@flighthq/physics3d 0.4.0-next.1809.9b3b71b → 0.4.0-next.1815.e47cc3c

package/dist/continuous.d.ts

@@ -1,4 +1,5 @@
-import type { Physics3DWorld } from '@flighthq/types/contract';
+import type { Physics3DRotationalCcdEnvelope, Physics3DWorld } from '@flighthq/types/contract';
 export declare function hasActivePhysics3DBullet(world: Readonly<Physics3DWorld>): boolean;
 export declare function integratePhysics3DContinuous(world: Physics3DWorld, dt: number): void;
+export declare function writePhysics3DRotationalCcdEnvelope(angularSpeed: number, maximumRadius: number, dt: number, maxSubsteps: number, out: Physics3DRotationalCcdEnvelope): boolean;
 //# sourceMappingURL=continuous.d.ts.map

package/dist/continuous.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"continuous.d.ts","sourceRoot":"","sources":["../src/continuous.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAGV,cAAc,EAGf,MAAM,0BAA0B,CAAC;AAmClC,wBAAgB,wBAAwB,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,GAAG,OAAO,CAKjF;AAQD,wBAAgB,4BAA4B,CAAC,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CAmBpF"}
+{"version":3,"file":"continuous.d.ts","sourceRoot":"","sources":["../src/continuous.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAIV,8BAA8B,EAC9B,cAAc,EAGf,MAAM,0BAA0B,CAAC;AAsClC,wBAAgB,wBAAwB,CAAC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,GAAG,OAAO,CAKjF;AAWD,wBAAgB,4BAA4B,CAAC,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CA2BpF;AAMD,wBAAgB,mCAAmC,CACjD,YAAY,EAAE,MAAM,EACpB,aAAa,EAAE,MAAM,EACrB,EAAE,EAAE,MAAM,EACV,WAAW,EAAE,MAAM,EACnB,GAAG,EAAE,8BAA8B,GAClC,OAAO,CA4BT"}

package/dist/continuous.js

@@ -2,10 +2,13 @@ import { createCollisionContactManifold3D, createCollisionTimeOfImpact3D } from
 import { synchronizePhysics3DBroadphase, synchronizePhysics3DSweptBroadphase } from './broadphase';
 import { collidePhysics3DColliderShapes, sweepPhysics3DColliderShapes } from './colliderCollision';
 import { updatePhysics3DColliderWorldShape } from './colliderTransform';
+import { createPhysics3DContactPoint } from './contacts';
 import { integrateRigidBody3DPose, refreshRigidBody3DWorldInertia } from './integrate';
 import { isPhysics3DPairJointSuppressed } from './jointCollisionSuppression';
 import { isPhysics3DPairOrdered } from './jointRegistry';
-import { mixPhysics3DRestitution } from './material';
+import { mixPhysics3DFriction, mixPhysics3DRestitution } from './material';
+import { steppingPhysics3DWorlds } from './ownership';
+import { isPhysics3DContactValid } from './stepValidation';
 import { applySymmetricTensor, TENSOR_XX, TENSOR_XY, TENSOR_XZ, TENSOR_YY, TENSOR_YZ, TENSOR_ZZ, } from './symmetricTensor';
 import { writeRigidBody3DWorldCenter } from './world';
 // Continuous collision: advancing poses in chronological order of impact rather than in one jump.
@@ -34,9 +37,19 @@ export function hasActivePhysics3DBullet(world) {
 // The substep budget is a HARD bound rather than a convergence target: an adversarial scene — a fast body
 // in a narrow gap — can generate impacts without limit, and a loop that ran until none were left would
 // make one frame's cost unbounded. When the budget runs out the remaining time is advanced discretely,
-// which is the behaviour the caller would have had anyway.
+// which is the behaviour the caller would have had anyway. A custom loop entering here directly acquires
+// the same mutation boundary as `stepPhysics3D`; the standard step already owns it. A second continuous
+// entry on the same world is always recursion and is rejected before it can share this function's scratch
+// or advance a half-resolved impact from inside a contact hook.
 export function integratePhysics3DContinuous(world, dt) {
+    if (integratingPhysics3DWorlds.has(world)) {
+        throw new Error('Cannot integrate a physics world recursively while it is stepping');
+    }
     const scratch = acquirePhysics3DContinuousScratch();
+    const ownsMutationBoundary = !steppingPhysics3DWorlds.has(world);
+    integratingPhysics3DWorlds.add(world);
+    if (ownsMutationBoundary)
+        steppingPhysics3DWorlds.add(world);
     try {
         let remaining = dt;
         for (let substep = 0; substep < world.config.maxCcdSubsteps && remaining > 0; substep += 1) {
@@ -56,7 +69,47 @@ export function integratePhysics3DContinuous(world, dt) {
     }
     finally {
         releasePhysics3DContinuousScratch(scratch);
+        if (ownsMutationBoundary)
+            steppingPhysics3DWorlds.delete(world);
+        integratingPhysics3DWorlds.delete(world);
+    }
+}
+// Writes the configured rotational CCD sampling guarantee without running a world. This is the authoring
+// check for a fast blade or offset collider: feed it the maximum angular speed and the furthest collider
+// point from the body origin, then compare the reported angular/arc gap with the thinnest interaction the
+// game must not miss.
+export function writePhysics3DRotationalCcdEnvelope(angularSpeed, maximumRadius, dt, maxSubsteps, out) {
+    if (!Number.isFinite(angularSpeed) ||
+        angularSpeed < 0 ||
+        !Number.isFinite(maximumRadius) ||
+        maximumRadius < 0 ||
+        !Number.isFinite(dt) ||
+        dt < 0 ||
+        !Number.isSafeInteger(maxSubsteps) ||
+        maxSubsteps < 0) {
+        clearPhysics3DRotationalCcdEnvelope(out);
+        return false;
+    }
+    const angularTravel = angularSpeed * dt;
+    if (!Number.isFinite(angularTravel)) {
+        clearPhysics3DRotationalCcdEnvelope(out);
+        return false;
     }
+    const sampleCount = getPhysics3DRotationSampleCount(angularTravel, maxSubsteps);
+    const maxAngularIncrement = angularTravel === 0 ? 0 : sampleCount === 0 ? Number.POSITIVE_INFINITY : angularTravel / sampleCount;
+    out.angularTravel = angularTravel;
+    out.sampleCount = sampleCount;
+    out.maxAngularIncrement = maxAngularIncrement;
+    out.maxPointArcTravel = maximumRadius === 0 ? 0 : maximumRadius * maxAngularIncrement;
+    out.targetIncrementMet = angularTravel === 0 || maxAngularIncrement <= CCD_ROTATION_INCREMENT;
+    return true;
+}
+function clearPhysics3DRotationalCcdEnvelope(out) {
+    out.angularTravel = 0;
+    out.sampleCount = 0;
+    out.maxAngularIncrement = 0;
+    out.maxPointArcTravel = 0;
+    out.targetIncrementMet = false;
 }
 function advanceAwakePhysics3DBodies(world, dt) {
     for (const body of world.bodies) {
@@ -90,71 +143,126 @@ function findEarliestPhysics3DImpact(world, dt, scratch) {
             continue;
         if (isPhysics3DPairJointSuppressed(world, bodyA.index, bodyB.index))
             continue;
-        const translationAX = isPhysics3DBodyMoving(bodyA) ? bodyA.velocityX * dt : 0;
-        const translationAY = isPhysics3DBodyMoving(bodyA) ? bodyA.velocityY * dt : 0;
-        const translationAZ = isPhysics3DBodyMoving(bodyA) ? bodyA.velocityZ * dt : 0;
-        const translationBX = isPhysics3DBodyMoving(bodyB) ? bodyB.velocityX * dt : 0;
-        const translationBY = isPhysics3DBodyMoving(bodyB) ? bodyB.velocityY * dt : 0;
-        const translationBZ = isPhysics3DBodyMoving(bodyB) ? bodyB.velocityZ * dt : 0;
         for (let i = 0; i < bodyA.colliders.length; i += 1) {
             for (let j = 0; j < bodyB.colliders.length; j += 1) {
                 const colliderA = bodyA.colliders[i];
                 const colliderB = bodyB.colliders[j];
-                // A sensor reports overlaps and resolves nothing, so stopping the world at one would halt a
-                // bullet on a trigger volume it should fly straight through.
+                if (!isPhysics3DColliderPairEnabled(colliderA, colliderB))
+                    continue;
                 if (colliderA.sensor || colliderB.sensor)
                     continue;
-                if (!isPhysics3DColliderPairEnabled(colliderA, colliderB))
+                if (!findPhysics3DColliderImpact(world, bodyA, bodyB, colliderA, colliderB, dt, false, scratch))
                     continue;
-                const angularTravelA = isPhysics3DBodyMoving(bodyA)
-                    ? Math.hypot(bodyA.angularVelocityX, bodyA.angularVelocityY, bodyA.angularVelocityZ) * dt
-                    : 0;
-                const angularTravelB = isPhysics3DBodyMoving(bodyB)
-                    ? Math.hypot(bodyB.angularVelocityX, bodyB.angularVelocityY, bodyB.angularVelocityZ) * dt
-                    : 0;
-                let candidate = null;
-                let rotational = false;
-                // Preserve the analytic translation sweep even while the body spins. Replacing it with angular
-                // samples would let a fast, slightly rotating bullet cross a thin wall between those samples.
-                if (sweepPhysics3DColliderShapes(colliderA.world, translationAX, translationAY, translationAZ, colliderB.world, translationBX, translationBY, translationBZ, scratch.linearImpact, 1) &&
-                    scratch.linearImpact.fraction > 0 &&
-                    isPhysics3DImpactApproaching(bodyA, bodyB, scratch.linearImpact)) {
-                    candidate = scratch.linearImpact;
-                }
-                if ((angularTravelA > 0 || angularTravelB > 0) &&
-                    world.config.maxCcdRotationSubsteps > 0 &&
-                    findPhysics3DRotationalImpact(bodyA, bodyB, colliderA, colliderB, dt, Math.max(angularTravelA, angularTravelB), world.config.maxCcdRotationSubsteps, scratch) &&
-                    scratch.rotationalImpact.fraction > 0 &&
-                    (candidate === null || scratch.rotationalImpact.fraction < candidate.fraction) &&
-                    isPhysics3DRotationalImpactApproaching(bodyA, bodyB, scratch.rotationalManifold, scratch)) {
-                    candidate = scratch.rotationalImpact;
-                    rotational = true;
-                }
-                if (candidate === null || candidate.fraction >= scratch.fraction)
+                const candidate = scratch.candidateRotational ? scratch.rotationalImpact : scratch.linearImpact;
+                if (candidate.fraction >= scratch.fraction)
                     continue;
                 scratch.fraction = candidate.fraction;
                 scratch.bodyA = bodyA.index;
                 scratch.bodyB = bodyB.index;
+                scratch.colliderA = i;
+                scratch.colliderB = j;
                 scratch.normalX = candidate.normalX;
                 scratch.normalY = candidate.normalY;
                 scratch.normalZ = candidate.normalZ;
+                scratch.friction = mixPhysics3DFriction(colliderA.material.friction, colliderB.material.friction);
                 scratch.restitution = mixPhysics3DRestitution(colliderA.material.restitution, colliderB.material.restitution);
-                scratch.rotational = rotational;
-                scratch.pointCount = rotational ? scratch.rotationalManifold.pointCount : 0;
-                if (rotational) {
+                scratch.rotational = scratch.candidateRotational;
+                scratch.pointCount = scratch.rotational ? scratch.rotationalManifold.pointCount : 1;
+                if (scratch.rotational) {
                     for (let point = 0; point < scratch.pointCount; point += 1) {
                         const source = scratch.rotationalManifold.points[point];
                         const offset = point * 3;
                         scratch.points[offset] = source.x;
                         scratch.points[offset + 1] = source.y;
                         scratch.points[offset + 2] = source.z;
+                        scratch.depths[point] = source.depth;
+                        scratch.featureIds[point] = source.featureId;
                     }
                 }
+                else {
+                    scratch.points[0] = candidate.x;
+                    scratch.points[1] = candidate.y;
+                    scratch.points[2] = candidate.z;
+                    scratch.depths[0] = 0;
+                    scratch.featureIds[0] = 0;
+                }
             }
         }
     }
+    // Sensor sweeps are evaluated only after the earliest solid TOI is known. Reporting them in the first
+    // pass can publish a trigger behind a nearer wall even though that wall stops the bullet before it ever
+    // reaches the trigger. Every sensor at or before the solid boundary is observable; later sensors are
+    // reconsidered from the post-impact state on the next bounded CCD sub-interval.
+    reportPhysics3DSensorImpactsBeforeFraction(world, dt, scratch.fraction, scratch);
     return scratch.bodyA >= 0;
 }
+function reportPhysics3DSensorImpactsBeforeFraction(world, dt, maximumFraction, scratch) {
+    for (let pairIndex = 0; pairIndex < scratch.pairs.length; pairIndex += 1) {
+        const pair = scratch.pairs[pairIndex];
+        const first = world.bodyByIndex.get(pair.a);
+        const second = world.bodyByIndex.get(pair.b);
+        if (first === undefined || second === undefined)
+            continue;
+        const ordered = isPhysics3DPairOrdered(first.index, second.index);
+        const bodyA = ordered ? first : second;
+        const bodyB = ordered ? second : first;
+        if (!isPhysics3DCcdPairActive(bodyA, bodyB))
+            continue;
+        if (isPhysics3DPairJointSuppressed(world, bodyA.index, bodyB.index))
+            continue;
+        for (let colliderAIndex = 0; colliderAIndex < bodyA.colliders.length; colliderAIndex += 1) {
+            for (let colliderBIndex = 0; colliderBIndex < bodyB.colliders.length; colliderBIndex += 1) {
+                const colliderA = bodyA.colliders[colliderAIndex];
+                const colliderB = bodyB.colliders[colliderBIndex];
+                if (!colliderA.sensor && !colliderB.sensor)
+                    continue;
+                if (!isPhysics3DColliderPairEnabled(colliderA, colliderB))
+                    continue;
+                if (hasPhysics3DContactTransition(world.events.began, bodyA.index, bodyB.index, colliderAIndex, colliderBIndex)) {
+                    continue;
+                }
+                if (!findPhysics3DColliderImpact(world, bodyA, bodyB, colliderA, colliderB, dt, true, scratch))
+                    continue;
+                const candidate = scratch.candidateRotational ? scratch.rotationalImpact : scratch.linearImpact;
+                if (candidate.fraction > maximumFraction)
+                    continue;
+                reportPhysics3DSensorImpact(world, bodyA, bodyB, colliderAIndex, colliderBIndex, colliderA, colliderB, candidate, scratch.candidateRotational, dt, scratch);
+            }
+        }
+    }
+}
+// Selects the earlier analytic-translation or sampled-rotation impact for one collider pair. Sensors
+// accept any crossing because they generate no impulse; solids additionally require an approaching
+// velocity so a grazing or separating touch cannot consume the chronological substep budget.
+function findPhysics3DColliderImpact(world, bodyA, bodyB, colliderA, colliderB, dt, acceptNonApproaching, scratch) {
+    const movingA = isPhysics3DBodyMoving(bodyA);
+    const movingB = isPhysics3DBodyMoving(bodyB);
+    // Preserve the analytic translation sweep even while the body spins. Replacing it with angular
+    // samples would let a fast, slightly rotating bullet cross a thin wall between those samples.
+    const linearHit = sweepPhysics3DColliderShapes(colliderA.world, movingA ? bodyA.velocityX * dt : 0, movingA ? bodyA.velocityY * dt : 0, movingA ? bodyA.velocityZ * dt : 0, colliderB.world, movingB ? bodyB.velocityX * dt : 0, movingB ? bodyB.velocityY * dt : 0, movingB ? bodyB.velocityZ * dt : 0, scratch.linearImpact, 1) && scratch.linearImpact.fraction > 0;
+    const angularTravelA = movingA
+        ? Math.hypot(bodyA.angularVelocityX, bodyA.angularVelocityY, bodyA.angularVelocityZ) * dt
+        : 0;
+    const angularTravelB = movingB
+        ? Math.hypot(bodyB.angularVelocityX, bodyB.angularVelocityY, bodyB.angularVelocityZ) * dt
+        : 0;
+    const rotationalHit = (angularTravelA > 0 || angularTravelB > 0) &&
+        world.config.maxCcdRotationSubsteps > 0 &&
+        findPhysics3DRotationalImpact(bodyA, bodyB, colliderA, colliderB, dt, Math.max(angularTravelA, angularTravelB), world.config.maxCcdRotationSubsteps, scratch) &&
+        scratch.rotationalImpact.fraction > 0;
+    let found = false;
+    scratch.candidateRotational = false;
+    if (linearHit && (acceptNonApproaching || isPhysics3DImpactApproaching(bodyA, bodyB, scratch.linearImpact))) {
+        found = true;
+    }
+    if (rotationalHit &&
+        (!found || scratch.rotationalImpact.fraction < scratch.linearImpact.fraction) &&
+        (acceptNonApproaching || isPhysics3DRotationalImpactApproaching(bodyA, bodyB, scratch.rotationalManifold, scratch))) {
+        found = true;
+        scratch.candidateRotational = true;
+    }
+    return found;
+}
 // Rotation changes a convex shape rather than translating a fixed one, so collision's analytic linear
 // sweep cannot answer it. Sample at a bounded angular increment, then bisect the first overlapping
 // interval. The hard cap keeps multi-revolution bodies deterministic in cost; zero selects the linear
@@ -164,7 +272,7 @@ function findPhysics3DRotationalImpact(bodyA, bodyB, colliderA, colliderB, dt, a
     // first sample as a new impact infinitesimally after zero and consumes CCD budget without advancing.
     if (testPhysics3DColliderOverlapAtFraction(bodyA, bodyB, colliderA, colliderB, dt, 0, scratch))
         return false;
-    const substeps = Math.min(maxSubsteps, Math.max(1, Math.ceil(angularTravel / CCD_ROTATION_INCREMENT)));
+    const substeps = getPhysics3DRotationSampleCount(angularTravel, maxSubsteps);
     let lowerFraction = 0;
     for (let sample = 1; sample <= substeps; sample += 1) {
         const upperFraction = sample / substeps;
@@ -205,6 +313,11 @@ function findPhysics3DRotationalImpact(bodyA, bodyB, colliderA, colliderB, dt, a
     }
     return false;
 }
+function getPhysics3DRotationSampleCount(angularTravel, maxSubsteps) {
+    if (!(angularTravel > 0) || maxSubsteps <= 0)
+        return 0;
+    return Math.min(maxSubsteps, Math.max(1, Math.ceil(angularTravel / CCD_ROTATION_INCREMENT)));
+}
 function testPhysics3DColliderOverlapAtFraction(bodyA, bodyB, colliderA, colliderB, dt, fraction, scratch) {
     savePhysics3DBodyPose(bodyA, scratch.poseA);
     savePhysics3DBodyPose(bodyB, scratch.poseB);
@@ -286,6 +399,171 @@ function getRelativeNormalVelocity(bodyA, bodyB, normalX, normalY, normalZ) {
         (bodyA.velocityY - bodyB.velocityY) * normalY +
         (bodyA.velocityZ - bodyB.velocityZ) * normalZ);
 }
+// Publishes a solid TOI through the ordinary persistent-contact lane. Appending is deliberate: contact
+// constraints prepared earlier in the interval store list indices, so inserting into canonical order
+// here would retarget those constraints midway through their solve. The step restores canonical order
+// after its position pass, once those indices have expired.
+function writePhysics3DImpactContact(world, bodyA, bodyB, scratch) {
+    let contact = null;
+    for (let index = 0; index < world.contacts.length; index += 1) {
+        const existing = world.contacts[index];
+        if (existing.bodyA === scratch.bodyA &&
+            existing.bodyB === scratch.bodyB &&
+            existing.colliderA === scratch.colliderA &&
+            existing.colliderB === scratch.colliderB) {
+            contact = existing;
+            break;
+        }
+    }
+    scratch.contactCreated = contact === null;
+    if (contact === null) {
+        contact = {
+            bodyA: scratch.bodyA,
+            bodyB: scratch.bodyB,
+            colliderA: scratch.colliderA,
+            colliderB: scratch.colliderB,
+            normalX: scratch.normalX,
+            normalY: scratch.normalY,
+            normalZ: scratch.normalZ,
+            pointCount: 0,
+            points: [],
+            friction: scratch.friction,
+            restitution: scratch.restitution,
+            enabled: true,
+            sensor: false,
+            touching: true,
+        };
+        world.contacts.push(contact);
+        world.events.began.push(contact);
+    }
+    contact.normalX = scratch.normalX;
+    contact.normalY = scratch.normalY;
+    contact.normalZ = scratch.normalZ;
+    contact.touching = true;
+    while (contact.points.length < scratch.pointCount)
+        contact.points.push(createPhysics3DContactPoint());
+    writeRigidBody3DWorldCenter(bodyA, scratch.centerA);
+    writeRigidBody3DWorldCenter(bodyB, scratch.centerB);
+    for (let pointIndex = 0; pointIndex < scratch.pointCount; pointIndex += 1) {
+        const offset = pointIndex * 3;
+        const point = contact.points[pointIndex];
+        point.x = scratch.points[offset];
+        point.y = scratch.points[offset + 1];
+        point.z = scratch.points[offset + 2];
+        point.depth = scratch.depths[pointIndex];
+        point.featureId = scratch.featureIds[pointIndex];
+        point.rAX = point.x - scratch.centerA[0];
+        point.rAY = point.y - scratch.centerA[1];
+        point.rAZ = point.z - scratch.centerA[2];
+        point.rBX = point.x - scratch.centerB[0];
+        point.rBY = point.y - scratch.centerB[1];
+        point.rBZ = point.z - scratch.centerB[2];
+    }
+    contact.pointCount = scratch.pointCount;
+    return contact;
+}
+// A sensor impact enters the ordinary persistent-contact lane at TOI. It cannot stop the body, and only
+// a later pose can prove whether the body crossed the whole volume or ended inside it, so the next
+// contact-intake pass makes that decision — a later solver substep or the next public step. A pass-through
+// emits `ended` there with the SAME record identity; a body that remains overlapping simply keeps the
+// record. Sensors invoke neither contact hook and resolve no impulse, matching the discrete sensor
+// contract.
+function reportPhysics3DSensorImpact(world, bodyA, bodyB, colliderAIndex, colliderBIndex, colliderA, colliderB, impact, rotational, dt, scratch) {
+    if (hasPhysics3DContactTransition(world.events.began, bodyA.index, bodyB.index, colliderAIndex, colliderBIndex)) {
+        return;
+    }
+    savePhysics3DBodyPose(bodyA, scratch.poseA);
+    savePhysics3DBodyPose(bodyB, scratch.poseB);
+    try {
+        integrateRigidBody3DPose(bodyA, dt * impact.fraction);
+        integrateRigidBody3DPose(bodyB, dt * impact.fraction);
+        writeRigidBody3DWorldCenter(bodyA, scratch.centerA);
+        writeRigidBody3DWorldCenter(bodyB, scratch.centerB);
+    }
+    finally {
+        restorePhysics3DBodyPose(bodyA, scratch.poseA);
+        restorePhysics3DBodyPose(bodyB, scratch.poseB);
+    }
+    const pointCount = rotational ? scratch.rotationalManifold.pointCount : 1;
+    const contact = {
+        bodyA: bodyA.index,
+        bodyB: bodyB.index,
+        colliderA: colliderAIndex,
+        colliderB: colliderBIndex,
+        normalX: impact.normalX,
+        normalY: impact.normalY,
+        normalZ: impact.normalZ,
+        pointCount,
+        points: [],
+        friction: mixPhysics3DFriction(colliderA.material.friction, colliderB.material.friction),
+        restitution: mixPhysics3DRestitution(colliderA.material.restitution, colliderB.material.restitution),
+        enabled: true,
+        sensor: true,
+        touching: true,
+    };
+    for (let pointIndex = 0; pointIndex < pointCount; pointIndex += 1) {
+        const source = rotational ? scratch.rotationalManifold.points[pointIndex] : impact;
+        const point = createPhysics3DContactPoint();
+        point.x = source.x;
+        point.y = source.y;
+        point.z = source.z;
+        point.depth = rotational ? scratch.rotationalManifold.points[pointIndex].depth : 0;
+        point.featureId = rotational ? scratch.rotationalManifold.points[pointIndex].featureId : 0;
+        point.rAX = point.x - scratch.centerA[0];
+        point.rAY = point.y - scratch.centerA[1];
+        point.rAZ = point.z - scratch.centerA[2];
+        point.rBX = point.x - scratch.centerB[0];
+        point.rBY = point.y - scratch.centerB[1];
+        point.rBZ = point.z - scratch.centerB[2];
+        contact.points.push(point);
+    }
+    world.contacts.push(contact);
+    world.events.began.push(contact);
+}
+function hasPhysics3DContactTransition(contacts, bodyA, bodyB, colliderA, colliderB) {
+    for (let index = 0; index < contacts.length; index += 1) {
+        const contact = contacts[index];
+        if (contact.bodyA === bodyA &&
+            contact.bodyB === bodyB &&
+            contact.colliderA === colliderA &&
+            contact.colliderB === colliderB) {
+            return true;
+        }
+    }
+    return false;
+}
+// The ordinary pre-solve hook has already run before pose integration. A contact discovered later by
+// CCD gets exactly one equivalent invocation at TOI, before its impact impulse. Invalid writes and
+// throws restore the four mutable override fields just like the ordinary lane. Because the step has
+// necessarily advanced to discover this TOI, an exception leaves poses at the impact and retains the new
+// contact/event rather than rolling the entire simulation back; that exception boundary is part of the
+// CCD hook contract.
+function runPhysics3DImpactPreSolveHook(world, contact) {
+    const hook = world.contactHooks.preSolve;
+    if (hook === null)
+        return;
+    const friction = contact.friction;
+    const restitution = contact.restitution;
+    const enabled = contact.enabled;
+    const sensor = contact.sensor;
+    try {
+        hook(world, contact);
+    }
+    catch (error) {
+        restorePhysics3DImpactHookFields(contact, friction, restitution, enabled, sensor);
+        throw error;
+    }
+    if (!isPhysics3DContactValid(contact)) {
+        restorePhysics3DImpactHookFields(contact, friction, restitution, enabled, sensor);
+        throw new Error('Physics3D pre-solve hook produced invalid contact state');
+    }
+}
+function restorePhysics3DImpactHookFields(contact, friction, restitution, enabled, sensor) {
+    contact.friction = friction;
+    contact.restitution = restitution;
+    contact.enabled = enabled;
+    contact.sensor = sensor;
+}
 // Removes the approach velocity with a single LINEAR normal impulse through the centres of mass.
 //
 // NO LEVER ARM, and that omission is deliberate rather than a shortcut taken for speed. The impact
@@ -299,12 +577,12 @@ function getRelativeNormalVelocity(bodyA, bodyB, normalX, normalY, normalZ) {
 // mass collapsed, and the impulse meant to stop a 600-unit-per-second bullet changed its velocity by
 // 0.05. It tunnelled anyway, through a path that ran and reported success.
 //
-// So this arrests the approach and nothing else. The pair is left touching and awake, and the ORDINARY
-// contact generation on the next step produces a real MANIFOLD — several points whose lever arms cancel
-// for a square hit and do not for a glancing one — applying the torque, friction, and warm starting a
-// rotating impact needs. What continuous collision has to guarantee is only that the body is still on the
-// near side for that step to find it. Giving the impact its own angular response means giving it a
-// manifold, not a better point.
+// The normal response therefore stays linear. Impact-time friction is linear too: it removes centre-of-
+// mass tangential motion under the same Coulomb cone the ordinary solver uses, but invents no torque from
+// the single witness. A rotational impact has a real manifold from its overlap sample and resolves both
+// normal and friction impulses at those points, where the lever arms are supported by actual geometry.
+// In both cases a persistent contact is published at TOI before resolution, so begin events and contact
+// hooks observe the impact in the step where it happened rather than one frame later.
 function resolvePhysics3DImpact(world, scratch) {
     const bodyA = world.bodyByIndex.get(scratch.bodyA);
     const bodyB = world.bodyByIndex.get(scratch.bodyB);
@@ -312,8 +590,13 @@ function resolvePhysics3DImpact(world, scratch) {
         return;
     wakePhysics3DImpactBody(bodyA);
     wakePhysics3DImpactBody(bodyB);
+    const contact = writePhysics3DImpactContact(world, bodyA, bodyB, scratch);
+    if (scratch.contactCreated)
+        runPhysics3DImpactPreSolveHook(world, contact);
+    if (!contact.enabled || contact.sensor)
+        return;
     if (scratch.rotational && scratch.pointCount > 0) {
-        resolvePhysics3DRotationalImpact(world, bodyA, bodyB, scratch);
+        resolvePhysics3DRotationalImpact(world, bodyA, bodyB, contact, scratch);
         return;
     }
     const approach = getRelativeNormalVelocity(bodyA, bodyB, scratch.normalX, scratch.normalY, scratch.normalZ);
@@ -322,7 +605,7 @@ function resolvePhysics3DImpact(world, scratch) {
     const totalInverseMass = bodyA.inverseMass + bodyB.inverseMass;
     if (!(totalInverseMass > 0))
         return;
-    const restitution = approach < -world.config.sequentialImpulse.restitutionThreshold ? scratch.restitution : 0;
+    const restitution = approach < -world.config.sequentialImpulse.restitutionThreshold ? contact.restitution : 0;
     const magnitude = (-(1 + restitution) * approach) / totalInverseMass;
     bodyA.velocityX += scratch.normalX * magnitude * bodyA.inverseMass;
     bodyA.velocityY += scratch.normalY * magnitude * bodyA.inverseMass;
@@ -330,16 +613,41 @@ function resolvePhysics3DImpact(world, scratch) {
     bodyB.velocityX -= scratch.normalX * magnitude * bodyB.inverseMass;
     bodyB.velocityY -= scratch.normalY * magnitude * bodyB.inverseMass;
     bodyB.velocityZ -= scratch.normalZ * magnitude * bodyB.inverseMass;
+    const relativeX = bodyA.velocityX - bodyB.velocityX;
+    const relativeY = bodyA.velocityY - bodyB.velocityY;
+    const relativeZ = bodyA.velocityZ - bodyB.velocityZ;
+    const normalVelocity = relativeX * scratch.normalX + relativeY * scratch.normalY + relativeZ * scratch.normalZ;
+    const tangentVelocityX = relativeX - scratch.normalX * normalVelocity;
+    const tangentVelocityY = relativeY - scratch.normalY * normalVelocity;
+    const tangentVelocityZ = relativeZ - scratch.normalZ * normalVelocity;
+    const tangentSpeed = Math.sqrt(tangentVelocityX * tangentVelocityX + tangentVelocityY * tangentVelocityY + tangentVelocityZ * tangentVelocityZ);
+    if (tangentSpeed <= 0 || contact.friction <= 0)
+        return;
+    const desiredMagnitude = tangentSpeed / totalInverseMass;
+    const frictionMagnitude = Math.min(desiredMagnitude, contact.friction * magnitude);
+    const scale = -frictionMagnitude / tangentSpeed;
+    const impulseX = tangentVelocityX * scale;
+    const impulseY = tangentVelocityY * scale;
+    const impulseZ = tangentVelocityZ * scale;
+    bodyA.velocityX += impulseX * bodyA.inverseMass;
+    bodyA.velocityY += impulseY * bodyA.inverseMass;
+    bodyA.velocityZ += impulseZ * bodyA.inverseMass;
+    bodyB.velocityX -= impulseX * bodyB.inverseMass;
+    bodyB.velocityY -= impulseY * bodyB.inverseMass;
+    bodyB.velocityZ -= impulseZ * bodyB.inverseMass;
 }
-function resolvePhysics3DRotationalImpact(world, bodyA, bodyB, scratch) {
+function resolvePhysics3DRotationalImpact(world, bodyA, bodyB, contact, scratch) {
     writeRigidBody3DWorldCenter(bodyA, scratch.centerA);
     writeRigidBody3DWorldCenter(bodyB, scratch.centerB);
+    writePhysics3DImpactFrictionBasis(scratch.normalX, scratch.normalY, scratch.normalZ, scratch);
     for (let point = 0; point < scratch.pointCount; point += 1) {
         scratch.normalImpulses[point] = 0;
+        scratch.tangentImpulses0[point] = 0;
+        scratch.tangentImpulses1[point] = 0;
         const offset = point * 3;
         const approach = getRelativePointNormalVelocity(bodyA, bodyB, scratch.points[offset] - scratch.centerA[0], scratch.points[offset + 1] - scratch.centerA[1], scratch.points[offset + 2] - scratch.centerA[2], scratch.points[offset] - scratch.centerB[0], scratch.points[offset + 1] - scratch.centerB[1], scratch.points[offset + 2] - scratch.centerB[2], scratch.normalX, scratch.normalY, scratch.normalZ);
         scratch.velocityBiases[point] =
-            approach < -world.config.sequentialImpulse.restitutionThreshold ? -scratch.restitution * approach : 0;
+            approach < -world.config.sequentialImpulse.restitutionThreshold ? -contact.restitution * approach : 0;
     }
     for (let iteration = 0; iteration < ROTATIONAL_IMPACT_ITERATIONS; iteration += 1) {
         for (let point = 0; point < scratch.pointCount; point += 1) {
@@ -357,9 +665,58 @@ function resolvePhysics3DRotationalImpact(world, bodyA, bodyB, scratch) {
             scratch.normalImpulses[point] = impulse;
             applyPhysics3DImpactImpulse(bodyA, rAX, rAY, rAZ, scratch.normalX * delta, scratch.normalY * delta, scratch.normalZ * delta);
             applyPhysics3DImpactImpulse(bodyB, rBX, rBY, rBZ, -scratch.normalX * delta, -scratch.normalY * delta, -scratch.normalZ * delta);
+            const maxFriction = contact.friction * impulse;
+            const tangentVelocity0 = getRelativePointNormalVelocity(bodyA, bodyB, rAX, rAY, rAZ, rBX, rBY, rBZ, scratch.tangent0X, scratch.tangent0Y, scratch.tangent0Z);
+            const tangentMass0 = getPhysics3DImpactEffectiveMass(bodyA, bodyB, rAX, rAY, rAZ, rBX, rBY, rBZ, scratch.tangent0X, scratch.tangent0Y, scratch.tangent0Z);
+            let tangentImpulse0 = scratch.tangentImpulses0[point] - tangentVelocity0 * tangentMass0;
+            const tangentVelocity1 = getRelativePointNormalVelocity(bodyA, bodyB, rAX, rAY, rAZ, rBX, rBY, rBZ, scratch.tangent1X, scratch.tangent1Y, scratch.tangent1Z);
+            const tangentMass1 = getPhysics3DImpactEffectiveMass(bodyA, bodyB, rAX, rAY, rAZ, rBX, rBY, rBZ, scratch.tangent1X, scratch.tangent1Y, scratch.tangent1Z);
+            let tangentImpulse1 = scratch.tangentImpulses1[point] - tangentVelocity1 * tangentMass1;
+            const tangentMagnitude = Math.sqrt(tangentImpulse0 * tangentImpulse0 + tangentImpulse1 * tangentImpulse1);
+            if (tangentMagnitude > maxFriction) {
+                const frictionScale = maxFriction / tangentMagnitude;
+                tangentImpulse0 *= frictionScale;
+                tangentImpulse1 *= frictionScale;
+            }
+            const deltaTangent0 = tangentImpulse0 - scratch.tangentImpulses0[point];
+            const deltaTangent1 = tangentImpulse1 - scratch.tangentImpulses1[point];
+            scratch.tangentImpulses0[point] = tangentImpulse0;
+            scratch.tangentImpulses1[point] = tangentImpulse1;
+            const frictionX = scratch.tangent0X * deltaTangent0 + scratch.tangent1X * deltaTangent1;
+            const frictionY = scratch.tangent0Y * deltaTangent0 + scratch.tangent1Y * deltaTangent1;
+            const frictionZ = scratch.tangent0Z * deltaTangent0 + scratch.tangent1Z * deltaTangent1;
+            applyPhysics3DImpactImpulse(bodyA, rAX, rAY, rAZ, frictionX, frictionY, frictionZ);
+            applyPhysics3DImpactImpulse(bodyB, rBX, rBY, rBZ, -frictionX, -frictionY, -frictionZ);
         }
     }
 }
+function writePhysics3DImpactFrictionBasis(normalX, normalY, normalZ, out) {
+    let seedX = 0;
+    let seedY = 0;
+    let seedZ = 0;
+    if (Math.abs(normalX) < IMPACT_AXIS_SELECTION_THRESHOLD)
+        seedX = 1;
+    else if (Math.abs(normalY) < IMPACT_AXIS_SELECTION_THRESHOLD)
+        seedY = 1;
+    else
+        seedZ = 1;
+    let tangent0X = normalY * seedZ - normalZ * seedY;
+    let tangent0Y = normalZ * seedX - normalX * seedZ;
+    let tangent0Z = normalX * seedY - normalY * seedX;
+    const length = Math.sqrt(tangent0X * tangent0X + tangent0Y * tangent0Y + tangent0Z * tangent0Z);
+    if (length > 0) {
+        const inverseLength = 1 / length;
+        tangent0X *= inverseLength;
+        tangent0Y *= inverseLength;
+        tangent0Z *= inverseLength;
+    }
+    out.tangent0X = tangent0X;
+    out.tangent0Y = tangent0Y;
+    out.tangent0Z = tangent0Z;
+    out.tangent1X = normalY * tangent0Z - normalZ * tangent0Y;
+    out.tangent1Y = normalZ * tangent0X - normalX * tangent0Z;
+    out.tangent1Z = normalX * tangent0Y - normalY * tangent0X;
+}
 function getRelativePointNormalVelocity(bodyA, bodyB, rAX, rAY, rAZ, rBX, rBY, rBZ, normalX, normalY, normalZ) {
     const pointAX = bodyA.velocityX + bodyA.angularVelocityY * rAZ - bodyA.angularVelocityZ * rAY;
     const pointAY = bodyA.velocityY + bodyA.angularVelocityZ * rAX - bodyA.angularVelocityX * rAZ;
@@ -415,6 +772,7 @@ function wakePhysics3DImpactBody(body) {
 const APPROACH_EPSILON = 1e-9;
 const CCD_ROTATION_INCREMENT = Math.PI / 180;
 const CCD_ROTATION_BISECTION_ITERATIONS = 12;
+const IMPACT_AXIS_SELECTION_THRESHOLD = 0.5773502691896258;
 const ROTATIONAL_IMPACT_ITERATIONS = 4;
 const impactTensor = [0, 0, 0, 0, 0, 0];
 const impactVector = [0, 0, 0];
@@ -429,16 +787,31 @@ function createPhysics3DContinuousScratch() {
         fraction: 0,
         bodyA: -1,
         bodyB: -1,
+        colliderA: -1,
+        colliderB: -1,
         normalX: 0,
         normalY: 0,
         normalZ: 0,
+        friction: 0,
         restitution: 0,
         rotational: false,
+        candidateRotational: false,
+        contactCreated: false,
         rotationalManifold: createCollisionContactManifold3D(),
         pointCount: 0,
         points: new Array(12).fill(0),
+        depths: new Array(4).fill(0),
+        featureIds: new Array(4).fill(0),
         normalImpulses: new Array(4).fill(0),
+        tangentImpulses0: new Array(4).fill(0),
+        tangentImpulses1: new Array(4).fill(0),
         velocityBiases: new Array(4).fill(0),
+        tangent0X: 0,
+        tangent0Y: 0,
+        tangent0Z: 0,
+        tangent1X: 0,
+        tangent1Y: 0,
+        tangent1Z: 0,
         centerA: [0, 0, 0],
         centerB: [0, 0, 0],
         candidateCenterA: [0, 0, 0],
@@ -451,4 +824,5 @@ function releasePhysics3DContinuousScratch(scratch) {
     physics3DContinuousScratchPool.push(scratch);
 }
 const physics3DContinuousScratchPool = [createPhysics3DContinuousScratch()];
+const integratingPhysics3DWorlds = new WeakSet();
 //# sourceMappingURL=continuous.js.map

package/dist/continuous.js.map

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package/dist/index.d.ts

@@ -15,7 +15,7 @@ export { stepPhysics3D, stepPhysics3DInterval } from './step';
 export { addPhysics3DBody, addPhysics3DCollider, applyPhysics3DForce, applyPhysics3DForceAtPoint, applyPhysics3DLinearImpulse, applyPhysics3DLinearImpulseAtPoint, applyPhysics3DTorque, createPhysics3DCollider, createPhysics3DSequentialImpulseConfig, createPhysics3DSolverConfig, createPhysics3DWorld, createRigidBody3D, findPhysics3DBody, hydratePhysics3DWorld, invalidatePhysics3DCollider, Physics3DWorldVersion, removePhysics3DBody, removePhysics3DCollider, setPhysics3DBodyBullet, setPhysics3DBodyFixedRotation, setPhysics3DBodySleepEnabled, setPhysics3DBodyTransform, setPhysics3DBodyType, wakePhysics3DBody, writeRigidBody3DWorldCenter, } from './world';
 export { createPhysics3DQueryFilter, createPhysics3DQueryResult, createPhysics3DRayResult, createPhysics3DShapeCastResult, queryPhysics3DPoint, queryPhysics3DRay, queryPhysics3DRayClosest, queryPhysics3DRegion, queryPhysics3DShapeCast, } from './worldQueries';
 export { createPhysics3DDebugGeometry, writePhysics3DDebugGeometry } from './debugGeometry';
-export { hasActivePhysics3DBullet, integratePhysics3DContinuous } from './continuous';
+export { hasActivePhysics3DBullet, integratePhysics3DContinuous, writePhysics3DRotationalCcdEnvelope, } from './continuous';
 export { breakPhysics3DJoint, evaluatePhysics3DJointBreakage, isPhysics3DJointBreakable } from './jointBreakage';
 export { accumulatePhysics3DJointRowReaction, clearPhysics3DJointReaction, createPhysics3DJointReaction, getPhysics3DJointReactionForce, getPhysics3DJointReactionTorque, writePhysics3DJointReaction, } from './jointReaction';
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -1 +1 @@
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package/dist/index.js

@@ -15,7 +15,7 @@ export { stepPhysics3D, stepPhysics3DInterval } from './step';
 export { addPhysics3DBody, addPhysics3DCollider, applyPhysics3DForce, applyPhysics3DForceAtPoint, applyPhysics3DLinearImpulse, applyPhysics3DLinearImpulseAtPoint, applyPhysics3DTorque, createPhysics3DCollider, createPhysics3DSequentialImpulseConfig, createPhysics3DSolverConfig, createPhysics3DWorld, createRigidBody3D, findPhysics3DBody, hydratePhysics3DWorld, invalidatePhysics3DCollider, Physics3DWorldVersion, removePhysics3DBody, removePhysics3DCollider, setPhysics3DBodyBullet, setPhysics3DBodyFixedRotation, setPhysics3DBodySleepEnabled, setPhysics3DBodyTransform, setPhysics3DBodyType, wakePhysics3DBody, writeRigidBody3DWorldCenter, } from './world';
 export { createPhysics3DQueryFilter, createPhysics3DQueryResult, createPhysics3DRayResult, createPhysics3DShapeCastResult, queryPhysics3DPoint, queryPhysics3DRay, queryPhysics3DRayClosest, queryPhysics3DRegion, queryPhysics3DShapeCast, } from './worldQueries';
 export { createPhysics3DDebugGeometry, writePhysics3DDebugGeometry } from './debugGeometry';
-export { hasActivePhysics3DBullet, integratePhysics3DContinuous } from './continuous';
+export { hasActivePhysics3DBullet, integratePhysics3DContinuous, writePhysics3DRotationalCcdEnvelope, } from './continuous';
 export { breakPhysics3DJoint, evaluatePhysics3DJointBreakage, isPhysics3DJointBreakable } from './jointBreakage';
 export { accumulatePhysics3DJointRowReaction, clearPhysics3DJointReaction, createPhysics3DJointReaction, getPhysics3DJointReactionForce, getPhysics3DJointReactionTorque, writePhysics3DJointReaction, } from './jointReaction';
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

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package/dist/step.js

@@ -276,10 +276,27 @@ function stepValidatedPhysics3D(world, dt) {
     for (let bodyIndex = 0; bodyIndex < world.bodies.length; bodyIndex += 1) {
         clearRigidBody3DForces(world.bodies[bodyIndex]);
     }
+    // CCD contacts are appended at TOI so they cannot shift the contact indices held by constraints that
+    // were prepared earlier in the interval. Those indices have expired now, so restore the canonical
+    // identity order before publishing the committed world and invoking post-solve hooks. The active-
+    // bullet condition is the same condition that can enter the CCD path; sorting every ordinary settled
+    // contact here added an O(n log n) tax to worlds that could not possibly have appended anything.
+    if (world.config.continuousCollision && hasActivePhysics3DBullet(world)) {
+        world.contacts.sort(comparePhysics3DContactIdentity);
+    }
     world.previousTimestep = substepDt;
     // Post-solve observes a committed step. A hook that throws here cannot prevent pose integration, force
     // cleanup, or the timestep agreement above, so the next call never resumes a half-finished step.
     runPhysics3DContactHook(world, world.contactHooks.postSolve, 'post-solve');
 }
+function comparePhysics3DContactIdentity(left, right) {
+    if (left.bodyA !== right.bodyA)
+        return left.bodyA - right.bodyA;
+    if (left.bodyB !== right.bodyB)
+        return left.bodyB - right.bodyB;
+    if (left.colliderA !== right.colliderA)
+        return left.colliderA - right.colliderA;
+    return left.colliderB - right.colliderB;
+}
 let physics3DStepGuard = null;
 //# sourceMappingURL=step.js.map

package/dist/step.js.map

@@ -1 +1 @@
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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@flighthq/physics3d",
-  "version": "0.4.0-next.1809.9b3b71b",
+  "version": "0.4.0-next.1815.e47cc3c",
   "author": "Joshua Granick and other contributors",
   "license": "MIT",
   "repository": {
@@ -38,10 +38,10 @@
     "clean:dist": "tsx ../../scripts/clean-package-dist.ts"
   },
   "dependencies": {
-    "@flighthq/collision": "0.4.0-next.1809.9b3b71b",
-    "@flighthq/log": "0.4.0-next.1809.9b3b71b",
-    "@flighthq/spatial": "0.4.0-next.1809.9b3b71b",
-    "@flighthq/types": "0.4.0-next.1809.9b3b71b"
+    "@flighthq/collision": "0.4.0-next.1815.e47cc3c",
+    "@flighthq/log": "0.4.0-next.1815.e47cc3c",
+    "@flighthq/spatial": "0.4.0-next.1815.e47cc3c",
+    "@flighthq/types": "0.4.0-next.1815.e47cc3c"
   },
   "devDependencies": {
     "@flighthq/geometry": "*",

package/src/continuous.test.ts

@@ -6,7 +6,11 @@ import {
 import type { CollisionBuiltInShape3D, Physics3DWorld, RigidBody3D } from '@flighthq/types/contract';
 import { beforeEach, describe, expect, it } from 'vitest';
 
-import { hasActivePhysics3DBullet, integratePhysics3DContinuous } from './continuous';
+import {
+  hasActivePhysics3DBullet,
+  integratePhysics3DContinuous,
+  writePhysics3DRotationalCcdEnvelope,
+} from './continuous';
 import { stepPhysics3D } from './step';
 import {
   addPhysics3DBody,
@@ -223,6 +227,142 @@ describe('integratePhysics3DContinuous', () => {
     expect(bullet.velocityX).toBeLessThan(1);
   });
 
+  it('publishes a persistent contact and runs both hooks in the impact step', () => {
+    const world = continuousWorld();
+    addWall(world);
+    const bullet = addBullet(world, -5, 600);
+    const phases: string[] = [];
+    world.contactHooks.preSolve = (_world, contact) => {
+      phases.push('pre');
+      expect(contact.bodyA).toBeLessThan(contact.bodyB);
+      expect(contact.pointCount).toBe(1);
+      expect(contact.points[0].depth).toBe(0);
+    };
+    world.contactHooks.postSolve = (_world, contact) => {
+      phases.push('post');
+      expect(contact.touching).toBe(true);
+    };
+
+    stepPhysics3D(world, 1 / 60);
+
+    expect(phases).toEqual(['pre', 'post']);
+    expect(world.events.began).toHaveLength(1);
+    expect(world.events.ended).toHaveLength(0);
+    expect(world.contacts).toHaveLength(1);
+    expect(world.contacts[0]).toBe(world.events.began[0]);
+    expect(world.contacts[0].bodyA).not.toBe(bullet.index);
+    expect(world.contacts[0].bodyB).toBe(bullet.index);
+  });
+
+  it('lets an impact pre-solve hook disable resolution without losing its contact event', () => {
+    const world = continuousWorld();
+    addWall(world);
+    const bullet = addBullet(world, -5, 600);
+    world.contactHooks.preSolve = (_world, contact) => {
+      contact.enabled = false;
+    };
+
+    stepPhysics3D(world, 1 / 60);
+
+    expect(bullet.x).toBeGreaterThan(4);
+    expect(world.events.began).toHaveLength(1);
+    expect(world.contacts).toHaveLength(1);
+    expect(world.contacts[0].enabled).toBe(false);
+  });
+
+  it('uses restitution selected by the impact pre-solve hook', () => {
+    const world = continuousWorld();
+    addWall(world);
+    const bullet = addBullet(world, -5, 600);
+    world.contactHooks.preSolve = (_inner, contact) => {
+      contact.restitution = 1;
+    };
+
+    stepPhysics3D(world, 1 / 60);
+
+    expect(bullet.velocityX).toBeLessThan(-500);
+  });
+
+  it('retains the TOI contact and restores its overrides when a late pre-solve hook throws', () => {
+    const world = continuousWorld();
+    addWall(world);
+    const bullet = addBullet(world, -5, 600);
+    const error = new Error('impact hook failed');
+    world.contactHooks.preSolve = (_inner, contact) => {
+      contact.friction = 99;
+      throw error;
+    };
+
+    expect(() => stepPhysics3D(world, 1 / 60)).toThrow(error);
+    expect(bullet.x).toBeGreaterThan(-5);
+    expect(bullet.x).toBeLessThan(0);
+    expect(world.contacts).toHaveLength(1);
+    expect(world.events.began).toEqual([world.contacts[0]]);
+    expect(world.contacts[0].friction).not.toBe(99);
+
+    world.contactHooks.preSolve = null;
+    expect(() => stepPhysics3D(world, 1 / 60)).not.toThrow();
+  });
+
+  it('applies Coulomb friction at TOI instead of preserving all tangential speed', () => {
+    function run(friction: number): RigidBody3D {
+      const world = continuousWorld();
+      const material = { density: 1, friction, restitution: 0 };
+      const wall = createRigidBody3D('static');
+      addPhysics3DBody(world, wall);
+      addPhysics3DCollider(world, wall, createPhysics3DCollider(THIN_WALL, material));
+      const bullet = createRigidBody3D('dynamic');
+      bullet.x = -5;
+      bullet.velocityX = 600;
+      bullet.velocityY = 60;
+      bullet.gravityScale = 0;
+      bullet.bullet = true;
+      addPhysics3DBody(world, bullet);
+      addPhysics3DCollider(
+        world,
+        bullet,
+        createPhysics3DCollider({ kind: 'sphere', x: 0, y: 0, z: 0, radius: 0.1 }, material),
+      );
+      stepPhysics3D(world, 1 / 60);
+      return bullet;
+    }
+
+    const frictionless = run(0);
+    const gripping = run(1);
+    // GJK's first-touch normal may contain a small tangential component at its tolerance boundary, so
+    // the zero-friction control is deliberately a behavioural bound rather than a bit-exact 60 m/s.
+    expect(Math.abs(frictionless.velocityY)).toBeGreaterThan(59);
+    expect(Math.abs(gripping.velocityY)).toBeLessThan(1);
+    expect(Math.abs(gripping.velocityY)).toBeLessThan(Math.abs(frictionless.velocityY) * 0.02);
+  });
+
+  it('reports the end transition on the step after a restitutive impact separates', () => {
+    const world = continuousWorld();
+    const material = { density: 1, friction: 0, restitution: 1 };
+    const wall = createRigidBody3D('static');
+    addPhysics3DBody(world, wall);
+    addPhysics3DCollider(world, wall, createPhysics3DCollider(THIN_WALL, material));
+    const bullet = createRigidBody3D('dynamic');
+    bullet.x = -5;
+    bullet.velocityX = 600;
+    bullet.gravityScale = 0;
+    bullet.bullet = true;
+    addPhysics3DBody(world, bullet);
+    addPhysics3DCollider(
+      world,
+      bullet,
+      createPhysics3DCollider({ kind: 'sphere', x: 0, y: 0, z: 0, radius: 0.1 }, material),
+    );
+
+    stepPhysics3D(world, 1 / 60);
+    const impact = world.events.began[0];
+    stepPhysics3D(world, 1 / 60);
+
+    expect(world.events.began).toHaveLength(0);
+    expect(world.events.ended).toEqual([impact]);
+    expect(world.contacts).toHaveLength(0);
+  });
+
   it('bounces a restitutive bullet back off the wall', () => {
     const world = continuousWorld();
     const wall = createRigidBody3D('static');
@@ -293,10 +433,64 @@ describe('integratePhysics3DContinuous', () => {
     addPhysics3DBody(world, trigger);
     addPhysics3DCollider(world, trigger, createPhysics3DCollider(THIN_WALL, undefined, undefined, true));
     const bullet = addBullet(world, -5, 600);
+    let preSolveCount = 0;
+    let postSolveCount = 0;
+    world.contactHooks.preSolve = () => {
+      preSolveCount += 1;
+    };
+    world.contactHooks.postSolve = () => {
+      postSolveCount += 1;
+    };
 
     stepPhysics3D(world, 1 / 60);
 
     expect(bullet.x).toBeGreaterThan(4);
+    expect(preSolveCount).toBe(0);
+    expect(postSolveCount).toBe(0);
+    expect(world.events.began).toHaveLength(1);
+    expect(world.events.ended).toHaveLength(0);
+    expect(world.contacts).toHaveLength(1);
+    expect(world.contacts[0]).toBe(world.events.began[0]);
+    expect(world.contacts[0].sensor).toBe(true);
+
+    const crossing = world.contacts[0];
+    stepPhysics3D(world, 1 / 60);
+
+    expect(world.events.began).toHaveLength(0);
+    expect(world.events.ended).toEqual([crossing]);
+    expect(world.contacts).toHaveLength(0);
+  });
+
+  it('pairs a sensor begin and end inside one public step when a later substep proves the crossing', () => {
+    const world = continuousWorld();
+    world.config.substeps = 2;
+    const trigger = createRigidBody3D('static');
+    addPhysics3DBody(world, trigger);
+    addPhysics3DCollider(world, trigger, createPhysics3DCollider(THIN_WALL, undefined, undefined, true));
+    addBullet(world, -5, 1200);
+
+    stepPhysics3D(world, 1 / 60);
+
+    expect(world.events.began).toHaveLength(1);
+    expect(world.events.ended).toHaveLength(1);
+    expect(world.events.ended[0]).toBe(world.events.began[0]);
+    expect(world.contacts).toHaveLength(0);
+  });
+
+  it('does not report a sensor behind a solid impact the bullet never reaches', () => {
+    const world = continuousWorld();
+    addWall(world);
+    const trigger = createRigidBody3D('static');
+    trigger.x = 3;
+    addPhysics3DBody(world, trigger);
+    addPhysics3DCollider(world, trigger, createPhysics3DCollider(THIN_WALL, undefined, undefined, true));
+    const bullet = addBullet(world, -5, 600);
+
+    stepPhysics3D(world, 1 / 60);
+
+    expect(bullet.x).toBeLessThan(0);
+    expect(world.events.began.some((contact) => contact.sensor)).toBe(false);
+    expect(world.contacts.every((contact) => !contact.sensor)).toBe(true);
   });
 
   it('ignores a wall the collision filter excludes', () => {
@@ -395,4 +589,91 @@ describe('integratePhysics3DContinuous', () => {
 
     expect(bullet.x).toBeLessThan(0);
   });
+
+  it('keeps the world mutation boundary around a direct custom-loop impact hook', () => {
+    const world = continuousWorld();
+    addWall(world);
+    addBullet(world, -5, 600);
+    world.contactHooks.preSolve = (inner) => addPhysics3DBody(inner, createRigidBody3D('dynamic'));
+
+    expect(() => integratePhysics3DContinuous(world, 1 / 60)).toThrow(
+      'Cannot mutate a physics world while it is stepping',
+    );
+    expect(world.bodies).toHaveLength(2);
+  });
+
+  it('rejects recursive continuous integration from an impact hook', () => {
+    const world = continuousWorld();
+    addWall(world);
+    addBullet(world, -5, 600);
+    world.contactHooks.preSolve = (inner) => integratePhysics3DContinuous(inner, 1 / 60);
+
+    expect(() => integratePhysics3DContinuous(world, 1 / 60)).toThrow(
+      'Cannot integrate a physics world recursively while it is stepping',
+    );
+  });
+});
+
+describe('writePhysics3DRotationalCcdEnvelope', () => {
+  it('reports the one-degree target when the budget can cover the angular travel', () => {
+    const out = {
+      angularTravel: 0,
+      sampleCount: 0,
+      maxAngularIncrement: 0,
+      maxPointArcTravel: 0,
+      targetIncrementMet: false,
+    };
+    expect(writePhysics3DRotationalCcdEnvelope(120, 5, 1 / 60, 128, out)).toBe(true);
+    expect(out.angularTravel).toBeCloseTo(2, 12);
+    expect(out.sampleCount).toBe(115);
+    expect(out.maxAngularIncrement).toBeLessThanOrEqual(Math.PI / 180);
+    expect(out.maxPointArcTravel).toBeCloseTo((2 / 115) * 5, 12);
+    expect(out.targetIncrementMet).toBe(true);
+  });
+
+  it('publishes the wider angular and spatial gap when the hard budget binds', () => {
+    const out = {
+      angularTravel: 0,
+      sampleCount: 0,
+      maxAngularIncrement: 0,
+      maxPointArcTravel: 0,
+      targetIncrementMet: true,
+    };
+    expect(writePhysics3DRotationalCcdEnvelope(120, 5, 1 / 60, 10, out)).toBe(true);
+    expect(out.sampleCount).toBe(10);
+    expect(out.maxAngularIncrement).toBeCloseTo(0.2, 12);
+    expect(out.maxPointArcTravel).toBeCloseTo(1, 12);
+    expect(out.targetIncrementMet).toBe(false);
+  });
+
+  it('makes a disabled rotational lane explicit and rejects invalid authoring inputs', () => {
+    const out = {
+      angularTravel: 0,
+      sampleCount: 0,
+      maxAngularIncrement: 0,
+      maxPointArcTravel: 0,
+      targetIncrementMet: true,
+    };
+    expect(writePhysics3DRotationalCcdEnvelope(10, 2, 1 / 60, 0, out)).toBe(true);
+    expect(out.sampleCount).toBe(0);
+    expect(out.maxAngularIncrement).toBe(Number.POSITIVE_INFINITY);
+    expect(out.maxPointArcTravel).toBe(Number.POSITIVE_INFINITY);
+    expect(out.targetIncrementMet).toBe(false);
+    expect(writePhysics3DRotationalCcdEnvelope(-1, 2, 1 / 60, 10, out)).toBe(false);
+    expect(out).toEqual({
+      angularTravel: 0,
+      sampleCount: 0,
+      maxAngularIncrement: 0,
+      maxPointArcTravel: 0,
+      targetIncrementMet: false,
+    });
+    expect(writePhysics3DRotationalCcdEnvelope(Number.MAX_VALUE, 2, 2, 10, out)).toBe(false);
+    expect(out).toEqual({
+      angularTravel: 0,
+      sampleCount: 0,
+      maxAngularIncrement: 0,
+      maxPointArcTravel: 0,
+      targetIncrementMet: false,
+    });
+  });
 });