });
+  });
+});
+
+describe('createPhysics2DWeldJoint', () => {
+  it('defaults the reference pose to zero relative angle', () => {
+    expect(createPhysics2DWeldJoint({ bodyA: 1, bodyB: 2 })).toMatchObject({
+      kind: 'Weld',
+      referenceAngle: 0,
+    });
+  });
+});
+
+describe('createPhysics2DWheelJoint', () => {
+  it('defaults to a vertical free suspension with no motor', () => {
+    expect(createPhysics2DWheelJoint({ bodyA: 1, bodyB: 2 })).toMatchObject({
+      enableMotor: false,
+      kind: 'Wheel',
+      localAxisAX: 0,
+      localAxisAY: 1,
+      motorImpulse: 0,
+      stiffness: 0,
+    });
+  });
+});

package/src/worldQueries.test.ts

@@ -0,0 +1,127 @@
+import { describe, expect, it } from 'vitest';
+
+import { addPhysics2DBody, createPhysics2DCollider, createPhysics2DWorld, createRigidBody2D } from './world';
+import { createPhysics2DQueryResult, queryPhysics2DPoint, queryPhysics2DRegion } from './worldQueries';
+
+const STONE = { density: 1, friction: 0.3, restitution: 0 };
+
+describe('createPhysics2DQueryResult', () => {
+  it('starts with no live hits', () => {
+    expect(createPhysics2DQueryResult()).toEqual({ hits: [], hitCount: 0 });
+  });
+});
+
+describe('queryPhysics2DPoint', () => {
+  it('returns exact collider hits rather than broadphase-only body hits', () => {
+    const world = createPhysics2DWorld(0, 0);
+    const body = createRigidBody2D('dynamic', 0, 0, Math.PI / 4);
+    body.colliders.push(createPhysics2DCollider({ kind: 'aabb', minX: -2, minY: -0.25, maxX: 2, maxY: 0.25 }, STONE));
+    addPhysics2DBody(world, body);
+    const out = createPhysics2DQueryResult();
+
+    queryPhysics2DPoint(world, 1, 0, out);
+    expect(out.hitCount).toBe(0);
+    queryPhysics2DPoint(world, 1, 1, out);
+
+    expect(out.hitCount).toBe(1);
+    expect(out.hits[0]).toEqual({ body, collider: body.colliders[0], colliderIndex: 0 });
+  });
+
+  it('observes current poses and reuses its high-water hit object', () => {
+    const world = createPhysics2DWorld(0, 0);
+    const body = createRigidBody2D('dynamic', 0, 0);
+    body.colliders.push(createPhysics2DCollider({ kind: 'circle', radius: 1, x: 0, y: 0 }, STONE));
+    addPhysics2DBody(world, body);
+    const out = createPhysics2DQueryResult();
+
+    queryPhysics2DPoint(world, 0, 0, out);
+    const retainedHit = out.hits[0];
+    body.x = 5;
+    queryPhysics2DPoint(world, 0, 0, out);
+    expect(out.hitCount).toBe(0);
+    queryPhysics2DPoint(world, 5, 0, out);
+
+    expect(out.hitCount).toBe(1);
+    expect(out.hits[0]).toBe(retainedHit);
+  });
+
+  it('reports every containing collider in deterministic order', () => {
+    const world = createPhysics2DWorld(0, 0);
+    const first = createRigidBody2D('dynamic', 0, 0);
+    first.colliders.push(
+      createPhysics2DCollider({ kind: 'circle', radius: 2, x: 0, y: 0 }, STONE),
+      createPhysics2DCollider({ kind: 'circle', radius: 1, x: 0, y: 0 }, STONE),
+    );
+    const second = createRigidBody2D('dynamic', 0, 0);
+    second.colliders.push(createPhysics2DCollider({ kind: 'circle', radius: 1, x: 0, y: 0 }, STONE));
+    addPhysics2DBody(world, first);
+    addPhysics2DBody(world, second);
+    const out = createPhysics2DQueryResult();
+
+    queryPhysics2DPoint(world, 0, 0, out);
+
+    expect(out.hits.slice(0, out.hitCount).map((hit) => [hit.body.index, hit.colliderIndex])).toEqual([
+      [first.index, 0],
+      [first.index, 1],
+      [second.index, 0],
+    ]);
+  });
+});
+
+describe('queryPhysics2DRegion', () => {
+  it('refines aggregate body candidates to overlapping collider bounds', () => {
+    const world = createPhysics2DWorld(0, 0);
+    const body = createRigidBody2D('dynamic', 0, 0);
+    body.colliders.push(
+      createPhysics2DCollider({ kind: 'circle', radius: 1, x: -5, y: 0 }, STONE),
+      createPhysics2DCollider({ kind: 'circle', radius: 1, x: 5, y: 0 }, STONE),
+    );
+    addPhysics2DBody(world, body);
+    const out = createPhysics2DQueryResult();
+
+    queryPhysics2DRegion(world, { minX: -0.5, minY: -0.5, maxX: 0.5, maxY: 0.5 }, out);
+    expect(out.hitCount).toBe(0);
+
+    queryPhysics2DRegion(world, { minX: 4.5, minY: -0.5, maxX: 5.5, maxY: 0.5 }, out);
+    expect(out.hitCount).toBe(1);
+    expect(out.hits[0]).toEqual({ body, collider: body.colliders[1], colliderIndex: 1 });
+  });
+
+  it('uses current poses and preserves deterministic body/collider order', () => {
+    const world = createPhysics2DWorld(0, 0);
+    const first = createRigidBody2D('dynamic', -10, 0);
+    first.colliders.push(
+      createPhysics2DCollider({ kind: 'circle', radius: 1, x: 0, y: 0 }, STONE),
+      createPhysics2DCollider({ kind: 'circle', radius: 0.5, x: 0, y: 0 }, STONE),
+    );
+    const second = createRigidBody2D('dynamic', 0, 0);
+    second.colliders.push(createPhysics2DCollider({ kind: 'circle', radius: 1, x: 0, y: 0 }, STONE));
+    addPhysics2DBody(world, first);
+    addPhysics2DBody(world, second);
+    first.x = 0;
+    const out = createPhysics2DQueryResult();
+
+    queryPhysics2DRegion(world, { minX: -0.25, minY: -0.25, maxX: 0.25, maxY: 0.25 }, out);
+
+    expect(out.hits.slice(0, out.hitCount).map((hit) => [hit.body.index, hit.colliderIndex])).toEqual([
+      [first.index, 0],
+      [first.index, 1],
+      [second.index, 0],
+    ]);
+  });
+
+  it('clears live hits for an empty region while retaining high-water storage', () => {
+    const world = createPhysics2DWorld(0, 0);
+    const body = createRigidBody2D('dynamic', 0, 0);
+    body.colliders.push(createPhysics2DCollider({ kind: 'circle', radius: 1, x: 0, y: 0 }, STONE));
+    addPhysics2DBody(world, body);
+    const out = createPhysics2DQueryResult();
+    queryPhysics2DRegion(world, { minX: -1, minY: -1, maxX: 1, maxY: 1 }, out);
+    const retained = out.hits[0];
+
+    queryPhysics2DRegion(world, { minX: 10, minY: 10, maxX: 11, maxY: 11 }, out);
+
+    expect(out.hitCount).toBe(0);
+    expect(out.hits[0]).toBe(retained);
+  });
+});