@flighthq/physics3d 0.4.0-next.1694.598ef6f

package/dist/symmetricTensor.js

@@ -0,0 +1,150 @@
+// Symmetric 3x3 tensor arithmetic, in the six-component form the solver stores inertia in.
+//
+// Package-internal: these are how the mass and constraint code reads a tensor, not part of the
+// physics3d API. They take and return loose numbers rather than a matrix type because an inertia tensor
+// lives as six flat fields on `RigidBody3D` — `@flighthq/geometry`'s `Matrix3` is an `Entity` wrapping a
+// `Float32Array`, which is both an indirection in a hot loop and a precision step down from what a
+// solver's accumulators need.
+//
+// Every function here writes into a caller-provided `out` array of six numbers, ordered
+// `[xx, yy, zz, xy, xz, yz]`, and is safe when `out` also supplies the input.
+// Component offsets into the six-number form. Named so a caller indexes by meaning rather than by a
+// number whose order it has to remember.
+export const TENSOR_XX = 0;
+export const TENSOR_YY = 1;
+export const TENSOR_ZZ = 2;
+export const TENSOR_XY = 3;
+export const TENSOR_XZ = 4;
+export const TENSOR_YZ = 5;
+// Applies a symmetric tensor to a vector, writing `tensor * v` into `out`. The workhorse: every
+// constraint row multiplies an angular term by an inverse inertia tensor.
+export function applySymmetricTensor(tensor, vX, vY, vZ, out) {
+    const xx = tensor[TENSOR_XX];
+    const yy = tensor[TENSOR_YY];
+    const zz = tensor[TENSOR_ZZ];
+    const xy = tensor[TENSOR_XY];
+    const xz = tensor[TENSOR_XZ];
+    const yz = tensor[TENSOR_YZ];
+    out[0] = xx * vX + xy * vY + xz * vZ;
+    out[1] = xy * vX + yy * vY + yz * vZ;
+    out[2] = xz * vX + yz * vY + zz * vZ;
+}
+// Inverts a symmetric tensor, writing the result into `out`. Returns false and writes a zero tensor
+// when the tensor is singular — which is the ordinary case, not an error: a static body, a
+// fixed-rotation body, and a zero-mass body all carry a singular inertia, and a zero inverse is exactly
+// what makes "infinite inertia" fall out of the same arithmetic as any other body with no branch.
+//
+// The determinant is compared against a scale-relative epsilon rather than an absolute one, because an
+// inertia tensor's magnitude tracks mass times length squared and a fixed epsilon would call a small
+// but perfectly invertible body singular.
+export function inverseSymmetricTensor(tensor, out) {
+    const xx = tensor[TENSOR_XX];
+    const yy = tensor[TENSOR_YY];
+    const zz = tensor[TENSOR_ZZ];
+    const xy = tensor[TENSOR_XY];
+    const xz = tensor[TENSOR_XZ];
+    const yz = tensor[TENSOR_YZ];
+    // Cofactors of the symmetric matrix; only six are distinct.
+    const cofactorXX = yy * zz - yz * yz;
+    const cofactorXY = xz * yz - xy * zz;
+    const cofactorXZ = xy * yz - xz * yy;
+    const determinant = xx * cofactorXX + xy * cofactorXY + xz * cofactorXZ;
+    const scale = Math.abs(xx) + Math.abs(yy) + Math.abs(zz);
+    if (!Number.isFinite(determinant) || Math.abs(determinant) <= SINGULAR_EPSILON * scale * scale * scale) {
+        out[TENSOR_XX] = 0;
+        out[TENSOR_YY] = 0;
+        out[TENSOR_ZZ] = 0;
+        out[TENSOR_XY] = 0;
+        out[TENSOR_XZ] = 0;
+        out[TENSOR_YZ] = 0;
+        return false;
+    }
+    const inverseDeterminant = 1 / determinant;
+    out[TENSOR_XX] = cofactorXX * inverseDeterminant;
+    out[TENSOR_YY] = (xx * zz - xz * xz) * inverseDeterminant;
+    out[TENSOR_ZZ] = (xx * yy - xy * xy) * inverseDeterminant;
+    out[TENSOR_XY] = cofactorXY * inverseDeterminant;
+    out[TENSOR_XZ] = cofactorXZ * inverseDeterminant;
+    out[TENSOR_YZ] = (xy * xz - xx * yz) * inverseDeterminant;
+    return true;
+}
+// Rotates a symmetric tensor into world space by a unit quaternion, writing `R * tensor * transpose(R)`
+// into `out`. The result is symmetric by construction, so only six components are produced.
+//
+// The rotation matrix is built once and applied as two multiplies rather than composing the similarity
+// transform in closed quaternion form: the closed form is longer, no faster, and far harder to check
+// against a reference implementation.
+export function rotateSymmetricTensor(tensor, quaternionX, quaternionY, quaternionZ, quaternionW, out) {
+    const x2 = quaternionX + quaternionX;
+    const y2 = quaternionY + quaternionY;
+    const z2 = quaternionZ + quaternionZ;
+    const xx2 = quaternionX * x2;
+    const yy2 = quaternionY * y2;
+    const zz2 = quaternionZ * z2;
+    const xy2 = quaternionX * y2;
+    const xz2 = quaternionX * z2;
+    const yz2 = quaternionY * z2;
+    const wx2 = quaternionW * x2;
+    const wy2 = quaternionW * y2;
+    const wz2 = quaternionW * z2;
+    // Column-major rotation basis: r0 is the image of the local x axis, and so on.
+    const r00 = 1 - yy2 - zz2;
+    const r10 = xy2 + wz2;
+    const r20 = xz2 - wy2;
+    const r01 = xy2 - wz2;
+    const r11 = 1 - xx2 - zz2;
+    const r21 = yz2 + wx2;
+    const r02 = xz2 + wy2;
+    const r12 = yz2 - wx2;
+    const r22 = 1 - xx2 - yy2;
+    const xx = tensor[TENSOR_XX];
+    const yy = tensor[TENSOR_YY];
+    const zz = tensor[TENSOR_ZZ];
+    const xy = tensor[TENSOR_XY];
+    const xz = tensor[TENSOR_XZ];
+    const yz = tensor[TENSOR_YZ];
+    // m = tensor * transpose(R). Since `transpose(R)[k][j]` is `R[j][k]`, each entry pairs a row of the
+    // tensor with a ROW of R — pairing it with a column instead silently computes `R * tensor * R`, which
+    // agrees with the right answer for every symmetric rotation and disagrees for a quarter turn.
+    const m00 = xx * r00 + xy * r01 + xz * r02;
+    const m01 = xx * r10 + xy * r11 + xz * r12;
+    const m02 = xx * r20 + xy * r21 + xz * r22;
+    const m10 = xy * r00 + yy * r01 + yz * r02;
+    const m11 = xy * r10 + yy * r11 + yz * r12;
+    const m12 = xy * r20 + yy * r21 + yz * r22;
+    const m20 = xz * r00 + yz * r01 + zz * r02;
+    const m21 = xz * r10 + yz * r11 + zz * r12;
+    const m22 = xz * r20 + yz * r21 + zz * r22;
+    out[TENSOR_XX] = r00 * m00 + r01 * m10 + r02 * m20;
+    out[TENSOR_YY] = r10 * m01 + r11 * m11 + r12 * m21;
+    out[TENSOR_ZZ] = r20 * m02 + r21 * m12 + r22 * m22;
+    out[TENSOR_XY] = r00 * m01 + r01 * m11 + r02 * m21;
+    out[TENSOR_XZ] = r00 * m02 + r01 * m12 + r02 * m22;
+    out[TENSOR_YZ] = r10 * m02 + r11 * m12 + r12 * m22;
+}
+// Shifts a symmetric tensor from an axis through the centre of mass to a parallel axis offset by
+// (`dX`,`dY`,`dZ`), writing the result into `out` — the parallel-axis theorem,
+// `I + mass * (dot(d,d) * identity - outer(d,d))`.
+//
+// This is what lets primitives combine without an eigenvalue solve: each contributes its own tensor
+// about its own centre, and every one of them is shifted to the assembly's centre and summed. Note the
+// direction — this moves AWAY from the centre of mass. Passing a negated offset does not move back,
+// because the correction is quadratic in the offset and therefore even.
+export function translateSymmetricTensor(tensor, mass, dX, dY, dZ, out) {
+    const xx = tensor[TENSOR_XX];
+    const yy = tensor[TENSOR_YY];
+    const zz = tensor[TENSOR_ZZ];
+    const xy = tensor[TENSOR_XY];
+    const xz = tensor[TENSOR_XZ];
+    const yz = tensor[TENSOR_YZ];
+    out[TENSOR_XX] = xx + mass * (dY * dY + dZ * dZ);
+    out[TENSOR_YY] = yy + mass * (dX * dX + dZ * dZ);
+    out[TENSOR_ZZ] = zz + mass * (dX * dX + dY * dY);
+    out[TENSOR_XY] = xy - mass * dX * dY;
+    out[TENSOR_XZ] = xz - mass * dX * dZ;
+    out[TENSOR_YZ] = yz - mass * dY * dZ;
+}
+// Relative tolerance for calling a tensor singular. Cubed against the tensor's trace scale in
+// `inverseSymmetricTensor`, since a 3x3 determinant carries three factors of the matrix's magnitude.
+const SINGULAR_EPSILON = 1e-12;
+//# sourceMappingURL=symmetricTensor.js.map

package/dist/symmetricTensor.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"symmetricTensor.js","sourceRoot":"","sources":["../src/symmetricTensor.ts"],"names":[],"mappings":"AAAA,2FAA2F;AAC3F,EAAE;AACF,+FAA+F;AAC/F,wGAAwG;AACxG,yGAAyG;AACzG,mGAAmG;AACnG,8BAA8B;AAC9B,EAAE;AACF,wFAAwF;AACxF,8EAA8E;AAE9E,oGAAoG;AACpG,yCAAyC;AACzC,MAAM,CAAC,MAAM,SAAS,GAAG,CAAC,CAAC;AAC3B,MAAM,CAAC,MAAM,SAAS,GAAG,CAAC,CAAC;AAC3B,MAAM,CAAC,MAAM,SAAS,GAAG,CAAC,CAAC;AAC3B,MAAM,CAAC,MAAM,SAAS,GAAG,CAAC,CAAC;AAC3B,MAAM,CAAC,MAAM,SAAS,GAAG,CAAC,CAAC;AAC3B,MAAM,CAAC,MAAM,SAAS,GAAG,CAAC,CAAC;AAE3B,gGAAgG;AAChG,0EAA0E;AAC1E,MAAM,UAAU,oBAAoB,CAClC,MAAmC,EACnC,EAAU,EACV,EAAU,EACV,EAAU,EACV,GAAa;IAEb,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAE7B,GAAG,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;IACrC,GAAG,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;IACrC,GAAG,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;AACvC,CAAC;AAED,oGAAoG;AACpG,2FAA2F;AAC3F,wGAAwG;AACxG,kGAAkG;AAClG,EAAE;AACF,uGAAuG;AACvG,qGAAqG;AACrG,0CAA0C;AAC1C,MAAM,UAAU,sBAAsB,CAAC,MAAmC,EAAE,GAAa;IACvF,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAE7B,4DAA4D;IAC5D,MAAM,UAAU,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;IACrC,MAAM,UAAU,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;IACrC,MAAM,UAAU,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;IACrC,MAAM,WAAW,GAAG,EAAE,GAAG,UAAU,GAAG,EAAE,GAAG,UAAU,GAAG,EAAE,GAAG,UAAU,CAAC;IAExE,MAAM,KAAK,GAAG,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC;IACzD,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,WAAW,CAAC,IAAI,IAAI,CAAC,GAAG,CAAC,WAAW,CAAC,IAAI,gBAAgB,GAAG,KAAK,GAAG,KAAK,GAAG,KAAK,EAAE,CAAC;QACvG,GAAG,CAAC,SAAS,CAAC,GAAG,CAAC,CAAC;QACnB,GAAG,CAAC,SAAS,CAAC,GAAG,CAAC,CAAC;QACnB,GAAG,CAAC,SAAS,CAAC,GAAG,CAAC,CAAC;QACnB,GAAG,CAAC,SAAS,CAAC,GAAG,CAAC,CAAC;QACnB,GAAG,CAAC,SAAS,CAAC,GAAG,CAAC,CAAC;QACnB,GAAG,CAAC,SAAS,CAAC,GAAG,CAAC,CAAC;QACnB,OAAO,KAAK,CAAC;IACf,CAAC;IAED,MAAM,kBAAkB,GAAG,CAAC,GAAG,WAAW,CAAC;IAC3C,GAAG,CAAC,SAAS,CAAC,GAAG,UAAU,GAAG,kBAAkB,CAAC;IACjD,GAAG,CAAC,SAAS,CAAC,GAAG,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,GAAG,kBAAkB,CAAC;IAC1D,GAAG,CAAC,SAAS,CAAC,GAAG,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,GAAG,kBAAkB,CAAC;IAC1D,GAAG,CAAC,SAAS,CAAC,GAAG,UAAU,GAAG,kBAAkB,CAAC;IACjD,GAAG,CAAC,SAAS,CAAC,GAAG,UAAU,GAAG,kBAAkB,CAAC;IACjD,GAAG,CAAC,SAAS,CAAC,GAAG,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,GAAG,kBAAkB,CAAC;IAC1D,OAAO,IAAI,CAAC;AACd,CAAC;AAED,wGAAwG;AACxG,4FAA4F;AAC5F,EAAE;AACF,uGAAuG;AACvG,qGAAqG;AACrG,sCAAsC;AACtC,MAAM,UAAU,qBAAqB,CACnC,MAAmC,EACnC,WAAmB,EACnB,WAAmB,EACnB,WAAmB,EACnB,WAAmB,EACnB,GAAa;IAEb,MAAM,EAAE,GAAG,WAAW,GAAG,WAAW,CAAC;IACrC,MAAM,EAAE,GAAG,WAAW,GAAG,WAAW,CAAC;IACrC,MAAM,EAAE,GAAG,WAAW,GAAG,WAAW,CAAC;IACrC,MAAM,GAAG,GAAG,WAAW,GAAG,EAAE,CAAC;IAC7B,MAAM,GAAG,GAAG,WAAW,GAAG,EAAE,CAAC;IAC7B,MAAM,GAAG,GAAG,WAAW,GAAG,EAAE,CAAC;IAC7B,MAAM,GAAG,GAAG,WAAW,GAAG,EAAE,CAAC;IAC7B,MAAM,GAAG,GAAG,WAAW,GAAG,EAAE,CAAC;IAC7B,MAAM,GAAG,GAAG,WAAW,GAAG,EAAE,CAAC;IAC7B,MAAM,GAAG,GAAG,WAAW,GAAG,EAAE,CAAC;IAC7B,MAAM,GAAG,GAAG,WAAW,GAAG,EAAE,CAAC;IAC7B,MAAM,GAAG,GAAG,WAAW,GAAG,EAAE,CAAC;IAE7B,+EAA+E;IAC/E,MAAM,GAAG,GAAG,CAAC,GAAG,GAAG,GAAG,GAAG,CAAC;IAC1B,MAAM,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;IACtB,MAAM,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;IACtB,MAAM,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;IACtB,MAAM,GAAG,GAAG,CAAC,GAAG,GAAG,GAAG,GAAG,CAAC;IAC1B,MAAM,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;IACtB,MAAM,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;IACtB,MAAM,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;IACtB,MAAM,GAAG,GAAG,CAAC,GAAG,GAAG,GAAG,GAAG,CAAC;IAE1B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAE7B,oGAAoG;IACpG,sGAAsG;IACtG,8FAA8F;IAC9F,MAAM,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,CAAC;IAC3C,MAAM,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,CAAC;IAC3C,MAAM,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,CAAC;IAC3C,MAAM,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,CAAC;IAC3C,MAAM,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,CAAC;IAC3C,MAAM,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,CAAC;IAC3C,MAAM,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,CAAC;IAC3C,MAAM,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,CAAC;IAC3C,MAAM,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,CAAC;IAE3C,GAAG,CAAC,SAAS,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;IACnD,GAAG,CAAC,SAAS,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;IACnD,GAAG,CAAC,SAAS,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;IACnD,GAAG,CAAC,SAAS,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;IACnD,GAAG,CAAC,SAAS,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;IACnD,GAAG,CAAC,SAAS,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;AACrD,CAAC;AAED,iGAAiG;AACjG,+EAA+E;AAC/E,mDAAmD;AACnD,EAAE;AACF,oGAAoG;AACpG,uGAAuG;AACvG,oGAAoG;AACpG,wEAAwE;AACxE,MAAM,UAAU,wBAAwB,CACtC,MAAmC,EACnC,IAAY,EACZ,EAAU,EACV,EAAU,EACV,EAAU,EACV,GAAa;IAEb,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC7B,MAAM,EAAE,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAE7B,GAAG,CAAC,SAAS,CAAC,GAAG,EAAE,GAAG,IAAI,GAAG,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,CAAC;IACjD,GAAG,CAAC,SAAS,CAAC,GAAG,EAAE,GAAG,IAAI,GAAG,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,CAAC;IACjD,GAAG,CAAC,SAAS,CAAC,GAAG,EAAE,GAAG,IAAI,GAAG,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,CAAC;IACjD,GAAG,CAAC,SAAS,CAAC,GAAG,EAAE,GAAG,IAAI,GAAG,EAAE,GAAG,EAAE,CAAC;IACrC,GAAG,CAAC,SAAS,CAAC,GAAG,EAAE,GAAG,IAAI,GAAG,EAAE,GAAG,EAAE,CAAC;IACrC,GAAG,CAAC,SAAS,CAAC,GAAG,EAAE,GAAG,IAAI,GAAG,EAAE,GAAG,EAAE,CAAC;AACvC,CAAC;AAED,8FAA8F;AAC9F,qGAAqG;AACrG,MAAM,gBAAgB,GAAG,KAAK,CAAC"}

package/dist/world.d.ts

@@ -0,0 +1,19 @@
+import type { Physics3DBodyType, Physics3DSequentialImpulseConfig, Physics3DSolverConfig, Physics3DWorld, RigidBody3D } from '@flighthq/types/contract';
+export declare function addPhysics3DBody(world: Physics3DWorld, body: RigidBody3D): number;
+export declare function applyPhysics3DForce(body: RigidBody3D, x: number, y: number, z: number): void;
+export declare function applyPhysics3DForceAtPoint(body: RigidBody3D, x: number, y: number, z: number, pointX: number, pointY: number, pointZ: number): void;
+export declare function applyPhysics3DLinearImpulse(body: RigidBody3D, x: number, y: number, z: number): void;
+export declare function applyPhysics3DTorque(body: RigidBody3D, x: number, y: number, z: number): void;
+export declare function createPhysics3DSequentialImpulseConfig(): Physics3DSequentialImpulseConfig;
+export declare function createPhysics3DSolverConfig(): Physics3DSolverConfig;
+export declare function createPhysics3DWorld(): Physics3DWorld;
+export declare function createRigidBody3D(type?: Physics3DBodyType): RigidBody3D;
+export declare function findPhysics3DBody(world: Readonly<Physics3DWorld>, index: number): RigidBody3D | null;
+export declare function removePhysics3DBody(world: Physics3DWorld, body: RigidBody3D): boolean;
+export declare function setPhysics3DBodyFixedRotation(body: RigidBody3D, fixedRotation: boolean): void;
+export declare function setPhysics3DBodyTransform(body: RigidBody3D, x: number, y: number, z: number, orientationX: number, orientationY: number, orientationZ: number, orientationW: number): void;
+export declare function setPhysics3DBodyType(body: RigidBody3D, type: Physics3DBodyType): void;
+export declare function wakePhysics3DBody(body: RigidBody3D): void;
+export declare function writeRigidBody3DWorldCenter(body: Readonly<RigidBody3D>, out: number[]): void;
+export declare const Physics3DWorldVersion = 1;
+//# sourceMappingURL=world.d.ts.map

package/dist/world.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"world.d.ts","sourceRoot":"","sources":["../src/world.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EACV,iBAAiB,EACjB,gCAAgC,EAChC,qBAAqB,EACrB,cAAc,EACd,WAAW,EACZ,MAAM,0BAA0B,CAAC;AAoBlC,wBAAgB,gBAAgB,CAAC,KAAK,EAAE,cAAc,EAAE,IAAI,EAAE,WAAW,GAAG,MAAM,CASjF;AAID,wBAAgB,mBAAmB,CAAC,IAAI,EAAE,WAAW,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,IAAI,CAM5F;AAID,wBAAgB,0BAA0B,CACxC,IAAI,EAAE,WAAW,EACjB,CAAC,EAAE,MAAM,EACT,CAAC,EAAE,MAAM,EACT,CAAC,EAAE,MAAM,EACT,MAAM,EAAE,MAAM,EACd,MAAM,EAAE,MAAM,EACd,MAAM,EAAE,MAAM,GACb,IAAI,CAcN;AAID,wBAAgB,2BAA2B,CAAC,IAAI,EAAE,WAAW,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,IAAI,CAMpG;AAGD,wBAAgB,oBAAoB,CAAC,IAAI,EAAE,WAAW,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,IAAI,CAM7F;AAKD,wBAAgB,sCAAsC,IAAI,gCAAgC,CASzF;AAGD,wBAAgB,2BAA2B,IAAI,qBAAqB,CAWnE;AAOD,wBAAgB,oBAAoB,IAAI,cAAc,CAiCrD;AAKD,wBAAgB,iBAAiB,CAAC,IAAI,GAAE,iBAA6B,GAAG,WAAW,CAyDlF;AAID,wBAAgB,iBAAiB,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,EAAE,KAAK,EAAE,MAAM,GAAG,WAAW,GAAG,IAAI,CAEpG;AAaD,wBAAgB,mBAAmB,CAAC,KAAK,EAAE,cAAc,EAAE,IAAI,EAAE,WAAW,GAAG,OAAO,CAuBrF;AAQD,wBAAgB,6BAA6B,CAAC,IAAI,EAAE,WAAW,EAAE,aAAa,EAAE,OAAO,GAAG,IAAI,CAS7F;AAOD,wBAAgB,yBAAyB,CACvC,IAAI,EAAE,WAAW,EACjB,CAAC,EAAE,MAAM,EACT,CAAC,EAAE,MAAM,EACT,CAAC,EAAE,MAAM,EACT,YAAY,EAAE,MAAM,EACpB,YAAY,EAAE,MAAM,EACpB,YAAY,EAAE,MAAM,EACpB,YAAY,EAAE,MAAM,GACnB,IAAI,CAyBN;AAOD,wBAAgB,oBAAoB,CAAC,IAAI,EAAE,WAAW,EAAE,IAAI,EAAE,iBAAiB,GAAG,IAAI,CAoBrF;AAID,wBAAgB,iBAAiB,CAAC,IAAI,EAAE,WAAW,GAAG,IAAI,CAIzD;AAID,wBAAgB,2BAA2B,CAAC,IAAI,EAAE,QAAQ,CAAC,WAAW,CAAC,EAAE,GAAG,EAAE,MAAM,EAAE,GAAG,IAAI,CAwB5F;AAID,eAAO,MAAM,qBAAqB,IAAI,CAAC"}

package/dist/world.js

@@ -0,0 +1,370 @@
+import { refreshRigidBody3DWorldInertia } from './integrate';
+import { rebuildPhysics3DJointCollisionSuppressions } from './jointCollisionSuppression';
+import { createPhysics3DMassData, setRigidBody3DMassData } from './massProperties';
+import { physics3DJointOwners } from './ownership';
+// World and body lifecycle: allocation, membership, and the mutations that have to run through a
+// function because something derived follows from them.
+//
+// A bare field assignment is the API wherever nothing follows from it — writing `body.linearDamping`
+// is complete on its own. The setters here exist only where they are not: changing a body's type
+// changes its inverse mass, teleporting it invalidates its world-space inertia, and both would leave a
+// world quietly inconsistent if left to assignment.
+// Adds an already-created body to the world and assigns its persistent index. Returns the index.
+//
+// The index comes from the world's monotonic counter rather than the body array's length, so removing
+// a body never lets a later one inherit its identity — which is what stops a stale contact or joint
+// from being revived against a different body that happened to take its slot.
+export function addPhysics3DBody(world, body) {
+    if (world.bodyByIndex.has(body.index) && world.bodyByIndex.get(body.index) === body)
+        return body.index;
+    body.index = world.nextBodyIndex;
+    world.nextBodyIndex += 1;
+    world.bodies.push(body);
+    world.bodyByIndex.set(body.index, body);
+    refreshRigidBody3DWorldInertia(body);
+    return body.index;
+}
+// Accumulates a force at the body's centre of mass, to be consumed by the next step. Ignored for a
+// body that cannot respond to one.
+export function applyPhysics3DForce(body, x, y, z) {
+    if (body.type !== 'dynamic')
+        return;
+    wakePhysics3DBody(body);
+    body.forceX += x;
+    body.forceY += y;
+    body.forceZ += z;
+}
+// Accumulates a force at a world-space point, which produces both a force at the centre of mass and the
+// torque of its lever arm. This is the difference between pushing a crate and spinning it.
+export function applyPhysics3DForceAtPoint(body, x, y, z, pointX, pointY, pointZ) {
+    if (body.type !== 'dynamic')
+        return;
+    wakePhysics3DBody(body);
+    body.forceX += x;
+    body.forceY += y;
+    body.forceZ += z;
+    writeRigidBody3DWorldCenter(body, scratchCenter);
+    const rX = pointX - scratchCenter[0];
+    const rY = pointY - scratchCenter[1];
+    const rZ = pointZ - scratchCenter[2];
+    body.torqueX += rY * z - rZ * y;
+    body.torqueY += rZ * x - rX * z;
+    body.torqueZ += rX * y - rY * x;
+}
+// Applies an instantaneous change in momentum at the centre of mass, bypassing the force accumulator.
+// An impulse is what a jump or a hit is: a velocity change now, not a force integrated over the step.
+export function applyPhysics3DLinearImpulse(body, x, y, z) {
+    if (body.type !== 'dynamic' || body.inverseMass === 0)
+        return;
+    wakePhysics3DBody(body);
+    body.velocityX += x * body.inverseMass;
+    body.velocityY += y * body.inverseMass;
+    body.velocityZ += z * body.inverseMass;
+}
+// Accumulates a torque about the centre of mass, to be consumed by the next step.
+export function applyPhysics3DTorque(body, x, y, z) {
+    if (body.type !== 'dynamic')
+        return;
+    wakePhysics3DBody(body);
+    body.torqueX += x;
+    body.torqueY += y;
+    body.torqueZ += z;
+}
+// The default sequential-impulse tuning. Eight velocity iterations and three position iterations are
+// the values a Box2D-lineage solver converges acceptably at for ordinary scenes; a scene of tall stacks
+// wants more of the first, and one with deep initial overlap more of the second.
+export function createPhysics3DSequentialImpulseConfig() {
+    return {
+        velocityIterations: 8,
+        positionIterations: 3,
+        penetrationSlop: 0.005,
+        positionCorrection: 0.2,
+        restitutionThreshold: 1,
+        warmStarting: true,
+    };
+}
+// The default solver tuning. `substeps` is 1, which reproduces a single discrete step per call.
+export function createPhysics3DSolverConfig() {
+    return {
+        allowSleeping: true,
+        sleepLinearThreshold: 0.01,
+        sleepAngularThreshold: 0.02,
+        timeToSleep: 0.5,
+        substeps: 1,
+        continuousCollision: false,
+        maxCcdSubsteps: 4,
+        sequentialImpulse: createPhysics3DSequentialImpulseConfig(),
+    };
+}
+// Allocates an empty world under earth gravity along -Y.
+//
+// The world owns no broadphase index, unlike `Physics2DWorld`. That is not an omission to be filled by
+// a physics-specific seam: `SpatialIndexBackend2D` is the swap point and its 3D counterpart does not
+// exist yet, so contacts are supplied by the caller until it does.
+export function createPhysics3DWorld() {
+    return {
+        version: Physics3DWorldVersion,
+        bodies: [],
+        bodyByIndex: new Map(),
+        contacts: [],
+        joints: [],
+        jointSolvers: new Map(),
+        jointCollisionSuppressions: new Map(),
+        events: { began: [], ended: [] },
+        contactHooks: { preSolve: null, postSolve: null },
+        solver: { constraints: [], constraintByPair: new Map() },
+        config: createPhysics3DSolverConfig(),
+        islandParents: new Map(),
+        islandSleepTimers: new Map(),
+        solveIslandByRoot: new Map(),
+        solveIslandRoots: [],
+        solveIslandBodyStarts: [],
+        solveIslandBodyCounts: [],
+        solveIslandContactStarts: [],
+        solveIslandContactCounts: [],
+        solveIslandJointStarts: [],
+        solveIslandJointCounts: [],
+        solveIslandBodyIndices: [],
+        solveIslandContactIndices: [],
+        solveIslandJointIndices: [],
+        solveIslandCursors: [],
+        gravityX: 0,
+        gravityY: -9.80665,
+        gravityZ: 0,
+        previousTimestep: 0,
+        nextBodyIndex: 0,
+    };
+}
+// Allocates a body at rest at the origin, with no mass. It is not in any world until added, and it will
+// not move until given mass: a dynamic body with zero mass carries a zero inverse mass, which is the
+// same immovable sentinel a static body carries.
+export function createRigidBody3D(type = 'dynamic') {
+    return {
+        index: -1,
+        type,
+        x: 0,
+        y: 0,
+        z: 0,
+        orientationX: 0,
+        orientationY: 0,
+        orientationZ: 0,
+        orientationW: 1,
+        velocityX: 0,
+        velocityY: 0,
+        velocityZ: 0,
+        angularVelocityX: 0,
+        angularVelocityY: 0,
+        angularVelocityZ: 0,
+        forceX: 0,
+        forceY: 0,
+        forceZ: 0,
+        torqueX: 0,
+        torqueY: 0,
+        torqueZ: 0,
+        mass: 0,
+        inverseMass: 0,
+        inertiaXX: 0,
+        inertiaYY: 0,
+        inertiaZZ: 0,
+        inertiaXY: 0,
+        inertiaXZ: 0,
+        inertiaYZ: 0,
+        inverseInertiaXX: 0,
+        inverseInertiaYY: 0,
+        inverseInertiaZZ: 0,
+        inverseInertiaXY: 0,
+        inverseInertiaXZ: 0,
+        inverseInertiaYZ: 0,
+        inverseInertiaWorldXX: 0,
+        inverseInertiaWorldYY: 0,
+        inverseInertiaWorldZZ: 0,
+        inverseInertiaWorldXY: 0,
+        inverseInertiaWorldXZ: 0,
+        inverseInertiaWorldYZ: 0,
+        centerX: 0,
+        centerY: 0,
+        centerZ: 0,
+        linearDamping: 0,
+        angularDamping: 0,
+        gravityScale: 1,
+        fixedRotation: false,
+        bullet: false,
+        sleeping: false,
+        sleepEnabled: true,
+        sleepTimer: 0,
+        material: { density: 1, friction: 0.2, restitution: 0 },
+        filter: { categoryBits: 1, maskBits: 0xffff, groupIndex: 0 },
+    };
+}
+// Looks a body up by its persistent index, or null when no body in this world carries it. The
+// expected-failure sentinel: a caller holding an index across a removal gets null, not a throw.
+export function findPhysics3DBody(world, index) {
+    return world.bodyByIndex.get(index) ?? null;
+}
+// Removes a body and every contact and joint that referenced it. Returns false when the body is not in
+// this world.
+//
+// Constraints go with it because a contact naming a removed body would resolve to null inside a solver
+// loop, and the alternative — a null check per constraint per iteration — pays on every step for a case
+// that only arises at removal.
+//
+// A joint dropped here leaves by the SAME two exits `removePhysics3DJoint` uses: its ownership entry is
+// released, and the suppression index is rebuilt. Splicing it out of the array alone leaves a joint that
+// no world holds but that every world still refuses to accept, and leaves the pair it connected suppressed
+// against a joint that no longer exists — a contact that silently never reports.
+export function removePhysics3DBody(world, body) {
+    const at = world.bodies.indexOf(body);
+    if (at < 0)
+        return false;
+    world.bodies.splice(at, 1);
+    world.bodyByIndex.delete(body.index);
+    const index = body.index;
+    for (let i = world.contacts.length - 1; i >= 0; i--) {
+        const contact = world.contacts[i];
+        if (contact.bodyA === index || contact.bodyB === index)
+            world.contacts.splice(i, 1);
+    }
+    let removedJoint = false;
+    for (let i = world.joints.length - 1; i >= 0; i--) {
+        const joint = world.joints[i];
+        if (joint.bodyA !== index && joint.bodyB !== index)
+            continue;
+        world.joints.splice(i, 1);
+        physics3DJointOwners.delete(joint);
+        removedJoint = true;
+    }
+    if (removedJoint)
+        rebuildPhysics3DJointCollisionSuppressions(world);
+    world.solver.constraintByPair.clear();
+    return true;
+}
+// Opts a dynamic body into or out of rotating at all, rebuilding its inverse inertia.
+//
+// A fixed-rotation body keeps its translational mass and exposes a zero inverse inertia tensor to every
+// contact and joint equation — the same sentinel a static body uses, applied to rotation alone. Its
+// angular velocity is cleared, because leaving one behind would let a body that cannot be rotated by
+// anything keep spinning forever from whatever it had before.
+export function setPhysics3DBodyFixedRotation(body, fixedRotation) {
+    if (body.fixedRotation === fixedRotation)
+        return;
+    body.fixedRotation = fixedRotation;
+    if (fixedRotation) {
+        body.angularVelocityX = 0;
+        body.angularVelocityY = 0;
+        body.angularVelocityZ = 0;
+    }
+    refreshRigidBody3DMass(body);
+}
+// Teleports a body, refreshing the world-space inertia its new orientation implies.
+//
+// The quaternion is normalized on the way in rather than trusted: a caller composing one from euler
+// angles or interpolating between two will hand over something fractionally off the unit sphere, and
+// every rotation downstream would inherit the error.
+export function setPhysics3DBodyTransform(body, x, y, z, orientationX, orientationY, orientationZ, orientationW) {
+    body.x = x;
+    body.y = y;
+    body.z = z;
+    const lengthSquared = orientationX * orientationX +
+        orientationY * orientationY +
+        orientationZ * orientationZ +
+        orientationW * orientationW;
+    if (lengthSquared > 0) {
+        const scale = 1 / Math.sqrt(lengthSquared);
+        body.orientationX = orientationX * scale;
+        body.orientationY = orientationY * scale;
+        body.orientationZ = orientationZ * scale;
+        body.orientationW = orientationW * scale;
+    }
+    else {
+        body.orientationX = 0;
+        body.orientationY = 0;
+        body.orientationZ = 0;
+        body.orientationW = 1;
+    }
+    wakePhysics3DBody(body);
+    refreshRigidBody3DWorldInertia(body);
+}
+// Changes how a body participates, rebuilding the mass properties that follow from it.
+//
+// Leaving a body's velocity behind when it becomes static would strand motion nothing can consume, so
+// the velocities are cleared; becoming dynamic keeps them, since a body that was being pushed as
+// kinematic is plausibly still moving.
+export function setPhysics3DBodyType(body, type) {
+    if (body.type === type)
+        return;
+    body.type = type;
+    if (type === 'static') {
+        body.velocityX = 0;
+        body.velocityY = 0;
+        body.velocityZ = 0;
+        body.angularVelocityX = 0;
+        body.angularVelocityY = 0;
+        body.angularVelocityZ = 0;
+        body.sleeping = false;
+    }
+    body.forceX = 0;
+    body.forceY = 0;
+    body.forceZ = 0;
+    body.torqueX = 0;
+    body.torqueY = 0;
+    body.torqueZ = 0;
+    refreshRigidBody3DMass(body);
+    refreshRigidBody3DWorldInertia(body);
+}
+// Wakes a body and resets its stillness timer. A no-op for a static body, which is neither awake nor
+// asleep.
+export function wakePhysics3DBody(body) {
+    if (body.type === 'static')
+        return;
+    body.sleeping = false;
+    body.sleepTimer = 0;
+}
+// Writes the body's centre of mass in WORLD space into `out`, rotating the local centre by the body's
+// orientation and adding its position. The lever arm for every force and contact starts here.
+export function writeRigidBody3DWorldCenter(body, out) {
+    const cX = body.centerX;
+    const cY = body.centerY;
+    const cZ = body.centerZ;
+    if (cX === 0 && cY === 0 && cZ === 0) {
+        out[0] = body.x;
+        out[1] = body.y;
+        out[2] = body.z;
+        return;
+    }
+    // Rotate by the quaternion as `v + 2 * cross(q.xyz, cross(q.xyz, v) + q.w * v)`.
+    const qX = body.orientationX;
+    const qY = body.orientationY;
+    const qZ = body.orientationZ;
+    const qW = body.orientationW;
+    const tX = qY * cZ - qZ * cY + qW * cX;
+    const tY = qZ * cX - qX * cZ + qW * cY;
+    const tZ = qX * cY - qY * cX + qW * cZ;
+    out[0] = body.x + cX + 2 * (qY * tZ - qZ * tY);
+    out[1] = body.y + cY + 2 * (qZ * tX - qX * tZ);
+    out[2] = body.z + cZ + 2 * (qX * tY - qY * tX);
+}
+// The serializable-shape version of `Physics3DWorld`. Bumped when a field a format layer would have
+// written changes meaning, so a reconstructed world can be recognized as older and upgraded.
+export const Physics3DWorldVersion = 1;
+// Recomputes the inverse mass and local inverse inertia after something that changes a body's
+// ELIGIBILITY to move rather than its geometry — a type change, a fixed-rotation change.
+//
+// It reads the forward mass and inertia the body already carries, which is exactly why those are
+// stored: the inverse is zero for every body this is called on the way out of, so it holds nothing to
+// recover them from.
+function refreshRigidBody3DMass(body) {
+    scratchMassData.mass = body.mass;
+    scratchMassData.centerX = body.centerX;
+    scratchMassData.centerY = body.centerY;
+    scratchMassData.centerZ = body.centerZ;
+    scratchMassData.inertiaXX = body.inertiaXX;
+    scratchMassData.inertiaYY = body.inertiaYY;
+    scratchMassData.inertiaZZ = body.inertiaZZ;
+    scratchMassData.inertiaXY = body.inertiaXY;
+    scratchMassData.inertiaXZ = body.inertiaXZ;
+    scratchMassData.inertiaYZ = body.inertiaYZ;
+    setRigidBody3DMassData(body, scratchMassData);
+}
+const scratchCenter = [0, 0, 0];
+const scratchMassData = createPhysics3DMassData();
+//# sourceMappingURL=world.js.map

package/dist/world.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"world.js","sourceRoot":"","sources":["../src/world.ts"],"names":[],"mappings":"AAQA,OAAO,EAAE,8BAA8B,EAAE,MAAM,aAAa,CAAC;AAC7D,OAAO,EAAE,0CAA0C,EAAE,MAAM,6BAA6B,CAAC;AACzF,OAAO,EAAE,uBAAuB,EAAE,sBAAsB,EAAE,MAAM,kBAAkB,CAAC;AACnF,OAAO,EAAE,oBAAoB,EAAE,MAAM,aAAa,CAAC;AAEnD,iGAAiG;AACjG,wDAAwD;AACxD,EAAE;AACF,qGAAqG;AACrG,iGAAiG;AACjG,uGAAuG;AACvG,oDAAoD;AAEpD,iGAAiG;AACjG,EAAE;AACF,sGAAsG;AACtG,oGAAoG;AACpG,8EAA8E;AAC9E,MAAM,UAAU,gBAAgB,CAAC,KAAqB,EAAE,IAAiB;IACvE,IAAI,KAAK,CAAC,WAAW,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,IAAI,KAAK,CAAC,WAAW,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,CAAC,KAAK,IAAI;QAAE,OAAO,IAAI,CAAC,KAAK,CAAC;IAEvG,IAAI,CAAC,KAAK,GAAG,KAAK,CAAC,aAAa,CAAC;IACjC,KAAK,CAAC,aAAa,IAAI,CAAC,CAAC;IACzB,KAAK,CAAC,MAAM,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IACxB,KAAK,CAAC,WAAW,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,EAAE,IAAI,CAAC,CAAC;IACxC,8BAA8B,CAAC,IAAI,CAAC,CAAC;IACrC,OAAO,IAAI,CAAC,KAAK,CAAC;AACpB,CAAC;AAED,mGAAmG;AACnG,mCAAmC;AACnC,MAAM,UAAU,mBAAmB,CAAC,IAAiB,EAAE,CAAS,EAAE,CAAS,EAAE,CAAS;IACpF,IAAI,IAAI,CAAC,IAAI,KAAK,SAAS;QAAE,OAAO;IACpC,iBAAiB,CAAC,IAAI,CAAC,CAAC;IACxB,IAAI,CAAC,MAAM,IAAI,CAAC,CAAC;IACjB,IAAI,CAAC,MAAM,IAAI,CAAC,CAAC;IACjB,IAAI,CAAC,MAAM,IAAI,CAAC,CAAC;AACnB,CAAC;AAED,wGAAwG;AACxG,2FAA2F;AAC3F,MAAM,UAAU,0BAA0B,CACxC,IAAiB,EACjB,CAAS,EACT,CAAS,EACT,CAAS,EACT,MAAc,EACd,MAAc,EACd,MAAc;IAEd,IAAI,IAAI,CAAC,IAAI,KAAK,SAAS;QAAE,OAAO;IACpC,iBAAiB,CAAC,IAAI,CAAC,CAAC;IACxB,IAAI,CAAC,MAAM,IAAI,CAAC,CAAC;IACjB,IAAI,CAAC,MAAM,IAAI,CAAC,CAAC;IACjB,IAAI,CAAC,MAAM,IAAI,CAAC,CAAC;IAEjB,2BAA2B,CAAC,IAAI,EAAE,aAAa,CAAC,CAAC;IACjD,MAAM,EAAE,GAAG,MAAM,GAAG,aAAa,CAAC,CAAC,CAAC,CAAC;IACrC,MAAM,EAAE,GAAG,MAAM,GAAG,aAAa,CAAC,CAAC,CAAC,CAAC;IACrC,MAAM,EAAE,GAAG,MAAM,GAAG,aAAa,CAAC,CAAC,CAAC,CAAC;IACrC,IAAI,CAAC,OAAO,IAAI,EAAE,GAAG,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC;IAChC,IAAI,CAAC,OAAO,IAAI,EAAE,GAAG,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC;IAChC,IAAI,CAAC,OAAO,IAAI,EAAE,GAAG,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC;AAClC,CAAC;AAED,sGAAsG;AACtG,sGAAsG;AACtG,MAAM,UAAU,2BAA2B,CAAC,IAAiB,EAAE,CAAS,EAAE,CAAS,EAAE,CAAS;IAC5F,IAAI,IAAI,CAAC,IAAI,KAAK,SAAS,IAAI,IAAI,CAAC,WAAW,KAAK,CAAC;QAAE,OAAO;IAC9D,iBAAiB,CAAC,IAAI,CAAC,CAAC;IACxB,IAAI,CAAC,SAAS,IAAI,CAAC,GAAG,IAAI,CAAC,WAAW,CAAC;IACvC,IAAI,CAAC,SAAS,IAAI,CAAC,GAAG,IAAI,CAAC,WAAW,CAAC;IACvC,IAAI,CAAC,SAAS,IAAI,CAAC,GAAG,IAAI,CAAC,WAAW,CAAC;AACzC,CAAC;AAED,kFAAkF;AAClF,MAAM,UAAU,oBAAoB,CAAC,IAAiB,EAAE,CAAS,EAAE,CAAS,EAAE,CAAS;IACrF,IAAI,IAAI,CAAC,IAAI,KAAK,SAAS;QAAE,OAAO;IACpC,iBAAiB,CAAC,IAAI,CAAC,CAAC;IACxB,IAAI,CAAC,OAAO,IAAI,CAAC,CAAC;IAClB,IAAI,CAAC,OAAO,IAAI,CAAC,CAAC;IAClB,IAAI,CAAC,OAAO,IAAI,CAAC,CAAC;AACpB,CAAC;AAED,qGAAqG;AACrG,wGAAwG;AACxG,iFAAiF;AACjF,MAAM,UAAU,sCAAsC;IACpD,OAAO;QACL,kBAAkB,EAAE,CAAC;QACrB,kBAAkB,EAAE,CAAC;QACrB,eAAe,EAAE,KAAK;QACtB,kBAAkB,EAAE,GAAG;QACvB,oBAAoB,EAAE,CAAC;QACvB,YAAY,EAAE,IAAI;KACnB,CAAC;AACJ,CAAC;AAED,gGAAgG;AAChG,MAAM,UAAU,2BAA2B;IACzC,OAAO;QACL,aAAa,EAAE,IAAI;QACnB,oBAAoB,EAAE,IAAI;QAC1B,qBAAqB,EAAE,IAAI;QAC3B,WAAW,EAAE,GAAG;QAChB,QAAQ,EAAE,CAAC;QACX,mBAAmB,EAAE,KAAK;QAC1B,cAAc,EAAE,CAAC;QACjB,iBAAiB,EAAE,sCAAsC,EAAE;KAC5D,CAAC;AACJ,CAAC;AAED,yDAAyD;AACzD,EAAE;AACF,uGAAuG;AACvG,qGAAqG;AACrG,mEAAmE;AACnE,MAAM,UAAU,oBAAoB;IAClC,OAAO;QACL,OAAO,EAAE,qBAAqB;QAC9B,MAAM,EAAE,EAAE;QACV,WAAW,EAAE,IAAI,GAAG,EAAE;QACtB,QAAQ,EAAE,EAAE;QACZ,MAAM,EAAE,EAAE;QACV,YAAY,EAAE,IAAI,GAAG,EAAE;QACvB,0BAA0B,EAAE,IAAI,GAAG,EAAE;QACrC,MAAM,EAAE,EAAE,KAAK,EAAE,EAAE,EAAE,KAAK,EAAE,EAAE,EAAE;QAChC,YAAY,EAAE,EAAE,QAAQ,EAAE,IAAI,EAAE,SAAS,EAAE,IAAI,EAAE;QACjD,MAAM,EAAE,EAAE,WAAW,EAAE,EAAE,EAAE,gBAAgB,EAAE,IAAI,GAAG,EAAE,EAAE;QACxD,MAAM,EAAE,2BAA2B,EAAE;QACrC,aAAa,EAAE,IAAI,GAAG,EAAE;QACxB,iBAAiB,EAAE,IAAI,GAAG,EAAE;QAC5B,iBAAiB,EAAE,IAAI,GAAG,EAAE;QAC5B,gBAAgB,EAAE,EAAE;QACpB,qBAAqB,EAAE,EAAE;QACzB,qBAAqB,EAAE,EAAE;QACzB,wBAAwB,EAAE,EAAE;QAC5B,wBAAwB,EAAE,EAAE;QAC5B,sBAAsB,EAAE,EAAE;QAC1B,sBAAsB,EAAE,EAAE;QAC1B,sBAAsB,EAAE,EAAE;QAC1B,yBAAyB,EAAE,EAAE;QAC7B,uBAAuB,EAAE,EAAE;QAC3B,kBAAkB,EAAE,EAAE;QACtB,QAAQ,EAAE,CAAC;QACX,QAAQ,EAAE,CAAC,OAAO;QAClB,QAAQ,EAAE,CAAC;QACX,gBAAgB,EAAE,CAAC;QACnB,aAAa,EAAE,CAAC;KACjB,CAAC;AACJ,CAAC;AAED,wGAAwG;AACxG,qGAAqG;AACrG,iDAAiD;AACjD,MAAM,UAAU,iBAAiB,CAAC,OAA0B,SAAS;IACnE,OAAO;QACL,KAAK,EAAE,CAAC,CAAC;QACT,IAAI;QACJ,CAAC,EAAE,CAAC;QACJ,CAAC,EAAE,CAAC;QACJ,CAAC,EAAE,CAAC;QACJ,YAAY,EAAE,CAAC;QACf,YAAY,EAAE,CAAC;QACf,YAAY,EAAE,CAAC;QACf,YAAY,EAAE,CAAC;QACf,SAAS,EAAE,CAAC;QACZ,SAAS,EAAE,CAAC;QACZ,SAAS,EAAE,CAAC;QACZ,gBAAgB,EAAE,CAAC;QACnB,gBAAgB,EAAE,CAAC;QACnB,gBAAgB,EAAE,CAAC;QACnB,MAAM,EAAE,CAAC;QACT,MAAM,EAAE,CAAC;QACT,MAAM,EAAE,CAAC;QACT,OAAO,EAAE,CAAC;QACV,OAAO,EAAE,CAAC;QACV,OAAO,EAAE,CAAC;QACV,IAAI,EAAE,CAAC;QACP,WAAW,EAAE,CAAC;QACd,SAAS,EAAE,CAAC;QACZ,SAAS,EAAE,CAAC;QACZ,SAAS,EAAE,CAAC;QACZ,SAAS,EAAE,CAAC;QACZ,SAAS,EAAE,CAAC;QACZ,SAAS,EAAE,CAAC;QACZ,gBAAgB,EAAE,CAAC;QACnB,gBAAgB,EAAE,CAAC;QACnB,gBAAgB,EAAE,CAAC;QACnB,gBAAgB,EAAE,CAAC;QACnB,gBAAgB,EAAE,CAAC;QACnB,gBAAgB,EAAE,CAAC;QACnB,qBAAqB,EAAE,CAAC;QACxB,qBAAqB,EAAE,CAAC;QACxB,qBAAqB,EAAE,CAAC;QACxB,qBAAqB,EAAE,CAAC;QACxB,qBAAqB,EAAE,CAAC;QACxB,qBAAqB,EAAE,CAAC;QACxB,OAAO,EAAE,CAAC;QACV,OAAO,EAAE,CAAC;QACV,OAAO,EAAE,CAAC;QACV,aAAa,EAAE,CAAC;QAChB,cAAc,EAAE,CAAC;QACjB,YAAY,EAAE,CAAC;QACf,aAAa,EAAE,KAAK;QACpB,MAAM,EAAE,KAAK;QACb,QAAQ,EAAE,KAAK;QACf,YAAY,EAAE,IAAI;QAClB,UAAU,EAAE,CAAC;QACb,QAAQ,EAAE,EAAE,OAAO,EAAE,CAAC,EAAE,QAAQ,EAAE,GAAG,EAAE,WAAW,EAAE,CAAC,EAAE;QACvD,MAAM,EAAE,EAAE,YAAY,EAAE,CAAC,EAAE,QAAQ,EAAE,MAAM,EAAE,UAAU,EAAE,CAAC,EAAE;KAC7D,CAAC;AACJ,CAAC;AAED,8FAA8F;AAC9F,gGAAgG;AAChG,MAAM,UAAU,iBAAiB,CAAC,KAA+B,EAAE,KAAa;IAC9E,OAAO,KAAK,CAAC,WAAW,CAAC,GAAG,CAAC,KAAK,CAAC,IAAI,IAAI,CAAC;AAC9C,CAAC;AAED,uGAAuG;AACvG,cAAc;AACd,EAAE;AACF,uGAAuG;AACvG,wGAAwG;AACxG,+BAA+B;AAC/B,EAAE;AACF,wGAAwG;AACxG,yGAAyG;AACzG,2GAA2G;AAC3G,iFAAiF;AACjF,MAAM,UAAU,mBAAmB,CAAC,KAAqB,EAAE,IAAiB;IAC1E,MAAM,EAAE,GAAG,KAAK,CAAC,MAAM,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;IACtC,IAAI,EAAE,GAAG,CAAC;QAAE,OAAO,KAAK,CAAC;IAEzB,KAAK,CAAC,MAAM,CAAC,MAAM,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC;IAC3B,KAAK,CAAC,WAAW,CAAC,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;IAErC,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC;IACzB,KAAK,IAAI,CAAC,GAAG,KAAK,CAAC,QAAQ,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC,IAAI,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC;QACpD,MAAM,OAAO,GAAG,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC;QAClC,IAAI,OAAO,CAAC,KAAK,KAAK,KAAK,IAAI,OAAO,CAAC,KAAK,KAAK,KAAK;YAAE,KAAK,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IACtF,CAAC;IACD,IAAI,YAAY,GAAG,KAAK,CAAC;IACzB,KAAK,IAAI,CAAC,GAAG,KAAK,CAAC,MAAM,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC,IAAI,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC;QAClD,MAAM,KAAK,GAAG,KAAK,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;QAC9B,IAAI,KAAK,CAAC,KAAK,KAAK,KAAK,IAAI,KAAK,CAAC,KAAK,KAAK,KAAK;YAAE,SAAS;QAC7D,KAAK,CAAC,MAAM,CAAC,MAAM,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;QAC1B,oBAAoB,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC;QACnC,YAAY,GAAG,IAAI,CAAC;IACtB,CAAC;IACD,IAAI,YAAY;QAAE,0CAA0C,CAAC,KAAK,CAAC,CAAC;IACpE,KAAK,CAAC,MAAM,CAAC,gBAAgB,CAAC,KAAK,EAAE,CAAC;IACtC,OAAO,IAAI,CAAC;AACd,CAAC;AAED,sFAAsF;AACtF,EAAE;AACF,wGAAwG;AACxG,oGAAoG;AACpG,qGAAqG;AACrG,8DAA8D;AAC9D,MAAM,UAAU,6BAA6B,CAAC,IAAiB,EAAE,aAAsB;IACrF,IAAI,IAAI,CAAC,aAAa,KAAK,aAAa;QAAE,OAAO;IACjD,IAAI,CAAC,aAAa,GAAG,aAAa,CAAC;IACnC,IAAI,aAAa,EAAE,CAAC;QAClB,IAAI,CAAC,gBAAgB,GAAG,CAAC,CAAC;QAC1B,IAAI,CAAC,gBAAgB,GAAG,CAAC,CAAC;QAC1B,IAAI,CAAC,gBAAgB,GAAG,CAAC,CAAC;IAC5B,CAAC;IACD,sBAAsB,CAAC,IAAI,CAAC,CAAC;AAC/B,CAAC;AAED,oFAAoF;AACpF,EAAE;AACF,oGAAoG;AACpG,qGAAqG;AACrG,qDAAqD;AACrD,MAAM,UAAU,yBAAyB,CACvC,IAAiB,EACjB,CAAS,EACT,CAAS,EACT,CAAS,EACT,YAAoB,EACpB,YAAoB,EACpB,YAAoB,EACpB,YAAoB;IAEpB,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC;IACX,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC;IACX,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC;IAEX,MAAM,aAAa,GACjB,YAAY,GAAG,YAAY;QAC3B,YAAY,GAAG,YAAY;QAC3B,YAAY,GAAG,YAAY;QAC3B,YAAY,GAAG,YAAY,CAAC;IAC9B,IAAI,aAAa,GAAG,CAAC,EAAE,CAAC;QACtB,MAAM,KAAK,GAAG,CAAC,GAAG,IAAI,CAAC,IAAI,CAAC,aAAa,CAAC,CAAC;QAC3C,IAAI,CAAC,YAAY,GAAG,YAAY,GAAG,KAAK,CAAC;QACzC,IAAI,CAAC,YAAY,GAAG,YAAY,GAAG,KAAK,CAAC;QACzC,IAAI,CAAC,YAAY,GAAG,YAAY,GAAG,KAAK,CAAC;QACzC,IAAI,CAAC,YAAY,GAAG,YAAY,GAAG,KAAK,CAAC;IAC3C,CAAC;SAAM,CAAC;QACN,IAAI,CAAC,YAAY,GAAG,CAAC,CAAC;QACtB,IAAI,CAAC,YAAY,GAAG,CAAC,CAAC;QACtB,IAAI,CAAC,YAAY,GAAG,CAAC,CAAC;QACtB,IAAI,CAAC,YAAY,GAAG,CAAC,CAAC;IACxB,CAAC;IAED,iBAAiB,CAAC,IAAI,CAAC,CAAC;IACxB,8BAA8B,CAAC,IAAI,CAAC,CAAC;AACvC,CAAC;AAED,uFAAuF;AACvF,EAAE;AACF,sGAAsG;AACtG,iGAAiG;AACjG,uCAAuC;AACvC,MAAM,UAAU,oBAAoB,CAAC,IAAiB,EAAE,IAAuB;IAC7E,IAAI,IAAI,CAAC,IAAI,KAAK,IAAI;QAAE,OAAO;IAC/B,IAAI,CAAC,IAAI,GAAG,IAAI,CAAC;IACjB,IAAI,IAAI,KAAK,QAAQ,EAAE,CAAC;QACtB,IAAI,CAAC,SAAS,GAAG,CAAC,CAAC;QACnB,IAAI,CAAC,SAAS,GAAG,CAAC,CAAC;QACnB,IAAI,CAAC,SAAS,GAAG,CAAC,CAAC;QACnB,IAAI,CAAC,gBAAgB,GAAG,CAAC,CAAC;QAC1B,IAAI,CAAC,gBAAgB,GAAG,CAAC,CAAC;QAC1B,IAAI,CAAC,gBAAgB,GAAG,CAAC,CAAC;QAC1B,IAAI,CAAC,QAAQ,GAAG,KAAK,CAAC;IACxB,CAAC;IACD,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;IACjB,sBAAsB,CAAC,IAAI,CAAC,CAAC;IAC7B,8BAA8B,CAAC,IAAI,CAAC,CAAC;AACvC,CAAC;AAED,qGAAqG;AACrG,UAAU;AACV,MAAM,UAAU,iBAAiB,CAAC,IAAiB;IACjD,IAAI,IAAI,CAAC,IAAI,KAAK,QAAQ;QAAE,OAAO;IACnC,IAAI,CAAC,QAAQ,GAAG,KAAK,CAAC;IACtB,IAAI,CAAC,UAAU,GAAG,CAAC,CAAC;AACtB,CAAC;AAED,sGAAsG;AACtG,8FAA8F;AAC9F,MAAM,UAAU,2BAA2B,CAAC,IAA2B,EAAE,GAAa;IACpF,MAAM,EAAE,GAAG,IAAI,CAAC,OAAO,CAAC;IACxB,MAAM,EAAE,GAAG,IAAI,CAAC,OAAO,CAAC;IACxB,MAAM,EAAE,GAAG,IAAI,CAAC,OAAO,CAAC;IAExB,IAAI,EAAE,KAAK,CAAC,IAAI,EAAE,KAAK,CAAC,IAAI,EAAE,KAAK,CAAC,EAAE,CAAC;QACrC,GAAG,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC;QAChB,GAAG,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC;QAChB,GAAG,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC;QAChB,OAAO;IACT,CAAC;IAED,iFAAiF;IACjF,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;IAC7B,MAAM,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;IACvC,MAAM,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;IACvC,MAAM,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;IAEvC,GAAG,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,GAAG,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,CAAC;IAC/C,GAAG,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,GAAG,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,CAAC;IAC/C,GAAG,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,GAAG,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,CAAC;AACjD,CAAC;AAED,oGAAoG;AACpG,6FAA6F;AAC7F,MAAM,CAAC,MAAM,qBAAqB,GAAG,CAAC,CAAC;AAEvC,8FAA8F;AAC9F,yFAAyF;AACzF,EAAE;AACF,iGAAiG;AACjG,sGAAsG;AACtG,qBAAqB;AACrB,SAAS,sBAAsB,CAAC,IAAiB;IAC/C,eAAe,CAAC,IAAI,GAAG,IAAI,CAAC,IAAI,CAAC;IACjC,eAAe,CAAC,OAAO,GAAG,IAAI,CAAC,OAAO,CAAC;IACvC,eAAe,CAAC,OAAO,GAAG,IAAI,CAAC,OAAO,CAAC;IACvC,eAAe,CAAC,OAAO,GAAG,IAAI,CAAC,OAAO,CAAC;IACvC,eAAe,CAAC,SAAS,GAAG,IAAI,CAAC,SAAS,CAAC;IAC3C,eAAe,CAAC,SAAS,GAAG,IAAI,CAAC,SAAS,CAAC;IAC3C,eAAe,CAAC,SAAS,GAAG,IAAI,CAAC,SAAS,CAAC;IAC3C,eAAe,CAAC,SAAS,GAAG,IAAI,CAAC,SAAS,CAAC;IAC3C,eAAe,CAAC,SAAS,GAAG,IAAI,CAAC,SAAS,CAAC;IAC3C,eAAe,CAAC,SAAS,GAAG,IAAI,CAAC,SAAS,CAAC;IAE3C,sBAAsB,CAAC,IAAI,EAAE,eAAe,CAAC,CAAC;AAChD,CAAC;AAED,MAAM,aAAa,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AAChC,MAAM,eAAe,GAAG,uBAAuB,EAAE,CAAC"}

package/package.json

@@ -0,0 +1,49 @@
+{
+  "name": "@flighthq/physics3d",
+  "version": "0.4.0-next.1694.598ef6f",
+  "author": "Joshua Granick and other contributors",
+  "license": "MIT",
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/flighthq/flight.git",
+    "directory": "packages/physics3d"
+  },
+  "type": "module",
+  "main": "dist/index.js",
+  "types": "dist/index.d.ts",
+  "exports": {
+    ".": {
+      "types": "./dist/index.d.ts",
+      "default": "./dist/index.js"
+    },
+    "./contract": {
+      "types": "./dist/contract.d.ts",
+      "default": "./dist/contract.js"
+    }
+  },
+  "files": [
+    "dist",
+    "src/**/*.test.ts",
+    "!dist/**/*.test.js",
+    "!dist/**/*.test.d.ts",
+    "!dist/**/*.test.js.map",
+    "!dist/**/*.test.d.ts.map"
+  ],
+  "scripts": {
+    "build": "tsc -b",
+    "clean": "tsc -b --clean",
+    "test": "vitest run --config vitest.config.ts",
+    "test:watch": "vitest --watch --config vitest.config.ts",
+    "prepack": "npm run clean && npm run clean:dist && npm run build",
+    "clean:dist": "tsx ../../scripts/clean-package-dist.ts"
+  },
+  "dependencies": {
+    "@flighthq/log": "0.4.0-next.1694.598ef6f",
+    "@flighthq/types": "0.4.0-next.1694.598ef6f"
+  },
+  "devDependencies": {
+    "typescript": "^5.3.0"
+  },
+  "description": "3D rigid-body dynamics — quaternion integration over inertia tensors and a deterministic sequential-impulse solver, with explicit stepping and no hidden per-frame allocation",
+  "sideEffects": false
+}