@flighthq/physics2d 0.3.0-next.1566.dcdf1d3 → 0.3.0-next.1584.a68fe91

package/dist/broadphase.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"broadphase.d.ts","sourceRoot":"","sources":["../src/broadphase.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,cAAc,EAAe,MAAM,0BAA0B,CAAC;AAO5E,wBAAgB,8BAA8B,CAAC,KAAK,EAAE,cAAc,GAAG,IAAI,CAwC1E"}
+{"version":3,"file":"broadphase.d.ts","sourceRoot":"","sources":["../src/broadphase.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,cAAc,EAAe,MAAM,0BAA0B,CAAC;AAO5E,wBAAgB,8BAA8B,CAAC,KAAK,EAAE,cAAc,GAAG,IAAI,CA4C1E"}

package/dist/broadphase.js

@@ -40,11 +40,19 @@ export function synchronizePhysics2DBroadphase(world) {
         }
         bodyBounds.minX = minX;
         bodyBounds.minY = minY;
-        bodyBounds.maxX = maxX;
-        bodyBounds.maxY = maxY;
+        // Spatial cells use half-open rectangle containment while collision point tests include a shape's
+        // boundary. Publish a minimally conservative upper edge so an exact query at maxX/maxY remains a
+        // broadphase candidate. This also gives a point or axis-aligned segment a non-empty indexed span;
+        // collider-level refinement still reads its exact, zero-area bounds.
+        bodyBounds.maxX = paddedUpperBound(maxX);
+        bodyBounds.maxY = paddedUpperBound(maxY);
         world.index.updateSpatialObject(body.index, bodyBounds);
     }
 }
+function paddedUpperBound(value) {
+    const padded = value + Math.max(1, Math.abs(value)) * Number.EPSILON * 4;
+    return Number.isFinite(padded) ? padded : value;
+}
 // 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;

package/dist/broadphase.js.map

@@ -1 +1 @@
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package/dist/colliderTransform.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"colliderTransform.d.ts","sourceRoot":"","sources":["../src/colliderTransform.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,cAAc,EAAE,iBAAiB,EAAE,WAAW,EAAE,MAAM,0BAA0B,CAAC;AAK/F,wBAAgB,iCAAiC,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,GAAG,cAAc,CAYjG;AAWD,wBAAgB,iCAAiC,CAAC,QAAQ,EAAE,iBAAiB,EAAE,IAAI,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,IAAI,CA8ChH;AAMD,wBAAgB,4BAA4B,CAC1C,QAAQ,EAAE,QAAQ,CAAC,iBAAiB,CAAC,EACrC,GAAG,EAAE;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,GAC9D,IAAI,CA2DN"}
+{"version":3,"file":"colliderTransform.d.ts","sourceRoot":"","sources":["../src/colliderTransform.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,cAAc,EAAE,iBAAiB,EAAE,WAAW,EAAE,MAAM,0BAA0B,CAAC;AAK/F,wBAAgB,iCAAiC,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,GAAG,cAAc,CAgBjG;AAWD,wBAAgB,iCAAiC,CAAC,QAAQ,EAAE,iBAAiB,EAAE,IAAI,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,IAAI,CA4DhH;AAMD,wBAAgB,4BAA4B,CAC1C,QAAQ,EAAE,QAAQ,CAAC,iBAAiB,CAAC,EACrC,GAAG,EAAE;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,GAC9D,IAAI,CAuEN"}

package/dist/colliderTransform.js

@@ -10,6 +10,10 @@ export function createPhysics2DColliderWorldShape(local) {
             return { kind: 'obb', x: 0, y: 0, halfW: 0, halfH: 0, rotation: 0 };
         case 'polygon':
             return { kind: 'polygon', points: local.points.slice() };
+        case 'segment':
+            return { kind: 'segment', x0: local.x0, y0: local.y0, x1: local.x1, y1: local.y1 };
+        case 'point':
+            return { kind: 'point', x: local.x, y: local.y };
         default:
             return { kind: 'point', x: 0, y: 0 };
     }
@@ -64,6 +68,18 @@ export function updatePhysics2DColliderWorldShape(collider, body) {
             target[i] = body.x + x * cos - y * sin;
             target[i + 1] = body.y + x * sin + y * cos;
         }
+        return;
+    }
+    if (local.kind === 'segment' && world.kind === 'segment') {
+        world.x0 = body.x + local.x0 * cos - local.y0 * sin;
+        world.y0 = body.y + local.x0 * sin + local.y0 * cos;
+        world.x1 = body.x + local.x1 * cos - local.y1 * sin;
+        world.y1 = body.y + local.x1 * sin + local.y1 * cos;
+        return;
+    }
+    if (local.kind === 'point' && world.kind === 'point') {
+        world.x = body.x + local.x * cos - local.y * sin;
+        world.y = body.y + local.x * sin + local.y * cos;
     }
 }
 // Writes `collider.world`'s axis-aligned bounds into `out` — the broadphase's view of the collider.
@@ -127,6 +143,18 @@ export function writePhysics2DColliderBounds(collider, out) {
             out.maxY = maxY;
             return;
         }
+        case 'segment':
+            out.minX = Math.min(shape.x0, shape.x1);
+            out.minY = Math.min(shape.y0, shape.y1);
+            out.maxX = Math.max(shape.x0, shape.x1);
+            out.maxY = Math.max(shape.y0, shape.y1);
+            return;
+        case 'point':
+            out.minX = shape.x;
+            out.minY = shape.y;
+            out.maxX = shape.x;
+            out.maxY = shape.y;
+            return;
         default:
             out.minX = 0;
             out.minY = 0;

package/dist/colliderTransform.js.map

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

@@ -1,10 +1,12 @@
 export * from './colliderTransform';
 export * from './explainPhysics2DJoints';
+export * from './explainPhysics2DStep';
 export * from './islands';
 export * from './jointFactories';
 export * from './jointRegistry';
 export * from './joints';
 export * from './massProperties';
+export * from './registerBuiltInPhysics2DJointSolvers';
 export * from './solver';
 export * from './step';
 export * from './world';

package/dist/contract.d.ts.map

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

package/dist/contract.js

@@ -1,10 +1,12 @@
 export * from './colliderTransform';
 export * from './explainPhysics2DJoints';
+export * from './explainPhysics2DStep';
 export * from './islands';
 export * from './jointFactories';
 export * from './jointRegistry';
 export * from './joints';
 export * from './massProperties';
+export * from './registerBuiltInPhysics2DJointSolvers';
 export * from './solver';
 export * from './step';
 export * from './world';

package/dist/contract.js.map

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

package/dist/debugGeometry.js

@@ -122,14 +122,23 @@ function writeOrientedBox(out, bodyIndex, centerX, centerY, halfW, halfH, rotati
     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)
+    if (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 === 'Mouse') {
+        const mouse = joint;
+        writeLine(out, 'joint', joint.bodyA, joint.bodyB, mouse.targetX, mouse.targetY, anchorBX, anchorBY);
+        return;
+    }
+    if (world.jointSolvers.get(joint.kind)?.usesBodyA === false)
+        return;
+    const bodyA = findPhysics2DBody(world, joint.bodyA);
+    if (bodyA === null)
+        return;
+    const anchorAX = jointAnchorX(bodyA, joint.localAnchorAX, joint.localAnchorAY);
+    const anchorAY = jointAnchorY(bodyA, joint.localAnchorAX, joint.localAnchorAY);
     if (joint.kind === 'Pulley') {
         const pulley = joint;
         writeLine(out, 'joint', joint.bodyA, joint.bodyB, pulley.groundAnchorAX, pulley.groundAnchorAY, anchorAX, anchorAY);
@@ -137,11 +146,6 @@ function writeJoint(out, world, joint) {
         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) {

package/dist/debugGeometry.js.map

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

@@ -1 +1 @@
-{"version":3,"file":"explainPhysics2DJoints.d.ts","sourceRoot":"","sources":["../src/explainPhysics2DJoints.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAEV,mCAAmC,EAEnC,cAAc,EACf,MAAM,0BAA0B,CAAC;AAOlC,wBAAgB,sBAAsB,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,GAAG,mCAAmC,CAsB3G"}
+{"version":3,"file":"explainPhysics2DJoints.d.ts","sourceRoot":"","sources":["../src/explainPhysics2DJoints.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAEV,mCAAmC,EAEnC,cAAc,EACf,MAAM,0BAA0B,CAAC;AAOlC,wBAAgB,sBAAsB,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,GAAG,mCAAmC,CAyB3G"}

package/dist/explainPhysics2DJoints.js

@@ -7,15 +7,18 @@ export function explainPhysics2DJoints(world) {
     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 solver = world.jointSolvers.get(joint.kind);
+        const solverRegistered = solver !== undefined;
+        const bodyAUsed = solver?.usesBodyA !== false;
         const bodyAFound = findPhysics2DBody(world, joint.bodyA) !== null;
         const bodyBFound = findPhysics2DBody(world, joint.bodyB) !== null;
-        const status = getJointResolutionStatus(solverRegistered, bodyAFound, bodyBFound);
+        const status = getJointResolutionStatus(solverRegistered, bodyAUsed, bodyAFound, bodyBFound);
         if (status === 'ready')
             readyCount++;
         joints.push({
             bodyA: joint.bodyA,
             bodyAFound,
+            bodyAUsed,
             bodyB: joint.bodyB,
             bodyBFound,
             jointIndex,
@@ -26,12 +29,12 @@ export function explainPhysics2DJoints(world) {
     }
     return { joints, readyCount, status: readyCount === joints.length ? 'complete' : 'unresolved-joints' };
 }
-function getJointResolutionStatus(solverRegistered, bodyAFound, bodyBFound) {
+function getJointResolutionStatus(solverRegistered, bodyAUsed, bodyAFound, bodyBFound) {
     if (!solverRegistered)
         return 'solver-unregistered';
-    if (!bodyAFound && !bodyBFound)
+    if (bodyAUsed && !bodyAFound && !bodyBFound)
         return 'bodies-missing';
-    if (!bodyAFound)
+    if (bodyAUsed && !bodyAFound)
         return 'body-a-missing';
     if (!bodyBFound)
         return 'body-b-missing';

package/dist/explainPhysics2DJoints.js.map

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package/dist/explainPhysics2DStep.d.ts

@@ -0,0 +1,3 @@
+import type { Physics2DStepExplanation, Physics2DWorld } from '@flighthq/types/contract';
+export declare function explainPhysics2DStep(world: Readonly<Physics2DWorld>, dt: number): Physics2DStepExplanation;
+//# sourceMappingURL=explainPhysics2DStep.d.ts.map

package/dist/explainPhysics2DStep.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"explainPhysics2DStep.d.ts","sourceRoot":"","sources":["../src/explainPhysics2DStep.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,wBAAwB,EAAE,cAAc,EAAE,MAAM,0BAA0B,CAAC;AAKzF,wBAAgB,oBAAoB,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,EAAE,EAAE,EAAE,MAAM,GAAG,wBAAwB,CAY1G"}

package/dist/explainPhysics2DStep.js

@@ -0,0 +1,15 @@
+// Pure diagnostic twin of stepPhysics2D's early return. Invalid input rejects the whole step rather than
+// integrating only the phases that happen to tolerate it: a partial step would be harder to recover from
+// than a no-op and could poison persistent contacts or body state before the invalid loop count is read.
+export function explainPhysics2DStep(world, dt) {
+    const timestepValid = Number.isFinite(dt) && dt > 0;
+    const velocityIterationsValid = Number.isSafeInteger(world.config.velocityIterations) && world.config.velocityIterations >= 0;
+    const positionIterationsValid = Number.isSafeInteger(world.config.positionIterations) && world.config.positionIterations >= 0;
+    return {
+        timestepValid,
+        velocityIterationsValid,
+        positionIterationsValid,
+        status: timestepValid && velocityIterationsValid && positionIterationsValid ? 'ready' : 'invalid-step',
+    };
+}
+//# sourceMappingURL=explainPhysics2DStep.js.map

package/dist/explainPhysics2DStep.js.map

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

@@ -1,13 +1,15 @@
 export { createPhysics2DColliderWorldShape, updatePhysics2DColliderWorldShape, writePhysics2DColliderBounds, } from './colliderTransform';
 export { createPhysics2DDebugGeometry, writePhysics2DDebugGeometry } from './debugGeometry';
 export { explainPhysics2DJoints } from './explainPhysics2DJoints';
+export { explainPhysics2DStep } from './explainPhysics2DStep';
 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 { registerBuiltInPhysics2DJointSolvers } from './registerBuiltInPhysics2DJointSolvers';
 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';
+export { addPhysics2DBody, addPhysics2DCollider, findPhysics2DBody, createPhysics2DCollider, createPhysics2DSolverConfig, createPhysics2DWorld, createRigidBody2D, isPhysics2DPairOrdered, removePhysics2DBody, removePhysics2DCollider, } from './world';
+export { createPhysics2DQueryResult, createPhysics2DRayResult, queryPhysics2DPoint, queryPhysics2DRay, queryPhysics2DRegion, } from './worldQueries';
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -1 +1 @@
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package/dist/index.js

@@ -1,13 +1,15 @@
 export { createPhysics2DColliderWorldShape, updatePhysics2DColliderWorldShape, writePhysics2DColliderBounds, } from './colliderTransform';
 export { createPhysics2DDebugGeometry, writePhysics2DDebugGeometry } from './debugGeometry';
 export { explainPhysics2DJoints } from './explainPhysics2DJoints';
+export { explainPhysics2DStep } from './explainPhysics2DStep';
 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 { registerBuiltInPhysics2DJointSolvers } from './registerBuiltInPhysics2DJointSolvers';
 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';
+export { addPhysics2DBody, addPhysics2DCollider, findPhysics2DBody, createPhysics2DCollider, createPhysics2DSolverConfig, createPhysics2DWorld, createRigidBody2D, isPhysics2DPairOrdered, removePhysics2DBody, removePhysics2DCollider, } from './world';
+export { createPhysics2DQueryResult, createPhysics2DRayResult, queryPhysics2DPoint, queryPhysics2DRay, queryPhysics2DRegion, } from './worldQueries';
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -1 +1 @@
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package/dist/islands.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"islands.d.ts","sourceRoot":"","sources":["../src/islands.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,cAAc,EAAE,WAAW,EAAE,MAAM,0BAA0B,CAAC;AAI5E;;;;;;;;;;uCAUuC;AACvC,wBAAgB,sBAAsB,CAAC,CAAC,EAAE,QAAQ,CAAC,WAAW,CAAC,EAAE,CAAC,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,OAAO,CAElG;AAED;;;;;;;;;;;;;;;uFAeuF;AACvF,wBAAgB,oBAAoB,CAAC,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CAkE5E;AAED;;;;;sGAKsG;AACtG,wBAAgB,iBAAiB,CAAC,IAAI,EAAE,WAAW,GAAG,IAAI,CAGzD"}

package/dist/islands.js

@@ -61,6 +61,9 @@ export function updatePhysics2DSleep(world, dt) {
         _unionDynamicPair(world, parents, contact.bodyA, contact.bodyB);
     }
     for (const joint of world.joints) {
+        const solver = world.jointSolvers.get(joint.kind);
+        if (solver === undefined || solver.usesBodyA === false)
+            continue;
         _unionDynamicPair(world, parents, joint.bodyA, joint.bodyB);
     }
     // The island's timer is the MINIMUM across its members: the least-settled body decides.

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;AA0BD,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

@@ -33,11 +33,13 @@ export function addPhysics2DJoint(world, joint) {
 // asked only when a swap is actually pending, since swapEnds both vetoes and transforms: calling it
 // otherwise would apply a reversal to ends that never moved.
 function _canonicalizePhysics2DJointEnds(world, joint) {
+    const solver = getPhysics2DJointSolver(world, joint.kind);
+    if (solver?.usesBodyA === false)
+        return;
     const first = findPhysics2DBody(world, joint.bodyA);
     const second = findPhysics2DBody(world, joint.bodyB);
     if (first === null || second === null || isPhysics2DPairOrdered(first, second))
         return;
-    const solver = getPhysics2DJointSolver(world, joint.kind);
     if (!(solver?.swapEnds?.(joint) ?? true))
         return;
     const bodyA = joint.bodyA;
@@ -89,7 +91,10 @@ export function removePhysics2DJoint(world, joint) {
     return true;
 }
 function _wakePhysics2DJointBodies(world, joint) {
-    const bodyA = findPhysics2DBody(world, joint.bodyA);
+    const solver = getPhysics2DJointSolver(world, joint.kind);
+    if (solver === null)
+        return;
+    const bodyA = solver.usesBodyA === false ? null : findPhysics2DBody(world, joint.bodyA);
     const bodyB = findPhysics2DBody(world, joint.bodyB);
     if (bodyA !== null)
         wakePhysics2DBody(bodyA);

package/dist/jointRegistry.js.map

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

@@ -22,6 +22,7 @@ export declare const physics2DGearJointSolver: {
     solve(world: Physics2DWorld, joint: Physics2DJoint): void;
 };
 export declare const physics2DMouseJointSolver: {
+    usesBodyA: boolean;
     swapEnds(): boolean;
     clearAccumulatedImpulses(joint: Physics2DJoint): void;
     prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;

package/dist/joints.d.ts.map

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package/dist/joints.js

@@ -168,6 +168,7 @@ export const physics2DGearJointSolver = {
 // moving the cursor faster than the simulation can follow, and the rest of the world absorbs it. The force
 // bound is what keeps a dragged body from tunnelling through a wall it is pulled into.
 export const physics2DMouseJointSolver = {
+    usesBodyA: false,
     // A mouse joint drags ONE body toward a world-space target; its other end is not a body at all, and
     // callers pass whatever index is convenient. Canonical ordering exists to fix the solve order
     // BETWEEN two bodies, so with only one body there is nothing to order and the exchange is pure
@@ -189,25 +190,34 @@ export const physics2DMouseJointSolver = {
             return;
         const cos = Math.cos(bodyB.angle);
         const sin = Math.sin(bodyB.angle);
-        joint.rBX = joint.localAnchorBX * cos - joint.localAnchorBY * sin;
-        joint.rBY = joint.localAnchorBX * sin + joint.localAnchorBY * cos;
+        const localAnchorX = joint.localAnchorBX - bodyB.centerX;
+        const localAnchorY = joint.localAnchorBY - bodyB.centerY;
+        joint.rBX = localAnchorX * cos - localAnchorY * sin;
+        joint.rBY = localAnchorX * sin + localAnchorY * cos;
         joint.rAX = 0;
         joint.rAY = 0;
+        const mass = bodyB.inverseMass > 0 ? 1 / bodyB.inverseMass : 0;
         const angular = 2 * Math.PI * (mouse.stiffness > 0 ? mouse.stiffness : 5);
-        const damp = 2 * mouse.damping * angular;
-        const spring = angular * angular;
-        const gamma = dt * (damp + dt * spring);
-        const inverseGamma = gamma > 0 ? 1 / gamma : 0;
-        const biasFactor = dt * spring * inverseGamma;
+        const damp = 2 * mass * mouse.damping * angular;
+        const spring = mass * angular * angular;
+        const softDenominator = dt * (damp + dt * spring);
+        const gamma = softDenominator > 0 ? 1 / softDenominator : 0;
+        const biasFactor = dt * spring * gamma;
+        const k11 = bodyB.inverseMass + bodyB.inverseInertia * joint.rBY * joint.rBY + gamma;
+        const k12 = -bodyB.inverseInertia * joint.rBX * joint.rBY;
+        const k22 = bodyB.inverseMass + bodyB.inverseInertia * joint.rBX * joint.rBX + gamma;
+        const determinant = k11 * k22 - k12 * k12;
+        const inverseDeterminant = Math.abs(determinant) > EPSILON ? 1 / determinant : 0;
         // maxForce is a force; joint.impulse0/1 accumulate an impulse. Clamping one against the other was
         // a unit error worth a factor of 1/dt — at dt 0.01 the bound admitted a hundred times the force it
         // named. Convert once here, where dt is in hand, rather than in solve, which does not receive it.
-        const mouseState = beginJointSolve(mouse, 5);
-        mouseState[0] = inverseGamma;
-        mouseState[1] = biasFactor;
-        mouseState[2] = dt * mouse.maxForce;
-        mouseState[3] = 0;
-        mouseState[4] = 0;
+        const mouseState = beginJointSolve(mouse, 6);
+        mouseState[0] = k22 * inverseDeterminant;
+        mouseState[1] = -k12 * inverseDeterminant;
+        mouseState[2] = k11 * inverseDeterminant;
+        mouseState[3] = gamma;
+        mouseState[4] = biasFactor;
+        mouseState[5] = dt * mouse.maxForce;
     },
     solve(world, joint) {
         const mouse = joint;
@@ -217,16 +227,17 @@ export const physics2DMouseJointSolver = {
         const bodyB = findPhysics2DBody(world, joint.bodyB);
         if (bodyB === null)
             return;
-        const [inverseGamma, biasFactor, maxImpulse] = state;
+        const [massXX, massXY, massYY, gamma, biasFactor, maxImpulse] = state;
         const anchorX = bodyB.x + joint.rBX;
         const anchorY = bodyB.y + joint.rBY;
         const errorX = anchorX - mouse.targetX;
         const errorY = anchorY - mouse.targetY;
         const velocityX = bodyB.velocityX - bodyB.angularVelocity * joint.rBY;
         const velocityY = bodyB.velocityY + bodyB.angularVelocity * joint.rBX;
-        const mass = bodyB.inverseMass > 0 ? 1 / bodyB.inverseMass : 0;
-        let impulseX = -mass * (velocityX + biasFactor * errorX + inverseGamma * joint.impulse0);
-        let impulseY = -mass * (velocityY + biasFactor * errorY + inverseGamma * joint.impulse1);
+        const constraintX = velocityX + biasFactor * errorX + gamma * joint.impulse0;
+        const constraintY = velocityY + biasFactor * errorY + gamma * joint.impulse1;
+        let impulseX = -(massXX * constraintX + massXY * constraintY);
+        let impulseY = -(massXY * constraintX + massYY * constraintY);
         const previousX = joint.impulse0;
         const previousY = joint.impulse1;
         joint.impulse0 += impulseX;