@flighthq/physics2d 0.3.0-next.1601.12b771e → 0.3.0-next.1665.6235922

package/dist/broadphase.d.ts

@@ -1,3 +1,4 @@
 import type { Physics2DWorld } from '@flighthq/types/contract';
 export declare function synchronizePhysics2DBroadphase(world: Physics2DWorld): void;
+export declare function synchronizePhysics2DSweptBroadphase(world: Physics2DWorld, dt: number): void;
 //# sourceMappingURL=broadphase.d.ts.map

package/dist/broadphase.d.ts.map

@@ -1 +1 @@
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+{"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,CAE1E;AAKD,wBAAgB,mCAAmC,CAAC,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CAE3F"}

package/dist/broadphase.js

@@ -3,11 +3,21 @@ import { updatePhysics2DColliderWorldShape, writePhysics2DColliderBounds } from
 // 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) {
+    synchronizePhysics2DBroadphaseBounds(world, 0);
+}
+// Publishes the union of every body's current and linearly translated bounds for one CCD interval.
+// The ordinary index is reused deliberately: a step queries the candidate pairs immediately and then
+// restores current bounds, avoiding a second hidden index while retaining the backend swap point.
+export function synchronizePhysics2DSweptBroadphase(world, dt) {
+    synchronizePhysics2DBroadphaseBounds(world, dt);
+}
+function synchronizePhysics2DBroadphaseBounds(world, dt) {
     for (const body of world.bodies) {
         let minX = Infinity;
         let minY = Infinity;
         let maxX = -Infinity;
         let maxY = -Infinity;
+        let rotationRadiusSquared = 0;
         for (const collider of body.colliders) {
             updatePhysics2DColliderWorldShape(collider, body);
             writePhysics2DColliderBounds(collider, boundsScratch);
@@ -19,6 +29,11 @@ export function synchronizePhysics2DBroadphase(world) {
                 maxX = boundsScratch.maxX;
             if (boundsScratch.maxY > maxY)
                 maxY = boundsScratch.maxY;
+            const radiusX = Math.max(Math.abs(boundsScratch.minX - body.x), Math.abs(boundsScratch.maxX - body.x));
+            const radiusY = Math.max(Math.abs(boundsScratch.minY - body.y), Math.abs(boundsScratch.maxY - body.y));
+            const radiusSquared = radiusX * radiusX + radiusY * radiusY;
+            if (radiusSquared > rotationRadiusSquared)
+                rotationRadiusSquared = radiusSquared;
         }
         if (minX > maxX) {
             // No collider produced bounds, so there is nothing to index. Withdraw rather than skip: the id
@@ -26,6 +41,30 @@ export function synchronizePhysics2DBroadphase(world) {
             world.index.removeSpatialObject(body.index);
             continue;
         }
+        if (dt > 0 && body.type !== 'static' && !body.sleeping) {
+            const translationX = body.velocityX * dt;
+            const translationY = body.velocityY * dt;
+            if (body.angularVelocity !== 0) {
+                // A circle around the body origin encloses every orientation of every collider. Sweeping that
+                // circle along the origin's translation is conservative for arbitrary rotation, including an
+                // offset circle whose centre follows an arc rather than the linear path used by shape sweep.
+                const radius = Math.sqrt(rotationRadiusSquared);
+                minX = Math.min(minX, body.x - radius, body.x + translationX - radius);
+                minY = Math.min(minY, body.y - radius, body.y + translationY - radius);
+                maxX = Math.max(maxX, body.x + radius, body.x + translationX + radius);
+                maxY = Math.max(maxY, body.y + radius, body.y + translationY + radius);
+            }
+            else {
+                if (translationX < 0)
+                    minX += translationX;
+                else
+                    maxX += translationX;
+                if (translationY < 0)
+                    minY += translationY;
+                else
+                    maxY += translationY;
+            }
+        }
         // 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.

package/dist/broadphase.js.map

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package/dist/contract.d.ts

@@ -1,13 +1,14 @@
 export * from './colliderTransform';
 export * from './explainPhysics2DJoints';
 export * from './explainPhysics2DStep';
-export * from './islands';
+export { isRigidBody2DPairAwake, updatePhysics2DSleep, wakePhysics2DBody } from './islands';
 export * from './jointFactories';
 export * from './jointRegistry';
 export * from './joints';
 export * from './massProperties';
+export * from './material';
 export * from './registerBuiltInPhysics2DJointSolvers';
-export * from './solver';
+export { applyPhysics2DImpulse, relativeNormalVelocity, solvePhysics2DContacts, solvePhysics2DContactsOnce, warmStartPhysics2DContacts, } from './solver';
 export * from './step';
 export * from './world';
 export * from './worldQueries';

package/dist/contract.d.ts.map

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

@@ -1,13 +1,14 @@
 export * from './colliderTransform';
 export * from './explainPhysics2DJoints';
 export * from './explainPhysics2DStep';
-export * from './islands';
+export { isRigidBody2DPairAwake, updatePhysics2DSleep, wakePhysics2DBody } from './islands';
 export * from './jointFactories';
 export * from './jointRegistry';
 export * from './joints';
 export * from './massProperties';
+export * from './material';
 export * from './registerBuiltInPhysics2DJointSolvers';
-export * from './solver';
+export { applyPhysics2DImpulse, relativeNormalVelocity, solvePhysics2DContacts, solvePhysics2DContactsOnce, warmStartPhysics2DContacts, } from './solver';
 export * from './step';
 export * from './world';
 export * from './worldQueries';

package/dist/contract.js.map

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package/dist/index.d.ts

@@ -7,9 +7,10 @@ export { createPhysics2DDistanceJoint, createPhysics2DGearJoint, createPhysics2D
 export { Physics2DDistanceJointKind, Physics2DGearJointKind, Physics2DMouseJointKind, Physics2DPrismaticJointKind, Physics2DPulleyJointKind, Physics2DRevoluteJointKind, Physics2DRopeJointKind, Physics2DWheelJointKind, Physics2DWeldJointKind, physics2DDistanceJointSolver, physics2DGearJointSolver, physics2DMouseJointSolver, physics2DPrismaticJointSolver, physics2DPulleyJointSolver, physics2DRevoluteJointSolver, physics2DRopeJointSolver, physics2DWheelJointSolver, physics2DWeldJointSolver, } from './joints';
 export { addPhysics2DJoint, getPhysics2DJointSolver, invalidatePhysics2DJoint, registerPhysics2DJointSolver, removePhysics2DJoint, } from './jointRegistry';
 export { computePhysics2DColliderMassData, updateRigidBody2DMassData } from './massProperties';
+export { mixPhysics2DFriction, mixPhysics2DRestitution } from './material';
 export { registerBuiltInPhysics2DJointSolvers } from './registerBuiltInPhysics2DJointSolvers';
 export { applyPhysics2DImpulse, relativeNormalVelocity, solvePhysics2DContacts, solvePhysics2DContactsOnce, warmStartPhysics2DContacts, } from './solver';
 export { stepPhysics2D } from './step';
-export { addPhysics2DBody, addPhysics2DCollider, applyPhysics2DForce, applyPhysics2DForceAtPoint, applyPhysics2DLinearImpulse, applyPhysics2DLinearImpulseAtPoint, applyPhysics2DTorque, findPhysics2DBody, createPhysics2DCollider, createPhysics2DSolverConfig, createPhysics2DWorld, createRigidBody2D, invalidatePhysics2DCollider, isPhysics2DPairOrdered, removePhysics2DBody, removePhysics2DCollider, setPhysics2DBodyTransform, setPhysics2DBodyType, } from './world';
-export { createPhysics2DQueryResult, createPhysics2DRayResult, queryPhysics2DPoint, queryPhysics2DRay, queryPhysics2DRegion, } from './worldQueries';
+export { addPhysics2DBody, addPhysics2DCollider, applyPhysics2DForce, applyPhysics2DForceAtPoint, applyPhysics2DLinearImpulse, applyPhysics2DLinearImpulseAtPoint, applyPhysics2DTorque, findPhysics2DBody, createPhysics2DCollider, createPhysics2DSolverConfig, createPhysics2DWorld, createRigidBody2D, hydratePhysics2DWorld, invalidatePhysics2DCollider, isPhysics2DPairOrdered, removePhysics2DBody, removePhysics2DCollider, setPhysics2DBodyTransform, setPhysics2DBodyFixedRotation, setPhysics2DBodyBullet, setPhysics2DBodySleepEnabled, setPhysics2DBodyType, Physics2DWorldVersion, } from './world';
+export { createPhysics2DQueryFilter, createPhysics2DQueryResult, createPhysics2DRayResult, queryPhysics2DPoint, queryPhysics2DRay, queryPhysics2DRayClosest, queryPhysics2DRegion, } from './worldQueries';
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,OAAO,EACL,iCAAiC,EACjC,iCAAiC,EACjC,4BAA4B,GAC7B,MAAM,qBAAqB,CAAC;AAC7B,OAAO,EAAE,4BAA4B,EAAE,2BAA2B,EAAE,MAAM,iBAAiB,CAAC;AAC5F,OAAO,EAAE,sBAAsB,EAAE,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,wBAAwB,EACxB,4BAA4B,EAC5B,oBAAoB,GACrB,MAAM,iBAAiB,CAAC;AACzB,OAAO,EAAE,gCAAgC,EAAE,yBAAyB,EAAE,MAAM,kBAAkB,CAAC;AAC/F,OAAO,EAAE,oBAAoB,EAAE,uBAAuB,EAAE,MAAM,YAAY,CAAC;AAC3E,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,qBAAqB,EACrB,2BAA2B,EAC3B,sBAAsB,EACtB,mBAAmB,EACnB,uBAAuB,EACvB,yBAAyB,EACzB,6BAA6B,EAC7B,sBAAsB,EACtB,4BAA4B,EAC5B,oBAAoB,EACpB,qBAAqB,GACtB,MAAM,SAAS,CAAC;AACjB,OAAO,EACL,0BAA0B,EAC1B,0BAA0B,EAC1B,wBAAwB,EACxB,mBAAmB,EACnB,iBAAiB,EACjB,wBAAwB,EACxB,oBAAoB,GACrB,MAAM,gBAAgB,CAAC"}

package/dist/index.js

@@ -7,9 +7,10 @@ export { createPhysics2DDistanceJoint, createPhysics2DGearJoint, createPhysics2D
 export { Physics2DDistanceJointKind, Physics2DGearJointKind, Physics2DMouseJointKind, Physics2DPrismaticJointKind, Physics2DPulleyJointKind, Physics2DRevoluteJointKind, Physics2DRopeJointKind, Physics2DWheelJointKind, Physics2DWeldJointKind, physics2DDistanceJointSolver, physics2DGearJointSolver, physics2DMouseJointSolver, physics2DPrismaticJointSolver, physics2DPulleyJointSolver, physics2DRevoluteJointSolver, physics2DRopeJointSolver, physics2DWheelJointSolver, physics2DWeldJointSolver, } from './joints';
 export { addPhysics2DJoint, getPhysics2DJointSolver, invalidatePhysics2DJoint, registerPhysics2DJointSolver, removePhysics2DJoint, } from './jointRegistry';
 export { computePhysics2DColliderMassData, updateRigidBody2DMassData } from './massProperties';
+export { mixPhysics2DFriction, mixPhysics2DRestitution } from './material';
 export { registerBuiltInPhysics2DJointSolvers } from './registerBuiltInPhysics2DJointSolvers';
 export { applyPhysics2DImpulse, relativeNormalVelocity, solvePhysics2DContacts, solvePhysics2DContactsOnce, warmStartPhysics2DContacts, } from './solver';
 export { stepPhysics2D } from './step';
-export { addPhysics2DBody, addPhysics2DCollider, applyPhysics2DForce, applyPhysics2DForceAtPoint, applyPhysics2DLinearImpulse, applyPhysics2DLinearImpulseAtPoint, applyPhysics2DTorque, findPhysics2DBody, createPhysics2DCollider, createPhysics2DSolverConfig, createPhysics2DWorld, createRigidBody2D, invalidatePhysics2DCollider, isPhysics2DPairOrdered, removePhysics2DBody, removePhysics2DCollider, setPhysics2DBodyTransform, setPhysics2DBodyType, } from './world';
-export { createPhysics2DQueryResult, createPhysics2DRayResult, queryPhysics2DPoint, queryPhysics2DRay, queryPhysics2DRegion, } from './worldQueries';
+export { addPhysics2DBody, addPhysics2DCollider, applyPhysics2DForce, applyPhysics2DForceAtPoint, applyPhysics2DLinearImpulse, applyPhysics2DLinearImpulseAtPoint, applyPhysics2DTorque, findPhysics2DBody, createPhysics2DCollider, createPhysics2DSolverConfig, createPhysics2DWorld, createRigidBody2D, hydratePhysics2DWorld, invalidatePhysics2DCollider, isPhysics2DPairOrdered, removePhysics2DBody, removePhysics2DCollider, setPhysics2DBodyTransform, setPhysics2DBodyFixedRotation, setPhysics2DBodyBullet, setPhysics2DBodySleepEnabled, setPhysics2DBodyType, Physics2DWorldVersion, } from './world';
+export { createPhysics2DQueryFilter, createPhysics2DQueryResult, createPhysics2DRayResult, queryPhysics2DPoint, queryPhysics2DRay, queryPhysics2DRayClosest, queryPhysics2DRegion, } from './worldQueries';
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -1 +1 @@
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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,OAAO,EACL,iCAAiC,EACjC,iCAAiC,EACjC,4BAA4B,GAC7B,MAAM,qBAAqB,CAAC;AAC7B,OAAO,EAAE,4BAA4B,EAAE,2BAA2B,EAAE,MAAM,iBAAiB,CAAC;AAC5F,OAAO,EAAE,sBAAsB,EAAE,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,wBAAwB,EACxB,4BAA4B,EAC5B,oBAAoB,GACrB,MAAM,iBAAiB,CAAC;AACzB,OAAO,EAAE,gCAAgC,EAAE,yBAAyB,EAAE,MAAM,kBAAkB,CAAC;AAC/F,OAAO,EAAE,oBAAoB,EAAE,uBAAuB,EAAE,MAAM,YAAY,CAAC;AAC3E,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,qBAAqB,EACrB,2BAA2B,EAC3B,sBAAsB,EACtB,mBAAmB,EACnB,uBAAuB,EACvB,yBAAyB,EACzB,6BAA6B,EAC7B,sBAAsB,EACtB,4BAA4B,EAC5B,oBAAoB,EACpB,qBAAqB,GACtB,MAAM,SAAS,CAAC;AACjB,OAAO,EACL,0BAA0B,EAC1B,0BAA0B,EAC1B,wBAAwB,EACxB,mBAAmB,EACnB,iBAAiB,EACjB,wBAAwB,EACxB,oBAAoB,GACrB,MAAM,gBAAgB,CAAC"}

package/dist/islands.d.ts

@@ -1,4 +1,12 @@
 import type { Physics2DWorld, RigidBody2D } from '@flighthq/types/contract';
+/** Rebuilds deterministic contiguous lists for the awake solve islands.
+ *
+ *  The sleep reduction already owns the union-find graph, so solving consumes that same graph rather
+ *  than discovering connectivity a second way. Roots are admitted in body order, and bodies,
+ *  contacts, and joints retain their canonical world-list order inside each root. Disconnected islands
+ *  therefore cannot perturb one another's iteration order, and sleeping constraints cost no solver
+ *  scans. Every array and map is world-owned high-water workspace and is cleared/refilled in place. */
+export declare function buildPhysics2DSolveIslands(world: Physics2DWorld): void;
 /** Whether a constraint between these two bodies still has anything to solve.
  *
  *  A constraint is live only while at least one of its ends can still move this step. Two sleeping

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;AAK5E;;;;;;uGAMuG;AACvG,wBAAgB,0BAA0B,CAAC,KAAK,EAAE,cAAc,GAAG,IAAI,CA6EtE;AAED;;;;;;;;;;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,CAoF5E;AAED;;;;;sGAKsG;AACtG,wBAAgB,iBAAiB,CAAC,IAAI,EAAE,WAAW,GAAG,IAAI,CAIzD"}

package/dist/islands.js

@@ -1,4 +1,92 @@
+import { assertPhysics2DBodyNotStepping } from './ownership';
 import { findPhysics2DBody } from './world';
+/** Rebuilds deterministic contiguous lists for the awake solve islands.
+ *
+ *  The sleep reduction already owns the union-find graph, so solving consumes that same graph rather
+ *  than discovering connectivity a second way. Roots are admitted in body order, and bodies,
+ *  contacts, and joints retain their canonical world-list order inside each root. Disconnected islands
+ *  therefore cannot perturb one another's iteration order, and sleeping constraints cost no solver
+ *  scans. Every array and map is world-owned high-water workspace and is cleared/refilled in place. */
+export function buildPhysics2DSolveIslands(world) {
+    const roots = world.solveIslandRoots;
+    const byRoot = world.solveIslandByRoot;
+    const bodyCounts = world.solveIslandBodyCounts;
+    const contactCounts = world.solveIslandContactCounts;
+    const jointCounts = world.solveIslandJointCounts;
+    roots.length = 0;
+    byRoot.clear();
+    bodyCounts.length = 0;
+    contactCounts.length = 0;
+    jointCounts.length = 0;
+    for (const body of world.bodies) {
+        if (body.type === 'static' || body.sleeping)
+            continue;
+        const root = _islandRootOf(world.islandParents, body.index);
+        let island = byRoot.get(root);
+        if (island === undefined) {
+            island = roots.length;
+            roots.push(root);
+            byRoot.set(root, island);
+            bodyCounts.push(0);
+            contactCounts.push(0);
+            jointCounts.push(0);
+        }
+        bodyCounts[island]++;
+    }
+    for (const contact of world.contacts) {
+        if (!contact.enabled || contact.sensor)
+            continue;
+        const island = _physics2DSolveIslandForPair(world, contact.bodyA, contact.bodyB);
+        if (island >= 0)
+            contactCounts[island]++;
+    }
+    for (const joint of world.joints) {
+        const solver = world.jointSolvers.get(joint.kind);
+        if (solver === undefined)
+            continue;
+        const island = solver.usesBodyA === false
+            ? _physics2DSolveIslandForBody(world, joint.bodyB)
+            : _physics2DSolveIslandForPair(world, joint.bodyA, joint.bodyB);
+        if (island >= 0)
+            jointCounts[island]++;
+    }
+    _preparePhysics2DIslandSlices(world.solveIslandBodyStarts, bodyCounts, world.solveIslandCursors);
+    _preparePhysics2DIslandSlices(world.solveIslandContactStarts, contactCounts, world.solveIslandCursors);
+    _preparePhysics2DIslandSlices(world.solveIslandJointStarts, jointCounts, world.solveIslandCursors);
+    world.solveIslandBodyIndices.length = _physics2DIslandItemCount(world.solveIslandBodyStarts, bodyCounts);
+    world.solveIslandContactIndices.length = _physics2DIslandItemCount(world.solveIslandContactStarts, contactCounts);
+    world.solveIslandJointIndices.length = _physics2DIslandItemCount(world.solveIslandJointStarts, jointCounts);
+    _copyPhysics2DIslandStarts(world.solveIslandCursors, world.solveIslandBodyStarts);
+    for (let i = 0; i < world.bodies.length; i++) {
+        const body = world.bodies[i];
+        if (body.type === 'static' || body.sleeping)
+            continue;
+        const island = byRoot.get(_islandRootOf(world.islandParents, body.index));
+        if (island !== undefined)
+            world.solveIslandBodyIndices[world.solveIslandCursors[island]++] = i;
+    }
+    _copyPhysics2DIslandStarts(world.solveIslandCursors, world.solveIslandContactStarts);
+    for (let i = 0; i < world.contacts.length; i++) {
+        const contact = world.contacts[i];
+        if (!contact.enabled || contact.sensor)
+            continue;
+        const island = _physics2DSolveIslandForPair(world, contact.bodyA, contact.bodyB);
+        if (island >= 0)
+            world.solveIslandContactIndices[world.solveIslandCursors[island]++] = i;
+    }
+    _copyPhysics2DIslandStarts(world.solveIslandCursors, world.solveIslandJointStarts);
+    for (let i = 0; i < world.joints.length; i++) {
+        const joint = world.joints[i];
+        const solver = world.jointSolvers.get(joint.kind);
+        if (solver === undefined)
+            continue;
+        const island = solver.usesBodyA === false
+            ? _physics2DSolveIslandForBody(world, joint.bodyB)
+            : _physics2DSolveIslandForPair(world, joint.bodyA, joint.bodyB);
+        if (island >= 0)
+            world.solveIslandJointIndices[world.solveIslandCursors[island]++] = i;
+    }
+}
 /** Whether a constraint between these two bodies still has anything to solve.
  *
  *  A constraint is live only while at least one of its ends can still move this step. Two sleeping
@@ -32,6 +120,24 @@ export function isRigidBody2DPairAwake(a, b) {
 export function updatePhysics2DSleep(world, dt) {
     const config = world.config;
     const bodies = world.bodies;
+    const parents = world.islandParents;
+    const islandTimers = world.islandSleepTimers;
+    parents.clear();
+    islandTimers.clear();
+    // Build the active constraint graph even when sleeping is disabled. The same union-find owns the
+    // solve islands below; clearing it and returning here would split every awake body into a singleton
+    // and assign a multi-body constraint to only the first of those artificial components.
+    for (const contact of world.contacts) {
+        if (!contact.enabled || contact.sensor)
+            continue;
+        _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);
+    }
     if (!config.allowSleeping) {
         // The mechanism is off, so nothing may be left asleep from when it was on — a body that stayed
         // asleep here would never be integrated again and would look frozen for the rest of the session.
@@ -45,6 +151,11 @@ export function updatePhysics2DSleep(world, dt) {
     for (const body of bodies) {
         if (body.type === 'static')
             continue;
+        if (!body.sleepEnabled) {
+            body.sleeping = false;
+            body.sleepTimer = 0;
+            continue;
+        }
         if (_isBodyStill(body, config.sleepLinearThreshold, config.sleepAngularThreshold)) {
             body.sleepTimer += dt;
         }
@@ -63,22 +174,7 @@ export function updatePhysics2DSleep(world, dt) {
             _keepPhysics2DBodyAwake(world, joint.bodyA);
         _keepPhysics2DBodyAwake(world, joint.bodyB);
     }
-    // Then the island reduction. `_islandRootOf` is union-find over the contact and joint graph, so the
-    // root is a stable representative for the connected component.
-    const parents = new Map();
-    for (const contact of world.contacts) {
-        if (!contact.enabled || contact.sensor)
-            continue;
-        _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.
-    const islandTimers = new Map();
     for (const body of bodies) {
         if (body.type === 'static')
             continue;
@@ -90,7 +186,7 @@ export function updatePhysics2DSleep(world, dt) {
         if (body.type === 'static')
             continue;
         const islandTimer = islandTimers.get(_islandRootOf(parents, body.index)) ?? body.sleepTimer;
-        const shouldSleep = islandTimer >= config.timeToSleep;
+        const shouldSleep = body.sleepEnabled && islandTimer >= config.timeToSleep;
         if (!shouldSleep && body.sleeping) {
             // Waking clears the timer so a woken island must earn its rest again from zero rather than
             // falling straight back asleep on the next step.
@@ -115,6 +211,7 @@ export function updatePhysics2DSleep(world, dt) {
  *  change to a sleeping body must do — applying a force, teleporting it, or removing what it rested on —
  *  since a sleeping body is skipped by integration and would otherwise ignore the change entirely. */
 export function wakePhysics2DBody(body) {
+    assertPhysics2DBodyNotStepping(body);
     body.sleeping = false;
     body.sleepTimer = 0;
 }
@@ -140,6 +237,36 @@ function _keepPhysics2DBodyAwake(world, bodyIndex) {
     if (body !== null && body.type !== 'static')
         body.sleepTimer = 0;
 }
+function _physics2DSolveIslandForBody(world, bodyIndex) {
+    const body = findPhysics2DBody(world, bodyIndex);
+    if (body === null || body.type === 'static' || body.sleeping)
+        return -1;
+    return world.solveIslandByRoot.get(_islandRootOf(world.islandParents, body.index)) ?? -1;
+}
+function _physics2DSolveIslandForPair(world, bodyA, bodyB) {
+    const islandA = _physics2DSolveIslandForBody(world, bodyA);
+    if (islandA >= 0)
+        return islandA;
+    return _physics2DSolveIslandForBody(world, bodyB);
+}
+function _preparePhysics2DIslandSlices(starts, counts, cursors) {
+    starts.length = counts.length;
+    cursors.length = counts.length;
+    let start = 0;
+    for (let i = 0; i < counts.length; i++) {
+        starts[i] = start;
+        start += counts[i];
+    }
+}
+function _copyPhysics2DIslandStarts(cursors, starts) {
+    cursors.length = starts.length;
+    for (let i = 0; i < starts.length; i++)
+        cursors[i] = starts[i];
+}
+function _physics2DIslandItemCount(starts, counts) {
+    const last = counts.length - 1;
+    return last < 0 ? 0 : starts[last] + counts[last];
+}
 // Joins two bodies into one island, but only when BOTH are dynamic. A static body is not a member of
 // any island, so it cannot act as a bridge — otherwise the ground would merge every stack in the level
 // into a single island that sleeps only when nothing anywhere is moving.

package/dist/islands.js.map

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package/dist/jointCollisionSuppression.d.ts

@@ -0,0 +1,4 @@
+import type { Physics2DWorld } from '@flighthq/types/contract';
+export declare function isPhysics2DPairJointSuppressed(world: Readonly<Physics2DWorld>, bodyA: number, bodyB: number): boolean;
+export declare function rebuildPhysics2DJointCollisionSuppressions(world: Physics2DWorld): void;
+//# sourceMappingURL=jointCollisionSuppression.d.ts.map

package/dist/jointCollisionSuppression.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"jointCollisionSuppression.d.ts","sourceRoot":"","sources":["../src/jointCollisionSuppression.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,cAAc,EAAE,MAAM,0BAA0B,CAAC;AAG/D,wBAAgB,8BAA8B,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,EAAE,KAAK,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,GAAG,OAAO,CAIrH;AAMD,wBAAgB,0CAA0C,CAAC,KAAK,EAAE,cAAc,GAAG,IAAI,CAgBtF"}

package/dist/jointCollisionSuppression.js

@@ -0,0 +1,30 @@
+// Constant-time broadphase lookup for whether any active joint suppresses this body pair.
+export function isPhysics2DPairJointSuppressed(world, bodyA, bodyB) {
+    const first = Math.min(bodyA, bodyB);
+    const second = Math.max(bodyA, bodyB);
+    return (world.jointCollisionSuppressions.get(first)?.get(second) ?? 0) > 0;
+}
+// Rebuilds the authored-joint suppression index at lifecycle/invalidation boundaries. This work is
+// intentionally O(joints) there so broadphase pair filtering is O(1) per candidate during every step.
+// Rebuilding also makes explicit invalidation sufficient after callers edit endpoints or
+// collideConnected directly: the index never needs hidden per-joint shadow state.
+export function rebuildPhysics2DJointCollisionSuppressions(world) {
+    const suppressions = world.jointCollisionSuppressions;
+    suppressions.clear();
+    for (const joint of world.joints) {
+        if (joint.collideConnected)
+            continue;
+        const solver = world.jointSolvers.get(joint.kind);
+        if (solver === undefined || solver.usesBodyA === false)
+            continue;
+        const first = Math.min(joint.bodyA, joint.bodyB);
+        const second = Math.max(joint.bodyA, joint.bodyB);
+        let seconds = suppressions.get(first);
+        if (seconds === undefined) {
+            seconds = new Map();
+            suppressions.set(first, seconds);
+        }
+        seconds.set(second, (seconds.get(second) ?? 0) + 1);
+    }
+}
+//# sourceMappingURL=jointCollisionSuppression.js.map

package/dist/jointCollisionSuppression.js.map

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

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

@@ -1,5 +1,6 @@
 import { wakePhysics2DBody } from './islands';
-import { physics2DJointOwners } from './ownership';
+import { rebuildPhysics2DJointCollisionSuppressions } from './jointCollisionSuppression';
+import { assertPhysics2DWorldNotStepping, 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.
@@ -11,6 +12,7 @@ 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) {
+    assertPhysics2DWorldNotStepping(world);
     if (physics2DJointOwners.has(joint) || world.joints.includes(joint)) {
         throw new Error('Cannot add a physics joint that already belongs to a physics world');
     }
@@ -27,6 +29,7 @@ export function addPhysics2DJoint(world, joint) {
         _canonicalizePhysics2DJointEnds(world, joint);
     world.joints.push(joint);
     physics2DJointOwners.set(joint, world);
+    rebuildPhysics2DJointCollisionSuppressions(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.
@@ -68,12 +71,14 @@ export function getPhysics2DJointSolver(world, kind) {
 // 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) {
+    assertPhysics2DWorldNotStepping(world);
     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;
+    rebuildPhysics2DJointCollisionSuppressions(world);
     _wakePhysics2DJointBodies(world, joint);
     return true;
 }
@@ -85,6 +90,7 @@ export function invalidatePhysics2DJoint(world, joint) {
 // bundle that never registers a joint never links one: nine solvers are nine chunks of constraint math,
 // and a game using none of them should pay for none of them.
 export function registerPhysics2DJointSolver(world, kind, solver) {
+    assertPhysics2DWorldNotStepping(world);
     world.jointSolvers.set(kind, solver);
     // Joints of this kind may already be in the world: addPhysics2DJoint deliberately leaves an
     // unknown-kind joint in its authored order, because canonicalizing it without the kind's consent
@@ -98,9 +104,11 @@ export function registerPhysics2DJointSolver(world, kind, solver) {
         // replace its equation entirely, so it is the same topology change from the sleepers' perspective.
         _wakePhysics2DJointBodies(world, joint);
     }
+    rebuildPhysics2DJointCollisionSuppressions(world);
 }
 // Removes `joint` from `world`. Returns false when the world does not hold it.
 export function removePhysics2DJoint(world, joint) {
+    assertPhysics2DWorldNotStepping(world);
     const at = world.joints.indexOf(joint);
     if (at < 0)
         return false;
@@ -108,6 +116,7 @@ export function removePhysics2DJoint(world, joint) {
         _wakePhysics2DJointBodies(world, joint);
     world.joints.splice(at, 1);
     physics2DJointOwners.delete(joint);
+    rebuildPhysics2DJointCollisionSuppressions(world);
     return true;
 }
 function _wakePhysics2DJointBodies(world, joint) {

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@@ -1 +1 @@
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+{"version":3,"file":"jointRegistry.js","sourceRoot":"","sources":["../src/jointRegistry.ts"],"names":[],"mappings":"AAOA,OAAO,EAAE,iBAAiB,EAAE,MAAM,WAAW,CAAC;AAC9C,OAAO,EAAE,0CAA0C,EAAE,MAAM,6BAA6B,CAAC;AACzF,OAAO,EAAE,+BAA+B,EAAE,oBAAoB,EAAE,MAAM,aAAa,CAAC;AACpF,OAAO,EAAE,iBAAiB,EAAE,sBAAsB,EAAE,MAAM,SAAS,CAAC;AAEpE,0GAA0G;AAC1G,gDAAgD;AAChD,EAAE;AACF,kGAAkG;AAClG,sGAAsG;AACtG,sGAAsG;AACtG,oGAAoG;AACpG,yGAAyG;AACzG,yFAAyF;AACzF,MAAM,UAAU,iBAAiB,CAAC,KAAqB,EAAE,KAAqB;IAC5E,+BAA+B,CAAC,KAAK,CAAC,CAAC;IACvC,IAAI,oBAAoB,CAAC,GAAG,CAAC,KAAK,CAAC,IAAI,KAAK,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,EAAE,CAAC;QACpE,MAAM,IAAI,KAAK,CAAC,oEAAoE,CAAC,CAAC;IACxF,CAAC;IACD,qGAAqG;IACrG,2DAA2D;IAC3D,kGAAkG;IAClG,oGAAoG;IACpG,uGAAuG;IACvG,qGAAqG;IACrG,mGAAmG;IACnG,yFAAyF;IACzF,MAAM,MAAM,GAAG,uBAAuB,CAAC,KAAK,EAAE,KAAK,CAAC,IAAI,CAAC,KAAK,IAAI,CAAC;IACnE,IAAI,MAAM;QAAE,+BAA+B,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;IAC1D,KAAK,CAAC,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;IACzB,oBAAoB,CAAC,GAAG,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;IACvC,0CAA0C,CAAC,KAAK,CAAC,CAAC;IAClD,oGAAoG;IACpG,iGAAiG;IACjG,2EAA2E;IAC3E,IAAI,MAAM;QAAE,yBAAyB,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;IACpD,OAAO,KAAK,CAAC;AACf,CAAC;AAED,sGAAsG;AACtG,oGAAoG;AACpG,6DAA6D;AAC7D,SAAS,+BAA+B,CAAC,KAAqB,EAAE,KAAqB;IACnF,MAAM,MAAM,GAAG,uBAAuB,CAAC,KAAK,EAAE,KAAK,CAAC,IAAI,CAAC,CAAC;IAC1D,IAAI,MAAM,EAAE,SAAS,KAAK,KAAK;QAAE,OAAO;IACxC,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;IACpD,MAAM,MAAM,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;IACrD,IAAI,KAAK,KAAK,IAAI,IAAI,MAAM,KAAK,IAAI,IAAI,sBAAsB,CAAC,KAAK,EAAE,MAAM,CAAC;QAAE,OAAO;IACvF,IAAI,CAAC,CAAC,MAAM,EAAE,QAAQ,EAAE,CAAC,KAAK,CAAC,IAAI,IAAI,CAAC;QAAE,OAAO;IACjD,MAAM,KAAK,GAAG,KAAK,CAAC,KAAK,CAAC;IAC1B,KAAK,CAAC,KAAK,GAAG,KAAK,CAAC,KAAK,CAAC;IAC1B,KAAK,CAAC,KAAK,GAAG,KAAK,CAAC;IACpB,MAAM,OAAO,GAAG,KAAK,CAAC,aAAa,CAAC;IACpC,MAAM,OAAO,GAAG,KAAK,CAAC,aAAa,CAAC;IACpC,KAAK,CAAC,aAAa,GAAG,KAAK,CAAC,aAAa,CAAC;IAC1C,KAAK,CAAC,aAAa,GAAG,KAAK,CAAC,aAAa,CAAC;IAC1C,KAAK,CAAC,aAAa,GAAG,OAAO,CAAC;IAC9B,KAAK,CAAC,aAAa,GAAG,OAAO,CAAC;AAChC,CAAC;AAED,yGAAyG;AACzG,uGAAuG;AACvG,wDAAwD;AACxD,MAAM,UAAU,uBAAuB,CACrC,KAA+B,EAC/B,IAAwB;IAExB,OAAO,KAAK,CAAC,YAAY,CAAC,GAAG,CAAC,IAAI,CAAC,IAAI,IAAI,CAAC;AAC9C,CAAC;AAED,wGAAwG;AACxG,qGAAqG;AACrG,yGAAyG;AACzG,gGAAgG;AAChG,MAAM,UAAU,wBAAwB,CAAC,KAAqB,EAAE,KAAqB;IACnF,+BAA+B,CAAC,KAAK,CAAC,CAAC;IACvC,IAAI,oBAAoB,CAAC,GAAG,CAAC,KAAK,CAAC,KAAK,KAAK,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC;QAAE,OAAO,KAAK,CAAC;IAC7F,uBAAuB,CAAC,KAAK,EAAE,KAAK,CAAC,IAAI,CAAC,EAAE,wBAAwB,EAAE,CAAC,KAAK,CAAC,CAAC;IAC9E,KAAK,CAAC,QAAQ,GAAG,CAAC,CAAC;IACnB,KAAK,CAAC,QAAQ,GAAG,CAAC,CAAC;IACnB,KAAK,CAAC,QAAQ,GAAG,CAAC,CAAC;IACnB,0CAA0C,CAAC,KAAK,CAAC,CAAC;IAClD,yBAAyB,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;IACxC,OAAO,IAAI,CAAC;AACd,CAAC;AAED,wGAAwG;AACxG,wGAAwG;AACxG,wDAAwD;AACxD,EAAE;AACF,oGAAoG;AACpG,wGAAwG;AACxG,6DAA6D;AAC7D,MAAM,UAAU,4BAA4B,CAC1C,KAAqB,EACrB,IAAwB,EACxB,MAA4B;IAE5B,+BAA+B,CAAC,KAAK,CAAC,CAAC;IACvC,KAAK,CAAC,YAAY,CAAC,GAAG,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC;IACrC,4FAA4F;IAC5F,iGAAiG;IACjG,oGAAoG;IACpG,iDAAiD;IACjD,KAAK,MAAM,KAAK,IAAI,KAAK,CAAC,MAAM,EAAE,CAAC;QACjC,IAAI,KAAK,CAAC,IAAI,KAAK,IAAI;YAAE,SAAS;QAClC,+BAA+B,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;QAC9C,+FAA+F;QAC/F,mGAAmG;QACnG,yBAAyB,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;IAC1C,CAAC;IACD,0CAA0C,CAAC,KAAK,CAAC,CAAC;AACpD,CAAC;AAED,+EAA+E;AAC/E,MAAM,UAAU,oBAAoB,CAAC,KAAqB,EAAE,KAA+B;IACzF,+BAA+B,CAAC,KAAK,CAAC,CAAC;IACvC,MAAM,EAAE,GAAG,KAAK,CAAC,MAAM,CAAC,OAAO,CAAC,KAAuB,CAAC,CAAC;IACzD,IAAI,EAAE,GAAG,CAAC;QAAE,OAAO,KAAK,CAAC;IACzB,IAAI,uBAAuB,CAAC,KAAK,EAAE,KAAK,CAAC,IAAI,CAAC,KAAK,IAAI;QAAE,yBAAyB,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;IACjG,KAAK,CAAC,MAAM,CAAC,MAAM,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC;IAC3B,oBAAoB,CAAC,MAAM,CAAC,KAAuB,CAAC,CAAC;IACrD,0CAA0C,CAAC,KAAK,CAAC,CAAC;IAClD,OAAO,IAAI,CAAC;AACd,CAAC;AAED,SAAS,yBAAyB,CAAC,KAA+B,EAAE,KAA+B;IACjG,MAAM,MAAM,GAAG,uBAAuB,CAAC,KAAK,EAAE,KAAK,CAAC,IAAI,CAAC,CAAC;IAC1D,IAAI,MAAM,KAAK,IAAI;QAAE,OAAO;IAC5B,MAAM,KAAK,GAAG,MAAM,CAAC,SAAS,KAAK,KAAK,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;IACxF,MAAM,KAAK,GAAG,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,CAAC;IACpD,IAAI,KAAK,KAAK,IAAI;QAAE,iBAAiB,CAAC,KAAK,CAAC,CAAC;IAC7C,IAAI,KAAK,KAAK,IAAI;QAAE,iBAAiB,CAAC,KAAK,CAAC,CAAC;AAC/C,CAAC"}

package/dist/massProperties.js

@@ -93,7 +93,7 @@ export function updateRigidBody2DMassData(body) {
     body.mass = simulated ? mass : 0;
     body.inertia = simulated ? inertia : 0;
     body.inverseMass = simulated && mass > 0 ? 1 / mass : 0;
-    body.inverseInertia = simulated && inertia > 0 ? 1 / inertia : 0;
+    body.inverseInertia = simulated && !body.fixedRotation && inertia > 0 ? 1 / inertia : 0;
 }
 // Centroid and second moment of a simple polygon, accumulated per triangle fanned from the origin.
 // Each triangle's signed area weights its contribution, so the winding cancels correctly on concave