@flighthq/physics3d 0.4.0-next.1694.598ef6f

package/dist/contacts.d.ts

@@ -0,0 +1,4 @@
+import type { Physics3DContact, Physics3DContactPoint } from '@flighthq/types/contract';
+export declare function createPhysics3DContact(bodyA: number, bodyB: number): Physics3DContact;
+export declare function createPhysics3DContactPoint(): Physics3DContactPoint;
+//# sourceMappingURL=contacts.d.ts.map

package/dist/contacts.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"contacts.d.ts","sourceRoot":"","sources":["../src/contacts.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,gBAAgB,EAAE,qBAAqB,EAAE,MAAM,0BAA0B,CAAC;AAuBxF,wBAAgB,sBAAsB,CAAC,KAAK,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,GAAG,gBAAgB,CAerF;AAKD,wBAAgB,2BAA2B,IAAI,qBAAqB,CAcnE"}

package/dist/contacts.js

@@ -0,0 +1,55 @@
+// Constructors for the contact records the step consumes.
+//
+// This package does not PRODUCE contacts and cannot: the 3D narrow phase and broadphase do not exist yet,
+// so a caller supplies them directly. That makes these constructors part of the ordinary API rather than a
+// test convenience — they are how a caller builds the input the solver is defined against, and they are
+// what stops every callsite from hand-writing a literal that happens to match the fields.
+//
+// A contact allocated here is inert until a caller fills in the geometry: no points, a zero normal, and
+// `touching` false. The solver skips exactly that shape, so a half-built contact costs nothing and moves
+// nothing.
+// Allocates one contact between two bodies, in canonical order.
+//
+// The order is an invariant of creation rather than a convention a caller is asked to respect, so it is
+// enforced here: a narrow phase resolves contact points on the reference shape's surface and ties toward
+// its first argument, which means passing the same pair the other way round moves the points and renumbers
+// their feature ids — and the warm-start cache is keyed to those ids.
+//
+// The normal is NOT reordered with the bodies, because there is nothing yet to reorder: a fresh contact
+// carries a zero normal, and the caller writing the geometry is the one who knows which way it points. It
+// must point so that resolving pushes A out of B.
+export function createPhysics3DContact(bodyA, bodyB) {
+    return {
+        bodyA: Math.min(bodyA, bodyB),
+        bodyB: Math.max(bodyA, bodyB),
+        normalX: 0,
+        normalY: 0,
+        normalZ: 0,
+        pointCount: 0,
+        points: [],
+        friction: 0,
+        restitution: 0,
+        enabled: true,
+        sensor: false,
+        touching: false,
+    };
+}
+// Allocates one contact point, zeroed. `featureId` is the caller's to assign and is opaque to this
+// package: its only contract is that the SAME physical feature carries the SAME id between steps, which is
+// what lets the solver match this step's points against last step's accumulators.
+export function createPhysics3DContactPoint() {
+    return {
+        x: 0,
+        y: 0,
+        z: 0,
+        depth: 0,
+        featureId: 0,
+        rAX: 0,
+        rAY: 0,
+        rAZ: 0,
+        rBX: 0,
+        rBY: 0,
+        rBZ: 0,
+    };
+}
+//# sourceMappingURL=contacts.js.map

package/dist/contacts.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"contacts.js","sourceRoot":"","sources":["../src/contacts.ts"],"names":[],"mappings":"AAEA,0DAA0D;AAC1D,EAAE;AACF,0GAA0G;AAC1G,2GAA2G;AAC3G,wGAAwG;AACxG,0FAA0F;AAC1F,EAAE;AACF,wGAAwG;AACxG,yGAAyG;AACzG,WAAW;AAEX,gEAAgE;AAChE,EAAE;AACF,wGAAwG;AACxG,yGAAyG;AACzG,2GAA2G;AAC3G,sEAAsE;AACtE,EAAE;AACF,wGAAwG;AACxG,0GAA0G;AAC1G,kDAAkD;AAClD,MAAM,UAAU,sBAAsB,CAAC,KAAa,EAAE,KAAa;IACjE,OAAO;QACL,KAAK,EAAE,IAAI,CAAC,GAAG,CAAC,KAAK,EAAE,KAAK,CAAC;QAC7B,KAAK,EAAE,IAAI,CAAC,GAAG,CAAC,KAAK,EAAE,KAAK,CAAC;QAC7B,OAAO,EAAE,CAAC;QACV,OAAO,EAAE,CAAC;QACV,OAAO,EAAE,CAAC;QACV,UAAU,EAAE,CAAC;QACb,MAAM,EAAE,EAAE;QACV,QAAQ,EAAE,CAAC;QACX,WAAW,EAAE,CAAC;QACd,OAAO,EAAE,IAAI;QACb,MAAM,EAAE,KAAK;QACb,QAAQ,EAAE,KAAK;KAChB,CAAC;AACJ,CAAC;AAED,mGAAmG;AACnG,2GAA2G;AAC3G,kFAAkF;AAClF,MAAM,UAAU,2BAA2B;IACzC,OAAO;QACL,CAAC,EAAE,CAAC;QACJ,CAAC,EAAE,CAAC;QACJ,CAAC,EAAE,CAAC;QACJ,KAAK,EAAE,CAAC;QACR,SAAS,EAAE,CAAC;QACZ,GAAG,EAAE,CAAC;QACN,GAAG,EAAE,CAAC;QACN,GAAG,EAAE,CAAC;QACN,GAAG,EAAE,CAAC;QACN,GAAG,EAAE,CAAC;QACN,GAAG,EAAE,CAAC;KACP,CAAC;AACJ,CAAC"}

package/dist/contract.d.ts

@@ -0,0 +1,17 @@
+export * from './contacts';
+export * from './explainPhysics3DJoints';
+export * from './enablePhysics3DGuards';
+export * from './explainPhysics3DStep';
+export * from './integrate';
+export * from './islands';
+export * from './jointCollisionSuppression';
+export * from './jointFactories';
+export * from './jointRegistry';
+export * from './joints';
+export * from './massProperties';
+export * from './registerBuiltInPhysics3DJointSolvers';
+export * from './solver';
+export * from './step';
+export * from './stepValidation';
+export * from './world';
+//# sourceMappingURL=contract.d.ts.map

package/dist/contract.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"contract.d.ts","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAAA,cAAc,YAAY,CAAC;AAC3B,cAAc,0BAA0B,CAAC;AACzC,cAAc,yBAAyB,CAAC;AACxC,cAAc,wBAAwB,CAAC;AACvC,cAAc,aAAa,CAAC;AAC5B,cAAc,WAAW,CAAC;AAC1B,cAAc,6BAA6B,CAAC;AAC5C,cAAc,kBAAkB,CAAC;AACjC,cAAc,iBAAiB,CAAC;AAChC,cAAc,UAAU,CAAC;AACzB,cAAc,kBAAkB,CAAC;AACjC,cAAc,wCAAwC,CAAC;AACvD,cAAc,UAAU,CAAC;AACzB,cAAc,QAAQ,CAAC;AACvB,cAAc,kBAAkB,CAAC;AACjC,cAAc,SAAS,CAAC"}

package/dist/contract.js

@@ -0,0 +1,17 @@
+export * from './contacts';
+export * from './explainPhysics3DJoints';
+export * from './enablePhysics3DGuards';
+export * from './explainPhysics3DStep';
+export * from './integrate';
+export * from './islands';
+export * from './jointCollisionSuppression';
+export * from './jointFactories';
+export * from './jointRegistry';
+export * from './joints';
+export * from './massProperties';
+export * from './registerBuiltInPhysics3DJointSolvers';
+export * from './solver';
+export * from './step';
+export * from './stepValidation';
+export * from './world';
+//# sourceMappingURL=contract.js.map

package/dist/contract.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"contract.js","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAAA,cAAc,YAAY,CAAC;AAC3B,cAAc,0BAA0B,CAAC;AACzC,cAAc,yBAAyB,CAAC;AACxC,cAAc,wBAAwB,CAAC;AACvC,cAAc,aAAa,CAAC;AAC5B,cAAc,WAAW,CAAC;AAC1B,cAAc,6BAA6B,CAAC;AAC5C,cAAc,kBAAkB,CAAC;AACjC,cAAc,iBAAiB,CAAC;AAChC,cAAc,UAAU,CAAC;AACzB,cAAc,kBAAkB,CAAC;AACjC,cAAc,wCAAwC,CAAC;AACvD,cAAc,UAAU,CAAC;AACzB,cAAc,QAAQ,CAAC;AACvB,cAAc,kBAAkB,CAAC;AACjC,cAAc,SAAS,CAAC"}

package/dist/enablePhysics3DGuards.d.ts

@@ -0,0 +1,4 @@
+export declare function arePhysics3DGuardsEnabled(): boolean;
+export declare function disablePhysics3DGuards(): void;
+export declare function enablePhysics3DGuards(): void;
+//# sourceMappingURL=enablePhysics3DGuards.d.ts.map

package/dist/enablePhysics3DGuards.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"enablePhysics3DGuards.d.ts","sourceRoot":"","sources":["../src/enablePhysics3DGuards.ts"],"names":[],"mappings":"AAOA,wBAAgB,yBAAyB,IAAI,OAAO,CAEnD;AAED,wBAAgB,sBAAsB,IAAI,IAAI,CAG7C;AAUD,wBAAgB,qBAAqB,IAAI,IAAI,CAG5C"}

package/dist/enablePhysics3DGuards.js

@@ -0,0 +1,68 @@
+import { logOnce } from '@flighthq/log/contract';
+import { LogLevel } from '@flighthq/types/contract';
+import { explainPhysics3DStep } from './explainPhysics3DStep';
+import { setPhysics3DStepGuard } from './step';
+export function arePhysics3DGuardsEnabled() {
+    return physics3DGuardsEnabled;
+}
+export function disablePhysics3DGuards() {
+    setPhysics3DStepGuard(null);
+    physics3DGuardsEnabled = false;
+}
+// Installs opt-in diagnostics for a step that refuses to advance.
+//
+// `stepPhysics3D` declines silently on any failed precondition, which is the right behaviour — a NaN
+// velocity is a state a caller reaches by writing a field, and throwing would take down a frame loop over
+// something inspectable. But silence and success are indistinguishable from the callsite: a world that
+// stopped simulating looks exactly like a world where nothing happens to be moving. This is the seam that
+// tells them apart, and applications that omit this module shed both the message text and
+// `@flighthq/log`.
+export function enablePhysics3DGuards() {
+    setPhysics3DStepGuard(warnOnUnsteppablePhysics3DWorld);
+    physics3DGuardsEnabled = true;
+}
+// Warns once per distinct set of failing preconditions.
+//
+// EVERY failing flag is reported in one message rather than the first. The step's own condition
+// short-circuits, so a world with a bad timestep and a NaN velocity would otherwise surface the timestep,
+// get repaired, and reveal the next fault a frame later — one round trip per fault, which is the failure
+// the explain seam was built to avoid and would be pointless to reintroduce here.
+//
+// Keyed on the failing set, so a loop calling this at 60Hz logs once and not once per frame, while a world
+// that develops a SECOND fault after the first is repaired still says so.
+function warnOnUnsteppablePhysics3DWorld(world, dt) {
+    const explanation = explainPhysics3DStep(world, dt);
+    const failing = getFailingPhysics3DPreconditions(explanation);
+    if (failing.length === 0)
+        return;
+    logOnce(`physics3d:${explanation.status}:${failing.join(',')}`, LogLevel.Warn, {
+        failing,
+        message: `stepPhysics3D: the world advanced nothing because ${failing.length === 1 ? 'a precondition' : 'several preconditions'} failed (${failing.join(', ')}) — call explainPhysics3DStep(world, dt) for the same flags as data, and repair the reported fields.`,
+        status: explanation.status,
+    }, 'physics3d');
+}
+// The names of the flags that are false, in the explanation's own field order so the key is stable for a
+// given set of faults however they arose.
+function getFailingPhysics3DPreconditions(explanation) {
+    const failing = [];
+    for (const flag of physics3DPreconditionFlags) {
+        if (!explanation[flag])
+            failing.push(flag);
+    }
+    return failing;
+}
+// Listed rather than derived by walking the object, so `status` — which is a summary and not a
+// precondition — cannot be swept in, and so a flag added to the explanation is a deliberate addition here.
+const physics3DPreconditionFlags = [
+    'bodyStateValid',
+    'contactStateValid',
+    'gravityValid',
+    'jointStateValid',
+    'solverConfigValid',
+    'substepsValid',
+    'timestepValid',
+    'velocityIterationsValid',
+    'positionIterationsValid',
+];
+let physics3DGuardsEnabled = false;
+//# sourceMappingURL=enablePhysics3DGuards.js.map

package/dist/enablePhysics3DGuards.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"enablePhysics3DGuards.js","sourceRoot":"","sources":["../src/enablePhysics3DGuards.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,OAAO,EAAE,MAAM,wBAAwB,CAAC;AAEjD,OAAO,EAAE,QAAQ,EAAE,MAAM,0BAA0B,CAAC;AAEpD,OAAO,EAAE,oBAAoB,EAAE,MAAM,wBAAwB,CAAC;AAC9D,OAAO,EAAE,qBAAqB,EAAE,MAAM,QAAQ,CAAC;AAE/C,MAAM,UAAU,yBAAyB;IACvC,OAAO,sBAAsB,CAAC;AAChC,CAAC;AAED,MAAM,UAAU,sBAAsB;IACpC,qBAAqB,CAAC,IAAI,CAAC,CAAC;IAC5B,sBAAsB,GAAG,KAAK,CAAC;AACjC,CAAC;AAED,kEAAkE;AAClE,EAAE;AACF,qGAAqG;AACrG,0GAA0G;AAC1G,uGAAuG;AACvG,0GAA0G;AAC1G,0FAA0F;AAC1F,mBAAmB;AACnB,MAAM,UAAU,qBAAqB;IACnC,qBAAqB,CAAC,+BAA+B,CAAC,CAAC;IACvD,sBAAsB,GAAG,IAAI,CAAC;AAChC,CAAC;AAED,wDAAwD;AACxD,EAAE;AACF,gGAAgG;AAChG,0GAA0G;AAC1G,yGAAyG;AACzG,kFAAkF;AAClF,EAAE;AACF,2GAA2G;AAC3G,0EAA0E;AAC1E,SAAS,+BAA+B,CAAC,KAA+B,EAAE,EAAU;IAClF,MAAM,WAAW,GAAG,oBAAoB,CAAC,KAAK,EAAE,EAAE,CAAC,CAAC;IACpD,MAAM,OAAO,GAAG,gCAAgC,CAAC,WAAW,CAAC,CAAC;IAC9D,IAAI,OAAO,CAAC,MAAM,KAAK,CAAC;QAAE,OAAO;IAEjC,OAAO,CACL,aAAa,WAAW,CAAC,MAAM,IAAI,OAAO,CAAC,IAAI,CAAC,GAAG,CAAC,EAAE,EACtD,QAAQ,CAAC,IAAI,EACb;QACE,OAAO;QACP,OAAO,EAAE,qDAAqD,OAAO,CAAC,MAAM,KAAK,CAAC,CAAC,CAAC,CAAC,gBAAgB,CAAC,CAAC,CAAC,uBAAuB,YAAY,OAAO,CAAC,IAAI,CAAC,IAAI,CAAC,sGAAsG;QACnQ,MAAM,EAAE,WAAW,CAAC,MAAM;KAC3B,EACD,WAAW,CACZ,CAAC;AACJ,CAAC;AAED,yGAAyG;AACzG,0CAA0C;AAC1C,SAAS,gCAAgC,CAAC,WAA+C;IACvF,MAAM,OAAO,GAAa,EAAE,CAAC;IAC7B,KAAK,MAAM,IAAI,IAAI,0BAA0B,EAAE,CAAC;QAC9C,IAAI,CAAC,WAAW,CAAC,IAAI,CAAC;YAAE,OAAO,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IAC7C,CAAC;IACD,OAAO,OAAO,CAAC;AACjB,CAAC;AAED,+FAA+F;AAC/F,2GAA2G;AAC3G,MAAM,0BAA0B,GAAG;IACjC,gBAAgB;IAChB,mBAAmB;IACnB,cAAc;IACd,iBAAiB;IACjB,mBAAmB;IACnB,eAAe;IACf,eAAe;IACf,yBAAyB;IACzB,yBAAyB;CACjB,CAAC;AAEX,IAAI,sBAAsB,GAAG,KAAK,CAAC"}

package/dist/explainPhysics3DJoints.d.ts

@@ -0,0 +1,3 @@
+import type { Physics3DJointExplanation, Physics3DWorld } from '@flighthq/types/contract';
+export declare function explainPhysics3DJoints(world: Readonly<Physics3DWorld>): Physics3DJointExplanation[];
+//# sourceMappingURL=explainPhysics3DJoints.d.ts.map

package/dist/explainPhysics3DJoints.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"explainPhysics3DJoints.d.ts","sourceRoot":"","sources":["../src/explainPhysics3DJoints.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,yBAAyB,EAAE,cAAc,EAAE,MAAM,0BAA0B,CAAC;AAc1F,wBAAgB,sBAAsB,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,GAAG,yBAAyB,EAAE,CAmBnG"}

package/dist/explainPhysics3DJoints.js

@@ -0,0 +1,32 @@
+import { findPhysics3DBody } from './world';
+// Which joints the step will actually solve, and why the others are skipped.
+//
+// The step skips a joint in TOTAL SILENCE in two cases, and they need telling apart. An unregistered kind
+// is not a fault — a scene deserialized ahead of the code that solves it is explicitly supported, and the
+// joint is meant to sit inert until someone registers its solver. A joint whose body index no longer
+// resolves is a fault, usually a joint outliving a `removePhysics3DBody` that missed it. Both look
+// identical from outside: a constraint that holds nothing.
+//
+// One entry per joint, in world-list order, so `index` is a handle back into `world.joints`. Pure — it
+// re-walks the world as it stands and retains nothing.
+export function explainPhysics3DJoints(world) {
+    const explanations = [];
+    for (let index = 0; index < world.joints.length; index += 1) {
+        const joint = world.joints[index];
+        const solver = world.jointSolvers.get(joint.kind);
+        const hasSolver = solver !== undefined;
+        // A one-body kind never reads bodyA, so a placeholder index there is not a fault. Asking the solver
+        // rather than assuming two endpoints is what keeps this honest for a kind the package does not own.
+        const bodyAResolvable = solver?.usesBodyA === false || findPhysics3DBody(world, joint.bodyA) !== null;
+        const bodiesResolvable = bodyAResolvable && findPhysics3DBody(world, joint.bodyB) !== null;
+        explanations.push({
+            kind: joint.kind,
+            index,
+            hasSolver,
+            bodiesResolvable,
+            status: !hasSolver ? 'unregistered-kind' : bodiesResolvable ? 'solvable' : 'invalid-bodies',
+        });
+    }
+    return explanations;
+}
+//# sourceMappingURL=explainPhysics3DJoints.js.map

package/dist/explainPhysics3DJoints.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"explainPhysics3DJoints.js","sourceRoot":"","sources":["../src/explainPhysics3DJoints.ts"],"names":[],"mappings":"AAEA,OAAO,EAAE,iBAAiB,EAAE,MAAM,SAAS,CAAC;AAE5C,6EAA6E;AAC7E,EAAE;AACF,0GAA0G;AAC1G,0GAA0G;AAC1G,qGAAqG;AACrG,mGAAmG;AACnG,2DAA2D;AAC3D,EAAE;AACF,uGAAuG;AACvG,uDAAuD;AACvD,MAAM,UAAU,sBAAsB,CAAC,KAA+B;IACpE,MAAM,YAAY,GAAgC,EAAE,CAAC;IACrD,KAAK,IAAI,KAAK,GAAG,CAAC,EAAE,KAAK,GAAG,KAAK,CAAC,MAAM,CAAC,MAAM,EAAE,KAAK,IAAI,CAAC,EAAE,CAAC;QAC5D,MAAM,KAAK,GAAG,KAAK,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC;QAClC,MAAM,MAAM,GAAG,KAAK,CAAC,YAAY,CAAC,GAAG,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;QAClD,MAAM,SAAS,GAAG,MAAM,KAAK,SAAS,CAAC;QACvC,oGAAoG;QACpG,oGAAoG;QACpG,MAAM,eAAe,GAAG,MAAM,EAAE,SAAS,KAAK,KAAK,IAAI,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,KAAK,IAAI,CAAC;QACtG,MAAM,gBAAgB,GAAG,eAAe,IAAI,iBAAiB,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,KAAK,IAAI,CAAC;QAC3F,YAAY,CAAC,IAAI,CAAC;YAChB,IAAI,EAAE,KAAK,CAAC,IAAI;YAChB,KAAK;YACL,SAAS;YACT,gBAAgB;YAChB,MAAM,EAAE,CAAC,SAAS,CAAC,CAAC,CAAC,mBAAmB,CAAC,CAAC,CAAC,gBAAgB,CAAC,CAAC,CAAC,UAAU,CAAC,CAAC,CAAC,gBAAgB;SAC5F,CAAC,CAAC;IACL,CAAC;IACD,OAAO,YAAY,CAAC;AACtB,CAAC"}

package/dist/explainPhysics3DStep.d.ts

@@ -0,0 +1,3 @@
+import type { Physics3DStepExplanation, Physics3DWorld } from '@flighthq/types/contract';
+export declare function explainPhysics3DStep(world: Readonly<Physics3DWorld>, dt: number): Physics3DStepExplanation;
+//# sourceMappingURL=explainPhysics3DStep.d.ts.map

package/dist/explainPhysics3DStep.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"explainPhysics3DStep.d.ts","sourceRoot":"","sources":["../src/explainPhysics3DStep.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,wBAAwB,EAAE,cAAc,EAAE,MAAM,0BAA0B,CAAC;AA2BzF,wBAAgB,oBAAoB,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,EAAE,EAAE,EAAE,MAAM,GAAG,wBAAwB,CAmC1G"}

package/dist/explainPhysics3DStep.js

@@ -0,0 +1,48 @@
+import { isPhysics3DBodyStateValid, isPhysics3DContactStateValid, isPhysics3DGravityValid, isPhysics3DJointStateValid, isPhysics3DPositionIterationsValid, isPhysics3DSolverConfigValid, isPhysics3DSubstepsValid, isPhysics3DTimestepValid, isPhysics3DVelocityIterationsValid, } from './stepValidation';
+// Why `stepPhysics3D(world, dt)` would advance nothing, as plain data.
+//
+// The step declines silently on any failed precondition, because a NaN velocity or a zero timestep is a
+// state a caller reaches by writing a field and not a reason to take down a frame loop. This is the seam
+// that makes that silence readable, and it is separately importable so a shipping build that never asks
+// never links it.
+//
+// It asks the SAME predicates the step asks, in the same order, so the two cannot disagree about what
+// "steppable" means. Every flag is reported rather than short-circuiting at the first false: a world with
+// two faults would otherwise be repaired one frame at a time, each fix revealing the next.
+//
+// Pure — it reads the world as it stands and retains nothing. Calling it never changes whether the next
+// step runs.
+export function explainPhysics3DStep(world, dt) {
+    const config = world.config;
+    const bodyStateValid = isPhysics3DBodyStateValid(world);
+    const contactStateValid = isPhysics3DContactStateValid(world);
+    const gravityValid = isPhysics3DGravityValid(world);
+    const jointStateValid = isPhysics3DJointStateValid(world);
+    const solverConfigValid = isPhysics3DSolverConfigValid(config);
+    const substepsValid = isPhysics3DSubstepsValid(config);
+    const timestepValid = isPhysics3DTimestepValid(dt);
+    const velocityIterationsValid = isPhysics3DVelocityIterationsValid(config);
+    const positionIterationsValid = isPhysics3DPositionIterationsValid(config);
+    const ready = bodyStateValid &&
+        contactStateValid &&
+        gravityValid &&
+        jointStateValid &&
+        solverConfigValid &&
+        substepsValid &&
+        timestepValid &&
+        velocityIterationsValid &&
+        positionIterationsValid;
+    return {
+        bodyStateValid,
+        contactStateValid,
+        gravityValid,
+        jointStateValid,
+        solverConfigValid,
+        substepsValid,
+        timestepValid,
+        velocityIterationsValid,
+        positionIterationsValid,
+        status: ready ? 'ready' : 'invalid-step',
+    };
+}
+//# sourceMappingURL=explainPhysics3DStep.js.map

package/dist/explainPhysics3DStep.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"explainPhysics3DStep.js","sourceRoot":"","sources":["../src/explainPhysics3DStep.ts"],"names":[],"mappings":"AAEA,OAAO,EACL,yBAAyB,EACzB,4BAA4B,EAC5B,uBAAuB,EACvB,0BAA0B,EAC1B,kCAAkC,EAClC,4BAA4B,EAC5B,wBAAwB,EACxB,wBAAwB,EACxB,kCAAkC,GACnC,MAAM,kBAAkB,CAAC;AAE1B,uEAAuE;AACvE,EAAE;AACF,wGAAwG;AACxG,yGAAyG;AACzG,wGAAwG;AACxG,kBAAkB;AAClB,EAAE;AACF,sGAAsG;AACtG,0GAA0G;AAC1G,2FAA2F;AAC3F,EAAE;AACF,wGAAwG;AACxG,aAAa;AACb,MAAM,UAAU,oBAAoB,CAAC,KAA+B,EAAE,EAAU;IAC9E,MAAM,MAAM,GAAG,KAAK,CAAC,MAAM,CAAC;IAC5B,MAAM,cAAc,GAAG,yBAAyB,CAAC,KAAK,CAAC,CAAC;IACxD,MAAM,iBAAiB,GAAG,4BAA4B,CAAC,KAAK,CAAC,CAAC;IAC9D,MAAM,YAAY,GAAG,uBAAuB,CAAC,KAAK,CAAC,CAAC;IACpD,MAAM,eAAe,GAAG,0BAA0B,CAAC,KAAK,CAAC,CAAC;IAC1D,MAAM,iBAAiB,GAAG,4BAA4B,CAAC,MAAM,CAAC,CAAC;IAC/D,MAAM,aAAa,GAAG,wBAAwB,CAAC,MAAM,CAAC,CAAC;IACvD,MAAM,aAAa,GAAG,wBAAwB,CAAC,EAAE,CAAC,CAAC;IACnD,MAAM,uBAAuB,GAAG,kCAAkC,CAAC,MAAM,CAAC,CAAC;IAC3E,MAAM,uBAAuB,GAAG,kCAAkC,CAAC,MAAM,CAAC,CAAC;IAE3E,MAAM,KAAK,GACT,cAAc;QACd,iBAAiB;QACjB,YAAY;QACZ,eAAe;QACf,iBAAiB;QACjB,aAAa;QACb,aAAa;QACb,uBAAuB;QACvB,uBAAuB,CAAC;IAE1B,OAAO;QACL,cAAc;QACd,iBAAiB;QACjB,YAAY;QACZ,eAAe;QACf,iBAAiB;QACjB,aAAa;QACb,aAAa;QACb,uBAAuB;QACvB,uBAAuB;QACvB,MAAM,EAAE,KAAK,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,cAAc;KACzC,CAAC;AACJ,CAAC"}

package/dist/index.d.ts

@@ -0,0 +1,14 @@
+export { clearRigidBody3DForces, integrateRigidBody3DPose, integrateRigidBody3DVelocity, refreshRigidBody3DWorldInertia, } from './integrate';
+export { createPhysics3DContact, createPhysics3DContactPoint } from './contacts';
+export { explainPhysics3DJoints } from './explainPhysics3DJoints';
+export { arePhysics3DGuardsEnabled, disablePhysics3DGuards, enablePhysics3DGuards } from './enablePhysics3DGuards';
+export { explainPhysics3DStep } from './explainPhysics3DStep';
+export { isPhysics3DPairJointSuppressed } from './jointCollisionSuppression';
+export { createPhysics3DBallAndSocketJoint, createPhysics3DConeTwistJoint, createPhysics3DFixedJoint, createPhysics3DGeneric6DofJoint, createPhysics3DHingeJoint, createPhysics3DSliderJoint, } from './jointFactories';
+export { addPhysics3DJoint, getPhysics3DJointSolver, invalidatePhysics3DJoint, registerPhysics3DJointSolver, removePhysics3DJoint, } from './jointRegistry';
+export { physics3DBallAndSocketJointSolver, physics3DConeTwistJointSolver, physics3DFixedJointSolver, physics3DGeneric6DofJointSolver, physics3DHingeJointSolver, physics3DSliderJointSolver, Physics3DBallAndSocketJointKind, Physics3DConeTwistJointKind, Physics3DFixedJointKind, Physics3DGeneric6DofJointKind, Physics3DHingeJointKind, Physics3DSliderJointKind, } from './joints';
+export { combinePhysics3DMassData, computePhysics3DBoxMassData, computePhysics3DCapsuleMassData, computePhysics3DSphereMassData, createPhysics3DMassData, setRigidBody3DMassData, } from './massProperties';
+export { registerBuiltInPhysics3DJointSolvers } from './registerBuiltInPhysics3DJointSolvers';
+export { stepPhysics3D, stepPhysics3DInterval } from './step';
+export { addPhysics3DBody, applyPhysics3DForce, applyPhysics3DForceAtPoint, applyPhysics3DLinearImpulse, applyPhysics3DTorque, createPhysics3DSequentialImpulseConfig, createPhysics3DSolverConfig, createPhysics3DWorld, createRigidBody3D, findPhysics3DBody, Physics3DWorldVersion, removePhysics3DBody, setPhysics3DBodyFixedRotation, setPhysics3DBodyTransform, setPhysics3DBodyType, wakePhysics3DBody, writeRigidBody3DWorldCenter, } from './world';
+//# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,OAAO,EACL,sBAAsB,EACtB,wBAAwB,EACxB,4BAA4B,EAC5B,8BAA8B,GAC/B,MAAM,aAAa,CAAC;AACrB,OAAO,EAAE,sBAAsB,EAAE,2BAA2B,EAAE,MAAM,YAAY,CAAC;AACjF,OAAO,EAAE,sBAAsB,EAAE,MAAM,0BAA0B,CAAC;AAClE,OAAO,EAAE,yBAAyB,EAAE,sBAAsB,EAAE,qBAAqB,EAAE,MAAM,yBAAyB,CAAC;AACnH,OAAO,EAAE,oBAAoB,EAAE,MAAM,wBAAwB,CAAC;AAC9D,OAAO,EAAE,8BAA8B,EAAE,MAAM,6BAA6B,CAAC;AAC7E,OAAO,EACL,iCAAiC,EACjC,6BAA6B,EAC7B,yBAAyB,EACzB,+BAA+B,EAC/B,yBAAyB,EACzB,0BAA0B,GAC3B,MAAM,kBAAkB,CAAC;AAC1B,OAAO,EACL,iBAAiB,EACjB,uBAAuB,EACvB,wBAAwB,EACxB,4BAA4B,EAC5B,oBAAoB,GACrB,MAAM,iBAAiB,CAAC;AACzB,OAAO,EACL,iCAAiC,EACjC,6BAA6B,EAC7B,yBAAyB,EACzB,+BAA+B,EAC/B,yBAAyB,EACzB,0BAA0B,EAC1B,+BAA+B,EAC/B,2BAA2B,EAC3B,uBAAuB,EACvB,6BAA6B,EAC7B,uBAAuB,EACvB,wBAAwB,GACzB,MAAM,UAAU,CAAC;AAClB,OAAO,EACL,wBAAwB,EACxB,2BAA2B,EAC3B,+BAA+B,EAC/B,8BAA8B,EAC9B,uBAAuB,EACvB,sBAAsB,GACvB,MAAM,kBAAkB,CAAC;AAC1B,OAAO,EAAE,oCAAoC,EAAE,MAAM,wCAAwC,CAAC;AAC9F,OAAO,EAAE,aAAa,EAAE,qBAAqB,EAAE,MAAM,QAAQ,CAAC;AAC9D,OAAO,EACL,gBAAgB,EAChB,mBAAmB,EACnB,0BAA0B,EAC1B,2BAA2B,EAC3B,oBAAoB,EACpB,sCAAsC,EACtC,2BAA2B,EAC3B,oBAAoB,EACpB,iBAAiB,EACjB,iBAAiB,EACjB,qBAAqB,EACrB,mBAAmB,EACnB,6BAA6B,EAC7B,yBAAyB,EACzB,oBAAoB,EACpB,iBAAiB,EACjB,2BAA2B,GAC5B,MAAM,SAAS,CAAC"}

package/dist/index.js

@@ -0,0 +1,14 @@
+export { clearRigidBody3DForces, integrateRigidBody3DPose, integrateRigidBody3DVelocity, refreshRigidBody3DWorldInertia, } from './integrate';
+export { createPhysics3DContact, createPhysics3DContactPoint } from './contacts';
+export { explainPhysics3DJoints } from './explainPhysics3DJoints';
+export { arePhysics3DGuardsEnabled, disablePhysics3DGuards, enablePhysics3DGuards } from './enablePhysics3DGuards';
+export { explainPhysics3DStep } from './explainPhysics3DStep';
+export { isPhysics3DPairJointSuppressed } from './jointCollisionSuppression';
+export { createPhysics3DBallAndSocketJoint, createPhysics3DConeTwistJoint, createPhysics3DFixedJoint, createPhysics3DGeneric6DofJoint, createPhysics3DHingeJoint, createPhysics3DSliderJoint, } from './jointFactories';
+export { addPhysics3DJoint, getPhysics3DJointSolver, invalidatePhysics3DJoint, registerPhysics3DJointSolver, removePhysics3DJoint, } from './jointRegistry';
+export { physics3DBallAndSocketJointSolver, physics3DConeTwistJointSolver, physics3DFixedJointSolver, physics3DGeneric6DofJointSolver, physics3DHingeJointSolver, physics3DSliderJointSolver, Physics3DBallAndSocketJointKind, Physics3DConeTwistJointKind, Physics3DFixedJointKind, Physics3DGeneric6DofJointKind, Physics3DHingeJointKind, Physics3DSliderJointKind, } from './joints';
+export { combinePhysics3DMassData, computePhysics3DBoxMassData, computePhysics3DCapsuleMassData, computePhysics3DSphereMassData, createPhysics3DMassData, setRigidBody3DMassData, } from './massProperties';
+export { registerBuiltInPhysics3DJointSolvers } from './registerBuiltInPhysics3DJointSolvers';
+export { stepPhysics3D, stepPhysics3DInterval } from './step';
+export { addPhysics3DBody, applyPhysics3DForce, applyPhysics3DForceAtPoint, applyPhysics3DLinearImpulse, applyPhysics3DTorque, createPhysics3DSequentialImpulseConfig, createPhysics3DSolverConfig, createPhysics3DWorld, createRigidBody3D, findPhysics3DBody, Physics3DWorldVersion, removePhysics3DBody, setPhysics3DBodyFixedRotation, setPhysics3DBodyTransform, setPhysics3DBodyType, wakePhysics3DBody, writeRigidBody3DWorldCenter, } from './world';
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,OAAO,EACL,sBAAsB,EACtB,wBAAwB,EACxB,4BAA4B,EAC5B,8BAA8B,GAC/B,MAAM,aAAa,CAAC;AACrB,OAAO,EAAE,sBAAsB,EAAE,2BAA2B,EAAE,MAAM,YAAY,CAAC;AACjF,OAAO,EAAE,sBAAsB,EAAE,MAAM,0BAA0B,CAAC;AAClE,OAAO,EAAE,yBAAyB,EAAE,sBAAsB,EAAE,qBAAqB,EAAE,MAAM,yBAAyB,CAAC;AACnH,OAAO,EAAE,oBAAoB,EAAE,MAAM,wBAAwB,CAAC;AAC9D,OAAO,EAAE,8BAA8B,EAAE,MAAM,6BAA6B,CAAC;AAC7E,OAAO,EACL,iCAAiC,EACjC,6BAA6B,EAC7B,yBAAyB,EACzB,+BAA+B,EAC/B,yBAAyB,EACzB,0BAA0B,GAC3B,MAAM,kBAAkB,CAAC;AAC1B,OAAO,EACL,iBAAiB,EACjB,uBAAuB,EACvB,wBAAwB,EACxB,4BAA4B,EAC5B,oBAAoB,GACrB,MAAM,iBAAiB,CAAC;AACzB,OAAO,EACL,iCAAiC,EACjC,6BAA6B,EAC7B,yBAAyB,EACzB,+BAA+B,EAC/B,yBAAyB,EACzB,0BAA0B,EAC1B,+BAA+B,EAC/B,2BAA2B,EAC3B,uBAAuB,EACvB,6BAA6B,EAC7B,uBAAuB,EACvB,wBAAwB,GACzB,MAAM,UAAU,CAAC;AAClB,OAAO,EACL,wBAAwB,EACxB,2BAA2B,EAC3B,+BAA+B,EAC/B,8BAA8B,EAC9B,uBAAuB,EACvB,sBAAsB,GACvB,MAAM,kBAAkB,CAAC;AAC1B,OAAO,EAAE,oCAAoC,EAAE,MAAM,wCAAwC,CAAC;AAC9F,OAAO,EAAE,aAAa,EAAE,qBAAqB,EAAE,MAAM,QAAQ,CAAC;AAC9D,OAAO,EACL,gBAAgB,EAChB,mBAAmB,EACnB,0BAA0B,EAC1B,2BAA2B,EAC3B,oBAAoB,EACpB,sCAAsC,EACtC,2BAA2B,EAC3B,oBAAoB,EACpB,iBAAiB,EACjB,iBAAiB,EACjB,qBAAqB,EACrB,mBAAmB,EACnB,6BAA6B,EAC7B,yBAAyB,EACzB,oBAAoB,EACpB,iBAAiB,EACjB,2BAA2B,GAC5B,MAAM,SAAS,CAAC"}

package/dist/integrate.d.ts

@@ -0,0 +1,6 @@
+import type { RigidBody3D } from '@flighthq/types/contract';
+export declare function clearRigidBody3DForces(body: RigidBody3D): void;
+export declare function integrateRigidBody3DPose(body: RigidBody3D, dt: number): void;
+export declare function integrateRigidBody3DVelocity(body: RigidBody3D, gravityX: number, gravityY: number, gravityZ: number, dt: number): void;
+export declare function refreshRigidBody3DWorldInertia(body: RigidBody3D): void;
+//# sourceMappingURL=integrate.d.ts.map

package/dist/integrate.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"integrate.d.ts","sourceRoot":"","sources":["../src/integrate.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,0BAA0B,CAAC;AAyB5D,wBAAgB,sBAAsB,CAAC,IAAI,EAAE,WAAW,GAAG,IAAI,CAO9D;AAUD,wBAAgB,wBAAwB,CAAC,IAAI,EAAE,WAAW,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CAmC5E;AAYD,wBAAgB,4BAA4B,CAC1C,IAAI,EAAE,WAAW,EACjB,QAAQ,EAAE,MAAM,EAChB,QAAQ,EAAE,MAAM,EAChB,QAAQ,EAAE,MAAM,EAChB,EAAE,EAAE,MAAM,GACT,IAAI,CA+DN;AAQD,wBAAgB,8BAA8B,CAAC,IAAI,EAAE,WAAW,GAAG,IAAI,CAuBtE"}

package/dist/integrate.js

@@ -0,0 +1,154 @@
+import { applySymmetricTensor, rotateSymmetricTensor, TENSOR_XX, TENSOR_XY, TENSOR_XZ, TENSOR_YY, TENSOR_YZ, TENSOR_ZZ, } from './symmetricTensor';
+// Integration: turning forces into velocities and velocities into poses.
+//
+// The scheme is semi-implicit (symplectic) Euler — velocity is advanced first and the NEW velocity
+// moves the pose. The ordering is the whole reason it is stable enough for games: explicit Euler, which
+// moves the pose by the old velocity, injects energy on every step and makes an orbit spiral outward.
+//
+// These are exported separately rather than folded into the step because a caller assembling its own
+// step wants exactly these pieces, and because each is independently testable — which matters most for
+// the angular half, whose failure mode is a slow drift no single-step assertion would catch.
+// Clears the force and torque accumulators. Called by the step once the forces have been integrated, so
+// a caller applying a force each frame does not have it applied twice.
+export function clearRigidBody3DForces(body) {
+    body.forceX = 0;
+    body.forceY = 0;
+    body.forceZ = 0;
+    body.torqueX = 0;
+    body.torqueY = 0;
+    body.torqueZ = 0;
+}
+// Advances a body's pose by its current velocity over `dt`.
+//
+// Position is a straight Euler step. Orientation is not: a quaternion is advanced by the quaternion
+// derivative `0.5 * omega * q`, where omega is the angular velocity as a pure quaternion. That step
+// leaves the unit sphere — it is a tangent move on a curved manifold — so the result is renormalized.
+// Skipping the renormalization does not look wrong for a step or a hundred; it accumulates into a
+// quaternion whose rotation matrix is no longer orthonormal, which reads downstream as a body that is
+// subtly sheared and getting worse.
+export function integrateRigidBody3DPose(body, dt) {
+    if (body.type === 'static' || body.sleeping)
+        return;
+    body.x += body.velocityX * dt;
+    body.y += body.velocityY * dt;
+    body.z += body.velocityZ * dt;
+    const wX = body.angularVelocityX;
+    const wY = body.angularVelocityY;
+    const wZ = body.angularVelocityZ;
+    if (wX === 0 && wY === 0 && wZ === 0)
+        return;
+    const qX = body.orientationX;
+    const qY = body.orientationY;
+    const qZ = body.orientationZ;
+    const qW = body.orientationW;
+    const half = dt * 0.5;
+    const nX = qX + half * (wX * qW + wY * qZ - wZ * qY);
+    const nY = qY + half * (wY * qW + wZ * qX - wX * qZ);
+    const nZ = qZ + half * (wZ * qW + wX * qY - wY * qX);
+    const nW = qW + half * (-wX * qX - wY * qY - wZ * qZ);
+    const lengthSquared = nX * nX + nY * nY + nZ * nZ + nW * nW;
+    if (lengthSquared <= 0 || !Number.isFinite(lengthSquared)) {
+        // The only way here is a non-finite angular velocity, which a diverging simulation produces. Hold
+        // the previous orientation rather than writing NaN into it: a NaN pose spreads to every constraint
+        // the body touches within one step, and a held orientation is at least a state a caller can see.
+        return;
+    }
+    const scale = 1 / Math.sqrt(lengthSquared);
+    body.orientationX = nX * scale;
+    body.orientationY = nY * scale;
+    body.orientationZ = nZ * scale;
+    body.orientationW = nW * scale;
+}
+// Advances a body's velocities by the accumulated forces, gravity, and damping over `dt`.
+//
+// The angular half carries the term that does not exist in 2D: Euler's equation for a rotating rigid
+// body is `torque = I * alpha + omega x (I * omega)`, and that second term — the gyroscopic torque — is
+// what makes a thrown object tumble rather than spin about a fixed axis. In 2D it vanishes identically,
+// because omega and `I * omega` are parallel when I is a scalar. Dropping it in 3D costs nothing on a
+// sphere and is visibly wrong on anything long.
+//
+// Damping is applied as an exponential decay rather than a subtraction, so the result does not depend
+// on the step size and a large `dt` can never drive a velocity through zero into reverse.
+export function integrateRigidBody3DVelocity(body, gravityX, gravityY, gravityZ, dt) {
+    if (body.type !== 'dynamic' || body.sleeping)
+        return;
+    body.velocityX += (body.forceX * body.inverseMass + gravityX * body.gravityScale) * dt;
+    body.velocityY += (body.forceY * body.inverseMass + gravityY * body.gravityScale) * dt;
+    body.velocityZ += (body.forceZ * body.inverseMass + gravityZ * body.gravityScale) * dt;
+    const wX = body.angularVelocityX;
+    const wY = body.angularVelocityY;
+    const wZ = body.angularVelocityZ;
+    // The gyroscopic torque, `-omega x (I * omega)`. It needs the FORWARD world inertia, which is why the
+    // body stores its forward local tensor: rotating that into world space is one similarity transform,
+    // where recovering it from the inverse would be a 3x3 inversion per body per substep.
+    //
+    // Explicit here, which is the standard game-engine treatment and is stable at ordinary timesteps. A
+    // body spinning fast enough that its momentum turns appreciably within one step needs an implicit
+    // form; the substep count is the lever for that, and is why it exists.
+    let torqueX = body.torqueX;
+    let torqueY = body.torqueY;
+    let torqueZ = body.torqueZ;
+    if (wX !== 0 || wY !== 0 || wZ !== 0) {
+        scratchTensor[TENSOR_XX] = body.inertiaXX;
+        scratchTensor[TENSOR_YY] = body.inertiaYY;
+        scratchTensor[TENSOR_ZZ] = body.inertiaZZ;
+        scratchTensor[TENSOR_XY] = body.inertiaXY;
+        scratchTensor[TENSOR_XZ] = body.inertiaXZ;
+        scratchTensor[TENSOR_YZ] = body.inertiaYZ;
+        rotateSymmetricTensor(scratchTensor, body.orientationX, body.orientationY, body.orientationZ, body.orientationW, scratchTensor);
+        // scratchVector becomes the angular momentum `L = I * omega`.
+        applySymmetricTensor(scratchTensor, wX, wY, wZ, scratchVector);
+        torqueX -= wY * scratchVector[2] - wZ * scratchVector[1];
+        torqueY -= wZ * scratchVector[0] - wX * scratchVector[2];
+        torqueZ -= wX * scratchVector[1] - wY * scratchVector[0];
+    }
+    readWorldInertia(body, scratchTensor);
+    applySymmetricTensor(scratchTensor, torqueX, torqueY, torqueZ, scratchVector);
+    body.angularVelocityX = wX + scratchVector[0] * dt;
+    body.angularVelocityY = wY + scratchVector[1] * dt;
+    body.angularVelocityZ = wZ + scratchVector[2] * dt;
+    if (body.linearDamping > 0) {
+        const damping = 1 / (1 + dt * body.linearDamping);
+        body.velocityX *= damping;
+        body.velocityY *= damping;
+        body.velocityZ *= damping;
+    }
+    if (body.angularDamping > 0) {
+        const damping = 1 / (1 + dt * body.angularDamping);
+        body.angularVelocityX *= damping;
+        body.angularVelocityY *= damping;
+        body.angularVelocityZ *= damping;
+    }
+}
+// Refreshes the world-space inverse inertia tensor from the body's orientation and its local tensor.
+//
+// Must run whenever the orientation changes — which is every substep for anything rotating, and at
+// insertion and teleport for everything else. It is a pull rather than an invalidation flag because
+// every rotating body needs it every substep anyway, so a flag would be checked far more often than it
+// would ever be false.
+export function refreshRigidBody3DWorldInertia(body) {
+    scratchTensor[TENSOR_XX] = body.inverseInertiaXX;
+    scratchTensor[TENSOR_YY] = body.inverseInertiaYY;
+    scratchTensor[TENSOR_ZZ] = body.inverseInertiaZZ;
+    scratchTensor[TENSOR_XY] = body.inverseInertiaXY;
+    scratchTensor[TENSOR_XZ] = body.inverseInertiaXZ;
+    scratchTensor[TENSOR_YZ] = body.inverseInertiaYZ;
+    rotateSymmetricTensor(scratchTensor, body.orientationX, body.orientationY, body.orientationZ, body.orientationW, scratchTensor);
+    body.inverseInertiaWorldXX = scratchTensor[TENSOR_XX];
+    body.inverseInertiaWorldYY = scratchTensor[TENSOR_YY];
+    body.inverseInertiaWorldZZ = scratchTensor[TENSOR_ZZ];
+    body.inverseInertiaWorldXY = scratchTensor[TENSOR_XY];
+    body.inverseInertiaWorldXZ = scratchTensor[TENSOR_XZ];
+    body.inverseInertiaWorldYZ = scratchTensor[TENSOR_YZ];
+}
+function readWorldInertia(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;
+}
+const scratchTensor = [0, 0, 0, 0, 0, 0];
+const scratchVector = [0, 0, 0];
+//# sourceMappingURL=integrate.js.map

package/dist/integrate.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"integrate.js","sourceRoot":"","sources":["../src/integrate.ts"],"names":[],"mappings":"AAEA,OAAO,EACL,oBAAoB,EACpB,qBAAqB,EACrB,SAAS,EACT,SAAS,EACT,SAAS,EACT,SAAS,EACT,SAAS,EACT,SAAS,GACV,MAAM,mBAAmB,CAAC;AAE3B,yEAAyE;AACzE,EAAE;AACF,mGAAmG;AACnG,wGAAwG;AACxG,sGAAsG;AACtG,EAAE;AACF,qGAAqG;AACrG,uGAAuG;AACvG,6FAA6F;AAE7F,wGAAwG;AACxG,uEAAuE;AACvE,MAAM,UAAU,sBAAsB,CAAC,IAAiB;IACtD,IAAI,CAAC,MAAM,GAAG,CAAC,CAAC;IAChB,IAAI,CAAC,MAAM,GAAG,CAAC,CAAC;IAChB,IAAI,CAAC,MAAM,GAAG,CAAC,CAAC;IAChB,IAAI,CAAC,OAAO,GAAG,CAAC,CAAC;IACjB,IAAI,CAAC,OAAO,GAAG,CAAC,CAAC;IACjB,IAAI,CAAC,OAAO,GAAG,CAAC,CAAC;AACnB,CAAC;AAED,4DAA4D;AAC5D,EAAE;AACF,oGAAoG;AACpG,oGAAoG;AACpG,sGAAsG;AACtG,kGAAkG;AAClG,sGAAsG;AACtG,oCAAoC;AACpC,MAAM,UAAU,wBAAwB,CAAC,IAAiB,EAAE,EAAU;IACpE,IAAI,IAAI,CAAC,IAAI,KAAK,QAAQ,IAAI,IAAI,CAAC,QAAQ;QAAE,OAAO;IAEpD,IAAI,CAAC,CAAC,IAAI,IAAI,CAAC,SAAS,GAAG,EAAE,CAAC;IAC9B,IAAI,CAAC,CAAC,IAAI,IAAI,CAAC,SAAS,GAAG,EAAE,CAAC;IAC9B,IAAI,CAAC,CAAC,IAAI,IAAI,CAAC,SAAS,GAAG,EAAE,CAAC;IAE9B,MAAM,EAAE,GAAG,IAAI,CAAC,gBAAgB,CAAC;IACjC,MAAM,EAAE,GAAG,IAAI,CAAC,gBAAgB,CAAC;IACjC,MAAM,EAAE,GAAG,IAAI,CAAC,gBAAgB,CAAC;IACjC,IAAI,EAAE,KAAK,CAAC,IAAI,EAAE,KAAK,CAAC,IAAI,EAAE,KAAK,CAAC;QAAE,OAAO;IAE7C,MAAM,EAAE,GAAG,IAAI,CAAC,YAAY,CAAC;IAC7B,MAAM,EAAE,GAAG,IAAI,CAAC,YAAY,CAAC;IAC7B,MAAM,EAAE,GAAG,IAAI,CAAC,YAAY,CAAC;IAC7B,MAAM,EAAE,GAAG,IAAI,CAAC,YAAY,CAAC;IAE7B,MAAM,IAAI,GAAG,EAAE,GAAG,GAAG,CAAC;IACtB,MAAM,EAAE,GAAG,EAAE,GAAG,IAAI,GAAG,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,CAAC;IACrD,MAAM,EAAE,GAAG,EAAE,GAAG,IAAI,GAAG,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,CAAC;IACrD,MAAM,EAAE,GAAG,EAAE,GAAG,IAAI,GAAG,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,CAAC;IACrD,MAAM,EAAE,GAAG,EAAE,GAAG,IAAI,GAAG,CAAC,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,CAAC;IAEtD,MAAM,aAAa,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;IAC5D,IAAI,aAAa,IAAI,CAAC,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,aAAa,CAAC,EAAE,CAAC;QAC1D,kGAAkG;QAClG,mGAAmG;QACnG,iGAAiG;QACjG,OAAO;IACT,CAAC;IACD,MAAM,KAAK,GAAG,CAAC,GAAG,IAAI,CAAC,IAAI,CAAC,aAAa,CAAC,CAAC;IAC3C,IAAI,CAAC,YAAY,GAAG,EAAE,GAAG,KAAK,CAAC;IAC/B,IAAI,CAAC,YAAY,GAAG,EAAE,GAAG,KAAK,CAAC;IAC/B,IAAI,CAAC,YAAY,GAAG,EAAE,GAAG,KAAK,CAAC;IAC/B,IAAI,CAAC,YAAY,GAAG,EAAE,GAAG,KAAK,CAAC;AACjC,CAAC;AAED,0FAA0F;AAC1F,EAAE;AACF,qGAAqG;AACrG,wGAAwG;AACxG,wGAAwG;AACxG,sGAAsG;AACtG,gDAAgD;AAChD,EAAE;AACF,sGAAsG;AACtG,0FAA0F;AAC1F,MAAM,UAAU,4BAA4B,CAC1C,IAAiB,EACjB,QAAgB,EAChB,QAAgB,EAChB,QAAgB,EAChB,EAAU;IAEV,IAAI,IAAI,CAAC,IAAI,KAAK,SAAS,IAAI,IAAI,CAAC,QAAQ;QAAE,OAAO;IAErD,IAAI,CAAC,SAAS,IAAI,CAAC,IAAI,CAAC,MAAM,GAAG,IAAI,CAAC,WAAW,GAAG,QAAQ,GAAG,IAAI,CAAC,YAAY,CAAC,GAAG,EAAE,CAAC;IACvF,IAAI,CAAC,SAAS,IAAI,CAAC,IAAI,CAAC,MAAM,GAAG,IAAI,CAAC,WAAW,GAAG,QAAQ,GAAG,IAAI,CAAC,YAAY,CAAC,GAAG,EAAE,CAAC;IACvF,IAAI,CAAC,SAAS,IAAI,CAAC,IAAI,CAAC,MAAM,GAAG,IAAI,CAAC,WAAW,GAAG,QAAQ,GAAG,IAAI,CAAC,YAAY,CAAC,GAAG,EAAE,CAAC;IAEvF,MAAM,EAAE,GAAG,IAAI,CAAC,gBAAgB,CAAC;IACjC,MAAM,EAAE,GAAG,IAAI,CAAC,gBAAgB,CAAC;IACjC,MAAM,EAAE,GAAG,IAAI,CAAC,gBAAgB,CAAC;IAEjC,sGAAsG;IACtG,oGAAoG;IACpG,sFAAsF;IACtF,EAAE;IACF,oGAAoG;IACpG,kGAAkG;IAClG,uEAAuE;IACvE,IAAI,OAAO,GAAG,IAAI,CAAC,OAAO,CAAC;IAC3B,IAAI,OAAO,GAAG,IAAI,CAAC,OAAO,CAAC;IAC3B,IAAI,OAAO,GAAG,IAAI,CAAC,OAAO,CAAC;IAC3B,IAAI,EAAE,KAAK,CAAC,IAAI,EAAE,KAAK,CAAC,IAAI,EAAE,KAAK,CAAC,EAAE,CAAC;QACrC,aAAa,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,SAAS,CAAC;QAC1C,aAAa,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,SAAS,CAAC;QAC1C,aAAa,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,SAAS,CAAC;QAC1C,aAAa,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,SAAS,CAAC;QAC1C,aAAa,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,SAAS,CAAC;QAC1C,aAAa,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,SAAS,CAAC;QAC1C,qBAAqB,CACnB,aAAa,EACb,IAAI,CAAC,YAAY,EACjB,IAAI,CAAC,YAAY,EACjB,IAAI,CAAC,YAAY,EACjB,IAAI,CAAC,YAAY,EACjB,aAAa,CACd,CAAC;QAEF,8DAA8D;QAC9D,oBAAoB,CAAC,aAAa,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,aAAa,CAAC,CAAC;QAC/D,OAAO,IAAI,EAAE,GAAG,aAAa,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,aAAa,CAAC,CAAC,CAAC,CAAC;QACzD,OAAO,IAAI,EAAE,GAAG,aAAa,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,aAAa,CAAC,CAAC,CAAC,CAAC;QACzD,OAAO,IAAI,EAAE,GAAG,aAAa,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,aAAa,CAAC,CAAC,CAAC,CAAC;IAC3D,CAAC;IAED,gBAAgB,CAAC,IAAI,EAAE,aAAa,CAAC,CAAC;IACtC,oBAAoB,CAAC,aAAa,EAAE,OAAO,EAAE,OAAO,EAAE,OAAO,EAAE,aAAa,CAAC,CAAC;IAE9E,IAAI,CAAC,gBAAgB,GAAG,EAAE,GAAG,aAAa,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC;IACnD,IAAI,CAAC,gBAAgB,GAAG,EAAE,GAAG,aAAa,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC;IACnD,IAAI,CAAC,gBAAgB,GAAG,EAAE,GAAG,aAAa,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC;IAEnD,IAAI,IAAI,CAAC,aAAa,GAAG,CAAC,EAAE,CAAC;QAC3B,MAAM,OAAO,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,EAAE,GAAG,IAAI,CAAC,aAAa,CAAC,CAAC;QAClD,IAAI,CAAC,SAAS,IAAI,OAAO,CAAC;QAC1B,IAAI,CAAC,SAAS,IAAI,OAAO,CAAC;QAC1B,IAAI,CAAC,SAAS,IAAI,OAAO,CAAC;IAC5B,CAAC;IACD,IAAI,IAAI,CAAC,cAAc,GAAG,CAAC,EAAE,CAAC;QAC5B,MAAM,OAAO,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,EAAE,GAAG,IAAI,CAAC,cAAc,CAAC,CAAC;QACnD,IAAI,CAAC,gBAAgB,IAAI,OAAO,CAAC;QACjC,IAAI,CAAC,gBAAgB,IAAI,OAAO,CAAC;QACjC,IAAI,CAAC,gBAAgB,IAAI,OAAO,CAAC;IACnC,CAAC;AACH,CAAC;AAED,qGAAqG;AACrG,EAAE;AACF,mGAAmG;AACnG,oGAAoG;AACpG,uGAAuG;AACvG,uBAAuB;AACvB,MAAM,UAAU,8BAA8B,CAAC,IAAiB;IAC9D,aAAa,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,gBAAgB,CAAC;IACjD,aAAa,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,gBAAgB,CAAC;IACjD,aAAa,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,gBAAgB,CAAC;IACjD,aAAa,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,gBAAgB,CAAC;IACjD,aAAa,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,gBAAgB,CAAC;IACjD,aAAa,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,gBAAgB,CAAC;IAEjD,qBAAqB,CACnB,aAAa,EACb,IAAI,CAAC,YAAY,EACjB,IAAI,CAAC,YAAY,EACjB,IAAI,CAAC,YAAY,EACjB,IAAI,CAAC,YAAY,EACjB,aAAa,CACd,CAAC;IAEF,IAAI,CAAC,qBAAqB,GAAG,aAAa,CAAC,SAAS,CAAC,CAAC;IACtD,IAAI,CAAC,qBAAqB,GAAG,aAAa,CAAC,SAAS,CAAC,CAAC;IACtD,IAAI,CAAC,qBAAqB,GAAG,aAAa,CAAC,SAAS,CAAC,CAAC;IACtD,IAAI,CAAC,qBAAqB,GAAG,aAAa,CAAC,SAAS,CAAC,CAAC;IACtD,IAAI,CAAC,qBAAqB,GAAG,aAAa,CAAC,SAAS,CAAC,CAAC;IACtD,IAAI,CAAC,qBAAqB,GAAG,aAAa,CAAC,SAAS,CAAC,CAAC;AACxD,CAAC;AAED,SAAS,gBAAgB,CAAC,IAA2B,EAAE,GAAa;IAClE,GAAG,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,qBAAqB,CAAC;IAC5C,GAAG,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,qBAAqB,CAAC;IAC5C,GAAG,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,qBAAqB,CAAC;IAC5C,GAAG,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,qBAAqB,CAAC;IAC5C,GAAG,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,qBAAqB,CAAC;IAC5C,GAAG,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,qBAAqB,CAAC;AAC9C,CAAC;AAED,MAAM,aAAa,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AACzC,MAAM,aAAa,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC"}

package/dist/islands.d.ts

@@ -0,0 +1,5 @@
+import type { Physics3DWorld, RigidBody3D } from '@flighthq/types/contract';
+export declare function buildPhysics3DSolveIslands(world: Physics3DWorld): void;
+export declare function isRigidBody3DPairAwake(a: Readonly<RigidBody3D>, b: Readonly<RigidBody3D>): boolean;
+export declare function updatePhysics3DSleep(world: Physics3DWorld, dt: number): void;
+//# sourceMappingURL=islands.d.ts.map

package/dist/islands.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"islands.d.ts","sourceRoot":"","sources":["../src/islands.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,cAAc,EAAE,WAAW,EAAE,MAAM,0BAA0B,CAAC;AAc5E,wBAAgB,0BAA0B,CAAC,KAAK,EAAE,cAAc,GAAG,IAAI,CAsFtE;AAYD,wBAAgB,sBAAsB,CAAC,CAAC,EAAE,QAAQ,CAAC,WAAW,CAAC,EAAE,CAAC,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,OAAO,CAElG;AAkBD,wBAAgB,oBAAoB,CAAC,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CAuF5E"}