@flighthq/physics2d 0.3.0-next.1595.4d49b41 → 0.3.0-next.1601.12b771e

package/dist/explainPhysics2DStep.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"explainPhysics2DStep.d.ts","sourceRoot":"","sources":["../src/explainPhysics2DStep.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,wBAAwB,EAAE,cAAc,EAAE,MAAM,0BAA0B,CAAC;AAezF,wBAAgB,oBAAoB,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,EAAE,EAAE,EAAE,MAAM,GAAG,wBAAwB,CAkC1G"}

package/dist/explainPhysics2DStep.js

@@ -1,15 +1,37 @@
+import { isPhysics2DBodyStateValid, isPhysics2DContactStateValid, isPhysics2DGravityValid, isPhysics2DJointStateValid, isPhysics2DPreviousTimestepValid, isPhysics2DSolverConfigValid, isPhysics2DTimestepValid, } from './stepValidation';
 // 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 bodyStateValid = isPhysics2DBodyStateValid(world);
+    const contactStateValid = isPhysics2DContactStateValid(world);
+    const gravityValid = isPhysics2DGravityValid(world);
+    const jointStateValid = isPhysics2DJointStateValid(world);
+    const previousTimestepValid = isPhysics2DPreviousTimestepValid(world);
+    const solverConfigValid = isPhysics2DSolverConfigValid(world.config);
+    const timestepValid = isPhysics2DTimestepValid(dt);
     const velocityIterationsValid = Number.isSafeInteger(world.config.velocityIterations) && world.config.velocityIterations >= 0;
     const positionIterationsValid = Number.isSafeInteger(world.config.positionIterations) && world.config.positionIterations >= 0;
+    const ready = bodyStateValid &&
+        contactStateValid &&
+        gravityValid &&
+        jointStateValid &&
+        previousTimestepValid &&
+        solverConfigValid &&
+        timestepValid &&
+        velocityIterationsValid &&
+        positionIterationsValid;
     return {
+        bodyStateValid,
+        contactStateValid,
+        gravityValid,
+        jointStateValid,
         timestepValid,
         velocityIterationsValid,
         positionIterationsValid,
-        status: timestepValid && velocityIterationsValid && positionIterationsValid ? 'ready' : 'invalid-step',
+        previousTimestepValid,
+        solverConfigValid,
+        status: ready ? 'ready' : 'invalid-step',
     };
 }
 //# sourceMappingURL=explainPhysics2DStep.js.map

package/dist/explainPhysics2DStep.js.map

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

@@ -5,7 +5,7 @@ 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 { addPhysics2DJoint, getPhysics2DJointSolver, invalidatePhysics2DJoint, registerPhysics2DJointSolver, removePhysics2DJoint, } from './jointRegistry';
 export { computePhysics2DColliderMassData, updateRigidBody2DMassData } from './massProperties';
 export { registerBuiltInPhysics2DJointSolvers } from './registerBuiltInPhysics2DJointSolvers';
 export { applyPhysics2DImpulse, relativeNormalVelocity, solvePhysics2DContacts, solvePhysics2DContactsOnce, warmStartPhysics2DContacts, } from './solver';

package/dist/index.d.ts.map

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package/dist/index.js

@@ -5,7 +5,7 @@ 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 { addPhysics2DJoint, getPhysics2DJointSolver, invalidatePhysics2DJoint, registerPhysics2DJointSolver, removePhysics2DJoint, } from './jointRegistry';
 export { computePhysics2DColliderMassData, updateRigidBody2DMassData } from './massProperties';
 export { registerBuiltInPhysics2DJointSolvers } from './registerBuiltInPhysics2DJointSolvers';
 export { applyPhysics2DImpulse, relativeNormalVelocity, solvePhysics2DContacts, solvePhysics2DContactsOnce, warmStartPhysics2DContacts, } from './solver';

package/dist/index.js.map

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package/dist/jointRegistry.d.ts

@@ -1,6 +1,7 @@
 import type { Physics2DJoint, Physics2DJointKind, Physics2DJointSolver, Physics2DWorld } from '@flighthq/types/contract';
 export declare function addPhysics2DJoint(world: Physics2DWorld, joint: Physics2DJoint): Physics2DJoint;
 export declare function getPhysics2DJointSolver(world: Readonly<Physics2DWorld>, kind: Physics2DJointKind): Physics2DJointSolver | null;
+export declare function invalidatePhysics2DJoint(world: Physics2DWorld, joint: Physics2DJoint): boolean;
 export declare function registerPhysics2DJointSolver(world: Physics2DWorld, kind: Physics2DJointKind, solver: Physics2DJointSolver): void;
 export declare function removePhysics2DJoint(world: Physics2DWorld, joint: Readonly<Physics2DJoint>): boolean;
 //# sourceMappingURL=jointRegistry.d.ts.map

package/dist/jointRegistry.d.ts.map

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

@@ -1,4 +1,5 @@
 import { wakePhysics2DBody } from './islands';
+import { physics2DJointOwners } from './ownership';
 import { findPhysics2DBody, isPhysics2DPairOrdered } from './world';
 // Adds `joint` to `world` under the same canonical body ordering contacts use, swapping its two ends when
 // the caller supplied them the other way round.
@@ -10,6 +11,9 @@ import { findPhysics2DBody, isPhysics2DPairOrdered } from './world';
 // world. The anchors and lever arms swap with the bodies — a joint whose ends were exchanged without its
 // anchors would attach to the wrong points and hold the pair in a pose nobody asked for.
 export function addPhysics2DJoint(world, joint) {
+    if (physics2DJointOwners.has(joint) || world.joints.includes(joint)) {
+        throw new Error('Cannot add a physics joint that already belongs to a physics world');
+    }
     // The kind decides how to reverse itself, because the registry cannot know which of a joint's fields
     // carry a direction — see _canonicalizePhysics2DJointEnds.
     // Only canonicalize when the kind can be consulted. A joint whose solver is not registered yet is
@@ -22,6 +26,7 @@ export function addPhysics2DJoint(world, joint) {
     if (active)
         _canonicalizePhysics2DJointEnds(world, joint);
     world.joints.push(joint);
+    physics2DJointOwners.set(joint, world);
     // Adding an active constraint changes what both bodies may do THIS step. A sleeping pair would skip
     // prepare and solve forever unless something unrelated happened to wake it. Unknown kinds remain
     // inert until registration, and are woken on that activation path instead.
@@ -58,6 +63,20 @@ function _canonicalizePhysics2DJointEnds(world, joint) {
 export function getPhysics2DJointSolver(world, kind) {
     return world.jointSolvers.get(kind) ?? null;
 }
+// Discards solver-owned state after a stored joint's authored parameters change. A cached impulse is an
+// answer to the previous constraint equation; reapplying it after an anchor, axis, spring, motor, or
+// limit changes can kick both bodies before the new equation gets its first iteration. The solver clears
+// any kind-specific accumulators, while the registry owns the common block and wake transition.
+export function invalidatePhysics2DJoint(world, joint) {
+    if (physics2DJointOwners.get(joint) !== world || !world.joints.includes(joint))
+        return false;
+    getPhysics2DJointSolver(world, joint.kind)?.clearAccumulatedImpulses?.(joint);
+    joint.impulse0 = 0;
+    joint.impulse1 = 0;
+    joint.impulse2 = 0;
+    _wakePhysics2DJointBodies(world, joint);
+    return true;
+}
 // Registers `solver` for `kind` on this world. Last write wins, so a caller may replace a built-in with
 // its own — collisions are avoided by the vendor-prefix convention (bare names reserved for built-ins),
 // not by a guard that would make overriding impossible.
@@ -88,6 +107,7 @@ export function removePhysics2DJoint(world, joint) {
     if (getPhysics2DJointSolver(world, joint.kind) !== null)
         _wakePhysics2DJointBodies(world, joint);
     world.joints.splice(at, 1);
+    physics2DJointOwners.delete(joint);
     return true;
 }
 function _wakePhysics2DJointBodies(world, joint) {

package/dist/jointRegistry.js.map

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package/dist/joints.d.ts

@@ -30,6 +30,7 @@ export declare const physics2DMouseJointSolver: {
     solve(world: Physics2DWorld, joint: Physics2DJoint): void;
 };
 export declare const physics2DPrismaticJointSolver: {
+    scaleAccumulatedImpulses(joint: Physics2DJoint, timestepRatio: number): void;
     warmStart(world: Physics2DWorld, joint: Physics2DJoint): void;
     clearAccumulatedImpulses(joint: Physics2DJoint): void;
     swapEnds(joint: Physics2DJoint): boolean;
@@ -44,6 +45,7 @@ export declare const physics2DPulleyJointSolver: {
     solve(world: Physics2DWorld, joint: Physics2DJoint): void;
 };
 export declare const physics2DRevoluteJointSolver: {
+    scaleAccumulatedImpulses(joint: Physics2DJoint, timestepRatio: number): void;
     warmStart(world: Physics2DWorld, joint: Physics2DJoint): void;
     clearAccumulatedImpulses(joint: Physics2DJoint): void;
     swapEnds(joint: Physics2DJoint): boolean;
@@ -57,6 +59,7 @@ export declare const physics2DRopeJointSolver: {
     solve(world: Physics2DWorld, joint: Physics2DJoint): void;
 };
 export declare const physics2DWheelJointSolver: {
+    scaleAccumulatedImpulses(joint: Physics2DJoint, timestepRatio: number): void;
     warmStart(world: Physics2DWorld, joint: Physics2DJoint): void;
     clearAccumulatedImpulses(joint: Physics2DJoint): void;
     swapEnds(): boolean;

package/dist/joints.d.ts.map

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

@@ -263,6 +263,10 @@ export const physics2DMouseJointSolver = {
 // an off-centre perpendicular impulse also rotates the bodies. The axis lane is independent and may be
 // free, motor-driven, or bounded by translation limits.
 export const physics2DPrismaticJointSolver = {
+    scaleAccumulatedImpulses(joint, timestepRatio) {
+        const prismatic = joint;
+        prismatic.motorImpulse = (prismatic.motorImpulse ?? 0) * timestepRatio;
+    },
     warmStart(world, joint) {
         const prismatic = joint;
         const state = jointStateScratch.get(joint);
@@ -532,6 +536,10 @@ export const physics2DPulleyJointSolver = {
 // independently: solving x then y lets each undo part of the other's correction, and a hinge under load
 // visibly creeps.
 export const physics2DRevoluteJointSolver = {
+    scaleAccumulatedImpulses(joint, timestepRatio) {
+        const revolute = joint;
+        revolute.motorImpulse = (revolute.motorImpulse ?? 0) * timestepRatio;
+    },
     warmStart(world, joint) {
         const bodyA = findPhysics2DBody(world, joint.bodyA);
         const bodyB = findPhysics2DBody(world, joint.bodyB);
@@ -749,6 +757,10 @@ export const physics2DRopeJointSolver = {
 // Keeps two anchors on a suspension axis while allowing relative rotation. The lateral constraint is
 // rigid; travel along the axis is free when frequencyHz is zero and becomes a damped spring otherwise.
 export const physics2DWheelJointSolver = {
+    scaleAccumulatedImpulses(joint, timestepRatio) {
+        const wheel = joint;
+        wheel.motorImpulse = (wheel.motorImpulse ?? 0) * timestepRatio;
+    },
     warmStart(world, joint) {
         const wheel = joint;
         const state = jointStateScratch.get(joint);

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package/dist/ownership.d.ts

@@ -0,0 +1,5 @@
+import type { Physics2DCollider, Physics2DJoint, Physics2DWorld, RigidBody2D } from '@flighthq/types/contract';
+export declare const physics2DBodyOwners: WeakMap<RigidBody2D, Physics2DWorld>;
+export declare const physics2DColliderOwners: WeakMap<Physics2DCollider, RigidBody2D>;
+export declare const physics2DJointOwners: WeakMap<Physics2DJoint, Physics2DWorld>;
+//# sourceMappingURL=ownership.d.ts.map

package/dist/ownership.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"ownership.d.ts","sourceRoot":"","sources":["../src/ownership.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,iBAAiB,EAAE,cAAc,EAAE,cAAc,EAAE,WAAW,EAAE,MAAM,0BAA0B,CAAC;AAM/G,eAAO,MAAM,mBAAmB,sCAA6C,CAAC;AAC9E,eAAO,MAAM,uBAAuB,yCAAgD,CAAC;AACrF,eAAO,MAAM,oBAAoB,yCAAgD,CAAC"}

package/dist/ownership.js

@@ -0,0 +1,8 @@
+// Ownership is runtime state rather than serialized entity data. Weak keys make membership follow the
+// explicit add/remove lifecycle without keeping a detached entity alive, and map directly to an owner
+// pointer in the native port. They prevent the same mutable body, collider scratch, or impulse cache
+// from participating in two solve lists at once.
+export const physics2DBodyOwners = new WeakMap();
+export const physics2DColliderOwners = new WeakMap();
+export const physics2DJointOwners = new WeakMap();
+//# sourceMappingURL=ownership.js.map

package/dist/ownership.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"ownership.js","sourceRoot":"","sources":["../src/ownership.ts"],"names":[],"mappings":"AAEA,sGAAsG;AACtG,sGAAsG;AACtG,qGAAqG;AACrG,iDAAiD;AACjD,MAAM,CAAC,MAAM,mBAAmB,GAAG,IAAI,OAAO,EAA+B,CAAC;AAC9E,MAAM,CAAC,MAAM,uBAAuB,GAAG,IAAI,OAAO,EAAkC,CAAC;AACrF,MAAM,CAAC,MAAM,oBAAoB,GAAG,IAAI,OAAO,EAAkC,CAAC"}

package/dist/step.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"step.d.ts","sourceRoot":"","sources":["../src/step.ts"],"names":[],"mappings":"AAUA,OAAO,KAAK,EAOV,cAAc,EAGf,MAAM,0BAA0B,CAAC;AAiWlC,wBAAgB,aAAa,CAAC,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CA4IrE"}
+{"version":3,"file":"step.d.ts","sourceRoot":"","sources":["../src/step.ts"],"names":[],"mappings":"AAUA,OAAO,KAAK,EAOV,cAAc,EAGf,MAAM,0BAA0B,CAAC;AA0WlC,wBAAgB,aAAa,CAAC,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CAmJrE"}

package/dist/step.js

@@ -3,6 +3,7 @@ import { synchronizePhysics2DBroadphase } from './broadphase';
 import { updatePhysics2DColliderWorldShape } from './colliderTransform';
 import { isRigidBody2DPairAwake, updatePhysics2DSleep } from './islands';
 import { relativeNormalVelocity, solvePhysics2DContactsOnce, warmStartPhysics2DContacts } from './solver';
+import { isPhysics2DBodyStateValid, isPhysics2DContactStateValid, isPhysics2DGravityValid, isPhysics2DJointStateValid, isPhysics2DPreviousTimestepValid, isPhysics2DSolverConfigValid, isPhysics2DTimestepValid, } from './stepValidation';
 import { findPhysics2DBody, isPhysics2DPairOrdered } from './world';
 // Builds this step's contact set from the broadphase pairs, preserving each surviving contact's cached
 // impulses.
@@ -307,16 +308,22 @@ function effectiveMass(bodyA, bodyB, rAX, rAY, rBX, rBY, axisX, axisY) {
 // constraints applied rather than moving them and correcting afterwards.
 export function stepPhysics2D(world, dt) {
     const config = world.config;
-    if (!Number.isFinite(dt) ||
-        !(dt > 0) ||
+    if (!isPhysics2DTimestepValid(dt) ||
         !Number.isSafeInteger(config.velocityIterations) ||
         config.velocityIterations < 0 ||
         !Number.isSafeInteger(config.positionIterations) ||
-        config.positionIterations < 0) {
+        config.positionIterations < 0 ||
+        !isPhysics2DSolverConfigValid(config) ||
+        !isPhysics2DGravityValid(world) ||
+        !isPhysics2DPreviousTimestepValid(world) ||
+        !isPhysics2DBodyStateValid(world) ||
+        !isPhysics2DContactStateValid(world) ||
+        !isPhysics2DJointStateValid(world)) {
         return;
     }
     synchronizePhysics2DBroadphase(world);
     buildPhysics2DContacts(world);
+    scalePhysics2DWarmStartCaches(world, dt);
     const preSolve = world.contactHooks.preSolve;
     if (preSolve !== null) {
         for (const contact of world.contacts) {
@@ -445,6 +452,30 @@ export function stepPhysics2D(world, dt) {
         body.forceY = 0;
         body.torque = 0;
     }
+    world.previousTimestep = dt;
+}
+// Accumulated impulses have force*time units. Reusing one unchanged across a different time interval
+// applies the wrong force before the first iteration gets a chance to correct it, which is most visible
+// as a stack or motor kicking when a frame changes cadence. A non-finite ratio clears the cache rather
+// than allowing an extreme pair of otherwise-valid positive timesteps to seed infinity.
+function scalePhysics2DWarmStartCaches(world, dt) {
+    const previous = world.previousTimestep;
+    if (!(previous > 0) || previous === dt)
+        return;
+    const divided = dt / previous;
+    const timestepRatio = Number.isFinite(divided) ? divided : 0;
+    for (const contact of world.contacts) {
+        for (let i = 0; i < contact.pointCount; i++) {
+            contact.points[i].normalImpulse *= timestepRatio;
+            contact.points[i].tangentImpulse *= timestepRatio;
+        }
+    }
+    for (const joint of world.joints) {
+        joint.impulse0 *= timestepRatio;
+        joint.impulse1 *= timestepRatio;
+        joint.impulse2 *= timestepRatio;
+        world.jointSolvers.get(joint.kind)?.scaleAccumulatedImpulses?.(joint, timestepRatio);
+    }
 }
 function createPhysics2DContactPoint() {
     return {