@flighthq/physics2d 0.4.0-next.1771.f4d15c3 → 0.4.0-next.1809.9b3b71b

package/dist/colliderTransform.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"colliderTransform.d.ts","sourceRoot":"","sources":["../src/colliderTransform.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,uBAAuB,EAAE,iBAAiB,EAAE,WAAW,EAAE,MAAM,0BAA0B,CAAC;AAKxG,wBAAgB,iCAAiC,CAAC,KAAK,EAAE,QAAQ,CAAC,uBAAuB,CAAC,GAAG,uBAAuB,CAkBnH;AAUD,wBAAgB,iCAAiC,CAAC,QAAQ,EAAE,iBAAiB,EAAE,IAAI,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,IAAI,CAwEhH;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,CA6EN"}

package/dist/colliderTransform.js

@@ -8,6 +8,8 @@ export function createPhysics2DColliderWorldShape(local) {
         case 'aabb':
         case 'obb':
             return { kind: 'obb', x: 0, y: 0, halfW: 0, halfH: 0, rotation: 0 };
+        case 'capsule':
+            return { kind: 'capsule', x0: 0, y0: 0, x1: 0, y1: 0, radius: local.radius };
         case 'polygon':
             return { kind: 'polygon', points: local.points.slice() };
         case 'segment':
@@ -69,6 +71,17 @@ export function updatePhysics2DColliderWorldShape(collider, body) {
         }
         return;
     }
+    // A capsule transforms by moving its two endpoints, and `radius` is untouched: a rotation cannot
+    // change a distance, so unlike the box below there is no promotion to a different kind and no extent
+    // to recompute.
+    if (local.kind === 'capsule' && world.kind === 'capsule') {
+        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;
+        world.radius = local.radius;
+        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;
@@ -142,6 +155,12 @@ export function writePhysics2DColliderBounds(collider, out) {
             out.maxY = maxY;
             return;
         }
+        case 'capsule':
+            out.minX = Math.min(shape.x0, shape.x1) - shape.radius;
+            out.minY = Math.min(shape.y0, shape.y1) - shape.radius;
+            out.maxX = Math.max(shape.x0, shape.x1) + shape.radius;
+            out.maxY = Math.max(shape.y0, shape.y1) + shape.radius;
+            return;
         case 'segment':
             out.minX = Math.min(shape.x0, shape.x1);
             out.minY = Math.min(shape.y0, shape.y1);

package/dist/colliderTransform.js.map

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package/dist/contract.d.ts

@@ -1,8 +1,11 @@
 export * from './colliderTransform';
+export * from './enablePhysics2DGuards';
+export * from './explainPhysics2DCollision';
 export * from './explainPhysics2DJoints';
 export * from './explainPhysics2DStep';
 export { isRigidBody2DPairAwake, updatePhysics2DSleep, wakePhysics2DBody } from './islands';
 export * from './jointFactories';
+export * from './jointReactions';
 export * from './jointRegistry';
 export * from './joints';
 export * from './massProperties';

package/dist/contract.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"contract.d.ts","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAAA,cAAc,qBAAqB,CAAC;AACpC,cAAc,yBAAyB,CAAC;AACxC,cAAc,6BAA6B,CAAC;AAC5C,cAAc,0BAA0B,CAAC;AACzC,cAAc,wBAAwB,CAAC;AACvC,OAAO,EAAE,sBAAsB,EAAE,oBAAoB,EAAE,iBAAiB,EAAE,MAAM,WAAW,CAAC;AAC5F,cAAc,kBAAkB,CAAC;AACjC,cAAc,kBAAkB,CAAC;AACjC,cAAc,iBAAiB,CAAC;AAChC,cAAc,UAAU,CAAC;AACzB,cAAc,kBAAkB,CAAC;AACjC,cAAc,YAAY,CAAC;AAC3B,cAAc,wCAAwC,CAAC;AACvD,OAAO,EACL,qBAAqB,EACrB,sBAAsB,EACtB,sBAAsB,EACtB,0BAA0B,EAC1B,0BAA0B,GAC3B,MAAM,UAAU,CAAC;AAClB,cAAc,QAAQ,CAAC;AACvB,cAAc,SAAS,CAAC;AACxB,cAAc,gBAAgB,CAAC"}

package/dist/contract.js

@@ -1,8 +1,11 @@
 export * from './colliderTransform';
+export * from './enablePhysics2DGuards';
+export * from './explainPhysics2DCollision';
 export * from './explainPhysics2DJoints';
 export * from './explainPhysics2DStep';
 export { isRigidBody2DPairAwake, updatePhysics2DSleep, wakePhysics2DBody } from './islands';
 export * from './jointFactories';
+export * from './jointReactions';
 export * from './jointRegistry';
 export * from './joints';
 export * from './massProperties';

package/dist/contract.js.map

@@ -1 +1 @@
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+{"version":3,"file":"contract.js","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAAA,cAAc,qBAAqB,CAAC;AACpC,cAAc,yBAAyB,CAAC;AACxC,cAAc,6BAA6B,CAAC;AAC5C,cAAc,0BAA0B,CAAC;AACzC,cAAc,wBAAwB,CAAC;AACvC,OAAO,EAAE,sBAAsB,EAAE,oBAAoB,EAAE,iBAAiB,EAAE,MAAM,WAAW,CAAC;AAC5F,cAAc,kBAAkB,CAAC;AACjC,cAAc,kBAAkB,CAAC;AACjC,cAAc,iBAAiB,CAAC;AAChC,cAAc,UAAU,CAAC;AACzB,cAAc,kBAAkB,CAAC;AACjC,cAAc,YAAY,CAAC;AAC3B,cAAc,wCAAwC,CAAC;AACvD,OAAO,EACL,qBAAqB,EACrB,sBAAsB,EACtB,sBAAsB,EACtB,0BAA0B,EAC1B,0BAA0B,GAC3B,MAAM,UAAU,CAAC;AAClB,cAAc,QAAQ,CAAC;AACvB,cAAc,SAAS,CAAC;AACxB,cAAc,gBAAgB,CAAC"}

package/dist/debugGeometry.js

@@ -90,6 +90,29 @@ function writeCollider(out, shape, body, options) {
             }
             return;
         }
+        case 'capsule': {
+            // Drawn as its two end discs plus the two lines that bound the body between them, which is the
+            // capsule's actual silhouette. A single line with two circles would leave the straight sides
+            // missing, and a bounding box would draw a shape the collider does not have.
+            const x0 = body.x + shape.x0 * cos - shape.y0 * sin;
+            const y0 = body.y + shape.x0 * sin + shape.y0 * cos;
+            const x1 = body.x + shape.x1 * cos - shape.y1 * sin;
+            const y1 = body.y + shape.x1 * sin + shape.y1 * cos;
+            writeCircle(out, 'collider', body.index, -1, x0, y0, shape.radius);
+            writeCircle(out, 'collider', body.index, -1, x1, y1, shape.radius);
+            const axisX = x1 - x0;
+            const axisY = y1 - y0;
+            const length = Math.sqrt(axisX * axisX + axisY * axisY);
+            if (length > 0) {
+                // The outward perpendicular, scaled to the radius: the two sides sit exactly one radius either
+                // side of the axis, which is what makes them tangent to both end discs.
+                const offsetX = (-axisY / length) * shape.radius;
+                const offsetY = (axisX / length) * shape.radius;
+                writeLine(out, 'collider', body.index, -1, x0 + offsetX, y0 + offsetY, x1 + offsetX, y1 + offsetY);
+                writeLine(out, 'collider', body.index, -1, x0 - offsetX, y0 - offsetY, x1 - offsetX, y1 - offsetY);
+            }
+            return;
+        }
         case 'segment': {
             const x0 = body.x + shape.x0 * cos - shape.y0 * sin;
             const y0 = body.y + shape.x0 * sin + shape.y0 * cos;

package/dist/debugGeometry.js.map

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package/dist/enablePhysics2DGuards.d.ts

@@ -0,0 +1,4 @@
+export declare function arePhysics2DGuardsEnabled(): boolean;
+export declare function disablePhysics2DGuards(): void;
+export declare function enablePhysics2DGuards(): void;
+//# sourceMappingURL=enablePhysics2DGuards.d.ts.map

package/dist/enablePhysics2DGuards.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"enablePhysics2DGuards.d.ts","sourceRoot":"","sources":["../src/enablePhysics2DGuards.ts"],"names":[],"mappings":"AAaA,wBAAgB,yBAAyB,IAAI,OAAO,CAEnD;AAED,wBAAgB,sBAAsB,IAAI,IAAI,CAK7C;AAwBD,wBAAgB,qBAAqB,IAAI,IAAI,CAK5C"}

package/dist/enablePhysics2DGuards.js

@@ -0,0 +1,152 @@
+import { logOnce } from '@flighthq/log/contract';
+import { LogLevel } from '@flighthq/types/contract';
+import { explainPhysics2DCollision } from './explainPhysics2DCollision';
+import { explainPhysics2DJoints } from './explainPhysics2DJoints';
+import { explainPhysics2DStep } from './explainPhysics2DStep';
+import { setPhysics2DContactIntakeGuard, setPhysics2DJointResolutionGuard, setPhysics2DStepGuard } from './step';
+export function arePhysics2DGuardsEnabled() {
+    return physics2DGuardsEnabled;
+}
+export function disablePhysics2DGuards() {
+    setPhysics2DStepGuard(null);
+    setPhysics2DJointResolutionGuard(null);
+    setPhysics2DContactIntakeGuard(null);
+    physics2DGuardsEnabled = false;
+}
+// Installs opt-in diagnostics for the two ways a 2D world can look like it is simulating when it is not.
+//
+// The first is a step that declines. `stepPhysics2D` returns silently on any failed precondition, which
+// is the right behaviour — a NaN velocity is a state a caller reaches by writing a field, and throwing
+// would take down a frame loop over something inspectable. But silence and success are indistinguishable
+// from the callsite: a world that stopped simulating looks exactly like a world where nothing happens to
+// be moving.
+//
+// The second is quieter and needs its own seam. A step whose preconditions all hold still SKIPS any joint
+// whose kind has no registered solver or whose endpoints have gone missing, because the solve pass
+// dispatches with `world.jointSolvers.get(joint.kind)?.prepare(...)` and an absent solver is simply an
+// absent call. Everything else in the world then simulates correctly around a constraint that is not
+// there: the rope does not pull, the hinge does not hold, and nothing failed. Registration is opt-in
+// precisely so unused solvers tree-shake out, which makes forgetting `registerBuiltInPhysics2DJointSolvers`
+// an ordinary mistake rather than an exotic one.
+//
+// The third is a collider the contact dispatcher has no arm for. `collideContactManifold2D` is a closed
+// switch, so unlike 3D there is nothing to REGISTER and no way to forget to — but its coverage is
+// narrower than the collider type allows, and a kind it does not answer for is reported as
+// non-overlapping. A body carrying one falls through the floor with nothing failing anywhere.
+//
+// Applications that never import this module shed both the message text and `@flighthq/log`.
+export function enablePhysics2DGuards() {
+    setPhysics2DStepGuard(warnOnUnsteppablePhysics2DWorld);
+    setPhysics2DJointResolutionGuard(warnOnUnresolvedPhysics2DJoints);
+    setPhysics2DContactIntakeGuard(warnOnUndetectablePhysics2DColliders);
+    physics2DGuardsEnabled = true;
+}
+// Warns once per distinct set of undetectable collider kinds.
+//
+// The advice differs by kind, because the two causes are not the same problem. `segment` and `point` are
+// area-less by definition and carry no contact to find, so putting one on a rigid body is a modelling
+// mistake with no fix in this package. A `capsule` has no pair functions YET, which is a gap rather than
+// a rule — and a caller deserves to be told which of the two it has hit.
+function warnOnUndetectablePhysics2DColliders(world) {
+    const explanation = explainPhysics2DCollision(world);
+    if (explanation.status === 'ready')
+        return;
+    const kinds = explanation.unsupportedKinds;
+    const arealess = kinds.filter((kind) => kind === 'segment' || kind === 'point');
+    const unimplemented = kinds.filter((kind) => kind !== 'segment' && kind !== 'point');
+    const areaFix = arealess.length > 0
+        ? ` ${arealess.join(' and ')} carr${arealess.length === 1 ? 'ies' : 'y'} no area and so no contact, and cannot be a rigid body's collider — give the body a shape with area.`
+        : '';
+    const gapFix = unimplemented.length > 0
+        ? ` collideContactManifold2D has no pair functions for ${unimplemented.join(', ')} yet, so ${unimplemented.length === 1 ? 'it is' : 'they are'} usable for queries and raycasts but not as a simulated collider.`
+        : '';
+    logOnce(`physics2d:${explanation.status}:${kinds.join(',')}`, LogLevel.Warn, {
+        kinds,
+        message: `stepPhysics2D: collider kind${kinds.length === 1 ? '' : 's'} ${kinds.join(', ')} generate${kinds.length === 1 ? 's' : ''} no contacts, so the bodies carrying ${kinds.length === 1 ? 'it' : 'them'} pass through everything.${areaFix}${gapFix} Call explainPhysics2DCollision(world) for the same finding as data.`,
+        status: explanation.status,
+    }, 'physics2d');
+}
+// The names of the flags that are false, in the explanation's own field order so the key is stable for a
+// given set of faults however they arose.
+function getFailingPhysics2DPreconditions(explanation) {
+    const failing = [];
+    for (const flag of physics2DPreconditionFlags) {
+        if (!explanation[flag])
+            failing.push(flag);
+    }
+    return failing;
+}
+// One `kind:status` token per unresolved joint, deduplicated and sorted.
+//
+// Deduplicated because a ragdoll with twelve identically unregistered joints is ONE mistake, and a list
+// of twelve indices reads as twelve. Sorted so the key does not depend on the order joints were added,
+// which would otherwise make the same world log twice.
+function getUnresolvedPhysics2DJointFaults(explanation) {
+    const faults = new Set();
+    for (const joint of explanation.joints) {
+        if (joint.status === 'ready')
+            continue;
+        faults.add(`${joint.kind}:${joint.status}`);
+    }
+    return [...faults].sort();
+}
+// Warns once per distinct set of unresolved joint faults.
+//
+// The two fault families need different advice, so the message names whichever applies rather than
+// reciting a generic one: an unregistered solver is repaired by registering it, while a missing endpoint
+// means the joint outlived a body and should have been removed with it.
+function warnOnUnresolvedPhysics2DJoints(world) {
+    const explanation = explainPhysics2DJoints(world);
+    if (explanation.status === 'complete')
+        return;
+    const faults = getUnresolvedPhysics2DJointFaults(explanation);
+    const unregistered = faults.some((fault) => fault.endsWith(':solver-unregistered'));
+    const missing = faults.some((fault) => !fault.endsWith(':solver-unregistered'));
+    const unresolvedCount = explanation.joints.length - explanation.readyCount;
+    const advice = unregistered
+        ? ' — an unregistered kind is never solved and its constraint simply does not exist, so call registerBuiltInPhysics2DJointSolvers(world) or registerPhysics2DJointSolver(world, kind, solver) for your own kind'
+        : '';
+    const endpointAdvice = missing
+        ? " — a joint whose endpoint body is gone is skipped for the rest of the world's life and should be removed with the body"
+        : '';
+    logOnce(`physics2d:${explanation.status}:${faults.join(',')}`, LogLevel.Warn, {
+        faults,
+        message: `stepPhysics2D: ${String(unresolvedCount)} of ${String(explanation.joints.length)} joint${explanation.joints.length === 1 ? '' : 's'} ${unresolvedCount === 1 ? 'is' : 'are'} never solved (${faults.join(', ')}), and the rest of the world simulates normally around ${unresolvedCount === 1 ? 'it' : 'them'}${advice}${endpointAdvice}. Call explainPhysics2DJoints(world) for the same findings as data, per joint.`,
+        status: explanation.status,
+    }, 'physics2d');
+}
+// Warns once per distinct set of failing preconditions.
+//
+// EVERY failing flag is reported in one message rather than the first. The step's own condition
+// short-circuits, so a world with a bad timestep and a NaN velocity would otherwise surface the timestep,
+// get repaired, and reveal the next fault a frame later — one round trip per fault, which is the failure
+// the explain seam was built to avoid and would be pointless to reintroduce here.
+//
+// Keyed on the failing set, so a loop calling this at 60Hz logs once and not once per frame, while a world
+// that develops a SECOND fault after the first is repaired still says so.
+function warnOnUnsteppablePhysics2DWorld(world, dt) {
+    const explanation = explainPhysics2DStep(world, dt);
+    const failing = getFailingPhysics2DPreconditions(explanation);
+    if (failing.length === 0)
+        return;
+    logOnce(`physics2d:${explanation.status}:${failing.join(',')}`, LogLevel.Warn, {
+        failing,
+        message: `stepPhysics2D: the world advanced nothing because ${failing.length === 1 ? 'a precondition' : 'several preconditions'} failed (${failing.join(', ')}) — call explainPhysics2DStep(world, dt) for the same flags as data, and repair the reported fields.`,
+        status: explanation.status,
+    }, 'physics2d');
+}
+// Listed rather than derived by walking the object, so `status` — which is a summary and not a
+// precondition — cannot be swept in, and so a flag added to the explanation is a deliberate addition here.
+const physics2DPreconditionFlags = [
+    'bodyStateValid',
+    'contactStateValid',
+    'gravityValid',
+    'jointStateValid',
+    'previousTimestepValid',
+    'solverConfigValid',
+    'timestepValid',
+    'velocityIterationsValid',
+    'positionIterationsValid',
+];
+let physics2DGuardsEnabled = false;
+//# sourceMappingURL=enablePhysics2DGuards.js.map

package/dist/enablePhysics2DGuards.js.map

@@ -0,0 +1 @@
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package/dist/explainPhysics2DCollision.d.ts

@@ -0,0 +1,3 @@
+import type { Physics2DCollisionExplanation, Physics2DWorld } from '@flighthq/types/contract';
+export declare function explainPhysics2DCollision(world: Readonly<Physics2DWorld>): Physics2DCollisionExplanation;
+//# sourceMappingURL=explainPhysics2DCollision.d.ts.map

package/dist/explainPhysics2DCollision.d.ts.map

@@ -0,0 +1 @@
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package/dist/explainPhysics2DCollision.js

@@ -0,0 +1,35 @@
+// Reports the collider kinds in `world` that the 2D contact dispatcher cannot turn into a manifold, and
+// which therefore generate no contacts at all.
+//
+// This exists because the dispatcher's coverage is NARROWER than the collider type allows. Every kind in
+// `CollisionBuiltInShape2D` may be authored onto a body, but `collideContactManifold2D` answers only for
+// the area shapes it has pair functions for; anything else is reported as non-overlapping. That is the
+// right behaviour for `segment` and `point`, which are area-less by definition and carry no contact to
+// find — and it is a GAP for `capsule`, whose pair functions are not written yet.
+//
+// The distinction matters to a caller and is deliberately not made here: this reports what does not
+// collide, not why. A segment collider on a body is a modelling mistake; a capsule one is a missing
+// feature. Both look identical from inside the simulation, which is exactly why the question needs
+// answering from outside it.
+export function explainPhysics2DCollision(world) {
+    const unsupported = new Set();
+    for (const body of world.bodies) {
+        for (const collider of body.colliders) {
+            if (isPhysics2DContactSupportedKind(collider.world.kind))
+                continue;
+            unsupported.add(collider.world.kind);
+        }
+    }
+    const unsupportedKinds = [...unsupported].sort();
+    return {
+        status: unsupportedKinds.length === 0 ? 'ready' : 'missing-contact-support',
+        unsupportedKinds,
+    };
+}
+// Mirrors `collideContactManifold2D`'s own rank table. Kept as a separate list rather than reached
+// through the dispatcher because asking the dispatcher would mean synthesizing a shape of each kind to
+// test with, and a diagnostic must not be able to change what it measures.
+function isPhysics2DContactSupportedKind(kind) {
+    return kind === 'circle' || kind === 'aabb' || kind === 'obb' || kind === 'polygon';
+}
+//# sourceMappingURL=explainPhysics2DCollision.js.map

package/dist/explainPhysics2DCollision.js.map

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

@@ -1,8 +1,11 @@
 export { createPhysics2DColliderWorldShape, updatePhysics2DColliderWorldShape, writePhysics2DColliderBounds, } from './colliderTransform';
 export { createPhysics2DDebugGeometry, writePhysics2DDebugGeometry } from './debugGeometry';
+export { arePhysics2DGuardsEnabled, disablePhysics2DGuards, enablePhysics2DGuards } from './enablePhysics2DGuards';
+export { explainPhysics2DCollision } from './explainPhysics2DCollision';
 export { explainPhysics2DJoints } from './explainPhysics2DJoints';
 export { explainPhysics2DStep } from './explainPhysics2DStep';
 export { isRigidBody2DPairAwake, updatePhysics2DSleep, wakePhysics2DBody } from './islands';
+export { createPhysics2DJointReaction, writePhysics2DJointReaction } from './jointReactions';
 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, invalidatePhysics2DJoint, registerPhysics2DJointSolver, removePhysics2DJoint, } from './jointRegistry';
@@ -12,5 +15,5 @@ export { registerBuiltInPhysics2DJointSolvers } from './registerBuiltInPhysics2D
 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, hydratePhysics2DWorld, invalidatePhysics2DCollider, isPhysics2DPairOrdered, removePhysics2DBody, removePhysics2DCollider, setPhysics2DBodyTransform, setPhysics2DBodyFixedRotation, setPhysics2DBodyBullet, setPhysics2DBodySleepEnabled, setPhysics2DBodyType, Physics2DWorldVersion, } from './world';
-export { createPhysics2DQueryFilter, createPhysics2DQueryResult, createPhysics2DRayResult, queryPhysics2DPoint, queryPhysics2DRay, queryPhysics2DRayClosest, queryPhysics2DRegion, } from './worldQueries';
+export { createPhysics2DQueryFilter, createPhysics2DQueryResult, createPhysics2DRayResult, createPhysics2DShapeCastResult, queryPhysics2DPoint, queryPhysics2DRay, queryPhysics2DRayClosest, queryPhysics2DRegion, queryPhysics2DShapeCast, } from './worldQueries';
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

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

@@ -1,8 +1,11 @@
 export { createPhysics2DColliderWorldShape, updatePhysics2DColliderWorldShape, writePhysics2DColliderBounds, } from './colliderTransform';
 export { createPhysics2DDebugGeometry, writePhysics2DDebugGeometry } from './debugGeometry';
+export { arePhysics2DGuardsEnabled, disablePhysics2DGuards, enablePhysics2DGuards } from './enablePhysics2DGuards';
+export { explainPhysics2DCollision } from './explainPhysics2DCollision';
 export { explainPhysics2DJoints } from './explainPhysics2DJoints';
 export { explainPhysics2DStep } from './explainPhysics2DStep';
 export { isRigidBody2DPairAwake, updatePhysics2DSleep, wakePhysics2DBody } from './islands';
+export { createPhysics2DJointReaction, writePhysics2DJointReaction } from './jointReactions';
 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, invalidatePhysics2DJoint, registerPhysics2DJointSolver, removePhysics2DJoint, } from './jointRegistry';
@@ -12,5 +15,5 @@ export { registerBuiltInPhysics2DJointSolvers } from './registerBuiltInPhysics2D
 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, hydratePhysics2DWorld, invalidatePhysics2DCollider, isPhysics2DPairOrdered, removePhysics2DBody, removePhysics2DCollider, setPhysics2DBodyTransform, setPhysics2DBodyFixedRotation, setPhysics2DBodyBullet, setPhysics2DBodySleepEnabled, setPhysics2DBodyType, Physics2DWorldVersion, } from './world';
-export { createPhysics2DQueryFilter, createPhysics2DQueryResult, createPhysics2DRayResult, queryPhysics2DPoint, queryPhysics2DRay, queryPhysics2DRayClosest, queryPhysics2DRegion, } from './worldQueries';
+export { createPhysics2DQueryFilter, createPhysics2DQueryResult, createPhysics2DRayResult, createPhysics2DShapeCastResult, queryPhysics2DPoint, queryPhysics2DRay, queryPhysics2DRayClosest, queryPhysics2DRegion, queryPhysics2DShapeCast, } from './worldQueries';
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

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

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package/dist/jointFactories.js

@@ -12,6 +12,10 @@ function createJointBase(options) {
         localAnchorBX: options.localAnchorBX ?? 0,
         localAnchorBY: options.localAnchorBY ?? 0,
         collideConnected: options.collideConnected ?? false,
+        // Unbreakable unless the caller says otherwise: a joint that silently failed under load would be a
+        // worse default than one that never does.
+        breakForce: options.breakForce ?? Number.POSITIVE_INFINITY,
+        breakTorque: options.breakTorque ?? Number.POSITIVE_INFINITY,
         impulse0: 0,
         impulse1: 0,
         impulse2: 0,
@@ -54,6 +58,8 @@ export function createPhysics2DMouseJoint(options) {
         localAnchorBX: options.localAnchorX ?? 0,
         localAnchorBY: options.localAnchorY ?? 0,
         collideConnected: false,
+        breakForce: options.breakForce ?? Number.POSITIVE_INFINITY,
+        breakTorque: options.breakTorque ?? Number.POSITIVE_INFINITY,
         impulse0: 0,
         impulse1: 0,
         impulse2: 0,
@@ -82,6 +88,9 @@ export function createPhysics2DPrismaticJoint(options) {
         enableLimit: options.enableLimit ?? false,
         lowerTranslation: options.lowerTranslation ?? 0,
         upperTranslation: options.upperTranslation ?? 0,
+        enableLimitSpring: options.enableLimitSpring ?? false,
+        limitFrequencyHz: options.limitFrequencyHz ?? 0,
+        limitDampingRatio: options.limitDampingRatio ?? 0,
     };
 }
 export function createPhysics2DPulleyJoint(options) {
@@ -108,6 +117,9 @@ export function createPhysics2DRevoluteJoint(options) {
         lowerAngle: options.lowerAngle ?? 0,
         upperAngle: options.upperAngle ?? 0,
         referenceAngle: options.referenceAngle ?? 0,
+        enableLimitSpring: options.enableLimitSpring ?? false,
+        limitFrequencyHz: options.limitFrequencyHz ?? 0,
+        limitDampingRatio: options.limitDampingRatio ?? 0,
     };
 }
 export function createPhysics2DRopeJoint(options) {

package/dist/jointFactories.js.map

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+{"version":3,"file":"jointFactories.js","sourceRoot":"","sources":["../src/jointFactories.ts"],"names":[],"mappings":"AAuBA,OAAO,EACL,0BAA0B,EAC1B,sBAAsB,EACtB,uBAAuB,EACvB,2BAA2B,EAC3B,wBAAwB,EACxB,0BAA0B,EAC1B,sBAAsB,EACtB,sBAAsB,EACtB,uBAAuB,GACxB,MAAM,UAAU,CAAC;AAIlB,mGAAmG;AACnG,mGAAmG;AACnG,mGAAmG;AACnG,6BAA6B;AAC7B,SAAS,eAAe,CAAC,OAAwC;IAC/D,OAAO;QACL,KAAK,EAAE,OAAO,CAAC,KAAK;QACpB,KAAK,EAAE,OAAO,CAAC,KAAK;QACpB,aAAa,EAAE,OAAO,CAAC,aAAa,IAAI,CAAC;QACzC,aAAa,EAAE,OAAO,CAAC,aAAa,IAAI,CAAC;QACzC,aAAa,EAAE,OAAO,CAAC,aAAa,IAAI,CAAC;QACzC,aAAa,EAAE,OAAO,CAAC,aAAa,IAAI,CAAC;QACzC,gBAAgB,EAAE,OAAO,CAAC,gBAAgB,IAAI,KAAK;QACnD,mGAAmG;QACnG,0CAA0C;QAC1C,UAAU,EAAE,OAAO,CAAC,UAAU,IAAI,MAAM,CAAC,iBAAiB;QAC1D,WAAW,EAAE,OAAO,CAAC,WAAW,IAAI,MAAM,CAAC,iBAAiB;QAC5D,QAAQ,EAAE,CAAC;QACX,QAAQ,EAAE,CAAC;QACX,QAAQ,EAAE,CAAC;QACX,GAAG,EAAE,CAAC;QACN,GAAG,EAAE,CAAC;QACN,GAAG,EAAE,CAAC;QACN,GAAG,EAAE,CAAC;KACP,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,4BAA4B,CAAC,OAAgD;IAC3F,OAAO;QACL,IAAI,EAAE,0BAA0B;QAChC,GAAG,eAAe,CAAC,OAAO,CAAC;QAC3B,MAAM,EAAE,OAAO,CAAC,MAAM;QACtB,WAAW,EAAE,OAAO,CAAC,WAAW,IAAI,CAAC;QACrC,YAAY,EAAE,OAAO,CAAC,YAAY,IAAI,CAAC;KACxC,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,wBAAwB,CAAC,OAA4C;IACnF,OAAO;QACL,IAAI,EAAE,sBAAsB;QAC5B,GAAG,eAAe,CAAC,OAAO,CAAC;QAC3B,WAAW,EAAE,OAAO,CAAC,WAAW;QAChC,WAAW,EAAE,OAAO,CAAC,WAAW;QAChC,MAAM,EAAE,OAAO,CAAC,MAAM,IAAI,CAAC;QAC3B,MAAM,EAAE,OAAO,CAAC,MAAM,IAAI,CAAC;QAC3B,MAAM,EAAE,OAAO,CAAC,MAAM,IAAI,CAAC;QAC3B,MAAM,EAAE,OAAO,CAAC,MAAM,IAAI,CAAC;QAC3B,KAAK,EAAE,OAAO,CAAC,KAAK,IAAI,CAAC;QACzB,QAAQ,EAAE,OAAO,CAAC,QAAQ;KAC3B,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,yBAAyB,CAAC,OAA6C;IACrF,OAAO;QACL,IAAI,EAAE,uBAAuB;QAC7B,KAAK,EAAE,OAAO,CAAC,IAAI;QACnB,KAAK,EAAE,OAAO,CAAC,IAAI;QACnB,aAAa,EAAE,CAAC;QAChB,aAAa,EAAE,CAAC;QAChB,aAAa,EAAE,OAAO,CAAC,YAAY,IAAI,CAAC;QACxC,aAAa,EAAE,OAAO,CAAC,YAAY,IAAI,CAAC;QACxC,gBAAgB,EAAE,KAAK;QACvB,UAAU,EAAE,OAAO,CAAC,UAAU,IAAI,MAAM,CAAC,iBAAiB;QAC1D,WAAW,EAAE,OAAO,CAAC,WAAW,IAAI,MAAM,CAAC,iBAAiB;QAC5D,QAAQ,EAAE,CAAC;QACX,QAAQ,EAAE,CAAC;QACX,QAAQ,EAAE,CAAC;QACX,GAAG,EAAE,CAAC;QACN,GAAG,EAAE,CAAC;QACN,GAAG,EAAE,CAAC;QACN,GAAG,EAAE,CAAC;QACN,OAAO,EAAE,OAAO,CAAC,OAAO;QACxB,OAAO,EAAE,OAAO,CAAC,OAAO;QACxB,QAAQ,EAAE,OAAO,CAAC,QAAQ;QAC1B,WAAW,EAAE,OAAO,CAAC,WAAW,IAAI,CAAC;QACrC,YAAY,EAAE,OAAO,CAAC,YAAY,IAAI,GAAG;KAC1C,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,6BAA6B,CAC3C,OAAiD;IAEjD,OAAO;QACL,IAAI,EAAE,2BAA2B;QACjC,GAAG,eAAe,CAAC,OAAO,CAAC;QAC3B,WAAW,EAAE,OAAO,CAAC,WAAW,IAAI,CAAC;QACrC,WAAW,EAAE,OAAO,CAAC,WAAW,IAAI,CAAC;QACrC,cAAc,EAAE,OAAO,CAAC,cAAc,IAAI,CAAC;QAC3C,WAAW,EAAE,OAAO,CAAC,WAAW,IAAI,KAAK;QACzC,UAAU,EAAE,OAAO,CAAC,UAAU,IAAI,CAAC;QACnC,aAAa,EAAE,OAAO,CAAC,aAAa,IAAI,CAAC;QACzC,YAAY,EAAE,CAAC;QACf,WAAW,EAAE,OAAO,CAAC,WAAW,IAAI,KAAK;QACzC,gBAAgB,EAAE,OAAO,CAAC,gBAAgB,IAAI,CAAC;QAC/C,gBAAgB,EAAE,OAAO,CAAC,gBAAgB,IAAI,CAAC;QAC/C,iBAAiB,EAAE,OAAO,CAAC,iBAAiB,IAAI,KAAK;QACrD,gBAAgB,EAAE,OAAO,CAAC,gBAAgB,IAAI,CAAC;QAC/C,iBAAiB,EAAE,OAAO,CAAC,iBAAiB,IAAI,CAAC;KAClD,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,0BAA0B,CAAC,OAA8C;IACvF,OAAO;QACL,IAAI,EAAE,wBAAwB;QAC9B,GAAG,eAAe,CAAC,OAAO,CAAC;QAC3B,cAAc,EAAE,OAAO,CAAC,cAAc;QACtC,cAAc,EAAE,OAAO,CAAC,cAAc;QACtC,cAAc,EAAE,OAAO,CAAC,cAAc;QACtC,cAAc,EAAE,OAAO,CAAC,cAAc;QACtC,KAAK,EAAE,OAAO,CAAC,KAAK,IAAI,CAAC;QACzB,QAAQ,EAAE,OAAO,CAAC,QAAQ;KAC3B,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,4BAA4B,CAAC,OAAgD;IAC3F,OAAO;QACL,IAAI,EAAE,0BAA0B;QAChC,GAAG,eAAe,CAAC,OAAO,CAAC;QAC3B,WAAW,EAAE,OAAO,CAAC,WAAW,IAAI,KAAK;QACzC,UAAU,EAAE,OAAO,CAAC,UAAU,IAAI,CAAC;QACnC,cAAc,EAAE,OAAO,CAAC,cAAc,IAAI,CAAC;QAC3C,YAAY,EAAE,CAAC;QACf,WAAW,EAAE,OAAO,CAAC,WAAW,IAAI,KAAK;QACzC,UAAU,EAAE,OAAO,CAAC,UAAU,IAAI,CAAC;QACnC,UAAU,EAAE,OAAO,CAAC,UAAU,IAAI,CAAC;QACnC,cAAc,EAAE,OAAO,CAAC,cAAc,IAAI,CAAC;QAC3C,iBAAiB,EAAE,OAAO,CAAC,iBAAiB,IAAI,KAAK;QACrD,gBAAgB,EAAE,OAAO,CAAC,gBAAgB,IAAI,CAAC;QAC/C,iBAAiB,EAAE,OAAO,CAAC,iBAAiB,IAAI,CAAC;KAClD,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,wBAAwB,CAAC,OAA4C;IACnF,OAAO;QACL,IAAI,EAAE,sBAAsB;QAC5B,GAAG,eAAe,CAAC,OAAO,CAAC;QAC3B,SAAS,EAAE,OAAO,CAAC,SAAS;KAC7B,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,wBAAwB,CAAC,OAA4C;IACnF,OAAO;QACL,IAAI,EAAE,sBAAsB;QAC5B,GAAG,eAAe,CAAC,OAAO,CAAC;QAC3B,cAAc,EAAE,OAAO,CAAC,cAAc,IAAI,CAAC;KAC5C,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,yBAAyB,CAAC,OAA6C;IACrF,OAAO;QACL,IAAI,EAAE,uBAAuB;QAC7B,GAAG,eAAe,CAAC,OAAO,CAAC;QAC3B,WAAW,EAAE,OAAO,CAAC,WAAW,IAAI,CAAC;QACrC,WAAW,EAAE,OAAO,CAAC,WAAW,IAAI,CAAC;QACrC,eAAe,EAAE,OAAO,CAAC,eAAe,IAAI,CAAC;QAC7C,WAAW,EAAE,OAAO,CAAC,WAAW,IAAI,CAAC;QACrC,YAAY,EAAE,OAAO,CAAC,YAAY,IAAI,CAAC;QACvC,WAAW,EAAE,OAAO,CAAC,WAAW,IAAI,KAAK;QACzC,UAAU,EAAE,OAAO,CAAC,UAAU,IAAI,CAAC;QACnC,cAAc,EAAE,OAAO,CAAC,cAAc,IAAI,CAAC;QAC3C,YAAY,EAAE,CAAC;KAChB,CAAC;AACJ,CAAC"}

package/dist/jointReactions.d.ts

@@ -0,0 +1,4 @@
+import type { Physics2DJoint, Physics2DJointReaction, Physics2DWorld } from '@flighthq/types/contract';
+export declare function createPhysics2DJointReaction(): Physics2DJointReaction;
+export declare function writePhysics2DJointReaction(world: Readonly<Physics2DWorld>, joint: Readonly<Physics2DJoint>, dt: number, out: Physics2DJointReaction): boolean;
+//# sourceMappingURL=jointReactions.d.ts.map

package/dist/jointReactions.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"jointReactions.d.ts","sourceRoot":"","sources":["../src/jointReactions.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,cAAc,EAAE,sBAAsB,EAAE,cAAc,EAAE,MAAM,0BAA0B,CAAC;AAGvG,wBAAgB,4BAA4B,IAAI,sBAAsB,CAErE;AAiBD,wBAAgB,2BAA2B,CACzC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,EAC/B,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,EAC/B,EAAE,EAAE,MAAM,EACV,GAAG,EAAE,sBAAsB,GAC1B,OAAO,CAQT"}