@flighthq/physics2d 0.3.0-next.1584.a68fe91 → 0.3.0-next.1593.a47f94a

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (26) hide show
  1. package/dist/colliderTransform.d.ts.map +1 -1
  2. package/dist/colliderTransform.js +1 -2
  3. package/dist/colliderTransform.js.map +1 -1
  4. package/dist/index.d.ts +1 -1
  5. package/dist/index.d.ts.map +1 -1
  6. package/dist/index.js +1 -1
  7. package/dist/index.js.map +1 -1
  8. package/dist/islands.d.ts.map +1 -1
  9. package/dist/islands.js +16 -0
  10. package/dist/islands.js.map +1 -1
  11. package/dist/jointFactories.js +6 -6
  12. package/dist/jointFactories.js.map +1 -1
  13. package/dist/joints.d.ts +1 -0
  14. package/dist/joints.d.ts.map +1 -1
  15. package/dist/joints.js +12 -11
  16. package/dist/joints.js.map +1 -1
  17. package/dist/world.d.ts +8 -0
  18. package/dist/world.d.ts.map +1 -1
  19. package/dist/world.js +164 -8
  20. package/dist/world.js.map +1 -1
  21. package/package.json +5 -5
  22. package/src/islands.test.ts +24 -0
  23. package/src/jointFactories.test.ts +4 -4
  24. package/src/joints.test.ts +91 -36
  25. package/src/step.test.ts +6 -6
  26. package/src/world.test.ts +212 -0
package/dist/colliderTransform.d.ts.map CHANGED
@@ -1 +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,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"}
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,CAgBjG;AAUD,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 CHANGED
@@ -25,8 +25,7 @@ export function createPhysics2DColliderWorldShape(local) {
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  //
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  // The world shape is preallocated at collider creation and mutated in place, so a step allocates
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  // nothing. Polygon points are the only variable-length part, and the world array is sized once from the
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- // local one; a caller that reshapes a collider must rebuild it through `createPhysics2DCollider` rather
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- // than mutating `local.points` in place.
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+ // local one; `invalidatePhysics2DCollider` replaces that storage after an authored shape changes.
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  export function updatePhysics2DColliderWorldShape(collider, body) {
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  const local = collider.local;
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  const world = collider.world;
package/dist/colliderTransform.js.map CHANGED
@@ -1 +1 @@
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- 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package/dist/index.d.ts CHANGED
@@ -10,6 +10,6 @@ export { computePhysics2DColliderMassData, updateRigidBody2DMassData } from './m
10
10
  export { registerBuiltInPhysics2DJointSolvers } from './registerBuiltInPhysics2DJointSolvers';
11
11
  export { applyPhysics2DImpulse, relativeNormalVelocity, solvePhysics2DContacts, solvePhysics2DContactsOnce, warmStartPhysics2DContacts, } from './solver';
12
12
  export { stepPhysics2D } from './step';
13
- export { addPhysics2DBody, addPhysics2DCollider, findPhysics2DBody, createPhysics2DCollider, createPhysics2DSolverConfig, createPhysics2DWorld, createRigidBody2D, isPhysics2DPairOrdered, removePhysics2DBody, removePhysics2DCollider, } from './world';
13
+ export { addPhysics2DBody, addPhysics2DCollider, applyPhysics2DForce, applyPhysics2DForceAtPoint, applyPhysics2DLinearImpulse, applyPhysics2DLinearImpulseAtPoint, applyPhysics2DTorque, findPhysics2DBody, createPhysics2DCollider, createPhysics2DSolverConfig, createPhysics2DWorld, createRigidBody2D, invalidatePhysics2DCollider, isPhysics2DPairOrdered, removePhysics2DBody, removePhysics2DCollider, setPhysics2DBodyTransform, setPhysics2DBodyType, } from './world';
14
14
  export { createPhysics2DQueryResult, createPhysics2DRayResult, queryPhysics2DPoint, queryPhysics2DRay, queryPhysics2DRegion, } from './worldQueries';
15
15
  //# sourceMappingURL=index.d.ts.map
package/dist/index.d.ts.map CHANGED
@@ -1 +1 @@
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1
+ {"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,MAAM,0BAA0B,CAAC;AAClE,OAAO,EAAE,oBAAoB,EAAE,MAAM,wBAAwB,CAAC;AAC9D,OAAO,EAAE,sBAAsB,EAAE,oBAAoB,EAAE,iBAAiB,EAAE,MAAM,WAAW,CAAC;AAC5F,OAAO,EACL,4BAA4B,EAC5B,wBAAwB,EACxB,yBAAyB,EACzB,6BAA6B,EAC7B,0BAA0B,EAC1B,4BAA4B,EAC5B,wBAAwB,EACxB,wBAAwB,EACxB,yBAAyB,GAC1B,MAAM,kBAAkB,CAAC;AAC1B,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,EAAE,oCAAoC,EAAE,MAAM,wCAAwC,CAAC;AAC9F,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,oBAAoB,EACpB,mBAAmB,EACnB,0BAA0B,EAC1B,2BAA2B,EAC3B,kCAAkC,EAClC,oBAAoB,EACpB,iBAAiB,EACjB,uBAAuB,EACvB,2BAA2B,EAC3B,oBAAoB,EACpB,iBAAiB,EACjB,2BAA2B,EAC3B,sBAAsB,EACtB,mBAAmB,EACnB,uBAAuB,EACvB,yBAAyB,EACzB,oBAAoB,GACrB,MAAM,SAAS,CAAC;AACjB,OAAO,EACL,0BAA0B,EAC1B,wBAAwB,EACxB,mBAAmB,EACnB,iBAAiB,EACjB,oBAAoB,GACrB,MAAM,gBAAgB,CAAC"}
package/dist/index.js CHANGED
@@ -10,6 +10,6 @@ export { computePhysics2DColliderMassData, updateRigidBody2DMassData } from './m
10
10
  export { registerBuiltInPhysics2DJointSolvers } from './registerBuiltInPhysics2DJointSolvers';
11
11
  export { applyPhysics2DImpulse, relativeNormalVelocity, solvePhysics2DContacts, solvePhysics2DContactsOnce, warmStartPhysics2DContacts, } from './solver';
12
12
  export { stepPhysics2D } from './step';
13
- export { addPhysics2DBody, addPhysics2DCollider, findPhysics2DBody, createPhysics2DCollider, createPhysics2DSolverConfig, createPhysics2DWorld, createRigidBody2D, isPhysics2DPairOrdered, removePhysics2DBody, removePhysics2DCollider, } from './world';
13
+ export { addPhysics2DBody, addPhysics2DCollider, applyPhysics2DForce, applyPhysics2DForceAtPoint, applyPhysics2DLinearImpulse, applyPhysics2DLinearImpulseAtPoint, applyPhysics2DTorque, findPhysics2DBody, createPhysics2DCollider, createPhysics2DSolverConfig, createPhysics2DWorld, createRigidBody2D, invalidatePhysics2DCollider, isPhysics2DPairOrdered, removePhysics2DBody, removePhysics2DCollider, setPhysics2DBodyTransform, setPhysics2DBodyType, } from './world';
14
14
  export { createPhysics2DQueryResult, createPhysics2DRayResult, queryPhysics2DPoint, queryPhysics2DRay, queryPhysics2DRegion, } from './worldQueries';
15
15
  //# sourceMappingURL=index.js.map
package/dist/index.js.map CHANGED
@@ -1 +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,MAAM,0BAA0B,CAAC;AAClE,OAAO,EAAE,oBAAoB,EAAE,MAAM,wBAAwB,CAAC;AAC9D,OAAO,EAAE,sBAAsB,EAAE,oBAAoB,EAAE,iBAAiB,EAAE,MAAM,WAAW,CAAC;AAC5F,OAAO,EACL,4BAA4B,EAC5B,wBAAwB,EACxB,yBAAyB,EACzB,6BAA6B,EAC7B,0BAA0B,EAC1B,4BAA4B,EAC5B,wBAAwB,EACxB,wBAAwB,EACxB,yBAAyB,GAC1B,MAAM,kBAAkB,CAAC;AAC1B,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,EAAE,oCAAoC,EAAE,MAAM,wCAAwC,CAAC;AAC9F,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,oBAAoB,EACpB,mBAAmB,EACnB,0BAA0B,EAC1B,2BAA2B,EAC3B,kCAAkC,EAClC,oBAAoB,EACpB,iBAAiB,EACjB,uBAAuB,EACvB,2BAA2B,EAC3B,oBAAoB,EACpB,iBAAiB,EACjB,2BAA2B,EAC3B,sBAAsB,EACtB,mBAAmB,EACnB,uBAAuB,EACvB,yBAAyB,EACzB,oBAAoB,GACrB,MAAM,SAAS,CAAC;AACjB,OAAO,EACL,0BAA0B,EAC1B,wBAAwB,EACxB,mBAAmB,EACnB,iBAAiB,EACjB,oBAAoB,GACrB,MAAM,gBAAgB,CAAC"}
package/dist/islands.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"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"}
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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,CA4E5E;AAED;;;;;sGAKsG;AACtG,wBAAgB,iBAAiB,CAAC,IAAI,EAAE,WAAW,GAAG,IAAI,CAGzD"}
package/dist/islands.js CHANGED
@@ -52,6 +52,17 @@ export function updatePhysics2DSleep(world, dt) {
52
52
  body.sleepTimer = 0;
53
53
  }
54
54
  }
55
+ // A constraint driven by state outside the simulation cannot infer that its next target write is
56
+ // coming, so its solver declares that participating bodies stay awake for the constraint's lifetime.
57
+ // Reset after the stillness pass so even a timestep longer than timeToSleep cannot put one to sleep.
58
+ for (const joint of world.joints) {
59
+ const solver = world.jointSolvers.get(joint.kind);
60
+ if (solver?.keepsBodiesAwake !== true)
61
+ continue;
62
+ if (solver.usesBodyA !== false)
63
+ _keepPhysics2DBodyAwake(world, joint.bodyA);
64
+ _keepPhysics2DBodyAwake(world, joint.bodyB);
65
+ }
55
66
  // Then the island reduction. `_islandRootOf` is union-find over the contact and joint graph, so the
56
67
  // root is a stable representative for the connected component.
57
68
  const parents = new Map();
@@ -124,6 +135,11 @@ function _isBodyStill(body, linearThreshold, angularThreshold) {
124
135
  return false;
125
136
  return Math.abs(body.angularVelocity) <= angularThreshold;
126
137
  }
138
+ function _keepPhysics2DBodyAwake(world, bodyIndex) {
139
+ const body = findPhysics2DBody(world, bodyIndex);
140
+ if (body !== null && body.type !== 'static')
141
+ body.sleepTimer = 0;
142
+ }
127
143
  // Joins two bodies into one island, but only when BOTH are dynamic. A static body is not a member of
128
144
  // any island, so it cannot act as a bridge — otherwise the ground would merge every stack in the level
129
145
  // into a single island that sleeps only when nothing anywhere is moving.
package/dist/islands.js.map CHANGED
@@ -1 +1 @@
1
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1
+ {"version":3,"file":"islands.js","sourceRoot":"","sources":["../src/islands.ts"],"names":[],"mappings":"AAEA,OAAO,EAAE,iBAAiB,EAAE,MAAM,SAAS,CAAC;AAE5C;;;;;;;;;;uCAUuC;AACvC,MAAM,UAAU,sBAAsB,CAAC,CAAwB,EAAE,CAAwB;IACvF,OAAO,WAAW,CAAC,CAAC,CAAC,IAAI,WAAW,CAAC,CAAC,CAAC,CAAC;AAC1C,CAAC;AAED;;;;;;;;;;;;;;;uFAeuF;AACvF,MAAM,UAAU,oBAAoB,CAAC,KAAqB,EAAE,EAAU;IACpE,MAAM,MAAM,GAAG,KAAK,CAAC,MAAM,CAAC;IAC5B,MAAM,MAAM,GAAG,KAAK,CAAC,MAAM,CAAC;IAE5B,IAAI,CAAC,MAAM,CAAC,aAAa,EAAE,CAAC;QAC1B,+FAA+F;QAC/F,iGAAiG;QACjG,KAAK,MAAM,IAAI,IAAI,MAAM,EAAE,CAAC;YAC1B,IAAI,CAAC,QAAQ,GAAG,KAAK,CAAC;YACtB,IAAI,CAAC,UAAU,GAAG,CAAC,CAAC;QACtB,CAAC;QACD,OAAO;IACT,CAAC;IAED,sFAAsF;IACtF,KAAK,MAAM,IAAI,IAAI,MAAM,EAAE,CAAC;QAC1B,IAAI,IAAI,CAAC,IAAI,KAAK,QAAQ;YAAE,SAAS;QACrC,IAAI,YAAY,CAAC,IAAI,EAAE,MAAM,CAAC,oBAAoB,EAAE,MAAM,CAAC,qBAAqB,CAAC,EAAE,CAAC;YAClF,IAAI,CAAC,UAAU,IAAI,EAAE,CAAC;QACxB,CAAC;aAAM,CAAC;YACN,IAAI,CAAC,UAAU,GAAG,CAAC,CAAC;QACtB,CAAC;IACH,CAAC;IAED,iGAAiG;IACjG,qGAAqG;IACrG,qGAAqG;IACrG,KAAK,MAAM,KAAK,IAAI,KAAK,CAAC,MAAM,EAAE,CAAC;QACjC,MAAM,MAAM,GAAG,KAAK,CAAC,YAAY,CAAC,GAAG,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;QAClD,IAAI,MAAM,EAAE,gBAAgB,KAAK,IAAI;YAAE,SAAS;QAChD,IAAI,MAAM,CAAC,SAAS,KAAK,KAAK;YAAE,uBAAuB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;QAC5E,uBAAuB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;IAC9C,CAAC;IAED,oGAAoG;IACpG,+DAA+D;IAC/D,MAAM,OAAO,GAAG,IAAI,GAAG,EAAkB,CAAC;IAC1C,KAAK,MAAM,OAAO,IAAI,KAAK,CAAC,QAAQ,EAAE,CAAC;QACrC,IAAI,CAAC,OAAO,CAAC,OAAO,IAAI,OAAO,CAAC,MAAM;YAAE,SAAS;QACjD,iBAAiB,CAAC,KAAK,EAAE,OAAO,EAAE,OAAO,CAAC,KAAK,EAAE,OAAO,CAAC,KAAK,CAAC,CAAC;IAClE,CAAC;IACD,KAAK,MAAM,KAAK,IAAI,KAAK,CAAC,MAAM,EAAE,CAAC;QACjC,MAAM,MAAM,GAAG,KAAK,CAAC,YAAY,CAAC,GAAG,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;QAClD,IAAI,MAAM,KAAK,SAAS,IAAI,MAAM,CAAC,SAAS,KAAK,KAAK;YAAE,SAAS;QACjE,iBAAiB,CAAC,KAAK,EAAE,OAAO,EAAE,KAAK,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;IAC9D,CAAC;IAED,wFAAwF;IACxF,MAAM,YAAY,GAAG,IAAI,GAAG,EAAkB,CAAC;IAC/C,KAAK,MAAM,IAAI,IAAI,MAAM,EAAE,CAAC;QAC1B,IAAI,IAAI,CAAC,IAAI,KAAK,QAAQ;YAAE,SAAS;QACrC,MAAM,IAAI,GAAG,aAAa,CAAC,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,CAAC;QAChD,MAAM,OAAO,GAAG,YAAY,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;QACvC,YAAY,CAAC,GAAG,CAAC,IAAI,EAAE,OAAO,KAAK,SAAS,CAAC,CAAC,CAAC,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC;IACvG,CAAC;IAED,KAAK,MAAM,IAAI,IAAI,MAAM,EAAE,CAAC;QAC1B,IAAI,IAAI,CAAC,IAAI,KAAK,QAAQ;YAAE,SAAS;QACrC,MAAM,WAAW,GAAG,YAAY,CAAC,GAAG,CAAC,aAAa,CAAC,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,CAAC,IAAI,IAAI,CAAC,UAAU,CAAC;QAC5F,MAAM,WAAW,GAAG,WAAW,IAAI,MAAM,CAAC,WAAW,CAAC;QACtD,IAAI,CAAC,WAAW,IAAI,IAAI,CAAC,QAAQ,EAAE,CAAC;YAClC,2FAA2F;YAC3F,iDAAiD;YACjD,IAAI,CAAC,UAAU,GAAG,CAAC,CAAC;QACtB,CAAC;QACD,IAAI,CAAC,QAAQ,GAAG,WAAW,CAAC;QAC5B,IAAI,WAAW,EAAE,CAAC;YAChB,kGAAkG;YAClG,gGAAgG;YAChG,+FAA+F;YAC/F,2DAA2D;YAC3D,IAAI,CAAC,SAAS,GAAG,CAAC,CAAC;YACnB,IAAI,CAAC,SAAS,GAAG,CAAC,CAAC;YACnB,IAAI,CAAC,eAAe,GAAG,CAAC,CAAC;QAC3B,CAAC;IACH,CAAC;AACH,CAAC;AAED;;;;;sGAKsG;AACtG,MAAM,UAAU,iBAAiB,CAAC,IAAiB;IACjD,IAAI,CAAC,QAAQ,GAAG,KAAK,CAAC;IACtB,IAAI,CAAC,UAAU,GAAG,CAAC,CAAC;AACtB,CAAC;AAED,oGAAoG;AACpG,oGAAoG;AACpG,SAAS,WAAW,CAAC,IAA2B;IAC9C,OAAO,IAAI,CAAC,IAAI,KAAK,QAAQ,IAAI,CAAC,IAAI,CAAC,QAAQ,CAAC;AAClD,CAAC;AAED,SAAS,YAAY,CAAC,IAA2B,EAAE,eAAuB,EAAE,gBAAwB;IAClG,uGAAuG;IACvG,qGAAqG;IACrG,oGAAoG;IACpG,oFAAoF;IACpF,IAAI,IAAI,CAAC,MAAM,KAAK,CAAC,IAAI,IAAI,CAAC,MAAM,KAAK,CAAC,IAAI,IAAI,CAAC,MAAM,KAAK,CAAC;QAAE,OAAO,KAAK,CAAC;IAC9E,MAAM,YAAY,GAAG,IAAI,CAAC,SAAS,GAAG,IAAI,CAAC,SAAS,GAAG,IAAI,CAAC,SAAS,GAAG,IAAI,CAAC,SAAS,CAAC;IACvF,IAAI,YAAY,GAAG,eAAe,GAAG,eAAe;QAAE,OAAO,KAAK,CAAC;IACnE,OAAO,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,eAAe,CAAC,IAAI,gBAAgB,CAAC;AAC5D,CAAC;AAED,SAAS,uBAAuB,CAAC,KAA+B,EAAE,SAAiB;IACjF,MAAM,IAAI,GAAG,iBAAiB,CAAC,KAAK,EAAE,SAAS,CAAC,CAAC;IACjD,IAAI,IAAI,KAAK,IAAI,IAAI,IAAI,CAAC,IAAI,KAAK,QAAQ;QAAE,IAAI,CAAC,UAAU,GAAG,CAAC,CAAC;AACnE,CAAC;AAED,qGAAqG;AACrG,uGAAuG;AACvG,yEAAyE;AACzE,SAAS,iBAAiB,CAAC,KAAqB,EAAE,OAA4B,EAAE,CAAS,EAAE,CAAS;IAClG,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC;IAC1C,MAAM,MAAM,GAAG,iBAAiB,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC;IAC3C,IAAI,KAAK,KAAK,IAAI,IAAI,MAAM,KAAK,IAAI;QAAE,OAAO;IAC9C,IAAI,KAAK,CAAC,IAAI,KAAK,QAAQ,IAAI,MAAM,CAAC,IAAI,KAAK,QAAQ;QAAE,OAAO;IAChE,MAAM,KAAK,GAAG,aAAa,CAAC,OAAO,EAAE,CAAC,CAAC,CAAC;IACxC,MAAM,KAAK,GAAG,aAAa,CAAC,OAAO,EAAE,CAAC,CAAC,CAAC;IACxC,IAAI,KAAK,KAAK,KAAK;QAAE,OAAO,CAAC,GAAG,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;AACjD,CAAC;AAED,uGAAuG;AACvG,4DAA4D;AAC5D,SAAS,aAAa,CAAC,OAA4B,EAAE,KAAa;IAChE,IAAI,IAAI,GAAG,KAAK,CAAC;IACjB,SAAS,CAAC;QACR,MAAM,MAAM,GAAG,OAAO,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;QACjC,IAAI,MAAM,KAAK,SAAS,IAAI,MAAM,KAAK,IAAI;YAAE,MAAM;QACnD,IAAI,GAAG,MAAM,CAAC;IAChB,CAAC;IACD,IAAI,IAAI,GAAG,KAAK,CAAC;IACjB,SAAS,CAAC;QACR,MAAM,MAAM,GAAG,OAAO,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;QACjC,IAAI,MAAM,KAAK,SAAS,IAAI,MAAM,KAAK,IAAI;YAAE,MAAM;QACnD,OAAO,CAAC,GAAG,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;QACxB,IAAI,GAAG,MAAM,CAAC;IAChB,CAAC;IACD,OAAO,IAAI,CAAC;AACd,CAAC"}
package/dist/jointFactories.js CHANGED
@@ -26,8 +26,8 @@ export function createPhysics2DDistanceJoint(options) {
26
26
  kind: Physics2DDistanceJointKind,
27
27
  ...createJointBase(options),
28
28
  length: options.length,
29
- stiffness: options.stiffness ?? 0,
30
- damping: options.damping ?? 0,
29
+ frequencyHz: options.frequencyHz ?? 0,
30
+ dampingRatio: options.dampingRatio ?? 0,
31
31
  };
32
32
  }
33
33
  export function createPhysics2DGearJoint(options) {
@@ -64,8 +64,8 @@ export function createPhysics2DMouseJoint(options) {
64
64
  targetX: options.targetX,
65
65
  targetY: options.targetY,
66
66
  maxForce: options.maxForce,
67
- stiffness: options.stiffness ?? 5,
68
- damping: options.damping ?? 0.7,
67
+ frequencyHz: options.frequencyHz ?? 5,
68
+ dampingRatio: options.dampingRatio ?? 0.7,
69
69
  };
70
70
  }
71
71
  export function createPhysics2DPrismaticJoint(options) {
@@ -131,8 +131,8 @@ export function createPhysics2DWheelJoint(options) {
131
131
  localAxisAX: options.localAxisAX ?? 0,
132
132
  localAxisAY: options.localAxisAY ?? 1,
133
133
  restTranslation: options.restTranslation ?? 0,
134
- stiffness: options.stiffness ?? 0,
135
- damping: options.damping ?? 0,
134
+ frequencyHz: options.frequencyHz ?? 0,
135
+ dampingRatio: options.dampingRatio ?? 0,
136
136
  enableMotor: options.enableMotor ?? false,
137
137
  motorSpeed: options.motorSpeed ?? 0,
138
138
  maxMotorTorque: options.maxMotorTorque ?? 0,
package/dist/jointFactories.js.map CHANGED
@@ -1 +1 @@
1
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package/dist/joints.d.ts CHANGED
@@ -23,6 +23,7 @@ export declare const physics2DGearJointSolver: {
23
23
  };
24
24
  export declare const physics2DMouseJointSolver: {
25
25
  usesBodyA: boolean;
26
+ keepsBodiesAwake: boolean;
26
27
  swapEnds(): boolean;
27
28
  clearAccumulatedImpulses(joint: Physics2DJoint): void;
28
29
  prepare(world: Physics2DWorld, joint: Physics2DJoint, dt: number): void;
package/dist/joints.d.ts.map CHANGED
@@ -1 +1 @@
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package/dist/joints.js CHANGED
@@ -14,7 +14,7 @@ export const Physics2DWeldJointKind = 'Weld';
14
14
  //
15
15
  // One scalar constraint along the axis between the anchors. Softness enters as a modified effective mass
16
16
  // plus a position bias rather than as a separate force: solving a spring as a constraint keeps it stable
17
- // at any stiffness, where adding a spring FORCE explodes once the stiffness times the timestep exceeds
17
+ // at any frequency, where adding a spring FORCE explodes once its response outruns the timestep
18
18
  // what the integrator can follow.
19
19
  export const physics2DDistanceJointSolver = {
20
20
  warmStart(world, joint) {
@@ -52,9 +52,9 @@ export const physics2DDistanceJointSolver = {
52
52
  }
53
53
  const mass = axisEffectiveMass(bodyA, bodyB, joint, axisScratch[0], axisScratch[1]);
54
54
  const separation = length - distance.length;
55
- if (distance.stiffness > 0) {
56
- const angular = 2 * Math.PI * distance.stiffness;
57
- const damp = 2 * mass * distance.damping * angular;
55
+ if (distance.frequencyHz > 0) {
56
+ const angular = 2 * Math.PI * distance.frequencyHz;
57
+ const damp = 2 * mass * distance.dampingRatio * angular;
58
58
  const spring = mass * angular * angular;
59
59
  const gamma = dt * (damp + dt * spring);
60
60
  jointScratch[2] = gamma > 0 ? 1 / gamma : 0;
@@ -169,6 +169,7 @@ export const physics2DGearJointSolver = {
169
169
  // bound is what keeps a dragged body from tunnelling through a wall it is pulled into.
170
170
  export const physics2DMouseJointSolver = {
171
171
  usesBodyA: false,
172
+ keepsBodiesAwake: true,
172
173
  // A mouse joint drags ONE body toward a world-space target; its other end is not a body at all, and
173
174
  // callers pass whatever index is convenient. Canonical ordering exists to fix the solve order
174
175
  // BETWEEN two bodies, so with only one body there is nothing to order and the exchange is pure
@@ -197,8 +198,8 @@ export const physics2DMouseJointSolver = {
197
198
  joint.rAX = 0;
198
199
  joint.rAY = 0;
199
200
  const mass = bodyB.inverseMass > 0 ? 1 / bodyB.inverseMass : 0;
200
- const angular = 2 * Math.PI * (mouse.stiffness > 0 ? mouse.stiffness : 5);
201
- const damp = 2 * mass * mouse.damping * angular;
201
+ const angular = 2 * Math.PI * (mouse.frequencyHz > 0 ? mouse.frequencyHz : 5);
202
+ const damp = 2 * mass * mouse.dampingRatio * angular;
202
203
  const spring = mass * angular * angular;
203
204
  const softDenominator = dt * (damp + dt * spring);
204
205
  const gamma = softDenominator > 0 ? 1 / softDenominator : 0;
@@ -746,7 +747,7 @@ export const physics2DRopeJointSolver = {
746
747
  },
747
748
  };
748
749
  // Keeps two anchors on a suspension axis while allowing relative rotation. The lateral constraint is
749
- // rigid; travel along the axis is free when stiffness is zero and becomes a damped spring otherwise.
750
+ // rigid; travel along the axis is free when frequencyHz is zero and becomes a damped spring otherwise.
750
751
  export const physics2DWheelJointSolver = {
751
752
  warmStart(world, joint) {
752
753
  const wheel = joint;
@@ -804,12 +805,12 @@ export const physics2DWheelJointSolver = {
804
805
  let springMass = 0;
805
806
  let gamma = 0;
806
807
  let springBias = 0;
807
- if (wheel.stiffness > 0 && axisDenominator > 0) {
808
+ if (wheel.frequencyHz > 0 && axisDenominator > 0) {
808
809
  const effectiveMass = 1 / axisDenominator;
809
- const angular = 2 * Math.PI * wheel.stiffness;
810
- const damping = 2 * effectiveMass * wheel.damping * angular;
810
+ const angular = 2 * Math.PI * wheel.frequencyHz;
811
+ const dampingCoefficient = 2 * effectiveMass * wheel.dampingRatio * angular;
811
812
  const spring = effectiveMass * angular * angular;
812
- const soft = dt * (damping + dt * spring);
813
+ const soft = dt * (dampingCoefficient + dt * spring);
813
814
  gamma = soft > 0 ? 1 / soft : 0;
814
815
  springBias = (translation - wheel.restTranslation) * dt * spring * gamma;
815
816
  springMass = 1 / (axisDenominator + gamma);
package/dist/joints.js.map CHANGED
@@ -1 +1 @@
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package/dist/world.d.ts CHANGED
@@ -1,12 +1,20 @@
1
1
  import type { CollisionShape, Physics2DCollisionFilter, Physics2DCollider, Physics2DMaterial, Physics2DSolverConfig, Physics2DWorld, RigidBody2D, SpatialIndexBackend } from '@flighthq/types/contract';
2
2
  export declare function addPhysics2DBody(world: Physics2DWorld, body: RigidBody2D): RigidBody2D;
3
3
  export declare function addPhysics2DCollider(world: Physics2DWorld, body: RigidBody2D, collider: Physics2DCollider): Physics2DCollider;
4
+ export declare function applyPhysics2DForce(body: RigidBody2D, forceX: number, forceY: number): boolean;
5
+ export declare function applyPhysics2DForceAtPoint(body: RigidBody2D, forceX: number, forceY: number, pointX: number, pointY: number): boolean;
6
+ export declare function applyPhysics2DLinearImpulse(body: RigidBody2D, impulseX: number, impulseY: number): boolean;
7
+ export declare function applyPhysics2DLinearImpulseAtPoint(body: RigidBody2D, impulseX: number, impulseY: number, pointX: number, pointY: number): boolean;
8
+ export declare function applyPhysics2DTorque(body: RigidBody2D, torque: number): boolean;
4
9
  export declare function createPhysics2DCollider(local: CollisionShape, material: Physics2DMaterial, sensor?: boolean, filter?: Readonly<Physics2DCollisionFilter>): Physics2DCollider;
5
10
  export declare function createPhysics2DSolverConfig(): Physics2DSolverConfig;
6
11
  export declare function createPhysics2DWorld(gravityX?: number, gravityY?: number, index?: SpatialIndexBackend): Physics2DWorld;
7
12
  export declare function createRigidBody2D(type: RigidBody2D['type'], x: number, y: number, angle?: number): RigidBody2D;
8
13
  export declare function findPhysics2DBody(world: Readonly<Physics2DWorld>, index: number): RigidBody2D | null;
14
+ export declare function invalidatePhysics2DCollider(world: Physics2DWorld, body: RigidBody2D, collider: Physics2DCollider): boolean;
9
15
  export declare function isPhysics2DPairOrdered(a: Readonly<RigidBody2D>, b: Readonly<RigidBody2D>): boolean;
10
16
  export declare function removePhysics2DBody(world: Physics2DWorld, body: Readonly<RigidBody2D>): boolean;
11
17
  export declare function removePhysics2DCollider(world: Physics2DWorld, body: RigidBody2D, collider: Readonly<Physics2DCollider>): boolean;
18
+ export declare function setPhysics2DBodyTransform(world: Physics2DWorld, body: RigidBody2D, x: number, y: number, angle: number): boolean;
19
+ export declare function setPhysics2DBodyType(world: Physics2DWorld, body: RigidBody2D, type: RigidBody2D['type']): boolean;
12
20
  //# sourceMappingURL=world.d.ts.map
package/dist/world.d.ts.map CHANGED
@@ -1 +1 @@
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