@flighthq/physics3d 0.4.0-edge.1908.751021c

package/dist/islands.js

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+import { findPhysics3DBody } 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 and refilled in place.
+//
+// Runs after `updatePhysics3DSleep`, never before: the workspace admits only awake bodies, so building
+// it against an unresolved sleep state would hand the solver islands it is about to put to sleep.
+export function buildPhysics3DSolveIslands(world) {
+    physics3DJointResolutionGuard?.(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 (let bodyIndex = 0; bodyIndex < world.bodies.length; bodyIndex += 1) {
+        const body = world.bodies[bodyIndex];
+        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] += 1;
+    }
+    for (let contactIndex = 0; contactIndex < world.contacts.length; contactIndex += 1) {
+        const contact = world.contacts[contactIndex];
+        if (!contact.enabled || contact.sensor)
+            continue;
+        const island = solveIslandForPair(world, contact.bodyA, contact.bodyB);
+        if (island >= 0)
+            contactCounts[island] += 1;
+    }
+    for (let jointIndex = 0; jointIndex < world.joints.length; jointIndex += 1) {
+        const joint = world.joints[jointIndex];
+        const solver = world.jointSolvers.get(joint.kind);
+        if (solver === undefined || joint.broken)
+            continue;
+        const island = solver.usesBodyA === false
+            ? solveIslandForBody(world, joint.bodyB)
+            : solveIslandForPair(world, joint.bodyA, joint.bodyB);
+        if (island >= 0)
+            jointCounts[island] += 1;
+    }
+    prepareIslandSlices(world.solveIslandBodyStarts, bodyCounts, world.solveIslandCursors);
+    prepareIslandSlices(world.solveIslandContactStarts, contactCounts, world.solveIslandCursors);
+    prepareIslandSlices(world.solveIslandJointStarts, jointCounts, world.solveIslandCursors);
+    world.solveIslandBodyIndices.length = islandItemCount(world.solveIslandBodyStarts, bodyCounts);
+    world.solveIslandContactIndices.length = islandItemCount(world.solveIslandContactStarts, contactCounts);
+    world.solveIslandJointIndices.length = islandItemCount(world.solveIslandJointStarts, jointCounts);
+    copyIslandStarts(world.solveIslandCursors, world.solveIslandBodyStarts);
+    for (let i = 0; i < world.bodies.length; i += 1) {
+        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;
+            world.solveIslandCursors[island] += 1;
+        }
+    }
+    copyIslandStarts(world.solveIslandCursors, world.solveIslandContactStarts);
+    for (let i = 0; i < world.contacts.length; i += 1) {
+        const contact = world.contacts[i];
+        if (!contact.enabled || contact.sensor)
+            continue;
+        const island = solveIslandForPair(world, contact.bodyA, contact.bodyB);
+        if (island >= 0) {
+            world.solveIslandContactIndices[world.solveIslandCursors[island]] = i;
+            world.solveIslandCursors[island] += 1;
+        }
+    }
+    copyIslandStarts(world.solveIslandCursors, world.solveIslandJointStarts);
+    for (let i = 0; i < world.joints.length; i += 1) {
+        const joint = world.joints[i];
+        const solver = world.jointSolvers.get(joint.kind);
+        if (solver === undefined || joint.broken)
+            continue;
+        const island = solver.usesBodyA === false
+            ? solveIslandForBody(world, joint.bodyB)
+            : solveIslandForPair(world, joint.bodyA, joint.bodyB);
+        if (island >= 0) {
+            world.solveIslandJointIndices[world.solveIslandCursors[island]] = i;
+            world.solveIslandCursors[island] += 1;
+        }
+    }
+}
+// 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
+// bodies, a sleeper against static scenery, or two static bodies all resolve to nothing: every impulse
+// the solver could compute would be applied to a body that is not being integrated.
+//
+// Skipping is not merely an optimisation, and this is the reason sleep needs a solver-side test at all
+// rather than only an integrator-side one. A resting contact usually carries penetration beyond the
+// slop, so the position pass would move a sleeping pair, and the end-of-step stillness test would then
+// read that motion and wake them again. A stack would twitch itself awake every step and never rest.
+export function isRigidBody3DPairAwake(a, b) {
+    return isBodyLive(a) || isBodyLive(b);
+}
+// Installs the optional diagnostics seam consulted before unresolved joints are omitted from the solve
+// workspace. Null by default and set only by `enablePhysics3DGuards`.
+export function setPhysics3DJointResolutionGuard(guard) {
+    physics3DJointResolutionGuard = guard;
+}
+// Advances every body's sleep state for one step.
+//
+// Sleep is decided per ISLAND, not per body. Two dynamic bodies are in the same island when a contact
+// or a joint connects them, transitively — so a stack, a chain of links, and a pile all settle or wake
+// as one unit. Deciding per body instead produces the visible failure this exists to prevent: a crate
+// that has stopped moving falls asleep while the crate it rests on is still sliding out from under it,
+// and the sleeper hangs in the air until something happens to wake it.
+//
+// Static bodies are excluded entirely. They never move, so they are neither awake nor asleep, and
+// crucially they do NOT join islands: every dynamic body resting on the same ground would otherwise be
+// transitively connected into one world-sized island that can only sleep when the last object in the
+// level stops moving.
+//
+// An island sleeps only once EVERY member has been continuously below both thresholds for
+// `timeToSleep`. Any member exceeding a threshold resets its own timer, and because the island's timer
+// is the minimum across its members, one moving body keeps the whole island awake.
+export function updatePhysics3DSleep(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 (let contactIndex = 0; contactIndex < world.contacts.length; contactIndex += 1) {
+        const contact = world.contacts[contactIndex];
+        if (!contact.enabled || contact.sensor)
+            continue;
+        unionDynamicPair(world, parents, contact.bodyA, contact.bodyB);
+    }
+    for (let jointIndex = 0; jointIndex < world.joints.length; jointIndex += 1) {
+        const joint = world.joints[jointIndex];
+        const solver = world.jointSolvers.get(joint.kind);
+        if (solver === undefined || joint.broken || 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.
+        for (let bodyIndex = 0; bodyIndex < bodies.length; bodyIndex += 1) {
+            const body = bodies[bodyIndex];
+            body.sleeping = false;
+            body.sleepTimer = 0;
+        }
+        return;
+    }
+    // Per-body stillness first: each body's own timer, independent of who it is touching.
+    for (let bodyIndex = 0; bodyIndex < bodies.length; bodyIndex += 1) {
+        const body = bodies[bodyIndex];
+        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;
+        }
+        else {
+            body.sleepTimer = 0;
+        }
+    }
+    // A constraint driven by state outside the simulation cannot infer that its next target write is
+    // coming, so its solver declares that participating bodies stay awake for the constraint's lifetime.
+    // Reset after the stillness pass so even a timestep longer than timeToSleep cannot put one to sleep.
+    for (let jointIndex = 0; jointIndex < world.joints.length; jointIndex += 1) {
+        const joint = world.joints[jointIndex];
+        const solver = world.jointSolvers.get(joint.kind);
+        if (solver?.keepsBodiesAwake !== true || joint.broken)
+            continue;
+        if (solver.usesBodyA !== false)
+            keepBodyAwake(world, joint.bodyA);
+        keepBodyAwake(world, joint.bodyB);
+    }
+    // The island's timer is the MINIMUM across its members: the least-settled body decides.
+    for (let bodyIndex = 0; bodyIndex < bodies.length; bodyIndex += 1) {
+        const body = bodies[bodyIndex];
+        if (body.type === 'static')
+            continue;
+        const root = islandRootOf(parents, body.index);
+        const current = islandTimers.get(root);
+        islandTimers.set(root, current === undefined ? body.sleepTimer : Math.min(current, body.sleepTimer));
+    }
+    for (let bodyIndex = 0; bodyIndex < bodies.length; bodyIndex += 1) {
+        const body = bodies[bodyIndex];
+        if (body.type === 'static')
+            continue;
+        const islandTimer = islandTimers.get(islandRootOf(parents, body.index)) ?? body.sleepTimer;
+        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.
+            body.sleepTimer = 0;
+        }
+        body.sleeping = shouldSleep;
+        if (shouldSleep) {
+            // Zeroed rather than merely small. A sleeping body is not integrated, so any residual velocity is
+            // motion that will be silently resumed the moment it wakes — a crate that settled ten steps ago
+            // would twitch on waking. Zeroing also makes the stillness test trivially true next step, so a
+            // body cannot oscillate across the threshold while asleep.
+            body.velocityX = 0;
+            body.velocityY = 0;
+            body.velocityZ = 0;
+            body.angularVelocityX = 0;
+            body.angularVelocityY = 0;
+            body.angularVelocityZ = 0;
+        }
+    }
+}
+function copyIslandStarts(cursors, starts) {
+    cursors.length = starts.length;
+    for (let i = 0; i < starts.length; i += 1)
+        cursors[i] = starts[i];
+}
+// A body the solver can still move: dynamic or kinematic, and awake. Static bodies are never live —
+// their inverse mass is zero, so an impulse against them changes nothing regardless of sleep state.
+function isBodyLive(body) {
+    return body.type !== 'static' && !body.sleeping;
+}
+function isBodyStill(body, linearThreshold, angularThreshold) {
+    // A body someone has applied force or torque to is not at rest, whatever its velocity currently
+    // reads. Velocity alone would miss it: force is applied during the step, so a sleeper skips the
+    // integration that would have turned it into motion, and the force is cleared at the end of the step —
+    // the push would be silently swallowed and the body would stay asleep under continuous load.
+    if (body.forceX !== 0 || body.forceY !== 0 || body.forceZ !== 0)
+        return false;
+    if (body.torqueX !== 0 || body.torqueY !== 0 || body.torqueZ !== 0)
+        return false;
+    const speedSquared = body.velocityX * body.velocityX + body.velocityY * body.velocityY + body.velocityZ * body.velocityZ;
+    if (speedSquared > linearThreshold * linearThreshold)
+        return false;
+    // Compared as a magnitude, not per axis. Three axes each just under the threshold describe a body
+    // tumbling at sqrt(3) times it, which per-axis tests would call still.
+    const angularSquared = body.angularVelocityX * body.angularVelocityX +
+        body.angularVelocityY * body.angularVelocityY +
+        body.angularVelocityZ * body.angularVelocityZ;
+    return angularSquared <= angularThreshold * angularThreshold;
+}
+function islandItemCount(starts, counts) {
+    const last = counts.length - 1;
+    return last < 0 ? 0 : starts[last] + counts[last];
+}
+// Union-find with path compression. An index with no entry is its own root, so a body touching nothing
+// is an island of one without needing to be inserted first.
+function islandRootOf(parents, index) {
+    let root = index;
+    for (;;) {
+        const parent = parents.get(root);
+        if (parent === undefined || parent === root)
+            break;
+        root = parent;
+    }
+    let walk = index;
+    for (;;) {
+        const parent = parents.get(walk);
+        if (parent === undefined || parent === walk)
+            break;
+        parents.set(walk, root);
+        walk = parent;
+    }
+    return root;
+}
+function keepBodyAwake(world, bodyIndex) {
+    const body = findPhysics3DBody(world, bodyIndex);
+    if (body !== null && body.type !== 'static')
+        body.sleepTimer = 0;
+}
+function prepareIslandSlices(starts, counts, cursors) {
+    starts.length = counts.length;
+    cursors.length = counts.length;
+    let start = 0;
+    for (let i = 0; i < counts.length; i += 1) {
+        starts[i] = start;
+        start += counts[i];
+    }
+}
+function solveIslandForBody(world, bodyIndex) {
+    const body = findPhysics3DBody(world, bodyIndex);
+    if (body === null || body.type === 'static' || body.sleeping)
+        return -1;
+    return world.solveIslandByRoot.get(islandRootOf(world.islandParents, body.index)) ?? -1;
+}
+function solveIslandForPair(world, bodyA, bodyB) {
+    const islandA = solveIslandForBody(world, bodyA);
+    if (islandA >= 0)
+        return islandA;
+    return solveIslandForBody(world, bodyB);
+}
+// 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.
+//
+// Kinematic bodies deliberately do NOT break islands, even though the solver cannot move them either.
+// A kinematic body joins the islands it touches, and a moving one has its stillness timer reset every
+// step, so the island minimum stays zero and everything riding it stays awake. Excluding it the way
+// static bodies are excluded would let a crate fall asleep on a lift that is still travelling.
+function unionDynamicPair(world, parents, a, b) {
+    const first = findPhysics3DBody(world, a);
+    const second = findPhysics3DBody(world, b);
+    if (first === null || second === null)
+        return;
+    if (first.type === 'static' || second.type === 'static')
+        return;
+    const rootA = islandRootOf(parents, a);
+    const rootB = islandRootOf(parents, b);
+    if (rootA !== rootB)
+        parents.set(rootA, rootB);
+}
+let physics3DJointResolutionGuard = null;
+//# sourceMappingURL=islands.js.map

package/dist/islands.js.map

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package/dist/jointBreakage.d.ts

@@ -0,0 +1,5 @@
+import type { Physics3DJoint, Physics3DWorld } from '@flighthq/types/contract';
+export declare function breakPhysics3DJoint(world: Physics3DWorld, joint: Physics3DJoint): void;
+export declare function evaluatePhysics3DJointBreakage(world: Physics3DWorld, dt: number): void;
+export declare function isPhysics3DJointBreakable(joint: Readonly<Physics3DJoint>): boolean;
+//# sourceMappingURL=jointBreakage.d.ts.map

package/dist/jointBreakage.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"jointBreakage.d.ts","sourceRoot":"","sources":["../src/jointBreakage.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,cAAc,EAAE,cAAc,EAAE,MAAM,0BAA0B,CAAC;AAoB/E,wBAAgB,mBAAmB,CAAC,KAAK,EAAE,cAAc,EAAE,KAAK,EAAE,cAAc,GAAG,IAAI,CAItF;AAQD,wBAAgB,8BAA8B,CAAC,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CAYtF;AAID,wBAAgB,yBAAyB,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,GAAG,OAAO,CAElF"}

package/dist/jointBreakage.js

@@ -0,0 +1,44 @@
+import { createPhysics3DJointReaction, getPhysics3DJointReactionForce, getPhysics3DJointReactionTorque, writePhysics3DJointReaction, } from './jointReaction';
+// Breaking a joint under load. A rope that parts, a hinge torn off its frame, a weld that fails.
+//
+// Read from the same reaction a caller can query, rather than from a private measurement, so the number
+// a threshold fires on is the number the caller can inspect BEFORE it fires. A break that could not have
+// been predicted from the public API would be untunable.
+// Marks a joint broken and records it, whatever its load. The manual door into the same state the
+// threshold produces, for a caller cutting a rope on cue rather than by force.
+//
+// Idempotent, because the event list is a record of TRANSITIONS: breaking an already-broken joint a
+// second time would report a second break that never happened.
+export function breakPhysics3DJoint(world, joint) {
+    if (joint.broken)
+        return;
+    joint.broken = true;
+    world.jointEvents.broke.push(joint);
+}
+// Tests every joint's load against its own thresholds and breaks those that exceed either.
+//
+// Runs where the impulses are FINAL — after the velocity iterations of the sub-interval that produced
+// them, and before the next sub-interval overwrites them. Testing earlier reads a partly converged
+// accumulator and breaks joints that would have held, which presents as thresholds that drift with the
+// solver's iteration count rather than with the load.
+export function evaluatePhysics3DJointBreakage(world, dt) {
+    for (const joint of world.joints) {
+        if (joint.broken)
+            continue;
+        if (!isPhysics3DJointBreakable(joint))
+            continue;
+        if (!writePhysics3DJointReaction(world, joint, dt, breakageReaction))
+            continue;
+        if (getPhysics3DJointReactionForce(breakageReaction) > joint.breakForce ||
+            getPhysics3DJointReactionTorque(breakageReaction) > joint.breakTorque) {
+            breakPhysics3DJoint(world, joint);
+        }
+    }
+}
+// Whether a joint could break at all. Checked before the reaction is measured, because the overwhelming
+// majority of joints are unbreakable and a reaction is real arithmetic per joint per sub-interval.
+export function isPhysics3DJointBreakable(joint) {
+    return Number.isFinite(joint.breakForce) || Number.isFinite(joint.breakTorque);
+}
+const breakageReaction = createPhysics3DJointReaction();
+//# sourceMappingURL=jointBreakage.js.map

package/dist/jointBreakage.js.map

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

@@ -0,0 +1,4 @@
+import type { Physics3DWorld } from '@flighthq/types/contract';
+export declare function isPhysics3DPairJointSuppressed(world: Readonly<Physics3DWorld>, bodyA: number, bodyB: number): boolean;
+export declare function rebuildPhysics3DJointCollisionSuppressions(world: Physics3DWorld): 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;AAI/D,wBAAgB,8BAA8B,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,EAAE,KAAK,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,GAAG,OAAO,CAIrH;AAYD,wBAAgB,0CAA0C,CAAC,KAAK,EAAE,cAAc,GAAG,IAAI,CAmBtF"}

package/dist/jointCollisionSuppression.js

@@ -0,0 +1,40 @@
+// Constant-time lookup for whether any active joint suppresses collision between a body pair. A broadphase
+// asks this once per candidate pair, so it has to be a lookup rather than a scan of the joint list.
+export function isPhysics3DPairJointSuppressed(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 suppression index from the joint list. Called at every lifecycle and invalidation boundary,
+// where the work is O(joints) once, rather than during the step, where the question is asked O(pairs) times.
+//
+// Rebuilding wholesale is also what makes explicit invalidation sufficient after a caller edits a joint's
+// endpoints or `collideConnected` in place: there is no per-joint shadow state that could still describe the
+// pair the joint used to connect.
+//
+// The nested value is a REFERENCE COUNT, not a flag. Two joints may connect the same pair — a hinge plus a
+// motor-bearing slider on the same hinge line — and removing one of them must not re-enable a collision the
+// other still suppresses.
+export function rebuildPhysics3DJointCollisionSuppressions(world) {
+    const suppressions = world.jointCollisionSuppressions;
+    suppressions.clear();
+    for (const joint of world.joints) {
+        if (joint.collideConnected)
+            continue;
+        // A joint whose kind has no registered solver constrains nothing, and a one-body kind never reads
+        // bodyA — in both cases the pair is not actually held together, so suppressing its collision would hide
+        // a contact for no reason.
+        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

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package/dist/jointFactories.d.ts

@@ -0,0 +1,9 @@
+import type { Physics3DBallAndSocketJoint, Physics3DBallAndSocketJointOptions, Physics3DConeTwistJoint, Physics3DConeTwistJointOptions, Physics3DDistanceJoint, Physics3DDistanceJointOptions, Physics3DFixedJoint, Physics3DFixedJointOptions, Physics3DGeneric6DofJoint, Physics3DGeneric6DofJointOptions, Physics3DHingeJoint, Physics3DHingeJointOptions, Physics3DSliderJoint, Physics3DSliderJointOptions } from '@flighthq/types/contract';
+export declare function createPhysics3DBallAndSocketJoint(options: Readonly<Physics3DBallAndSocketJointOptions>): Physics3DBallAndSocketJoint;
+export declare function createPhysics3DConeTwistJoint(options: Readonly<Physics3DConeTwistJointOptions>): Physics3DConeTwistJoint;
+export declare function createPhysics3DDistanceJoint(options: Readonly<Physics3DDistanceJointOptions>): Physics3DDistanceJoint;
+export declare function createPhysics3DFixedJoint(options: Readonly<Physics3DFixedJointOptions>): Physics3DFixedJoint;
+export declare function createPhysics3DGeneric6DofJoint(options: Readonly<Physics3DGeneric6DofJointOptions>): Physics3DGeneric6DofJoint;
+export declare function createPhysics3DHingeJoint(options: Readonly<Physics3DHingeJointOptions>): Physics3DHingeJoint;
+export declare function createPhysics3DSliderJoint(options: Readonly<Physics3DSliderJointOptions>): Physics3DSliderJoint;
+//# sourceMappingURL=jointFactories.d.ts.map

package/dist/jointFactories.d.ts.map

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package/dist/jointFactories.js

@@ -0,0 +1,159 @@
+import { Physics3DBallAndSocketJointKind, Physics3DConeTwistJointKind, Physics3DDistanceJointKind, Physics3DFixedJointKind, Physics3DGeneric6DofJointKind, Physics3DHingeJointKind, Physics3DSliderJointKind, } from './joints';
+// Joint factories allocate plain data, take one readonly options object, and make only authoring choices.
+// Registration and world membership stay explicit operations, so constructing a joint links no solver math
+// and touches no world.
+//
+// The two shared helpers are also the boundary that keeps solver-owned cache out of every public options
+// type: a caller names anchors, frames, and limits, and never the accumulators.
+export function createPhysics3DBallAndSocketJoint(options) {
+    return { kind: Physics3DBallAndSocketJointKind, ...createJointBase(options) };
+}
+// Defaults to a cone of 45 degrees in both directions and a free twist. A cone-twist with no limits at all is
+// a ball-and-socket that costs more, so the swing limit defaults ON and the twist limit — which has no
+// natural neutral range — defaults off.
+export function createPhysics3DConeTwistJoint(options) {
+    return {
+        kind: Physics3DConeTwistJointKind,
+        ...createJointBase(options),
+        ...createJointFrames(options),
+        enableSwingLimit: options.enableSwingLimit ?? true,
+        swingLimitY: options.swingLimitY ?? Math.PI / 4,
+        swingLimitZ: options.swingLimitZ ?? Math.PI / 4,
+        enableTwistLimit: options.enableTwistLimit ?? false,
+        lowerTwistAngle: options.lowerTwistAngle ?? 0,
+        upperTwistAngle: options.upperTwistAngle ?? 0,
+        enableLimitSpring: options.enableLimitSpring ?? false,
+        limitFrequencyHz: options.limitFrequencyHz ?? 0,
+        limitDampingRatio: options.limitDampingRatio ?? 0,
+        swingLimitImpulse: 0,
+        lowerTwistImpulse: 0,
+        upperTwistImpulse: 0,
+    };
+}
+// Defaults to a RIGID strut: no spring, no limit, and a rest length of zero, which holds the two anchors
+// coincident until a caller names a length. The limit interval defaults to `[0, Infinity]` so that switching
+// `enableLimit` on alone gives a rope with no stated bound rather than one pinned to zero length.
+export function createPhysics3DDistanceJoint(options) {
+    return {
+        kind: Physics3DDistanceJointKind,
+        ...createJointBase(options),
+        length: options.length ?? 0,
+        enableSpring: options.enableSpring ?? false,
+        frequencyHz: options.frequencyHz ?? 0,
+        dampingRatio: options.dampingRatio ?? 0,
+        enableLimit: options.enableLimit ?? false,
+        minLength: options.minLength ?? 0,
+        maxLength: options.maxLength ?? Number.POSITIVE_INFINITY,
+        lowerLimitImpulse: 0,
+        upperLimitImpulse: 0,
+    };
+}
+export function createPhysics3DFixedJoint(options) {
+    return { kind: Physics3DFixedJointKind, ...createJointBase(options), ...createJointFrames(options) };
+}
+// Defaults every axis to FREE, so a joint built with no bounds constrains nothing and each axis is opted into
+// by naming its interval. The alternative — defaulting to locked — would make a partially configured joint
+// silently rigid, which is the harder failure to see.
+export function createPhysics3DGeneric6DofJoint(options) {
+    return {
+        kind: Physics3DGeneric6DofJointKind,
+        ...createJointBase(options),
+        ...createJointFrames(options),
+        lowerLinearX: options.lowerLinearX ?? 1,
+        lowerLinearY: options.lowerLinearY ?? 1,
+        lowerLinearZ: options.lowerLinearZ ?? 1,
+        upperLinearX: options.upperLinearX ?? -1,
+        upperLinearY: options.upperLinearY ?? -1,
+        upperLinearZ: options.upperLinearZ ?? -1,
+        lowerAngularX: options.lowerAngularX ?? 1,
+        lowerAngularY: options.lowerAngularY ?? 1,
+        lowerAngularZ: options.lowerAngularZ ?? 1,
+        upperAngularX: options.upperAngularX ?? -1,
+        upperAngularY: options.upperAngularY ?? -1,
+        upperAngularZ: options.upperAngularZ ?? -1,
+        enableLimitSpring: options.enableLimitSpring ?? false,
+        limitFrequencyHz: options.limitFrequencyHz ?? 0,
+        limitDampingRatio: options.limitDampingRatio ?? 0,
+        lowerLimitImpulses: [0, 0, 0, 0, 0, 0],
+        upperLimitImpulses: [0, 0, 0, 0, 0, 0],
+    };
+}
+export function createPhysics3DHingeJoint(options) {
+    return {
+        kind: Physics3DHingeJointKind,
+        ...createJointBase(options),
+        ...createJointFrames(options),
+        enableLimit: options.enableLimit ?? false,
+        lowerAngle: options.lowerAngle ?? 0,
+        upperAngle: options.upperAngle ?? 0,
+        enableMotor: options.enableMotor ?? false,
+        motorSpeed: options.motorSpeed ?? 0,
+        maxMotorTorque: options.maxMotorTorque ?? 0,
+        enableLimitSpring: options.enableLimitSpring ?? false,
+        limitFrequencyHz: options.limitFrequencyHz ?? 0,
+        limitDampingRatio: options.limitDampingRatio ?? 0,
+        motorImpulse: 0,
+        lowerLimitImpulse: 0,
+        upperLimitImpulse: 0,
+    };
+}
+export function createPhysics3DSliderJoint(options) {
+    return {
+        kind: Physics3DSliderJointKind,
+        ...createJointBase(options),
+        ...createJointFrames(options),
+        enableLimit: options.enableLimit ?? false,
+        lowerTranslation: options.lowerTranslation ?? 0,
+        upperTranslation: options.upperTranslation ?? 0,
+        enableMotor: options.enableMotor ?? false,
+        motorSpeed: options.motorSpeed ?? 0,
+        maxMotorForce: options.maxMotorForce ?? 0,
+        enableLimitSpring: options.enableLimitSpring ?? false,
+        limitFrequencyHz: options.limitFrequencyHz ?? 0,
+        limitDampingRatio: options.limitDampingRatio ?? 0,
+        motorImpulse: 0,
+        lowerLimitImpulse: 0,
+        upperLimitImpulse: 0,
+    };
+}
+function createJointBase(options) {
+    return {
+        bodyA: options.bodyA,
+        bodyB: options.bodyB,
+        localAnchorAX: options.localAnchorAX ?? 0,
+        localAnchorAY: options.localAnchorAY ?? 0,
+        localAnchorAZ: options.localAnchorAZ ?? 0,
+        localAnchorBX: options.localAnchorBX ?? 0,
+        localAnchorBY: options.localAnchorBY ?? 0,
+        localAnchorBZ: options.localAnchorBZ ?? 0,
+        collideConnected: options.collideConnected ?? false,
+        breakForce: options.breakForce ?? Number.POSITIVE_INFINITY,
+        breakTorque: options.breakTorque ?? Number.POSITIVE_INFINITY,
+        broken: false,
+        impulse0: 0,
+        impulse1: 0,
+        impulse2: 0,
+        impulse3: 0,
+        impulse4: 0,
+        impulse5: 0,
+        rAX: 0,
+        rAY: 0,
+        rAZ: 0,
+        rBX: 0,
+        rBY: 0,
+        rBZ: 0,
+    };
+}
+function createJointFrames(options) {
+    return {
+        localRotationAX: options.localRotationAX ?? 0,
+        localRotationAY: options.localRotationAY ?? 0,
+        localRotationAZ: options.localRotationAZ ?? 0,
+        localRotationAW: options.localRotationAW ?? 1,
+        localRotationBX: options.localRotationBX ?? 0,
+        localRotationBY: options.localRotationBY ?? 0,
+        localRotationBZ: options.localRotationBZ ?? 0,
+        localRotationBW: options.localRotationBW ?? 1,
+    };
+}
+//# sourceMappingURL=jointFactories.js.map