@flighthq/physics3d 0.4.0-edge.1908.751021c

package/dist/jointFactories.js.map

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package/dist/jointMath.d.ts

@@ -0,0 +1,17 @@
+import type { Physics3DJoint, Physics3DJointFrames, RigidBody3D } from '@flighthq/types/contract';
+export declare function applyPhysics3DJointAngularImpulse(bodyA: RigidBody3D, bodyB: RigidBody3D, impulseX: number, impulseY: number, impulseZ: number): void;
+export declare function applyPhysics3DJointImpulse(bodyA: RigidBody3D, bodyB: RigidBody3D, rAX: number, rAY: number, rAZ: number, rBX: number, rBY: number, rBZ: number, impulseX: number, impulseY: number, impulseZ: number): void;
+export declare function applyPhysics3DJointRowImpulse(bodyA: RigidBody3D, bodyB: RigidBody3D, directionX: number, directionY: number, directionZ: number, armAX: number, armAY: number, armAZ: number, armBX: number, armBY: number, armBZ: number, impulse: number): void;
+export declare function getPhysics3DJointRowMass(bodyA: Readonly<RigidBody3D>, bodyB: Readonly<RigidBody3D>, directionX: number, directionY: number, directionZ: number, armAX: number, armAY: number, armAZ: number, armBX: number, armBY: number, armBZ: number): number;
+export declare function getPhysics3DJointRowVelocity(bodyA: Readonly<RigidBody3D>, bodyB: Readonly<RigidBody3D>, directionX: number, directionY: number, directionZ: number, armAX: number, armAY: number, armAZ: number, armBX: number, armBY: number, armBZ: number): number;
+export declare function swapPhysics3DJointFrames(frames: Physics3DJointFrames): void;
+export declare function writePhysics3DJointAnchors(bodyA: Readonly<RigidBody3D>, bodyB: Readonly<RigidBody3D>, joint: Physics3DJoint): void;
+export declare function writePhysics3DJointAnchorVelocity(bodyA: Readonly<RigidBody3D>, bodyB: Readonly<RigidBody3D>, joint: Readonly<Physics3DJoint>, out: number[]): void;
+export declare function writePhysics3DJointAngularMass(bodyA: Readonly<RigidBody3D>, bodyB: Readonly<RigidBody3D>, out: number[]): void;
+export declare function writePhysics3DJointFrameBasis(body: Readonly<RigidBody3D>, localRotationX: number, localRotationY: number, localRotationZ: number, localRotationW: number, out: number[]): void;
+export declare function writePhysics3DJointFrameRotation(body: Readonly<RigidBody3D>, localRotationX: number, localRotationY: number, localRotationZ: number, localRotationW: number, out: number[]): void;
+export declare function writePhysics3DJointPointMass(bodyA: Readonly<RigidBody3D>, bodyB: Readonly<RigidBody3D>, rAX: number, rAY: number, rAZ: number, rBX: number, rBY: number, rBZ: number, out: number[]): void;
+export declare function writePhysics3DJointRelativeRotation(frameAX: number, frameAY: number, frameAZ: number, frameAW: number, frameBX: number, frameBY: number, frameBZ: number, frameBW: number, out: number[]): void;
+export declare function writePhysics3DJointRotationError(frameAX: number, frameAY: number, frameAZ: number, frameAW: number, frameBX: number, frameBY: number, frameBZ: number, frameBW: number, out: number[]): void;
+export declare function writePhysics3DJointSeparation(bodyA: Readonly<RigidBody3D>, bodyB: Readonly<RigidBody3D>, joint: Readonly<Physics3DJoint>, out: number[]): void;
+//# sourceMappingURL=jointMath.d.ts.map

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package/dist/jointMath.js

@@ -0,0 +1,361 @@
+import { applySymmetricTensor, TENSOR_XX, TENSOR_XY, TENSOR_XZ, TENSOR_YY, TENSOR_YZ, TENSOR_ZZ, } from './symmetricTensor';
+// The constraint arithmetic every 3D joint kind is assembled from: lever arms, effective-mass blocks,
+// frame extraction, and the two impulse appliers.
+//
+// Package-internal, like `symmetricTensor`. These take and return loose numbers rather than
+// `@flighthq/geometry`'s `Quaternion` and `Vector3`, which are `Entity` types over a `Float32Array` — both
+// an indirection in a per-iteration loop and a precision step down from what a solver's accumulators need.
+// That is also why the quaternion helpers here are private rather than reaching for
+// `multiplyQuaternion`/`rotateVector3ByQuaternion`: those operate on the entity form.
+//
+// ONE SIGN CONVENTION HOLDS THROUGHOUT: every impulse is applied POSITIVE TO B and NEGATIVE TO A, and every
+// relative quantity is measured B RELATIVE TO A. So a positive impulse along a direction increases the
+// relative velocity along it, and `impulse = -mass * (velocity + bias)` drives the constraint to rest. The
+// contact solver uses the opposite sense, because a contact normal points out of B and resolving pushes A
+// away; mixing the two is not a small error, because the correction then adds to the violation and
+// compounds every iteration.
+// Applies an equal and opposite PURE angular impulse: B gains it, A loses it. No linear velocity changes,
+// which is what makes it usable for a hinge's axis rows without disturbing the point constraint holding the
+// same joint together.
+export function applyPhysics3DJointAngularImpulse(bodyA, bodyB, impulseX, impulseY, impulseZ) {
+    readWorldInverseInertia(bodyA, angularImpulseTensor);
+    applySymmetricTensor(angularImpulseTensor, impulseX, impulseY, impulseZ, angularImpulseVector);
+    bodyA.angularVelocityX -= angularImpulseVector[0];
+    bodyA.angularVelocityY -= angularImpulseVector[1];
+    bodyA.angularVelocityZ -= angularImpulseVector[2];
+    readWorldInverseInertia(bodyB, angularImpulseTensor);
+    applySymmetricTensor(angularImpulseTensor, impulseX, impulseY, impulseZ, angularImpulseVector);
+    bodyB.angularVelocityX += angularImpulseVector[0];
+    bodyB.angularVelocityY += angularImpulseVector[1];
+    bodyB.angularVelocityZ += angularImpulseVector[2];
+}
+// Applies an equal and opposite linear impulse at the two anchors: B gains it, A loses it. Each body also
+// picks up the torque of the impulse about its own lever arm, which is the term that lets a joint spin a
+// body it is only pulling on.
+//
+// A static or fixed-rotation body's zero inverse mass and zero inverse inertia make this a no-op with no
+// branch, which is the whole reason infinite mass is a zero inverse rather than a flag.
+export function applyPhysics3DJointImpulse(bodyA, bodyB, rAX, rAY, rAZ, rBX, rBY, rBZ, impulseX, impulseY, impulseZ) {
+    applyBodyJointImpulse(bodyA, rAX, rAY, rAZ, -impulseX, -impulseY, -impulseZ);
+    applyBodyJointImpulse(bodyB, rBX, rBY, rBZ, impulseX, impulseY, impulseZ);
+}
+// Applies one scalar constraint row's impulse — the counterpart of `getPhysics3DJointRowMass`, acting
+// through the same linear direction and the same two angular arms, so a row's mass and its impulse can
+// never describe different constraints.
+//
+// The arms are given rather than derived because they are NOT always `r x direction`. A slider's
+// perpendicular row acts through `(rA + separation) x direction` on A, since its axis is carried by A and
+// rotates with it; using A's bare lever arm there leaks motion sideways whenever the rail body turns.
+export function applyPhysics3DJointRowImpulse(bodyA, bodyB, directionX, directionY, directionZ, armAX, armAY, armAZ, armBX, armBY, armBZ, impulse) {
+    bodyA.velocityX -= impulse * directionX * bodyA.inverseMass;
+    bodyA.velocityY -= impulse * directionY * bodyA.inverseMass;
+    bodyA.velocityZ -= impulse * directionZ * bodyA.inverseMass;
+    readWorldInverseInertia(bodyA, rowImpulseTensor);
+    applySymmetricTensor(rowImpulseTensor, armAX * impulse, armAY * impulse, armAZ * impulse, rowImpulseVector);
+    bodyA.angularVelocityX -= rowImpulseVector[0];
+    bodyA.angularVelocityY -= rowImpulseVector[1];
+    bodyA.angularVelocityZ -= rowImpulseVector[2];
+    bodyB.velocityX += impulse * directionX * bodyB.inverseMass;
+    bodyB.velocityY += impulse * directionY * bodyB.inverseMass;
+    bodyB.velocityZ += impulse * directionZ * bodyB.inverseMass;
+    readWorldInverseInertia(bodyB, rowImpulseTensor);
+    applySymmetricTensor(rowImpulseTensor, armBX * impulse, armBY * impulse, armBZ * impulse, rowImpulseVector);
+    bodyB.angularVelocityX += rowImpulseVector[0];
+    bodyB.angularVelocityY += rowImpulseVector[1];
+    bodyB.angularVelocityZ += rowImpulseVector[2];
+}
+// The scalar effective mass of one constraint row, given its linear direction and the two angular arms the
+// row acts through. Returns 0 when the pair cannot move along the row at all, so the impulse computed from
+// it is zero rather than infinite.
+//
+// The linear term is scaled by the direction's own squared length, so a PURELY ANGULAR row — a hinge's
+// motor, a twist limit — passes a zero direction and the two bodies' translational masses drop out on their
+// own. Without that scaling the caller would have to choose between two nearly identical functions, and the
+// one place that picked wrong would report a hinge motor as heavier than it is by the pair's whole mass.
+export function getPhysics3DJointRowMass(bodyA, bodyB, directionX, directionY, directionZ, armAX, armAY, armAZ, armBX, armBY, armBZ) {
+    const linear = directionX * directionX + directionY * directionY + directionZ * directionZ;
+    let denominator = (bodyA.inverseMass + bodyB.inverseMass) * linear;
+    readWorldInverseInertia(bodyA, rowMassTensor);
+    applySymmetricTensor(rowMassTensor, armAX, armAY, armAZ, rowMassVector);
+    denominator += armAX * rowMassVector[0] + armAY * rowMassVector[1] + armAZ * rowMassVector[2];
+    readWorldInverseInertia(bodyB, rowMassTensor);
+    applySymmetricTensor(rowMassTensor, armBX, armBY, armBZ, rowMassVector);
+    denominator += armBX * rowMassVector[0] + armBY * rowMassVector[1] + armBZ * rowMassVector[2];
+    return denominator > 0 ? 1 / denominator : 0;
+}
+// The rate at which one constraint row's coordinate is changing — B relative to A, so a positive value means
+// the row's error is growing. The third member of the row triple, and the one every solve reads before
+// deciding an impulse.
+export function getPhysics3DJointRowVelocity(bodyA, bodyB, directionX, directionY, directionZ, armAX, armAY, armAZ, armBX, armBY, armBZ) {
+    return ((bodyB.velocityX - bodyA.velocityX) * directionX +
+        (bodyB.velocityY - bodyA.velocityY) * directionY +
+        (bodyB.velocityZ - bodyA.velocityZ) * directionZ +
+        bodyB.angularVelocityX * armBX +
+        bodyB.angularVelocityY * armBY +
+        bodyB.angularVelocityZ * armBZ -
+        bodyA.angularVelocityX * armAX -
+        bodyA.angularVelocityY * armAY -
+        bodyA.angularVelocityZ * armAZ);
+}
+// Exchanges a frame-bearing joint's two local rotations, so the generic end swap the registry performs
+// stays consistent for every kind that carries a frame. Each rotation belongs to its body and travels with
+// it; nothing about a frame reverses sign, unlike the direction-bearing scalars a kind may also hold.
+export function swapPhysics3DJointFrames(frames) {
+    const x = frames.localRotationAX;
+    const y = frames.localRotationAY;
+    const z = frames.localRotationAZ;
+    const w = frames.localRotationAW;
+    frames.localRotationAX = frames.localRotationBX;
+    frames.localRotationAY = frames.localRotationBY;
+    frames.localRotationAZ = frames.localRotationBZ;
+    frames.localRotationAW = frames.localRotationBW;
+    frames.localRotationBX = x;
+    frames.localRotationBY = y;
+    frames.localRotationBZ = z;
+    frames.localRotationBW = w;
+}
+// Rotates each body's local anchor into world space, relative to that body's CENTRE OF MASS, and writes the
+// two lever arms onto the joint.
+//
+// Measured from the centre of mass rather than from the body's origin, because that is the point a body
+// rotates about: an impulse at an anchor produces the torque of its arm about the centre, and an arm taken
+// from the origin gives an offset body the swing of a shape it does not have. The two coincide only when a
+// body's centre of mass sits at its origin, which is why the error survives every test built from centred
+// primitives.
+export function writePhysics3DJointAnchors(bodyA, bodyB, joint) {
+    rotateByQuaternion(joint.localAnchorAX - bodyA.centerX, joint.localAnchorAY - bodyA.centerY, joint.localAnchorAZ - bodyA.centerZ, bodyA.orientationX, bodyA.orientationY, bodyA.orientationZ, bodyA.orientationW, anchorVector);
+    joint.rAX = anchorVector[0];
+    joint.rAY = anchorVector[1];
+    joint.rAZ = anchorVector[2];
+    rotateByQuaternion(joint.localAnchorBX - bodyB.centerX, joint.localAnchorBY - bodyB.centerY, joint.localAnchorBZ - bodyB.centerZ, bodyB.orientationX, bodyB.orientationY, bodyB.orientationZ, bodyB.orientationW, anchorVector);
+    joint.rBX = anchorVector[0];
+    joint.rBY = anchorVector[1];
+    joint.rBZ = anchorVector[2];
+}
+// The velocity of B's anchor relative to A's, written into `out` as three world-space components. Each
+// anchor's velocity is its body's linear velocity plus the rotational contribution at its lever arm — the
+// term that makes an anchor move even when the body's centre is still.
+export function writePhysics3DJointAnchorVelocity(bodyA, bodyB, joint, out) {
+    const anchorAX = bodyA.velocityX + (bodyA.angularVelocityY * joint.rAZ - bodyA.angularVelocityZ * joint.rAY);
+    const anchorAY = bodyA.velocityY + (bodyA.angularVelocityZ * joint.rAX - bodyA.angularVelocityX * joint.rAZ);
+    const anchorAZ = bodyA.velocityZ + (bodyA.angularVelocityX * joint.rAY - bodyA.angularVelocityY * joint.rAX);
+    out[0] = bodyB.velocityX + (bodyB.angularVelocityY * joint.rBZ - bodyB.angularVelocityZ * joint.rBY) - anchorAX;
+    out[1] = bodyB.velocityY + (bodyB.angularVelocityZ * joint.rBX - bodyB.angularVelocityX * joint.rBZ) - anchorAY;
+    out[2] = bodyB.velocityZ + (bodyB.angularVelocityX * joint.rBY - bodyB.angularVelocityY * joint.rBX) - anchorAZ;
+}
+// The pair's angular effective-mass block — the sum of the two world inverse inertia tensors — written into
+// `out` in the six-component symmetric form. Invert it with `inverseSymmetricTensor` to solve a three-row
+// angular constraint; project it onto an axis with `getPhysics3DJointRowMass` to solve a single row.
+export function writePhysics3DJointAngularMass(bodyA, bodyB, out) {
+    out[TENSOR_XX] = bodyA.inverseInertiaWorldXX + bodyB.inverseInertiaWorldXX;
+    out[TENSOR_YY] = bodyA.inverseInertiaWorldYY + bodyB.inverseInertiaWorldYY;
+    out[TENSOR_ZZ] = bodyA.inverseInertiaWorldZZ + bodyB.inverseInertiaWorldZZ;
+    out[TENSOR_XY] = bodyA.inverseInertiaWorldXY + bodyB.inverseInertiaWorldXY;
+    out[TENSOR_XZ] = bodyA.inverseInertiaWorldXZ + bodyB.inverseInertiaWorldXZ;
+    out[TENSOR_YZ] = bodyA.inverseInertiaWorldYZ + bodyB.inverseInertiaWorldYZ;
+}
+// The world-space axes of one body's joint frame, written into `out` as nine numbers in COLUMN-MAJOR order:
+// `out[0..2]` is the frame's X axis, `out[3..5]` its Y, `out[6..8]` its Z.
+//
+// X first is the convention every axis-bearing kind shares — a hinge spins about it, a slider translates
+// along it, a cone-twist twists about it — so a caller that needs only the primary axis reads the first
+// three numbers and stops.
+export function writePhysics3DJointFrameBasis(body, localRotationX, localRotationY, localRotationZ, localRotationW, out) {
+    multiplyQuaternions(body.orientationX, body.orientationY, body.orientationZ, body.orientationW, localRotationX, localRotationY, localRotationZ, localRotationW, basisRotation);
+    const x = basisRotation[0];
+    const y = basisRotation[1];
+    const z = basisRotation[2];
+    const w = basisRotation[3];
+    const x2 = x + x;
+    const y2 = y + y;
+    const z2 = z + z;
+    const xx2 = x * x2;
+    const yy2 = y * y2;
+    const zz2 = z * z2;
+    const xy2 = x * y2;
+    const xz2 = x * z2;
+    const yz2 = y * z2;
+    const wx2 = w * x2;
+    const wy2 = w * y2;
+    const wz2 = w * z2;
+    out[0] = 1 - yy2 - zz2;
+    out[1] = xy2 + wz2;
+    out[2] = xz2 - wy2;
+    out[3] = xy2 - wz2;
+    out[4] = 1 - xx2 - zz2;
+    out[5] = yz2 + wx2;
+    out[6] = xz2 + wy2;
+    out[7] = yz2 - wx2;
+    out[8] = 1 - xx2 - yy2;
+}
+// One body's joint frame as a world-space unit quaternion, written into `out` as `[x, y, z, w]`. The
+// rotation half of the frame `writePhysics3DJointFrameBasis` expands into axes; kinds that measure an angle
+// rather than project onto an axis want this form.
+export function writePhysics3DJointFrameRotation(body, localRotationX, localRotationY, localRotationZ, localRotationW, out) {
+    multiplyQuaternions(body.orientationX, body.orientationY, body.orientationZ, body.orientationW, localRotationX, localRotationY, localRotationZ, localRotationW, out);
+}
+// The 3x3 effective-mass block of a point-to-point constraint, written into `out` in the six-component
+// symmetric form.
+//
+// `K = (invMassA + invMassB) * identity + skew(rA) * invInertiaA * transpose(skew(rA)) + (same for B)`, and
+// it is symmetric by construction because each term is. Invert it with `inverseSymmetricTensor` and the
+// three rows are solved as one coupled block; solving x, then y, then z instead lets each axis undo part of
+// the previous correction, which presents as a loaded joint that visibly creeps.
+export function writePhysics3DJointPointMass(bodyA, bodyB, rAX, rAY, rAZ, rBX, rBY, rBZ, out) {
+    const diagonal = bodyA.inverseMass + bodyB.inverseMass;
+    out[TENSOR_XX] = diagonal;
+    out[TENSOR_YY] = diagonal;
+    out[TENSOR_ZZ] = diagonal;
+    out[TENSOR_XY] = 0;
+    out[TENSOR_XZ] = 0;
+    out[TENSOR_YZ] = 0;
+    readWorldInverseInertia(bodyA, pointMassTensor);
+    addSkewSandwich(pointMassTensor, rAX, rAY, rAZ, out);
+    readWorldInverseInertia(bodyB, pointMassTensor);
+    addSkewSandwich(pointMassTensor, rBX, rBY, rBZ, out);
+}
+// The rotation taking frame A onto frame B, written into `out` as `[x, y, z, w]` and expressed IN A'S OWN
+// FRAME rather than in world space. `conjugate(frameA) * frameB`.
+//
+// A's frame is the useful one for a kind that has to take the rotation apart — a cone-twist reads its twist
+// straight off the X component here, because A's X is what twist is defined about. A kind that only needs
+// the error as one vector wants `writePhysics3DJointRotationError` instead, which is this rotated out to
+// world space where the inverse inertia tensors live.
+//
+// `w` is always non-negative on return. A unit quaternion and its negation name the same rotation, so
+// without that fix half of all inputs would decompose as the long way round: a frame a degree from aligned
+// would read as 359 degrees out, and every limit built on it would fire against the wrong bound.
+export function writePhysics3DJointRelativeRotation(frameAX, frameAY, frameAZ, frameAW, frameBX, frameBY, frameBZ, frameBW, out) {
+    multiplyQuaternions(-frameAX, -frameAY, -frameAZ, frameAW, frameBX, frameBY, frameBZ, frameBW, out);
+    if (out[3] < 0) {
+        out[0] = -out[0];
+        out[1] = -out[1];
+        out[2] = -out[2];
+        out[3] = -out[3];
+    }
+}
+// The rotation taking frame A onto frame B, written into `out` as a world-space vector whose direction is
+// the axis and whose magnitude is the angle in radians. Zero exactly when the two frames coincide, which is
+// what makes it usable directly as the positional error of an angular constraint.
+//
+// The angle comes from `2 * atan2(|v|, w)` rather than from the small-angle shortcut `2 * v`. The shortcut
+// is `2 * sin(angle/2) * axis`, which agrees near zero and is 10% short by a quarter turn — invisible on a
+// locked axis, and a limit that stops progressively early as it opens up.
+//
+// The shorter of the two arcs is always chosen. A unit quaternion and its negation name the same rotation,
+// so without the sign fix half of all inputs would report the long way round: a frame a degree from aligned
+// would read as 359 degrees out and the constraint would drive it the wrong way.
+export function writePhysics3DJointRotationError(frameAX, frameAY, frameAZ, frameAW, frameBX, frameBY, frameBZ, frameBW, out) {
+    writePhysics3DJointRelativeRotation(frameAX, frameAY, frameAZ, frameAW, frameBX, frameBY, frameBZ, frameBW, rotationErrorRelative);
+    const x = rotationErrorRelative[0];
+    const y = rotationErrorRelative[1];
+    const z = rotationErrorRelative[2];
+    const sine = Math.sqrt(x * x + y * y + z * z);
+    if (sine < QUATERNION_EPSILON) {
+        out[0] = 0;
+        out[1] = 0;
+        out[2] = 0;
+        return;
+    }
+    const scale = (2 * Math.atan2(sine, rotationErrorRelative[3])) / sine;
+    rotateByQuaternion(x * scale, y * scale, z * scale, frameAX, frameAY, frameAZ, frameAW, out);
+}
+// The world-space offset from A's anchor to B's, written into `out` — the positional error of a
+// point-to-point constraint, and the vector every axis-bearing kind projects onto its frame.
+//
+// Built as `worldCenter + leverArm` rather than `bodyOrigin + leverArm`. The lever arm is measured from the
+// centre of mass, so adding it to the origin lands on the anchor only when the two coincide; for a body
+// whose centre is offset, the two anchors are each wrong by their own rotated offset and the difference
+// does not cancel.
+export function writePhysics3DJointSeparation(bodyA, bodyB, joint, out) {
+    writeWorldCenter(bodyA, separationCenter);
+    const anchorAX = separationCenter[0] + joint.rAX;
+    const anchorAY = separationCenter[1] + joint.rAY;
+    const anchorAZ = separationCenter[2] + joint.rAZ;
+    writeWorldCenter(bodyB, separationCenter);
+    out[0] = separationCenter[0] + joint.rBX - anchorAX;
+    out[1] = separationCenter[1] + joint.rBY - anchorAY;
+    out[2] = separationCenter[2] + joint.rBZ - anchorAZ;
+}
+// Adds `skew(r) * tensor * transpose(skew(r))` into an accumulating symmetric block. The rows of `skew(r)`
+// are the three vectors below, and entry (i,j) of the product is `row_i . tensor . row_j` — six distinct
+// entries for a symmetric result, which is why only six are computed.
+function addSkewSandwich(tensor, rX, rY, rZ, out) {
+    applySymmetricTensor(tensor, 0, -rZ, rY, skewRow0);
+    applySymmetricTensor(tensor, rZ, 0, -rX, skewRow1);
+    applySymmetricTensor(tensor, -rY, rX, 0, skewRow2);
+    out[TENSOR_XX] += -rZ * skewRow0[1] + rY * skewRow0[2];
+    out[TENSOR_YY] += rZ * skewRow1[0] - rX * skewRow1[2];
+    out[TENSOR_ZZ] += -rY * skewRow2[0] + rX * skewRow2[1];
+    out[TENSOR_XY] += -rZ * skewRow1[1] + rY * skewRow1[2];
+    out[TENSOR_XZ] += -rZ * skewRow2[1] + rY * skewRow2[2];
+    out[TENSOR_YZ] += rZ * skewRow2[0] - rX * skewRow2[2];
+}
+function applyBodyJointImpulse(body, rX, rY, rZ, impulseX, impulseY, impulseZ) {
+    body.velocityX += impulseX * body.inverseMass;
+    body.velocityY += impulseY * body.inverseMass;
+    body.velocityZ += impulseZ * body.inverseMass;
+    const torqueX = rY * impulseZ - rZ * impulseY;
+    const torqueY = rZ * impulseX - rX * impulseZ;
+    const torqueZ = rX * impulseY - rY * impulseX;
+    readWorldInverseInertia(body, bodyImpulseTensor);
+    applySymmetricTensor(bodyImpulseTensor, torqueX, torqueY, torqueZ, bodyImpulseVector);
+    body.angularVelocityX += bodyImpulseVector[0];
+    body.angularVelocityY += bodyImpulseVector[1];
+    body.angularVelocityZ += bodyImpulseVector[2];
+}
+// `out = a * b`, the Hamilton product, in the order that composes b's rotation FIRST and then a's. Frames
+// are built as `bodyOrientation * localRotation` for exactly that reason: the local rotation is expressed in
+// body space and the body's orientation carries it out to the world.
+function multiplyQuaternions(aX, aY, aZ, aW, bX, bY, bZ, bW, out) {
+    out[0] = aW * bX + aX * bW + aY * bZ - aZ * bY;
+    out[1] = aW * bY - aX * bZ + aY * bW + aZ * bX;
+    out[2] = aW * bZ + aX * bY - aY * bX + aZ * bW;
+    out[3] = aW * bW - aX * bX - aY * bY - aZ * bZ;
+}
+function readWorldInverseInertia(body, out) {
+    out[TENSOR_XX] = body.inverseInertiaWorldXX;
+    out[TENSOR_YY] = body.inverseInertiaWorldYY;
+    out[TENSOR_ZZ] = body.inverseInertiaWorldZZ;
+    out[TENSOR_XY] = body.inverseInertiaWorldXY;
+    out[TENSOR_XZ] = body.inverseInertiaWorldXZ;
+    out[TENSOR_YZ] = body.inverseInertiaWorldYZ;
+}
+// `v + 2 * q.xyz x (q.xyz x v + q.w * v)`, the standard reduction of `q * v * conjugate(q)` for a unit
+// quaternion. Safe when `out` is one of the inputs, since every component is read into a local first.
+function rotateByQuaternion(vX, vY, vZ, qX, qY, qZ, qW, out) {
+    const tX = qY * vZ - qZ * vY + qW * vX;
+    const tY = qZ * vX - qX * vZ + qW * vY;
+    const tZ = qX * vY - qY * vX + qW * vZ;
+    out[0] = vX + 2 * (qY * tZ - qZ * tY);
+    out[1] = vY + 2 * (qZ * tX - qX * tZ);
+    out[2] = vZ + 2 * (qX * tY - qY * tX);
+}
+function writeWorldCenter(body, out) {
+    rotateByQuaternion(body.centerX, body.centerY, body.centerZ, body.orientationX, body.orientationY, body.orientationZ, body.orientationW, out);
+    out[0] += body.x;
+    out[1] += body.y;
+    out[2] += body.z;
+}
+// Below the tolerance the rotation error is genuinely zero and the axis is undefined; returning a zero
+// vector is correct there, where dividing by the vanishing sine would seed NaN into both bodies.
+const QUATERNION_EPSILON = 1e-12;
+// Per-function scratch, never shared between two functions that can be live at once. One shared pool would
+// be smaller and would corrupt the outer call the first time one of these grew a nested use.
+const angularImpulseTensor = [0, 0, 0, 0, 0, 0];
+const angularImpulseVector = [0, 0, 0];
+const anchorVector = [0, 0, 0];
+const basisRotation = [0, 0, 0, 0];
+const bodyImpulseTensor = [0, 0, 0, 0, 0, 0];
+const bodyImpulseVector = [0, 0, 0];
+const pointMassTensor = [0, 0, 0, 0, 0, 0];
+const rotationErrorRelative = [0, 0, 0, 0];
+const rowImpulseTensor = [0, 0, 0, 0, 0, 0];
+const rowImpulseVector = [0, 0, 0];
+const rowMassTensor = [0, 0, 0, 0, 0, 0];
+const rowMassVector = [0, 0, 0];
+const separationCenter = [0, 0, 0];
+const skewRow0 = [0, 0, 0];
+const skewRow1 = [0, 0, 0];
+const skewRow2 = [0, 0, 0];
+//# sourceMappingURL=jointMath.js.map

package/dist/jointMath.js.map

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package/dist/jointReaction.d.ts

@@ -0,0 +1,8 @@
+import type { Physics3DJoint, Physics3DJointReaction, Physics3DWorld } from '@flighthq/types/contract';
+export declare function accumulatePhysics3DJointRowReaction(joint: Readonly<Physics3DJoint>, state: readonly number[], offset: number, impulse: number, out: Physics3DJointReaction): void;
+export declare function clearPhysics3DJointReaction(out: Physics3DJointReaction): void;
+export declare function createPhysics3DJointReaction(): Physics3DJointReaction;
+export declare function getPhysics3DJointReactionForce(reaction: Readonly<Physics3DJointReaction>): number;
+export declare function getPhysics3DJointReactionTorque(reaction: Readonly<Physics3DJointReaction>): number;
+export declare function writePhysics3DJointReaction(world: Readonly<Physics3DWorld>, joint: Readonly<Physics3DJoint>, dt: number, out: Physics3DJointReaction): boolean;
+//# sourceMappingURL=jointReaction.d.ts.map

package/dist/jointReaction.d.ts.map

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package/dist/jointReaction.js

@@ -0,0 +1,65 @@
+// What a joint is CARRYING — the force and torque its constraint applied over the sub-interval just
+// solved. A stress readout, a break threshold, a gameplay trigger for a rope about to snap.
+//
+// The reading is per SUB-INTERVAL, not per step. A world running substeps solves several sub-intervals
+// per step and each converges its own impulses, so this reports the most recent one. That is the right
+// grain for a threshold — a joint that momentarily carried ten times its average load did carry it — and
+// the wrong grain for an average, which a caller wanting one should accumulate itself.
+// Adds one constraint row's contribution to a reaction.
+//
+// The torque term is `armB - rB x direction`, and the subtraction is what makes force and torque
+// INDEPENDENT readings. A row's angular arm already contains `rB x direction` for a linear row, which is
+// the torque that row exerts about the centre of mass purely by acting at an offset anchor. Leaving it in
+// would make a weight hung off a joint register as twist, and a `breakTorque` fire on hanging load. The
+// subtraction cancels it exactly for a linear row and leaves a purely angular row untouched.
+export function accumulatePhysics3DJointRowReaction(joint, state, offset, impulse, out) {
+    if (impulse === 0)
+        return;
+    const directionX = state[offset];
+    const directionY = state[offset + 1];
+    const directionZ = state[offset + 2];
+    out.forceX += directionX * impulse;
+    out.forceY += directionY * impulse;
+    out.forceZ += directionZ * impulse;
+    const leverX = joint.rBY * directionZ - joint.rBZ * directionY;
+    const leverY = joint.rBZ * directionX - joint.rBX * directionZ;
+    const leverZ = joint.rBX * directionY - joint.rBY * directionX;
+    out.torqueX += (state[offset + 6] - leverX) * impulse;
+    out.torqueY += (state[offset + 7] - leverY) * impulse;
+    out.torqueZ += (state[offset + 8] - leverZ) * impulse;
+}
+export function clearPhysics3DJointReaction(out) {
+    out.forceX = 0;
+    out.forceY = 0;
+    out.forceZ = 0;
+    out.torqueX = 0;
+    out.torqueY = 0;
+    out.torqueZ = 0;
+}
+export function createPhysics3DJointReaction() {
+    return { forceX: 0, forceY: 0, forceZ: 0, torqueX: 0, torqueY: 0, torqueZ: 0 };
+}
+export function getPhysics3DJointReactionForce(reaction) {
+    return Math.sqrt(reaction.forceX * reaction.forceX + reaction.forceY * reaction.forceY + reaction.forceZ * reaction.forceZ);
+}
+export function getPhysics3DJointReactionTorque(reaction) {
+    return Math.sqrt(reaction.torqueX * reaction.torqueX + reaction.torqueY * reaction.torqueY + reaction.torqueZ * reaction.torqueZ);
+}
+// Writes the load `joint` carried over the most recent sub-interval, and returns whether there was one to
+// read. False leaves the reaction zeroed, and means one of: the kind has no registered solver, the kind
+// does not report a reaction, the joint has not been solved since it was added, or `dt` was not positive.
+//
+// `dt` is the SUB-INTERVAL the world solved, which is `dt / substeps` for a stepped world — not the frame
+// time. Passing the frame time understates the force by the substep count. It is a parameter rather than
+// something read back off the world because the world does not retain it, and a remembered timestep is a
+// second source of truth that goes stale the first time a caller varies its step.
+export function writePhysics3DJointReaction(world, joint, dt, out) {
+    clearPhysics3DJointReaction(out);
+    if (!(dt > 0))
+        return false;
+    const solver = world.jointSolvers.get(joint.kind);
+    if (solver?.writeReaction === undefined)
+        return false;
+    return solver.writeReaction(joint, 1 / dt, out);
+}
+//# sourceMappingURL=jointReaction.js.map

package/dist/jointReaction.js.map

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

@@ -0,0 +1,8 @@
+import type { Physics3DJoint, Physics3DJointKind, Physics3DJointSolver, Physics3DWorld } from '@flighthq/types/contract';
+export declare function addPhysics3DJoint<T extends Physics3DJoint>(world: Physics3DWorld, joint: T): T;
+export declare function getPhysics3DJointSolver(world: Readonly<Physics3DWorld>, kind: Physics3DJointKind): Physics3DJointSolver | null;
+export declare function invalidatePhysics3DJoint(world: Physics3DWorld, joint: Physics3DJoint): boolean;
+export declare function isPhysics3DPairOrdered(a: number, b: number): boolean;
+export declare function registerPhysics3DJointSolver(world: Physics3DWorld, kind: Physics3DJointKind, solver: Physics3DJointSolver): void;
+export declare function removePhysics3DJoint(world: Physics3DWorld, joint: Physics3DJoint): boolean;
+//# sourceMappingURL=jointRegistry.d.ts.map

package/dist/jointRegistry.d.ts.map

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