@flighthq/physics3d 0.4.0-edge.1908.751021c

package/dist/jointRegistry.js

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+import { rebuildPhysics3DJointCollisionSuppressions } from './jointCollisionSuppression';
+import { assertPhysics3DWorldNotStepping, physics3DJointOwners } from './ownership';
+import { findPhysics3DBody, wakePhysics3DBody } from './world';
+// Adds `joint` to `world` under the same canonical body ordering contacts use, exchanging its two ends when
+// the caller supplied them the other way round.
+//
+// A joint is a constraint in the SAME sequential solve list as a contact, so it inherits the same
+// obligation: each impulse lands on the velocities the previous one left, and an ordering that varied with
+// construction history would make the result vary with it. Contacts get their order from the broadphase pair
+// sort; joints have no broadphase, so it is enforced here, at the one place a joint enters a world.
+export function addPhysics3DJoint(world, joint) {
+    assertPhysics3DWorldNotStepping(world);
+    if (physics3DJointOwners.has(joint) || world.joints.includes(joint)) {
+        throw new Error('Cannot add a physics joint that already belongs to a physics world');
+    }
+    // Canonicalize only when the kind can be consulted. A joint whose solver is not registered yet is
+    // explicitly supported — a scene deserialized ahead of the code that solves it — and exchanging its ends
+    // now would move the bodies, anchors, and frames while the kind's own direction-bearing fields stayed as
+    // authored: the generic half of a swap with the kind's half missing, which no later registration repairs.
+    // An unregistered joint constrains nothing, so its order does not matter until a solver exists, and
+    // `registerPhysics3DJointSolver` canonicalizes what is already in the world at that point.
+    const active = getPhysics3DJointSolver(world, joint.kind) !== null;
+    if (active)
+        canonicalizeJointEnds(world, joint);
+    world.joints.push(joint);
+    physics3DJointOwners.set(joint, world);
+    rebuildPhysics3DJointCollisionSuppressions(world);
+    // Adding an active constraint changes what both bodies may do THIS step. A sleeping pair would skip
+    // prepare and solve forever unless something unrelated happened to wake it.
+    if (active)
+        wakeJointBodies(world, joint);
+    return joint;
+}
+// The solver registered for `kind` on this world, or null when none is. A missing solver is an expected
+// condition rather than an error: a scene deserialized with a joint kind the running build does not know
+// about should import and simply not constrain, rather than refuse to load.
+export function getPhysics3DJointSolver(world, kind) {
+    return world.jointSolvers.get(kind) ?? null;
+}
+// Discards solver-owned state after a stored joint's authored parameters change. Returns false when the
+// world does not hold the joint.
+//
+// A cached impulse is an answer to the PREVIOUS constraint equation. Reapplying it after an anchor, frame,
+// limit, or motor changes kicks both bodies before the new equation gets its first iteration — which reads
+// as a joint that lurches when it is edited rather than as a stale cache. The kind clears whatever
+// accumulators only it knows about; the common `impulse0..5` block is cleared here.
+export function invalidatePhysics3DJoint(world, joint) {
+    assertPhysics3DWorldNotStepping(world);
+    if (physics3DJointOwners.get(joint) !== world || !world.joints.includes(joint))
+        return false;
+    getPhysics3DJointSolver(world, joint.kind)?.clearAccumulatedImpulses?.(joint);
+    joint.impulse0 = 0;
+    joint.impulse1 = 0;
+    joint.impulse2 = 0;
+    joint.impulse3 = 0;
+    joint.impulse4 = 0;
+    joint.impulse5 = 0;
+    rebuildPhysics3DJointCollisionSuppressions(world);
+    wakeJointBodies(world, joint);
+    return true;
+}
+// Whether the two bodies are in canonical order — `bodyA` before `bodyB` by persistent index.
+//
+// Ordered by INDEX rather than by anything geometric. Any order derived from coordinates flips the moment
+// those coordinates cross, which would renumber a joint's ends mid-simulation and invalidate every
+// accumulator keyed to them. Identity survives motion; position does not.
+export function isPhysics3DPairOrdered(a, b) {
+    return a <= b;
+}
+// Registers `solver` for `kind` on this world. Last write wins, so a caller may replace a built-in with its
+// own — collisions are avoided by the vendor-prefix convention (bare names reserved for built-ins) rather
+// than by a guard that would make overriding impossible.
+//
+// Registration is per-world and explicit rather than a module-level table populated on import, so a bundle
+// that never registers a joint never links one: six solvers are six blocks of constraint math, and a game
+// using none of them should pay for none of them.
+export function registerPhysics3DJointSolver(world, kind, solver) {
+    assertPhysics3DWorldNotStepping(world);
+    world.jointSolvers.set(kind, solver);
+    // Joints of this kind may already be in the world: `addPhysics3DJoint` deliberately leaves an
+    // unknown-kind joint in its authored order. This is where that deferred work happens, so the outcome no
+    // longer depends on whether the scene or the solver arrived first.
+    for (const joint of world.joints) {
+        if (joint.kind !== kind)
+            continue;
+        canonicalizeJointEnds(world, joint);
+        // Registration turns an inert descriptor into a live constraint, and re-registration may replace its
+        // equation outright. Both are the same topology change from a sleeping neighbour's point of view.
+        wakeJointBodies(world, joint);
+    }
+    rebuildPhysics3DJointCollisionSuppressions(world);
+}
+// Removes `joint` from `world`. Returns false when the world does not hold it.
+export function removePhysics3DJoint(world, joint) {
+    assertPhysics3DWorldNotStepping(world);
+    const at = world.joints.indexOf(joint);
+    if (at < 0)
+        return false;
+    if (getPhysics3DJointSolver(world, joint.kind) !== null)
+        wakeJointBodies(world, joint);
+    world.joints.splice(at, 1);
+    physics3DJointOwners.delete(joint);
+    rebuildPhysics3DJointCollisionSuppressions(world);
+    return true;
+}
+// Exchanges `joint`'s ends when the pair is out of canonical order and the kind consents.
+//
+// The kind is asked only when a swap is actually pending, because `swapEnds` both vetoes AND transforms:
+// calling it otherwise would apply a reversal to ends that never moved. What the generic half can move is
+// only what every joint has — two body indices and two anchors. Anything a kind measures FROM bodyA TO
+// bodyB, including its frames, reverses with them and is the kind's own to carry across.
+function canonicalizeJointEnds(world, joint) {
+    const solver = getPhysics3DJointSolver(world, joint.kind);
+    if (solver?.usesBodyA === false)
+        return;
+    if (isPhysics3DPairOrdered(joint.bodyA, joint.bodyB))
+        return;
+    if (!(solver?.swapEnds?.(joint) ?? true))
+        return;
+    const bodyA = joint.bodyA;
+    joint.bodyA = joint.bodyB;
+    joint.bodyB = bodyA;
+    const anchorX = joint.localAnchorAX;
+    const anchorY = joint.localAnchorAY;
+    const anchorZ = joint.localAnchorAZ;
+    joint.localAnchorAX = joint.localAnchorBX;
+    joint.localAnchorAY = joint.localAnchorBY;
+    joint.localAnchorAZ = joint.localAnchorBZ;
+    joint.localAnchorBX = anchorX;
+    joint.localAnchorBY = anchorY;
+    joint.localAnchorBZ = anchorZ;
+}
+function wakeJointBodies(world, joint) {
+    const solver = getPhysics3DJointSolver(world, joint.kind);
+    if (solver === null)
+        return;
+    const bodyA = solver.usesBodyA === false ? null : findPhysics3DBody(world, joint.bodyA);
+    const bodyB = findPhysics3DBody(world, joint.bodyB);
+    if (bodyA !== null)
+        wakePhysics3DBody(bodyA);
+    if (bodyB !== null)
+        wakePhysics3DBody(bodyB);
+}
+//# sourceMappingURL=jointRegistry.js.map

package/dist/jointRegistry.js.map

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package/dist/jointRows.d.ts

@@ -0,0 +1,33 @@
+import type { Physics3DJoint, Physics3DJointFrames, RigidBody3D } from '@flighthq/types/contract';
+export declare const ROW_LENGTH = 9;
+export declare const POINT_MASS = 0;
+export declare const POINT_BIAS = 6;
+export declare const POINT_LENGTH = 9;
+export declare function applyRow(bodyA: RigidBody3D, bodyB: RigidBody3D, state: readonly number[], offset: number, impulse: number): void;
+export declare function beginJointSolve(joint: Physics3DJoint, length: number): number[];
+export declare function clearJointSolve(joint: Physics3DJoint): void;
+export declare function getJointSolveState(joint: Readonly<Physics3DJoint>): number[] | undefined;
+export declare function getRowMass(bodyA: Readonly<RigidBody3D>, bodyB: Readonly<RigidBody3D>, state: readonly number[], offset: number): number;
+export declare function getRowVelocity(bodyA: Readonly<RigidBody3D>, bodyB: Readonly<RigidBody3D>, state: readonly number[], offset: number): number;
+export declare function prepareAngularBlock(bodyA: Readonly<RigidBody3D>, bodyB: Readonly<RigidBody3D>, state: number[], massOffset: number, biasOffset: number, dt: number): void;
+export declare function preparePointBlock(bodyA: Readonly<RigidBody3D>, bodyB: Readonly<RigidBody3D>, joint: Physics3DJoint, state: number[], dt: number): void;
+export declare function readFrameBases(bodyA: Readonly<RigidBody3D>, bodyB: Readonly<RigidBody3D>, frames: Physics3DJointFrames): void;
+export declare function readFrameRotations(bodyA: Readonly<RigidBody3D>, bodyB: Readonly<RigidBody3D>, frames: Physics3DJointFrames): void;
+export declare function readJointImpulse(joint: Readonly<Physics3DJoint>, slot: number): number;
+export declare function solveAngularBlock(bodyA: RigidBody3D, bodyB: RigidBody3D, joint: Physics3DJoint, state: readonly number[], massOffset: number, biasOffset: number): void;
+export declare function solveEqualityRow(bodyA: RigidBody3D, bodyB: RigidBody3D, joint: Physics3DJoint, slot: number, state: readonly number[], offset: number, mass: number, error: number, biasFactor: number): void;
+export declare function solveLowerLimitRow(bodyA: RigidBody3D, bodyB: RigidBody3D, state: number[], offset: number, mass: number, error: number, biasFactor: number, accumulatorSlot: number, gamma?: number): void;
+export declare function solveMotorRow(bodyA: RigidBody3D, bodyB: RigidBody3D, state: readonly number[], offset: number, mass: number, speed: number, maxImpulse: number, previous: number): number;
+export declare function solvePointBlock(bodyA: RigidBody3D, bodyB: RigidBody3D, joint: Physics3DJoint, state: readonly number[]): void;
+export declare function solveUpperLimitRow(bodyA: RigidBody3D, bodyB: RigidBody3D, state: number[], offset: number, mass: number, error: number, biasFactor: number, accumulatorSlot: number, gamma?: number): void;
+export declare function warmStartAngularBlock(bodyA: RigidBody3D, bodyB: RigidBody3D, joint: Readonly<Physics3DJoint>): void;
+export declare function warmStartPointBlock(bodyA: RigidBody3D, bodyB: RigidBody3D, joint: Readonly<Physics3DJoint>): void;
+export declare function writeAngularRow(state: number[], offset: number, axisX: number, axisY: number, axisZ: number): void;
+export declare function writeJointImpulse(joint: Physics3DJoint, slot: number, value: number): void;
+export declare function writePhysics3DSoftRowParameters(mass: number, frequencyHz: number, dampingRatio: number, dt: number, hardBiasFactor: number, out: number[]): void;
+export declare function writeRow(state: number[], offset: number, directionX: number, directionY: number, directionZ: number, armAX: number, armAY: number, armAZ: number, armBX: number, armBY: number, armBZ: number): void;
+export declare const frameABasis: number[];
+export declare const frameBBasis: number[];
+export declare const frameARotation: number[];
+export declare const frameBRotation: number[];
+//# sourceMappingURL=jointRows.d.ts.map

package/dist/jointRows.d.ts.map

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

@@ -0,0 +1,352 @@
+import { applyPhysics3DJointAngularImpulse, applyPhysics3DJointImpulse, applyPhysics3DJointRowImpulse, getPhysics3DJointRowMass, getPhysics3DJointRowVelocity, writePhysics3DJointAnchorVelocity, writePhysics3DJointAnchors, writePhysics3DJointAngularMass, writePhysics3DJointFrameBasis, writePhysics3DJointFrameRotation, writePhysics3DJointPointMass, writePhysics3DJointRotationError, writePhysics3DJointSeparation, } from './jointMath';
+import { applySymmetricTensor, inverseSymmetricTensor } from './symmetricTensor';
+// The constraint FAMILIES every 3D joint kind is composed from. `jointMath` is the arithmetic; this is the
+// sequential-impulse pattern applied to it — prepare a block, warm-start it, solve it — so a kind reads as a
+// list of the constraints it imposes rather than as a page of index arithmetic.
+//
+// Package-internal, and layered: `jointMath` knows nothing about per-step state, this file owns the layout
+// of that state, and `joints` composes these into kinds.
+//
+// A CONSTRAINT ROW is nine consecutive numbers in a joint's per-step state: the linear direction, then the
+// angular arm on A, then the angular arm on B. Storing the three vectors as one block is what lets a row's
+// mass, velocity, and impulse be addressed as `(state, offset)` rather than as nine arguments repeated at
+// every call site — and it is why a row's three readings can never quietly describe different constraints.
+// A PURELY ANGULAR row is one whose direction is zero and whose two arms are the axis it turns about.
+// The width of one constraint row in a joint's per-step state.
+export const ROW_LENGTH = 9;
+// The three-number blocks a point constraint occupies at the start of a joint's state: the inverted 3x3
+// effective mass, then the positional bias.
+export const POINT_MASS = 0;
+export const POINT_BIAS = 6;
+export const POINT_LENGTH = 9;
+// Applies one row's impulse.
+export function applyRow(bodyA, bodyB, state, offset, impulse) {
+    if (impulse === 0)
+        return;
+    applyPhysics3DJointRowImpulse(bodyA, bodyB, state[offset], state[offset + 1], state[offset + 2], state[offset + 3], state[offset + 4], state[offset + 5], state[offset + 6], state[offset + 7], state[offset + 8], impulse);
+}
+// Establishes a joint's impulse accumulators and returns its reusable per-step scratch, sized to `length`.
+//
+// The accumulators are established HERE rather than defended at each read, because every read assumes the
+// field is already a number and a joint can reach a solver without one: the type declares them required, but
+// a joint reconstructed from a saved world satisfies that only at compile time. The first read then computes
+// `undefined + x`, and because an accumulator feeds the next iteration the NaN does not stay local — it goes
+// out through the applied impulse into both bodies' velocities and from there into every contact they touch.
+//
+// The scratch array is reused rather than reallocated. Every solver rebuilds its whole block each substep, so
+// it is pure destination; allocating a fresh one per joint per step made the step's allocation profile scale
+// with the joint count, which is the hidden per-frame allocation this package's charter forbids.
+export function beginJointSolve(joint, length) {
+    joint.impulse0 ??= 0;
+    joint.impulse1 ??= 0;
+    joint.impulse2 ??= 0;
+    joint.impulse3 ??= 0;
+    joint.impulse4 ??= 0;
+    joint.impulse5 ??= 0;
+    let state = jointSolveStates.get(joint);
+    if (state === undefined) {
+        state = [];
+        jointSolveStates.set(joint, state);
+    }
+    state.length = length;
+    return state;
+}
+// Discards a joint's per-step state, so a `solve` after a `prepare` that could not run finds nothing rather
+// than the previous step's numbers. A prepare bails when a body index no longer resolves, and without this
+// the stale block would be applied against whichever bodies did resolve — an impulse computed for a pair
+// that no longer exists.
+export function clearJointSolve(joint) {
+    jointSolveStates.delete(joint);
+}
+// A joint's per-step state, or undefined when it has none. A `solve` reads this and returns early on
+// undefined, which is what makes a bailed `prepare` mean "this joint does nothing this step".
+export function getJointSolveState(joint) {
+    return jointSolveStates.get(joint);
+}
+// The scalar effective mass of one row, or 0 when the pair cannot move along it.
+export function getRowMass(bodyA, bodyB, state, offset) {
+    return getPhysics3DJointRowMass(bodyA, bodyB, state[offset], state[offset + 1], state[offset + 2], state[offset + 3], state[offset + 4], state[offset + 5], state[offset + 6], state[offset + 7], state[offset + 8]);
+}
+// The rate one row's coordinate is changing, B relative to A.
+export function getRowVelocity(bodyA, bodyB, state, offset) {
+    return getPhysics3DJointRowVelocity(bodyA, bodyB, state[offset], state[offset + 1], state[offset + 2], state[offset + 3], state[offset + 4], state[offset + 5], state[offset + 6], state[offset + 7], state[offset + 8]);
+}
+// Builds the three-row angular lock: the inverted sum of the two world inverse inertia tensors, and the bias
+// that rotates frame B back onto frame A. Reads the frames left by `readFrameRotations`.
+export function prepareAngularBlock(bodyA, bodyB, state, massOffset, biasOffset, dt) {
+    writePhysics3DJointAngularMass(bodyA, bodyB, blockTensor);
+    inverseSymmetricTensor(blockTensor, blockInverse);
+    writeBlock(state, massOffset, blockInverse);
+    writePhysics3DJointRotationError(frameARotation[0], frameARotation[1], frameARotation[2], frameARotation[3], frameBRotation[0], frameBRotation[1], frameBRotation[2], frameBRotation[3], blockVector);
+    const bias = BAUMGARTE / dt;
+    state[biasOffset] = blockVector[0] * bias;
+    state[biasOffset + 1] = blockVector[1] * bias;
+    state[biasOffset + 2] = blockVector[2] * bias;
+}
+// Builds the three-row point constraint: the lever arms, the inverted 3x3 effective mass, and the bias that
+// pulls the two anchors back together. Occupies `POINT_MASS` through `POINT_BIAS` at the head of the state.
+export function preparePointBlock(bodyA, bodyB, joint, state, dt) {
+    writePhysics3DJointAnchors(bodyA, bodyB, joint);
+    writePhysics3DJointPointMass(bodyA, bodyB, joint.rAX, joint.rAY, joint.rAZ, joint.rBX, joint.rBY, joint.rBZ, blockTensor);
+    inverseSymmetricTensor(blockTensor, blockInverse);
+    writeBlock(state, POINT_MASS, blockInverse);
+    writePhysics3DJointSeparation(bodyA, bodyB, joint, blockVector);
+    const bias = BAUMGARTE / dt;
+    state[POINT_BIAS] = blockVector[0] * bias;
+    state[POINT_BIAS + 1] = blockVector[1] * bias;
+    state[POINT_BIAS + 2] = blockVector[2] * bias;
+}
+// The world-space axes of both bodies' joint frames, left in `frameABasis` and `frameBBasis`. Each is nine
+// numbers, column-major: X axis, then Y, then Z.
+export function readFrameBases(bodyA, bodyB, frames) {
+    establishFrames(frames);
+    writePhysics3DJointFrameBasis(bodyA, frames.localRotationAX, frames.localRotationAY, frames.localRotationAZ, frames.localRotationAW, frameABasis);
+    writePhysics3DJointFrameBasis(bodyB, frames.localRotationBX, frames.localRotationBY, frames.localRotationBZ, frames.localRotationBW, frameBBasis);
+}
+// Both bodies' joint frames as world-space quaternions, left in `frameARotation` and `frameBRotation`.
+export function readFrameRotations(bodyA, bodyB, frames) {
+    establishFrames(frames);
+    writePhysics3DJointFrameRotation(bodyA, frames.localRotationAX, frames.localRotationAY, frames.localRotationAZ, frames.localRotationAW, frameARotation);
+    writePhysics3DJointFrameRotation(bodyB, frames.localRotationBX, frames.localRotationBY, frames.localRotationBZ, frames.localRotationBW, frameBRotation);
+}
+// Reads one of the six common accumulators by index, for the kinds whose rows are numbered rather than named.
+export function readJointImpulse(joint, slot) {
+    switch (slot) {
+        case 0:
+            return joint.impulse0;
+        case 1:
+            return joint.impulse1;
+        case 2:
+            return joint.impulse2;
+        case 3:
+            return joint.impulse3;
+        case 4:
+            return joint.impulse4;
+        default:
+            return joint.impulse5;
+    }
+}
+// Solves the three angular lock rows as one coupled block, accumulating into `impulse3` through `impulse5`.
+export function solveAngularBlock(bodyA, bodyB, joint, state, massOffset, biasOffset) {
+    readBlock(state, massOffset, blockTensor);
+    applySymmetricTensor(blockTensor, bodyB.angularVelocityX - bodyA.angularVelocityX + state[biasOffset], bodyB.angularVelocityY - bodyA.angularVelocityY + state[biasOffset + 1], bodyB.angularVelocityZ - bodyA.angularVelocityZ + state[biasOffset + 2], blockResult);
+    const impulseX = -blockResult[0];
+    const impulseY = -blockResult[1];
+    const impulseZ = -blockResult[2];
+    joint.impulse3 += impulseX;
+    joint.impulse4 += impulseY;
+    joint.impulse5 += impulseZ;
+    applyPhysics3DJointAngularImpulse(bodyA, bodyB, impulseX, impulseY, impulseZ);
+}
+// Solves one equality row — a coordinate held at exactly its target — accumulating into a common slot.
+export function solveEqualityRow(bodyA, bodyB, joint, slot, state, offset, mass, error, biasFactor) {
+    const velocity = getRowVelocity(bodyA, bodyB, state, offset);
+    const impulse = -mass * (velocity + error * biasFactor);
+    writeJointImpulse(joint, slot, readJointImpulse(joint, slot) + impulse);
+    applyRow(bodyA, bodyB, state, offset, impulse);
+}
+// Holds a row's coordinate at or above its lower bound. `error` is the SIGNED distance above the bound —
+// positive inside the interval, negative once the bound has been crossed.
+//
+// The non-negative clamp on the ACCUMULATED impulse is what makes this a limit rather than a spring: it may
+// push the coordinate back up through the bound and may never pull it down.
+//
+// The bias uses the signed error with no clamp, and both clamps are wrong in opposite ways. `max(error, 0)`
+// suppresses correctly but cannot correct: it zeroes the bias exactly when the bound has been crossed, so a
+// joint authored out of range and sitting still is never pushed back. `min(error, 0)` corrects but cannot
+// suppress: it zeroes the bias while INSIDE the interval, and the row then brakes any approach to the bound
+// from a distance — a motor at speed held at a standstill by a limit it was nowhere near.
+// `gamma` is the row's COMPLIANCE, zero for a hard stop. It multiplies the ACCUMULATED impulse rather
+// than this iteration's, because a soft constraint is one that gives way in proportion to how hard it
+// has already been pushing — a statement about the total, not the increment. The non-negative clamp
+// survives softening untouched: a compliant stop still may only push back through the bound.
+export function solveLowerLimitRow(bodyA, bodyB, state, offset, mass, error, biasFactor, accumulatorSlot, gamma = 0) {
+    const velocity = getRowVelocity(bodyA, bodyB, state, offset);
+    const previous = state[accumulatorSlot];
+    const total = Math.max(previous - mass * (velocity + error * biasFactor + gamma * previous), 0);
+    state[accumulatorSlot] = total;
+    applyRow(bodyA, bodyB, state, offset, total - previous);
+}
+// Drives a row's coordinate toward `speed`, spending at most `maxImpulse`, and returns the new accumulated
+// motor impulse for the caller to store on its kind-specific field.
+//
+// Clamped on the ACCUMULATED impulse rather than per iteration, so the bound is a force or a torque. A
+// per-iteration clamp would scale the motor's real strength with the iteration count, which presents as a
+// motor that gets stronger when the solver is tuned for accuracy.
+export function solveMotorRow(bodyA, bodyB, state, offset, mass, speed, maxImpulse, previous) {
+    const velocity = getRowVelocity(bodyA, bodyB, state, offset);
+    const total = Math.min(Math.max(previous - mass * (velocity - speed), -maxImpulse), maxImpulse);
+    applyRow(bodyA, bodyB, state, offset, total - previous);
+    return total;
+}
+// Solves the three point rows as one coupled block, accumulating into `impulse0` through `impulse2`.
+//
+// Coupled rather than solved axis by axis. Solving x, then y, then z lets each undo part of the previous
+// correction, and a loaded joint visibly creeps — the 3D form of the same failure a 2D revolute shows when
+// its two rows are separated.
+export function solvePointBlock(bodyA, bodyB, joint, state) {
+    writePhysics3DJointAnchorVelocity(bodyA, bodyB, joint, blockVector);
+    readBlock(state, POINT_MASS, blockTensor);
+    applySymmetricTensor(blockTensor, blockVector[0] + state[POINT_BIAS], blockVector[1] + state[POINT_BIAS + 1], blockVector[2] + state[POINT_BIAS + 2], blockResult);
+    const impulseX = -blockResult[0];
+    const impulseY = -blockResult[1];
+    const impulseZ = -blockResult[2];
+    joint.impulse0 += impulseX;
+    joint.impulse1 += impulseY;
+    joint.impulse2 += impulseZ;
+    applyPhysics3DJointImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rAZ, joint.rBX, joint.rBY, joint.rBZ, impulseX, impulseY, impulseZ);
+}
+// Holds a row's coordinate at or below its upper bound. `error` is the SIGNED distance below the bound —
+// positive inside the interval, negative once the bound has been crossed.
+//
+// The mirror of `solveLowerLimitRow`, reached by reading the row backwards: negating both the velocity and
+// the applied impulse turns "at least" into "at most" without a second sign convention to keep straight.
+export function solveUpperLimitRow(bodyA, bodyB, state, offset, mass, error, biasFactor, accumulatorSlot, gamma = 0) {
+    const velocity = -getRowVelocity(bodyA, bodyB, state, offset);
+    const previous = state[accumulatorSlot];
+    const total = Math.max(previous - mass * (velocity + error * biasFactor + gamma * previous), 0);
+    state[accumulatorSlot] = total;
+    applyRow(bodyA, bodyB, state, offset, -(total - previous));
+}
+// Reapplies the angular lock's accumulated impulse before iteration begins.
+export function warmStartAngularBlock(bodyA, bodyB, joint) {
+    applyPhysics3DJointAngularImpulse(bodyA, bodyB, joint.impulse3, joint.impulse4, joint.impulse5);
+}
+// Reapplies the point constraint's accumulated impulse before iteration begins.
+export function warmStartPointBlock(bodyA, bodyB, joint) {
+    applyPhysics3DJointImpulse(bodyA, bodyB, joint.rAX, joint.rAY, joint.rAZ, joint.rBX, joint.rBY, joint.rBZ, joint.impulse0, joint.impulse1, joint.impulse2);
+}
+// Writes a purely angular row: no linear impulse, both arms the axis it turns about. The row's coordinate is
+// then the relative rotation angle about that axis.
+export function writeAngularRow(state, offset, axisX, axisY, axisZ) {
+    writeRow(state, offset, 0, 0, 0, axisX, axisY, axisZ, axisX, axisY, axisZ);
+}
+// Writes one of the six common accumulators by index.
+export function writeJointImpulse(joint, slot, value) {
+    switch (slot) {
+        case 0:
+            joint.impulse0 = value;
+            break;
+        case 1:
+            joint.impulse1 = value;
+            break;
+        case 2:
+            joint.impulse2 = value;
+            break;
+        case 3:
+            joint.impulse3 = value;
+            break;
+        case 4:
+            joint.impulse4 = value;
+            break;
+        default:
+            joint.impulse5 = value;
+            break;
+    }
+}
+// Derives the three numbers a SOFT constraint row needs from the motion a caller described, writing
+// `[mass, biasFactor, gamma]`.
+//
+// A frequency and a damping ratio describe the motion wanted; stiffness and damping are what the solver
+// needs, and converting between them requires the mass being moved. Deriving them here, per-step and
+// per-pair, is what makes a 2 Hz spring oscillate at 2 Hz whatever it is attached to — an authored
+// stiffness would change frequency the moment either body's mass did.
+//
+// `biasFactor` is returned in the position a hard row's own bias factor occupies, so a row solves
+// identically either way and the only difference between a stop and a spring is which three numbers it
+// was handed.
+//
+// `hardBiasFactor` is what to fall back to when the spring cannot be computed, and it is a PARAMETER
+// rather than a constant because the two callers legitimately disagree about it: a two-sided rest row
+// corrects at `BAUMGARTE / dt`, while a one-sided limit row corrects fully at `1 / dt`. Baking either
+// in would silently change the other's hard behaviour the first time it took this path.
+//
+// Compliance adds to the INVERSE mass, which is why the returned mass is not a scaled version of the
+// input: softening makes a constraint easier to violate, and that is an addition on the reciprocal side.
+// A non-positive frequency or timestep returns the HARD parameters, so "spring enabled with no
+// frequency set" degrades to the stop it replaced rather than to a constraint that does nothing.
+export function writePhysics3DSoftRowParameters(mass, frequencyHz, dampingRatio, dt, hardBiasFactor, out) {
+    if (!(frequencyHz > 0) || !(dt > 0)) {
+        out[0] = mass;
+        out[1] = hardBiasFactor;
+        out[2] = 0;
+        return;
+    }
+    const angular = TAU * frequencyHz;
+    const damping = 2 * mass * dampingRatio * angular;
+    const stiffness = mass * angular * angular;
+    const gammaDenominator = dt * (damping + dt * stiffness);
+    const gamma = gammaDenominator > 0 ? 1 / gammaDenominator : 0;
+    const inverseMass = mass > 0 ? 1 / mass : 0;
+    const softened = inverseMass + gamma;
+    out[0] = softened > 0 ? 1 / softened : 0;
+    out[1] = dt * stiffness * gamma;
+    out[2] = gamma;
+}
+// Writes one constraint row into a joint's per-step state.
+export function writeRow(state, offset, directionX, directionY, directionZ, armAX, armAY, armAZ, armBX, armBY, armBZ) {
+    state[offset] = directionX;
+    state[offset + 1] = directionY;
+    state[offset + 2] = directionZ;
+    state[offset + 3] = armAX;
+    state[offset + 4] = armAY;
+    state[offset + 5] = armAZ;
+    state[offset + 6] = armBX;
+    state[offset + 7] = armBY;
+    state[offset + 8] = armBZ;
+}
+// Establishes a frame pair's eight components for the same reason `beginJointSolve` establishes the impulse
+// accumulators: a reconstructed joint satisfies the required type at compile time only, and an absent
+// rotation would multiply through into both bodies as NaN. Four absent components give the identity, which is
+// what an author who never set a frame meant.
+function establishFrames(frames) {
+    frames.localRotationAX ??= 0;
+    frames.localRotationAY ??= 0;
+    frames.localRotationAZ ??= 0;
+    frames.localRotationAW ??= 1;
+    frames.localRotationBX ??= 0;
+    frames.localRotationBY ??= 0;
+    frames.localRotationBZ ??= 0;
+    frames.localRotationBW ??= 1;
+}
+function readBlock(state, offset, out) {
+    out[0] = state[offset];
+    out[1] = state[offset + 1];
+    out[2] = state[offset + 2];
+    out[3] = state[offset + 3];
+    out[4] = state[offset + 4];
+    out[5] = state[offset + 5];
+}
+function writeBlock(state, offset, source) {
+    state[offset] = source[0];
+    state[offset + 1] = source[1];
+    state[offset + 2] = source[2];
+    state[offset + 3] = source[3];
+    state[offset + 4] = source[4];
+    state[offset + 5] = source[5];
+}
+// The fraction of a joint's positional error corrected per step. Matches the contact solver's rationale:
+// correcting all of it at once turns a deep error into an explosion.
+const BAUMGARTE = 0.2;
+const TAU = 2 * Math.PI;
+// The world-space frames the prepare pass leaves for the kind that asked for them. Module scratch rather than
+// per-joint state because they are consumed within one `prepare`, never across two.
+export const frameABasis = new Array(9).fill(0);
+export const frameBBasis = new Array(9).fill(0);
+export const frameARotation = [0, 0, 0, 1];
+export const frameBRotation = [0, 0, 0, 1];
+const blockTensor = [0, 0, 0, 0, 0, 0];
+const blockInverse = [0, 0, 0, 0, 0, 0];
+const blockVector = [0, 0, 0];
+const blockResult = [0, 0, 0];
+// Per-step solver state, keyed WEAKLY by joint. A module-global strong Map would retain every joint ever
+// prepared for the lifetime of the module: removing a joint from a world drops the world's reference but not
+// this one, and there is no deletion hook to forget, because a joint can leave a world without this module
+// being told. Keying weakly makes the retention question disappear rather than answering it — the entry goes
+// when the joint does, at every exit path, including ones nobody has written yet.
+//
+// A Map of arrays rather than fields on the joint, because the numbers each kind needs mean different things
+// per kind, and a fixed block of untyped scratch on the public entity would make the header describe the
+// solver's internals.
+const jointSolveStates = new WeakMap();
+//# sourceMappingURL=jointRows.js.map

package/dist/jointRows.js.map

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package/dist/joints.d.ts

@@ -0,0 +1,16 @@
+import type { Physics3DJointSolver } from '@flighthq/types/contract';
+export declare const Physics3DBallAndSocketJointKind = "BallAndSocket";
+export declare const Physics3DConeTwistJointKind = "ConeTwist";
+export declare const Physics3DDistanceJointKind = "Distance";
+export declare const Physics3DFixedJointKind = "Fixed";
+export declare const Physics3DGeneric6DofJointKind = "Generic6Dof";
+export declare const Physics3DHingeJointKind = "Hinge";
+export declare const Physics3DSliderJointKind = "Slider";
+export declare const physics3DBallAndSocketJointSolver: Physics3DJointSolver;
+export declare const physics3DDistanceJointSolver: Physics3DJointSolver;
+export declare const physics3DFixedJointSolver: Physics3DJointSolver;
+export declare const physics3DHingeJointSolver: Physics3DJointSolver;
+export declare const physics3DConeTwistJointSolver: Physics3DJointSolver;
+export declare const physics3DGeneric6DofJointSolver: Physics3DJointSolver;
+export declare const physics3DSliderJointSolver: Physics3DJointSolver;
+//# sourceMappingURL=joints.d.ts.map

package/dist/joints.d.ts.map

@@ -0,0 +1 @@
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